+ python -m lidar_slam --no-model /working/f6ff7049-3691-46cb-9346-0bb2680f4f62 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/f6ff7049-3691-46cb-9346-0bb2680f4f62 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 0.000418555 Adjusted end_distance from 9.223372036854776e+18 to 66.294418555 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.000418555 meters Centerline goodness [0,1] 0.5570376604249947 Centerline is valid? [0, False] SLAMing on 0.030418555 meters Centerline goodness [0,1] 0.6353779234697094 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.01, Z:-0.00 [[ 9.99984970e-01 5.47088735e-03 3.58771813e-04 -2.86668001e-02] [-5.46907844e-03 9.99973221e-01 -4.86273364e-03 -9.05149131e-03] [-3.85365674e-04 4.86069841e-03 9.99988112e-01 -4.04989320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.060418555 meters Centerline goodness [0,1] 0.4868977353593704 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.02, Z:-0.01 [[ 0.9999894 0.00282699 0.00363494 -0.04717754] [-0.00278723 0.99993674 -0.01089757 -0.0231426 ] [-0.00366552 0.01088732 0.99993401 -0.00580404] [ 0. 0. 0. 1. ]] SLAMing on 0.090418555 meters Centerline goodness [0,1] 0.5316783143840618 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.04, Z:0.00 [[ 0.99989815 -0.01132677 0.0086829 -0.08783024] [ 0.01143601 0.99985477 -0.01263545 -0.04278012] [-0.00853852 0.01273346 0.99988247 0.00402111] [ 0. 0. 0. 1. ]] SLAMing on 0.120418555 meters Centerline goodness [0,1] 0.5804771330346912 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:0.01 [[ 0.99968084 -0.0246555 0.00550694 -0.12304807] [ 0.02473711 0.99957722 -0.01527955 -0.06636696] [-0.00512789 0.0154109 0.9998681 0.01003925] [ 0. 0. 0. 1. ]] SLAMing on 0.15041855499999998 meters Centerline goodness [0,1] 0.5836016895989293 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.09, Z:0.01 [[ 0.99946677 -0.03119193 0.00965573 -0.14153309] [ 0.03140962 0.99923542 -0.02328115 -0.08642784] [-0.00892217 0.02357202 0.99968233 0.01077456] [ 0. 0. 0. 1. ]] SLAMing on 0.18041855499999998 meters Centerline goodness [0,1] 0.5523670490093848 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.02 [[ 0.99915152 -0.03965343 0.01112846 -0.18745408] [ 0.03989677 0.99894887 -0.02257006 -0.10469792] [-0.01022178 0.0229949 0.99968332 0.01803634] [ 0. 0. 0. 1. ]] SLAMing on 0.21041855499999998 meters Centerline goodness [0,1] 0.5758356370947475 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.11, Z:0.02 [[ 0.99902977 -0.04394816 0.00284227 -0.21447793] [ 0.04399339 0.9988601 -0.01852222 -0.10894011] [-0.00202501 0.01862929 0.99982441 0.0234109 ] [ 0. 0. 0. 1. ]] SLAMing on 0.24041855499999998 meters Centerline goodness [0,1] 0.6119881753569407 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.11, Z:0.03 [[ 9.99146504e-01 -4.13019816e-02 6.40073888e-04 -2.38679515e-01] [ 4.13057462e-02 9.98879788e-01 -2.30869026e-02 -1.14955043e-01] [ 3.14177957e-04 2.30936368e-02 9.99733257e-01 2.71616300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.270418555 meters Centerline goodness [0,1] 0.5726716349556601 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.11, Z:0.03 [[ 9.99431215e-01 -3.37175314e-02 6.12373849e-04 -2.63645024e-01] [ 3.37227962e-02 9.99181631e-01 -2.23347653e-02 -1.13610394e-01] [ 1.41200448e-04 2.23427125e-02 9.99750360e-01 3.36281550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.300418555 meters Centerline goodness [0,1] 0.6531404819884121 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.11, Z:0.04 [[ 0.99996784 -0.00574637 0.00559478 -0.29364048] [ 0.0058456 0.99982297 -0.01788437 -0.11443708] [-0.00549102 0.0179165 0.99982441 0.0389847 ] [ 0. 0. 0. 1. ]] SLAMing on 0.33041855499999995 meters Centerline goodness [0,1] 0.6623661817183639 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:0.04 [[ 0.99995134 0.00845108 0.00508955 -0.31736126] [-0.00838677 0.99988635 -0.0125282 -0.11010915] [-0.00519485 0.01248491 0.99990857 0.04278322] [ 0. 0. 0. 1. ]] SLAMing on 0.360418555 meters Centerline goodness [0,1] 0.608793805515117 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.11, Z:0.04 [[ 0.99985328 0.01620269 0.00555781 -0.33879668] [-0.01612903 0.99978473 -0.01305178 -0.1117602 ] [-0.00576808 0.01296022 0.99989938 0.0430979 ] [ 0. 0. 0. 1. ]] SLAMing on 0.390418555 meters Centerline goodness [0,1] 0.5641074011192857 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.12, Z:0.05 [[ 9.99920015e-01 1.26159344e-02 8.94927907e-04 -3.76243332e-01] [-1.26056713e-02 9.99863595e-01 -1.06718264e-02 -1.20006880e-01] [-1.02944090e-03 1.06596917e-02 9.99942654e-01 4.74354601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42041855499999997 meters Centerline goodness [0,1] 0.49377065853038393 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.13, Z:0.05 [[ 0.99999517 0.00198664 -0.00239147 -0.39588931] [-0.00200824 0.99995689 -0.0090654 -0.12867398] [ 0.00237336 0.00907016 0.99995605 0.04900448] [ 0. 0. 0. 1. ]] SLAMing on 0.45041855499999994 meters Centerline goodness [0,1] 0.5092565445026178 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.14, Z:0.05 [[ 9.99967596e-01 -8.01471429e-03 7.55504726e-04 -4.06680162e-01] [ 8.02824258e-03 9.99767091e-01 -2.00327474e-02 -1.43272624e-01] [-5.94772015e-04 2.00381637e-02 9.99799039e-01 4.68707441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48041855499999997 meters Centerline goodness [0,1] 0.5963254812616265 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.16, Z:0.05 [[ 0.99989141 -0.01339489 0.00614327 -0.43367686] [ 0.01356349 0.99950812 -0.02827616 -0.16137403] [-0.00576149 0.02835641 0.99958127 0.05032571] [ 0. 0. 0. 1. ]] SLAMing on 0.510418555 meters Centerline goodness [0,1] 0.63842957864697 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.17, Z:0.05 [[ 0.99988203 -0.01124538 0.01046307 -0.4544188 ] [ 0.01155685 0.99947707 -0.03019966 -0.17021209] [-0.01011799 0.03031701 0.99948912 0.05008863] [ 0. 0. 0. 1. ]] SLAMing on 0.540418555 meters Centerline goodness [0,1] 0.5713560397715253 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.17, Z:0.05 [[ 0.99991623 -0.00455904 0.01211408 -0.47894244] [ 0.00491991 0.99953995 -0.02992806 -0.17383136] [-0.01197207 0.02998516 0.99947864 0.05302995] [ 0. 0. 0. 1. ]] SLAMing on 0.5704185549999999 meters Centerline goodness [0,1] 0.6407058872843878 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.17, Z:0.06 [[ 0.9999095 0.00413631 0.01280132 -0.51269772] [-0.00376526 0.99957595 -0.0288745 -0.17262653] [-0.01291532 0.02882369 0.99950107 0.06293241] [ 0. 0. 0. 1. ]] SLAMing on 0.600418555 meters Centerline goodness [0,1] 0.5307086285081395 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.17, Z:0.07 [[ 0.99993953 0.00632287 0.00899728 -0.576264 ] [-0.00607969 0.99962224 -0.02680315 -0.17339944] [-0.00916335 0.02674683 0.99960024 0.06893925] [ 0. 0. 0. 1. ]] SLAMing on 0.630418555 meters Centerline goodness [0,1] 0.6898608349900597 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.17, Z:0.07 [[ 0.99999712 -0.00121145 0.0020723 -0.61679422] [ 0.00126793 0.99962167 -0.02747557 -0.17435718] [-0.00203823 0.02747812 0.99962033 0.07446552] [ 0. 0. 0. 1. ]] SLAMing on 0.6604185549999999 meters Centerline goodness [0,1] 0.46516264428121723 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.17, Z:0.08 [[ 0.99973952 -0.02243737 -0.00417911 -0.65472065] [ 0.02230967 0.99934657 -0.02843776 -0.17386786] [ 0.00481445 0.02833712 0.99958683 0.07600549] [ 0. 0. 0. 1. ]] SLAMing on 0.6904185549999999 meters Centerline goodness [0,1] 0.43313990160211935 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.17, Z:0.08 [[ 0.99894409 -0.04536374 -0.00726844 -0.69747014] [ 0.04516256 0.99864661 -0.02579317 -0.16926017] [ 0.00842868 0.02543768 0.99964088 0.08403318] [ 0. 0. 0. 1. ]] SLAMing on 0.720418555 meters Centerline goodness [0,1] 0.6832842105263157 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.17, Z:0.09 [[ 0.99883001 -0.04821236 -0.00376438 -0.70492867] [ 0.04809226 0.99847071 -0.02726495 -0.17265023] [ 0.00507313 0.02705202 0.99962115 0.08586061] [ 0. 0. 0. 1. ]] SLAMing on 0.750418555 meters Centerline goodness [0,1] 0.5661327039953217 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.17, Z:0.09 [[ 0.99909454 -0.04249693 -0.00202796 -0.71163062] [ 0.04244516 0.99887853 -0.02097857 -0.16998896] [ 0.00291721 0.0208735 0.99977787 0.09083677] [ 0. 0. 0. 1. ]] SLAMing on 0.780418555 meters Centerline goodness [0,1] 0.6972360500718585 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.17, Z:0.10 [[ 0.99988436 -0.01512009 0.00163075 -0.70430737] [ 0.01515251 0.99963992 -0.02214577 -0.16988679] [-0.00129532 0.02216791 0.99975342 0.09633866] [ 0. 0. 0. 1. ]] SLAMing on 0.8104185549999999 meters Centerline goodness [0,1] 0.6153269158644831 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.17, Z:0.09 [[ 9.99998885e-01 -9.30257023e-04 1.16781846e-03 -7.15833198e-01] [ 9.48886118e-04 9.99870673e-01 -1.60541594e-02 -1.69870122e-01] [-1.15273294e-03 1.60552496e-02 9.99870442e-01 9.35223782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.840418555 meters Centerline goodness [0,1] 0.48577265431198013 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.17, Z:0.09 [[ 0.99992927 0.01177757 -0.0016536 -0.72953054] [-0.01179682 0.99985654 -0.01215446 -0.16933867] [ 0.00151021 0.0121731 0.99992476 0.09487748] [ 0. 0. 0. 1. ]] SLAMing on 0.870418555 meters Centerline goodness [0,1] 0.6021772225813852 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.17, Z:0.10 [[ 0.9996517 0.02573252 -0.00585823 -0.74605451] [-0.02577635 0.99963934 -0.00753444 -0.16551054] [ 0.00566224 0.00768282 0.99995446 0.1015744 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9004185549999999 meters Centerline goodness [0,1] 0.6204443517262961 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.16, Z:0.11 [[ 0.99950409 0.03085851 -0.00627114 -0.750466 ] [-0.03087883 0.99951811 -0.00316996 -0.16104372] [ 0.0061703 0.00336203 0.99997531 0.10749232] [ 0. 0. 0. 1. ]] SLAMing on 0.9304185549999999 meters Centerline goodness [0,1] 0.5046650942411656 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.16, Z:0.11 [[ 0.99946154 0.0324258 -0.00501883 -0.75806521] [-0.03243514 0.99947224 -0.00179143 -0.16019992] [ 0.00495809 0.00195325 0.9999858 0.1130793 ] [ 0. 0. 0. 1. ]] SLAMing on 0.960418555 meters Centerline goodness [0,1] 0.5046650942411656 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.16, Z:0.11 [[ 0.99946154 0.0324258 -0.00501883 -0.75806521] [-0.03243514 0.99947224 -0.00179143 -0.16019992] [ 0.00495809 0.00195325 0.9999858 0.1130793 ] [ 0. 0. 0. 1. ]] SLAMing on 0.990418555 meters Centerline goodness [0,1] 0.7245552791655344 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.16, Z:0.12 [[ 9.99734752e-01 2.28194687e-02 3.11403651e-03 -7.86180580e-01] [-2.28205928e-02 9.99739523e-01 3.25928821e-04 -1.58165735e-01] [-3.10578785e-03 -3.96906528e-04 9.99995098e-01 1.18376798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.020418555 meters Centerline goodness [0,1] 0.7517071439012676 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.16, Z:0.12 [[ 0.99983398 0.01359465 0.0121329 -0.81739775] [-0.0136218 0.99990489 0.00215796 -0.15728019] [-0.01210241 -0.00232288 0.99992407 0.11868919] [ 0. 0. 0. 1. ]] SLAMing on 1.050418555 meters Centerline goodness [0,1] 0.6589407446250655 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.16, Z:0.12 [[ 9.99966529e-01 1.96480445e-03 7.94230445e-03 -8.40079569e-01] [-1.96810702e-03 9.99997980e-01 4.08024782e-04 -1.60475893e-01] [-7.94148672e-03 -4.23642430e-04 9.99968376e-01 1.17324496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.080418555 meters Centerline goodness [0,1] 0.5240716415420863 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.16, Z:0.12 [[ 0.99981405 -0.01923788 -0.00132678 -0.84299278] [ 0.01922804 0.99979014 -0.00706772 -0.16055418] [ 0.00146246 0.00704089 0.99997414 0.118818 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1104185549999999 meters Centerline goodness [0,1] 0.5650936486345087 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.16, Z:0.12 [[ 0.99979774 -0.02004221 -0.00167152 -0.84181014] [ 0.02002926 0.99977174 -0.007436 -0.16234711] [ 0.00182017 0.00740102 0.99997096 0.11807058] [ 0. 0. 0. 1. ]] SLAMing on 1.140418555 meters Centerline goodness [0,1] 0.6746188564654008 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.16, Z:0.12 [[ 9.99874568e-01 -1.58222187e-02 -7.11069178e-04 -8.43628474e-01] [ 1.58201445e-02 9.99870838e-01 -2.83366662e-03 -1.63130180e-01] [ 7.55812228e-04 2.82206197e-03 9.99995732e-01 1.18535179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.170418555 meters Centerline goodness [0,1] 0.6359876336898396 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.17, Z:0.12 [[ 9.99978178e-01 -6.57907531e-03 6.00234830e-04 -8.41304038e-01] [ 6.58485407e-03 9.99926344e-01 -1.01954297e-02 -1.69548012e-01] [-5.33114119e-04 1.01991597e-02 9.99947845e-01 1.16842748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.200418555 meters Centerline goodness [0,1] 0.673680911085571 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.16, Z:0.12 [[ 0.99999356 -0.00335622 -0.0012746 -0.84120348] [ 0.00334578 0.99996149 -0.00811265 -0.16463429] [ 0.00130178 0.00810833 0.99996628 0.12002453] [ 0. 0. 0. 1. ]] SLAMing on 1.230418555 meters Centerline goodness [0,1] 0.42210815079596 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.16, Z:0.12 [[ 9.99993298e-01 -9.67831125e-04 -3.53086709e-03 -8.41206886e-01] [ 9.39781648e-04 9.99968059e-01 -7.93710479e-03 -1.60733012e-01] [ 3.53843608e-03 7.93373335e-03 9.99962267e-01 1.21376213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.260418555 meters Centerline goodness [0,1] 0.6637921968661269 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.16, Z:0.12 [[ 0.99997814 0.00318351 -0.00579554 -0.84117005] [-0.00321682 0.99997832 -0.00574579 -0.15672585] [ 0.00577712 0.00576431 0.9999667 0.12275986] [ 0. 0. 0. 1. ]] SLAMing on 1.290418555 meters Centerline goodness [0,1] 0.6100736536816409 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.15, Z:0.12 [[ 0.99997399 0.00244395 -0.00678618 -0.84043656] [-0.00249145 0.9999724 -0.00699993 -0.1549758 ] [ 0.00676889 0.00701665 0.99995247 0.12347849] [ 0. 0. 0. 1. ]] SLAMing on 1.3204185549999998 meters Centerline goodness [0,1] 0.4639584989331883 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.16, Z:0.12 [[ 0.99997111 0.00155204 -0.00744175 -0.84050408] [-0.0016101 0.99996827 -0.00780197 -0.15510693] [ 0.00742941 0.00781373 0.99994187 0.1247622 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3504185549999999 meters Centerline goodness [0,1] 0.4724332220367279 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.16, Z:0.12 [[ 0.99997347 0.00133352 -0.0071611 -0.839553 ] [-0.00138905 0.99996896 -0.00775591 -0.15666119] [ 0.00715053 0.00776565 0.99994428 0.12273176] [ 0. 0. 0. 1. ]] SLAMing on 1.3804185549999999 meters Centerline goodness [0,1] 0.6093517138599106 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.16, Z:0.12 [[ 0.99996959 -0.00283317 -0.00726597 -0.83720688] [ 0.00275044 0.99993158 -0.01136993 -0.16088109] [ 0.00729769 0.0113496 0.99990896 0.11971843] [ 0. 0. 0. 1. ]] SLAMing on 1.410418555 meters Centerline goodness [0,1] 0.4349767324864797 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.16, Z:0.12 [[ 0.99972563 -0.01687909 -0.01624053 -0.83782748] [ 0.01670344 0.99980118 -0.01089048 -0.15872214] [ 0.01642112 0.01061622 0.9998088 0.11947318] [ 0. 0. 0. 1. ]] SLAMing on 1.440418555 meters Centerline goodness [0,1] 0.4583246117134844 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.16, Z:0.12 [[ 0.99834755 -0.04938333 -0.02938468 -0.83882634] [ 0.04907738 0.99873392 -0.01104398 -0.15567468] [ 0.02989286 0.0095836 0.99950716 0.11870088] [ 0. 0. 0. 1. ]] SLAMing on 1.470418555 meters Centerline goodness [0,1] 0.6745389301510474 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.14, Z:0.11 [[ 9.98943562e-01 -2.44213785e-02 3.89275857e-02 -9.36452532e-01] [ 2.44704758e-02 9.99700245e-01 -7.85207869e-04 -1.37760884e-01] [-3.88967411e-02 1.73695489e-03 9.99241726e-01 1.14797618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.500418555 meters Centerline goodness [0,1] 0.7604700458932724 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:0.13 [[ 0.99800426 0.01305617 0.06178222 -0.94458448] [-0.01144234 0.99958588 -0.02640341 -0.05995385] [-0.06210137 0.02564378 0.99774036 0.12586916] [ 0. 0. 0. 1. ]] SLAMing on 1.530418555 meters Centerline goodness [0,1] 0.7769525141963625 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.00, Z:0.12 [[ 0.99774864 0.03230787 0.05876949 -0.94033159] [-0.03032436 0.99895021 -0.03433526 0.00289655] [-0.05981709 0.03247581 0.99768093 0.12052625] [ 0. 0. 0. 1. ]] SLAMing on 1.560418555 meters Centerline goodness [0,1] 0.6823380713604906 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.06, Z:0.12 [[ 0.99961953 0.01937981 0.01962723 -0.89240282] [-0.01862183 0.99910071 -0.03809199 0.06213955] [-0.02034779 0.037712 0.99908146 0.11800005] [ 0. 0. 0. 1. ]] SLAMing on 1.5904185549999998 meters Centerline goodness [0,1] 0.6786644814254497 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.07, Z:0.12 [[ 0.99981048 0.00716587 0.01810114 -0.9079374 ] [-0.00673628 0.99969682 -0.02368327 0.07493874] [-0.01826537 0.02355685 0.99955563 0.12027371] [ 0. 0. 0. 1. ]] SLAMing on 1.6204185549999999 meters Centerline goodness [0,1] 0.7389182003240413 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.09, Z:0.12 [[ 0.99974279 0.00400276 0.02232322 -0.90974508] [-0.00375013 0.99992858 -0.01134742 0.0858573 ] [-0.02236705 0.01126079 0.99968641 0.12091332] [ 0. 0. 0. 1. ]] SLAMing on 1.650418555 meters Centerline goodness [0,1] 0.7292903117947003 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.09, Z:0.12 [[ 0.99971536 0.00756216 0.02262765 -0.91086131] [-0.00739099 0.99994351 -0.00763863 0.08612307] [-0.02268413 0.00746921 0.99971478 0.12201778] [ 0. 0. 0. 1. ]] SLAMing on 1.680418555 meters Centerline goodness [0,1] 0.7190127362024473 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.09, Z:0.12 [[ 0.99973826 0.00723731 0.0217031 -0.90939903] [-0.00705953 0.99994099 -0.0082567 0.08765108] [-0.02176157 0.00810133 0.99973036 0.12226564] [ 0. 0. 0. 1. ]] SLAMing on 1.710418555 meters Centerline goodness [0,1] 0.566806346029562 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.09, Z:0.12 [[ 0.99983031 0.0024233 0.01826139 -0.92047456] [-0.00239491 0.99999589 -0.00157654 0.09012277] [-0.01826514 0.00153254 0.999832 0.12051529] [ 0. 0. 0. 1. ]] SLAMing on 1.740418555 meters Centerline goodness [0,1] 0.5789441032322105 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.09, Z:0.12 [[ 0.99982919 -0.00236446 0.01833007 -0.92027712] [ 0.0024623 0.99998283 -0.00531671 0.08561833] [-0.01831718 0.00536093 0.99981785 0.12053259] [ 0. 0. 0. 1. ]] SLAMing on 1.770418555 meters Centerline goodness [0,1] 0.5883605838501536 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.09, Z:0.13 [[ 0.9996628 -0.02592462 -0.00148378 -0.92443067] [ 0.02591647 0.99965019 -0.00527511 0.0914152 ] [ 0.00162001 0.00523488 0.99998499 0.12537469] [ 0. 0. 0. 1. ]] SLAMing on 1.8004185549999998 meters Centerline goodness [0,1] 0.46871921698488883 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.11, Z:0.13 [[ 9.97023747e-01 -7.70893603e-02 -9.37592651e-04 -9.33564743e-01] [ 7.70841934e-02 9.97013669e-01 -4.66583450e-03 1.08538959e-01] [ 1.29447889e-03 4.57967422e-03 9.99988675e-01 1.32900475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8304185549999998 meters Centerline goodness [0,1] 0.6437550816186128 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.11, Z:0.13 [[ 0.99611926 -0.08773929 0.00694512 -0.93989932] [ 0.08772127 0.99614096 0.00285857 0.11254314] [-0.00716913 -0.00223824 0.9999718 0.13360164] [ 0. 0. 0. 1. ]] SLAMing on 1.8604185549999999 meters Centerline goodness [0,1] 0.6701048043997094 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.11, Z:0.13 [[ 0.9962366 -0.08303998 0.02483954 -0.95673299] [ 0.08253223 0.99637103 0.02081368 0.11004422] [-0.02647777 -0.01868529 0.99947476 0.13051941] [ 0. 0. 0. 1. ]] SLAMing on 1.890418555 meters Centerline goodness [0,1] 0.7069854082583049 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.10, Z:0.13 [[ 0.99804864 -0.04901515 0.03868372 -0.96575833] [ 0.04810118 0.99854891 0.02421455 0.09774713] [-0.03981447 -0.02230657 0.99895807 0.12974209] [ 0. 0. 0. 1. ]] SLAMing on 1.920418555 meters Centerline goodness [0,1] 0.6378706754530478 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.08, Z:0.13 [[ 0.99950299 -0.01242161 0.02897377 -0.97103262] [ 0.01216943 0.99988666 0.00886401 0.08472256] [-0.02908059 -0.00850701 0.99954087 0.13449547] [ 0. 0. 0. 1. ]] SLAMing on 1.950418555 meters Centerline goodness [0,1] 0.5658556786416813 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.09, Z:0.15 [[ 0.99979257 0.00217906 0.02025031 -0.9732587 ] [-0.00210643 0.99999128 -0.00360701 0.08744012] [-0.02025799 0.0035636 0.99978843 0.14700421] [ 0. 0. 0. 1. ]] SLAMing on 1.980418555 meters Centerline goodness [0,1] 0.7036476683937825 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.10, Z:0.15 [[ 0.99978141 0.01086372 0.01786395 -0.99222016] [-0.01077519 0.99992922 -0.00504481 0.09501185] [-0.01791749 0.00485122 0.9998277 0.15384617] [ 0. 0. 0. 1. ]] SLAMing on 2.0104185549999998 meters Centerline goodness [0,1] 0.6680736602524312 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.10, Z:0.16 [[ 9.99567945e-01 2.57911459e-02 1.40975416e-02 -1.00905016e+00] [-2.57799941e-02 9.99667168e-01 -9.72233011e-04 1.04182388e-01] [-1.41179245e-02 6.08378413e-04 9.99900152e-01 1.58467876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.040418555 meters Centerline goodness [0,1] 0.7450381040113894 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.10, Z:0.16 [[ 0.9996202 0.02738986 0.00304239 -1.01776503] [-0.02737559 0.99961446 -0.0046368 0.1047934 ] [-0.00316822 0.00455175 0.99998462 0.16219242] [ 0. 0. 0. 1. ]] SLAMing on 2.070418555 meters Centerline goodness [0,1] 0.7347294206517405 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.11, Z:0.16 [[ 0.99984446 0.01635061 -0.0066116 -1.0288985 ] [-0.01640226 0.99983477 -0.0078355 0.10858241] [ 0.00648239 0.00794272 0.99994744 0.16378906] [ 0. 0. 0. 1. ]] SLAMing on 2.100418555 meters Centerline goodness [0,1] 0.7001441915867344 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.11, Z:0.16 [[ 9.99856157e-01 1.29271572e-02 -1.09796604e-02 -1.04143109e+00] [-1.29371504e-02 9.99915959e-01 -8.39615252e-04 1.10363075e-01] [ 1.09678838e-02 9.81539998e-04 9.99939369e-01 1.62498387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.130418555 meters Centerline goodness [0,1] 0.6806984720922982 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.11, Z:0.16 [[ 0.99988613 0.0089344 -0.01216165 -1.04023558] [-0.00900605 0.99994234 -0.00584945 0.11214123] [ 0.01210869 0.00595831 0.99990893 0.16156968] [ 0. 0. 0. 1. ]] SLAMing on 2.160418555 meters Centerline goodness [0,1] 0.4716689632134954 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.12, Z:0.17 [[ 0.99963668 0.0095784 -0.02519434 -1.04852119] [-0.00974484 0.99993144 -0.00649187 0.11792909] [ 0.02513043 0.00673503 0.99966149 0.16798678] [ 0. 0. 0. 1. ]] SLAMing on 2.190418555 meters Centerline goodness [0,1] 0.6052360857424786 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.12, Z:0.17 [[ 0.99964049 0.0078047 -0.02565091 -1.05091518] [-0.00809534 0.99990399 -0.01124609 0.12052208] [ 0.02556068 0.0114497 0.9996077 0.16666657] [ 0. 0. 0. 1. ]] SLAMing on 2.2204185549999997 meters Centerline goodness [0,1] 0.6189370103680554 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.13, Z:0.17 [[ 0.99947815 0.01101986 -0.03036435 -1.06871512] [-0.01154698 0.99978471 -0.0172396 0.12584825] [ 0.03016783 0.01758122 0.99939022 0.17058821] [ 0. 0. 0. 1. ]] SLAMing on 2.250418555 meters Centerline goodness [0,1] 0.5226995156875132 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.13, Z:0.18 [[ 0.99882398 0.0169843 -0.04541125 -1.08675706] [-0.01826956 0.99943987 -0.02803887 0.12782265] [ 0.04490959 0.02883554 0.9985748 0.17977481] [ 0. 0. 0. 1. ]] SLAMing on 2.280418555 meters Centerline goodness [0,1] 0.4931527177138981 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.13, Z:0.19 [[ 0.99843856 0.01868136 -0.05264464 -1.10559121] [-0.02055619 0.99916535 -0.03529936 0.13463326] [ 0.05194126 0.03632641 0.99798923 0.1857326 ] [ 0. 0. 0. 1. ]] SLAMing on 2.310418555 meters Centerline goodness [0,1] 0.43964410984686453 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.14, Z:0.19 [[ 0.99736475 0.02170726 -0.06922686 -1.12473515] [-0.02456158 0.9988715 -0.04065031 0.14007053] [ 0.06826633 0.04224351 0.99677239 0.19372744] [ 0. 0. 0. 1. ]] SLAMing on 2.340418555 meters Centerline goodness [0,1] 0.4309655629422201 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.15, Z:0.20 [[ 0.99598381 0.02207727 -0.08676893 -1.14066158] [-0.02613562 0.99860328 -0.04591755 0.14606952] [ 0.08563401 0.04800089 0.9951697 0.20033477] [ 0. 0. 0. 1. ]] SLAMing on 2.370418555 meters Centerline goodness [0,1] 0.3558741845895498 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.15, Z:0.21 [[ 0.99409804 0.01974941 -0.10667265 -1.15803718] [-0.02539404 0.99833358 -0.05181893 0.15045362] [ 0.1054715 0.05422194 0.99294297 0.20763663] [ 0. 0. 0. 1. ]] SLAMing on 2.400418555 meters Centerline goodness [0,1] 0.3931296055483312 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.19, Z:0.20 [[ 0.99173844 0.00240944 -0.12825392 -1.12944511] [-0.01189055 0.99724564 -0.07321032 0.19430713] [ 0.12772427 0.07413049 0.98903548 0.19703063] [ 0. 0. 0. 1. ]] SLAMing on 2.4304185549999997 meters Centerline goodness [0,1] 0.2848820403353123 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.26, Z:0.20 [[ 0.98430925 0.0023726 -0.17643602 -1.04519299] [-0.02078045 0.99451001 -0.10255736 0.25537272] [ 0.17522406 0.10461457 0.97895471 0.19620882] [ 0. 0. 0. 1. ]] SLAMing on 2.460418555 meters Centerline goodness [0,1] 0.2528282443603127 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.28, Z:0.21 [[ 0.97873481 -0.03726533 -0.20171631 -1.06685372] [ 0.0163212 0.99438951 -0.10451371 0.28144921] [ 0.20447932 0.09899896 0.97385184 0.20798168] [ 0. 0. 0. 1. ]] SLAMing on 2.4904185549999998 meters Centerline goodness [0,1] 0.2701569531335748 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.29, Z:0.21 [[ 0.98355966 -0.05210997 -0.17290155 -1.06829005] [ 0.04341687 0.99761351 -0.05368677 0.28746586] [ 0.17528654 0.0452973 0.98347485 0.21050095] [ 0. 0. 0. 1. ]] SLAMing on 2.520418555 meters Centerline goodness [0,1] 0.30917492031574223 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.27, Z:0.20 [[ 0.99307013 -0.04273767 -0.10947702 -1.06267011] [ 0.04383253 0.99900989 0.00761279 0.26567007] [ 0.10904328 -0.01235869 0.99396017 0.19607388] [ 0. 0. 0. 1. ]] SLAMing on 2.550418555 meters Centerline goodness [0,1] 0.5058858090102188 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.24, Z:0.17 [[ 0.99722056 -0.05813954 -0.04659349 -1.07060229] [ 0.06047664 0.99689507 0.05042611 0.2370695 ] [ 0.04351707 -0.05310377 0.99764034 0.1684336 ] [ 0. 0. 0. 1. ]] SLAMing on 2.580418555 meters Centerline goodness [0,1] 0.4271846695739685 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.21, Z:0.16 [[ 0.99782623 -0.05509196 -0.03616206 -1.0897958 ] [ 0.05688028 0.99710588 0.05044293 0.21208276] [ 0.0332784 -0.05239019 0.99807205 0.15828816] [ 0. 0. 0. 1. ]] SLAMing on 2.610418555 meters Centerline goodness [0,1] 0.46889781907991124 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.17, Z:0.15 [[ 0.99840802 -0.04901188 -0.0279151 -1.14993763] [ 0.05050814 0.99716982 0.05568907 0.16759898] [ 0.02510667 -0.05701035 0.99805785 0.14764738] [ 0. 0. 0. 1. ]] SLAMing on 2.6404185549999997 meters Centerline goodness [0,1] 0.5644542649879096 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.14, Z:0.15 [[ 0.99780374 -0.06616324 0.00318105 -1.20202185] [ 0.06595191 0.9967943 0.04529323 0.14214775] [-0.0061676 -0.04498396 0.99896867 0.15104995] [ 0. 0. 0. 1. ]] SLAMing on 2.670418555 meters Centerline goodness [0,1] 0.6244739733410726 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.17, Z:0.16 [[ 0.99720389 -0.07026896 0.02542994 -1.19113314] [ 0.069451 0.99708048 0.03173436 0.17053058] [-0.02758563 -0.02987949 0.99917278 0.15811327] [ 0. 0. 0. 1. ]] SLAMing on 2.7004185549999997 meters Centerline goodness [0,1] 0.5093833226665565 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.21, Z:0.16 [[ 0.99619805 -0.08315195 0.02598441 -1.15232488] [ 0.08271054 0.99641773 0.017626 0.21381153] [-0.02735696 -0.0154098 0.99950695 0.15607954] [ 0. 0. 0. 1. ]] SLAMing on 2.730418555 meters Centerline goodness [0,1] 0.6970308862011415 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.23, Z:0.15 [[ 0.99600414 -0.08410722 0.03002884 -1.11606439] [ 0.08368356 0.99637798 0.0150993 0.23464085] [-0.03119003 -0.01252605 0.99943498 0.14569224] [ 0. 0. 0. 1. ]] SLAMing on 2.7604185549999998 meters Centerline goodness [0,1] 0.6613158442640017 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.25, Z:0.13 [[ 0.99712323 -0.07296413 0.02053052 -1.08085963] [ 0.07274806 0.99728878 0.01108218 0.25446209] [-0.02128346 -0.00955675 0.9997278 0.1278257 ] [ 0. 0. 0. 1. ]] SLAMing on 2.790418555 meters Centerline goodness [0,1] 0.47931005887718714 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.24, Z:0.13 [[ 0.99757772 -0.06559889 0.0231402 -1.10251013] [ 0.06535306 0.99779906 0.0112252 0.24197149] [-0.02382563 -0.00968573 0.99966921 0.12633332] [ 0. 0. 0. 1. ]] SLAMing on 2.820418555 meters Centerline goodness [0,1] 0.5955630335888328 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.20, Z:0.13 [[ 0.99818209 -0.05718487 0.01903723 -1.16325208] [ 0.05691088 0.99827198 0.01463574 0.20272639] [-0.01984127 -0.01352571 0.99971165 0.13186477] [ 0. 0. 0. 1. ]] SLAMing on 2.850418555 meters Centerline goodness [0,1] 0.6417681967831904 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.18, Z:0.14 [[ 0.9982231 -0.05842108 0.01173071 -1.19473084] [ 0.05829802 0.99824324 0.01057268 0.18342342] [-0.01232777 -0.00987002 0.9998753 0.13570404] [ 0. 0. 0. 1. ]] SLAMing on 2.880418555 meters Centerline goodness [0,1] 0.6417681967831904 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.18, Z:0.14 [[ 0.9982231 -0.05842108 0.01173071 -1.19473084] [ 0.05829802 0.99824324 0.01057268 0.18342342] [-0.01232777 -0.00987002 0.9998753 0.13570404] [ 0. 0. 0. 1. ]] SLAMing on 2.9104185549999997 meters Centerline goodness [0,1] 0.3857777591482584 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.16, Z:0.14 [[ 9.98060978e-01 -6.22434939e-02 1.77920998e-04 -1.21537387e+00] [ 6.22424617e-02 9.98054650e-01 3.57640636e-03 1.64716059e-01] [-4.00182907e-04 -3.55839739e-03 9.99993589e-01 1.38300881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.940418555 meters Centerline goodness [0,1] 0.4999059344885972 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.15, Z:0.13 [[ 9.98100376e-01 -6.15405232e-02 2.89891067e-03 -1.22560951e+00] [ 6.15392494e-02 9.98104525e-01 5.26655878e-04 1.47002635e-01] [-2.92582653e-03 -3.47258643e-04 9.99995659e-01 1.34997341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9704185549999997 meters Centerline goodness [0,1] 0.6343889693382863 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.13, Z:0.14 [[ 9.99164619e-01 -4.08042210e-02 2.25381407e-03 -1.24316165e+00] [ 4.08051393e-02 9.99167058e-01 -3.62930274e-04 1.31701047e-01] [-2.23712768e-03 4.54594286e-04 9.99997394e-01 1.37000265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.000418555 meters Centerline goodness [0,1] 0.3936923721709975 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.12, Z:0.14 [[ 9.99753552e-01 -2.18003394e-02 4.19283994e-03 -1.24756486e+00] [ 2.17953599e-02 9.99761697e-01 1.22969029e-03 1.21994221e-01] [-4.21864844e-03 -1.13800278e-03 9.99990454e-01 1.39090167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.030418555 meters Centerline goodness [0,1] 0.6603998494290853 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.11, Z:0.14 [[ 9.99969935e-01 -5.23076280e-03 5.72443026e-03 -1.25058697e+00] [ 5.22954991e-03 9.99986300e-01 2.26827586e-04 1.13104183e-01] [-5.72553832e-03 -1.96884572e-04 9.99983590e-01 1.40334396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.060418555 meters Centerline goodness [0,1] 0.5174244172628664 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.15, Z:0.14 [[ 0.99987793 -0.01451512 0.00578227 -1.24534707] [ 0.01450401 0.99989289 0.00195874 0.15336487] [-0.00581008 -0.00187464 0.99998136 0.14452873] [ 0. 0. 0. 1. ]] SLAMing on 3.090418555 meters Centerline goodness [0,1] 0.54474569893597 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.14, Z:0.15 [[ 9.99485881e-01 -3.16768985e-02 4.95461911e-03 -1.29771673e+00] [ 3.16781511e-02 9.99498106e-01 -1.74513280e-04 1.43243917e-01] [-4.94660437e-03 3.31376732e-04 9.99987711e-01 1.49865271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.120418555 meters Centerline goodness [0,1] 0.38212370097217563 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.14, Z:0.16 [[ 9.98959720e-01 -4.55990909e-02 4.46947057e-04 -1.32675832e+00] [ 4.56001759e-02 9.98955766e-01 -2.82865791e-03 1.38676714e-01] [-3.17496111e-04 2.84609617e-03 9.99995899e-01 1.56150649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.150418555 meters Centerline goodness [0,1] 0.33030711547373304 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.13, Z:0.16 [[ 9.97877740e-01 -6.51153967e-02 -2.18811404e-05 -1.37471723e+00] [ 6.51151667e-02 9.97875002e-01 -2.34423065e-03 1.33917289e-01] [ 1.74480152e-04 2.33783079e-03 9.99997252e-01 1.61400225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1804185549999997 meters Centerline goodness [0,1] 0.35591413581924214 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.14, Z:0.17 [[ 0.99680241 -0.07972596 -0.00535932 -1.39158135] [ 0.07970902 0.9968127 -0.00330475 0.13626388] [ 0.00560571 0.002867 0.99998018 0.16875411] [ 0. 0. 0. 1. ]] SLAMing on 3.210418555 meters Centerline goodness [0,1] 0.3417613518125442 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.14, Z:0.17 [[ 9.94722071e-01 -1.02451990e-01 -5.62054423e-03 -1.42145265e+00] [ 1.02451568e-01 9.94737927e-01 -3.63663150e-04 1.44908219e-01] [ 5.62822653e-03 -2.14089808e-04 9.99984138e-01 1.74694485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2404185549999998 meters Centerline goodness [0,1] 0.30757312840852746 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.15, Z:0.18 [[ 0.99506971 -0.09908045 -0.0043984 -1.43492384] [ 0.09909406 0.99507357 0.00299164 0.14787306] [ 0.00408031 -0.00341275 0.99998585 0.18320922] [ 0. 0. 0. 1. ]] SLAMing on 3.270418555 meters Centerline goodness [0,1] 0.4271211173650198 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.15, Z:0.19 [[ 9.96323390e-01 -8.56320948e-02 -2.61677471e-03 -1.45218700e+00] [ 8.56350019e-02 9.96326054e-01 1.01965884e-03 1.45269564e-01] [ 2.51984530e-03 -1.23999746e-03 9.99996056e-01 1.91103688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.300418555 meters Centerline goodness [0,1] 0.44957545991842174 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.14, Z:0.19 [[ 9.97300036e-01 -7.34175517e-02 -1.58161267e-03 -1.49276854e+00] [ 7.34152026e-02 9.97300342e-01 -1.49541601e-03 1.37723071e-01] [ 1.68713264e-03 1.37526403e-03 9.99997631e-01 1.94715268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.330418555 meters Centerline goodness [0,1] 0.3448103688601327 Centerline is valid? [False, False] Translation: X:-1.51, Y:0.14, Z:0.20 [[ 0.99690526 -0.07823941 -0.00764798 -1.51375174] [ 0.07825446 0.99693199 0.0016882 0.14057617] [ 0.00749243 -0.00228146 0.99996933 0.1978878 ] [ 0. 0. 0. 1. ]] SLAMing on 3.360418555 meters Centerline goodness [0,1] 0.3797256607561057 Centerline is valid? [False, False] Translation: X:-1.52, Y:0.14, Z:0.20 [[ 9.95553008e-01 -9.31415388e-02 -1.41018163e-02 -1.52378878e+00] [ 9.31688420e-02 9.95649488e-01 1.29029636e-03 1.44693151e-01] [ 1.39202860e-02 -2.59840832e-03 9.99899732e-01 2.04122675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3904185549999997 meters Centerline goodness [0,1] 0.3106183298035796 Centerline is valid? [False, False] Translation: X:-1.53, Y:0.15, Z:0.21 [[ 0.99265597 -0.1189815 -0.02185223 -1.53336418] [ 0.1191828 0.99283889 0.00814859 0.15468523] [ 0.02072622 -0.01069316 0.999728 0.21038044] [ 0. 0. 0. 1. ]] SLAMing on 3.420418555 meters Centerline goodness [0,1] 0.3844475838284789 Centerline is valid? [False, False] Translation: X:-1.52, Y:0.16, Z:0.22 [[ 0.99141978 -0.12881021 -0.02224303 -1.52489736] [ 0.12902144 0.9916068 0.00833192 0.1572588 ] [ 0.0209831 -0.01113026 0.99971787 0.2172727 ] [ 0. 0. 0. 1. ]] SLAMing on 3.4504185549999997 meters Centerline goodness [0,1] 0.33150696303675575 Centerline is valid? [False, False] Translation: X:-1.53, Y:0.15, Z:0.22 [[ 0.99108579 -0.13153245 -0.02116989 -1.52985644] [ 0.1317039 0.991265 0.00691314 0.15462293] [ 0.02007567 -0.00963967 0.99975199 0.221818 ] [ 0. 0. 0. 1. ]] SLAMing on 3.480418555 meters Centerline goodness [0,1] 0.3981494837925279 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.16, Z:0.23 [[ 0.99203031 -0.12418135 -0.0213276 -1.54507536] [ 0.12449513 0.99212045 0.01407058 0.16387801] [ 0.01941224 -0.01661363 0.99967352 0.23154731] [ 0. 0. 0. 1. ]] SLAMing on 3.5104185549999998 meters Centerline goodness [0,1] 0.34702931298975914 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.17, Z:0.24 [[ 0.99392142 -0.10885442 -0.01646 -1.56355699] [ 0.10906497 0.99395623 0.01248389 0.16788257] [ 0.01500159 -0.01420321 0.99978659 0.24098929] [ 0. 0. 0. 1. ]] SLAMing on 3.540418555 meters Centerline goodness [0,1] 0.3904319708150237 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.17, Z:0.25 [[ 0.99578658 -0.09153776 -0.00547073 -1.59230076] [ 0.09157513 0.99577341 0.00702246 0.16991505] [ 0.00480479 -0.00749385 0.99996038 0.24682632] [ 0. 0. 0. 1. ]] SLAMing on 3.570418555 meters Centerline goodness [0,1] 0.5912821258648273 Centerline is valid? [False, False] Translation: X:-1.64, Y:0.18, Z:0.26 [[ 9.97093538e-01 -7.61650402e-02 1.83362258e-03 -1.63519464e+00] [ 7.61697621e-02 9.97091316e-01 -2.66002618e-03 1.75806580e-01] [-1.62568815e-03 2.79196151e-03 9.99994781e-01 2.57553029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6004185549999996 meters Centerline goodness [0,1] 0.685208203853325 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.18, Z:0.26 [[ 0.99745297 -0.07116968 0.00473729 -1.66059223] [ 0.0711982 0.99744321 -0.00615259 0.17616698] [-0.0042873 0.0064742 0.99996985 0.26225112] [ 0. 0. 0. 1. ]] SLAMing on 3.630418555 meters Centerline goodness [0,1] 0.5103298521352497 Centerline is valid? [False, False] Translation: X:-1.69, Y:0.18, Z:0.27 [[ 0.9978907 -0.06431645 0.00880629 -1.68641687] [ 0.06438909 0.99789093 -0.00823002 0.178128 ] [-0.00825839 0.00877969 0.99992736 0.26598891] [ 0. 0. 0. 1. ]] SLAMing on 3.6604185549999997 meters Centerline goodness [0,1] 0.7495435241983464 Centerline is valid? [False, False] Translation: X:-1.72, Y:0.18, Z:0.27 [[ 0.99821638 -0.0582714 0.01298077 -1.71641268] [ 0.05841712 0.99823006 -0.0111441 0.18244039] [-0.01230841 0.01188253 0.99985364 0.27201846] [ 0. 0. 0. 1. ]] SLAMing on 3.690418555 meters Centerline goodness [0,1] 0.6859771155745802 Centerline is valid? [False, False] Translation: X:-1.74, Y:0.18, Z:0.27 [[ 0.99842704 -0.05380386 0.01576647 -1.73814624] [ 0.05404622 0.99842011 -0.01537143 0.18087925] [-0.01491452 0.01619937 0.99975754 0.27384267] [ 0. 0. 0. 1. ]] SLAMing on 3.7204185549999997 meters Centerline goodness [0,1] 0.7884383447702226 Centerline is valid? [False, False] Translation: X:-1.77, Y:0.17, Z:0.28 [[ 0.99908793 -0.03718431 0.0209911 -1.76672537] [ 0.0376705 0.99901943 -0.02326194 0.17444598] [-0.02010554 0.02403147 0.99950901 0.28002995] [ 0. 0. 0. 1. ]] SLAMing on 3.750418555 meters Centerline goodness [0,1] 0.6329479173107442 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.18, Z:0.28 [[ 0.99950065 -0.02412663 0.02040461 -1.78978708] [ 0.02453557 0.99949819 -0.02003451 0.17850247] [-0.019911 0.02052515 0.99959105 0.28262792] [ 0. 0. 0. 1. ]] SLAMing on 3.780418555 meters Centerline goodness [0,1] 0.48615845894771426 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.18, Z:0.29 [[ 0.99966944 -0.01394527 0.02159937 -1.8166121 ] [ 0.01436099 0.99971227 -0.01921275 0.17907046] [-0.02132523 0.01951659 0.99958208 0.28582699] [ 0. 0. 0. 1. ]] SLAMing on 3.810418555 meters Centerline goodness [0,1] 0.593993395227117 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.18, Z:0.29 [[ 0.99974892 -0.01703844 0.01455313 -1.87149735] [ 0.01731867 0.99966273 -0.01935164 0.17793801] [-0.0142185 0.01959882 0.99970682 0.28537511] [ 0. 0. 0. 1. ]] SLAMing on 3.840418555 meters Centerline goodness [0,1] 0.6995967324992245 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.17, Z:0.28 [[ 0.99938836 -0.03249544 0.01292111 -1.90812137] [ 0.03270455 0.99933187 -0.01631614 0.17073274] [-0.01238228 0.01672874 0.99978339 0.28443627] [ 0. 0. 0. 1. ]] SLAMing on 3.8704185549999996 meters Centerline goodness [0,1] 0.6654182018034889 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.21, Z:0.28 [[ 0.99889979 -0.04593495 0.00944369 -1.84619336] [ 0.04595636 0.99894132 -0.00206184 0.21301619] [-0.00933898 0.00249357 0.99995328 0.28393464] [ 0. 0. 0. 1. ]] SLAMing on 3.900418555 meters Centerline goodness [0,1] 0.6640922665019051 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.21, Z:0.28 [[ 9.98297367e-01 -5.79413023e-02 6.72105777e-03 -1.88292341e+00] [ 5.79285842e-02 9.98318580e-01 2.07192644e-03 2.09068731e-01] [-6.82980696e-03 -1.67905735e-03 9.99975267e-01 2.82993272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9304185549999997 meters Centerline goodness [0,1] 0.7257805089289396 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.21, Z:0.29 [[ 0.99781098 -0.06600179 0.00412552 -1.90446966] [ 0.06599022 0.99781611 0.0028816 0.20682516] [-0.0043067 -0.00260305 0.99998734 0.28509846] [ 0. 0. 0. 1. ]] SLAMing on 3.960418555 meters Centerline goodness [0,1] 0.6778546997980797 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.20, Z:0.29 [[ 9.98071095e-01 -6.16631405e-02 7.19348713e-03 -1.92500474e+00] [ 6.16653805e-02 9.98096875e-01 -8.98024018e-05 1.99184799e-01] [-7.17425953e-03 5.33218303e-04 9.99974123e-01 2.87111416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9904185549999998 meters Centerline goodness [0,1] 0.8185831622176591 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.19, Z:0.29 [[ 9.98852447e-01 -4.63093422e-02 1.22161231e-02 -1.96042268e+00] [ 4.63281588e-02 9.98925478e-01 -1.26169604e-03 1.91369017e-01] [-1.21445683e-02 1.82619867e-03 9.99924584e-01 2.85049794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.020418555 meters Centerline goodness [0,1] 0.8121872361457196 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.18, Z:0.29 [[ 0.99941835 -0.02982181 0.01654171 -1.98178221] [ 0.0299692 0.99951265 -0.00873507 0.17975834] [-0.01627315 0.00922573 0.99982502 0.28688187] [ 0. 0. 0. 1. ]] SLAMing on 4.050418555 meters Centerline goodness [0,1] 0.8570195981757673 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.17, Z:0.28 [[ 0.99967944 -0.01446784 0.02077719 -2.01521151] [ 0.01468335 0.99983958 -0.01025749 0.17066689] [-0.02062545 0.01055928 0.99973151 0.2836544 ] [ 0. 0. 0. 1. ]] SLAMing on 4.0804185550000005 meters Centerline goodness [0,1] 0.7200276918064832 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.17, Z:0.29 [[ 0.99988435 -0.00588842 0.01402188 -2.04985518] [ 0.00598414 0.99995901 -0.00679429 0.16520531] [-0.0139813 0.00687741 0.9998786 0.28533381] [ 0. 0. 0. 1. ]] SLAMing on 4.110418555 meters Centerline goodness [0,1] 0.804508665794637 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.15, Z:0.29 [[ 0.99986722 -0.00371396 0.01586652 -2.07300476] [ 0.00389995 0.99992386 -0.0117074 0.15314758] [-0.01582183 0.01176772 0.99980558 0.28904845] [ 0. 0. 0. 1. ]] SLAMing on 4.140418555 meters Centerline goodness [0,1] 0.8904697100911377 Centerline is valid? [False, False] Translation: X:-2.10, Y:0.14, Z:0.29 [[ 9.99792652e-01 7.14817298e-05 2.03628910e-02 -2.09870710e+00] [ 2.42100361e-04 9.99881433e-01 -1.53968028e-02 1.42670124e-01] [-2.03615772e-02 1.53985401e-02 9.99674092e-01 2.91564374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.170418555 meters Centerline goodness [0,1] 0.7637593331816583 Centerline is valid? [False, False] Translation: X:-2.12, Y:0.14, Z:0.29 [[ 0.99982994 -0.00720977 0.01697364 -2.11896901] [ 0.00745163 0.999871 -0.01422892 0.14111 ] [-0.01686886 0.01435298 0.99975469 0.29223155] [ 0. 0. 0. 1. ]] SLAMing on 4.200418555000001 meters Centerline goodness [0,1] 0.7780293984436117 Centerline is valid? [False, False] Translation: X:-2.14, Y:0.14, Z:0.30 [[ 0.99981017 -0.01516002 0.01223897 -2.14481614] [ 0.0153086 0.99980913 -0.01213898 0.13754381] [-0.01205261 0.01232403 0.99985142 0.29741539] [ 0. 0. 0. 1. ]] SLAMing on 4.230418555 meters Centerline goodness [0,1] 0.6986946767285336 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.14, Z:0.30 [[ 0.99982669 -0.0135998 0.01271384 -2.15259998] [ 0.01373282 0.99985126 -0.01043427 0.13620725] [-0.01257005 0.01060706 0.99986473 0.30313724] [ 0. 0. 0. 1. ]] SLAMing on 4.260418555 meters Centerline goodness [0,1] 0.7480811627337307 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.13, Z:0.30 [[ 0.99983331 -0.00869293 0.01605599 -2.17423064] [ 0.00892141 0.99985917 -0.01421415 0.13189785] [-0.01593017 0.01435502 0.99977006 0.30444003] [ 0. 0. 0. 1. ]] SLAMing on 4.2904185550000005 meters Centerline goodness [0,1] 0.6617386883579055 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.13, Z:0.31 [[ 0.9998378 -0.00537069 0.01719086 -2.19914955] [ 0.00570479 0.99979466 -0.01944479 0.12533728] [-0.0170829 0.01953971 0.99966313 0.30829557] [ 0. 0. 0. 1. ]] SLAMing on 4.320418555000001 meters Centerline goodness [0,1] 0.8260806916426513 Centerline is valid? [False, False] Translation: X:-2.23, Y:0.12, Z:0.31 [[ 0.99984156 0.00344548 0.01746406 -2.22540173] [-0.00309043 0.99978882 -0.02031682 0.12217657] [-0.01753037 0.02025963 0.99964105 0.31209719] [ 0. 0. 0. 1. ]] SLAMing on 4.350418555 meters Centerline goodness [0,1] 0.7438527960526315 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.13, Z:0.31 [[ 0.99979459 0.00373869 0.01991988 -2.24060009] [-0.00348944 0.99991538 -0.01253247 0.12867656] [-0.01996505 0.01246039 0.99972303 0.30817753] [ 0. 0. 0. 1. ]] SLAMing on 4.380418555 meters Centerline goodness [0,1] 0.9105204276124969 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.12, Z:0.31 [[ 0.99972995 0.00935826 0.02127095 -2.26194455] [-0.00901026 0.99982495 -0.01639774 0.12476306] [-0.02142068 0.01620166 0.99963927 0.30905259] [ 0. 0. 0. 1. ]] SLAMing on 4.410418555000001 meters Centerline goodness [0,1] 0.9069467213114755 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.12, Z:0.31 [[ 0.99964734 0.01364949 0.02277904 -2.30163126] [-0.01334326 0.99981927 -0.01354186 0.12216533] [-0.02295976 0.01323314 0.99964881 0.30925964] [ 0. 0. 0. 1. ]] SLAMing on 4.440418555 meters Centerline goodness [0,1] 0.8390328010181042 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.12, Z:0.31 [[ 0.99968409 0.0109308 0.02263278 -2.32286301] [-0.01073304 0.99990332 -0.00884086 0.12451777] [-0.02272723 0.00859515 0.99970475 0.30966037] [ 0. 0. 0. 1. ]] SLAMing on 4.470418555 meters Centerline goodness [0,1] 0.8744773321798596 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.13, Z:0.31 [[ 0.99966902 0.00715514 0.02471151 -2.34483737] [-0.00703014 0.99996207 -0.00514163 0.12672171] [-0.02474737 0.0049662 0.9996814 0.30941235] [ 0. 0. 0. 1. ]] SLAMing on 4.500418555 meters Centerline goodness [0,1] 0.7535891038488282 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:0.32 [[ 0.99959367 0.0114534 0.0261019 -2.37383322] [-0.01120172 0.99988955 -0.00976805 0.1228741 ] [-0.0262109 0.0094717 0.99961156 0.31510996] [ 0. 0. 0. 1. ]] SLAMing on 4.530418555000001 meters Centerline goodness [0,1] 0.7906030941529909 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.13, Z:0.31 [[ 0.99952552 0.00867829 0.02955371 -2.39818794] [-0.00848553 0.99994194 -0.00664136 0.12680921] [-0.02960963 0.00638743 0.99954113 0.31444859] [ 0. 0. 0. 1. ]] SLAMing on 4.560418555 meters Centerline goodness [0,1] 0.9030397569836416 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.13, Z:0.31 [[ 0.99937899 0.00954274 0.0339201 -2.43214356] [-0.00930077 0.99993021 -0.00728432 0.12530561] [-0.03398725 0.00696432 0.999398 0.31128455] [ 0. 0. 0. 1. ]] SLAMing on 4.590418555 meters Centerline goodness [0,1] 0.9267695976645217 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.12, Z:0.31 [[ 0.99936674 0.01223018 0.03341464 -2.47635763] [-0.01200067 0.99990306 -0.00706032 0.12284482] [-0.03349775 0.00665485 0.99941664 0.31166189] [ 0. 0. 0. 1. ]] SLAMing on 4.6204185550000005 meters Centerline goodness [0,1] 0.8848916446681809 Centerline is valid? [False, False] Translation: X:-2.51, Y:0.12, Z:0.31 [[ 0.99926685 0.01478937 0.0353134 -2.51143609] [-0.01458708 0.99987573 -0.00597908 0.11861456] [-0.03539744 0.00545958 0.9993584 0.31011233] [ 0. 0. 0. 1. ]] SLAMing on 4.650418555 meters Centerline goodness [0,1] 0.8157393955515541 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.12, Z:0.31 [[ 0.99936109 0.01113664 0.03396144 -2.5365957 ] [-0.01100553 0.99993126 -0.00404488 0.11901009] [-0.03400415 0.00366853 0.99941496 0.31057864] [ 0. 0. 0. 1. ]] SLAMing on 4.680418555 meters Centerline goodness [0,1] 0.8458277006267666 Centerline is valid? [False, False] Translation: X:-2.57, Y:0.12, Z:0.31 [[ 9.99511380e-01 -4.59298969e-04 3.12536541e-02 -2.57279707e+00] [ 4.94865286e-04 9.99999239e-01 -1.13026353e-03 1.19948840e-01] [-3.12531112e-02 1.14517761e-03 9.99510846e-01 3.09350712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.710418555 meters Centerline goodness [0,1] 0.820020429009193 Centerline is valid? [False, False] Translation: X:-2.58, Y:0.11, Z:0.32 [[ 0.99947291 -0.00625512 0.03185553 -2.5799762 ] [ 0.00646242 0.99995858 -0.00640886 0.11484677] [-0.03181412 0.00661135 0.99947194 0.31508297] [ 0. 0. 0. 1. ]] SLAMing on 4.740418555000001 meters Centerline goodness [0,1] 0.8557927824951013 Centerline is valid? [False, False] Translation: X:-2.59, Y:0.11, Z:0.32 [[ 0.9994324 -0.00758634 0.03282275 -2.58721662] [ 0.00784483 0.99993917 -0.00775384 0.11250084] [-0.03276193 0.00800693 0.99943111 0.31973868] [ 0. 0. 0. 1. ]] SLAMing on 4.770418555 meters Centerline goodness [0,1] 0.8557927824951013 Centerline is valid? [False, False] Translation: X:-2.59, Y:0.11, Z:0.32 [[ 0.9994324 -0.00758634 0.03282275 -2.58721662] [ 0.00784483 0.99993917 -0.00775384 0.11250084] [-0.03276193 0.00800693 0.99943111 0.31973868] [ 0. 0. 0. 1. ]] SLAMing on 4.800418555 meters Centerline goodness [0,1] 0.7810826767645921 Centerline is valid? [False, False] Translation: X:-2.61, Y:0.11, Z:0.32 [[ 9.99427561e-01 -4.36390534e-04 3.38283910e-02 -2.61498203e+00] [ 7.67279381e-04 9.99951988e-01 -9.76903038e-03 1.08480585e-01] [-3.38225037e-02 9.78939404e-03 9.99379911e-01 3.23692162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8304185550000005 meters Centerline goodness [0,1] 0.7705613643284945 Centerline is valid? [False, False] Translation: X:-2.64, Y:0.10, Z:0.33 [[ 0.99935019 0.00384501 0.03583871 -2.63818573] [-0.00331975 0.99988638 -0.01470403 0.10178127] [-0.03589118 0.0145755 0.99924941 0.32547697] [ 0. 0. 0. 1. ]] SLAMing on 4.860418555 meters Centerline goodness [0,1] 0.8943903835145964 Centerline is valid? [False, False] Translation: X:-2.67, Y:0.10, Z:0.32 [[ 0.99931445 0.0057667 0.03657018 -2.67029142] [-0.00524474 0.99988324 -0.01435296 0.09690329] [-0.03664868 0.01415132 0.99922801 0.32242796] [ 0. 0. 0. 1. ]] SLAMing on 4.890418555 meters Centerline goodness [0,1] 0.8244447156455943 Centerline is valid? [False, False] Translation: X:-2.71, Y:0.09, Z:0.32 [[ 0.99939177 0.00851182 0.03381761 -2.70654881] [-0.00811674 0.9998974 -0.01180283 0.0924207 ] [-0.0339146 0.01152117 0.99935833 0.32140163] [ 0. 0. 0. 1. ]] SLAMing on 4.920418555 meters Centerline goodness [0,1] 0.8666462979936858 Centerline is valid? [False, False] Translation: X:-2.76, Y:0.08, Z:0.32 [[ 0.99942078 0.00858374 0.03293059 -2.75878965] [-0.00828591 0.99992363 -0.0091699 0.08454176] [-0.03300679 0.00889173 0.99941557 0.31921736] [ 0. 0. 0. 1. ]] SLAMing on 4.950418555000001 meters Centerline goodness [0,1] 0.8237355829971065 Centerline is valid? [False, False] Translation: X:-2.78, Y:0.08, Z:0.32 [[ 0.99949168 0.00619725 0.03127245 -2.78305977] [-0.00604436 0.99996933 -0.00498098 0.08017788] [-0.03130235 0.00478942 0.99949849 0.31894315] [ 0. 0. 0. 1. ]] SLAMing on 4.980418555 meters Centerline goodness [0,1] 0.8062520285621552 Centerline is valid? [False, False] Translation: X:-2.83, Y:0.07, Z:0.32 [[ 9.99579678e-01 5.29398742e-03 2.85033526e-02 -2.82637702e+00] [-5.27799426e-03 9.99985869e-01 -6.36304101e-04 6.60321458e-02] [-2.85063184e-02 4.85596117e-04 9.99593494e-01 3.16745287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.010418555 meters Centerline goodness [0,1] 0.8214671091475456 Centerline is valid? [False, False] Translation: X:-2.85, Y:0.06, Z:0.32 [[ 9.99638805e-01 1.80158142e-03 2.68144323e-02 -2.84724520e+00] [-1.90033674e-03 9.99991504e-01 3.65788954e-03 6.08557615e-02] [-2.68076145e-02 -3.70752478e-03 9.99633736e-01 3.16902660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0404185550000005 meters Centerline goodness [0,1] 0.8305240764226978 Centerline is valid? [False, False] Translation: X:-2.86, Y:0.05, Z:0.32 [[ 9.99631800e-01 4.67397546e-04 2.71301643e-02 -2.85553820e+00] [-5.14679763e-04 9.99998361e-01 1.73583461e-03 5.43046115e-02] [-2.71293085e-02 -1.74915882e-03 9.99630402e-01 3.21662549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.070418555 meters Centerline goodness [0,1] 0.8940447307794247 Centerline is valid? [False, False] Translation: X:-2.86, Y:0.05, Z:0.33 [[ 9.99615551e-01 -2.35318548e-04 2.77253540e-02 -2.86233159e+00] [ 2.16254437e-04 9.99999738e-01 6.90602094e-04 5.12360607e-02] [-2.77255093e-02 -6.84340862e-04 9.99615340e-01 3.25478009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.100418555 meters Centerline goodness [0,1] 0.8406107742870558 Centerline is valid? [False, False] Translation: X:-2.89, Y:0.04, Z:0.33 [[ 9.99554529e-01 5.00905437e-03 2.94219782e-02 -2.88578169e+00] [-4.92511699e-03 9.99983595e-01 -2.92465709e-03 4.36845412e-02] [-2.94361453e-02 2.77844755e-03 9.99562801e-01 3.29639667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.130418555 meters Centerline goodness [0,1] 0.8685306972754381 Centerline is valid? [False, False] Translation: X:-2.89, Y:0.04, Z:0.33 [[ 9.99515668e-01 6.17540318e-03 3.05007130e-02 -2.89415716e+00] [-6.09415307e-03 9.99977632e-01 -2.75611818e-03 4.47674019e-02] [-3.05170509e-02 2.56890729e-03 9.99530945e-01 3.34463122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.160418555000001 meters Centerline goodness [0,1] 0.8668312488523453 Centerline is valid? [False, False] Translation: X:-2.90, Y:0.05, Z:0.34 [[ 9.99465717e-01 7.31041376e-03 3.18565164e-02 -2.90293717e+00] [-7.21991745e-03 9.99969570e-01 -2.95485335e-03 4.76132376e-02] [-3.18771482e-02 2.72327320e-03 9.99488085e-01 3.39146651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.190418555 meters Centerline goodness [0,1] 0.8870736306985897 Centerline is valid? [False, False] Translation: X:-2.91, Y:0.05, Z:0.34 [[ 0.99944527 0.00577974 0.03279864 -2.9114786 ] [-0.00561303 0.99997087 -0.00517282 0.04792099] [-0.03282758 0.00498585 0.99944859 0.34438054] [ 0. 0. 0. 1. ]] SLAMing on 5.220418555 meters Centerline goodness [0,1] 0.8439169139465875 Centerline is valid? [False, False] Translation: X:-2.94, Y:0.05, Z:0.35 [[ 9.99418214e-01 8.21533621e-04 3.40963276e-02 -2.94083840e+00] [-6.58305755e-04 9.99988272e-01 -4.79820663e-03 5.11498918e-02] [-3.40998696e-02 4.77296929e-03 9.99407033e-01 3.47742844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.250418555 meters Centerline goodness [0,1] 0.8650626545922853 Centerline is valid? [False, False] Translation: X:-2.96, Y:0.06, Z:0.35 [[ 9.99326931e-01 -2.59446140e-03 3.65917186e-02 -2.96457043e+00] [ 2.66924259e-03 9.99994448e-01 -1.99495997e-03 5.56136835e-02] [-3.65863396e-02 2.09128940e-03 9.99328308e-01 3.48410204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.280418555 meters Centerline goodness [0,1] 0.8741482155494894 Centerline is valid? [False, False] Translation: X:-2.99, Y:0.05, Z:0.35 [[ 9.99296652e-01 1.63165933e-04 3.74989830e-02 -2.98998278e+00] [ 1.43410853e-04 9.99966592e-01 -8.17276743e-03 5.03286653e-02] [-3.74990638e-02 8.17239690e-03 9.99263245e-01 3.52734691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.310418555 meters Centerline goodness [0,1] 0.8353463551744505 Centerline is valid? [False, False] Translation: X:-3.04, Y:0.05, Z:0.35 [[ 9.99381935e-01 -3.24341114e-04 3.51517229e-02 -3.03572452e+00] [ 6.16229244e-04 9.99965421e-01 -8.29314900e-03 4.68059377e-02] [-3.51478176e-02 8.30968481e-03 9.99347577e-01 3.52839777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.340418555 meters Centerline goodness [0,1] 0.8298750986862082 Centerline is valid? [False, False] Translation: X:-3.07, Y:0.04, Z:0.35 [[ 9.99412031e-01 1.95315522e-03 3.42312418e-02 -3.06663115e+00] [-1.62148084e-03 9.99951500e-01 -9.71431395e-03 4.05910145e-02] [-3.42485552e-02 9.65309693e-03 9.99366727e-01 3.51964637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3704185550000005 meters Centerline goodness [0,1] 0.8822243559623282 Centerline is valid? [False, False] Translation: X:-3.11, Y:0.03, Z:0.35 [[ 9.99514666e-01 2.19688509e-03 3.10742185e-02 -3.10530188e+00] [-1.88845383e-03 9.99948699e-01 -9.95150003e-03 3.43540047e-02] [-3.10944867e-02 9.88798800e-03 9.99467539e-01 3.48249919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.400418555 meters Centerline goodness [0,1] 0.8754600353795164 Centerline is valid? [False, False] Translation: X:-3.12, Y:0.03, Z:0.35 [[ 9.99657732e-01 4.10880999e-05 2.61613782e-02 -3.12183092e+00] [ 8.42675389e-05 9.99988522e-01 -4.79050929e-03 3.48530414e-02] [-2.61612747e-02 4.79107421e-03 9.99646254e-01 3.46459145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.430418555 meters Centerline goodness [0,1] 0.8879529431054272 Centerline is valid? [False, False] Translation: X:-3.14, Y:0.02, Z:0.35 [[ 0.99963652 0.00442164 0.02659484 -3.14240002] [-0.00419162 0.99995338 -0.00869885 0.02228633] [-0.02663206 0.00858421 0.99960845 0.34836886] [ 0. 0. 0. 1. ]] SLAMing on 5.460418555 meters Centerline goodness [0,1] 0.8576971519115915 Centerline is valid? [False, False] Translation: X:-3.18, Y:0.01, Z:0.35 [[ 0.99970265 0.00801927 0.0230285 -3.17532657] [-0.00784108 0.9999387 -0.00781756 0.01145347] [-0.02308978 0.00763466 0.99970424 0.34736145] [ 0. 0. 0. 1. ]] SLAMing on 5.490418555000001 meters Centerline goodness [0,1] 0.8667208286787854 Centerline is valid? [False, False] Translation: X:-3.18, Y:0.01, Z:0.35 [[ 0.99969685 0.00829179 0.02318296 -3.17790455] [-0.00811945 0.99993877 -0.00751819 0.01006288] [-0.02324388 0.00732768 0.99970297 0.34847908] [ 0. 0. 0. 1. ]] SLAMing on 5.520418555 meters Centerline goodness [0,1] 0.8697175924039284 Centerline is valid? [False, False] Translation: X:-3.22, Y:-0.00, Z:0.35 [[ 9.99695770e-01 1.22699748e-02 2.13966281e-02 -3.21590067e+00] [-1.21363081e-02 9.99906089e-01 -6.36580097e-03 -2.58246633e-04] [-2.14727270e-02 6.10418823e-03 9.99750799e-01 3.47743549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.550418555 meters Centerline goodness [0,1] 0.852361358472026 Centerline is valid? [False, False] Translation: X:-3.25, Y:-0.01, Z:0.35 [[ 0.9995908 0.01615008 0.02360968 -3.248053 ] [-0.01601645 0.99985469 -0.00583794 -0.00681803] [-0.02370053 0.00545741 0.99970421 0.34510729] [ 0. 0. 0. 1. ]] SLAMing on 5.5804185550000005 meters Centerline goodness [0,1] 0.790957705396208 Centerline is valid? [False, False] Translation: X:-3.30, Y:-0.02, Z:0.34 [[ 0.99964043 0.01453681 0.02253219 -3.29554071] [-0.01442204 0.99988223 -0.00524772 -0.01741701] [-0.02260582 0.00492088 0.99973235 0.34129578] [ 0. 0. 0. 1. ]] SLAMing on 5.610418555 meters Centerline goodness [0,1] 0.8815454489908144 Centerline is valid? [False, False] Translation: X:-3.32, Y:-0.02, Z:0.34 [[ 9.99770342e-01 8.87622521e-03 1.95057919e-02 -3.32031707e+00] [-8.80974047e-03 9.99955097e-01 -3.49175270e-03 -2.30552773e-02] [-1.95359096e-02 3.31910982e-03 9.99803647e-01 3.41627682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.640418555 meters Centerline goodness [0,1] 0.8523093886552048 Centerline is valid? [False, False] Translation: X:-3.35, Y:-0.03, Z:0.34 [[ 9.99877954e-01 3.22549575e-03 1.52863869e-02 -3.34520596e+00] [-3.20687749e-03 9.99994086e-01 -1.24231983e-03 -3.16443016e-02] [-1.52903036e-02 1.19314664e-03 9.99882385e-01 3.42292515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.670418555 meters Centerline goodness [0,1] 0.8584296500212538 Centerline is valid? [False, False] Translation: X:-3.37, Y:-0.04, Z:0.34 [[ 9.99944209e-01 -3.62951324e-03 9.91995729e-03 -3.36693743e+00] [ 3.61645404e-03 9.99992571e-01 1.33407807e-03 -3.81450958e-02] [-9.92472564e-03 -1.29812857e-03 9.99949906e-01 3.42141295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.700418555000001 meters Centerline goodness [0,1] 0.8675572208194184 Centerline is valid? [False, False] Translation: X:-3.40, Y:-0.05, Z:0.34 [[ 9.99801780e-01 -1.97396688e-02 2.59744056e-03 -3.39536291e+00] [ 1.97370384e-02 9.99804671e-01 1.03446002e-03 -4.85856357e-02] [-2.61735310e-03 -9.82989188e-04 9.99996092e-01 3.40693912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.730418555 meters Centerline goodness [0,1] 0.8737806377571933 Centerline is valid? [False, False] Translation: X:-3.41, Y:-0.05, Z:0.34 [[ 9.99672849e-01 -2.55735975e-02 -4.31528617e-04 -3.41238238e+00] [ 2.55751622e-02 9.99664385e-01 4.12643266e-03 -5.13594187e-02] [ 3.25856062e-04 -4.13611911e-03 9.99991393e-01 3.42487713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.760418555 meters Centerline goodness [0,1] 0.8963240871722328 Centerline is valid? [False, False] Translation: X:-3.44, Y:-0.06, Z:0.35 [[ 9.99778088e-01 -2.10640132e-02 2.88046515e-04 -3.43551633e+00] [ 2.10639219e-02 9.99778081e-01 3.16563042e-04 -5.89443085e-02] [-2.94650680e-04 -3.10425404e-04 9.99999908e-01 3.47474167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7904185550000005 meters Centerline goodness [0,1] 0.8791041132674234 Centerline is valid? [False, False] Translation: X:-3.45, Y:-0.06, Z:0.35 [[ 9.99923386e-01 -1.21816883e-02 2.19759532e-03 -3.45313052e+00] [ 1.21833507e-02 9.99925503e-01 -7.44659976e-04 -6.12855671e-02] [-2.18836039e-03 7.71376999e-04 9.99997308e-01 3.46902391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.820418555 meters Centerline goodness [0,1] 0.8939285932503717 Centerline is valid? [False, False] Translation: X:-3.48, Y:-0.07, Z:0.35 [[ 0.99994078 0.00959421 0.00513684 -3.48391903] [-0.0095607 0.9999331 -0.00651011 -0.06871608] [-0.00519896 0.00646061 0.99996562 0.35208743] [ 0. 0. 0. 1. ]] SLAMing on 5.850418555 meters Centerline goodness [0,1] 0.906433947945936 Centerline is valid? [False, False] Translation: X:-3.51, Y:-0.07, Z:0.35 [[ 0.99979758 0.01926013 0.0058186 -3.5072002 ] [-0.01921794 0.99978924 -0.00722133 -0.0723013 ] [-0.00595646 0.00710805 0.999957 0.35363156] [ 0. 0. 0. 1. ]] SLAMing on 5.880418555 meters Centerline goodness [0,1] 0.8945222877745002 Centerline is valid? [False, False] Translation: X:-3.54, Y:-0.07, Z:0.35 [[ 0.99971639 0.02301248 0.00612902 -3.53656615] [-0.02296794 0.99970998 -0.00724111 -0.07454591] [-0.00629388 0.00709828 0.999955 0.34919684] [ 0. 0. 0. 1. ]] SLAMing on 5.910418555000001 meters Centerline goodness [0,1] 0.8561370855165995 Centerline is valid? [False, False] Translation: X:-3.57, Y:-0.08, Z:0.35 [[ 0.99981037 0.01722521 0.00908376 -3.57354771] [-0.01710366 0.99976536 -0.01329226 -0.07560447] [-0.00931059 0.01313437 0.99987039 0.34509774] [ 0. 0. 0. 1. ]] SLAMing on 5.940418555 meters Centerline goodness [0,1] 0.9267994373891596 Centerline is valid? [False, False] Translation: X:-3.61, Y:-0.07, Z:0.34 [[ 0.99992099 0.00925292 0.00850852 -3.60895707] [-0.00918007 0.99992121 -0.00856162 -0.07270201] [-0.00858707 0.00848284 0.99992715 0.33924482] [ 0. 0. 0. 1. ]] SLAMing on 5.970418555 meters Centerline goodness [0,1] 0.9330705428266404 Centerline is valid? [False, False] Translation: X:-3.65, Y:-0.08, Z:0.34 [[ 0.99992724 0.00876461 0.00828778 -3.64572521] [-0.00867913 0.99990934 -0.01029443 -0.07926347] [-0.00837725 0.01022176 0.99991266 0.33761482] [ 0. 0. 0. 1. ]] SLAMing on 6.000418555 meters Centerline goodness [0,1] 0.8684022751829729 Centerline is valid? [False, False] Translation: X:-3.64, Y:-0.07, Z:0.33 [[ 9.99953553e-01 -1.96248673e-03 9.43613048e-03 -3.63518733e+00] [ 2.01755030e-03 9.99980973e-01 -5.82942377e-03 -6.80810098e-02] [-9.42451078e-03 5.84819088e-03 9.99938487e-01 3.30287200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.030418555 meters Centerline goodness [0,1] 0.8891821120248762 Centerline is valid? [False, False] Translation: X:-3.67, Y:-0.07, Z:0.33 [[ 9.99980839e-01 1.11720445e-06 6.19050503e-03 -3.67122976e+00] [ 3.14784601e-05 9.99986138e-01 -5.26532904e-03 -7.29409253e-02] [-6.19042509e-03 5.26542301e-03 9.99966976e-01 3.26697709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.060418555 meters Centerline goodness [0,1] 0.9184092683127234 Centerline is valid? [False, False] Translation: X:-3.71, Y:-0.08, Z:0.32 [[ 9.99996305e-01 2.25803739e-04 2.70899116e-03 -3.70566701e+00] [-2.11098809e-04 9.99985250e-01 -5.42725250e-03 -8.23712573e-02] [-2.71017670e-03 5.42666058e-03 9.99981603e-01 3.23766785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.090418555 meters Centerline goodness [0,1] 0.9377293883660371 Centerline is valid? [False, False] Translation: X:-3.75, Y:-0.09, Z:0.32 [[ 9.99996548e-01 -1.60009044e-03 -2.08397564e-03 -3.74600921e+00] [ 1.59037919e-03 9.99987909e-01 -4.65331326e-03 -9.29292057e-02] [ 2.09139617e-03 4.64998289e-03 9.99987002e-01 3.18533075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1204185550000005 meters Centerline goodness [0,1] 0.9287363906301551 Centerline is valid? [False, False] Translation: X:-3.75, Y:-0.10, Z:0.32 [[ 9.99996493e-01 -2.62640532e-05 -2.64813561e-03 -3.75298520e+00] [ 1.77234305e-05 9.99994799e-01 -3.22511743e-03 -9.71950567e-02] [ 2.64820654e-03 3.22505918e-03 9.99991293e-01 3.21631375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.150418555 meters Centerline goodness [0,1] 0.9478606596213667 Centerline is valid? [False, False] Translation: X:-3.77, Y:-0.11, Z:0.32 [[ 9.99962265e-01 8.23551468e-03 -2.76492021e-03 -3.77359703e+00] [-8.24744378e-03 9.99956610e-01 -4.33112925e-03 -1.07473668e-01] [ 2.72913116e-03 4.35376934e-03 9.99986798e-01 3.22255819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.180418555 meters Centerline goodness [0,1] 0.8130598151721337 Centerline is valid? [False, False] Translation: X:-3.76, Y:-0.10, Z:0.32 [[ 9.99996829e-01 2.50439096e-03 2.66386105e-04 -3.75733668e+00] [-2.50383104e-03 9.99994698e-01 -2.08190159e-03 -1.03799505e-01] [-2.71598589e-04 2.08122800e-03 9.99997797e-01 3.16737878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.210418555 meters Centerline goodness [0,1] 0.9114474385792215 Centerline is valid? [False, False] Translation: X:-3.79, Y:-0.12, Z:0.32 [[ 9.99969739e-01 7.36712665e-03 -2.49939025e-03 -3.79078943e+00] [-7.37088728e-03 9.99971711e-01 -1.49876112e-03 -1.18229504e-01] [ 2.48827798e-03 1.51713849e-03 9.99995753e-01 3.15020322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.240418555000001 meters Centerline goodness [0,1] 0.92782302623501 Centerline is valid? [False, False] Translation: X:-3.83, Y:-0.13, Z:0.31 [[ 9.99954019e-01 7.32357532e-03 -6.19080662e-03 -3.82704616e+00] [-7.33150159e-03 9.99972332e-01 -1.25860489e-03 -1.33965972e-01] [ 6.18141785e-03 1.30393492e-03 9.99980045e-01 3.12497401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.270418555 meters Centerline goodness [0,1] 0.8245783827193542 Centerline is valid? [False, False] Translation: X:-3.88, Y:-0.15, Z:0.31 [[ 9.99901228e-01 -5.37382357e-03 -1.29867800e-02 -3.88237020e+00] [ 5.42255036e-03 9.99978380e-01 3.71973462e-03 -1.53415040e-01] [ 1.29665100e-02 -3.78978868e-03 9.99908749e-01 3.07399884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.300418555 meters Centerline goodness [0,1] 0.9031765361514169 Centerline is valid? [False, False] Translation: X:-3.92, Y:-0.16, Z:0.30 [[ 0.9997105 -0.01664748 -0.01737173 -3.91647789] [ 0.01677351 0.99983386 0.00713468 -0.16484917] [ 0.01725007 -0.007424 0.99982364 0.30477377] [ 0. 0. 0. 1. ]] SLAMing on 6.3304185550000005 meters Centerline goodness [0,1] 0.9358172087278716 Centerline is valid? [False, False] Translation: X:-3.95, Y:-0.18, Z:0.30 [[ 0.99938298 -0.02639011 -0.02317806 -3.94908537] [ 0.02663672 0.99959112 0.01039627 -0.176353 ] [ 0.02289422 -0.01100724 0.9996773 0.30267251] [ 0. 0. 0. 1. ]] SLAMing on 6.360418555 meters Centerline goodness [0,1] 0.9323367264768434 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.19, Z:0.30 [[ 0.9992466 -0.02806962 -0.02680159 -3.9815264 ] [ 0.02827154 0.99957446 0.00718504 -0.19186395] [ 0.02658851 -0.00793735 0.99961495 0.30246774] [ 0. 0. 0. 1. ]] SLAMing on 6.390418555 meters Centerline goodness [0,1] 0.9423172448050335 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.21, Z:0.30 [[ 0.9992114 -0.02541484 -0.03050675 -4.02240682] [ 0.02562152 0.99965121 0.00640333 -0.20916158] [ 0.03033337 -0.00717991 0.99951405 0.30236666] [ 0. 0. 0. 1. ]] SLAMing on 6.420418555 meters Centerline goodness [0,1] 0.9546177193236016 Centerline is valid? [False, True] Translation: X:-4.05, Y:-0.22, Z:0.30 [[ 0.99929762 -0.01948994 -0.03200635 -4.04739948] [ 0.01963375 0.99979848 0.00418488 -0.22233597] [ 0.03191834 -0.00481034 0.9994789 0.30487791] [ 0. 0. 0. 1. ]] SLAMing on 6.450418555000001 meters Centerline goodness [0,1] 0.7765931272041335 Centerline is valid? [True, False] Translation: X:-4.07, Y:-0.23, Z:0.31 [[ 9.99412476e-01 -1.08935037e-02 -3.24966949e-02 -4.07099037e+00] [ 1.10263823e-02 9.99931553e-01 3.91257953e-03 -2.34189163e-01] [ 3.24518489e-02 -4.26860178e-03 9.99464185e-01 3.05523500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.480418555 meters Centerline goodness [0,1] 0.8402809150273112 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.26, Z:0.31 [[ 9.99377404e-01 6.06750009e-03 -3.47561443e-02 -4.11640271e+00] [-6.09898076e-03 9.99981081e-01 -7.99808562e-04 -2.60169863e-01] [ 3.47506339e-02 1.01128766e-03 9.99395503e-01 3.05547267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.510418555 meters Centerline goodness [0,1] 0.8569415081042988 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.28, Z:0.30 [[ 0.99922339 0.01952687 -0.03422455 -4.15106816] [-0.019737 0.99978831 -0.00581258 -0.28026724] [ 0.0341038 0.00648356 0.99939727 0.30397922] [ 0. 0. 0. 1. ]] SLAMing on 6.5404185550000005 meters Centerline goodness [0,1] 0.9264343030127102 Centerline is valid? [False, False] Translation: X:-4.18, Y:-0.29, Z:0.30 [[ 0.99887501 0.02691786 -0.03904029 -4.18267029] [-0.027129 0.99961999 -0.00488861 -0.2916442 ] [ 0.03889386 0.00594224 0.99922568 0.30104016] [ 0. 0. 0. 1. ]] SLAMing on 6.570418555 meters Centerline goodness [0,1] 0.7038841014112651 Centerline is valid? [False, False] Translation: X:-4.22, Y:-0.31, Z:0.30 [[ 0.99857069 0.02714389 -0.04604113 -4.21794331] [-0.02748607 0.99959895 -0.00681519 -0.30801819] [ 0.04583767 0.00807093 0.9989163 0.29752712] [ 0. 0. 0. 1. ]] SLAMing on 6.600418555 meters Centerline goodness [0,1] 0.7565465171904574 Centerline is valid? [False, False] Translation: X:-4.24, Y:-0.31, Z:0.29 [[ 9.98729126e-01 1.64271626e-02 -4.76474610e-02 -4.24283007e+00] [-1.65310324e-02 9.99861757e-01 -1.78670282e-03 -3.09443652e-01] [ 4.76115236e-02 2.57209387e-03 9.98862617e-01 2.90281291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.630418555 meters Centerline goodness [0,1] 0.7741024522934447 Centerline is valid? [False, False] Translation: X:-4.25, Y:-0.31, Z:0.29 [[ 9.98734965e-01 3.55860626e-03 -5.01578018e-02 -4.24839277e+00] [-3.46440513e-03 9.99992068e-01 1.96490862e-03 -3.10298377e-01] [ 5.01643963e-02 -1.78865600e-03 9.98739372e-01 2.90854710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.660418555000001 meters Centerline goodness [0,1] 0.8248892033041343 Centerline is valid? [False, False] Translation: X:-4.26, Y:-0.31, Z:0.29 [[ 9.98904307e-01 -6.42304452e-03 -4.63565548e-02 -4.26290552e+00] [ 6.46039456e-03 9.99978916e-01 6.55934235e-04 -3.13727583e-01] [ 4.63513643e-02 -9.54697167e-04 9.98924742e-01 2.87266162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.690418555 meters Centerline goodness [0,1] 0.8248892033041343 Centerline is valid? [False, False] Translation: X:-4.26, Y:-0.31, Z:0.29 [[ 9.98904307e-01 -6.42304452e-03 -4.63565548e-02 -4.26290552e+00] [ 6.46039456e-03 9.99978916e-01 6.55934235e-04 -3.13727583e-01] [ 4.63513643e-02 -9.54697167e-04 9.98924742e-01 2.87266162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.720418555 meters Centerline goodness [0,1] 0.7299148119882015 Centerline is valid? [False, False] Translation: X:-4.27, Y:-0.32, Z:0.29 [[ 9.98960637e-01 -4.78180130e-03 -4.53296715e-02 -4.27110078e+00] [ 4.90779596e-03 9.99984396e-01 2.66863378e-03 -3.16337666e-01] [ 4.53162033e-02 -2.88832888e-03 9.98968518e-01 2.92797638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.750418555 meters Centerline goodness [0,1] 0.7437063808574278 Centerline is valid? [False, False] Translation: X:-4.29, Y:-0.32, Z:0.29 [[ 9.99111238e-01 -1.01625791e-03 -4.21390654e-02 -4.29200084e+00] [ 9.22003268e-04 9.99997030e-01 -2.25612668e-03 -3.23913362e-01] [ 4.21412330e-02 2.21526917e-03 9.99109208e-01 2.93180063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.780418555 meters Centerline goodness [0,1] 0.8269568995841007 Centerline is valid? [False, False] Translation: X:-4.31, Y:-0.32, Z:0.29 [[ 9.99152002e-01 -4.09587954e-03 -4.09695066e-02 -4.31166113e+00] [ 4.15938040e-03 9.99990277e-01 1.46483450e-03 -3.19351736e-01] [ 4.09631085e-02 -1.63400009e-03 9.99159324e-01 2.90802071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.810418555 meters Centerline goodness [0,1] 0.7714987714987716 Centerline is valid? [False, False] Translation: X:-4.35, Y:-0.32, Z:0.29 [[ 9.99105633e-01 -5.14792753e-03 -4.19694326e-02 -4.34976741e+00] [ 5.11667299e-03 9.99986547e-01 -8.52083680e-04 -3.20173834e-01] [ 4.19732544e-02 6.36577742e-04 9.99118532e-01 2.89777082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.840418555 meters Centerline goodness [0,1] 0.8708149871230373 Centerline is valid? [False, False] Translation: X:-4.38, Y:-0.32, Z:0.29 [[ 9.99258000e-01 -7.10834095e-03 -3.78539314e-02 -4.38247209e+00] [ 6.99586436e-03 9.99970714e-01 -3.10296306e-03 -3.23347441e-01] [ 3.78748798e-02 2.83583969e-03 9.99278465e-01 2.86764342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8704185550000005 meters Centerline goodness [0,1] 0.8423420634429241 Centerline is valid? [False, False] Translation: X:-4.39, Y:-0.33, Z:0.29 [[ 0.99917563 -0.01387556 -0.03815149 -4.39143923] [ 0.0135442 0.99986839 -0.00893037 -0.32662976] [ 0.03827038 0.00840627 0.99923206 0.29292367] [ 0. 0. 0. 1. ]] SLAMing on 6.900418555 meters Centerline goodness [0,1] 0.8603727530355998 Centerline is valid? [False, False] Translation: X:-4.43, Y:-0.32, Z:0.29 [[ 9.98981089e-01 -2.47477448e-02 -3.77403486e-02 -4.42772188e+00] [ 2.45657924e-02 9.99684286e-01 -5.27736393e-03 -3.23652165e-01] [ 3.78590363e-02 4.34486520e-03 9.99273644e-01 2.90696871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.930418555 meters Centerline goodness [0,1] 0.8933952293121671 Centerline is valid? [False, False] Translation: X:-4.45, Y:-0.33, Z:0.29 [[ 0.99905765 -0.02589356 -0.03483295 -4.45121582] [ 0.02542972 0.99958281 -0.01369414 -0.33299076] [ 0.03517301 0.01279545 0.99929932 0.29435792] [ 0. 0. 0. 1. ]] SLAMing on 6.960418555 meters Centerline goodness [0,1] 0.8923904052936311 Centerline is valid? [False, False] Translation: X:-4.47, Y:-0.34, Z:0.30 [[ 0.99919518 -0.02270025 -0.03307114 -4.47460361] [ 0.02206866 0.99956939 -0.01933925 -0.33819252] [ 0.0334959 0.01859385 0.99926588 0.2967919 ] [ 0. 0. 0. 1. ]] SLAMing on 6.990418555 meters Centerline goodness [0,1] 0.9068472161831997 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.34, Z:0.30 [[ 0.99932506 -0.01522454 -0.03343111 -4.50698274] [ 0.01458833 0.99970937 -0.01919258 -0.33850723] [ 0.03371359 0.01869193 0.99925673 0.2996227 ] [ 0. 0. 0. 1. ]] SLAMing on 7.020418555 meters Centerline goodness [0,1] 0.8947499532913994 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.34, Z:0.30 [[ 0.99937997 -0.00950156 -0.03390266 -4.52870836] [ 0.00873477 0.9997043 -0.02269407 -0.34416292] [ 0.03410827 0.02238387 0.99916745 0.30175712] [ 0. 0. 0. 1. ]] SLAMing on 7.050418555 meters Centerline goodness [0,1] 0.8259185229450432 Centerline is valid? [False, False] Translation: X:-4.54, Y:-0.34, Z:0.31 [[ 0.99936807 -0.00657238 -0.03493215 -4.5372732 ] [ 0.00584833 0.99976678 -0.02078908 -0.34234677] [ 0.03506064 0.02057165 0.99917344 0.30658789] [ 0. 0. 0. 1. ]] SLAMing on 7.0804185550000005 meters Centerline goodness [0,1] 0.857333881917301 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.34, Z:0.30 [[ 9.99477296e-01 4.69936610e-04 -3.23251278e-02 -4.57319826e+00] [-1.01996592e-03 9.99854950e-01 -1.70011495e-02 -3.40667689e-01] [ 3.23124496e-02 1.70252335e-02 9.99332801e-01 3.03146869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.110418555 meters Centerline goodness [0,1] 0.851621153370184 Centerline is valid? [False, False] Translation: X:-4.59, Y:-0.34, Z:0.30 [[ 9.99601997e-01 -1.28686631e-03 -2.81813923e-02 -4.59356135e+00] [ 9.40060316e-04 9.99923713e-01 -1.23159980e-02 -3.37182229e-01] [ 2.81950915e-02 1.22846040e-02 9.99526951e-01 3.00221571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.140418555 meters Centerline goodness [0,1] 0.8837333333333334 Centerline is valid? [False, False] Translation: X:-4.61, Y:-0.33, Z:0.30 [[ 9.99680817e-01 -2.99377064e-03 -2.50858716e-02 -4.61270598e+00] [ 2.82013219e-03 9.99971842e-01 -6.95428449e-03 -3.34358508e-01] [ 2.51059847e-02 6.88131933e-03 9.99661111e-01 2.97359937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.170418555 meters Centerline goodness [0,1] 0.8654644898630588 Centerline is valid? [False, False] Translation: X:-4.65, Y:-0.34, Z:0.30 [[ 9.99731912e-01 1.04626187e-03 -2.31302502e-02 -4.64952217e+00] [-1.17883533e-03 9.99982953e-01 -5.71871277e-03 -3.39996664e-01] [ 2.31238727e-02 5.74444641e-03 9.99716104e-01 2.95685696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.200418555 meters Centerline goodness [0,1] 0.8020910665676813 Centerline is valid? [False, False] Translation: X:-4.67, Y:-0.35, Z:0.30 [[ 0.99972102 0.00713357 -0.02251646 -4.66999833] [-0.00734475 0.99992969 -0.00930982 -0.34769238] [ 0.02244847 0.0094726 0.99970312 0.29626372] [ 0. 0. 0. 1. ]] SLAMing on 7.230418555 meters Centerline goodness [0,1] 0.8014030295505339 Centerline is valid? [False, False] Translation: X:-4.69, Y:-0.35, Z:0.29 [[ 9.99544988e-01 1.19907880e-02 -2.76773794e-02 -4.68895428e+00] [-1.20450306e-02 9.99925847e-01 -1.79392582e-03 -3.45468047e-01] [ 2.76538165e-02 2.12648445e-03 9.99615298e-01 2.93769894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.260418555 meters Centerline goodness [0,1] 0.7781180170487462 Centerline is valid? [False, False] Translation: X:-4.71, Y:-0.35, Z:0.29 [[ 9.99350349e-01 2.23099666e-02 -2.83044948e-02 -4.70847644e+00] [-2.23638626e-02 9.99748635e-01 -1.58897950e-03 -3.51620166e-01] [ 2.82619300e-02 2.22094505e-03 9.99598085e-01 2.93925756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2904185550000005 meters Centerline goodness [0,1] 0.8392460741593357 Centerline is valid? [False, False] Translation: X:-4.71, Y:-0.35, Z:0.29 [[ 9.99252404e-01 2.68931922e-02 -2.77738868e-02 -4.71123356e+00] [-2.68503271e-02 9.99637630e-01 1.91521516e-03 -3.49819951e-01] [ 2.78153286e-02 -1.16804541e-03 9.99612396e-01 2.94106665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.320418555 meters Centerline goodness [0,1] 0.7888653718459495 Centerline is valid? [False, False] Translation: X:-4.71, Y:-0.35, Z:0.29 [[ 0.99913615 0.03167997 -0.02689494 -4.71465361] [-0.03154034 0.99948679 0.00560052 -0.34863085] [ 0.02705856 -0.0047474 0.99962258 0.29433613] [ 0. 0. 0. 1. ]] SLAMing on 7.350418555 meters Centerline goodness [0,1] 0.7915943824865758 Centerline is valid? [False, False] Translation: X:-4.74, Y:-0.36, Z:0.30 [[ 9.98904891e-01 4.01105961e-02 -2.40865033e-02 -4.73835237e+00] [-4.00124431e-02 9.99188852e-01 4.54343389e-03 -3.58060261e-01] [ 2.42492054e-02 -3.57469849e-03 9.99699554e-01 2.95007897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.380418555 meters Centerline goodness [0,1] 0.8287257509225473 Centerline is valid? [False, False] Translation: X:-4.76, Y:-0.36, Z:0.29 [[ 0.99906145 0.03796573 -0.02085223 -4.75881125] [-0.03777677 0.99924216 0.00938226 -0.35719884] [ 0.02119263 -0.00858573 0.99973854 0.29251315] [ 0. 0. 0. 1. ]] SLAMing on 7.410418555000001 meters Centerline goodness [0,1] 0.8614214453559798 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.36, Z:0.29 [[ 0.99935837 0.0302321 -0.01920613 -4.78223168] [-0.03006336 0.99950735 0.00901439 -0.36008546] [ 0.01946919 -0.00843121 0.99977491 0.29230681] [ 0. 0. 0. 1. ]] SLAMing on 7.440418555 meters Centerline goodness [0,1] 0.8536073134574205 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.37, Z:0.29 [[ 0.99963815 0.0182308 -0.0197788 -4.82617829] [-0.01803942 0.99978913 0.00981159 -0.36521039] [ 0.0199535 -0.00945124 0.99975624 0.29341637] [ 0. 0. 0. 1. ]] SLAMing on 7.470418555 meters Centerline goodness [0,1] 0.8779359137838838 Centerline is valid? [False, False] Translation: X:-4.85, Y:-0.37, Z:0.30 [[ 0.99981884 0.00868644 -0.01693623 -4.85275516] [-0.00854446 0.9999279 0.00843774 -0.37147666] [ 0.0170083 -0.0082915 0.99982097 0.29563667] [ 0. 0. 0. 1. ]] SLAMing on 7.500418555 meters Centerline goodness [0,1] 0.8137381966302537 Centerline is valid? [False, False] Translation: X:-4.88, Y:-0.38, Z:0.30 [[ 9.99906002e-01 4.45201844e-03 -1.29679296e-02 -4.88154902e+00] [-4.31008427e-03 9.99930731e-01 1.09524751e-02 -3.76393179e-01] [ 1.30157920e-02 -1.08955527e-02 9.99855928e-01 2.97879168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.530418555 meters Centerline goodness [0,1] 0.7992580211178605 Centerline is valid? [False, False] Translation: X:-4.92, Y:-0.40, Z:0.30 [[ 0.99985592 0.01588855 -0.00597393 -4.92406357] [-0.01584348 0.99984622 0.00751749 -0.39534479] [ 0.00609245 -0.00742176 0.9999539 0.30090202] [ 0. 0. 0. 1. ]] SLAMing on 7.560418555 meters Centerline goodness [0,1] 0.8912896136704389 Centerline is valid? [False, False] Translation: X:-4.95, Y:-0.40, Z:0.30 [[ 9.99684526e-01 2.49834153e-02 -2.58411590e-03 -4.94814735e+00] [-2.49652623e-02 9.99664964e-01 6.83346571e-03 -4.03975433e-01] [ 2.75397344e-03 -6.76679679e-03 9.99973313e-01 3.02009949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.590418555 meters Centerline goodness [0,1] 0.8728133065672498 Centerline is valid? [False, False] Translation: X:-4.98, Y:-0.42, Z:0.30 [[ 9.98995352e-01 4.48044650e-02 -9.19903479e-04 -4.98379940e+00] [-4.47982856e-02 9.98978647e-01 5.89711149e-03 -4.18536206e-01] [ 1.18318086e-03 -5.84997687e-03 9.99982189e-01 3.00695490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6204185550000005 meters Centerline goodness [0,1] 0.8862991737575533 Centerline is valid? [False, False] Translation: X:-5.00, Y:-0.43, Z:0.30 [[ 9.98494624e-01 5.48481698e-02 4.05452059e-04 -5.00304857e+00] [-5.48496214e-02 9.98476163e-01 6.07216620e-03 -4.26327177e-01] [-7.17870138e-05 -6.08526420e-03 9.99981482e-01 2.99502893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.650418555 meters Centerline goodness [0,1] 0.9457372344159732 Centerline is valid? [False, False] Translation: X:-5.04, Y:-0.44, Z:0.30 [[ 9.97562815e-01 6.96986242e-02 3.24524375e-03 -5.03639146e+00] [-6.97073343e-02 9.97563958e-01 2.65287758e-03 -4.43943464e-01] [-3.05243628e-03 -2.87262932e-03 9.99991215e-01 2.98843454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.680418555 meters Centerline goodness [0,1] 0.8599128673989078 Centerline is valid? [False, False] Translation: X:-5.05, Y:-0.45, Z:0.30 [[ 9.97573747e-01 6.94487790e-02 4.84621362e-03 -5.04554809e+00] [-6.94534212e-02 9.97584878e-01 7.96076891e-04 -4.49420703e-01] [-4.77922286e-03 -1.13073152e-03 9.99987940e-01 3.01178857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.710418555 meters Centerline goodness [0,1] 0.9009326168859243 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.45, Z:0.30 [[ 9.97987639e-01 6.28693949e-02 8.25301739e-03 -5.06546584e+00] [-6.28929819e-02 9.98016811e-01 2.63001120e-03 -4.52424213e-01] [-8.07130289e-03 -3.14377554e-03 9.99962485e-01 2.98676505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.740418555 meters Centerline goodness [0,1] 0.9490953004748649 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.46, Z:0.30 [[ 9.98427255e-01 5.47471684e-02 1.20732800e-02 -5.08611795e+00] [-5.47902616e-02 9.98492539e-01 3.26765920e-03 -4.57176894e-01] [-1.18761849e-02 -3.92401817e-03 9.99921776e-01 2.97778084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.770418555 meters Centerline goodness [0,1] 0.9049849035676875 Centerline is valid? [False, False] Translation: X:-5.12, Y:-0.47, Z:0.30 [[ 9.98858438e-01 4.49668922e-02 1.61182819e-02 -5.11513632e+00] [-4.50067514e-02 9.98984436e-01 2.11858057e-03 -4.66334244e-01] [-1.60066468e-02 -2.84159358e-03 9.99867848e-01 3.01962013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.800418555 meters Centerline goodness [0,1] 0.9339204348092601 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.47, Z:0.30 [[ 9.99065125e-01 3.83161169e-02 2.00187605e-02 -5.13878967e+00] [-3.83917854e-02 9.99256948e-01 3.40919121e-03 -4.69128721e-01] [-1.98732585e-02 -4.17456000e-03 9.99793792e-01 3.03063063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8304185550000005 meters Centerline goodness [0,1] 0.9606751955972648 Centerline is valid? [False, True] Translation: X:-5.18, Y:-0.48, Z:0.30 [[ 9.99047662e-01 3.49692062e-02 2.60945210e-02 -5.17915729e+00] [-3.49642113e-02 9.99388355e-01 -6.47795316e-04 -4.79498951e-01] [-2.61012133e-02 -2.65195951e-04 9.99659270e-01 3.03555695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.860418555 meters Centerline goodness [0,1] 0.9617819990954319 Centerline is valid? [True, True] Translation: X:-5.21, Y:-0.48, Z:0.30 [[ 0.99903125 0.03628062 0.02490523 -5.21105652] [-0.03645296 0.99931423 0.0065006 -0.47851906] [-0.02465231 -0.00740217 0.99966868 0.30175975] [ 0. 0. 0. 1. ]] SLAMing on 7.890418555 meters Centerline goodness [0,1] 0.9736301229087022 Centerline is valid? [True, True] Translation: X:-5.24, Y:-0.49, Z:0.30 [[ 0.99890098 0.03838748 0.02689289 -5.23916129] [-0.03858913 0.9992305 0.00701979 -0.49097843] [-0.02660272 -0.00804985 0.99961367 0.30212404] [ 0. 0. 0. 1. ]] SLAMing on 7.920418555 meters Centerline goodness [0,1] 0.7339466346447399 Centerline is valid? [True, False] Translation: X:-5.27, Y:-0.50, Z:0.30 [[ 0.99872154 0.03993144 0.03099638 -5.27223301] [-0.04016608 0.99916861 0.00698427 -0.49703298] [-0.03069171 -0.00822035 0.99949509 0.29847427] [ 0. 0. 0. 1. ]] SLAMing on 7.950418555 meters Centerline goodness [0,1] 0.7659474191102641 Centerline is valid? [False, False] Translation: X:-5.28, Y:-0.50, Z:0.30 [[ 9.98923529e-01 3.45404180e-02 3.09635743e-02 -5.27531971e+00] [-3.46216697e-02 9.99398301e-01 2.09166437e-03 -5.01625111e-01] [-3.08726966e-02 -3.16142340e-03 9.99518325e-01 3.00985267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.980418555 meters Centerline goodness [0,1] 0.7471579772638182 Centerline is valid? [False, False] Translation: X:-5.28, Y:-0.51, Z:0.30 [[ 9.99090667e-01 2.95392912e-02 3.07452417e-02 -5.27788253e+00] [-2.94883442e-02 9.99562899e-01 -2.10926906e-03 -5.06107054e-01] [-3.07941093e-02 1.20072475e-03 9.99525028e-01 3.04532374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.010418555 meters Centerline goodness [0,1] 0.7562547618557338 Centerline is valid? [False, False] Translation: X:-5.30, Y:-0.51, Z:0.31 [[ 9.99105705e-01 2.53215617e-02 3.38616071e-02 -5.29877581e+00] [-2.54059550e-02 9.99675085e-01 2.06429081e-03 -5.07121620e-01] [-3.37983339e-02 -2.92273119e-03 9.99424399e-01 3.07017297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.040418554999999 meters Centerline goodness [0,1] 0.9807000596057797 Centerline is valid? [False, True] Translation: X:-5.34, Y:-0.51, Z:0.31 [[ 9.98694959e-01 2.89422925e-02 4.20799528e-02 -5.33758797e+00] [-2.91295135e-02 9.99568259e-01 3.84271792e-03 -5.10107298e-01] [-4.19505681e-02 -5.06347157e-03 9.99106857e-01 3.07339733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.070418555 meters Centerline goodness [0,1] 0.9782675425133526 Centerline is valid? [True, True] Translation: X:-5.37, Y:-0.50, Z:0.31 [[ 0.99845822 0.03404932 0.04383866 -5.37202321] [-0.03460132 0.99933041 0.01189466 -0.50080539] [-0.0434043 -0.0133932 0.99896781 0.30941626] [ 0. 0. 0. 1. ]] SLAMing on 8.100418555 meters Centerline goodness [0,1] 0.9926712103793727 Centerline is valid? [True, True] Translation: X:-5.40, Y:-0.51, Z:0.31 [[ 0.9981886 0.03821828 0.04646377 -5.40069581] [-0.03884255 0.9991658 0.01260756 -0.51060808] [-0.04594317 -0.0143895 0.99884041 0.30849746] [ 0. 0. 0. 1. ]] SLAMing on 8.130418554999999 meters Centerline goodness [0,1] 0.7911735246622105 Centerline is valid? [True, False] Translation: X:-5.45, Y:-0.52, Z:0.31 [[ 0.9979282 0.03678786 0.05278224 -5.44965791] [-0.0372607 0.99927354 0.00800203 -0.51603943] [-0.05244952 -0.00995216 0.99857398 0.31328119] [ 0. 0. 0. 1. ]] SLAMing on 8.160418555 meters Centerline goodness [0,1] 0.9362970220235544 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.52, Z:0.32 [[ 0.99791663 0.02899275 0.05763524 -5.47634472] [-0.02947868 0.99953653 0.00759859 -0.51865842] [-0.05738823 -0.00928177 0.99830879 0.3157991 ] [ 0. 0. 0. 1. ]] SLAMing on 8.190418554999999 meters Centerline goodness [0,1] 0.984940684737845 Centerline is valid? [False, True] Translation: X:-5.50, Y:-0.52, Z:0.32 [[ 0.99797592 0.01977604 0.06043981 -5.49947267] [-0.02020072 0.99977531 0.00642348 -0.52122755] [-0.0602992 -0.00763141 0.99815117 0.31772373] [ 0. 0. 0. 1. ]] SLAMing on 8.220418554999998 meters Centerline goodness [0,1] 0.9836620064777992 Centerline is valid? [True, True] Translation: X:-5.53, Y:-0.52, Z:0.32 [[ 0.99806169 0.02143992 0.05842253 -5.53265151] [-0.02244865 0.9996091 0.01666468 -0.51729306] [-0.0580424 -0.01794389 0.99815284 0.3158084 ] [ 0. 0. 0. 1. ]] SLAMing on 8.250418555 meters Centerline goodness [0,1] 0.9802721504784054 Centerline is valid? [True, True] Translation: X:-5.56, Y:-0.52, Z:0.31 [[ 0.99774586 0.02944866 0.06029897 -5.56273377] [-0.03053662 0.99938563 0.0172012 -0.52446907] [-0.05975537 -0.01900376 0.99803214 0.31369633] [ 0. 0. 0. 1. ]] SLAMing on 8.280418554999999 meters Centerline goodness [0,1] 0.9200351673516122 Centerline is valid? [True, False] Translation: X:-5.58, Y:-0.53, Z:0.31 [[ 0.99724408 0.03970203 0.06267377 -5.58025772] [-0.04084672 0.99901927 0.01708939 -0.52942961] [-0.06193382 -0.01960231 0.99788775 0.31191138] [ 0. 0. 0. 1. ]] SLAMing on 8.310418555 meters Centerline goodness [0,1] 0.9874437627811861 Centerline is valid? [False, True] Translation: X:-5.61, Y:-0.54, Z:0.31 [[ 0.99649538 0.05389924 0.06396735 -5.61286414] [-0.0546683 0.99845111 0.01033257 -0.54425583] [-0.06331135 -0.01379335 0.9978985 0.31246235] [ 0. 0. 0. 1. ]] SLAMing on 8.340418555 meters Centerline goodness [0,1] 0.9866022491981649 Centerline is valid? [True, True] Translation: X:-5.65, Y:-0.54, Z:0.31 [[ 0.99643519 0.0550972 0.06388431 -5.6460162 ] [-0.05636988 0.99824237 0.01829204 -0.54080504] [-0.06276419 -0.02182799 0.99778966 0.31132632] [ 0. 0. 0. 1. ]] SLAMing on 8.370418554999999 meters Centerline goodness [0,1] 0.9966097541050568 Centerline is valid? [True, True] Translation: X:-5.67, Y:-0.56, Z:0.31 [[ 0.99652307 0.04572055 0.069652 -5.67144901] [-0.04721386 0.99868565 0.0199455 -0.56114142] [-0.06864853 -0.02316469 0.99737193 0.31174876] [ 0. 0. 0. 1. ]] SLAMing on 8.400418555 meters Centerline goodness [0,1] 0.9922640852997155 Centerline is valid? [True, True] Translation: X:-5.71, Y:-0.55, Z:0.32 [[ 0.99658899 0.02864306 0.07739477 -5.70606661] [-0.03044203 0.99929075 0.02216485 -0.55307595] [-0.07670501 -0.0244453 0.99675412 0.32091331] [ 0. 0. 0. 1. ]] SLAMing on 8.430418555 meters Centerline goodness [0,1] 0.9963484292125663 Centerline is valid? [True, True] Translation: X:-5.73, Y:-0.57, Z:0.32 [[ 0.99638195 0.02921059 0.07981068 -5.73377249] [-0.03112584 0.99925404 0.0228593 -0.56738396] [-0.07908341 -0.02526077 0.99654789 0.320634 ] [ 0. 0. 0. 1. ]] SLAMing on 8.460418554999999 meters Centerline goodness [0,1] 0.9907557009919215 Centerline is valid? [True, True] Translation: X:-5.77, Y:-0.57, Z:0.32 [[ 0.99589582 0.04203332 0.08015431 -5.76649882] [-0.04400246 0.99876755 0.02296006 -0.56646039] [-0.07909044 -0.02639282 0.996518 0.32485448] [ 0. 0. 0. 1. ]] SLAMing on 8.490418555 meters Centerline goodness [0,1] 0.9978938758818117 Centerline is valid? [True, True] Translation: X:-5.79, Y:-0.60, Z:0.32 [[ 0.99488107 0.06251533 0.07939455 -5.78885638] [-0.06450494 0.99765815 0.02274477 -0.5959404 ] [-0.07778672 -0.02774968 0.99658376 0.32139139] [ 0. 0. 0. 1. ]] SLAMing on 8.520418555 meters Centerline goodness [0,1] 0.9923870783886661 Centerline is valid? [True, True] Translation: X:-5.82, Y:-0.59, Z:0.32 [[ 0.99437689 0.07031286 0.07918781 -5.82294394] [-0.07231388 0.99712384 0.02268813 -0.58943542] [-0.07736479 -0.02828693 0.99660149 0.32190851] [ 0. 0. 0. 1. ]] SLAMing on 8.550418554999998 meters Centerline goodness [0,1] 0.9971137624748471 Centerline is valid? [True, True] Translation: X:-5.85, Y:-0.61, Z:0.32 [[ 0.99415872 0.07500272 0.07760825 -5.84722862] [-0.07693698 0.99678795 0.02223686 -0.6119833 ] [-0.07569114 -0.02807792 0.99673591 0.31668264] [ 0. 0. 0. 1. ]] SLAMing on 8.580418555 meters Centerline goodness [0,1] 0.9971137624748471 Centerline is valid? [True, True] Translation: X:-5.88, Y:-0.62, Z:0.32 [[ 0.99417561 0.07478374 0.07760319 -5.87975564] [-0.07671862 0.99680439 0.0222545 -0.62129974] [-0.07569093 -0.02807849 0.99673591 0.31658129] [ 0. 0. 0. 1. ]] SLAMing on 8.610418554999999 meters Centerline goodness [0,1] 0.9889273496487926 Centerline is valid? [True, True] Translation: X:-5.91, Y:-0.62, Z:0.32 [[ 0.99468115 0.07149645 0.07414626 -5.91353445] [-0.07325449 0.99708655 0.02126491 -0.61636023] [-0.07240987 -0.02658336 0.99702063 0.32382309] [ 0. 0. 0. 1. ]] SLAMing on 8.640418555 meters Centerline goodness [0,1] 0.997399246395806 Centerline is valid? [True, True] Translation: X:-5.94, Y:-0.65, Z:0.32 [[ 0.99515611 0.06364631 0.07492303 -5.93687301] [-0.06542225 0.99762623 0.0214903 -0.6451981 ] [-0.0733774 -0.02628784 0.99695773 0.31795742] [ 0. 0. 0. 1. ]] SLAMing on 8.670418555 meters Centerline goodness [0,1] 0.9426588976507649 Centerline is valid? [True, False] Translation: X:-5.96, Y:-0.66, Z:0.32 [[ 0.99562038 0.05123288 0.07820012 -5.96013849] [-0.0528551 0.99842491 0.01881613 -0.65537509] [-0.07711294 -0.02286699 0.9967601 0.32081542] [ 0. 0. 0. 1. ]] SLAMing on 8.700418554999999 meters Centerline goodness [0,1] 0.992978468656777 Centerline is valid? [False, True] Translation: X:-6.00, Y:-0.66, Z:0.32 [[ 0.99591538 0.0387763 0.08154109 -5.99602191] [-0.0408029 0.99889468 0.02333547 -0.66170812] [-0.08054609 -0.02656727 0.99639676 0.3196179 ] [ 0. 0. 0. 1. ]] SLAMing on 8.730418555 meters Centerline goodness [0,1] 0.9983329903272278 Centerline is valid? [True, True] Translation: X:-6.02, Y:-0.68, Z:0.31 [[ 0.99556261 0.04323796 0.08357969 -6.0211973 ] [-0.04544286 0.99866252 0.0246601 -0.68196927] [-0.08240165 -0.02834878 0.99619592 0.31318223] [ 0. 0. 0. 1. ]] SLAMing on 8.760418555 meters Centerline goodness [0,1] 0.9934429578184046 Centerline is valid? [True, True] Translation: X:-6.05, Y:-0.68, Z:0.32 [[ 0.9949494 0.05296846 0.0852645 -6.05298357] [-0.05529514 0.99815301 0.02515981 -0.6833456 ] [-0.08377434 -0.02974745 0.99604064 0.31690182] [ 0. 0. 0. 1. ]] SLAMing on 8.790418554999999 meters Centerline goodness [0,1] 0.9898673729408696 Centerline is valid? [True, True] Translation: X:-6.08, Y:-0.70, Z:0.32 [[ 0.99434614 0.05836678 0.08870781 -6.08202379] [-0.06090498 0.99780021 0.02617867 -0.69615233] [-0.0869847 -0.03143341 0.99571361 0.32008168] [ 0. 0. 0. 1. ]] SLAMing on 8.820418555 meters Centerline goodness [0,1] 0.999077093459669 Centerline is valid? [True, True] Translation: X:-6.09, Y:-0.76, Z:0.30 [[ 0.99390166 0.05966823 0.09273183 -6.09400386] [-0.0624482 0.99767287 0.02736926 -0.76158278] [-0.09088296 -0.03299329 0.99531489 0.30067508] [ 0. 0. 0. 1. ]] SLAMing on 8.850418555 meters Centerline goodness [0,1] 0.9894010152284264 Centerline is valid? [True, True] Translation: X:-6.14, Y:-0.72, Z:0.32 [[ 0.99393076 0.05790914 0.09353164 -6.13793901] [-0.06073081 0.99777234 0.02760652 -0.72148236] [-0.09172462 -0.03311923 0.9952335 0.31538091] [ 0. 0. 0. 1. ]] SLAMing on 8.880418554999999 meters Centerline goodness [0,1] 0.9927236410329576 Centerline is valid? [True, True] Translation: X:-6.16, Y:-0.74, Z:0.32 [[ 0.99452101 0.0468273 0.09346207 -6.16465187] [-0.04960213 0.99838793 0.02758919 -0.73887994] [-0.09201947 -0.03207395 0.99524051 0.31953648] [ 0. 0. 0. 1. ]] SLAMing on 8.910418555 meters Centerline goodness [0,1] 0.9942166034213357 Centerline is valid? [True, True] Translation: X:-6.19, Y:-0.75, Z:0.32 [[ 0.99475999 0.04196442 0.09322844 -6.19153868] [-0.04470682 0.99862092 0.02752392 -0.7531517 ] [-0.09194484 -0.03154764 0.99526423 0.32345312] [ 0. 0. 0. 1. ]] SLAMing on 8.940418554999999 meters Centerline goodness [0,1] 0.9986344644858861 Centerline is valid? [True, True] Translation: X:-6.21, Y:-0.79, Z:0.32 [[ 0.99459179 0.04803817 0.0920842 -6.21229944] [-0.05073659 0.9983419 0.02718896 -0.78741296] [-0.09062541 -0.03171396 0.99537996 0.31645699] [ 0. 0. 0. 1. ]] SLAMing on 8.970418554999998 meters Centerline goodness [0,1] 0.9992846193152785 Centerline is valid? [True, True] Translation: X:-6.24, Y:-0.80, Z:0.32 [[ 0.99408496 0.05637952 0.0928248 -6.2391819 ] [-0.05915385 0.99787248 0.02741062 -0.80445436] [-0.09108191 -0.03273943 0.99530509 0.31550488] [ 0. 0. 0. 1. ]] SLAMing on 9.000418555 meters Centerline goodness [0,1] 0.9991597671940323 Centerline is valid? [True, True] Translation: X:-6.26, Y:-0.83, Z:0.31 [[ 0.99376226 0.06206632 0.09265173 -6.26423557] [-0.06485208 0.99751968 0.02736237 -0.82653304] [-0.09072364 -0.03320034 0.99532254 0.31228763] [ 0. 0. 0. 1. ]] SLAMing on 9.030418554999999 meters Centerline goodness [0,1] 0.9987530152500103 Centerline is valid? [True, True] Translation: X:-6.30, Y:-0.83, Z:0.32 [[ 0.99354355 0.06759463 0.09111627 -6.29550273] [-0.07030886 0.99716218 0.02691174 -0.82884867] [-0.08903861 -0.03314427 0.99547656 0.31590952] [ 0. 0. 0. 1. ]] SLAMing on 9.060418555 meters Centerline goodness [0,1] 0.9921227621483376 Centerline is valid? [True, True] Translation: X:-6.33, Y:-0.81, Z:0.33 [[ 0.99348412 0.06690054 0.09226926 -6.33392162] [-0.06968339 0.9971963 0.02727204 -0.81406778] [-0.09018605 -0.03352397 0.99536055 0.32561566] [ 0. 0. 0. 1. ]] SLAMing on 9.090418555 meters Centerline goodness [0,1] 0.9924805950840879 Centerline is valid? [True, True] Translation: X:-6.36, Y:-0.82, Z:0.33 [[ 0.99334683 0.06415027 0.09563898 -6.36422703] [-0.06713032 0.9973436 0.02827119 -0.82160452] [-0.09357132 -0.03450337 0.99501454 0.32932455] [ 0. 0. 0. 1. ]] SLAMing on 9.120418554999999 meters Centerline goodness [0,1] 0.9987618989628366 Centerline is valid? [True, True] Translation: X:-6.38, Y:-0.86, Z:0.32 [[ 0.9930627 0.0555725 0.10362518 -6.3847588 ] [-0.05903369 0.99778576 0.03063644 -0.85874902] [-0.10169319 -0.03654128 0.99414447 0.32171465] [ 0. 0. 0. 1. ]] SLAMing on 9.150418555 meters Centerline goodness [0,1] 0.9987074362806478 Centerline is valid? [True, True] Translation: X:-6.42, Y:-0.85, Z:0.33 [[ 0.993098 0.04860025 0.10674449 -6.42097518] [-0.05223932 0.99813569 0.03156251 -0.8473738 ] [-0.10501154 -0.03692093 0.9937854 0.33316767] [ 0. 0. 0. 1. ]] SLAMing on 9.180418555 meters Centerline goodness [0,1] 0.9575119035558708 Centerline is valid? [True, True] Translation: X:-6.47, Y:-0.79, Z:0.36 [[ 0.99309991 0.04771682 0.10712461 -6.47037518] [-0.05137781 0.99817676 0.03167779 -0.79046069] [-0.10541773 -0.03696304 0.99374083 0.35526731] [ 0. 0. 0. 1. ]] SLAMing on 9.210418554999999 meters Centerline goodness [0,1] 0.9986965907702334 Centerline is valid? [True, True] Translation: X:-6.48, Y:-0.87, Z:0.33 [[ 0.99285345 0.06177697 0.10210603 -6.47955334] [-0.0651665 0.99741738 0.03019772 -0.86515579] [-0.09997681 -0.0366358 0.99431507 0.33270559] [ 0. 0. 0. 1. ]] SLAMing on 9.240418555 meters Centerline goodness [0,1] 0.9858814525387203 Centerline is valid? [True, True] Translation: X:-6.52, Y:-0.84, Z:0.34 [[ 0.99260186 0.0707859 0.09864533 -6.51840386] [-0.07398731 0.99683224 0.02917807 -0.84280488] [-0.09626745 -0.03626071 0.9946948 0.34366117] [ 0. 0. 0. 1. ]] SLAMing on 9.270418555 meters Centerline goodness [0,1] 0.9906957200312143 Centerline is valid? [True, True] Translation: X:-6.54, Y:-0.86, Z:0.34 [[ 0.99240709 0.07690073 0.09599191 -6.54415774] [-0.07995637 0.9963938 0.02839675 -0.86202361] [-0.09346202 -0.0358563 0.99497697 0.34272138] [ 0. 0. 0. 1. ]] SLAMing on 9.300418554999998 meters Centerline goodness [0,1] 0.9404888203855315 Centerline is valid? [True, False] Translation: X:-6.55, Y:-0.87, Z:0.34 [[ 0.99273449 0.07158769 0.09671315 -6.54883252] [-0.07400831 0.99702208 0.02167332 -0.86604884] [-0.0948736 -0.02867343 0.9950763 0.34387087] [ 0. 0. 0. 1. ]] SLAMing on 9.330418555 meters Centerline goodness [0,1] 0.9978372478473542 Centerline is valid? [False, True] Translation: X:-6.57, Y:-0.87, Z:0.35 [[ 0.99308934 0.0603766 0.10063915 -6.57085465] [-0.06260165 0.99785588 0.01909673 -0.8721277 ] [-0.09927037 -0.02526494 0.9947397 0.34537761] [ 0. 0. 0. 1. ]] SLAMing on 9.360418554999999 meters Centerline goodness [0,1] 0.949039584423952 Centerline is valid? [True, False] Translation: X:-6.61, Y:-0.88, Z:0.35 [[ 0.99323664 0.04621343 0.1065143 -6.61441127] [-0.04859111 0.99862178 0.01983521 -0.87745893] [-0.10545085 -0.02487671 0.99411331 0.34779505] [ 0. 0. 0. 1. ]] SLAMing on 9.390418554999998 meters Centerline goodness [0,1] 0.9759060175120171 Centerline is valid? [False, True] Translation: X:-6.57, Y:-0.85, Z:0.35 [[ 0.99205455 0.02685141 0.12290958 -6.57278174] [-0.03003129 0.99925857 0.02409227 -0.84521542] [-0.12217154 -0.02759198 0.99212539 0.34797572] [ 0. 0. 0. 1. ]] SLAMing on 9.420418555 meters Centerline goodness [0,1] 0.9879369866275148 Centerline is valid? [True, True] Translation: X:-6.61, Y:-0.84, Z:0.34 [[ 0.99216808 0.02545362 0.12228906 -6.60738722] [-0.03031598 0.99881525 0.03806625 -0.83968226] [-0.12117526 -0.04147543 0.99176426 0.33954026] [ 0. 0. 0. 1. ]] SLAMing on 9.450418554999999 meters Centerline goodness [0,1] 0.997378397999516 Centerline is valid? [True, True] Translation: X:-6.63, Y:-0.87, Z:0.32 [[ 0.99255073 0.04671676 0.11251932 -6.62823711] [-0.05094848 0.99808674 0.03503023 -0.87322658] [-0.11066755 -0.04050197 0.99303186 0.32461834] [ 0. 0. 0. 1. ]] SLAMing on 9.480418555 meters Centerline goodness [0,1] 0.9760285583231957 Centerline is valid? [True, True] Translation: X:-6.67, Y:-0.84, Z:0.33 [[ 0.99270804 0.05939788 0.10489347 -6.67026293] [-0.06313387 0.99747051 0.03266044 -0.84199912] [-0.10268818 -0.03904462 0.99394701 0.33361548] [ 0. 0. 0. 1. ]] SLAMing on 9.510418555 meters Centerline goodness [0,1] 0.9933288723969422 Centerline is valid? [True, True] Translation: X:-6.69, Y:-0.89, Z:0.32 [[ 0.99222833 0.07815726 0.09682143 -6.68742665] [-0.08141413 0.9962242 0.03015088 -0.88924589] [-0.09409934 -0.03779919 0.99484498 0.31745291] [ 0. 0. 0. 1. ]] SLAMing on 9.540418554999999 meters Centerline goodness [0,1] 0.9882262502022982 Centerline is valid? [True, True] Translation: X:-6.72, Y:-0.89, Z:0.32 [[ 0.99226328 0.08521715 0.09028635 -6.71949443] [-0.08807235 0.99571711 0.02811925 -0.89159177] [-0.08750343 -0.03585344 0.9955188 0.31781711] [ 0. 0. 0. 1. ]] SLAMing on 9.570418555 meters Centerline goodness [0,1] 0.9486111389261611 Centerline is valid? [True, False] Translation: X:-6.74, Y:-0.90, Z:0.32 [[ 0.993319 0.07193746 0.09023509 -6.73654732] [-0.07440658 0.99693188 0.0243001 -0.89903961] [-0.08821015 -0.03085184 0.99562399 0.31806182] [ 0. 0. 0. 1. ]] SLAMing on 9.600418555 meters Centerline goodness [0,1] 0.9642146717836404 Centerline is valid? [False, True] Translation: X:-6.77, Y:-0.91, Z:0.32 [[ 0.99477596 0.04585058 0.09120592 -6.76500309] [-0.04810314 0.99858545 0.02265344 -0.90938054] [-0.09003824 -0.02692239 0.99557436 0.32166157] [ 0. 0. 0. 1. ]] SLAMing on 9.630418554999999 meters Centerline goodness [0,1] 0.971178046602257 Centerline is valid? [True, True] Translation: X:-6.80, Y:-0.91, Z:0.32 [[ 0.99537816 0.0371465 0.08855763 -6.79556646] [-0.03978115 0.99881116 0.02817314 -0.91182602] [-0.08740582 -0.03156585 0.99567255 0.3227106 ] [ 0. 0. 0. 1. ]] SLAMing on 9.660418555 meters Centerline goodness [0,1] 0.933741614456375 Centerline is valid? [True, False] Translation: X:-6.82, Y:-0.92, Z:0.33 [[ 0.99564409 0.02659304 0.08936245 -6.81863241] [-0.02904868 0.99923216 0.02629205 -0.92105661] [-0.08859464 -0.02877338 0.99565209 0.32613952] [ 0. 0. 0. 1. ]] SLAMing on 9.690418554999999 meters Centerline goodness [0,1] 0.9203422244589834 Centerline is valid? [False, False] Translation: X:-6.84, Y:-0.94, Z:0.33 [[ 0.99533725 0.0310168 0.09133302 -6.84027082] [-0.03313879 0.99921278 0.021809 -0.93524484] [-0.09058468 -0.02473398 0.99558156 0.33154182] [ 0. 0. 0. 1. ]] SLAMing on 9.720418554999998 meters Centerline goodness [0,1] 0.9402758648222449 Centerline is valid? [False, False] Translation: X:-6.87, Y:-0.95, Z:0.33 [[ 0.99450707 0.04500539 0.09449979 -6.87428392] [-0.04687861 0.99874384 0.01769582 -0.94979461] [-0.09358467 -0.02202864 0.99536759 0.33199955] [ 0. 0. 0. 1. ]] SLAMing on 9.750418555 meters Centerline goodness [0,1] 0.9578017466897413 Centerline is valid? [False, True] Translation: X:-6.89, Y:-0.96, Z:0.33 [[ 0.99411018 0.04919857 0.09656319 -6.89406732] [-0.05052036 0.99865922 0.01129001 -0.95994654] [-0.09587827 -0.01610193 0.99526282 0.33241719] [ 0. 0. 0. 1. ]] SLAMing on 9.780418554999999 meters Centerline goodness [0,1] 0.9438677354709419 Centerline is valid? [True, False] Translation: X:-6.91, Y:-0.96, Z:0.33 [[ 0.99401156 0.04362325 0.10018998 -6.9140558 ] [-0.04518612 0.99888895 0.01338202 -0.96292409] [-0.09949489 -0.01782908 0.99487833 0.33076817] [ 0. 0. 0. 1. ]] SLAMing on 9.810418555 meters Centerline goodness [0,1] 0.9756918549573701 Centerline is valid? [False, True] Translation: X:-6.94, Y:-0.97, Z:0.34 [[ 0.99428541 0.03229631 0.10175205 -6.94019578] [-0.03352532 0.99938385 0.01039112 -0.97368768] [-0.10135376 -0.01374301 0.99475552 0.33608351] [ 0. 0. 0. 1. ]] SLAMing on 9.840418555 meters Centerline goodness [0,1] 0.9555411588452039 Centerline is valid? [True, True] Translation: X:-6.99, Y:-0.94, Z:0.34 [[ 0.99507927 0.02843259 0.09491485 -6.98565401] [-0.03145478 0.99903977 0.03049798 -0.93561392] [-0.09395658 -0.03333343 0.99501811 0.33518147] [ 0. 0. 0. 1. ]] SLAMing on 9.870418554999999 meters Centerline goodness [0,1] 0.908082440897151 Centerline is valid? [True, False] Translation: X:-6.99, Y:-0.94, Z:0.34 [[ 0.99500309 0.02520856 0.0966094 -6.99425935] [-0.02800302 0.99922454 0.02767937 -0.94256425] [-0.09583672 -0.03024642 0.99493742 0.34190719] [ 0. 0. 0. 1. ]] SLAMing on 9.900418555 meters Centerline goodness [0,1] 0.9630074465529667 Centerline is valid? [False, True] Translation: X:-7.00, Y:-0.95, Z:0.35 [[ 0.99488275 0.02412927 0.0981127 -7.00223804] [-0.02677066 0.99931131 0.02569505 -0.9468165 ] [-0.09742513 -0.0281901 0.99484354 0.3463266 ] [ 0. 0. 0. 1. ]] SLAMing on 9.930418555 meters Centerline goodness [0,1] 0.9704445480529484 Centerline is valid? [True, True] Translation: X:-7.03, Y:-0.95, Z:0.34 [[ 0.99499489 0.03080042 0.09506048 -7.03358112] [-0.0338463 0.99895859 0.03059686 -0.95027054] [-0.09401908 -0.03366116 0.99500117 0.34333897] [ 0. 0. 0. 1. ]] SLAMing on 9.960418554999999 meters Centerline goodness [0,1] 0.9637151529674894 Centerline is valid? [True, True] Translation: X:-7.07, Y:-0.95, Z:0.35 [[ 0.99488188 0.02402983 0.09814583 -7.06528425] [-0.02724913 0.99912929 0.0315934 -0.95264645] [-0.09730119 -0.03410609 0.99467042 0.34598119] [ 0. 0. 0. 1. ]] SLAMing on 9.990418555 meters Centerline goodness [0,1] 0.9688359488755864 Centerline is valid? [True, True] Translation: X:-7.10, Y:-0.96, Z:0.35 [[ 0.99513698 0.0228043 0.09582459 -7.09609575] [-0.02586767 0.99918928 0.03084867 -0.95778313] [-0.09504342 -0.03317741 0.9949201 0.34766131] [ 0. 0. 0. 1. ]] SLAMing on 10.020418555 meters Centerline goodness [0,1] 0.9542400064965386 Centerline is valid? [True, True] Translation: X:-7.13, Y:-0.95, Z:0.36 [[ 0.99527134 0.01831628 0.09539119 -7.1332349 ] [-0.02133404 0.99930056 0.03071229 -0.94541739] [-0.09476194 -0.03260214 0.99496597 0.35612329] [ 0. 0. 0. 1. ]] SLAMing on 10.050418554999998 meters Centerline goodness [0,1] 0.9615687541652362 Centerline is valid? [True, True] Translation: X:-7.16, Y:-0.96, Z:0.35 [[ 0.9951812 0.01546295 0.09682604 -7.16041783] [-0.01856101 0.99934151 0.0311776 -0.96068063] [-0.09628018 -0.03282455 0.99481288 0.35263602] [ 0. 0. 0. 1. ]] SLAMing on 10.080418555 meters Centerline goodness [0,1] 0.9741595787768327 Centerline is valid? [True, True] Translation: X:-7.19, Y:-0.97, Z:0.35 [[ 0.99514114 0.02242068 0.09587189 -7.18741927] [-0.02548647 0.99919831 0.03087372 -0.97464884] [-0.09510282 -0.03316714 0.99491477 0.35126462] [ 0. 0. 0. 1. ]] SLAMing on 10.110418554999999 meters Centerline goodness [0,1] 0.9592091739051573 Centerline is valid? [True, True] Translation: X:-7.22, Y:-0.96, Z:0.35 [[ 0.9948542 0.03068096 0.09655984 -7.22427639] [-0.0338255 0.99894379 0.03109872 -0.96217463] [-0.09550372 -0.03420487 0.99484123 0.35111148] [ 0. 0. 0. 1. ]] SLAMing on 10.140418554999998 meters Centerline goodness [0,1] 0.9736714585688904 Centerline is valid? [True, True] Translation: X:-7.25, Y:-0.99, Z:0.34 [[ 0.99427167 0.03834438 0.09976754 -7.24730306] [-0.0417363 0.99861173 0.03213542 -0.98872135] [-0.09839683 -0.03611526 0.99449171 0.34164252] [ 0. 0. 0. 1. ]] SLAMing on 10.170418555 meters Centerline goodness [0,1] 0.9661734475810555 Centerline is valid? [True, True] Translation: X:-7.28, Y:-0.98, Z:0.34 [[ 0.99426828 0.04064954 0.0988848 -7.28382201] [-0.04399158 0.99852393 0.03185424 -0.97785443] [-0.09744398 -0.03602175 0.99458891 0.33866272] [ 0. 0. 0. 1. ]] SLAMing on 10.200418554999999 meters Centerline goodness [0,1] 0.9709647269180754 Centerline is valid? [True, True] Translation: X:-7.31, Y:-1.00, Z:0.34 [[ 0.99442795 0.03082622 0.10081073 -7.30868414] [-0.034257 0.99888515 0.03247933 -0.9980446 ] [-0.09969713 -0.03575183 0.99437533 0.33938012] [ 0. 0. 0. 1. ]] SLAMing on 10.230418555 meters Centerline goodness [0,1] 0.964501220964259 Centerline is valid? [True, True] Translation: X:-7.34, Y:-0.99, Z:0.34 [[ 0.99465968 0.02364653 0.10046371 -7.34458316] [-0.02702197 0.99911055 0.03237151 -0.98876403] [-0.09960888 -0.03491337 0.99441396 0.34379897] [ 0. 0. 0. 1. ]] SLAMing on 10.260418555 meters Centerline goodness [0,1] 0.9536713995943205 Centerline is valid? [True, True] Translation: X:-7.38, Y:-0.98, Z:0.35 [[ 0.99509378 0.02560733 0.0955648 -7.38114411] [-0.02866832 0.99911447 0.03079601 -0.97888815] [-0.09469158 -0.0333846 0.99494672 0.34670664] [ 0. 0. 0. 1. ]] SLAMing on 10.290418554999999 meters Centerline goodness [0,1] 0.9451011982680495 Centerline is valid? [True, False] Translation: X:-7.38, Y:-0.98, Z:0.35 [[ 0.99502543 0.02555089 0.09628891 -7.38339047] [-0.02856999 0.99913829 0.03010719 -0.97927074] [-0.09543667 -0.03270839 0.99489799 0.34668689] [ 0. 0. 0. 1. ]] SLAMing on 10.320418555 meters Centerline goodness [0,1] 0.9301217038539553 Centerline is valid? [False, False] Translation: X:-7.40, Y:-0.99, Z:0.35 [[ 0.99476787 0.0278092 0.09830331 -7.39993119] [-0.03015955 0.99929173 0.02250424 -0.99025594] [-0.09760786 -0.02535127 0.99490201 0.34828076] [ 0. 0. 0. 1. ]] SLAMing on 10.350418555 meters Centerline goodness [0,1] 0.9406398248388274 Centerline is valid? [False, False] Translation: X:-7.42, Y:-1.00, Z:0.35 [[ 0.99494939 0.03053941 0.09561935 -7.41950825] [-0.03212357 0.99937026 0.01507166 -0.99619583] [-0.09509886 -0.01806717 0.99530387 0.35095998] [ 0. 0. 0. 1. ]] SLAMing on 10.380418554999999 meters Centerline goodness [0,1] 0.9259813537727264 Centerline is valid? [False, False] Translation: X:-7.44, Y:-1.00, Z:0.35 [[ 0.99483302 0.02433863 0.0985642 -7.44492137] [-0.02592901 0.99955294 0.01488657 -1.00140727] [-0.09815782 -0.01736532 0.99501934 0.35219387] [ 0. 0. 0. 1. ]] SLAMing on 10.410418555 meters Centerline goodness [0,1] 0.9471628247645012 Centerline is valid? [False, False] Translation: X:-7.48, Y:-1.02, Z:0.36 [[ 0.99419071 0.02292961 0.10516208 -7.48496368] [-0.02430428 0.99963486 0.0118089 -1.01513603] [-0.10485291 -0.01429618 0.99438498 0.35839913] [ 0. 0. 0. 1. ]] SLAMing on 10.440418554999999 meters Centerline goodness [0,1] 0.9474925294249181 Centerline is valid? [False, False] Translation: X:-7.55, Y:-1.02, Z:0.36 [[ 0.99460817 0.00812267 0.10338572 -7.54549171] [-0.00966224 0.99984964 0.01439934 -1.01924145] [-0.10325321 -0.01532064 0.9945371 0.36135991] [ 0. 0. 0. 1. ]] SLAMing on 10.470418554999998 meters Centerline goodness [0,1] 0.954350291639663 Centerline is valid? [False, True] Translation: X:-7.57, Y:-1.02, Z:0.37 [[ 9.94640179e-01 2.47399326e-03 1.03367274e-01 -7.57211920e+00] [-4.31232644e-03 9.99836428e-01 1.75647909e-02 -1.02213235e+00] [-1.03306911e-01 -1.79164002e-02 9.94488152e-01 3.66253891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.500418555 meters Centerline goodness [0,1] 0.954350291639663 Centerline is valid? [True, True] Translation: X:-7.61, Y:-1.02, Z:0.36 [[ 9.95071264e-01 2.28026782e-03 9.91361663e-02 -7.60903090e+00] [-5.38633473e-03 9.99502543e-01 3.10749703e-02 -1.01612560e+00] [-9.90159911e-02 -3.14557905e-02 9.94588541e-01 3.57146825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.530418554999999 meters Centerline goodness [0,1] 0.9472530149835546 Centerline is valid? [True, False] Translation: X:-7.63, Y:-1.02, Z:0.36 [[ 9.94896333e-01 7.18483083e-03 1.00646233e-01 -7.63181939e+00] [-9.83807282e-03 9.99616372e-01 2.58905672e-02 -1.02396340e+00] [-1.00421603e-01 -2.67485954e-02 9.94585348e-01 3.61711649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.560418554999998 meters Centerline goodness [0,1] 0.9404757064443993 Centerline is valid? [False, False] Translation: X:-7.65, Y:-1.03, Z:0.36 [[ 0.99463549 0.01302341 0.10261891 -7.65061675] [-0.01522786 0.99966918 0.02072787 -1.03087886] [-0.10231502 -0.02217934 0.99450476 0.36162755] [ 0. 0. 0. 1. ]] SLAMing on 10.590418555 meters Centerline goodness [0,1] 0.8997470403723565 Centerline is valid? [False, False] Translation: X:-7.67, Y:-1.03, Z:0.36 [[ 0.99485573 0.01943246 0.09942058 -7.66717124] [-0.0212407 0.99962709 0.01716167 -1.03454688] [-0.09905001 -0.01918515 0.99489749 0.36227421] [ 0. 0. 0. 1. ]] SLAMing on 10.620418554999999 meters Centerline goodness [0,1] 0.9381455802389278 Centerline is valid? [False, False] Translation: X:-7.67, Y:-1.03, Z:0.36 [[ 0.99494351 0.01842733 0.09873117 -7.66853269] [-0.02008032 0.99967392 0.01577476 -1.03391258] [-0.09840829 -0.01767755 0.9949891 0.36393874] [ 0. 0. 0. 1. ]] SLAMing on 10.650418555 meters Centerline goodness [0,1] 0.93412467733084 Centerline is valid? [False, False] Translation: X:-7.67, Y:-1.04, Z:0.37 [[ 0.99502698 0.01590006 0.09832851 -7.67256962] [-0.01731549 0.99975814 0.01355823 -1.03671341] [-0.09808915 -0.01519341 0.99506165 0.3686958 ] [ 0. 0. 0. 1. ]] SLAMing on 10.680418555 meters Centerline goodness [0,1] 0.9299920607454757 Centerline is valid? [False, False] Translation: X:-7.70, Y:-1.05, Z:0.38 [[ 0.99509551 0.01836915 0.09719824 -7.70379181] [-0.0193927 0.99976589 0.00959621 -1.04974218] [-0.09699921 -0.01143409 0.99521878 0.37927379] [ 0. 0. 0. 1. ]] SLAMing on 10.710418554999999 meters Centerline goodness [0,1] 0.9528224984715712 Centerline is valid? [False, True] Translation: X:-7.73, Y:-1.06, Z:0.38 [[ 9.94919878e-01 2.50650889e-02 9.74996336e-02 -7.72604277e+00] [-2.58625143e-02 9.99641534e-01 6.92336568e-03 -1.05589738e+00] [-9.72911486e-02 -9.40977980e-03 9.95211479e-01 3.84608690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.740418555 meters Centerline goodness [0,1] 0.9314166955316938 Centerline is valid? [True, False] Translation: X:-7.75, Y:-1.06, Z:0.39 [[ 9.94780768e-01 3.08710827e-02 9.72532777e-02 -7.74682765e+00] [-3.12574174e-02 9.99508362e-01 2.45104718e-03 -1.05916944e+00] [-9.71297978e-02 -5.47814089e-03 9.95256646e-01 3.87012796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.770418555 meters Centerline goodness [0,1] 0.9396986970684039 Centerline is valid? [False, False] Translation: X:-7.76, Y:-1.06, Z:0.39 [[ 9.94767913e-01 3.72788393e-02 9.51161781e-02 -7.76471304e+00] [-3.73497002e-02 9.99301720e-01 -1.03583797e-03 -1.06165667e+00] [-9.50883752e-02 -2.52214236e-03 9.95465640e-01 3.87504507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.800418554999998 meters Centerline goodness [0,1] 0.9127419585126563 Centerline is valid? [False, False] Translation: X:-7.78, Y:-1.06, Z:0.38 [[ 9.94724194e-01 3.45760196e-02 9.65830007e-02 -7.77823662e+00] [-3.48259966e-02 9.99392983e-01 9.03162353e-04 -1.05828574e+00] [-9.64931454e-02 -4.26199670e-03 9.95324524e-01 3.80978498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.830418555 meters Centerline goodness [0,1] 0.9461122846928827 Centerline is valid? [False, False] Translation: X:-7.79, Y:-1.05, Z:0.38 [[ 9.94631700e-01 3.12845104e-02 9.86360012e-02 -7.78792954e+00] [-3.18237468e-02 9.99485895e-01 3.89797319e-03 -1.05475741e+00] [-9.84633458e-02 -7.01601483e-03 9.95115946e-01 3.75806835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.860418554999999 meters Centerline goodness [0,1] 0.9487967229902714 Centerline is valid? [False, False] Translation: X:-7.79, Y:-1.06, Z:0.38 [[ 9.94721260e-01 2.88201520e-02 9.84835708e-02 -7.78986243e+00] [-2.90996390e-02 9.99575532e-01 1.40237423e-03 -1.05718627e+00] [-9.84013510e-02 -4.26080782e-03 9.95137689e-01 3.77822022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.890418554999998 meters Centerline goodness [0,1] 0.9138792066695204 Centerline is valid? [False, False] Translation: X:-7.80, Y:-1.05, Z:0.37 [[ 9.95168419e-01 2.67304815e-02 9.44738001e-02 -7.79931891e+00] [-2.74373480e-02 9.99604354e-01 6.19088648e-03 -1.05093329e+00] [-9.42709366e-02 -8.75308524e-03 9.95508098e-01 3.72237514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.920418555 meters Centerline goodness [0,1] 0.9381892583120205 Centerline is valid? [False, False] Translation: X:-7.81, Y:-1.05, Z:0.37 [[ 9.96059260e-01 2.61967395e-02 8.47329988e-02 -7.80517140e+00] [-2.67890073e-02 9.99623933e-01 5.86018430e-03 -1.04897138e+00] [-8.45476158e-02 -8.10700375e-03 9.96386460e-01 3.72847370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.950418554999999 meters Centerline goodness [0,1] 0.9407689144736842 Centerline is valid? [False, False] Translation: X:-7.81, Y:-1.05, Z:0.38 [[ 9.96168565e-01 2.42332715e-02 8.40293884e-02 -7.80816909e+00] [-2.46352573e-02 9.99689472e-01 3.75014608e-03 -1.05099394e+00] [-8.39124167e-02 -5.80586325e-03 9.96456220e-01 3.75851632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.980418555 meters Centerline goodness [0,1] 0.9466515557387183 Centerline is valid? [False, False] Translation: X:-7.82, Y:-1.05, Z:0.37 [[ 9.96473128e-01 2.94685659e-02 7.85678625e-02 -7.82255090e+00] [-2.94966374e-02 9.99564557e-01 -8.03477479e-04 -1.05279137e+00] [-7.85573280e-02 -1.51684403e-03 9.96908444e-01 3.73068523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.010418555 meters Centerline goodness [0,1] 0.9260985215580345 Centerline is valid? [False, False] Translation: X:-7.84, Y:-1.05, Z:0.37 [[ 9.96548464e-01 3.61291403e-02 7.47385003e-02 -7.83666532e+00] [-3.59073455e-02 9.99345831e-01 -4.30963584e-03 -1.05280210e+00] [-7.48453122e-02 1.61109983e-03 9.97193855e-01 3.68954414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.040418554999999 meters Centerline goodness [0,1] 0.8932421013581748 Centerline is valid? [False, False] Translation: X:-7.85, Y:-1.05, Z:0.36 [[ 9.96730188e-01 4.08003774e-02 6.97442588e-02 -7.85008362e+00] [-4.01597946e-02 9.99137436e-01 -1.05629452e-02 -1.05015307e+00] [-7.01150721e-02 7.72749122e-03 9.97508979e-01 3.61597891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.070418555 meters Centerline goodness [0,1] 0.8376435886250805 Centerline is valid? [False, False] Translation: X:-7.87, Y:-1.05, Z:0.35 [[ 0.9970519 0.04255949 0.06384512 -7.86651725] [-0.0415536 0.99899161 -0.01700166 -1.0501019 ] [-0.06450432 0.01429854 0.99781498 0.35473611] [ 0. 0. 0. 1. ]] SLAMing on 11.100418555 meters Centerline goodness [0,1] 0.8355454772405758 Centerline is valid? [False, False] Translation: X:-7.89, Y:-1.05, Z:0.35 [[ 0.99759938 0.04472508 0.05286913 -7.8900694 ] [-0.04351883 0.99877024 -0.02375138 -1.05008093] [-0.05386639 0.02139356 0.99831895 0.34840986] [ 0. 0. 0. 1. ]] SLAMing on 11.130418554999999 meters Centerline goodness [0,1] 0.8823111779323017 Centerline is valid? [False, False] Translation: X:-7.93, Y:-1.05, Z:0.33 [[ 0.9978932 0.05135335 0.03964834 -7.93474856] [-0.04996224 0.99812658 -0.03531441 -1.04899156] [-0.04138757 0.03325909 0.99858946 0.32881492] [ 0. 0. 0. 1. ]] SLAMing on 11.160418555 meters Centerline goodness [0,1] 0.8541079466576922 Centerline is valid? [False, False] Translation: X:-7.98, Y:-1.05, Z:0.31 [[ 0.99806047 0.05362813 0.0316122 -7.98122311] [-0.05226457 0.99772902 -0.04248781 -1.0510254 ] [-0.03381896 0.0407532 0.99859674 0.31045893] [ 0. 0. 0. 1. ]] SLAMing on 11.190418554999999 meters Centerline goodness [0,1] 0.9039268333613022 Centerline is valid? [False, False] Translation: X:-7.95, Y:-1.02, Z:0.30 [[ 0.99897149 0.02708383 0.03636523 -7.94896637] [-0.0260315 0.99923731 -0.0291061 -1.02465891] [-0.03712579 0.02812952 0.99891461 0.29988901] [ 0. 0. 0. 1. ]] SLAMing on 11.220418554999998 meters Centerline goodness [0,1] 0.9103171334431631 Centerline is valid? [False, False] Translation: X:-8.01, Y:-1.03, Z:0.31 [[ 9.97985280e-01 1.09205909e-02 6.24989777e-02 -8.00676293e+00] [-1.13492687e-02 9.99914416e-01 6.50805629e-03 -1.02864737e+00] [-6.24225570e-02 -7.20426207e-03 9.98023809e-01 3.11683903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.250418555 meters Centerline goodness [0,1] 0.9199564332833275 Centerline is valid? [False, False] Translation: X:-8.03, Y:-1.04, Z:0.34 [[ 0.997689 -0.01198946 0.06687979 -8.02972148] [ 0.01056367 0.9997102 0.02163171 -1.03658603] [-0.06711976 -0.02087522 0.99752652 0.3365514 ] [ 0. 0. 0. 1. ]] SLAMing on 11.280418554999999 meters Centerline goodness [0,1] 0.9220694171578258 Centerline is valid? [False, False] Translation: X:-8.04, Y:-1.04, Z:0.35 [[ 0.99781264 -0.01177643 0.06504811 -8.03542979] [ 0.01009464 0.99960777 0.02612293 -1.0436265 ] [-0.06533023 -0.02540915 0.99754014 0.35119784] [ 0. 0. 0. 1. ]] SLAMing on 11.310418554999998 meters Centerline goodness [0,1] 0.9158023184868822 Centerline is valid? [False, False] Translation: X:-8.04, Y:-1.04, Z:0.36 [[ 9.97868800e-01 -9.31620691e-03 6.45837954e-02 -8.03842671e+00] [ 7.45474752e-03 9.99551506e-01 2.90036947e-02 -1.04409974e+00] [-6.48250344e-02 -2.84604261e-02 9.97490711e-01 3.55896433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.340418555 meters Centerline goodness [0,1] 0.9283289790376663 Centerline is valid? [False, False] Translation: X:-8.05, Y:-1.06, Z:0.36 [[ 9.97980667e-01 5.81602063e-03 6.32515739e-02 -8.05045611e+00] [-6.77615553e-03 9.99864897e-01 1.49757119e-02 -1.05744830e+00] [-6.31559293e-02 -1.53740735e-02 9.97885247e-01 3.62942303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.370418554999999 meters Centerline goodness [0,1] 0.9169623700280575 Centerline is valid? [False, False] Translation: X:-8.07, Y:-1.06, Z:0.37 [[ 0.99779287 0.01133246 0.06542907 -8.07249925] [-0.01200292 0.99987932 0.00986311 -1.06369257] [-0.0653094 -0.01062668 0.99780848 0.3671123 ] [ 0. 0. 0. 1. ]] SLAMing on 11.400418555 meters Centerline goodness [0,1] 0.9528423376464095 Centerline is valid? [False, True] Translation: X:-8.14, Y:-1.07, Z:0.37 [[ 0.99639197 0.0125721 0.08393438 -8.14014828] [-0.01399317 0.99976818 0.01636392 -1.07066536] [-0.08370919 -0.01747938 0.99633691 0.37429276] [ 0. 0. 0. 1. ]] SLAMing on 11.430418555 meters Centerline goodness [0,1] 0.9530215062556219 Centerline is valid? [True, True] Translation: X:-8.18, Y:-1.06, Z:0.37 [[ 9.96119858e-01 2.47489157e-03 8.79721779e-02 -8.17555248e+00] [-4.58847637e-03 9.99705459e-01 2.38315097e-02 -1.05884031e+00] [-8.78872861e-02 -2.41426983e-02 9.95837816e-01 3.69327746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.460418554999999 meters Centerline goodness [0,1] 0.9678337603188158 Centerline is valid? [True, True] Translation: X:-8.21, Y:-1.06, Z:0.37 [[ 9.95127164e-01 -7.72156307e-03 9.82970191e-02 -8.20527294e+00] [ 5.12586769e-03 9.99632167e-01 2.66318620e-02 -1.06496679e+00] [-9.84665018e-02 -2.59982318e-02 9.94800704e-01 3.65939657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.490418555 meters Centerline goodness [0,1] 0.9397644282604716 Centerline is valid? [True, False] Translation: X:-8.26, Y:-1.07, Z:0.37 [[ 9.94531961e-01 -1.00255424e-02 1.03950308e-01 -8.25921502e+00] [ 7.43953436e-03 9.99653857e-01 2.52353019e-02 -1.07073169e+00] [-1.04167324e-01 -2.43239724e-02 9.94262296e-01 3.71939255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.520418555 meters Centerline goodness [0,1] 0.9778272320790543 Centerline is valid? [False, True] Translation: X:-8.31, Y:-1.08, Z:0.37 [[ 9.95131970e-01 -6.50504007e-03 9.83363951e-02 -8.30829460e+00] [ 5.23288577e-03 9.99899327e-01 1.31891479e-02 -1.07755262e+00] [-9.84122912e-02 -1.26103596e-02 9.95065827e-01 3.71797695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.550418554999998 meters Centerline goodness [0,1] 0.9348124475037387 Centerline is valid? [True, False] Translation: X:-8.32, Y:-1.08, Z:0.37 [[ 9.95374570e-01 1.32595869e-03 9.60609582e-02 -8.32064488e+00] [-2.26392959e-03 9.99950817e-01 9.65599854e-03 -1.08012178e+00] [-9.60434302e-02 -9.82881064e-03 9.95328616e-01 3.69580492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.580418555 meters Centerline goodness [0,1] 0.9735304369220675 Centerline is valid? [False, True] Translation: X:-8.33, Y:-1.08, Z:0.37 [[ 9.95678082e-01 8.74800779e-03 9.24587962e-02 -8.33279111e+00] [-9.40382212e-03 9.99933606e-01 6.65975147e-03 -1.08318021e+00] [-9.23943979e-02 -7.50043464e-03 9.95694240e-01 3.68820132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.610418554999999 meters Centerline goodness [0,1] 0.9688203281640002 Centerline is valid? [True, True] Translation: X:-8.37, Y:-1.07, Z:0.35 [[ 9.96331352e-01 5.37080016e-03 8.54107277e-02 -8.36885306e+00] [-7.21827093e-03 9.99746296e-01 2.13363370e-02 -1.06782454e+00] [-8.52744655e-02 -2.18745793e-02 9.96117347e-01 3.54385622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.640418554999998 meters Centerline goodness [0,1] 0.9689686208730516 Centerline is valid? [True, True] Translation: X:-8.40, Y:-1.07, Z:0.36 [[ 9.96334375e-01 -7.00127128e-03 8.52572359e-02 -8.40026585e+00] [ 5.20263897e-03 9.99759582e-01 2.13004796e-02 -1.07135385e+00] [-8.53858690e-02 -2.07788374e-02 9.96131263e-01 3.56626828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.670418555 meters Centerline goodness [0,1] 0.9439129811336215 Centerline is valid? [True, False] Translation: X:-8.43, Y:-1.08, Z:0.36 [[ 9.96143819e-01 -6.24148010e-03 8.75130623e-02 -8.43187123e+00] [ 4.81232450e-03 9.99851752e-01 1.65322465e-02 -1.07707532e+00] [-8.76032743e-02 -1.60473539e-02 9.96026179e-01 3.58652630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.700418554999999 meters Centerline goodness [0,1] 0.9756247313808559 Centerline is valid? [False, True] Translation: X:-8.47, Y:-1.08, Z:0.36 [[ 9.96234916e-01 -6.64918314e-03 8.64394642e-02 -8.46817458e+00] [ 5.49843648e-03 9.99893158e-01 1.35440256e-02 -1.08133002e+00] [-8.65202855e-02 -1.30177493e-02 9.96165036e-01 3.57140988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.730418555 meters Centerline goodness [0,1] 0.9518208317937349 Centerline is valid? [True, True] Translation: X:-8.50, Y:-1.06, Z:0.34 [[ 9.97019137e-01 -7.65551377e-03 7.67739113e-02 -8.50463463e+00] [ 6.25517851e-03 9.99809965e-01 1.84636454e-02 -1.06305066e+00] [-7.69006702e-02 -1.79283733e-02 9.96877555e-01 3.43175118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.760418555 meters Centerline goodness [0,1] 0.8819015880852464 Centerline is valid? [True, False] Translation: X:-8.52, Y:-1.07, Z:0.35 [[ 9.97367346e-01 -3.81589044e-03 7.24141971e-02 -8.52348576e+00] [ 2.82830669e-03 9.99901662e-01 1.37356277e-02 -1.07195705e+00] [-7.24594897e-02 -1.34946570e-02 9.97280059e-01 3.51165229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.790418554999999 meters Centerline goodness [0,1] 0.831010417306236 Centerline is valid? [False, False] Translation: X:-8.54, Y:-1.07, Z:0.35 [[ 9.97672981e-01 -5.73725190e-03 6.79389986e-02 -8.53925045e+00] [ 4.48190738e-03 9.99816670e-01 1.86155554e-02 -1.07111100e+00] [-6.80333455e-02 -1.82677404e-02 9.97515791e-01 3.52096997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.820418555 meters Centerline goodness [0,1] 0.9539031925849639 Centerline is valid? [False, True] Translation: X:-8.56, Y:-1.08, Z:0.36 [[ 9.97608031e-01 -6.43225707e-04 6.91216582e-02 -8.55873922e+00] [-3.38135324e-04 9.99899331e-01 1.41849529e-02 -1.08214619e+00] [-6.91238239e-02 -1.41743954e-02 9.97507385e-01 3.58639953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.850418555 meters Centerline goodness [0,1] 0.8942268210560893 Centerline is valid? [True, False] Translation: X:-8.58, Y:-1.09, Z:0.36 [[ 9.97689618e-01 7.20023226e-03 6.75542978e-02 -8.57814490e+00] [-8.02105460e-03 9.99897173e-01 1.18871935e-02 -1.08814253e+00] [-6.74617608e-02 -1.24015862e-02 9.97644782e-01 3.62712157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.880418554999999 meters Centerline goodness [0,1] 0.8336044811466463 Centerline is valid? [False, False] Translation: X:-8.61, Y:-1.10, Z:0.37 [[ 9.97701542e-01 9.44528176e-03 6.71000709e-02 -8.61220919e+00] [-1.00141323e-02 9.99916674e-01 8.14634809e-03 -1.09562427e+00] [-6.70175352e-02 -8.79957304e-03 9.97712994e-01 3.66803762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.910418555 meters Centerline goodness [0,1] 0.8573489110053368 Centerline is valid? [False, False] Translation: X:-8.64, Y:-1.10, Z:0.37 [[ 9.98021283e-01 6.39782457e-03 6.25506739e-02 -8.63578895e+00] [-7.05647486e-03 9.99921904e-01 1.03146317e-02 -1.09679348e+00] [-6.24797977e-02 -1.07356092e-02 9.97988488e-01 3.70653768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.940418554999999 meters Centerline goodness [0,1] 0.9743478619778768 Centerline is valid? [False, True] Translation: X:-8.67, Y:-1.11, Z:0.38 [[ 9.98121491e-01 6.23471428e-03 6.09476616e-02 -8.67334362e+00] [-6.68220781e-03 9.99952175e-01 7.14119472e-03 -1.10523020e+00] [-6.09002234e-02 -7.53504486e-03 9.98115417e-01 3.76042386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.970418554999998 meters Centerline goodness [0,1] 0.9769135547761502 Centerline is valid? [True, True] Translation: X:-8.71, Y:-1.10, Z:0.36 [[ 9.98038142e-01 8.32793514e-03 6.20525004e-02 -8.70612847e+00] [-9.20495806e-03 9.99861559e-01 1.38611179e-02 -1.09967761e+00] [-6.19284753e-02 -1.44051150e-02 9.97976631e-01 3.63508151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.000418555 meters Centerline goodness [0,1] 0.8138553968972471 Centerline is valid? [True, False] Translation: X:-8.73, Y:-1.10, Z:0.37 [[ 0.99797858 0.01346563 0.06210828 -8.73071594] [-0.01409082 0.99985426 0.00963914 -1.10480785] [-0.06196943 -0.01049481 0.99802287 0.36670082] [ 0. 0. 0. 1. ]] SLAMing on 12.030418554999999 meters Centerline goodness [0,1] 0.8119200131395253 Centerline is valid? [False, False] Translation: X:-8.74, Y:-1.11, Z:0.37 [[ 0.99798064 0.01412261 0.06192897 -8.73928342] [-0.01482239 0.99983122 0.01085501 -1.10703778] [-0.06176521 -0.01175103 0.99802153 0.37248421] [ 0. 0. 0. 1. ]] SLAMing on 12.060418554999998 meters Centerline goodness [0,1] 0.959211476932604 Centerline is valid? [False, True] Translation: X:-8.76, Y:-1.11, Z:0.38 [[ 9.97902853e-01 6.80951037e-03 6.43702314e-02 -8.76286417e+00] [-7.46104044e-03 9.99923291e-01 9.88664353e-03 -1.11092671e+00] [-6.42979704e-02 -1.03461787e-02 9.97877110e-01 3.79391423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.090418555 meters Centerline goodness [0,1] 0.88455734926311 Centerline is valid? [True, False] Translation: X:-8.79, Y:-1.12, Z:0.38 [[ 9.97794557e-01 1.05128251e-02 6.55400820e-02 -8.78906185e+00] [-1.08254171e-02 9.99931652e-01 4.41616275e-03 -1.11676339e+00] [-6.54891761e-02 -5.11592188e-03 9.97840165e-01 3.84389779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.120418554999999 meters Centerline goodness [0,1] 0.8226662825156404 Centerline is valid? [False, False] Translation: X:-8.81, Y:-1.12, Z:0.38 [[ 9.97977870e-01 8.86701968e-03 6.29408216e-02 -8.80874902e+00] [-9.38647516e-03 9.99924246e-01 7.96218584e-03 -1.11600422e+00] [-6.28654527e-02 -8.53687772e-03 9.97985499e-01 3.83803194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.150418555 meters Centerline goodness [0,1] 0.8538020115592669 Centerline is valid? [False, False] Translation: X:-8.83, Y:-1.12, Z:0.39 [[ 9.98281353e-01 5.45148171e-03 5.83491429e-02 -8.83174648e+00] [-6.05988111e-03 9.99929054e-01 1.02550155e-02 -1.11726822e+00] [-5.82890982e-02 -1.05909797e-02 9.98243564e-01 3.87152234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.180418555 meters Centerline goodness [0,1] 0.9021943703336022 Centerline is valid? [False, False] Translation: X:-8.85, Y:-1.13, Z:0.39 [[ 9.98291238e-01 8.94293117e-03 5.77462327e-02 -8.85208029e+00] [-9.17178720e-03 9.99951096e-01 3.69930594e-03 -1.12512583e+00] [-5.77103260e-02 -4.22262087e-03 9.98324440e-01 3.91652723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.210418554999999 meters Centerline goodness [0,1] 0.9038943812306991 Centerline is valid? [False, False] Translation: X:-8.86, Y:-1.12, Z:0.39 [[ 9.98612856e-01 3.98418013e-03 5.25022951e-02 -8.86392375e+00] [-4.21701138e-03 9.99981757e-01 4.32465545e-03 -1.12308098e+00] [-5.24841071e-02 -4.54005930e-03 9.98611439e-01 3.88956038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.240418555 meters Centerline goodness [0,1] 0.8436529642805733 Centerline is valid? [False, False] Translation: X:-8.87, Y:-1.12, Z:0.39 [[ 9.98865966e-01 2.02449838e-03 4.75676785e-02 -8.87494772e+00] [-2.48800026e-03 9.99949986e-01 9.68686436e-03 -1.12024099e+00] [-4.75456884e-02 -9.79422752e-03 9.98821045e-01 3.86718268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.270418555 meters Centerline goodness [0,1] 0.847132970835393 Centerline is valid? [False, False] Translation: X:-8.88, Y:-1.12, Z:0.39 [[ 9.98898769e-01 -2.27993029e-03 4.68620497e-02 -8.88275787e+00] [ 1.97832802e-03 9.99977039e-01 6.48133232e-03 -1.12433054e+00] [-4.68757507e-02 -6.38148636e-03 9.98880343e-01 3.94458766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.300418554999998 meters Centerline goodness [0,1] 0.8497589716122121 Centerline is valid? [False, False] Translation: X:-8.91, Y:-1.13, Z:0.40 [[ 9.98973789e-01 2.03390415e-04 4.52915843e-02 -8.90861400e+00] [-3.04368499e-04 9.99997484e-01 2.22262592e-03 -1.12859884e+00] [-4.52910182e-02 -2.23413037e-03 9.98971337e-01 3.96053824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.330418555 meters Centerline goodness [0,1] 0.8115275446992769 Centerline is valid? [False, False] Translation: X:-8.96, Y:-1.13, Z:0.39 [[ 9.99197122e-01 3.95475911e-03 3.98681706e-02 -8.96337583e+00] [-3.75539079e-03 9.99980074e-01 -5.07433964e-03 -1.13417726e+00] [-3.98874440e-02 4.92054500e-03 9.99192064e-01 3.88838837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.360418554999999 meters Centerline goodness [0,1] 0.79132295800694 Centerline is valid? [False, False] Translation: X:-8.98, Y:-1.13, Z:0.39 [[ 9.99328410e-01 1.05950723e-02 3.50780957e-02 -8.97810836e+00] [-1.03004322e-02 9.99910227e-01 -8.56963982e-03 -1.13468920e+00] [-3.51657426e-02 8.20256499e-03 9.99347832e-01 3.86133364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.390418554999998 meters Centerline goodness [0,1] 0.79132295800694 Centerline is valid? [False, False] Translation: X:-8.98, Y:-1.13, Z:0.39 [[ 9.99328410e-01 1.05950723e-02 3.50780957e-02 -8.97810836e+00] [-1.03004322e-02 9.99910227e-01 -8.56963982e-03 -1.13468920e+00] [-3.51657426e-02 8.20256499e-03 9.99347832e-01 3.86133364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.420418555 meters Centerline goodness [0,1] 0.8014895564616793 Centerline is valid? [False, False] Translation: X:-9.00, Y:-1.14, Z:0.38 [[ 0.99937744 0.01521452 0.03183151 -9.00013018] [-0.01489904 0.99983774 -0.01012475 -1.13627905] [-0.03198038 0.00964418 0.99944197 0.38254049] [ 0. 0. 0. 1. ]] SLAMing on 12.450418554999999 meters Centerline goodness [0,1] 0.8794632656876389 Centerline is valid? [False, False] Translation: X:-9.03, Y:-1.14, Z:0.38 [[ 0.99926215 0.02034126 0.03257905 -9.03112453] [-0.02001267 0.99974584 -0.01038061 -1.14168485] [-0.03278193 0.00972095 0.99941525 0.3817946 ] [ 0. 0. 0. 1. ]] SLAMing on 12.480418555 meters Centerline goodness [0,1] 0.7923306154546583 Centerline is valid? [False, False] Translation: X:-9.05, Y:-1.14, Z:0.38 [[ 9.99279696e-01 1.82687872e-02 3.32616995e-02 -9.04677734e+00] [-1.80935843e-02 9.99820834e-01 -5.56082703e-03 -1.14111973e+00] [-3.33573297e-02 4.95499818e-03 9.99431207e-01 3.80578168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.510418555 meters Centerline goodness [0,1] 0.7263472553200385 Centerline is valid? [False, False] Translation: X:-9.10, Y:-1.15, Z:0.38 [[ 9.99313336e-01 1.31525500e-02 3.46390913e-02 -9.10101945e+00] [-1.28626243e-02 9.99880465e-01 -8.57949273e-03 -1.14987000e+00] [-3.47477929e-02 8.12805189e-03 9.99363060e-01 3.81126843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.540418554999999 meters Centerline goodness [0,1] 0.7016673898221037 Centerline is valid? [False, False] Translation: X:-9.15, Y:-1.15, Z:0.37 [[ 9.99448329e-01 1.16570603e-02 3.10990495e-02 -9.15200882e+00] [-1.15079872e-02 9.99921439e-01 -4.96818893e-03 -1.14987776e+00] [-3.11545208e-02 4.60756066e-03 9.99503960e-01 3.68405996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.570418555 meters Centerline goodness [0,1] 0.6999144282345084 Centerline is valid? [False, False] Translation: X:-9.17, Y:-1.16, Z:0.37 [[ 9.99398409e-01 1.88758385e-02 2.90950584e-02 -9.16937284e+00] [-1.86121027e-02 9.99783443e-01 -9.30896890e-03 -1.15667656e+00] [-2.92644723e-02 8.76184849e-03 9.99533301e-01 3.69936417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.600418555 meters Centerline goodness [0,1] 0.6886947477899116 Centerline is valid? [False, False] Translation: X:-9.18, Y:-1.16, Z:0.37 [[ 9.99369993e-01 1.89222434e-02 3.00260851e-02 -9.18232781e+00] [-1.87946164e-02 9.99813116e-01 -4.52711059e-03 -1.15601728e+00] [-3.01061368e-02 3.95992972e-03 9.99538863e-01 3.67898350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.630418554999999 meters Centerline goodness [0,1] 0.6864758392355728 Centerline is valid? [False, False] Translation: X:-9.22, Y:-1.16, Z:0.37 [[ 9.99467032e-01 1.90303931e-02 2.65235170e-02 -9.21708191e+00] [-1.88222119e-02 9.99790224e-01 -8.07663222e-03 -1.16304143e+00] [-2.66716545e-02 7.57309637e-03 9.99615562e-01 3.67720723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.660418555 meters Centerline goodness [0,1] 0.6887345389316479 Centerline is valid? [False, False] Translation: X:-9.23, Y:-1.16, Z:0.36 [[ 9.99405556e-01 1.71935710e-02 2.98816854e-02 -9.22847023e+00] [-1.70414309e-02 9.99840531e-01 -5.33867108e-03 -1.16073702e+00] [-2.99687110e-02 4.82627087e-03 9.99539186e-01 3.62974702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.690418554999999 meters Centerline goodness [0,1] 0.6879148113920861 Centerline is valid? [False, False] Translation: X:-9.25, Y:-1.17, Z:0.37 [[ 9.99353553e-01 2.52378251e-02 2.56033002e-02 -9.25275143e+00] [-2.50577432e-02 9.99659131e-01 -7.33021121e-03 -1.16942321e+00] [-2.57795714e-02 6.68391169e-03 9.99645307e-01 3.69115837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.720418554999998 meters Centerline goodness [0,1] 0.6819932998324958 Centerline is valid? [False, False] Translation: X:-9.27, Y:-1.17, Z:0.36 [[ 0.99862073 0.04940583 0.01776821 -9.26512859] [-0.04921687 0.99872842 -0.01091963 -1.17425869] [-0.01828511 0.01003008 0.9997825 0.3648496 ] [ 0. 0. 0. 1. ]] SLAMing on 12.750418555 meters Centerline goodness [0,1] 0.6935754072957239 Centerline is valid? [False, False] Translation: X:-9.31, Y:-1.17, Z:0.35 [[ 9.99344633e-01 2.01858625e-02 3.00472306e-02 -9.31423338e+00] [-2.00265489e-02 9.99783801e-01 -5.59366806e-03 -1.17197022e+00] [-3.01536474e-02 4.98825982e-03 9.99532828e-01 3.47221046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.780418554999999 meters Centerline goodness [0,1] 0.7202366075147879 Centerline is valid? [False, False] Translation: X:-9.30, Y:-1.17, Z:0.35 [[ 9.99656077e-01 1.04834761e-03 2.62036022e-02 -9.29636689e+00] [-1.20708935e-03 9.99981013e-01 6.04292862e-03 -1.16506917e+00] [-2.61967696e-02 -6.07248041e-03 9.99638362e-01 3.54021483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.810418554999998 meters Centerline goodness [0,1] 0.7388501923276848 Centerline is valid? [False, False] Translation: X:-9.35, Y:-1.17, Z:0.36 [[ 0.99920908 -0.02231817 0.03291062 -9.34501308] [ 0.02183009 0.99964742 0.01511589 -1.17094174] [-0.03323637 -0.01438549 0.99934399 0.36126652] [ 0. 0. 0. 1. ]] SLAMing on 12.840418555 meters Centerline goodness [0,1] 0.7485366764913446 Centerline is valid? [False, False] Translation: X:-9.38, Y:-1.18, Z:0.37 [[ 0.99924827 -0.01355977 0.03631835 -9.37828256] [ 0.01300559 0.99979602 0.01545202 -1.1805211 ] [-0.03652046 -0.01496807 0.9992208 0.3745946 ] [ 0. 0. 0. 1. ]] SLAMing on 12.870418554999999 meters Centerline goodness [0,1] 0.7415264823451033 Centerline is valid? [False, False] Translation: X:-9.40, Y:-1.19, Z:0.38 [[ 9.99279552e-01 -1.00081294e-02 3.66089475e-02 -9.39854767e+00] [ 9.70762621e-03 9.99917790e-01 8.37703124e-03 -1.18673317e+00] [-3.66897763e-02 -8.01561004e-03 9.99294556e-01 3.76225202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.900418555 meters Centerline goodness [0,1] 0.7458324672625234 Centerline is valid? [False, False] Translation: X:-9.41, Y:-1.19, Z:0.37 [[ 9.99429886e-01 -2.83061003e-03 3.36435787e-02 -9.41171686e+00] [ 2.67600094e-03 9.99985656e-01 4.63964070e-03 -1.18822376e+00] [-3.36562291e-02 -4.54696533e-03 9.99423125e-01 3.72389344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.930418555 meters Centerline goodness [0,1] 0.739495098753356 Centerline is valid? [False, False] Translation: X:-9.41, Y:-1.19, Z:0.37 [[ 9.99444153e-01 -2.96097326e-03 3.32056864e-02 -9.41320801e+00] [ 2.81719483e-03 9.99986457e-01 4.37588476e-03 -1.18771495e+00] [-3.32181936e-02 -4.27990555e-03 9.99438960e-01 3.73822550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.960418554999999 meters Centerline goodness [0,1] 0.7427769110764431 Centerline is valid? [False, False] Translation: X:-9.44, Y:-1.19, Z:0.38 [[ 9.99460627e-01 2.36417706e-03 3.27546258e-02 -9.43540648e+00] [-2.35650857e-03 9.99997186e-01 -2.72721124e-04 -1.19334895e+00] [-3.27551784e-02 1.95387469e-04 9.99463386e-01 3.78842216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.990418555 meters Centerline goodness [0,1] 0.7408324146681365 Centerline is valid? [False, False] Translation: X:-9.46, Y:-1.20, Z:0.38 [[ 9.99436176e-01 8.43356800e-03 3.24993077e-02 -9.45630437e+00] [-8.27797164e-03 9.99953637e-01 -4.91926401e-03 -1.19644612e+00] [-3.25392879e-02 4.64746206e-03 9.99459652e-01 3.80924164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.020418555 meters Centerline goodness [0,1] 0.7266408623631748 Centerline is valid? [False, False] Translation: X:-9.48, Y:-1.20, Z:0.38 [[ 9.99468971e-01 1.05903586e-02 3.08159126e-02 -9.48475483e+00] [-1.03722406e-02 9.99920073e-01 -7.22936597e-03 -1.19592812e+00] [-3.08900112e-02 6.90589690e-03 9.99498932e-01 3.75340588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.050418554999998 meters Centerline goodness [0,1] 0.7426247243373694 Centerline is valid? [False, False] Translation: X:-9.53, Y:-1.20, Z:0.38 [[ 9.99521488e-01 2.52311364e-03 3.08290404e-02 -9.53357580e+00] [-2.54710559e-03 9.99996483e-01 7.38978797e-04 -1.20059303e+00] [-3.08270675e-02 -8.17150007e-04 9.99524399e-01 3.77670550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.080418555 meters Centerline goodness [0,1] 0.7586443070026151 Centerline is valid? [False, False] Translation: X:-9.56, Y:-1.21, Z:0.39 [[ 9.99394884e-01 8.75861026e-04 3.47721083e-02 -9.56005811e+00] [-1.11069514e-03 9.99976704e-01 6.73477770e-03 -1.20953570e+00] [-3.47653995e-02 -6.76932358e-03 9.99372575e-01 3.90816031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.110418554999999 meters Centerline goodness [0,1] 0.7528650035166108 Centerline is valid? [False, False] Translation: X:-9.58, Y:-1.21, Z:0.39 [[ 9.99295712e-01 -3.40646415e-03 3.73694459e-02 -9.58372585e+00] [ 3.07995164e-03 9.99956611e-01 8.79151074e-03 -1.20747888e+00] [-3.73977724e-02 -8.67022290e-03 9.99262845e-01 3.94578554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.140418554999998 meters Centerline goodness [0,1] 0.7546420743558993 Centerline is valid? [False, False] Translation: X:-9.60, Y:-1.22, Z:0.40 [[ 9.99326607e-01 -1.75787752e-03 3.66502801e-02 -9.60386278e+00] [ 1.74775526e-03 9.99998425e-01 3.08221941e-04 -1.21555472e+00] [-3.66507642e-02 -2.43958667e-04 9.99328105e-01 3.99982663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.170418555 meters Centerline goodness [0,1] 0.7472122804476902 Centerline is valid? [False, False] Translation: X:-9.62, Y:-1.22, Z:0.41 [[ 9.99355802e-01 3.73148239e-03 3.56939429e-02 -9.62439567e+00] [-3.58467096e-03 9.99984855e-01 -4.17617517e-03 -1.22361342e+00] [-3.57089857e-02 4.04553384e-03 9.99354042e-01 4.06661925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.200418554999999 meters Centerline goodness [0,1] 0.7616141487109229 Centerline is valid? [False, False] Translation: X:-9.64, Y:-1.22, Z:0.41 [[ 9.99323003e-01 2.01611246e-03 3.67351546e-02 -9.63843781e+00] [-1.96136011e-03 9.99996912e-01 -1.52643842e-03 -1.22349379e+00] [-3.67381186e-02 1.45335416e-03 9.99323871e-01 4.10444186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.230418554999998 meters Centerline goodness [0,1] 0.7537048503611972 Centerline is valid? [False, False] Translation: X:-9.64, Y:-1.22, Z:0.42 [[ 9.99329998e-01 9.98069713e-04 3.65863087e-02 -9.64403846e+00] [-9.08467908e-04 9.99996548e-01 -2.46559539e-03 -1.22426631e+00] [-3.65886432e-02 2.43070595e-03 9.99327455e-01 4.15084235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.260418555 meters Centerline goodness [0,1] 0.7535286834502682 Centerline is valid? [False, False] Translation: X:-9.65, Y:-1.22, Z:0.42 [[ 9.99344681e-01 2.45761885e-03 3.61132692e-02 -9.64754881e+00] [-2.43419010e-03 9.99996797e-01 -6.92710936e-04 -1.22447181e+00] [-3.61148560e-02 6.04350427e-04 9.99347463e-01 4.18255933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.290418554999999 meters Centerline goodness [0,1] 0.7539797395079595 Centerline is valid? [False, False] Translation: X:-9.68, Y:-1.23, Z:0.42 [[ 9.99398006e-01 4.67286891e-03 3.43771681e-02 -9.68278620e+00] [-4.51910106e-03 9.99979441e-01 -4.54930556e-03 -1.22635087e+00] [-3.43977197e-02 4.39121300e-03 9.99398576e-01 4.21310482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.320418555 meters Centerline goodness [0,1] 0.752764217465682 Centerline is valid? [False, False] Translation: X:-9.71, Y:-1.23, Z:0.42 [[ 9.99331009e-01 5.54052479e-03 3.61501955e-02 -9.71249888e+00] [-5.14421071e-03 9.99925750e-01 -1.10468039e-02 -1.22635212e+00] [-3.62087164e-02 1.08534495e-02 9.99285310e-01 4.18042080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.350418555 meters Centerline goodness [0,1] 0.7593860194980294 Centerline is valid? [False, False] Translation: X:-9.77, Y:-1.23, Z:0.41 [[ 9.99240654e-01 4.63754582e-03 3.86860277e-02 -9.76779114e+00] [-4.41249185e-03 9.99972855e-01 -5.90080460e-03 -1.22850506e+00] [-3.87123428e-02 5.72562206e-03 9.99233992e-01 4.09622672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.380418554999999 meters Centerline goodness [0,1] 0.7599242689276233 Centerline is valid? [False, False] Translation: X:-9.79, Y:-1.23, Z:0.42 [[ 9.99170592e-01 5.04628794e-03 4.04062184e-02 -9.79165610e+00] [-5.06048999e-03 9.99987165e-01 2.49209576e-04 -1.22721513e+00] [-4.04044422e-02 -4.53478144e-04 9.99183304e-01 4.16504455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.410418555 meters Centerline goodness [0,1] 0.7642947508140283 Centerline is valid? [False, False] Translation: X:-9.81, Y:-1.23, Z:0.42 [[ 9.99207577e-01 6.68350671e-03 3.92370903e-02 -9.81192635e+00] [-6.36646867e-03 9.99946117e-01 -8.19945746e-03 -1.23336089e+00] [-3.92897772e-02 7.94315831e-03 9.99196287e-01 4.18726649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.440418554999999 meters Centerline goodness [0,1] 0.754624200152254 Centerline is valid? [False, False] Translation: X:-9.82, Y:-1.23, Z:0.42 [[ 9.99198556e-01 8.65358686e-03 3.90814582e-02 -9.81800941e+00] [-8.41008079e-03 9.99944212e-01 -6.39084436e-03 -1.23134945e+00] [-3.91345816e-02 6.05704423e-03 9.99215591e-01 4.22767421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.470418554999998 meters Centerline goodness [0,1] 0.7581899404367969 Centerline is valid? [False, False] Translation: X:-9.84, Y:-1.24, Z:0.43 [[ 0.9991991 0.01361605 0.03762662 -9.8368891 ] [-0.01317466 0.99984175 -0.01195383 -1.23676494] [-0.03778343 0.01144854 0.99922037 0.42619637] [ 0. 0. 0. 1. ]] SLAMing on 13.500418555 meters Centerline goodness [0,1] 0.7612563281330715 Centerline is valid? [False, False] Translation: X:-9.86, Y:-1.24, Z:0.43 [[ 9.99211572e-01 1.13993667e-02 3.80301025e-02 -9.85827498e+00] [-1.11134722e-02 9.99908438e-01 -7.72054022e-03 -1.23765460e+00] [-3.81146296e-02 7.29180664e-03 9.99246769e-01 4.29050477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.530418554999999 meters Centerline goodness [0,1] 0.7613781194753937 Centerline is valid? [False, False] Translation: X:-9.89, Y:-1.23, Z:0.42 [[ 9.99329579e-01 5.73551849e-03 3.61593255e-02 -9.88698182e+00] [-5.63047688e-03 9.99979630e-01 -3.00612831e-03 -1.23053652e+00] [-3.61758307e-02 2.80051869e-03 9.99341516e-01 4.22115323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.560418554999998 meters Centerline goodness [0,1] 0.7614766992869839 Centerline is valid? [False, False] Translation: X:-9.93, Y:-1.23, Z:0.42 [[ 9.99436422e-01 1.11234368e-02 3.16718812e-02 -9.93307381e+00] [-1.10826270e-02 9.99937514e-01 -1.46378010e-03 -1.23152702e+00] [-3.16861844e-02 1.11194750e-03 9.99497248e-01 4.21696193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.590418555 meters Centerline goodness [0,1] 0.7691446577387122 Centerline is valid? [False, False] Translation: X:-9.96, Y:-1.24, Z:0.43 [[ 9.99335106e-01 1.58468602e-02 3.28363047e-02 -9.95849720e+00] [-1.56025122e-02 9.99848745e-01 -7.68433477e-03 -1.24449655e+00] [-3.29531106e-02 7.16689665e-03 9.99431202e-01 4.30965481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.620418554999999 meters Centerline goodness [0,1] 0.7644416050120562 Centerline is valid? [False, False] Translation: X:-9.99, Y:-1.24, Z:0.42 [[ 9.99373104e-01 1.64667294e-02 3.13408046e-02 -9.99392435e+00] [-1.62366000e-02 9.99839421e-01 -7.58320720e-03 -1.24399165e+00] [-3.14606425e-02 7.06958521e-03 9.99479989e-01 4.21881609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.650418555 meters Centerline goodness [0,1] 0.7659900897725623 Centerline is valid? [False, False] Translation: X:-10.02, Y:-1.25, Z:0.42 [[ 0.99944289 0.01766947 0.02831418 -10.02427638] [ -0.01733377 0.99977704 -0.01205829 -1.24784322] [ -0.02852093 0.01156078 0.99952634 0.42216303] [ 0. 0. 0. 1. ]] SLAMing on 13.680418555 meters Centerline goodness [0,1] 0.7593347330286937 Centerline is valid? [False, False] Translation: X:-10.04, Y:-1.24, Z:0.42 [[ 9.99474200e-01 1.66114891e-02 2.78456717e-02 -1.00351323e+01] [-1.63938799e-02 9.99833406e-01 -8.02500627e-03 -1.24341503e+00] [-2.79743401e-02 7.56428813e-03 9.99580021e-01 4.17629612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.710418554999999 meters Centerline goodness [0,1] 0.7632144480720751 Centerline is valid? [False, False] Translation: X:-10.05, Y:-1.24, Z:0.42 [[ 9.99567081e-01 1.27690939e-02 2.65066131e-02 -1.00484525e+01] [-1.25775690e-02 9.99893666e-01 -7.37974919e-03 -1.24186889e+00] [-2.65980273e-02 7.04316560e-03 9.99621398e-01 4.16438460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.740418555 meters Centerline goodness [0,1] 0.7522651059132281 Centerline is valid? [False, False] Translation: X:-10.08, Y:-1.26, Z:0.42 [[ 0.99902817 0.04108389 0.0159632 -10.07981647] [ -0.04081862 0.99902863 -0.0166026 -1.25860286] [ -0.01662979 0.01593487 0.99973473 0.41733096] [ 0. 0. 0. 1. ]] SLAMing on 13.770418555 meters Centerline goodness [0,1] 0.7403799928934223 Centerline is valid? [False, False] Translation: X:-10.09, Y:-1.27, Z:0.41 [[ 9.95909677e-01 9.03529430e-02 -5.10602772e-04 -1.00944129e+01] [-9.03356875e-02 9.95572719e-01 -2.59696854e-02 -1.27187838e+00] [-1.83809532e-03 2.59095867e-02 9.99662600e-01 4.08608584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.800418554999998 meters Centerline goodness [0,1] 0.7399045905343766 Centerline is valid? [False, False] Translation: X:-10.12, Y:-1.27, Z:0.38 [[ 9.96397448e-01 8.46875239e-02 4.48876180e-03 -1.01227565e+01] [-8.44849711e-02 9.95833477e-01 -3.43216651e-02 -1.27276575e+00] [-7.37667610e-03 3.38187866e-02 9.99400758e-01 3.81820024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.830418555 meters Centerline goodness [0,1] 0.7559678365022195 Centerline is valid? [False, False] Translation: X:-10.16, Y:-1.26, Z:0.37 [[ 0.99930364 0.02760182 0.02510727 -10.15521835] [ -0.02725535 0.99952992 -0.01403887 -1.25512781] [ -0.02548296 0.01334479 0.99958618 0.37448628] [ 0. 0. 0. 1. ]] SLAMing on 13.860418554999999 meters Centerline goodness [0,1] 0.7547348484848485 Centerline is valid? [False, False] Translation: X:-10.18, Y:-1.23, Z:0.39 [[ 0.99900529 -0.03844945 0.02258493 -10.18262328] [ 0.03818549 0.99919855 0.01200485 -1.23295355] [ -0.0230284 -0.01113049 0.99967285 0.38977166] [ 0. 0. 0. 1. ]] SLAMing on 13.890418554999998 meters Centerline goodness [0,1] 0.7762098859944963 Centerline is valid? [False, False] Translation: X:-10.21, Y:-1.24, Z:0.41 [[ 0.99945004 -0.0249126 0.02188555 -10.20580654] [ 0.02467232 0.99963306 0.01118151 -1.2436951 ] [ -0.02215608 -0.01063539 0.99969795 0.4135816 ] [ 0. 0. 0. 1. ]] SLAMing on 13.920418555 meters Centerline goodness [0,1] 0.783504941487822 Centerline is valid? [False, False] Translation: X:-10.24, Y:-1.26, Z:0.42 [[ 9.99595267e-01 9.24526996e-03 2.69040523e-02 -1.02445143e+01] [-9.37455870e-03 9.99945090e-01 4.68339100e-03 -1.26025187e+00] [-2.68592758e-02 -4.93370909e-03 9.99627049e-01 4.20649521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.950418554999999 meters Centerline goodness [0,1] 0.766417584247445 Centerline is valid? [False, False] Translation: X:-10.30, Y:-1.28, Z:0.40 [[ 0.99853033 0.05174201 0.01612278 -10.2958194 ] [ -0.05148442 0.99854559 -0.01600209 -1.28046969] [ -0.01692731 0.0151485 0.99974196 0.40281669] [ 0. 0. 0. 1. ]] SLAMing on 13.980418554999998 meters Centerline goodness [0,1] 0.7570238687220289 Centerline is valid? [False, False] Translation: X:-10.31, Y:-1.29, Z:0.40 [[ 9.96810299e-01 7.94676859e-02 7.35624646e-03 -1.03051465e+01] [-7.93306197e-02 9.96697315e-01 -1.73526600e-02 -1.28644079e+00] [-8.71092683e-03 1.67137346e-02 9.99822370e-01 3.95203712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.010418555 meters Centerline goodness [0,1] 0.7629614181439 Centerline is valid? [False, False] Translation: X:-10.32, Y:-1.29, Z:0.39 [[ 9.96574476e-01 8.26802040e-02 1.81571674e-03 -1.03177860e+01] [-8.26125153e-02 9.96289017e-01 -2.41529976e-02 -1.29054972e+00] [-3.80595342e-03 2.39202600e-02 9.99706625e-01 3.86027244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.040418554999999 meters Centerline goodness [0,1] 0.7642857142857142 Centerline is valid? [False, False] Translation: X:-10.37, Y:-1.27, Z:0.35 [[ 9.99793198e-01 5.57782105e-03 1.95563216e-02 -1.03729320e+01] [-5.32103671e-03 9.99899271e-01 -1.31580420e-02 -1.27362844e+00] [-1.96277449e-02 1.30512610e-02 9.99722170e-01 3.54334196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.070418555 meters Centerline goodness [0,1] 0.7566217616580311 Centerline is valid? [False, False] Translation: X:-10.41, Y:-1.27, Z:0.36 [[ 9.98953415e-01 -3.68062093e-02 2.71546928e-02 -1.04140346e+01] [ 3.69329178e-02 9.99309008e-01 -4.17931009e-03 -1.27474677e+00] [-2.69821046e-02 5.17783812e-03 9.99622507e-01 3.55582916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.100418555 meters Centerline goodness [0,1] 0.7830707599061792 Centerline is valid? [False, False] Translation: X:-10.43, Y:-1.28, Z:0.38 [[ 9.98456473e-01 -4.45658393e-02 3.31444936e-02 -1.04272679e+01] [ 4.43453105e-02 9.98989155e-01 7.35952599e-03 -1.27574874e+00] [-3.34389730e-02 -5.87836351e-03 9.99423474e-01 3.76247694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.130418554999999 meters Centerline goodness [0,1] 0.8011603267019154 Centerline is valid? [False, False] Translation: X:-10.46, Y:-1.29, Z:0.41 [[ 0.99851309 -0.03610888 0.04083811 -10.46206449] [ 0.03519208 0.99911701 0.02295018 -1.2861934 ] [ -0.04163076 -0.02147888 0.99890217 0.41270143] [ 0. 0. 0. 1. ]] SLAMing on 14.160418555 meters Centerline goodness [0,1] 0.8239876339821425 Centerline is valid? [False, False] Translation: X:-10.50, Y:-1.29, Z:0.44 [[ 0.99844229 -0.03498033 0.04346688 -10.49547777] [ 0.03360978 0.99892671 0.0318717 -1.29476 ] [ -0.04453511 -0.03036114 0.99854636 0.43622518] [ 0. 0. 0. 1. ]] SLAMing on 14.190418554999999 meters Centerline goodness [0,1] 0.8353468752559587 Centerline is valid? [False, False] Translation: X:-10.53, Y:-1.31, Z:0.45 [[ 0.99857363 -0.02713215 0.04598434 -10.53070725] [ 0.02628122 0.99947383 0.01900957 -1.30712947] [ -0.04647592 -0.01777393 0.99876127 0.44824978] [ 0. 0. 0. 1. ]] SLAMing on 14.220418554999998 meters Centerline goodness [0,1] 0.8309780817402769 Centerline is valid? [False, False] Translation: X:-10.55, Y:-1.32, Z:0.45 [[ 9.98655655e-01 -1.56926448e-02 4.94026760e-02 -1.05541776e+01] [ 1.53586615e-02 9.99856607e-01 7.13282089e-03 -1.31716803e+00] [-4.95075248e-02 -6.36447293e-03 9.98753472e-01 4.48416872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.250418555 meters Centerline goodness [0,1] 0.8464875310951666 Centerline is valid? [False, False] Translation: X:-10.58, Y:-1.32, Z:0.45 [[ 9.98566950e-01 -7.68599946e-03 5.29619895e-02 -1.05770086e+01] [ 7.44448941e-03 9.99960980e-01 4.75583483e-03 -1.32130188e+00] [-5.29964763e-02 -4.35474451e-03 9.98585204e-01 4.54936194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.280418554999999 meters Centerline goodness [0,1] 0.8495644473732984 Centerline is valid? [False, False] Translation: X:-10.61, Y:-1.32, Z:0.46 [[ 9.98679199e-01 -1.29133069e-04 5.13793771e-02 -1.06080567e+01] [ 4.77278205e-05 9.99998742e-01 1.58561916e-03 -1.31666875e+00] [-5.13795172e-02 -1.58107265e-03 9.98677949e-01 4.62717110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.310418554999998 meters Centerline goodness [0,1] 0.8495644473732984 Centerline is valid? [False, False] Translation: X:-10.61, Y:-1.32, Z:0.46 [[ 9.98679199e-01 -1.29133069e-04 5.13793771e-02 -1.06080567e+01] [ 4.77278205e-05 9.99998742e-01 1.58561916e-03 -1.31666875e+00] [-5.13795172e-02 -1.58107265e-03 9.98677949e-01 4.62717110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.340418555 meters Centerline goodness [0,1] 0.8235378499118816 Centerline is valid? [False, False] Translation: X:-10.62, Y:-1.32, Z:0.46 [[ 9.98564753e-01 2.67961368e-02 4.63724282e-02 -1.06236188e+01] [-2.67260430e-02 9.99640524e-01 -2.13100069e-03 -1.31842374e+00] [-4.64128610e-02 8.88590667e-04 9.98921947e-01 4.59226937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.370418554999999 meters Centerline goodness [0,1] 0.8526115151138459 Centerline is valid? [False, False] Translation: X:-10.63, Y:-1.32, Z:0.45 [[ 0.9986484 0.02880296 0.04326377 -10.63490668] [ -0.02825621 0.9995136 -0.01319659 -1.3198029 ] [ -0.04362282 0.01195629 0.99897652 0.45451749] [ 0. 0. 0. 1. ]] SLAMing on 14.400418554999998 meters Centerline goodness [0,1] 0.8135907909394727 Centerline is valid? [False, False] Translation: X:-10.65, Y:-1.31, Z:0.45 [[ 0.99914221 0.02116714 0.03559211 -10.64545856] [ -0.02062823 0.99966797 -0.01544113 -1.31480824] [ -0.03590713 0.01469369 0.9992471 0.45305184] [ 0. 0. 0. 1. ]] SLAMing on 14.430418555 meters Centerline goodness [0,1] 0.8307274948746091 Centerline is valid? [False, False] Translation: X:-10.65, Y:-1.31, Z:0.46 [[ 9.99520697e-01 8.30249690e-03 2.98235698e-02 -1.06509624e+01] [-7.95551118e-03 9.99899501e-01 -1.17344914e-02 -1.30866452e+00] [-2.99179982e-02 1.14916053e-02 9.99486296e-01 4.59058621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.460418554999999 meters Centerline goodness [0,1] 0.8260960203464738 Centerline is valid? [False, False] Translation: X:-10.67, Y:-1.33, Z:0.47 [[ 9.94556020e-01 1.03741782e-01 -9.79622341e-03 -1.06714821e+01] [-1.03931844e-01 9.94353232e-01 -2.14434482e-02 -1.33068123e+00] [ 7.51632487e-03 2.23448501e-02 9.99722068e-01 4.72026110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.490418555 meters Centerline goodness [0,1] 0.7320732657833203 Centerline is valid? [False, False] Translation: X:-10.66, Y:-1.30, Z:0.34 [[ 0.99523241 0.09271533 -0.03027065 -10.66171357] [ -0.09563264 0.98861202 -0.11619236 -1.30182972] [ 0.01915311 0.11853327 0.99276534 0.33538172] [ 0. 0. 0. 1. ]] SLAMing on 14.520418555 meters Centerline goodness [0,1] 0.7836747827952376 Centerline is valid? [False, False] Translation: X:-10.71, Y:-1.31, Z:0.31 [[ 9.99085798e-01 4.18576986e-02 8.68914731e-03 -1.07107751e+01] [-4.09522827e-02 9.95416083e-01 -8.64276163e-02 -1.31002761e+00] [-1.22669781e-02 8.59927636e-02 9.96220240e-01 3.11036038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.550418554999998 meters Centerline goodness [0,1] 0.8791137923861037 Centerline is valid? [False, False] Translation: X:-10.81, Y:-1.31, Z:0.32 [[ 0.99749755 -0.0221939 0.06712727 -10.80821376] [ 0.02377446 0.99945643 -0.02283912 -1.31367111] [ -0.0665839 0.02437788 0.99748298 0.32094944] [ 0. 0. 0. 1. ]] SLAMing on 14.580418555 meters Centerline goodness [0,1] 0.8334052122481671 Centerline is valid? [False, False] Translation: X:-10.85, Y:-1.31, Z:0.35 [[ 9.98058148e-01 -3.11041262e-02 5.39672813e-02 -1.08520428e+01] [ 3.04843557e-02 9.99459932e-01 1.22698083e-02 -1.31286311e+00] [-5.43197770e-02 -1.06008244e-02 9.98467318e-01 3.53551557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.610418554999999 meters Centerline goodness [0,1] 0.8208752546139128 Centerline is valid? [False, False] Translation: X:-10.91, Y:-1.33, Z:0.41 [[ 0.99847804 -0.04895928 0.02538866 -10.9061658 ] [ 0.04804131 0.99821119 0.03558729 -1.32948231] [ -0.02708557 -0.03431342 0.99904402 0.40980532] [ 0. 0. 0. 1. ]] SLAMing on 14.640418554999998 meters Centerline goodness [0,1] 0.8978342944861636 Centerline is valid? [False, False] Translation: X:-10.92, Y:-1.34, Z:0.44 [[ 0.997657 -0.06267423 0.02743072 -10.92089331] [ 0.0616491 0.99742125 0.03674564 -1.33916918] [ -0.02966299 -0.03496847 0.9989481 0.44096393] [ 0. 0. 0. 1. ]] SLAMing on 14.670418555 meters Centerline goodness [0,1] 0.8173766255418473 Centerline is valid? [False, False] Translation: X:-10.93, Y:-1.35, Z:0.44 [[ 0.99835669 -0.05252301 0.02291838 -10.92874806] [ 0.05206686 0.99844199 0.02006596 -1.34922639] [ -0.0239366 -0.01883969 0.99953594 0.4362724 ] [ 0. 0. 0. 1. ]] SLAMing on 14.700418554999999 meters Centerline goodness [0,1] 0.7917475928757387 Centerline is valid? [False, False] Translation: X:-10.93, Y:-1.35, Z:0.43 [[ 0.99874873 -0.04701481 0.01704674 -10.93247056] [ 0.04677914 0.99880756 0.01397023 -1.34977925] [ -0.01768322 -0.01315532 0.99975709 0.42951365] [ 0. 0. 0. 1. ]] SLAMing on 14.730418554999998 meters Centerline goodness [0,1] 0.835551549957033 Centerline is valid? [False, False] Translation: X:-10.94, Y:-1.36, Z:0.43 [[ 9.99006359e-01 -4.22809484e-02 1.40931037e-02 -1.09365365e+01] [ 4.22382324e-02 9.99102068e-01 3.31511457e-03 -1.35755132e+00] [-1.42206152e-02 -2.71655274e-03 9.99895192e-01 4.33840479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.760418555 meters Centerline goodness [0,1] 0.7946255193869668 Centerline is valid? [False, False] Translation: X:-10.94, Y:-1.36, Z:0.43 [[ 9.99248893e-01 -3.79963882e-02 7.61074550e-03 -1.09416264e+01] [ 3.80269197e-02 9.99269074e-01 -3.90787119e-03 -1.35646803e+00] [-7.45669762e-03 4.19434917e-03 9.99963402e-01 4.25722135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.790418554999999 meters Centerline goodness [0,1] 0.755159931412604 Centerline is valid? [False, False] Translation: X:-10.95, Y:-1.36, Z:0.41 [[ 9.99516348e-01 -3.09634146e-02 -2.88751384e-03 -1.09531777e+01] [ 3.08921108e-02 9.99277836e-01 -2.21242841e-02 -1.35817853e+00] [ 3.57047196e-03 2.20243822e-02 9.99751058e-01 4.13457363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.820418555 meters Centerline goodness [0,1] 0.715548973979268 Centerline is valid? [False, False] Translation: X:-10.89, Y:-1.32, Z:0.35 [[ 9.99451262e-01 -6.41649969e-03 -3.24961975e-02 -1.08931188e+01] [ 5.19213142e-03 9.99278534e-01 -3.76224975e-02 -1.31528126e+00] [ 3.27141573e-02 3.74331281e-02 9.98763508e-01 3.52995789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.850418555 meters Centerline goodness [0,1] 0.6520771830744876 Centerline is valid? [False, False] Translation: X:-10.91, Y:-1.30, Z:0.30 [[ 0.99677414 0.03665853 -0.0713965 -10.91181085] [ -0.0421142 0.99618198 -0.07647123 -1.30387001] [ 0.06832058 0.07923135 0.99451229 0.30212366] [ 0. 0. 0. 1. ]] SLAMing on 14.880418554999999 meters Centerline goodness [0,1] 0.515676985788256 Centerline is valid? [False, False] Translation: X:-10.92, Y:-1.30, Z:0.23 [[ 0.98924278 0.08864215 -0.11636702 -10.91943551] [ -0.1039559 0.98566106 -0.13291145 -1.30276584] [ 0.10291688 0.14357873 0.98427296 0.22738531] [ 0. 0. 0. 1. ]] SLAMing on 14.910418555 meters Centerline goodness [0,1] 0.44111185404527653 Centerline is valid? [False, False] Translation: X:-10.94, Y:-1.31, Z:0.11 [[ 0.9830305 0.06590365 -0.17119506 -10.94107791] [ -0.10925689 0.959999 -0.25780778 -1.30565179] [ 0.14735661 0.27213715 0.95090872 0.11231407] [ 0. 0. 0. 1. ]] SLAMing on 14.940418554999999 meters Centerline goodness [0,1] 0.28530731812195975 Centerline is valid? [False, False] Translation: X:-10.97, Y:-1.28, Z:-0.04 [[ 0.98199975 -0.02449654 -0.18728697 -10.97448272] [ -0.04648228 0.92971906 -0.36532434 -1.27820762] [ 0.18307345 0.36745394 0.91184522 -0.03995568] [ 0. 0. 0. 1. ]] SLAMing on 14.970418554999998 meters Centerline goodness [0,1] 0.22356591614289123 Centerline is valid? [False, False] Translation: X:-11.06, Y:-1.29, Z:-0.07 [[ 9.83636294e-01 -6.53480777e-02 -1.67896602e-01 -1.10561538e+01] [ 4.40522287e-03 9.40346502e-01 -3.40189726e-01 -1.28933816e+00] [ 1.80111727e-01 3.33883340e-01 9.25246822e-01 -7.39223617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.000418555 meters Centerline goodness [0,1] 0.24206259851384826 Centerline is valid? [False, False] Translation: X:-11.10, Y:-1.29, Z:-0.05 [[ 9.91356110e-01 -4.22328476e-02 -1.24215334e-01 -1.11033055e+01] [ 8.13283338e-03 9.64734514e-01 -2.63099172e-01 -1.28774541e+00] [ 1.30946247e-01 2.59814750e-01 9.56738928e-01 -5.11612295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.030418554999999 meters Centerline goodness [0,1] 0.622218092273382 Centerline is valid? [False, False] Translation: X:-11.17, Y:-1.29, Z:0.00 [[ 9.97006214e-01 -3.00763155e-02 -7.12321804e-02 -1.11663848e+01] [ 1.88295400e-02 9.87954557e-01 -1.53594407e-01 -1.29255017e+00] [ 7.49937111e-02 1.51793309e-01 9.85563156e-01 3.74074138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.060418554999998 meters Centerline goodness [0,1] 0.6716321522366211 Centerline is valid? [False, False] Translation: X:-11.25, Y:-1.31, Z:0.12 [[ 9.99547688e-01 -2.85591915e-02 -9.42294879e-03 -1.12525739e+01] [ 2.84881296e-02 9.99565304e-01 -7.59135086e-03 -1.30736054e+00] [ 9.63565552e-03 7.31947501e-03 9.99926787e-01 1.21571210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.090418555 meters Centerline goodness [0,1] 0.6712235713679205 Centerline is valid? [False, False] Translation: X:-11.25, Y:-1.30, Z:0.14 [[ 9.98977943e-01 -4.50754221e-02 3.35805715e-03 -1.12497789e+01] [ 4.50020358e-02 9.98798154e-01 1.94181525e-02 -1.29996554e+00] [-4.22930270e-03 -1.92471866e-02 9.99805811e-01 1.43277580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.120418554999999 meters Centerline goodness [0,1] 0.6685323912488295 Centerline is valid? [False, False] Translation: X:-11.26, Y:-1.31, Z:0.16 [[ 9.99299380e-01 -3.74226956e-02 -5.40043956e-04 -1.12587426e+01] [ 3.74265612e-02 9.99175973e-01 1.57043610e-02 -1.30820001e+00] [-4.81005773e-05 -1.57135702e-02 9.99876533e-01 1.55740215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.150418554999998 meters Centerline goodness [0,1] 0.6473541908072615 Centerline is valid? [False, False] Translation: X:-11.27, Y:-1.31, Z:0.15 [[ 9.99489543e-01 -2.12710507e-02 -2.38368548e-02 -1.12735438e+01] [ 2.11995206e-02 9.99769984e-01 -3.24954418e-03 -1.31372390e+00] [ 2.39004932e-02 2.74255553e-03 9.99710581e-01 1.48908087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.180418555 meters Centerline goodness [0,1] 0.6547331145275522 Centerline is valid? [False, False] Translation: X:-11.29, Y:-1.32, Z:0.14 [[ 0.99866275 -0.01356998 -0.04988554 -11.28969129] [ 0.01264239 0.99974214 -0.01886318 -1.31898132] [ 0.05012865 0.01820728 0.99857679 0.14273262] [ 0. 0. 0. 1. ]] SLAMing on 15.210418554999999 meters Centerline goodness [0,1] 0.6361203273612033 Centerline is valid? [False, False] Translation: X:-11.32, Y:-1.33, Z:0.12 [[ 0.99535578 -0.02646427 -0.09255542 -11.32417295] [ 0.02227695 0.99869368 -0.04598555 -1.32995721] [ 0.09365149 0.04371013 0.99464507 0.12443658] [ 0. 0. 0. 1. ]] SLAMing on 15.240418555 meters Centerline goodness [0,1] 0.5490270718108332 Centerline is valid? [False, False] Translation: X:-11.36, Y:-1.33, Z:0.11 [[ 0.99163854 -0.03378801 -0.12454471 -11.35872758] [ 0.02669261 0.99794768 -0.05820591 -1.33478321] [ 0.12625577 0.0543948 0.99050527 0.10972765] [ 0. 0. 0. 1. ]] SLAMing on 15.270418555 meters Centerline goodness [0,1] 0.5263963274674828 Centerline is valid? [False, False] Translation: X:-11.39, Y:-1.34, Z:0.10 [[ 0.9884247 -0.03042009 -0.14863122 -11.38879461] [ 0.02080057 0.99761257 -0.06585202 -1.33644378] [ 0.1502796 0.06199815 0.98669766 0.09644255] [ 0. 0. 0. 1. ]] SLAMing on 15.300418554999998 meters Centerline goodness [0,1] 0.492108191583585 Centerline is valid? [False, False] Translation: X:-11.41, Y:-1.33, Z:0.08 [[ 0.98529832 -0.02771787 -0.16857917 -11.41464415] [ 0.01628365 0.99749514 -0.06883521 -1.33479539] [ 0.17006487 0.06507813 0.98328164 0.07829714] [ 0. 0. 0. 1. ]] SLAMing on 15.330418555 meters Centerline goodness [0,1] 0.5083090746556032 Centerline is valid? [False, False] Translation: X:-11.45, Y:-1.33, Z:0.06 [[ 0.98482839 -0.04667866 -0.16713512 -11.4459728 ] [ 0.0369705 0.99746903 -0.06073483 -1.33436135] [ 0.16954712 0.05363431 0.98406155 0.05913635] [ 0. 0. 0. 1. ]] SLAMing on 15.360418554999999 meters Centerline goodness [0,1] 0.4770085103501208 Centerline is valid? [False, False] Translation: X:-11.47, Y:-1.33, Z:0.06 [[ 0.9852186 -0.05892837 -0.16084701 -11.46729625] [ 0.05381826 0.99790348 -0.03594769 -1.33201607] [ 0.16262813 0.02675983 0.98632449 0.05565185] [ 0. 0. 0. 1. ]] SLAMing on 15.390418554999998 meters Centerline goodness [0,1] 0.49295334938899293 Centerline is valid? [False, False] Translation: X:-11.50, Y:-1.33, Z:0.08 [[ 9.87222271e-01 -6.20011430e-02 -1.46792530e-01 -1.14975015e+01] [ 6.12576409e-02 9.98075968e-01 -9.58457124e-03 -1.33408577e+00] [ 1.47104351e-01 4.69938096e-04 9.89120867e-01 7.62997746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.420418555 meters Centerline goodness [0,1] 0.5132341048674404 Centerline is valid? [False, False] Translation: X:-11.54, Y:-1.34, Z:0.11 [[ 9.90283741e-01 -5.58525839e-02 -1.27352271e-01 -1.15369538e+01] [ 5.77521362e-02 9.98267344e-01 1.12694568e-02 -1.33871334e+00] [ 1.26502185e-01 -1.85148255e-02 9.91793526e-01 1.07595140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.450418554999999 meters Centerline goodness [0,1] 0.5034946820056436 Centerline is valid? [False, False] Translation: X:-11.57, Y:-1.35, Z:0.13 [[ 0.98931529 -0.06075662 -0.13252886 -11.57343494] [ 0.06295428 0.99793873 0.01245191 -1.34526848] [ 0.13149914 -0.02066213 0.99110093 0.12885588] [ 0. 0. 0. 1. ]] SLAMing on 15.480418554999998 meters Centerline goodness [0,1] 0.4895359807873746 Centerline is valid? [False, False] Translation: X:-11.62, Y:-1.35, Z:0.14 [[ 0.98632778 -0.08393799 -0.14181652 -11.62462742] [ 0.08917285 0.99553491 0.03095869 -1.35323728] [ 0.13858468 -0.0431816 0.98940873 0.14140233] [ 0. 0. 0. 1. ]] SLAMing on 15.510418555 meters Centerline goodness [0,1] 0.5699326053574476 Centerline is valid? [False, False] Translation: X:-11.66, Y:-1.38, Z:0.21 [[ 0.99090154 -0.08305869 -0.1059027 -11.66342363] [ 0.088667 0.99483609 0.04938953 -1.37851007] [ 0.1012536 -0.05833023 0.99314918 0.21081658] [ 0. 0. 0. 1. ]] SLAMing on 15.540418554999999 meters Centerline goodness [0,1] 0.616107410578188 Centerline is valid? [False, False] Translation: X:-11.74, Y:-1.43, Z:0.33 [[ 0.99664071 -0.07012903 -0.04229915 -11.74086368] [ 0.07352578 0.99366761 0.08496258 -1.43379702] [ 0.03607295 -0.08778724 0.99548588 0.3340341 ] [ 0. 0. 0. 1. ]] SLAMing on 15.570418555 meters Centerline goodness [0,1] 0.6182689303197584 Centerline is valid? [False, False] Translation: X:-11.80, Y:-1.45, Z:0.35 [[ 0.99683074 -0.06767185 -0.04182101 -11.79999037] [ 0.07047492 0.99507917 0.06964717 -1.44915772] [ 0.03690206 -0.07237378 0.99669467 0.34604917] [ 0. 0. 0. 1. ]] SLAMing on 15.600418555 meters Centerline goodness [0,1] 0.5960704207555911 Centerline is valid? [False, False] Translation: X:-11.87, Y:-1.47, Z:0.34 [[ 0.99679585 -0.06517246 -0.04637433 -11.8669583 ] [ 0.06711213 0.99687884 0.04157577 -1.46689531] [ 0.04351999 -0.04455483 0.99805855 0.34266925] [ 0. 0. 0. 1. ]] SLAMing on 15.630418554999999 meters Centerline goodness [0,1] 0.5217100169495072 Centerline is valid? [False, False] Translation: X:-12.00, Y:-1.49, Z:0.34 [[ 0.99752024 -0.05644253 -0.04204288 -11.99743802] [ 0.05792147 0.99771336 0.03483027 -1.48661308] [ 0.03998084 -0.03717909 0.99850851 0.34202454] [ 0. 0. 0. 1. ]] SLAMing on 15.660418555 meters Centerline goodness [0,1] 0.4620273142400202 Centerline is valid? [False, False] Translation: X:-12.11, Y:-1.51, Z:0.36 [[ 0.99812987 -0.0512306 -0.03334958 -12.10644892] [ 0.05192097 0.99844739 0.02017461 -1.50689931] [ 0.03226424 -0.02186842 0.99924011 0.3604731 ] [ 0. 0. 0. 1. ]] SLAMing on 15.690418554999999 meters Centerline goodness [0,1] 0.46890681572762494 Centerline is valid? [False, False] Translation: X:-12.21, Y:-1.51, Z:0.38 [[ 0.99770509 -0.05883211 -0.03351613 -12.20964855] [ 0.05947982 0.99805496 0.01866663 -1.51498252] [ 0.03235274 -0.02061733 0.99926384 0.37667135] [ 0. 0. 0. 1. ]] SLAMing on 15.720418554999998 meters Centerline goodness [0,1] 0.5551584669049199 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.52, Z:0.38 [[ 0.99640839 -0.07253569 -0.04369079 -12.35591138] [ 0.07362056 0.9970034 0.02375344 -1.52048453] [ 0.04183689 -0.02688467 0.99876268 0.37683296] [ 0. 0. 0. 1. ]] SLAMing on 15.750418555 meters Centerline goodness [0,1] 0.6462632673158989 Centerline is valid? [False, False] Translation: X:-12.44, Y:-1.53, Z:0.37 [[ 0.99575714 -0.07687485 -0.05057634 -12.44092534] [ 0.07836201 0.99652868 0.02810681 -1.5256155 ] [ 0.04824006 -0.03195082 0.99832462 0.37296815] [ 0. 0. 0. 1. ]] SLAMing on 15.780418554999999 meters Centerline goodness [0,1] 0.7297599856707864 Centerline is valid? [False, False] Translation: X:-12.51, Y:-1.53, Z:0.37 [[ 0.99539459 -0.07944115 -0.0536536 -12.50661626] [ 0.0810605 0.99629565 0.02870833 -1.53190726] [ 0.05117422 -0.0329253 0.99814684 0.37040639] [ 0. 0. 0. 1. ]] SLAMing on 15.810418554999998 meters Centerline goodness [0,1] 0.8975928192574459 Centerline is valid? [False, False] Translation: X:-12.59, Y:-1.55, Z:0.37 [[ 0.99546853 -0.0773626 -0.05529399 -12.59005248] [ 0.07863518 0.99667762 0.02121878 -1.54716162] [ 0.05346874 -0.02547068 0.99824463 0.37370946] [ 0. 0. 0. 1. ]] SLAMing on 15.840418555 meters Centerline goodness [0,1] 0.9099959639445715 Centerline is valid? [False, False] Translation: X:-12.61, Y:-1.56, Z:0.38 [[ 0.99600337 -0.07079063 -0.05446069 -12.60784746] [ 0.0717523 0.99729562 0.01590775 -1.55537757] [ 0.05318729 -0.01975185 0.99838919 0.37900376] [ 0. 0. 0. 1. ]] SLAMing on 15.870418554999999 meters Centerline goodness [0,1] 0.946420868617613 Centerline is valid? [False, False] Translation: X:-12.66, Y:-1.58, Z:0.40 [[ 9.97006846e-01 -5.85375824e-02 -5.05044535e-02 -1.26607340e+01] [ 5.89445855e-02 9.98239398e-01 6.60603746e-03 -1.57607082e+00] [ 5.00288338e-02 -9.56322865e-03 9.98701988e-01 4.03872053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.900418554999998 meters Centerline goodness [0,1] 0.957382108655199 Centerline is valid? [False, True] Translation: X:-12.68, Y:-1.58, Z:0.41 [[ 9.97763253e-01 -4.56743613e-02 -4.88092516e-02 -1.26765395e+01] [ 4.60065246e-02 9.98924859e-01 5.70311479e-03 -1.57968664e+00] [ 4.84962887e-02 -7.93590240e-03 9.98791836e-01 4.07969436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.930418555 meters Centerline goodness [0,1] 0.961525396861342 Centerline is valid? [True, True] Translation: X:-12.71, Y:-1.58, Z:0.40 [[ 9.97638654e-01 -3.05446818e-02 -6.15153463e-02 -1.27060346e+01] [ 3.06847937e-02 9.99528221e-01 1.33405483e-03 -1.57624108e+00] [ 6.14455763e-02 -3.21849038e-03 9.98105246e-01 3.97978473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.960418554999999 meters Centerline goodness [0,1] 0.962947093049479 Centerline is valid? [True, True] Translation: X:-12.74, Y:-1.57, Z:0.40 [[ 9.97524210e-01 -2.04963356e-02 -6.72707213e-02 -1.27365816e+01] [ 2.06413735e-02 9.99785876e-01 1.46160167e-03 -1.57066802e+00] [ 6.72263595e-02 -2.84654313e-03 9.97733689e-01 3.99547479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.990418555 meters Centerline goodness [0,1] 0.9675543241819888 Centerline is valid? [True, True] Translation: X:-12.77, Y:-1.57, Z:0.40 [[ 9.97891765e-01 -9.59774572e-03 -6.41865168e-02 -1.27658077e+01] [ 9.70731009e-03 9.99951909e-01 1.39531851e-03 -1.57079925e+00] [ 6.41700381e-02 -2.01545527e-03 9.97936944e-01 4.02493689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.020418555 meters Centerline goodness [0,1] 0.9697032675210715 Centerline is valid? [True, True] Translation: X:-12.79, Y:-1.57, Z:0.40 [[ 9.98005638e-01 3.10497693e-03 -6.30484440e-02 -1.27946174e+01] [-3.02449106e-03 9.99994485e-01 1.37197167e-03 -1.56929888e+00] [ 6.30523562e-02 -1.17854600e-03 9.98009525e-01 4.00384210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.050418555 meters Centerline goodness [0,1] 0.968437400082218 Centerline is valid? [True, True] Translation: X:-12.83, Y:-1.57, Z:0.40 [[ 9.97199802e-01 1.49892175e-02 -7.32658077e-02 -1.28251555e+01] [-1.49124177e-02 9.99887531e-01 1.59517476e-03 -1.56675569e+00] [ 7.32814780e-02 -4.98137629e-04 9.97311174e-01 4.03073681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.080418554999998 meters Centerline goodness [0,1] 0.9725941858044821 Centerline is valid? [True, True] Translation: X:-12.85, Y:-1.57, Z:0.40 [[ 9.95651385e-01 3.31103121e-02 -8.70748305e-02 -1.28532082e+01] [-3.30706157e-02 9.99451214e-01 1.89879613e-03 -1.56959509e+00] [ 8.70899148e-02 9.89079257e-04 9.96199964e-01 3.95097381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.110418555 meters Centerline goodness [0,1] 0.9760022194479123 Centerline is valid? [True, True] Translation: X:-12.88, Y:-1.56, Z:0.39 [[ 9.95326789e-01 4.00861780e-02 -8.78503379e-02 -1.28819578e+01] [-4.00712625e-02 9.99194953e-01 1.93403525e-03 -1.56185196e+00] [ 8.78571423e-02 1.59527686e-03 9.96131807e-01 3.87577654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.140418555 meters Centerline goodness [0,1] 0.9788246160951392 Centerline is valid? [True, True] Translation: X:-12.91, Y:-1.56, Z:0.37 [[ 9.94482157e-01 5.00270400e-02 -9.22091911e-02 -1.29098825e+01] [-5.00529600e-02 9.98744496e-01 2.03293415e-03 -1.55704419e+00] [ 9.21951238e-02 2.59362622e-03 9.95737582e-01 3.74656888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.170418554999998 meters Centerline goodness [0,1] 0.9830187387305138 Centerline is valid? [True, True] Translation: X:-12.94, Y:-1.56, Z:0.37 [[ 9.93485872e-01 5.96997728e-02 -9.70657451e-02 -1.29390962e+01] [-5.97743374e-02 9.98209617e-01 2.14213174e-03 -1.55848886e+00] [ 9.70198451e-02 3.67386298e-03 9.95275667e-01 3.69677401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.200418555 meters Centerline goodness [0,1] 0.9830187387305138 Centerline is valid? [True, True] Translation: X:-12.97, Y:-1.56, Z:0.37 [[ 9.93489638e-01 5.96371178e-02 -9.70657189e-02 -1.29707676e+01] [-5.97112690e-02 9.98213389e-01 2.14331593e-03 -1.55772825e+00] [ 9.70201214e-02 3.66655509e-03 9.95275667e-01 3.67133508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.230418555 meters Centerline goodness [0,1] 0.9859020852221215 Centerline is valid? [True, True] Translation: X:-13.00, Y:-1.57, Z:0.38 [[ 9.93442692e-01 6.29583854e-02 -9.54351066e-02 -1.30015394e+01] [-6.30457483e-02 9.98008423e-01 2.10259189e-03 -1.56906566e+00] [ 9.53774161e-02 3.92797316e-03 9.95433433e-01 3.76147039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.260418554999998 meters Centerline goodness [0,1] 0.9885906040268456 Centerline is valid? [True, True] Translation: X:-13.03, Y:-1.57, Z:0.37 [[ 9.93573006e-01 6.68784484e-02 -9.13233518e-02 -1.30330820e+01] [-6.69747873e-02 9.97752638e-01 2.01271126e-03 -1.57370616e+00] [ 9.12527222e-02 4.11658649e-03 9.95819258e-01 3.70447138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.290418555 meters Centerline goodness [0,1] 0.9902333978639636 Centerline is valid? [True, True] Translation: X:-13.06, Y:-1.58, Z:0.36 [[ 9.93072557e-01 6.79990370e-02 -9.58281171e-02 -1.30645753e+01] [-6.81109106e-02 9.97675531e-01 2.10688910e-03 -1.58497849e+00] [ 9.57486340e-02 4.43464657e-03 9.95395667e-01 3.63317388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.320418555 meters Centerline goodness [0,1] 0.9914732354334439 Centerline is valid? [True, True] Translation: X:-13.10, Y:-1.59, Z:0.37 [[ 9.92936834e-01 6.55397508e-02 -9.88988619e-02 -1.30976461e+01] [-6.56474014e-02 9.97840526e-01 2.16884640e-03 -1.59282585e+00] [ 9.88274380e-02 4.33892581e-03 9.95095127e-01 3.66547503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.350418554999997 meters Centerline goodness [0,1] 0.9929568391668456 Centerline is valid? [True, True] Translation: X:-13.13, Y:-1.60, Z:0.36 [[ 9.93056460e-01 6.34917397e-02 -9.90336579e-02 -1.31294497e+01] [-6.35901887e-02 9.97973747e-01 2.16534083e-03 -1.59900467e+00] [ 9.89704719e-02 4.14726330e-03 9.95081728e-01 3.64517541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.380418555 meters Centerline goodness [0,1] 0.9935478375673431 Centerline is valid? [True, True] Translation: X:-13.16, Y:-1.61, Z:0.35 [[ 9.93664720e-01 5.73371733e-02 -9.66585393e-02 -1.31584994e+01] [-5.74022638e-02 9.98348902e-01 2.10948393e-03 -1.60701514e+00] [ 9.66198984e-02 3.45229921e-03 9.95315366e-01 3.49823251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.410418555 meters Centerline goodness [0,1] 0.9940074113287454 Centerline is valid? [True, True] Translation: X:-13.19, Y:-1.62, Z:0.35 [[ 9.93625639e-01 5.05997762e-02 -1.00736049e-01 -1.31883250e+01] [-5.06360019e-02 9.98714754e-01 2.19894748e-03 -1.61703243e+00] [ 1.00717845e-01 2.91594020e-03 9.94910756e-01 3.46391718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.440418554999997 meters Centerline goodness [0,1] 0.9953743979290882 Centerline is valid? [True, True] Translation: X:-13.22, Y:-1.63, Z:0.35 [[ 9.93974540e-01 4.39563542e-02 -1.00411421e-01 -1.32183276e+01] [-4.39582370e-02 9.99030958e-01 2.19487238e-03 -1.63208247e+00] [ 1.00410597e-01 2.23226178e-03 9.94943581e-01 3.51375427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.470418555 meters Centerline goodness [0,1] 0.9947167099896448 Centerline is valid? [True, True] Translation: X:-13.25, Y:-1.64, Z:0.35 [[ 9.94656433e-01 3.56573246e-02 -9.68872343e-02 -1.32482565e+01] [-3.56196013e-02 9.99363173e-01 2.11948928e-03 -1.64492632e+00] [ 9.69011092e-02 1.34292101e-03 9.95293108e-01 3.47030177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.500418555 meters Centerline goodness [0,1] 0.9949889462048637 Centerline is valid? [True, True] Translation: X:-13.28, Y:-1.65, Z:0.34 [[ 9.94405863e-01 2.91991525e-02 -1.01510538e-01 -1.32765973e+01] [-2.91235394e-02 9.99573339e-01 2.22711876e-03 -1.65402416e+00] [ 1.01532257e-01 7.41686189e-04 9.94831971e-01 3.41681476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.530418555 meters Centerline goodness [0,1] 0.995312401021981 Centerline is valid? [True, True] Translation: X:-13.31, Y:-1.67, Z:0.34 [[ 9.94177803e-01 1.97626050e-02 -1.05924197e-01 -1.33057028e+01] [-1.96248165e-02 9.99804669e-01 2.34306991e-03 -1.66978159e+00] [ 1.05949812e-01 -2.50685157e-04 9.94371447e-01 3.38894129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.560418555 meters Centerline goodness [0,1] 0.9951318630148585 Centerline is valid? [True, True] Translation: X:-13.33, Y:-1.68, Z:0.33 [[ 9.94059439e-01 1.68051155e-02 -1.07533346e-01 -1.33338520e+01] [-1.66446175e-02 9.99858612e-01 2.38995997e-03 -1.67596387e+00] [ 1.07558306e-01 -5.85910852e-04 9.94198606e-01 3.31387886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.590418555 meters Centerline goodness [0,1] 0.991428269819487 Centerline is valid? [True, True] Translation: X:-13.36, Y:-1.69, Z:0.33 [[ 9.93998577e-01 1.00862555e-02 -1.08927023e-01 -1.33620993e+01] [-9.87914923e-03 9.99948221e-01 2.44083557e-03 -1.68732044e+00] [ 1.08946001e-01 -1.35008077e-03 9.94046752e-01 3.28316935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.620418555 meters Centerline goodness [0,1] 0.9889498084210081 Centerline is valid? [True, True] Translation: X:-13.39, Y:-1.69, Z:0.32 [[ 9.94045308e-01 7.21688625e-03 -1.08728291e-01 -1.33909249e+01] [-6.99220539e-03 9.99972559e-01 2.44756205e-03 -1.69261192e+00] [ 1.08742972e-01 -1.67273702e-03 9.94068493e-01 3.24175844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.650418554999998 meters Centerline goodness [0,1] 0.9841822544003057 Centerline is valid? [True, True] Translation: X:-13.42, Y:-1.70, Z:0.31 [[ 9.93651290e-01 1.50310950e-03 -1.12493795e-01 -1.34208277e+01] [-1.22400400e-03 9.99995999e-01 2.55009917e-03 -1.69517463e+00] [ 1.12497178e-01 -2.39621647e-03 9.93649155e-01 3.14818818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.680418555 meters Centerline goodness [0,1] 0.9731709899417681 Centerline is valid? [True, True] Translation: X:-13.45, Y:-1.71, Z:0.33 [[ 9.95247805e-01 -2.35932472e-02 -9.44730978e-02 -1.34508948e+01] [ 2.39024945e-02 9.99711998e-01 2.14296861e-03 -1.70570584e+00] [ 9.43953297e-02 -4.39092750e-03 9.95525108e-01 3.28075065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.710418555 meters Centerline goodness [0,1] 0.9646383321327174 Centerline is valid? [True, True] Translation: X:-13.48, Y:-1.71, Z:0.34 [[ 9.96050544e-01 -4.02000273e-02 -7.91661049e-02 -1.34815931e+01] [ 4.04691791e-02 9.99179170e-01 1.79771194e-03 -1.71178897e+00] [ 7.90288549e-02 -4.99439923e-03 9.96859818e-01 3.35937353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.740418554999998 meters Centerline goodness [0,1] 0.9586130938512698 Centerline is valid? [True, True] Translation: X:-13.51, Y:-1.71, Z:0.33 [[ 9.95543965e-01 -5.42760439e-02 -7.71124183e-02 -1.35095111e+01] [ 5.45735348e-02 9.98508213e-01 1.75429018e-03 -1.71038725e+00] [ 7.69021670e-02 -5.95477024e-03 9.97020861e-01 3.28547338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.770418555 meters Centerline goodness [0,1] 0.94921875 Centerline is valid? [True, False] Translation: X:-13.52, Y:-1.72, Z:0.32 [[ 9.95514256e-01 -4.82296682e-02 -8.13957301e-02 -1.35191498e+01] [ 4.84056992e-02 9.98827739e-01 1.89606471e-04 -1.72290367e+00] [ 8.12911684e-02 -4.12877317e-03 9.96681845e-01 3.24760848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.800418555 meters Centerline goodness [0,1] 0.9452486106121759 Centerline is valid? [False, False] Translation: X:-13.52, Y:-1.73, Z:0.33 [[ 9.95850945e-01 -4.42654098e-02 -7.95076714e-02 -1.35245339e+01] [ 4.47808681e-02 9.98985726e-01 4.71095658e-03 -1.72720017e+00] [ 7.92184965e-02 -8.25183311e-03 9.96823122e-01 3.27008805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.830418554999998 meters Centerline goodness [0,1] 0.9593095990330994 Centerline is valid? [False, True] Translation: X:-13.54, Y:-1.74, Z:0.33 [[ 9.96604897e-01 -3.35006315e-02 -7.52089560e-02 -1.35385004e+01] [ 3.38577323e-02 9.99420612e-01 3.47777917e-03 -1.73656210e+00] [ 7.50488731e-02 -6.01237645e-03 9.97161731e-01 3.27816583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.860418555 meters Centerline goodness [0,1] 0.9643740095087163 Centerline is valid? [True, True] Translation: X:-13.57, Y:-1.75, Z:0.31 [[ 9.94995965e-01 -1.36552216e-02 -9.89775989e-02 -1.35679776e+01] [ 1.42405140e-02 9.99885029e-01 5.20928253e-03 -1.74722443e+00] [ 9.88950854e-02 -6.59270698e-03 9.95076026e-01 3.11549878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.890418555 meters Centerline goodness [0,1] 0.9703046008751434 Centerline is valid? [True, True] Translation: X:-13.60, Y:-1.75, Z:0.30 [[ 9.93778626e-01 -1.03565916e-03 -1.11368618e-01 -1.35973292e+01] [ 1.69939549e-03 9.99981356e-01 5.86505501e-03 -1.75176763e+00] [ 1.11360467e-01 -6.01782564e-03 9.93761859e-01 2.97395331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.920418554999998 meters Centerline goodness [0,1] 0.976804504143559 Centerline is valid? [True, True] Translation: X:-13.63, Y:-1.77, Z:0.30 [[ 9.93053406e-01 1.81491935e-02 -1.16256355e-01 -1.36275033e+01] [-1.75559497e-02 9.99827122e-01 6.12491483e-03 -1.76776651e+00] [ 1.16347419e-01 -4.04137681e-03 9.93200355e-01 3.01373917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.950418555 meters Centerline goodness [0,1] 0.97968026924695 Centerline is valid? [True, True] Translation: X:-13.66, Y:-1.78, Z:0.30 [[ 9.92533388e-01 2.92233537e-02 -1.18420730e-01 -1.36580134e+01] [-2.86857465e-02 9.99568989e-01 6.24212507e-03 -1.78329532e+00] [ 1.18552105e-01 -2.79853051e-03 9.92943889e-01 3.00333493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.980418555 meters Centerline goodness [0,1] 0.9806191794613642 Centerline is valid? [True, True] Translation: X:-13.69, Y:-1.79, Z:0.30 [[ 9.92778732e-01 2.84794220e-02 -1.16530304e-01 -1.36874789e+01] [-2.79527984e-02 9.99590317e-01 6.15128129e-03 -1.79489481e+00] [ 1.16657748e-01 -2.84951314e-03 9.93168087e-01 2.96939456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.010418554999998 meters Centerline goodness [0,1] 0.9799878332738982 Centerline is valid? [True, True] Translation: X:-13.72, Y:-1.83, Z:0.29 [[ 9.92562938e-01 2.79469519e-02 -1.18481142e-01 -1.37176601e+01] [-2.73955347e-02 9.99604942e-01 6.28048306e-03 -1.82507294e+00] [ 1.18609856e-01 -2.98792048e-03 9.92936440e-01 2.90022626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.040418555 meters Centerline goodness [0,1] 0.9815171029522456 Centerline is valid? [True, True] Translation: X:-13.75, Y:-1.86, Z:0.29 [[ 9.93329768e-01 2.32221740e-02 -1.12945574e-01 -1.37479111e+01] [-2.26887449e-02 9.99724535e-01 6.00617945e-03 -1.85807648e+00] [ 1.13053938e-01 -3.40352352e-03 9.93583023e-01 2.94100717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.070418555 meters Centerline goodness [0,1] 0.9839216257253989 Centerline is valid? [True, True] Translation: X:-13.78, Y:-1.89, Z:0.28 [[ 9.92608950e-01 2.19318910e-02 -1.19358556e-01 -1.37783191e+01] [-2.13255669e-02 9.99752387e-01 6.35490094e-03 -1.88588185e+00] [ 1.19468376e-01 -3.76254268e-03 9.92830877e-01 2.83400739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.100418554999997 meters Centerline goodness [0,1] 0.9855788185006121 Centerline is valid? [True, True] Translation: X:-13.81, Y:-1.91, Z:0.28 [[ 9.92386608e-01 2.28061502e-02 -1.21031816e-01 -1.38069199e+01] [-2.21885796e-02 9.99733010e-01 6.44798995e-03 -1.90564250e+00] [ 1.21146555e-01 -3.71337479e-03 9.92627686e-01 2.80786901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.130418555 meters Centerline goodness [0,1] 0.9894333971212247 Centerline is valid? [True, True] Translation: X:-13.84, Y:-1.94, Z:0.27 [[ 9.92233280e-01 2.42942435e-02 -1.21995528e-01 -1.38355900e+01] [-2.36759122e-02 9.99698453e-01 6.51572780e-03 -1.94018713e+00] [ 1.22117035e-01 -3.57676657e-03 9.92509263e-01 2.74024041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.160418555 meters Centerline goodness [0,1] 0.9906850338160242 Centerline is valid? [True, True] Translation: X:-13.87, Y:-1.96, Z:0.27 [[ 9.92292106e-01 2.15825479e-02 -1.22026923e-01 -1.38650757e+01] [-2.09404344e-02 9.99759320e-01 6.54220937e-03 -1.95819689e+00] [ 1.22138751e-01 -3.93648595e-03 9.92505229e-01 2.73624911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.190418554999997 meters Centerline goodness [0,1] 0.9926472115484474 Centerline is valid? [True, True] Translation: X:-13.89, Y:-1.98, Z:0.27 [[ 9.92488605e-01 1.91752998e-02 -1.20824981e-01 -1.38945349e+01] [-1.85269319e-02 9.99807315e-01 6.48736894e-03 -1.97560911e+00] [ 1.20926097e-01 -4.20012355e-03 9.92652627e-01 2.70642974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.220418555 meters Centerline goodness [0,1] 0.9947530417897499 Centerline is valid? [True, True] Translation: X:-13.92, Y:-2.00, Z:0.27 [[ 9.92869178e-01 1.84620057e-02 -1.17770749e-01 -1.39246618e+01] [-1.78398522e-02 9.99820789e-01 6.33483038e-03 -1.99970313e+00] [ 1.17866597e-01 -4.18864508e-03 9.93020604e-01 2.73838883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.250418555 meters Centerline goodness [0,1] 0.9979194990318461 Centerline is valid? [True, True] Translation: X:-13.95, Y:-2.02, Z:0.27 [[ 9.92471436e-01 2.29205383e-02 -1.20312500e-01 -1.39543545e+01] [-2.23021966e-02 9.99730251e-01 6.48363623e-03 -2.01654908e+00] [ 1.20428654e-01 -3.75159073e-03 9.92714896e-01 2.71203763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.280418555 meters Centerline goodness [0,1] 0.9988453608247423 Centerline is valid? [True, True] Translation: X:-13.98, Y:-2.03, Z:0.27 [[ 9.91781614e-01 2.84005699e-02 -1.24750305e-01 -1.39824751e+01] [-2.77754424e-02 9.99591412e-01 6.74782086e-03 -2.02680432e+00] [ 1.24890975e-01 -3.22736976e-03 9.92165222e-01 2.70464948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.310418555 meters Centerline goodness [0,1] 0.9989521050360599 Centerline is valid? [True, True] Translation: X:-14.01, Y:-2.04, Z:0.26 [[ 9.91469214e-01 3.19759550e-02 -1.26357967e-01 -1.40111588e+01] [-3.13608803e-02 9.99484622e-01 6.85455739e-03 -2.03992711e+00] [ 1.26512026e-01 -2.83338555e-03 9.91961027e-01 2.59780373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.340418555 meters Centerline goodness [0,1] 0.9996917575981752 Centerline is valid? [True, True] Translation: X:-14.04, Y:-2.06, Z:0.26 [[ 9.91664688e-01 3.14301773e-02 -1.24953156e-01 -1.40396188e+01] [-3.08215427e-02 9.99501761e-01 6.80160533e-03 -2.05991063e+00] [ 1.25104675e-01 -2.89366279e-03 9.92139328e-01 2.60192249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.370418555 meters Centerline goodness [0,1] 0.9995684695051784 Centerline is valid? [True, True] Translation: X:-14.07, Y:-2.08, Z:0.26 [[ 9.92003982e-01 3.02440562e-02 -1.22529168e-01 -1.40684306e+01] [-2.96483383e-02 9.99538053e-01 6.68261619e-03 -2.07624976e+00] [ 1.22674676e-01 -2.99639564e-03 9.92442414e-01 2.58985178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.400418554999998 meters Centerline goodness [0,1] 0.9994034394799638 Centerline is valid? [True, True] Translation: X:-14.10, Y:-2.09, Z:0.26 [[ 9.92252900e-01 2.68613820e-02 -1.21295708e-01 -1.40979881e+01] [-2.62502463e-02 9.99633391e-01 6.63379922e-03 -2.09273354e+00] [ 1.21429433e-01 -3.39836429e-03 9.92594249e-01 2.63838548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.430418555 meters Centerline goodness [0,1] 0.999630701052502 Centerline is valid? [True, True] Translation: X:-14.13, Y:-2.12, Z:0.26 [[ 9.92739521e-01 2.09145873e-02 -1.18451776e-01 -1.41279607e+01] [-2.02873488e-02 9.99773069e-01 6.49874817e-03 -2.11948357e+00] [ 1.18560814e-01 -4.04849165e-03 9.92938539e-01 2.62140875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.460418555 meters Centerline goodness [0,1] 0.9997741273100617 Centerline is valid? [True, True] Translation: X:-14.16, Y:-2.13, Z:0.26 [[ 9.92484837e-01 1.82152380e-02 -1.21004351e-01 -1.41581899e+01] [-1.75396650e-02 9.99824081e-01 6.64589331e-03 -2.13083941e+00] [ 1.21104120e-01 -4.47357256e-03 9.92629729e-01 2.58350933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.490418554999998 meters Centerline goodness [0,1] 0.9996517321205417 Centerline is valid? [True, True] Translation: X:-14.19, Y:-2.14, Z:0.26 [[ 9.92655968e-01 1.78884939e-02 -1.19641679e-01 -1.41864380e+01] [-1.72251160e-02 9.99830007e-01 6.57662794e-03 -2.14322770e+00] [ 1.19738987e-01 -4.46748718e-03 9.92795355e-01 2.57046684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.520418555 meters Centerline goodness [0,1] 0.999693996205553 Centerline is valid? [True, True] Translation: X:-14.22, Y:-2.15, Z:0.26 [[ 9.92879295e-01 1.89323006e-02 -1.17610683e-01 -1.42162576e+01] [-1.82976933e-02 9.99811627e-01 6.47333642e-03 -2.15308254e+00] [ 1.17711083e-01 -4.27523751e-03 9.93038682e-01 2.58689363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.550418555 meters Centerline goodness [0,1] 0.999528195450163 Centerline is valid? [True, True] Translation: X:-14.25, Y:-2.16, Z:0.26 [[ 9.92758984e-01 2.15764782e-02 -1.18169604e-01 -1.42451361e+01] [-2.09530605e-02 9.99759229e-01 6.51558581e-03 -2.16276497e+00] [ 1.18281735e-01 -3.99239149e-03 9.92972050e-01 2.56815183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.580418554999998 meters Centerline goodness [0,1] 0.9997547015535568 Centerline is valid? [True, True] Translation: X:-14.27, Y:-2.17, Z:0.25 [[ 9.92219411e-01 2.59993141e-02 -1.21756628e-01 -1.42727585e+01] [-2.53675490e-02 9.99655496e-01 6.73624669e-03 -2.16532211e+00] [ 1.21889820e-01 -3.59516750e-03 9.92537126e-01 2.49476230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.610418555 meters Centerline goodness [0,1] 0.9994689000102135 Centerline is valid? [True, True] Translation: X:-14.30, Y:-2.17, Z:0.24 [[ 9.92268520e-01 2.81331580e-02 -1.20878903e-01 -1.43022130e+01] [-2.75253105e-02 9.99598682e-01 6.69569689e-03 -2.16667248e+00] [ 1.21018763e-01 -3.31669990e-03 9.92644679e-01 2.42762746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.640418555 meters Centerline goodness [0,1] 0.9995290648866685 Centerline is valid? [True, True] Translation: X:-14.33, Y:-2.18, Z:0.24 [[ 9.92264724e-01 2.99083087e-02 -1.20483242e-01 -1.43315687e+01] [-2.93161902e-02 9.99547837e-01 6.68444791e-03 -2.17872123e+00] [ 1.20628684e-01 -3.10063224e-03 9.92692856e-01 2.43601258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.670418554999998 meters Centerline goodness [0,1] 0.9993434415970783 Centerline is valid? [True, True] Translation: X:-14.36, Y:-2.19, Z:0.25 [[ 9.92379924e-01 2.66546472e-02 -1.20298032e-01 -1.43603996e+01] [-2.60378447e-02 9.99638528e-01 6.69651851e-03 -2.18503619e+00] [ 1.20433041e-01 -3.51318905e-03 9.92715236e-01 2.47359362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.700418555 meters Centerline goodness [0,1] 0.9996313590562792 Centerline is valid? [True, True] Translation: X:-14.39, Y:-2.19, Z:0.24 [[ 9.92511812e-01 2.08829693e-02 -1.20350341e-01 -1.43900263e+01] [-2.02223885e-02 9.99773005e-01 6.70766284e-03 -2.19358993e+00] [ 1.20463098e-01 -4.22366325e-03 9.92708821e-01 2.41141345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.730418555 meters Centerline goodness [0,1] 0.9997338192837691 Centerline is valid? [True, True] Translation: X:-14.42, Y:-2.21, Z:0.24 [[ 9.92807418e-01 1.39968140e-02 -1.18901302e-01 -1.44198383e+01] [-1.33026031e-02 9.99889534e-01 6.63024529e-03 -2.20729484e+00] [ 1.18980970e-01 -5.00085987e-03 9.92883941e-01 2.38018638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.760418554999998 meters Centerline goodness [0,1] 0.999876910452354 Centerline is valid? [True, True] Translation: X:-14.45, Y:-2.22, Z:0.24 [[ 9.92772547e-01 8.22161641e-03 -1.19729175e-01 -1.44506355e+01] [-7.47552019e-03 9.99949750e-01 6.67934156e-03 -2.21663389e+00] [ 1.19778074e-01 -5.73602906e-03 9.92784121e-01 2.35771206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.790418555 meters Centerline goodness [0,1] 0.9997123484692829 Centerline is valid? [True, True] Translation: X:-14.48, Y:-2.21, Z:0.24 [[ 9.93042822e-01 4.69109842e-03 -1.17660307e-01 -1.44799222e+01] [-3.94546871e-03 9.99970639e-01 6.56926137e-03 -2.21490103e+00] [ 1.17687669e-01 -6.05933279e-03 9.93032173e-01 2.41457811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.820418555 meters Centerline goodness [0,1] 0.9996326755504765 Centerline is valid? [True, True] Translation: X:-14.51, Y:-2.22, Z:0.24 [[ 9.93657325e-01 6.49236608e-03 -1.12262947e-01 -1.45100605e+01] [-5.82492129e-03 9.99963363e-01 6.27235007e-03 -2.22391005e+00] [ 1.12299557e-01 -5.57864376e-03 9.93658738e-01 2.35864141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.850418554999997 meters Centerline goodness [0,1] 0.9994686829467662 Centerline is valid? [True, True] Translation: X:-14.54, Y:-2.22, Z:0.23 [[ 9.93353456e-01 8.85245151e-03 -1.14762993e-01 -1.45383777e+01] [-8.16946192e-03 9.99946018e-01 6.42027873e-03 -2.22361890e+00] [ 1.14813633e-01 -5.44005417e-03 9.93372154e-01 2.33591076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.880418555 meters Centerline goodness [0,1] 0.9996514750804683 Centerline is valid? [True, True] Translation: X:-14.57, Y:-2.22, Z:0.23 [[ 9.92624246e-01 1.45849517e-02 -1.20351091e-01 -1.45660786e+01] [-1.38722942e-02 9.99880943e-01 6.75722693e-03 -2.22121069e+00] [ 1.20435317e-01 -5.03784153e-03 9.92708394e-01 2.25740257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.910418555 meters Centerline goodness [0,1] 0.9994071590653556 Centerline is valid? [True, True] Translation: X:-14.59, Y:-2.22, Z:0.22 [[ 9.92368552e-01 1.83743266e-02 -1.21930473e-01 -1.45936365e+01] [-1.76695539e-02 9.99820355e-01 6.85895937e-03 -2.21576495e+00] [ 1.22034597e-01 -4.65215853e-03 9.92514944e-01 2.21653821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.940418554999997 meters Centerline goodness [0,1] 0.9998976144158902 Centerline is valid? [True, True] Translation: X:-14.62, Y:-2.21, Z:0.22 [[ 9.92292534e-01 1.94044224e-02 -1.22388708e-01 -1.46224114e+01] [-1.87003112e-02 9.99801330e-01 6.89923187e-03 -2.21332516e+00] [ 1.22498269e-01 -4.55734933e-03 9.92458263e-01 2.22554424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.970418555 meters Centerline goodness [0,1] 0.9997121000246771 Centerline is valid? [True, True] Translation: X:-14.65, Y:-2.21, Z:0.23 [[ 9.92824207e-01 2.05864849e-02 -1.17797665e-01 -1.46524600e+01] [-1.99405023e-02 9.99778987e-01 6.65990857e-03 -2.21021355e+00] [ 1.17908735e-01 -4.26317383e-03 9.93015285e-01 2.25949329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.000418555 meters Centerline goodness [0,1] 0.9998767030392701 Centerline is valid? [True, True] Translation: X:-14.68, Y:-2.22, Z:0.22 [[ 9.92984099e-01 2.04063797e-02 -1.16473858e-01 -1.46806400e+01] [-1.97733812e-02 9.99782784e-01 6.58769245e-03 -2.21620251e+00] [ 1.16582989e-01 -4.23839185e-03 9.93171910e-01 2.18733527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.030418554999997 meters Centerline goodness [0,1] 0.9998970494368604 Centerline is valid? [True, True] Translation: X:-14.71, Y:-2.21, Z:0.22 [[ 9.92898937e-01 2.02235157e-02 -1.17229306e-01 -1.47085090e+01] [-1.95797934e-02 9.99786246e-01 6.64029188e-03 -2.20968136e+00] [ 1.17338538e-01 -4.29781315e-03 9.93082673e-01 2.22060489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.060418555 meters Centerline goodness [0,1] 0.9997950021524774 Centerline is valid? [True, True] Translation: X:-14.74, Y:-2.21, Z:0.21 [[ 9.92664962e-01 2.12271913e-02 -1.19019659e-01 -1.47370182e+01] [-2.05688835e-02 9.99765605e-01 6.75691486e-03 -2.21090790e+00] [ 1.19135192e-01 -4.25925112e-03 9.92868906e-01 2.13022686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.090418555 meters Centerline goodness [0,1] 0.9998559581867194 Centerline is valid? [True, True] Translation: X:-14.76, Y:-2.21, Z:0.21 [[ 9.92678548e-01 2.13328634e-02 -1.18887383e-01 -1.47645500e+01] [-2.06732993e-02 9.99763306e-01 6.77845927e-03 -2.21234191e+00] [ 1.19003847e-01 -4.27103665e-03 9.92884607e-01 2.12166174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.120418555 meters Centerline goodness [0,1] 0.9998559581867194 Centerline is valid? [True, True] Translation: X:-14.79, Y:-2.21, Z:0.21 [[ 9.92673126e-01 2.15934637e-02 -1.18885604e-01 -1.47917621e+01] [-2.09320410e-02 9.99757711e-01 6.80954863e-03 -2.21086983e+00] [ 1.19003841e-01 -4.27113760e-03 9.92884607e-01 2.09798705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.150418554999998 meters Centerline goodness [0,1] 0.9997530813391222 Centerline is valid? [True, True] Translation: X:-14.82, Y:-2.21, Z:0.21 [[ 9.92763768e-01 2.29919521e-02 -1.17862086e-01 -1.48216830e+01] [-2.23489790e-02 9.99727279e-01 6.77423174e-03 -2.21100924e+00] [ 1.17985696e-01 -4.09111453e-03 9.93006867e-01 2.11477869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.180418555 meters Centerline goodness [0,1] 0.9999173639086871 Centerline is valid? [True, True] Translation: X:-14.85, Y:-2.21, Z:0.21 [[ 9.92568298e-01 2.41236664e-02 -1.19273730e-01 -1.48487588e+01] [-2.34725506e-02 9.99700938e-01 6.86104426e-03 -2.20883926e+00] [ 1.19403574e-01 -4.01039635e-03 9.92837702e-01 2.06520245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.210418555 meters Centerline goodness [0,1] 0.9998760996159088 Centerline is valid? [True, True] Translation: X:-14.88, Y:-2.21, Z:0.20 [[ 9.92281158e-01 2.45274041e-02 -1.21558668e-01 -1.48774859e+01] [-2.38520736e-02 9.99690937e-01 7.00781223e-03 -2.21209538e+00] [ 1.21692982e-01 -4.05429375e-03 9.92559510e-01 1.98745351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.240418554999998 meters Centerline goodness [0,1] 0.9998761124073424 Centerline is valid? [True, True] Translation: X:-14.91, Y:-2.22, Z:0.20 [[ 9.92463178e-01 2.27655990e-02 -1.20409997e-01 -1.49056297e+01] [-2.20875008e-02 9.99731791e-01 6.96339068e-03 -2.21564567e+00] [ 1.20536228e-01 -4.25135295e-03 9.92699826e-01 2.01987865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.270418555 meters Centerline goodness [0,1] 0.9999381494309748 Centerline is valid? [True, True] Translation: X:-14.93, Y:-2.22, Z:0.20 [[ 9.93070101e-01 1.85573181e-02 -1.16049131e-01 -1.49345630e+01] [-1.78974857e-02 9.99817208e-01 6.72532417e-03 -2.22112613e+00] [ 1.16152722e-01 -4.60173069e-03 9.93220705e-01 2.01761497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.300418555 meters Centerline goodness [0,1] 0.999876715706419 Centerline is valid? [True, True] Translation: X:-14.96, Y:-2.22, Z:0.20 [[ 9.93185346e-01 1.73761037e-02 -1.15242960e-01 -1.49628084e+01] [-1.67144193e-02 9.99837819e-01 6.70556663e-03 -2.22341256e+00] [ 1.15340786e-01 -4.73365136e-03 9.93314701e-01 1.95697124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.330418554999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.99, Y:-2.22, Z:0.20 [[ 9.93229684e-01 1.59828748e-02 -1.15062342e-01 -1.49905742e+01] [-1.53113940e-02 9.99860210e-01 6.71731145e-03 -2.21989345e+00] [ 1.15153619e-01 -4.91006828e-03 9.93335560e-01 1.95563618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.360418555 meters Centerline goodness [0,1] 0.9998351501164252 Centerline is valid? [True, True] Translation: X:-15.02, Y:-2.22, Z:0.20 [[ 9.93304261e-01 1.71732478e-02 -1.14244143e-01 -1.50192562e+01] [-1.65180812e-02 9.99841259e-01 6.67904098e-03 -2.22395424e+00] [ 1.14340709e-01 -4.74722584e-03 9.93430252e-01 1.96044054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.390418555 meters Centerline goodness [0,1] 0.9999792977807221 Centerline is valid? [True, True] Translation: X:-15.05, Y:-2.23, Z:0.19 [[ 9.93049768e-01 2.06377500e-02 -1.15871657e-01 -1.50483905e+01] [-1.99861033e-02 9.99777248e-01 6.78300175e-03 -2.22696898e+00] [ 1.15985832e-01 -4.42003542e-03 9.93241033e-01 1.93196147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.420418554999998 meters Centerline goodness [0,1] 0.999937944729439 Centerline is valid? [True, True] Translation: X:-15.08, Y:-2.23, Z:0.19 [[ 9.92673141e-01 2.53814122e-02 -1.18134746e-01 -1.50773911e+01] [-2.47366011e-02 9.99670042e-01 6.92156919e-03 -2.22531990e+00] [ 1.18271446e-01 -3.94860374e-03 9.92973451e-01 1.88417937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.450418555 meters Centerline goodness [0,1] 0.9998136337281537 Centerline is valid? [True, True] Translation: X:-15.10, Y:-2.22, Z:0.19 [[ 9.92475055e-01 2.88006802e-02 -1.19011706e-01 -1.51045936e+01] [-2.81698083e-02 9.99578781e-01 6.98012712e-03 -2.22086881e+00] [ 1.19162609e-01 -3.57506510e-03 9.92868315e-01 1.85203001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.480418555 meters Centerline goodness [0,1] 0.9999377438366398 Centerline is valid? [True, True] Translation: X:-15.13, Y:-2.22, Z:0.18 [[ 9.92349817e-01 3.16253551e-02 -1.19338501e-01 -1.51334245e+01] [-3.10094841e-02 9.99494476e-01 7.01459997e-03 -2.22148351e+00] [ 1.19500012e-01 -3.26031165e-03 9.92828846e-01 1.81226609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.510418554999998 meters Centerline goodness [0,1] 0.9998962095736289 Centerline is valid? [True, True] Translation: X:-15.16, Y:-2.22, Z:0.18 [[ 9.92447470e-01 3.38797017e-02 -1.17899045e-01 -1.51620397e+01] [-3.32918617e-02 9.99421491e-01 6.95237239e-03 -2.22436844e+00] [ 1.18066384e-01 -2.97478568e-03 9.93001249e-01 1.83508197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.540418555 meters Centerline goodness [0,1] 0.9997110005573561 Centerline is valid? [True, True] Translation: X:-15.19, Y:-2.23, Z:0.18 [[ 9.92722731e-01 3.45506340e-02 -1.15359581e-01 -1.51918796e+01] [-3.39917168e-02 9.99398918e-01 6.80928535e-03 -2.22619279e+00] [ 1.15525506e-01 -2.83846214e-03 9.93300458e-01 1.79916807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.570418555 meters Centerline goodness [0,1] 0.9999791783788285 Centerline is valid? [True, True] Translation: X:-15.22, Y:-2.23, Z:0.18 [[ 9.92949682e-01 3.23719080e-02 -1.14030647e-01 -1.52203696e+01] [-3.18109399e-02 9.99471204e-01 6.73614705e-03 -2.22955225e+00] [ 1.14188410e-01 -3.06123301e-03 9.93454395e-01 1.81340249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.600418554999997 meters Centerline goodness [0,1] 0.9999792621471972 Centerline is valid? [True, True] Translation: X:-15.25, Y:-2.23, Z:0.18 [[ 9.92973314e-01 3.03998702e-02 -1.14367155e-01 -1.52492132e+01] [-2.98209288e-02 9.99532330e-01 6.77000786e-03 -2.23222811e+00] [ 1.14519476e-01 -3.31190236e-03 9.93415483e-01 1.79141225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.630418555 meters Centerline goodness [0,1] 0.9998550514567328 Centerline is valid? [True, True] Translation: X:-15.28, Y:-2.24, Z:0.18 [[ 9.93150234e-01 2.70775261e-02 -1.13663629e-01 -1.52781510e+01] [-2.64815627e-02 9.99626512e-01 6.75011663e-03 -2.23542238e+00] [ 1.13803953e-01 -3.69388939e-03 9.93496359e-01 1.75231502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.660418555 meters Centerline goodness [0,1] 0.99964605454924 Centerline is valid? [True, True] Translation: X:-15.31, Y:-2.24, Z:0.17 [[ 9.93120339e-01 2.28834306e-02 -1.14840504e-01 -1.53076089e+01] [-2.22462766e-02 9.99729212e-01 6.82689750e-03 -2.24016562e+00] [ 1.14965629e-01 -4.22515714e-03 9.93360484e-01 1.72700539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.690418554999997 meters Centerline goodness [0,1] 0.9999582689980386 Centerline is valid? [True, True] Translation: X:-15.34, Y:-2.25, Z:0.17 [[ 9.92859614e-01 2.06862779e-02 -1.17481338e-01 -1.53380683e+01] [-2.00035807e-02 9.99775491e-01 6.98737534e-03 -2.24516551e+00] [ 1.17599505e-01 -4.58743537e-03 9.93050508e-01 1.68826046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.720418555 meters Centerline goodness [0,1] 0.9996039603960396 Centerline is valid? [True, True] Translation: X:-15.37, Y:-2.25, Z:0.17 [[ 9.92797382e-01 2.01179214e-02 -1.18104311e-01 -1.53662696e+01] [-1.94234103e-02 9.99786642e-01 7.02868707e-03 -2.24533870e+00] [ 1.18220515e-01 -4.68407363e-03 9.92976319e-01 1.69190139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.750418555 meters Centerline goodness [0,1] 0.9999790991744174 Centerline is valid? [True, True] Translation: X:-15.40, Y:-2.25, Z:0.17 [[ 9.93385022e-01 2.01092425e-02 -1.13056693e-01 -1.53957507e+01] [-1.94721372e-02 9.99787703e-01 6.73683156e-03 -2.24916018e+00] [ 1.13168164e-01 -4.49081214e-03 9.93565700e-01 1.68027746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.780418554999997 meters Centerline goodness [0,1] 0.9997514653190563 Centerline is valid? [True, True] Translation: X:-15.42, Y:-2.25, Z:0.16 [[ 9.93318755e-01 2.07241209e-02 -1.13526918e-01 -1.54229144e+01] [-2.00842971e-02 9.99775322e-01 6.77685673e-03 -2.25341793e+00] [ 1.13641855e-01 -4.45147055e-03 9.93511808e-01 1.61230157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.810418555 meters Centerline goodness [0,1] 0.9999160157890317 Centerline is valid? [True, True] Translation: X:-15.45, Y:-2.25, Z:0.16 [[ 9.92548249e-01 2.49395534e-02 -1.19272766e-01 -1.54496360e+01] [-2.42598964e-02 9.99680137e-01 7.14713411e-03 -2.24676530e+00] [ 1.19412862e-01 -4.20033049e-03 9.92835800e-01 1.56617699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.840418555 meters Centerline goodness [0,1] 0.9999372450580484 Centerline is valid? [True, True] Translation: X:-15.48, Y:-2.25, Z:0.15 [[ 9.92464816e-01 2.83832111e-02 -1.19197242e-01 -1.54790819e+01] [-2.77281090e-02 9.99589922e-01 7.15116521e-03 -2.24718659e+00] [ 1.19351335e-01 -3.79216575e-03 9.92844841e-01 1.54606039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.870418555 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.51, Y:-2.25, Z:0.16 [[ 9.92987315e-01 3.11369342e-02 -1.14046851e-01 -1.55084071e+01] [-3.05551987e-02 9.99509637e-01 6.84579315e-03 -2.24563278e+00] [ 1.14204084e-01 -3.31306155e-03 9.93451786e-01 1.60358074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.900418554999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.54, Y:-2.24, Z:0.16 [[ 9.93020103e-01 3.74313819e-02 -1.11847961e-01 -1.55372158e+01] [-3.69113915e-02 9.99295968e-01 6.71693270e-03 -2.24346416e+00] [ 1.12020641e-01 -2.54158532e-03 9.93702630e-01 1.59659557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.930418555 meters Centerline goodness [0,1] 0.9999582576753699 Centerline is valid? [True, True] Translation: X:-15.57, Y:-2.24, Z:0.15 [[ 9.92448318e-01 4.10797174e-02 -1.15580243e-01 -1.55654576e+01] [-4.05476785e-02 9.99153422e-01 6.95157660e-03 -2.24226934e+00] [ 1.15767964e-01 -2.21256998e-03 9.93273821e-01 1.50238496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.960418555 meters Centerline goodness [0,1] 0.9999791183779156 Centerline is valid? [True, True] Translation: X:-15.59, Y:-2.24, Z:0.15 [[ 9.91975688e-01 4.42928722e-02 -1.18416111e-01 -1.55935418e+01] [-4.37534985e-02 9.99016757e-01 7.15202287e-03 -2.24083353e+00] [ 1.18616463e-01 -1.91351367e-03 9.92938303e-01 1.45580371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.990418554999998 meters Centerline goodness [0,1] 0.9999791353697213 Centerline is valid? [True, True] Translation: X:-15.62, Y:-2.24, Z:0.15 [[ 9.92223574e-01 4.85196945e-02 -1.14622068e-01 -1.56234987e+01] [-4.80401603e-02 9.98821268e-01 6.94389234e-03 -2.24054257e+00] [ 1.14823875e-01 -1.38343115e-03 9.93384902e-01 1.47485998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.020418555 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.65, Y:-2.24, Z:0.15 [[ 9.92252769e-01 4.98656033e-02 -1.13788678e-01 -1.56521904e+01] [-4.94008983e-02 9.98755183e-01 6.90184274e-03 -2.24249765e+00] [ 1.13991197e-01 -1.22710965e-03 9.93481002e-01 1.46052351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.050418555 meters Centerline goodness [0,1] 0.9999792556943119 Centerline is valid? [True, True] Translation: X:-15.68, Y:-2.25, Z:0.14 [[ 9.92043916e-01 5.09321237e-02 -1.15129438e-01 -1.56807423e+01] [-5.04601575e-02 9.98701459e-01 7.01205584e-03 -2.24563631e+00] [ 1.15337077e-01 -1.14681776e-03 9.93325749e-01 1.39973866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.080418554999998 meters Centerline goodness [0,1] 0.9999582088304741 Centerline is valid? [True, True] Translation: X:-15.71, Y:-2.25, Z:0.14 [[ 9.91842870e-01 5.09826069e-02 -1.16826769e-01 -1.57087278e+01] [-5.04940310e-02 9.98698841e-01 7.13985114e-03 -2.24775259e+00] [ 1.17038767e-01 -1.18255593e-03 9.93126643e-01 1.38462902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.110418555 meters Centerline goodness [0,1] 0.9999791122715405 Centerline is valid? [True, True] Translation: X:-15.74, Y:-2.25, Z:0.13 [[ 9.91834981e-01 4.92199662e-02 -1.17646786e-01 -1.57378658e+01] [-4.87103467e-02 9.98786960e-01 7.20491091e-03 -2.25080118e+00] [ 1.17858702e-01 -1.41546692e-03 9.93029367e-01 1.34567465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.140418555 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.77, Y:-2.26, Z:0.13 [[ 9.91977375e-01 4.75308591e-02 -1.17139683e-01 -1.57658956e+01] [-4.70105301e-02 9.98868427e-01 7.20244645e-03 -2.25646414e+00] [ 1.17349469e-01 -1.63786534e-03 9.93089331e-01 1.31214234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.170418554999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.80, Y:-2.27, Z:0.13 [[ 9.92295430e-01 4.37741417e-02 -1.15903424e-01 -1.57952033e+01] [-4.32355762e-02 9.99039263e-01 7.15786961e-03 -2.26776533e+00] [ 1.16105401e-01 -2.09156999e-03 9.93234696e-01 1.30549048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.200418555 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.82, Y:-2.27, Z:0.13 [[ 9.92082269e-01 4.11900208e-02 -1.18642968e-01 -1.58244939e+01] [-4.06044542e-02 9.99148268e-01 7.34960431e-03 -2.27086507e+00] [ 1.18844646e-01 -2.47397918e-03 9.92909779e-01 1.27519493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.230418555 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.85, Y:-2.27, Z:0.12 [[ 9.92055094e-01 3.91166070e-02 -1.19568311e-01 -1.58530656e+01] [-3.85061737e-02 9.99230870e-01 7.41229409e-03 -2.27301979e+00] [ 1.19766291e-01 -2.74928597e-03 9.92798306e-01 1.21238947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.260418554999998 meters Centerline goodness [0,1] 0.9999584355126979 Centerline is valid? [True, True] Translation: X:-15.88, Y:-2.28, Z:0.13 [[ 9.92911197e-01 3.72883128e-02 -1.12858034e-01 -1.58830745e+01] [-3.67322242e-02 9.99300603e-01 7.00346017e-03 -2.27715587e+00] [ 1.13040249e-01 -2.80828742e-03 9.93586441e-01 1.26469088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.290418555 meters Centerline goodness [0,1] 0.999858161776625 Centerline is valid? [True, True] Translation: X:-15.91, Y:-2.29, Z:0.12 [[ 9.93429857e-01 3.76931206e-02 -1.08057148e-01 -1.59134221e+01] [-3.71851925e-02 9.99285848e-01 6.71238813e-03 -2.28688073e+00] [ 1.08232990e-01 -2.65016092e-03 9.94122023e-01 1.22701909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.320418555 meters Centerline goodness [0,1] 0.9999376312342779 Centerline is valid? [True, True] Translation: X:-15.94, Y:-2.29, Z:0.12 [[ 9.92838660e-01 3.75405428e-02 -1.13411215e-01 -1.59421963e+01] [-3.69785192e-02 9.99291150e-01 7.05599379e-03 -2.28735282e+00] [ 1.13595709e-01 -2.81168465e-03 9.93523079e-01 1.19871950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.350418554999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.97, Y:-2.29, Z:0.11 [[ 9.92663213e-01 3.58954351e-02 -1.15461091e-01 -1.59715961e+01] [-3.53007889e-02 9.99350858e-01 7.19150729e-03 -2.29241437e+00] [ 1.15644283e-01 -3.06287712e-03 9.93285970e-01 1.14828092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.380418555 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.00, Y:-2.30, Z:0.11 [[ 9.92913394e-01 3.56741023e-02 -1.13359384e-01 -1.60005111e+01] [-3.50977001e-02 9.99358828e-01 7.07707188e-03 -2.29988692e+00] [ 1.13539169e-01 -3.04826582e-03 9.93528845e-01 1.14143223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.410418555 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.03, Y:-2.30, Z:0.11 [[ 9.92974749e-01 3.62312311e-02 -1.12642997e-01 -1.60288386e+01] [-3.56630936e-02 9.99338965e-01 7.05529489e-03 -2.30125497e+00] [ 1.12824158e-01 -2.98853193e-03 9.93610476e-01 1.12116545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.440418554999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.06, Y:-2.30, Z:0.11 [[ 9.92838979e-01 3.62440983e-02 -1.13829374e-01 -1.60567413e+01] [-3.56623739e-02 9.99338365e-01 7.14334991e-03 -2.30019241e+00] [ 1.14012965e-01 -3.03277055e-03 9.93474633e-01 1.05079803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.470418555 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.09, Y:-2.31, Z:0.10 [[ 9.92271204e-01 3.56722414e-02 -1.18850107e-01 -1.60854330e+01] [-3.50310381e-02 9.99358228e-01 7.48049460e-03 -2.30547040e+00] [ 1.19040679e-01 -3.25923674e-03 9.92884029e-01 9.79683994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.500418555 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.11, Y:-2.31, Z:0.10 [[ 9.92421006e-01 3.33426576e-02 -1.18274321e-01 -1.61144036e+01] [-3.26899426e-02 9.99437738e-01 7.45491100e-03 -2.31232070e+00] [ 1.18456386e-01 -3.53202950e-03 9.92952974e-01 1.00246864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.530418554999997 meters Centerline goodness [0,1] 0.9999380485286525 Centerline is valid? [True, True] Translation: X:-16.14, Y:-2.32, Z:0.10 [[ 9.92938392e-01 3.00723400e-02 -1.14756284e-01 -1.61422505e+01] [-2.94336317e-02 9.99540396e-01 7.25655936e-03 -2.31612411e+00] [ 1.14921763e-01 -3.82762220e-03 9.93367172e-01 1.02027095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.560418555 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.17, Y:-2.32, Z:0.10 [[ 9.92861830e-01 2.64447141e-02 -1.16301605e-01 -1.61708536e+01] [-2.57623921e-02 9.99640953e-01 7.36639379e-03 -2.32079894e+00] [ 1.16454649e-01 -4.31760368e-03 9.93186625e-01 9.75657510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.590418555 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.20, Y:-2.32, Z:0.09 [[ 9.92492363e-01 2.43893483e-02 -1.19850198e-01 -1.62009315e+01] [-2.36488638e-02 9.99691461e-01 7.59703863e-03 -2.32390372e+00] [ 1.19998506e-01 -4.70568181e-03 9.92762920e-01 9.21113443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.620418555 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.23, Y:-2.32, Z:0.09 [[ 9.92535008e-01 2.12974925e-02 -1.20086112e-01 -1.62299170e+01] [-2.05310314e-02 9.99760205e-01 7.61635142e-03 -2.32485078e+00] [ 1.20219525e-01 -5.09400369e-03 9.92734263e-01 9.01350617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.650418554999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.26, Y:-2.33, Z:0.09 [[ 9.93269663e-01 1.74895756e-02 -1.14496691e-01 -1.62580036e+01] [-1.67667899e-02 9.99832977e-01 7.27279280e-03 -2.32820035e+00] [ 1.14604765e-01 -5.30410249e-03 9.93397007e-01 9.30779169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.680418555 meters Centerline goodness [0,1] 0.9999793550518188 Centerline is valid? [True, True] Translation: X:-16.29, Y:-2.33, Z:0.09 [[ 9.93278688e-01 1.76589580e-02 -1.14392350e-01 -1.62862747e+01] [-1.69349044e-02 9.99829957e-01 7.29835155e-03 -2.33112756e+00] [ 1.14501780e-01 -5.31207354e-03 9.93408840e-01 9.11618259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.710418555 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.32, Y:-2.33, Z:0.09 [[ 9.92773917e-01 1.71836583e-02 -1.18763088e-01 -1.63162002e+01] [-1.63964112e-02 9.99836665e-01 7.60271777e-03 -2.33201144e+00] [ 1.18874332e-01 -5.60049148e-03 9.92893513e-01 8.54635257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.740418554999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.34, Y:-2.33, Z:0.08 [[ 9.92976480e-01 1.71904143e-02 -1.17056399e-01 -1.63444898e+01] [-1.64247408e-02 9.99836956e-01 7.50262473e-03 -2.32917694e+00] [ 1.17166287e-01 -5.52730888e-03 9.93096929e-01 8.36884495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.770418555 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.37, Y:-2.33, Z:0.08 [[ 9.93359879e-01 1.90219493e-02 -1.13465046e-01 -1.63741748e+01] [-1.83122796e-02 9.99805713e-01 7.29360924e-03 -2.32604727e+00] [ 1.13581740e-01 -5.16737514e-03 9.93515217e-01 8.48657075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.800418555 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.40, Y:-2.32, Z:0.08 [[ 9.93016974e-01 2.44598698e-02 -1.15407993e-01 -1.64040256e+01] [-2.37617683e-02 9.99690105e-01 7.42106759e-03 -2.32150435e+00] [ 1.15553747e-01 -4.62694809e-03 9.93290452e-01 8.11508735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.830418554999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.43, Y:-2.32, Z:0.08 [[ 9.92440990e-01 2.92939293e-02 -1.19175278e-01 -1.64322125e+01] [-2.85827865e-02 9.99561983e-01 7.67247336e-03 -2.31764016e+00] [ 1.19347834e-01 -4.20811553e-03 9.92843586e-01 7.70493187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.860418555 meters Centerline goodness [0,1] 0.9999172082626154 Centerline is valid? [True, True] Translation: X:-16.46, Y:-2.31, Z:0.07 [[ 9.92034526e-01 3.38089850e-02 -1.21344351e-01 -1.64605353e+01] [-3.31013798e-02 9.99421225e-01 7.84301520e-03 -2.31439242e+00] [ 1.21539284e-01 -3.76387642e-03 9.92579486e-01 7.15991466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.890418555 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.49, Y:-2.31, Z:0.07 [[ 9.92530088e-01 3.70884667e-02 -1.16225941e-01 -1.64899550e+01] [-3.64594686e-02 9.99306733e-01 7.53390205e-03 -2.31071593e+00] [ 1.16424786e-01 -3.24008842e-03 9.93194226e-01 7.42465342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.920418554999998 meters Centerline goodness [0,1] 0.9998760048771415 Centerline is valid? [True, True] Translation: X:-16.52, Y:-2.31, Z:0.07 [[ 9.92801597e-01 4.25848935e-02 -1.11944253e-01 -1.65194578e+01] [-4.20360501e-02 9.99089720e-01 7.25961036e-03 -2.30963199e+00] [ 1.12151502e-01 -2.50165853e-03 9.93687970e-01 7.12131692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.950418555 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.55, Y:-2.31, Z:0.07 [[ 9.91894945e-01 4.32581821e-02 -1.19470278e-01 -1.65481202e+01] [-4.26370320e-02 9.99060557e-01 7.75160982e-03 -2.30991494e+00] [ 1.19693363e-01 -2.59492455e-03 9.92807517e-01 6.64993339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.980418555 meters Centerline goodness [0,1] 0.9998342758892135 Centerline is valid? [True, True] Translation: X:-16.58, Y:-2.31, Z:0.06 [[ 9.91775437e-01 4.19092497e-02 -1.20934271e-01 -1.65764301e+01] [-4.12620170e-02 9.99117504e-01 7.85228254e-03 -2.31031306e+00] [ 1.21156631e-01 -2.79770899e-03 9.92629459e-01 6.18369399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.010418554999998 meters Centerline goodness [0,1] 0.9998342758892135 Centerline is valid? [True, True] Translation: X:-16.60, Y:-2.31, Z:0.06 [[ 9.91763332e-01 4.21977926e-02 -1.20933204e-01 -1.66036631e+01] [-4.15506970e-02 9.99105412e-01 7.86868403e-03 -2.30862979e+00] [ 1.21157060e-01 -2.77901337e-03 9.92629460e-01 5.94780082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.040418555 meters Centerline goodness [0,1] 0.9997928234026684 Centerline is valid? [True, True] Translation: X:-16.63, Y:-2.31, Z:0.06 [[ 9.92343528e-01 4.18948230e-02 -1.16185824e-01 -1.66338507e+01] [-4.12927785e-02 9.99118299e-01 7.58494235e-03 -2.31259073e+00] [ 1.16401153e-01 -2.72923293e-03 9.93198531e-01 6.16084181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.070418555 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.66, Y:-2.32, Z:0.06 [[ 9.92275936e-01 4.17411962e-02 -1.16816695e-01 -1.66617960e+01] [-4.11306172e-02 9.99124617e-01 7.63362598e-03 -2.31516730e+00] [ 1.17033072e-01 -2.76992061e-03 9.93124155e-01 6.24155938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.100418554999997 meters Centerline goodness [0,1] 0.999979206520835 Centerline is valid? [True, True] Translation: X:-16.69, Y:-2.32, Z:0.05 [[ 9.91717433e-01 4.03483171e-02 -1.21936652e-01 -1.66915942e+01] [-3.96706150e-02 9.99180934e-01 7.98142818e-03 -2.31927467e+00] [ 1.22158815e-01 -3.07801947e-03 9.92505793e-01 5.12022064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.130418555 meters Centerline goodness [0,1] 0.9999791892116874 Centerline is valid? [True, True] Translation: X:-16.72, Y:-2.32, Z:0.05 [[ 9.91740187e-01 3.59893461e-02 -1.23110388e-01 -1.67209882e+01] [-3.52646448e-02 9.99345496e-01 8.06126510e-03 -2.31988820e+00] [ 1.23319931e-01 -3.65323647e-03 9.92360241e-01 4.89994500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.160418555 meters Centerline goodness [0,1] 0.9999791697044181 Centerline is valid? [True, True] Translation: X:-16.75, Y:-2.33, Z:0.05 [[ 9.92455629e-01 3.46603903e-02 -1.17603066e-01 -1.67511545e+01] [-3.39894809e-02 9.99392480e-01 7.70627611e-03 -2.32661157e+00] [ 1.17798722e-01 -3.65086994e-03 9.93030781e-01 5.22864558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.190418554999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.78, Y:-2.33, Z:0.05 [[ 9.92485191e-01 3.42971173e-02 -1.17460011e-01 -1.67810853e+01] [-3.36235174e-02 9.99404814e-01 7.71208049e-03 -2.33495063e+00] [ 1.17654603e-01 -3.70470694e-03 9.93047667e-01 5.28899578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.220418555 meters Centerline goodness [0,1] 0.9999581519919651 Centerline is valid? [True, True] Translation: X:-16.81, Y:-2.34, Z:0.04 [[ 9.91968091e-01 3.25508600e-02 -1.22228258e-01 -1.68107978e+01] [-3.18049900e-02 9.99461684e-01 8.04889269e-03 -2.34124865e+00] [ 1.22424459e-01 -4.09677618e-03 9.92469379e-01 4.12543595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.250418555 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.84, Y:-2.34, Z:0.04 [[ 9.91992794e-01 3.13420572e-02 -1.22343668e-01 -1.68384283e+01] [-3.05848238e-02 9.99499654e-01 8.06294695e-03 -2.34098833e+00] [ 1.22535163e-01 -4.25652575e-03 9.92455045e-01 4.01436701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.280418554999997 meters Centerline goodness [0,1] 0.9999160069714214 Centerline is valid? [True, True] Translation: X:-16.87, Y:-2.35, Z:0.04 [[ 9.92301850e-01 3.27622993e-02 -1.19430611e-01 -1.68681659e+01] [-3.20496520e-02 9.99455187e-01 7.88341420e-03 -2.34553489e+00] [ 1.19623823e-01 -3.99501696e-03 9.92811251e-01 3.68659026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.310418555 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.90, Y:-2.34, Z:0.04 [[ 9.92436967e-01 3.42540797e-02 -1.17879282e-01 -1.68973329e+01] [-3.35698247e-02 9.99406047e-01 7.78592659e-03 -2.34399648e+00] [ 1.18075967e-01 -3.76985453e-03 9.92997409e-01 4.27661788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.340418555 meters Centerline goodness [0,1] 0.9998733161606351 Centerline is valid? [True, True] Translation: X:-16.93, Y:-2.35, Z:0.03 [[ 9.91927982e-01 3.50890023e-02 -1.21850894e-01 -1.69263342e+01] [-3.43621183e-02 9.99376928e-01 8.06225239e-03 -2.35414387e+00] [ 1.22057869e-01 -3.81011891e-03 9.92515672e-01 3.14111301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.370418555 meters Centerline goodness [0,1] 0.9999150165717685 Centerline is valid? [True, True] Translation: X:-16.95, Y:-2.36, Z:0.03 [[ 9.91367069e-01 3.18201795e-02 -1.27195955e-01 -1.69549510e+01] [-3.09978295e-02 9.99483818e-01 8.43994702e-03 -2.35742245e+00] [ 1.27398859e-01 -4.42428702e-03 9.91841699e-01 2.60793928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.400418554999998 meters Centerline goodness [0,1] 0.99972385079446 Centerline is valid? [True, True] Translation: X:-16.98, Y:-2.36, Z:0.02 [[ 9.91700540e-01 3.07222641e-02 -1.24844630e-01 -1.69836738e+01] [-2.99206653e-02 9.99517889e-01 8.29120683e-03 -2.36439405e+00] [ 1.25039165e-01 -4.48695991e-03 9.92141660e-01 2.39364516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.430418555 meters Centerline goodness [0,1] 0.999660383766344 Centerline is valid? [True, True] Translation: X:-17.01, Y:-2.37, Z:0.03 [[ 9.92468426e-01 2.87448344e-02 -1.19080469e-01 -1.70137118e+01] [-2.80006231e-02 9.99576542e-01 7.91840852e-03 -2.36943704e+00] [ 1.19257656e-01 -4.52444312e-03 9.92853031e-01 2.81046436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.460418555 meters Centerline goodness [0,1] 0.999487879822465 Centerline is valid? [True, True] Translation: X:-17.04, Y:-2.38, Z:0.02 [[ 9.92168542e-01 2.35476094e-02 -1.22666595e-01 -1.70441786e+01] [-2.27172220e-02 9.99708597e-01 8.16387300e-03 -2.37895135e+00] [ 1.22823090e-01 -5.31329369e-03 9.92414358e-01 2.15201174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.490418554999998 meters Centerline goodness [0,1] 0.9995711007698741 Centerline is valid? [True, True] Translation: X:-17.07, Y:-2.38, Z:0.02 [[ 9.91999092e-01 2.23887063e-02 -1.24243906e-01 -1.70720640e+01] [-2.15270841e-02 9.99734033e-01 8.27327326e-03 -2.37549032e+00] [ 1.24396089e-01 -5.53247054e-03 9.92217217e-01 2.29279094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.520418555 meters Centerline goodness [0,1] 0.9992474736615782 Centerline is valid? [True, True] Translation: X:-17.10, Y:-2.39, Z:0.01 [[ 9.92151445e-01 2.08851888e-02 -1.23285520e-01 -1.71010750e+01] [-2.00232030e-02 9.99765668e-01 8.22679730e-03 -2.38748472e+00] [ 1.23428448e-01 -5.69365784e-03 9.92337141e-01 1.43983814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.550418555 meters Centerline goodness [0,1] 0.9992435213002788 Centerline is valid? [True, True] Translation: X:-17.13, Y:-2.39, Z:0.02 [[ 9.91984214e-01 1.62597700e-02 -1.25311368e-01 -1.71303400e+01] [-1.53292955e-02 9.99847332e-01 8.38605869e-03 -2.38899034e+00] [ 1.25428593e-01 -6.39790284e-03 9.92082020e-01 1.66476830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.580418554999998 meters Centerline goodness [0,1] 0.9983522320751035 Centerline is valid? [True, True] Translation: X:-17.16, Y:-2.40, Z:0.01 [[ 9.91811445e-01 1.37106459e-02 -1.26972738e-01 -1.71599921e+01] [-1.27337312e-02 9.99882773e-01 8.50244142e-03 -2.39815585e+00] [ 1.27074428e-01 -6.81598199e-03 9.91869766e-01 7.98386721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.610418555 meters Centerline goodness [0,1] 0.9975922953451043 Centerline is valid? [True, True] Translation: X:-17.19, Y:-2.40, Z:0.00 [[ 9.91685751e-01 1.35418442e-02 -1.27968703e-01 -1.71885337e+01] [-1.25463832e-02 9.99884463e-01 8.58186531e-03 -2.39873196e+00] [ 1.28070132e-01 -6.90496917e-03 9.91741076e-01 3.48571142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.640418555 meters Centerline goodness [0,1] 0.9975881624405188 Centerline is valid? [True, True] Translation: X:-17.22, Y:-2.39, Z:0.01 [[ 9.92134906e-01 1.53269036e-02 -1.24231294e-01 -1.72175248e+01] [-1.44005098e-02 9.99861428e-01 8.35161022e-03 -2.39469235e+00] [ 1.24342083e-01 -6.49693006e-03 9.92218139e-01 8.43129972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.670418554999998 meters Centerline goodness [0,1] 0.998018982932776 Centerline is valid? [True, True] Translation: X:-17.25, Y:-2.39, Z:0.01 [[ 9.92285413e-01 1.75663583e-02 -1.22723603e-01 -1.72468379e+01] [-1.66790004e-02 9.99826824e-01 8.25421795e-03 -2.38825328e+00] [ 1.22847347e-01 -6.14363304e-03 9.92406562e-01 1.23259874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.700418555 meters Centerline goodness [0,1] 0.997073660763032 Centerline is valid? [True, True] Translation: X:-17.27, Y:-2.39, Z:0.00 [[ 9.92059783e-01 1.89110514e-02 -1.24337281e-01 -1.72740641e+01] [-1.80088953e-02 9.99802744e-01 8.37576807e-03 -2.39180376e+00] [ 1.24471149e-01 -6.07008557e-03 9.92204660e-01 2.43136791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.730418555 meters Centerline goodness [0,1] 0.9949454992967651 Centerline is valid? [True, True] Translation: X:-17.30, Y:-2.38, Z:-0.00 [[ 9.91282747e-01 2.08012363e-02 -1.30099284e-01 -1.73025350e+01] [-1.98256215e-02 9.99764814e-01 8.78980763e-03 -2.38409299e+00] [ 1.30251525e-01 -6.13388550e-03 9.91462009e-01 -3.65756603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.760418554999998 meters Centerline goodness [0,1] 0.99291451204753 Centerline is valid? [True, True] Translation: X:-17.33, Y:-2.38, Z:0.00 [[ 9.91614714e-01 2.17489636e-02 -1.27386191e-01 -1.73316334e+01] [-2.08211008e-02 9.99746133e-01 8.61107711e-03 -2.38133724e+00] [ 1.27541134e-01 -5.88655003e-03 9.91815813e-01 1.21943745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.790418555 meters Centerline goodness [0,1] 0.9937519386715115 Centerline is valid? [True, True] Translation: X:-17.36, Y:-2.38, Z:-0.00 [[ 9.91867982e-01 2.19976157e-02 -1.25355539e-01 -1.73595700e+01] [-2.11004675e-02 9.99741394e-01 8.48026987e-03 -2.37846382e+00] [ 1.25509667e-01 -5.76624768e-03 9.92075639e-01 -5.01288958e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.820418555 meters Centerline goodness [0,1] 0.9894182246626503 Centerline is valid? [True, True] Translation: X:-17.39, Y:-2.38, Z:-0.00 [[ 9.91287712e-01 2.32598930e-02 -1.29644318e-01 -1.73886703e+01] [-2.23095806e-02 9.99712575e-01 8.77781964e-03 -2.37561638e+00] [ 1.29811226e-01 -5.80903440e-03 9.91521710e-01 -4.35121671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.850418554999997 meters Centerline goodness [0,1] 0.9859476392929067 Centerline is valid? [True, True] Translation: X:-17.42, Y:-2.38, Z:-0.01 [[ 9.90836613e-01 2.09611976e-02 -1.33429512e-01 -1.74184794e+01] [-1.99328666e-02 9.99760467e-01 9.03820062e-03 -2.37817399e+00] [ 1.33587003e-01 -6.29574742e-03 9.91017092e-01 -1.23853369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.880418555 meters Centerline goodness [0,1] 0.9810123734533184 Centerline is valid? [True, True] Translation: X:-17.45, Y:-2.38, Z:-0.01 [[ 9.90798350e-01 1.81502832e-02 -1.34123813e-01 -1.74482201e+01] [-1.70850544e-02 9.99812729e-01 9.08891926e-03 -2.38001419e+00] [ 1.34263661e-01 -6.71377357e-03 9.90922900e-01 -1.28922518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.910418555 meters Centerline goodness [0,1] 0.9734696635286699 Centerline is valid? [True, True] Translation: X:-17.48, Y:-2.38, Z:-0.02 [[ 9.90440747e-01 1.72787433e-02 -1.36852370e-01 -1.74778637e+01] [-1.61605836e-02 9.99826367e-01 9.27746223e-03 -2.38278873e+00] [ 1.36988911e-01 -6.97716246e-03 9.90548009e-01 -2.04976066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.940418554999997 meters Centerline goodness [0,1] 0.970652788777011 Centerline is valid? [True, True] Translation: X:-17.51, Y:-2.38, Z:-0.01 [[ 9.90502810e-01 1.62330835e-02 -1.36530838e-01 -1.75066942e+01] [-1.51086131e-02 9.99842902e-01 9.26830599e-03 -2.37710060e+00] [ 1.36659843e-01 -7.11749151e-03 9.90592463e-01 -1.09909371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.970418555 meters Centerline goodness [0,1] 0.9598537659801539 Centerline is valid? [True, True] Translation: X:-17.54, Y:-2.38, Z:-0.02 [[ 9.89405649e-01 1.58154969e-02 -1.44313313e-01 -1.75362536e+01] [-1.45503698e-02 9.99845937e-01 9.81782101e-03 -2.37842786e+00] [ 1.44446354e-01 -7.61399549e-03 9.89483339e-01 -1.71371550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.000418555 meters Centerline goodness [0,1] 0.9544251220959423 Centerline is valid? [True, True] Translation: X:-17.57, Y:-2.37, Z:-0.03 [[ 9.87874493e-01 1.79449536e-02 -1.54214020e-01 -1.75653342e+01] [-1.65233121e-02 9.99808394e-01 1.04955221e-02 -2.37289315e+00] [ 1.54372813e-01 -7.82013223e-03 9.87981721e-01 -2.50154480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.030418554999997 meters Centerline goodness [0,1] 0.9488551888195064 Centerline is valid? [True, False] Translation: X:-17.56, Y:-2.37, Z:-0.02 [[ 9.87370970e-01 1.41240350e-02 -1.57794420e-01 -1.75624558e+01] [-1.32859506e-02 9.99891480e-01 6.36486576e-03 -2.37194424e+00] [ 1.57867193e-01 -4.18803482e-03 9.87451472e-01 -2.42803040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.060418555 meters Centerline goodness [0,1] 0.9476530986431977 Centerline is valid? [False, False] Translation: X:-17.57, Y:-2.37, Z:-0.02 [[ 9.87616990e-01 1.28234722e-02 -1.56359326e-01 -1.75682239e+01] [-1.21665161e-02 9.99912682e-01 5.15795563e-03 -2.37240505e+00] [ 1.56411816e-01 -3.19173636e-03 9.87686771e-01 -2.07943179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.090418555 meters Centerline goodness [0,1] 0.9476336647271728 Centerline is valid? [False, False] Translation: X:-17.57, Y:-2.37, Z:-0.02 [[ 9.87588225e-01 1.29017725e-02 -1.56534478e-01 -1.75685398e+01] [-1.23090216e-02 9.99912933e-01 4.75552992e-03 -2.37029142e+00] [ 1.56582204e-01 -2.76971908e-03 9.87661046e-01 -2.01694114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.120418554999997 meters Centerline goodness [0,1] 0.9083367612779377 Centerline is valid? [False, False] Translation: X:-17.56, Y:-2.37, Z:-0.02 [[ 9.86864798e-01 1.14671325e-02 -1.61140855e-01 -1.75634005e+01] [-1.12435328e-02 9.99934146e-01 2.29942071e-03 -2.36565050e+00] [ 1.61156611e-01 -4.57424878e-04 9.86928740e-01 -2.07511504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.150418554999998 meters Centerline goodness [0,1] 0.913002634895177 Centerline is valid? [False, False] Translation: X:-17.56, Y:-2.37, Z:-0.02 [[ 9.86567847e-01 1.17946007e-02 -1.62925658e-01 -1.75614772e+01] [-1.15489527e-02 9.99930295e-01 2.45482006e-03 -2.36569750e+00] [ 1.62943255e-01 -5.40225819e-04 9.86635294e-01 -2.07393424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.180418555 meters Centerline goodness [0,1] 0.8890314597988223 Centerline is valid? [False, False] Translation: X:-17.56, Y:-2.37, Z:-0.02 [[ 9.86242408e-01 1.20018503e-02 -1.64869244e-01 -1.75603671e+01] [-1.16748137e-02 9.99927488e-01 2.95254409e-03 -2.36789146e+00] [ 1.64892725e-01 -9.87106495e-04 9.86311013e-01 -1.95466491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.210418555 meters Centerline goodness [0,1] 0.8819577072643181 Centerline is valid? [False, False] Translation: X:-17.57, Y:-2.36, Z:-0.02 [[ 9.86373237e-01 7.60856690e-03 -1.64347034e-01 -1.75706931e+01] [-7.01736529e-03 9.99966652e-01 4.17757373e-03 -2.36110863e+00] [ 1.64373339e-01 -2.96736375e-03 9.86393735e-01 -2.42898300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.240418554999998 meters Centerline goodness [0,1] 0.8565773727331308 Centerline is valid? [False, False] Translation: X:-17.57, Y:-2.36, Z:-0.02 [[ 9.86326751e-01 6.44676565e-03 -1.64675379e-01 -1.75700707e+01] [-6.04026786e-03 9.99977349e-01 2.96912545e-03 -2.35907854e+00] [ 1.64690790e-01 -1.93384446e-03 9.86343350e-01 -2.47585286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.270418555 meters Centerline goodness [0,1] 0.8796975146401069 Centerline is valid? [False, False] Translation: X:-17.57, Y:-2.36, Z:-0.02 [[ 9.86218812e-01 6.30805245e-03 -1.65325933e-01 -1.75699616e+01] [-5.84497484e-03 9.99977515e-01 3.28736371e-03 -2.36145076e+00] [ 1.65342953e-01 -2.27573401e-03 9.86233506e-01 -2.41274238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.300418555 meters Centerline goodness [0,1] 0.8120933880865593 Centerline is valid? [False, False] Translation: X:-17.58, Y:-2.36, Z:-0.03 [[ 9.85485181e-01 4.08877123e-03 -1.69712226e-01 -1.75806738e+01] [-2.79681642e-03 9.99965269e-01 7.85098466e-03 -2.35843660e+00] [ 1.69738433e-01 -7.26237509e-03 9.85462390e-01 -2.73011346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.330418554999998 meters Centerline goodness [0,1] 0.7892504840047939 Centerline is valid? [False, False] Translation: X:-17.58, Y:-2.36, Z:-0.03 [[ 9.85376239e-01 3.37909909e-03 -1.70359178e-01 -1.75799091e+01] [-2.17847699e-03 9.99971461e-01 7.23402870e-03 -2.35772550e+00] [ 1.70378761e-01 -6.75711644e-03 9.85355479e-01 -2.74359008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.360418555 meters Centerline goodness [0,1] 0.7592571177463746 Centerline is valid? [False, False] Translation: X:-17.60, Y:-2.36, Z:-0.03 [[ 9.84958068e-01 5.76122112e-03 -1.72697460e-01 -1.75977322e+01] [-5.54193955e-03 9.99983109e-01 1.75188293e-03 -2.36429869e+00] [ 1.72704636e-01 -7.68452339e-04 9.84973359e-01 -2.74404883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.390418555 meters Centerline goodness [0,1] 0.6981092777302076 Centerline is valid? [False, False] Translation: X:-17.61, Y:-2.36, Z:-0.03 [[ 9.83929214e-01 1.22335419e-03 -1.78554769e-01 -1.76089098e+01] [-5.17221409e-04 9.99991861e-01 4.00120916e-03 -2.36357695e+00] [ 1.78558211e-01 -3.84455423e-03 9.83921839e-01 -2.97679982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.420418554999998 meters Centerline goodness [0,1] 0.6417550850206181 Centerline is valid? [False, False] Translation: X:-17.63, Y:-2.37, Z:-0.04 [[ 9.83451089e-01 -2.40869617e-04 -1.81173664e-01 -1.76323164e+01] [ 3.08253705e-04 9.99999893e-01 3.43774308e-04 -2.36559083e+00] [ 1.81173562e-01 -3.93932671e-04 9.83451059e-01 -3.58706752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.450418555 meters Centerline goodness [0,1] 0.6268601362940985 Centerline is valid? [False, False] Translation: X:-17.66, Y:-2.37, Z:-0.04 [[ 9.83988493e-01 1.47510607e-03 -1.78225895e-01 -1.76615198e+01] [-1.51234962e-03 9.99998854e-01 -7.31108358e-05 -2.36681975e+00] [ 1.78225583e-01 3.41480085e-04 9.83989596e-01 -4.17299853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.480418555 meters Centerline goodness [0,1] 0.5969021008208506 Centerline is valid? [False, False] Translation: X:-17.69, Y:-2.37, Z:-0.05 [[ 9.84208805e-01 1.15878356e-03 -1.77007586e-01 -1.76884930e+01] [-1.64453439e-03 9.99995274e-01 -2.59755611e-03 -2.36839765e+00] [ 1.77003740e-01 2.84763265e-03 9.84206059e-01 -4.81798897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.510418554999998 meters Centerline goodness [0,1] 0.5189967660128894 Centerline is valid? [False, False] Translation: X:-17.71, Y:-2.37, Z:-0.05 [[ 9.82709535e-01 1.10494400e-03 -1.85150613e-01 -1.77144786e+01] [-1.96003485e-03 9.99988243e-01 -4.43538324e-03 -2.36990093e+00] [ 1.85143536e-01 4.72159505e-03 9.82700146e-01 -5.36852051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.540418555 meters Centerline goodness [0,1] 0.4654216448207864 Centerline is valid? [False, False] Translation: X:-17.74, Y:-2.37, Z:-0.06 [[ 9.81575748e-01 3.72049869e-03 -1.91037193e-01 -1.77366770e+01] [-4.75251868e-03 9.99976483e-01 -4.94430364e-03 -2.37301445e+00] [ 1.91014305e-01 5.76111637e-03 9.81570346e-01 -5.90437679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.570418555 meters Centerline goodness [0,1] 0.4716994284121009 Centerline is valid? [False, False] Translation: X:-17.76, Y:-2.37, Z:-0.06 [[ 9.80243147e-01 3.64688932e-03 -1.97762666e-01 -1.77615857e+01] [-5.06921718e-03 9.99964797e-01 -6.68631993e-03 -2.37492556e+00] [ 1.97731320e-01 7.55672120e-03 9.80227127e-01 -6.46241044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.600418554999997 meters Centerline goodness [0,1] 0.4293209588657775 Centerline is valid? [False, False] Translation: X:-17.80, Y:-2.37, Z:-0.07 [[ 9.80661064e-01 1.75692657e-03 -1.95705879e-01 -1.78030006e+01] [-2.93037554e-03 9.99979424e-01 -5.70659799e-03 -2.37180155e+00] [ 1.95691826e-01 6.16973018e-03 9.80646034e-01 -7.32791145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.630418555 meters Centerline goodness [0,1] 0.4169843534392029 Centerline is valid? [False, False] Translation: X:-17.84, Y:-2.37, Z:-0.08 [[ 9.79972068e-01 3.28056818e-03 -1.99107969e-01 -1.78369370e+01] [-4.62999765e-03 9.99969359e-01 -6.31215676e-03 -2.37114445e+00] [ 1.99081161e-01 7.10760675e-03 9.79957230e-01 -7.82302430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.660418555 meters Centerline goodness [0,1] 0.39335341787524225 Centerline is valid? [False, False] Translation: X:-17.86, Y:-2.37, Z:-0.08 [[ 9.79107423e-01 5.00702791e-03 -2.03282030e-01 -1.78649896e+01] [-6.47138563e-03 9.99957677e-01 -6.53951413e-03 -2.37133804e+00] [ 2.03240683e-01 7.71840323e-03 9.79098387e-01 -8.44578596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.690418554999997 meters Centerline goodness [0,1] 0.3546431652327994 Centerline is valid? [False, False] Translation: X:-17.90, Y:-2.37, Z:-0.09 [[ 9.78259940e-01 5.83082035e-03 -2.07300485e-01 -1.78959343e+01] [-7.45903403e-03 9.99947162e-01 -7.07360584e-03 -2.37031844e+00] [ 2.07248286e-01 8.46608659e-03 9.78251743e-01 -9.13002178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.720418555 meters Centerline goodness [0,1] 0.3288828719480883 Centerline is valid? [False, False] Translation: X:-17.93, Y:-2.37, Z:-0.10 [[ 9.77250191e-01 7.33757041e-03 -2.11962792e-01 -1.79295695e+01] [-8.89319292e-03 9.99940059e-01 -6.38670535e-03 -2.36988131e+00] [ 2.11903223e-01 8.12643502e-03 9.77256867e-01 -9.76232911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.750418555 meters Centerline goodness [0,1] 0.33236561153774113 Centerline is valid? [False, False] Translation: X:-17.96, Y:-2.37, Z:-0.10 [[ 9.77054723e-01 8.97223190e-03 -2.12799357e-01 -1.79638710e+01] [-1.07111124e-02 9.99917993e-01 -7.01997833e-03 -2.36992893e+00] [ 2.12718921e-01 9.13822082e-03 9.77070700e-01 -1.02861468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.780418554999997 meters Centerline goodness [0,1] 0.30997544146883405 Centerline is valid? [False, False] Translation: X:-18.00, Y:-2.37, Z:-0.11 [[ 9.76570063e-01 9.42008983e-03 -2.14993426e-01 -1.79959688e+01] [-1.15785162e-02 9.99894399e-01 -8.78230240e-03 -2.36833818e+00] [ 2.14887992e-01 1.10658385e-02 9.76576007e-01 -1.08610438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.810418555 meters Centerline goodness [0,1] 0.3137043714439579 Centerline is valid? [False, False] Translation: X:-18.03, Y:-2.37, Z:-0.11 [[ 9.76684311e-01 1.06385637e-02 -2.14416833e-01 -1.80299605e+01] [-1.32000576e-02 9.99857555e-01 -1.05180217e-02 -2.36622122e+00] [ 2.14274394e-01 1.31031013e-02 9.76685616e-01 -1.13938763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.840418555 meters Centerline goodness [0,1] 0.31018670160497874 Centerline is valid? [False, False] Translation: X:-18.07, Y:-2.36, Z:-0.12 [[ 9.77967415e-01 1.22653512e-02 -2.08396967e-01 -1.80732563e+01] [-1.39218024e-02 9.99882066e-01 -6.48360847e-03 -2.36385179e+00] [ 2.08292866e-01 9.24201920e-03 9.78022836e-01 -1.22437571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.870418554999997 meters Centerline goodness [0,1] 0.28258992134070915 Centerline is valid? [False, False] Translation: X:-18.09, Y:-2.36, Z:-0.13 [[ 9.77542940e-01 1.08976782e-02 -2.10454368e-01 -1.80859028e+01] [-1.13534044e-02 9.99935090e-01 -9.57306996e-04 -2.36007526e+00] [ 2.10430275e-01 3.32518224e-03 9.77603213e-01 -1.27974423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.900418554999998 meters Centerline goodness [0,1] 0.2792792792792793 Centerline is valid? [False, False] Translation: X:-18.12, Y:-2.36, Z:-0.13 [[ 9.77202173e-01 1.18113114e-02 -2.11982089e-01 -1.81167121e+01] [-1.25657182e-02 9.99918602e-01 -2.21196588e-03 -2.35931441e+00] [ 2.11938708e-01 4.82524506e-03 9.77271048e-01 -1.34762503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.930418555 meters Centerline goodness [0,1] 0.2792792792792793 Centerline is valid? [False, False] Translation: X:-18.12, Y:-2.36, Z:-0.13 [[ 9.77202173e-01 1.18113114e-02 -2.11982089e-01 -1.81167121e+01] [-1.25657182e-02 9.99918602e-01 -2.21196588e-03 -2.35931441e+00] [ 2.11938708e-01 4.82524506e-03 9.77271048e-01 -1.34762503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.960418555 meters Centerline goodness [0,1] 0.28340365682137836 Centerline is valid? [False, False] Translation: X:-18.15, Y:-2.36, Z:-0.14 [[ 9.77580320e-01 1.26699355e-02 -2.10181330e-01 -1.81452075e+01] [-1.35669792e-02 9.99903969e-01 -2.82657390e-03 -2.36135920e+00] [ 2.10125334e-01 5.61472875e-03 9.77658335e-01 -1.42543132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.990418554999998 meters Centerline goodness [0,1] 0.27938838492471707 Centerline is valid? [False, False] Translation: X:-18.17, Y:-2.36, Z:-0.15 [[ 9.78196293e-01 1.36954746e-02 -2.07230420e-01 -1.81747385e+01] [-1.48407104e-02 9.99881978e-01 -3.97272591e-03 -2.36222058e+00] [ 2.07151554e-01 6.96155242e-03 9.78284095e-01 -1.50663376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.020418555 meters Centerline goodness [0,1] 0.26091422701592193 Centerline is valid? [False, False] Translation: X:-18.19, Y:-2.36, Z:-0.15 [[ 9.77656643e-01 1.13358476e-02 -2.09902327e-01 -1.81892430e+01] [-1.15298933e-02 9.99933484e-01 2.99266494e-04 -2.35638075e+00] [ 2.09891757e-01 2.12757157e-03 9.77722314e-01 -1.54858605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.050418555 meters Centerline goodness [0,1] 0.261354039598386 Centerline is valid? [False, False] Translation: X:-18.22, Y:-2.36, Z:-0.16 [[ 9.77926103e-01 1.26104909e-02 -2.08570161e-01 -1.82189932e+01] [-1.29058967e-02 9.99916714e-01 -5.54858062e-05 -2.35735939e+00] [ 2.08552090e-01 2.74604597e-03 9.78007405e-01 -1.61951921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.080418554999998 meters Centerline goodness [0,1] 0.2790207332786693 Centerline is valid? [False, False] Translation: X:-18.25, Y:-2.36, Z:-0.17 [[ 9.78998151e-01 1.33717848e-02 -2.03430123e-01 -1.82472046e+01] [-1.36925606e-02 9.99906238e-01 -1.69397229e-04 -2.35968195e+00] [ 2.03408784e-01 2.95131887e-03 9.79089453e-01 -1.71088227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.110418555 meters Centerline goodness [0,1] 0.2557525021045739 Centerline is valid? [False, False] Translation: X:-18.25, Y:-2.35, Z:-0.18 [[ 9.79610143e-01 1.07464179e-02 -2.00620246e-01 -1.82547049e+01] [-1.05734164e-02 9.99942230e-01 1.93385794e-03 -2.35453420e+00] [ 2.00629438e-01 2.26814555e-04 9.79667177e-01 -1.79869362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.140418555 meters Centerline goodness [0,1] 0.2703354887077125 Centerline is valid? [False, False] Translation: X:-18.28, Y:-2.36, Z:-0.19 [[ 9.80403852e-01 1.16725300e-02 -1.96652075e-01 -1.82818317e+01] [-1.16167947e-02 9.99931490e-01 1.43695384e-03 -2.35551178e+00] [ 1.96655376e-01 8.75671712e-04 9.80472282e-01 -1.88509429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.170418554999998 meters Centerline goodness [0,1] 0.26355664679059976 Centerline is valid? [False, False] Translation: X:-18.31, Y:-2.36, Z:-0.20 [[ 9.80118147e-01 1.27983231e-02 -1.98001570e-01 -1.83066105e+01] [-1.30279052e-02 9.99915123e-01 1.43183089e-04 -2.35837983e+00] [ 1.97986596e-01 2.43920933e-03 9.80201692e-01 -1.97517905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.200418555 meters Centerline goodness [0,1] 0.2638944141529965 Centerline is valid? [False, False] Translation: X:-18.32, Y:-2.35, Z:-0.20 [[ 9.80922075e-01 1.12755802e-02 -1.94074071e-01 -1.83187177e+01] [-1.09146326e-02 9.99936144e-01 2.92906784e-03 -2.35493991e+00] [ 1.94094705e-01 -7.54940122e-04 9.80982505e-01 -2.03661399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.230418555 meters Centerline goodness [0,1] 0.25316929410113675 Centerline is valid? [False, False] Translation: X:-18.32, Y:-2.36, Z:-0.21 [[ 9.81014367e-01 1.05514958e-02 -1.93647819e-01 -1.83183501e+01] [-1.02830663e-02 9.99944269e-01 2.39131018e-03 -2.35515067e+00] [ 1.93662259e-01 -3.54616283e-04 9.81068195e-01 -2.06065344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.260418554999998 meters Centerline goodness [0,1] 0.2593068635928115 Centerline is valid? [False, False] Translation: X:-18.32, Y:-2.35, Z:-0.22 [[ 9.81639768e-01 7.04660627e-03 -1.90614037e-01 -1.83239840e+01] [-6.47071201e-03 9.99972427e-01 3.64350783e-03 -2.35075511e+00] [ 1.90634455e-01 -2.34320365e-03 9.81658298e-01 -2.17117160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.290418555 meters Centerline goodness [0,1] 0.2462555375852612 Centerline is valid? [False, False] Translation: X:-18.35, Y:-2.35, Z:-0.22 [[ 9.81227491e-01 1.11765095e-02 -1.92529727e-01 -1.83479628e+01] [-1.07413361e-02 9.99936852e-01 3.30395447e-03 -2.35314613e+00] [ 1.92554496e-01 -1.17390444e-03 9.81285579e-01 -2.24731106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.320418555 meters Centerline goodness [0,1] 0.24054374898163455 Centerline is valid? [False, False] Translation: X:-18.35, Y:-2.35, Z:-0.24 [[ 9.81877171e-01 1.02019690e-02 -1.89243600e-01 -1.83509366e+01] [-9.36775904e-03 9.99942065e-01 5.30210354e-03 -2.35133287e+00] [ 1.89286728e-01 -3.43322598e-03 9.81915856e-01 -2.35062877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.350418554999997 meters Centerline goodness [0,1] 0.24056032071601718 Centerline is valid? [False, False] Translation: X:-18.36, Y:-2.36, Z:-0.25 [[ 9.81984878e-01 1.35096099e-02 -1.88475968e-01 -1.83578526e+01] [-1.37509107e-02 9.99905451e-01 2.73044001e-05 -2.35781124e+00] [ 1.88458517e-01 2.56490370e-03 9.82077802e-01 -2.45702109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.380418555 meters Centerline goodness [0,1] 0.24571308587826335 Centerline is valid? [False, False] Translation: X:-18.38, Y:-2.36, Z:-0.26 [[ 9.81702676e-01 1.67761147e-02 -1.89679778e-01 -1.83795814e+01] [-1.69707346e-02 9.99855808e-01 5.98272319e-04 -2.35938158e+00] [ 1.89662464e-01 2.63167964e-03 9.81845825e-01 -2.59803925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.410418555 meters Centerline goodness [0,1] 0.22649046612629775 Centerline is valid? [False, False] Translation: X:-18.38, Y:-2.36, Z:-0.28 [[ 9.81829942e-01 1.52808686e-02 -1.89146665e-01 -1.83807940e+01] [-1.43730937e-02 9.99877664e-01 6.17016151e-03 -2.35643295e+00] [ 1.89217811e-01 -3.33942657e-03 9.81929462e-01 -2.75758835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.440418554999997 meters Centerline goodness [0,1] 0.22008755996460339 Centerline is valid? [False, False] Translation: X:-18.39, Y:-2.36, Z:-0.28 [[ 9.81641151e-01 1.78317389e-02 -1.89901762e-01 -1.83925737e+01] [-1.81883347e-02 9.99834569e-01 -1.34957964e-04 -2.36118774e+00] [ 1.89867940e-01 3.58647709e-03 9.81803087e-01 -2.84766726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.470418555 meters Centerline goodness [0,1] 0.22044432076434306 Centerline is valid? [False, False] Translation: X:-18.40, Y:-2.36, Z:-0.30 [[ 9.81857420e-01 1.67922644e-02 -1.88875691e-01 -1.83981487e+01] [-1.58682374e-02 9.99853587e-01 6.40346648e-03 -2.35887646e+00] [ 1.88955566e-01 -3.29016677e-03 9.81980127e-01 -3.01143174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.500418555 meters Centerline goodness [0,1] 0.22207505518763793 Centerline is valid? [False, False] Translation: X:-18.40, Y:-2.36, Z:-0.32 [[ 9.82374537e-01 1.54831655e-02 -1.86280814e-01 -1.84010613e+01] [-1.36394810e-02 9.99844530e-01 1.11749542e-02 -2.35737159e+00] [ 1.86424877e-01 -8.43721679e-03 9.82432989e-01 -3.17131787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.530418554999997 meters Centerline goodness [0,1] 0.2188730828043186 Centerline is valid? [False, False] Translation: X:-18.39, Y:-2.36, Z:-0.33 [[ 9.82423052e-01 1.44421609e-02 -1.86108494e-01 -1.83940560e+01] [-1.27535782e-02 9.99865956e-01 1.02672145e-02 -2.35870402e+00] [ 1.86231829e-01 -7.71319898e-03 9.82475553e-01 -3.26500244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.560418555 meters Centerline goodness [0,1] 0.21729855072463766 Centerline is valid? [False, False] Translation: X:-18.39, Y:-2.36, Z:-0.33 [[ 9.82594150e-01 1.35225909e-02 -1.85272439e-01 -1.83912385e+01] [-1.19571150e-02 9.99882768e-01 9.56437104e-03 -2.35941745e+00] [ 1.85380054e-01 -7.18257116e-03 9.82640650e-01 -3.32924891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.590418555 meters Centerline goodness [0,1] 0.21299781588363775 Centerline is valid? [False, False] Translation: X:-18.40, Y:-2.36, Z:-0.35 [[ 9.83455279e-01 1.12096996e-02 -1.80803918e-01 -1.83983600e+01] [-9.21824047e-03 9.99887282e-01 1.18510089e-02 -2.35768565e+00] [ 1.80916384e-01 -9.98824323e-03 9.83447760e-01 -3.45816541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.620418554999997 meters Centerline goodness [0,1] 0.21273313700743235 Centerline is valid? [False, False] Translation: X:-18.40, Y:-2.36, Z:-0.35 [[ 9.83561145e-01 1.17306839e-02 -1.80193963e-01 -1.83955254e+01] [-9.63338093e-03 9.99875343e-01 1.25098665e-02 -2.36034749e+00] [ 1.80318249e-01 -1.05683415e-02 9.83551544e-01 -3.51731985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.650418554999998 meters Centerline goodness [0,1] 0.21589633233532934 Centerline is valid? [False, False] Translation: X:-18.39, Y:-2.36, Z:-0.36 [[ 9.83684016e-01 1.19096243e-02 -1.79510217e-01 -1.83939715e+01] [-9.77483788e-03 9.99870654e-01 1.27721534e-02 -2.36226293e+00] [ 1.79639110e-01 -1.08090799e-02 9.83673195e-01 -3.56393361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.680418555 meters Centerline goodness [0,1] 0.21151125849314756 Centerline is valid? [False, False] Translation: X:-18.39, Y:-2.36, Z:-0.36 [[ 9.83834225e-01 1.18295483e-02 -1.78690456e-01 -1.83936658e+01] [-9.66767211e-03 9.99869222e-01 1.29643999e-02 -2.36484399e+00] [ 1.78820450e-01 -1.10272996e-02 9.83819925e-01 -3.59976775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.710418555 meters Centerline goodness [0,1] 0.2176039686587231 Centerline is valid? [False, False] Translation: X:-18.39, Y:-2.37, Z:-0.37 [[ 9.84054387e-01 9.81603888e-03 -1.77596759e-01 -1.83895367e+01] [-7.91384122e-03 9.99903519e-01 1.14159834e-02 -2.36730900e+00] [ 1.77691684e-01 -9.82847596e-03 9.84037127e-01 -3.69087819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.740418554999998 meters Centerline goodness [0,1] 0.21828319200836332 Centerline is valid? [False, False] Translation: X:-18.39, Y:-2.37, Z:-0.38 [[ 9.84211451e-01 1.08709092e-02 -1.76662514e-01 -1.83865177e+01] [-8.77429417e-03 9.99881553e-01 1.26447924e-02 -2.37047220e+00] [ 1.76779049e-01 -1.08950606e-02 9.84190259e-01 -3.76096975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.770418555 meters Centerline goodness [0,1] 0.21656391764569038 Centerline is valid? [False, False] Translation: X:-18.38, Y:-2.37, Z:-0.38 [[ 9.84402057e-01 1.15470877e-02 -1.75554138e-01 -1.83840978e+01] [-9.32942669e-03 9.99865988e-01 1.34524508e-02 -2.37343591e+00] [ 1.75685948e-01 -1.16048008e-02 9.84377863e-01 -3.83290757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.800418555 meters Centerline goodness [0,1] 0.21612062546537603 Centerline is valid? [False, False] Translation: X:-18.40, Y:-2.38, Z:-0.41 [[ 9.85861930e-01 1.09048588e-02 -1.67204484e-01 -1.83988002e+01] [-9.39051021e-03 9.99907444e-01 9.84484959e-03 -2.37831152e+00] [ 1.67296365e-01 -8.13552700e-03 9.85873085e-01 -4.07363921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.830418554999998 meters Centerline goodness [0,1] 0.20937202332551175 Centerline is valid? [False, False] Translation: X:-18.41, Y:-2.38, Z:-0.42 [[ 9.86634058e-01 8.49598035e-03 -1.62730001e-01 -1.84051375e+01] [-6.43600957e-03 9.99892403e-01 1.31818347e-02 -2.37725894e+00] [ 1.62824484e-01 -1.19583152e-02 9.86582579e-01 -4.24371180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.860418555 meters Centerline goodness [0,1] 0.203949814126394 Centerline is valid? [False, False] Translation: X:-18.42, Y:-2.38, Z:-0.45 [[ 9.88050701e-01 1.16477668e-02 -1.53688454e-01 -1.84204273e+01] [-9.42587395e-03 9.99840380e-01 1.51778882e-02 -2.38315497e+00] [ 1.53840710e-01 -1.35478751e-02 9.88002779e-01 -4.46146608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.890418555 meters Centerline goodness [0,1] 0.20287773118005514 Centerline is valid? [False, False] Translation: X:-18.44, Y:-2.39, Z:-0.47 [[ 9.89441776e-01 1.38163338e-02 -1.44270860e-01 -1.84356266e+01] [-1.16991007e-02 9.99811213e-01 1.55135037e-02 -2.38848149e+00] [ 1.44457964e-01 -1.36618693e-02 9.89416621e-01 -4.71374763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.920418554999998 meters Centerline goodness [0,1] 0.23227208619453887 Centerline is valid? [False, False] Translation: X:-18.48, Y:-2.40, Z:-0.50 [[ 9.90352721e-01 1.77537135e-02 -1.37427415e-01 -1.84770658e+01] [-1.65760806e-02 9.99815468e-01 9.70891314e-03 -2.39716953e+00] [ 1.37574425e-01 -7.33724062e-03 9.90464256e-01 -4.97306460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.950418555 meters Centerline goodness [0,1] 0.21080906596573745 Centerline is valid? [False, False] Translation: X:-18.51, Y:-2.40, Z:-0.52 [[ 9.91360445e-01 1.94810948e-02 -1.29711045e-01 -1.85067621e+01] [-1.83356397e-02 9.99781685e-01 1.00193001e-02 -2.40050606e+00] [ 1.29877914e-01 -7.55440279e-03 9.91501214e-01 -5.16972978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.980418555 meters Centerline goodness [0,1] 0.126324518566295 Centerline is valid? [False, False] Translation: X:-18.55, Y:-2.40, Z:-0.55 [[ 9.93151896e-01 2.10211309e-02 -1.14923551e-01 -1.85506108e+01] [-1.98404938e-02 9.99738077e-01 1.14075913e-02 -2.40343950e+00] [ 1.15133250e-01 -9.04933089e-03 9.93308836e-01 -5.50791889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.010418554999998 meters Centerline goodness [0,1] 0.14084701655804532 Centerline is valid? [False, False] Translation: X:-18.58, Y:-2.41, Z:-0.57 [[ 9.94202985e-01 2.27470125e-02 -1.05085671e-01 -1.85755844e+01] [-2.16155201e-02 9.99695606e-01 1.18938556e-02 -2.40652760e+00] [ 1.05324233e-01 -9.55342532e-03 9.94392044e-01 -5.74183107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.040418555 meters Centerline goodness [0,1] 0.23722987373100812 Centerline is valid? [False, False] Translation: X:-18.60, Y:-2.41, Z:-0.60 [[ 9.95225420e-01 2.39039867e-02 -9.46306641e-02 -1.86008035e+01] [-2.29106165e-02 9.99670564e-01 1.15700748e-02 -2.40951035e+00] [ 9.48760603e-02 -9.34678573e-03 9.95445212e-01 -5.96440476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.070418555 meters Centerline goodness [0,1] 0.2658213335779144 Centerline is valid? [False, False] Translation: X:-18.65, Y:-2.41, Z:-0.62 [[ 9.96534766e-01 2.28606204e-02 -7.99740749e-02 -1.86481373e+01] [-2.19404242e-02 9.99682797e-01 1.23661761e-02 -2.40988329e+00] [ 8.02314054e-02 -1.05686593e-02 9.96720234e-01 -6.21511002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.100418554999997 meters Centerline goodness [0,1] 0.2912096718796511 Centerline is valid? [False, False] Translation: X:-18.67, Y:-2.41, Z:-0.65 [[ 9.97325953e-01 2.41702554e-02 -6.89691383e-02 -1.86712749e+01] [-2.33617140e-02 9.99648854e-01 1.25059476e-02 -2.41054940e+00] [ 6.92471920e-02 -1.08612689e-02 9.97540405e-01 -6.47947586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.130418555 meters Centerline goodness [0,1] 0.1612267802743993 Centerline is valid? [False, False] Translation: X:-18.69, Y:-2.41, Z:-0.67 [[ 9.97987917e-01 2.47432368e-02 -5.83771392e-02 -1.86948905e+01] [-2.40816700e-02 9.99637861e-01 1.20091633e-02 -2.41112015e+00] [ 5.86531441e-02 -1.05791808e-02 9.98222365e-01 -6.71014680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.160418555 meters Centerline goodness [0,1] 0.16370253381858135 Centerline is valid? [False, False] Translation: X:-18.74, Y:-2.41, Z:-0.68 [[ 9.98524640e-01 2.66734777e-02 -4.72976607e-02 -1.87368703e+01] [-2.60966845e-02 9.99577844e-01 1.27709228e-02 -2.41205805e+00] [ 4.76183386e-02 -1.15177689e-02 9.98799196e-01 -6.82583656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.190418554999997 meters Centerline goodness [0,1] 0.16403225071744176 Centerline is valid? [False, False] Translation: X:-18.75, Y:-2.41, Z:-0.70 [[ 9.98870424e-01 2.39794858e-02 -4.10226723e-02 -1.87513877e+01] [-2.34027183e-02 9.99621210e-01 1.44827101e-02 -2.40687342e+00] [ 4.13544213e-02 -1.35063088e-02 9.99053248e-01 -6.96176947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.220418555 meters Centerline goodness [0,1] 0.1723461073197453 Centerline is valid? [False, False] Translation: X:-18.76, Y:-2.40, Z:-0.71 [[ 9.99182968e-01 2.04160072e-02 -3.48795583e-02 -1.87643817e+01] [-1.99024546e-02 9.99689279e-01 1.50079272e-02 -2.40286463e+00] [ 3.51751224e-02 -1.43014764e-02 9.99278829e-01 -7.10325540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.250418555 meters Centerline goodness [0,1] 0.1699956726717835 Centerline is valid? [False, False] Translation: X:-18.79, Y:-2.40, Z:-0.73 [[ 9.99498490e-01 2.08243382e-02 -2.38561424e-02 -1.87938178e+01] [-2.04989057e-02 9.99694551e-01 1.38057585e-02 -2.40424820e+00] [ 2.41363514e-02 -1.33098100e-02 9.99620071e-01 -7.25770001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.280418554999997 meters Centerline goodness [0,1] 0.17529336850723187 Centerline is valid? [False, False] Translation: X:-18.81, Y:-2.40, Z:-0.73 [[ 9.99661275e-01 1.86809159e-02 -1.81206966e-02 -1.88085916e+01] [-1.84048591e-02 9.99713800e-01 1.52833286e-02 -2.39979182e+00] [ 1.84010170e-02 -1.49446429e-02 9.99718991e-01 -7.34495473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.310418555 meters Centerline goodness [0,1] 0.1775987549778002 Centerline is valid? [False, False] Translation: X:-18.84, Y:-2.40, Z:-0.75 [[ 9.99789628e-01 1.92601354e-02 -7.05312739e-03 -1.88355702e+01] [-1.91487092e-02 9.99695890e-01 1.55388318e-02 -2.40227073e+00] [ 7.35026246e-03 -1.54005046e-02 9.99854388e-01 -7.53282116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.340418555 meters Centerline goodness [0,1] 0.17335795545220345 Centerline is valid? [False, False] Translation: X:-18.85, Y:-2.40, Z:-0.76 [[ 9.99875103e-01 1.57766200e-02 -9.35878433e-04 -1.88516300e+01] [-1.57599906e-02 9.99752531e-01 1.57002910e-02 -2.39845688e+00] [ 1.18334436e-03 -1.56835807e-02 9.99876305e-01 -7.62218661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.370418554999997 meters Centerline goodness [0,1] 0.29450714480749973 Centerline is valid? [False, False] Translation: X:-18.87, Y:-2.39, Z:-0.77 [[ 9.99903187e-01 1.23601364e-02 6.39083898e-03 -1.88730084e+01] [-1.24650928e-02 9.99783633e-01 1.66525782e-02 -2.39240526e+00] [-6.18362808e-03 -1.67306285e-02 9.99840912e-01 -7.73249896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.400418554999998 meters Centerline goodness [0,1] 0.17166206314059396 Centerline is valid? [False, False] Translation: X:-18.88, Y:-2.39, Z:-0.78 [[ 9.99924995e-01 8.97299486e-03 8.33601960e-03 -1.88781870e+01] [-9.07670834e-03 9.99880822e-01 1.24882223e-02 -2.38850490e+00] [-8.22296938e-03 -1.25629493e-02 9.99887271e-01 -7.76491789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.430418555 meters Centerline goodness [0,1] 0.17019623969113384 Centerline is valid? [False, False] Translation: X:-18.88, Y:-2.39, Z:-0.78 [[ 9.99931241e-01 5.77963756e-03 1.02033792e-02 -1.88819522e+01] [-5.86806350e-03 9.99945303e-01 8.65777723e-03 -2.38548952e+00] [-1.01527823e-02 -8.71705600e-03 9.99910463e-01 -7.81762533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.460418555 meters Centerline goodness [0,1] 0.17137865311308764 Centerline is valid? [False, False] Translation: X:-18.89, Y:-2.38, Z:-0.79 [[ 9.99911275e-01 5.84434174e-03 1.19701685e-02 -1.88859800e+01] [-5.94859090e-03 9.99944530e-01 8.69207108e-03 -2.38465873e+00] [-1.19187051e-02 -8.76250551e-03 9.99890575e-01 -7.86199342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.490418554999998 meters Centerline goodness [0,1] 0.29704968591967706 Centerline is valid? [False, False] Translation: X:-18.89, Y:-2.38, Z:-0.79 [[ 9.99875779e-01 5.96597735e-03 1.45888503e-02 -1.88927330e+01] [-6.09452334e-03 9.99942859e-01 8.78272286e-03 -2.38457164e+00] [-1.45356191e-02 -8.87054394e-03 9.99855004e-01 -7.90945944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.520418555 meters Centerline goodness [0,1] 0.23512286814597472 Centerline is valid? [False, False] Translation: X:-18.92, Y:-2.39, Z:-0.78 [[ 9.99911785e-01 8.61326893e-03 1.01110577e-02 -1.89171610e+01] [-8.63329227e-03 9.99960854e-01 1.93836607e-03 -2.38629292e+00] [-1.00939663e-02 -2.02548679e-03 9.99947003e-01 -7.84747640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.550418555 meters Centerline goodness [0,1] 0.23339144797210498 Centerline is valid? [False, False] Translation: X:-18.94, Y:-2.39, Z:-0.79 [[ 9.99948504e-01 1.48125878e-03 1.00396445e-02 -1.89367583e+01] [-1.52780881e-03 9.99988112e-01 4.63053921e-03 -2.38532583e+00] [-1.00326661e-02 -4.64563941e-03 9.99938880e-01 -7.88708242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.580418554999998 meters Centerline goodness [0,1] 0.23017050512428383 Centerline is valid? [False, False] Translation: X:-18.94, Y:-2.39, Z:-0.79 [[ 9.99941508e-01 1.09324478e-03 1.07603670e-02 -1.89383003e+01] [-1.14343941e-03 9.99988490e-01 4.65972353e-03 -2.38756064e+00] [-1.07551490e-02 -4.67175480e-03 9.99931248e-01 -7.90453164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.610418555 meters Centerline goodness [0,1] 0.22660233066278224 Centerline is valid? [False, False] Translation: X:-18.94, Y:-2.39, Z:-0.79 [[ 9.99939877e-01 -6.16938800e-04 1.09481090e-02 -1.89367473e+01] [ 5.84149819e-04 9.99995336e-01 2.99788977e-03 -2.38837359e+00] [-1.09499075e-02 -2.99131419e-03 9.99935574e-01 -7.93702945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.640418555 meters Centerline goodness [0,1] 0.2266870048265185 Centerline is valid? [False, False] Translation: X:-18.94, Y:-2.39, Z:-0.79 [[ 9.99931002e-01 -6.51618816e-04 1.17288585e-02 -1.89393728e+01] [ 6.12898470e-04 9.99994352e-01 3.30458022e-03 -2.39041217e+00] [-1.17309456e-02 -3.29716361e-03 9.99925754e-01 -7.93262078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.670418554999998 meters Centerline goodness [0,1] 0.22905117149179843 Centerline is valid? [False, False] Translation: X:-18.94, Y:-2.39, Z:-0.79 [[ 9.99926987e-01 -7.36263672e-04 1.20614592e-02 -1.89406507e+01] [ 6.94940259e-04 9.99993876e-01 3.42990380e-03 -2.39153325e+00] [-1.20639106e-02 -3.42127138e-03 9.99921375e-01 -7.93066711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.700418555 meters Centerline goodness [0,1] 0.22565045634109793 Centerline is valid? [False, False] Translation: X:-18.94, Y:-2.39, Z:-0.80 [[ 9.99922797e-01 -9.01749762e-04 1.23929897e-02 -1.89407034e+01] [ 8.59676586e-04 9.99993851e-01 3.39982542e-03 -2.39262347e+00] [-1.23959793e-02 -3.38890898e-03 9.99917424e-01 -7.95303418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.730418555 meters Centerline goodness [0,1] 0.22287074549657804 Centerline is valid? [False, False] Translation: X:-18.96, Y:-2.39, Z:-0.79 [[ 9.99972531e-01 3.18882116e-03 6.69099438e-03 -1.89612686e+01] [-3.17676491e-03 9.99993313e-01 -1.81171725e-03 -2.39493328e+00] [-6.69672688e-03 1.79041176e-03 9.99975974e-01 -7.89777901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.760418554999998 meters Centerline goodness [0,1] 0.2232836639546576 Centerline is valid? [False, False] Translation: X:-18.96, Y:-2.40, Z:-0.79 [[ 9.99968167e-01 3.05122048e-03 7.37264089e-03 -1.89631402e+01] [-3.03859541e-03 9.99993899e-01 -1.72301641e-03 -2.39618501e+00] [-7.37785321e-03 1.70055909e-03 9.99971337e-01 -7.90402795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.790418555 meters Centerline goodness [0,1] 0.2249245679802505 Centerline is valid? [False, False] Translation: X:-18.97, Y:-2.40, Z:-0.79 [[ 9.99961057e-01 3.11286346e-03 8.25794667e-03 -1.89657360e+01] [-3.10103522e-03 9.99994148e-01 -1.44476492e-03 -2.39733656e+00] [-8.26239571e-03 1.41910047e-03 9.99964859e-01 -7.91122751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.820418555 meters Centerline goodness [0,1] 0.2249245679802505 Centerline is valid? [False, False] Translation: X:-18.97, Y:-2.40, Z:-0.79 [[ 9.99961057e-01 3.11286346e-03 8.25794667e-03 -1.89657360e+01] [-3.10103522e-03 9.99994148e-01 -1.44476492e-03 -2.39733656e+00] [-8.26239571e-03 1.41910047e-03 9.99964859e-01 -7.91122751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.850418554999997 meters Centerline goodness [0,1] 0.22100726680879357 Centerline is valid? [False, False] Translation: X:-18.97, Y:-2.40, Z:-0.79 [[ 9.99946762e-01 2.67037777e-03 9.96703481e-03 -1.89705808e+01] [-2.65537323e-03 9.99995322e-01 -1.51834692e-03 -2.39872692e+00] [-9.97104275e-03 1.49179989e-03 9.99949175e-01 -7.93403968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.880418555 meters Centerline goodness [0,1] 0.21577715570648437 Centerline is valid? [False, False] Translation: X:-18.97, Y:-2.40, Z:-0.80 [[ 9.99935662e-01 2.41578864e-03 1.10831747e-02 -1.89734371e+01] [-2.40106271e-03 9.99996217e-01 -1.34178778e-03 -2.40176967e+00] [-1.10863743e-02 1.31509005e-03 9.99937679e-01 -7.95900164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.910418555 meters Centerline goodness [0,1] 0.2780895710776027 Centerline is valid? [False, False] Translation: X:-18.96, Y:-2.40, Z:-0.80 [[ 9.99854997e-01 -4.01226449e-03 1.65495074e-02 -1.89606623e+01] [ 3.97030828e-03 9.99988823e-01 2.56727059e-03 -2.39988503e+00] [-1.65596230e-02 -2.50119169e-03 9.99859752e-01 -8.03392951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.940418554999997 meters Centerline goodness [0,1] 0.27032376965256766 Centerline is valid? [False, False] Translation: X:-18.99, Y:-2.40, Z:-0.80 [[ 9.99920855e-01 -1.16098589e-04 1.25805445e-02 -1.89875718e+01] [ 1.42475816e-04 9.99997794e-01 -2.09579216e-03 -2.40221593e+00] [-1.25802734e-02 2.09741872e-03 9.99918665e-01 -7.99578430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.970418555 meters Centerline goodness [0,1] 0.26734290966029006 Centerline is valid? [False, False] Translation: X:-18.99, Y:-2.40, Z:-0.80 [[ 9.99906912e-01 -1.41257707e-04 1.36436076e-02 -1.89899820e+01] [ 1.67534158e-04 9.99998134e-01 -1.92479297e-03 -2.40340867e+00] [-1.36433103e-02 1.92689957e-03 9.99905069e-01 -8.02814295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.000418555 meters Centerline goodness [0,1] 0.27616345581842305 Centerline is valid? [False, False] Translation: X:-19.02, Y:-2.40, Z:-0.80 [[ 9.99931769e-01 -5.25100133e-03 1.04347598e-02 -1.90202548e+01] [ 5.23774390e-03 9.99985441e-01 1.29742924e-03 -2.40481391e+00] [-1.04414207e-02 -1.24268612e-03 9.99944715e-01 -7.96198556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.030418554999997 meters Centerline goodness [0,1] 0.2644577632025331 Centerline is valid? [False, False] Translation: X:-19.02, Y:-2.41, Z:-0.80 [[ 9.99920116e-01 -5.32409942e-03 1.14636983e-02 -1.90234938e+01] [ 5.30957256e-03 9.99985063e-01 1.29726754e-03 -2.40514701e+00] [-1.14704338e-02 -1.23629657e-03 9.99933448e-01 -7.97554718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.060418555 meters Centerline goodness [0,1] 0.29866185604676654 Centerline is valid? [False, False] Translation: X:-19.05, Y:-2.41, Z:-0.79 [[ 9.99971100e-01 1.35007180e-03 7.48169279e-03 -1.90487090e+01] [-1.34355036e-03 9.99998713e-01 -8.76611252e-04 -2.40758255e+00] [-7.48286665e-03 8.66533888e-04 9.99971628e-01 -7.91526263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.090418555 meters Centerline goodness [0,1] 0.25325359728714136 Centerline is valid? [False, False] Translation: X:-19.05, Y:-2.41, Z:-0.79 [[ 9.99958170e-01 1.08124395e-03 9.08234464e-03 -1.90538247e+01] [-1.07191908e-03 9.99998893e-01 -1.03150858e-03 -2.40889371e+00] [-9.08344991e-03 1.02172989e-03 9.99958223e-01 -7.92692362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.120418554999997 meters Centerline goodness [0,1] 0.26382882882882885 Centerline is valid? [False, False] Translation: X:-19.06, Y:-2.41, Z:-0.80 [[ 9.99951319e-01 6.49174557e-04 9.84573308e-03 -1.90555962e+01] [-6.33828311e-04 9.99998580e-01 -1.56170998e-03 -2.40936756e+00] [-9.84673291e-03 1.55539345e-03 9.99950310e-01 -7.95478871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.150418554999998 meters Centerline goodness [0,1] 0.24749971522952496 Centerline is valid? [False, False] Translation: X:-19.08, Y:-2.41, Z:-0.79 [[ 9.99977892e-01 -2.94559442e-03 5.96141917e-03 -1.90800704e+01] [ 2.92276692e-03 9.99988378e-01 3.83430220e-03 -2.40824877e+00] [-5.97264419e-03 -3.81679359e-03 9.99974879e-01 -7.91582206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.180418555 meters Centerline goodness [0,1] 0.22017365938148092 Centerline is valid? [False, False] Translation: X:-19.08, Y:-2.41, Z:-0.79 [[ 9.99971260e-01 -2.47882394e-03 7.16479106e-03 -1.90840957e+01] [ 2.44766943e-03 9.99987527e-01 4.35378226e-03 -2.40720156e+00] [-7.17549395e-03 -4.33612010e-03 9.99964855e-01 -7.92120827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.210418555 meters Centerline goodness [0,1] 0.365649473399946 Centerline is valid? [False, False] Translation: X:-19.09, Y:-2.41, Z:-0.79 [[ 9.99948308e-01 -6.44474331e-03 7.86432363e-03 -1.90858585e+01] [ 6.44589089e-03 9.99979218e-01 -1.20584100e-04 -2.40563628e+00] [-7.86338306e-03 1.71270439e-04 9.99969068e-01 -7.93754097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.240418554999998 meters Centerline goodness [0,1] 0.36998172093967907 Centerline is valid? [False, False] Translation: X:-19.09, Y:-2.41, Z:-0.79 [[ 9.99939278e-01 -6.69010228e-03 8.75692652e-03 -1.90885857e+01] [ 6.69352065e-03 9.99977533e-01 -3.61112063e-04 -2.40674868e+00] [-8.75431390e-03 4.19704804e-04 9.99961592e-01 -7.94781545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.270418555 meters Centerline goodness [0,1] 0.2994936536409255 Centerline is valid? [False, False] Translation: X:-19.10, Y:-2.41, Z:-0.79 [[ 9.99939627e-01 -4.19133023e-03 1.01575532e-02 -1.90953328e+01] [ 4.16754507e-03 9.99988527e-01 2.36165943e-03 -2.40641469e+00] [-1.01673352e-02 -2.31918479e-03 9.99945622e-01 -7.92199789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.300418555 meters Centerline goodness [0,1] 0.3757762557077625 Centerline is valid? [False, False] Translation: X:-19.10, Y:-2.41, Z:-0.79 [[ 9.99926978e-01 -3.61451462e-03 1.15314637e-02 -1.90997626e+01] [ 3.58164902e-03 9.99989469e-01 2.86946020e-03 -2.40546593e+00] [-1.15417140e-02 -2.82794901e-03 9.99929393e-01 -7.93222428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.330418554999998 meters Centerline goodness [0,1] 0.3835920679886685 Centerline is valid? [False, False] Translation: X:-19.10, Y:-2.41, Z:-0.79 [[ 9.99915711e-01 -3.90502277e-03 1.23822838e-02 -1.91023492e+01] [ 3.87180318e-03 9.99988844e-01 2.70567046e-03 -2.40694878e+00] [-1.23927114e-02 -2.65750064e-03 9.99919676e-01 -7.94279993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.360418555 meters Centerline goodness [0,1] 0.3836200963523744 Centerline is valid? [False, False] Translation: X:-19.13, Y:-2.41, Z:-0.79 [[ 9.99948471e-01 1.75439817e-03 9.99885607e-03 -1.91287167e+01] [-1.74214215e-03 9.99997721e-01 -1.23432069e-03 -2.40901705e+00] [-1.00009988e-02 1.21683766e-03 9.99949248e-01 -7.89997913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.390418555 meters Centerline goodness [0,1] 0.38756785858495224 Centerline is valid? [False, False] Translation: X:-19.09, Y:-2.41, Z:-0.79 [[ 9.99908456e-01 1.69144584e-03 1.34245860e-02 -1.90948255e+01] [-1.67869553e-03 9.99998129e-01 -9.60984262e-04 -2.40639821e+00] [-1.34261864e-02 9.38360496e-04 9.99909424e-01 -7.92846555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.420418554999998 meters Centerline goodness [0,1] 0.3957786651454649 Centerline is valid? [False, False] Translation: X:-19.14, Y:-2.41, Z:-0.79 [[ 9.99920358e-01 3.78810554e-03 1.20386086e-02 -1.91388769e+01] [-3.79181957e-03 9.99992770e-01 2.85699996e-04 -2.40602335e+00] [-1.20374393e-02 -3.31325474e-04 9.99927493e-01 -7.94317835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.450418555 meters Centerline goodness [0,1] 0.40129383724889345 Centerline is valid? [False, False] Translation: X:-19.14, Y:-2.41, Z:-0.79 [[ 9.99909946e-01 3.61230585e-03 1.29248114e-02 -1.91421755e+01] [-3.61366985e-03 9.99993467e-01 8.21811064e-05 -2.40578670e+00] [-1.29244301e-02 -1.28879707e-04 9.99916468e-01 -7.94292607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.480418555 meters Centerline goodness [0,1] 0.4031788318695957 Centerline is valid? [False, False] Translation: X:-19.15, Y:-2.41, Z:-0.80 [[ 9.99898620e-01 3.36327368e-03 1.38361433e-02 -1.91451758e+01] [-3.36181800e-03 9.99994341e-01 -1.28465708e-04 -2.40623156e+00] [-1.38364971e-02 8.19380882e-05 9.99904268e-01 -7.95155880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.510418554999998 meters Centerline goodness [0,1] 0.40961599205812016 Centerline is valid? [False, False] Translation: X:-19.15, Y:-2.41, Z:-0.80 [[ 9.99882516e-01 3.24530746e-03 1.49807193e-02 -1.91490834e+01] [-3.24070669e-03 9.99994694e-01 -3.31378569e-04 -2.40508912e+00] [-1.49817152e-02 2.82791520e-04 9.99887728e-01 -7.96921280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.540418555 meters Centerline goodness [0,1] 0.4182271603838703 Centerline is valid? [False, False] Translation: X:-19.15, Y:-2.40, Z:-0.80 [[ 9.99867406e-01 3.35104834e-03 1.59355406e-02 -1.91522402e+01] [-3.34582803e-03 9.99994340e-01 -3.54238715e-04 -2.40386476e+00] [-1.59366375e-02 3.00874167e-04 9.99872958e-01 -7.97416263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.570418555 meters Centerline goodness [0,1] 0.4233432698922266 Centerline is valid? [False, False] Translation: X:-19.20, Y:-2.40, Z:-0.80 [[ 9.99888442e-01 3.43325119e-03 1.45367401e-02 -1.91983511e+01] [-3.41542782e-03 9.99993385e-01 -1.25073968e-03 -2.40421661e+00] [-1.45409381e-02 1.20095096e-03 9.99893554e-01 -7.96643682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.600418554999997 meters Centerline goodness [0,1] 0.42379265503789065 Centerline is valid? [False, False] Translation: X:-19.20, Y:-2.40, Z:-0.80 [[ 9.99877180e-01 3.52893562e-03 1.52699475e-02 -1.92012296e+01] [-3.50723187e-03 9.99992801e-01 -1.44788388e-03 -2.40192624e+00] [-1.52749471e-02 1.39415081e-03 9.99882359e-01 -7.98015050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.630418555 meters Centerline goodness [0,1] 0.3637635938145276 Centerline is valid? [False, False] Translation: X:-19.23, Y:-2.40, Z:-0.79 [[ 9.99921013e-01 -1.24898369e-03 1.25063194e-02 -1.92296847e+01] [ 1.21168722e-03 9.99994798e-01 2.98934276e-03 -2.40265018e+00] [-1.25099879e-02 -2.97395290e-03 9.99917324e-01 -7.92540923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.660418555 meters Centerline goodness [0,1] 0.3802161718429333 Centerline is valid? [False, False] Translation: X:-19.23, Y:-2.40, Z:-0.79 [[ 9.99914995e-01 -1.52858256e-03 1.29485719e-02 -1.92314522e+01] [ 1.49139955e-03 9.99994738e-01 2.88076103e-03 -2.40335362e+00] [-1.29529072e-02 -2.86120466e-03 9.99912014e-01 -7.92688605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.690418554999997 meters Centerline goodness [0,1] 0.4403816295762921 Centerline is valid? [False, False] Translation: X:-19.24, Y:-2.40, Z:-0.79 [[ 9.99904146e-01 -1.70481256e-03 1.37401463e-02 -1.92350444e+01] [ 1.66815285e-03 9.99995020e-01 2.67909225e-03 -2.40292580e+00] [-1.37446452e-02 -2.65591479e-03 9.99902011e-01 -7.91970925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.720418555 meters Centerline goodness [0,1] 0.40390424752837784 Centerline is valid? [False, False] Translation: X:-19.27, Y:-2.40, Z:-0.78 [[ 9.99928853e-01 3.11019040e-03 1.15158910e-02 -1.92651969e+01] [-3.08692734e-03 9.99993160e-01 -2.03730727e-03 -2.40233187e+00] [-1.15221486e-02 2.00161360e-03 9.99931614e-01 -7.84807974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.750418555 meters Centerline goodness [0,1] 0.40427434498792814 Centerline is valid? [False, False] Translation: X:-19.24, Y:-2.40, Z:-0.79 [[ 9.99900970e-01 -3.78780915e-03 1.35536682e-02 -1.92431886e+01] [ 3.77514036e-03 9.99992413e-01 9.60175720e-04 -2.40049882e+00] [-1.35572023e-02 -9.08913635e-04 9.99907684e-01 -7.88353256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.780418554999997 meters Centerline goodness [0,1] 0.42348650946351063 Centerline is valid? [False, False] Translation: X:-19.24, Y:-2.40, Z:-0.79 [[ 9.99896043e-01 -4.14382347e-03 1.38105477e-02 -1.92438626e+01] [ 4.13341076e-03 9.99991151e-01 7.82425910e-04 -2.40147475e+00] [-1.38136677e-02 -7.25259905e-04 9.99904324e-01 -7.89962164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.810418555 meters Centerline goodness [0,1] 0.4169089638695427 Centerline is valid? [False, False] Translation: X:-19.25, Y:-2.40, Z:-0.79 [[ 9.99893189e-01 -3.96731530e-03 1.40666635e-02 -1.92453817e+01] [ 3.95343990e-03 9.99991671e-01 1.01407318e-03 -2.40061597e+00] [-1.40705694e-02 -9.58353154e-04 9.99900545e-01 -7.89442706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.840418555 meters Centerline goodness [0,1] 0.4292229195827877 Centerline is valid? [False, False] Translation: X:-19.25, Y:-2.40, Z:-0.79 [[ 9.99890347e-01 -3.77435004e-03 1.43195180e-02 -1.92465872e+01] [ 3.75745573e-03 9.99992213e-01 1.20653086e-03 -2.39989237e+00] [-1.43239604e-02 -1.15259360e-03 9.99896743e-01 -7.89529361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.870418554999997 meters Centerline goodness [0,1] 0.45930473168712926 Centerline is valid? [False, False] Translation: X:-19.28, Y:-2.40, Z:-0.78 [[ 9.99923532e-01 6.82773552e-04 1.23476692e-02 -1.92752225e+01] [-6.30007755e-04 9.99990656e-01 -4.27672556e-03 -2.40167706e+00] [-1.23504738e-02 4.26861940e-03 9.99914619e-01 -7.83755932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.900418554999998 meters Centerline goodness [0,1] 0.457050503198001 Centerline is valid? [False, False] Translation: X:-19.28, Y:-2.40, Z:-0.78 [[ 9.99923507e-01 6.04982960e-04 1.23537254e-02 -1.92755368e+01] [-5.54162329e-04 9.99991372e-01 -4.11679877e-03 -2.40347362e+00] [-1.23561094e-02 4.10963789e-03 9.99915215e-01 -7.83851014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.930418555 meters Centerline goodness [0,1] 0.44010990258634397 Centerline is valid? [False, False] Translation: X:-19.28, Y:-2.40, Z:-0.78 [[ 9.99914172e-01 4.20679545e-03 1.24077284e-02 -1.92758662e+01] [-4.20504240e-03 9.99991145e-01 -1.67371909e-04 -2.40366999e+00] [-1.24083226e-02 1.15182520e-04 9.99923007e-01 -7.84315626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.960418555 meters Centerline goodness [0,1] 0.4195200500972871 Centerline is valid? [False, False] Translation: X:-19.25, Y:-2.40, Z:-0.79 [[ 9.99885007e-01 -2.15977219e-03 1.50102601e-02 -1.92547255e+01] [ 2.11254038e-03 9.99992770e-01 3.16177830e-03 -2.40226647e+00] [-1.50169803e-02 -3.12970494e-03 9.99882341e-01 -7.85657047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.990418554999998 meters Centerline goodness [0,1] 0.41406762410946507 Centerline is valid? [False, False] Translation: X:-19.28, Y:-2.41, Z:-0.78 [[ 9.99912134e-01 1.91938763e-03 1.31164115e-02 -1.92807035e+01] [-1.88257929e-03 9.99994257e-01 -2.81805236e-03 -2.40509648e+00] [-1.31217451e-02 2.79311206e-03 9.99910005e-01 -7.81941381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.020418555 meters Centerline goodness [0,1] 0.4414266493352489 Centerline is valid? [False, False] Translation: X:-19.30, Y:-2.41, Z:-0.78 [[ 9.99951371e-01 -3.38608539e-03 9.26232197e-03 -1.93043837e+01] [ 3.37409034e-03 9.99993449e-01 1.31035645e-03 -2.40829828e+00] [-9.26669828e-03 -1.27904082e-03 9.99956245e-01 -7.79321230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.050418555 meters Centerline goodness [0,1] 0.4254457961368082 Centerline is valid? [False, False] Translation: X:-19.30, Y:-2.41, Z:-0.78 [[ 9.99954549e-01 -2.84937104e-03 9.09835489e-03 -1.93041835e+01] [ 2.83121421e-03 9.99993976e-01 2.00787339e-03 -2.40722444e+00] [-9.10402126e-03 -1.98202274e-03 9.99956593e-01 -7.79305495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.080418554999998 meters Centerline goodness [0,1] 0.42286820832676586 Centerline is valid? [False, False] Translation: X:-19.30, Y:-2.41, Z:-0.78 [[ 9.99951827e-01 -3.26084715e-03 9.25802080e-03 -1.93045108e+01] [ 3.24467523e-03 9.99993185e-01 1.76128460e-03 -2.40974107e+00] [-9.26370098e-03 -1.73116048e-03 9.99955592e-01 -7.79677695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.110418555 meters Centerline goodness [0,1] 0.4235238904036115 Centerline is valid? [False, False] Translation: X:-19.31, Y:-2.41, Z:-0.78 [[ 9.99949816e-01 -3.50605601e-03 9.38475576e-03 -1.93054311e+01] [ 3.49188500e-03 9.99992739e-01 1.52596319e-03 -2.41087616e+00] [-9.39003773e-03 -1.49311612e-03 9.99954798e-01 -7.79284866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.140418555 meters Centerline goodness [0,1] 0.4232923482025305 Centerline is valid? [False, False] Translation: X:-19.31, Y:-2.41, Z:-0.78 [[ 9.99947347e-01 -3.19561741e-03 9.75144174e-03 -1.93075031e+01] [ 3.17713257e-03 9.99993128e-01 1.91050341e-03 -2.41045316e+00] [-9.75747997e-03 -1.87942119e-03 9.99950628e-01 -7.78153039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.170418554999998 meters Centerline goodness [0,1] 0.43011942117976387 Centerline is valid? [False, False] Translation: X:-19.34, Y:-2.41, Z:-0.77 [[ 9.99979888e-01 2.56127063e-03 5.80200018e-03 -1.93354130e+01] [-2.55611864e-03 9.99996332e-01 -8.95208631e-04 -2.40860281e+00] [-5.80427177e-03 8.80360026e-04 9.99982768e-01 -7.71071699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.200418555 meters Centerline goodness [0,1] 0.45881357482619833 Centerline is valid? [False, False] Translation: X:-19.36, Y:-2.41, Z:-0.77 [[ 9.99995198e-01 -2.98603477e-03 8.28957698e-04 -1.93588975e+01] [ 2.98451018e-03 9.99993864e-01 1.83435148e-03 -2.41140265e+00] [-8.34430049e-04 -1.83186864e-03 9.99997974e-01 -7.67527943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.230418555 meters Centerline goodness [0,1] 0.4335913035698309 Centerline is valid? [False, False] Translation: X:-19.31, Y:-2.41, Z:-0.77 [[ 9.99988266e-01 -4.81793546e-03 5.05136536e-04 -1.93135908e+01] [ 4.81782174e-03 9.99988369e-01 2.26118469e-04 -2.41039276e+00] [-5.06220085e-04 -2.23682158e-04 9.99999847e-01 -7.67101474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.260418554999998 meters Centerline goodness [0,1] 0.47468904335101514 Centerline is valid? [False, False] Translation: X:-19.36, Y:-2.41, Z:-0.77 [[ 9.99993896e-01 -3.36895849e-03 9.26007593e-04 -1.93634563e+01] [ 3.36755226e-03 9.99993181e-01 1.51597561e-03 -2.41302837e+00] [-9.31108538e-04 -1.51284798e-03 9.99998422e-01 -7.67164139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.290418555 meters Centerline goodness [0,1] 0.44789231153383424 Centerline is valid? [False, False] Translation: X:-19.36, Y:-2.41, Z:-0.77 [[ 9.99995146e-01 -2.97477395e-03 9.26736978e-04 -1.93639936e+01] [ 2.97292002e-03 9.99993590e-01 1.99549212e-03 -2.41189265e+00] [-9.32667176e-04 -1.99272732e-03 9.99997580e-01 -7.66660827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.320418555 meters Centerline goodness [0,1] 0.444399378084229 Centerline is valid? [False, False] Translation: X:-19.37, Y:-2.41, Z:-0.77 [[ 9.99994079e-01 -3.20972439e-03 1.24104279e-03 -1.93655184e+01] [ 3.20730428e-03 9.99992961e-01 1.94716031e-03 -2.41287936e+00] [-1.24728390e-03 -1.94316838e-03 9.99997334e-01 -7.66134379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.350418554999997 meters Centerline goodness [0,1] 0.43873752835715707 Centerline is valid? [False, False] Translation: X:-19.32, Y:-2.41, Z:-0.77 [[ 9.99985181e-01 -5.32988797e-03 1.10921222e-03 -1.93180169e+01] [ 5.32964246e-03 9.99985772e-01 2.24176760e-04 -2.41206391e+00] [-1.11039127e-03 -2.18261734e-04 9.99999360e-01 -7.66865623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.380418555 meters Centerline goodness [0,1] 0.4454616153760693 Centerline is valid? [False, False] Translation: X:-19.34, Y:-2.41, Z:-0.76 [[ 9.99999494e-01 5.35284072e-04 -8.51312903e-04 -1.93438078e+01] [-5.38171587e-04 9.99994091e-01 -3.39523270e-03 -2.41364926e+00] [ 8.49490459e-04 3.39568914e-03 9.99993874e-01 -7.63769102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.410418555 meters Centerline goodness [0,1] 0.4450363414744255 Centerline is valid? [False, False] Translation: X:-19.37, Y:-2.41, Z:-0.76 [[ 9.99992509e-01 -3.43549732e-03 -1.78331943e-03 -1.93747757e+01] [ 3.43951335e-03 9.99991545e-01 2.25383647e-03 -2.41433061e+00] [ 1.77556130e-03 -2.25995334e-03 9.99995870e-01 -7.59081903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.440418554999997 meters Centerline goodness [0,1] 0.45306140604497036 Centerline is valid? [False, False] Translation: X:-19.35, Y:-2.41, Z:-0.76 [[ 9.99998752e-01 1.57854168e-03 5.88634784e-05 -1.93500326e+01] [-1.57844879e-03 9.99997559e-01 -1.54606263e-03 -2.41427098e+00] [-6.13038590e-05 1.54596778e-03 9.99998803e-01 -7.61830136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.470418555 meters Centerline goodness [0,1] 0.4634173795587573 Centerline is valid? [False, False] Translation: X:-19.37, Y:-2.42, Z:-0.76 [[ 9.99976688e-01 -4.39921676e-03 -5.22218921e-03 -1.93735556e+01] [ 4.40210802e-03 9.99990164e-01 5.42284078e-04 -2.41779828e+00] [ 5.21975222e-03 -5.65260077e-04 9.99986217e-01 -7.58791025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.500418555 meters Centerline goodness [0,1] 0.4615038574866731 Centerline is valid? [False, False] Translation: X:-19.37, Y:-2.42, Z:-0.76 [[ 9.99978813e-01 -4.21292699e-03 -4.96231815e-03 -1.93748261e+01] [ 4.21665824e-03 9.99990835e-01 7.41693599e-04 -2.41747448e+00] [ 4.95914797e-03 -7.62602284e-04 9.99987413e-01 -7.58239508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.530418554999997 meters Centerline goodness [0,1] 0.4511415525114155 Centerline is valid? [False, False] Translation: X:-19.36, Y:-2.42, Z:-0.76 [[ 9.99971632e-01 -7.51103198e-03 5.65224111e-04 -1.93578475e+01] [ 7.50676315e-03 9.99945835e-01 7.20943637e-03 -2.41780511e+00] [-6.19343803e-04 -7.20498885e-03 9.99973852e-01 -7.58613480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.560418555 meters Centerline goodness [0,1] 0.4544562624032823 Centerline is valid? [False, False] Translation: X:-19.36, Y:-2.42, Z:-0.76 [[ 9.99969377e-01 -7.77236829e-03 9.13450870e-04 -1.93590334e+01] [ 7.76573744e-03 9.99944984e-01 7.05134903e-03 -2.41882537e+00] [-9.68206297e-04 -7.04403948e-03 9.99974722e-01 -7.58581866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.590418555 meters Centerline goodness [0,1] 0.460670368455365 Centerline is valid? [False, False] Translation: X:-19.38, Y:-2.42, Z:-0.76 [[ 9.99994439e-01 -2.70548796e-03 -1.95012297e-03 -1.93797294e+01] [ 2.70907562e-03 9.99994639e-01 1.83942210e-03 -2.42000889e+00] [ 1.94513598e-03 -1.84469490e-03 9.99996407e-01 -7.60100164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.620418554999997 meters Centerline goodness [0,1] 0.4519509476031215 Centerline is valid? [False, False] Translation: X:-19.38, Y:-2.42, Z:-0.76 [[ 9.99996191e-01 -1.31915255e-03 -2.42448539e-03 -1.93763407e+01] [ 1.32622591e-03 9.99994863e-01 2.91818081e-03 -2.41851468e+00] [ 2.42062341e-03 -2.92138511e-03 9.99992803e-01 -7.63693455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.650418554999998 meters Centerline goodness [0,1] 0.4585453322873473 Centerline is valid? [False, False] Translation: X:-19.38, Y:-2.42, Z:-0.76 [[ 9.99998910e-01 3.26994207e-04 -1.44009388e-03 -1.93825540e+01] [-3.20413973e-04 9.99989519e-01 4.56717145e-03 -2.41820525e+00] [ 1.44157222e-03 -4.56670505e-03 9.99988533e-01 -7.59071999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.680418555 meters Centerline goodness [0,1] 0.4637789395070948 Centerline is valid? [False, False] Translation: X:-19.41, Y:-2.42, Z:-0.76 [[ 9.99976725e-01 6.53981971e-03 -1.94415083e-03 -1.94085447e+01] [-6.53819282e-03 9.99978271e-01 8.41994049e-04 -2.41987438e+00] [ 1.94961508e-03 -8.29263219e-04 9.99997756e-01 -7.57245855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.710418554999997 meters Centerline goodness [0,1] 0.45236078291497617 Centerline is valid? [False, False] Translation: X:-19.38, Y:-2.42, Z:-0.76 [[ 9.99999759e-01 -5.07622487e-04 -4.74122591e-04 -1.93815591e+01] [ 5.08670746e-04 9.99997421e-01 2.21344770e-03 -2.41854687e+00] [ 4.72997772e-04 -2.21368834e-03 9.99997438e-01 -7.62967923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.740418554999998 meters Centerline goodness [0,1] 0.45236078291497617 Centerline is valid? [False, False] Translation: X:-19.38, Y:-2.42, Z:-0.76 [[ 9.99999759e-01 -5.07622487e-04 -4.74122591e-04 -1.93815591e+01] [ 5.08670746e-04 9.99997421e-01 2.21344770e-03 -2.41854687e+00] [ 4.72997772e-04 -2.21368834e-03 9.99997438e-01 -7.62967923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.770418555 meters Centerline goodness [0,1] 0.44976989561117975 Centerline is valid? [False, False] Translation: X:-19.38, Y:-2.42, Z:-0.76 [[ 9.99999953e-01 -2.03980696e-04 -2.30862416e-04 -1.93823539e+01] [ 2.04494526e-04 9.99997497e-01 2.22786350e-03 -2.41652955e+00] [ 2.30407397e-04 -2.22791060e-03 9.99997492e-01 -7.63312500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.800418555 meters Centerline goodness [0,1] 0.43634749805836015 Centerline is valid? [False, False] Translation: X:-19.39, Y:-2.41, Z:-0.76 [[ 9.99999832e-01 4.17781315e-04 4.02002861e-04 -1.93853053e+01] [-4.18846463e-04 9.99996393e-01 2.65317666e-03 -2.41474919e+00] [-4.00892963e-04 -2.65334459e-03 9.99996400e-01 -7.61336393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.830418554999998 meters Centerline goodness [0,1] 0.44737730371970563 Centerline is valid? [False, False] Translation: X:-19.41, Y:-2.41, Z:-0.76 [[ 9.99983425e-01 5.72198804e-03 -6.39843219e-04 -1.94137463e+01] [-5.72348329e-03 9.99980836e-01 -2.36002269e-03 -2.41355731e+00] [ 6.26326936e-04 2.36364571e-03 9.99997010e-01 -7.57621471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.860418555 meters Centerline goodness [0,1] 0.4188881268942327 Centerline is valid? [False, False] Translation: X:-19.39, Y:-2.41, Z:-0.76 [[ 9.99999270e-01 -9.01662731e-04 8.04122673e-04 -1.93864656e+01] [ 9.01947814e-04 9.99999531e-01 -3.54234667e-04 -2.41375859e+00] [-8.03802895e-04 3.54959685e-04 9.99999614e-01 -7.63021904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.890418555 meters Centerline goodness [0,1] 0.4400089405453733 Centerline is valid? [False, False] Translation: X:-19.39, Y:-2.41, Z:-0.76 [[ 9.99999319e-01 -7.14315776e-04 9.23197452e-04 -1.93866270e+01] [ 7.14602589e-04 9.99999697e-01 -3.10380304e-04 -2.41223020e+00] [-9.22975462e-04 3.11039811e-04 9.99999526e-01 -7.63798041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.920418554999998 meters Centerline goodness [0,1] 0.4490332143097756 Centerline is valid? [False, False] Translation: X:-19.39, Y:-2.41, Z:-0.76 [[ 9.99994322e-01 2.93424118e-03 1.65706356e-03 -1.93893079e+01] [-2.94023530e-03 9.99989102e-01 3.62654108e-03 -2.41166074e+00] [-1.64640435e-03 -3.63139264e-03 9.99992051e-01 -7.62880722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.950418555 meters Centerline goodness [0,1] 0.41703745108999446 Centerline is valid? [False, False] Translation: X:-19.39, Y:-2.41, Z:-0.76 [[ 9.99994563e-01 2.58872155e-03 2.04287141e-03 -1.93913180e+01] [-2.59529099e-03 9.99991449e-01 3.21971445e-03 -2.41256856e+00] [-2.03451900e-03 -3.22499879e-03 9.99992730e-01 -7.61304494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.980418555 meters Centerline goodness [0,1] 0.42308638936746246 Centerline is valid? [False, False] Translation: X:-19.39, Y:-2.41, Z:-0.76 [[ 9.99994733e-01 2.13922759e-03 2.44071295e-03 -1.93925269e+01] [-2.14582599e-03 9.99994042e-01 2.70406593e-03 -2.41255096e+00] [-2.43491380e-03 -2.70928904e-03 9.99993365e-01 -7.61559541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.010418554999998 meters Centerline goodness [0,1] 0.4493457774965538 Centerline is valid? [False, False] Translation: X:-19.39, Y:-2.41, Z:-0.76 [[ 9.99995656e-01 1.93131749e-03 2.22662909e-03 -1.93916178e+01] [-1.93679008e-03 9.99995103e-01 2.45826114e-03 -2.41078257e+00] [-2.22187050e-03 -2.46256298e-03 9.99994500e-01 -7.62782215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.040418555 meters Centerline goodness [0,1] 0.451202905129369 Centerline is valid? [False, False] Translation: X:-19.39, Y:-2.41, Z:-0.76 [[ 9.99995560e-01 1.75713971e-03 2.40663334e-03 -1.93923840e+01] [-1.76260866e-03 9.99995865e-01 2.27221540e-03 -2.41104279e+00] [-2.40263079e-03 -2.27644726e-03 9.99994523e-01 -7.62690910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.070418555 meters Centerline goodness [0,1] 0.4083629297058232 Centerline is valid? [False, False] Translation: X:-19.35, Y:-2.41, Z:-0.76 [[ 9.99990466e-01 1.07956822e-03 4.23116231e-03 -1.93527754e+01] [-1.08865416e-03 9.99997105e-01 2.14567356e-03 -2.40827842e+00] [-4.22883366e-03 -2.15025938e-03 9.99988747e-01 -7.58768502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.100418554999997 meters Centerline goodness [0,1] 0.42565843484434973 Centerline is valid? [False, False] Translation: X:-19.35, Y:-2.41, Z:-0.76 [[ 9.99989414e-01 8.12717648e-04 4.52903472e-03 -1.93538533e+01] [-8.22385419e-04 9.99997387e-01 2.13316736e-03 -2.40823105e+00] [-4.52728922e-03 -2.13686939e-03 9.99987469e-01 -7.58694765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.130418555 meters Centerline goodness [0,1] 0.45466579909802773 Centerline is valid? [False, False] Translation: X:-19.36, Y:-2.41, Z:-0.76 [[ 9.99985754e-01 -1.10923435e-03 5.22122376e-03 -1.93577999e+01] [ 1.10824779e-03 9.99999367e-01 1.91842289e-04 -2.40815713e+00] [-5.22143325e-03 -1.86053146e-04 9.99986351e-01 -7.56596609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.160418555 meters Centerline goodness [0,1] 0.4349523660784007 Centerline is valid? [False, False] Translation: X:-19.36, Y:-2.41, Z:-0.76 [[ 9.99984557e-01 -1.12555116e-03 5.44236387e-03 -1.93589415e+01] [ 1.12340266e-03 9.99999290e-01 3.97814171e-04 -2.40889355e+00] [-5.44280776e-03 -3.91694061e-04 9.99985111e-01 -7.55990549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.190418554999997 meters Centerline goodness [0,1] 0.43884828545562937 Centerline is valid? [False, False] Translation: X:-19.36, Y:-2.41, Z:-0.76 [[ 9.99983830e-01 -1.04104271e-03 5.59069855e-03 -1.93589662e+01] [ 1.03796610e-03 9.99999308e-01 5.53181128e-04 -2.40706351e+00] [-5.59127057e-03 -5.47369227e-04 9.99984219e-01 -7.57036490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.220418555 meters Centerline goodness [0,1] 0.4749700815137625 Centerline is valid? [False, False] Translation: X:-19.40, Y:-2.41, Z:-0.76 [[ 9.99990225e-01 -2.34389197e-03 3.74904355e-03 -1.94018936e+01] [ 2.34967741e-03 9.99996054e-01 -1.53951956e-03 -2.40844102e+00] [-3.74542029e-03 1.54831356e-03 9.99991787e-01 -7.60230299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.250418555 meters Centerline goodness [0,1] 0.47013564598621305 Centerline is valid? [False, False] Translation: X:-19.36, Y:-2.41, Z:-0.76 [[ 9.99984778e-01 -2.15383242e-03 5.07978625e-03 -1.93599573e+01] [ 2.15481392e-03 9.99997661e-01 -1.87750737e-04 -2.40865596e+00] [-5.07936999e-03 1.98693873e-04 9.99987080e-01 -7.58154145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.280418554999997 meters Centerline goodness [0,1] 0.46572424047402405 Centerline is valid? [False, False] Translation: X:-19.36, Y:-2.41, Z:-0.76 [[ 9.99983581e-01 -1.56684617e-03 5.51200266e-03 -1.93627356e+01] [ 1.56487928e-03 9.99998710e-01 3.61131863e-04 -2.40703664e+00] [-5.51256139e-03 -3.52500315e-04 9.99984744e-01 -7.55649586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.310418555 meters Centerline goodness [0,1] 0.4759814514676751 Centerline is valid? [False, False] Translation: X:-19.39, Y:-2.41, Z:-0.75 [[ 9.99989613e-01 3.15005671e-03 3.29413186e-03 -1.93911533e+01] [-3.13548691e-03 9.99985321e-01 -4.41880498e-03 -2.40621708e+00] [-3.30800300e-03 4.40843038e-03 9.99984811e-01 -7.50165172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.340418555 meters Centerline goodness [0,1] 0.4436998208479862 Centerline is valid? [False, False] Translation: X:-19.36, Y:-2.41, Z:-0.76 [[ 9.99981723e-01 -3.94456417e-03 4.58186913e-03 -1.93630825e+01] [ 3.95817469e-03 9.99987770e-01 -2.96525836e-03 -2.40653056e+00] [-4.57011644e-03 2.98334001e-03 9.99985107e-01 -7.57088054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.370418554999997 meters Centerline goodness [0,1] 0.4676653514344947 Centerline is valid? [False, False] Translation: X:-19.36, Y:-2.41, Z:-0.76 [[ 9.99983495e-01 -3.74799211e-03 4.35457436e-03 -1.93623477e+01] [ 3.76067242e-03 9.99988702e-01 -2.90742373e-03 -2.40582851e+00] [-4.34362816e-03 2.92375187e-03 9.99986292e-01 -7.57389407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.400418554999998 meters Centerline goodness [0,1] 0.47010121637219215 Centerline is valid? [False, False] Translation: X:-19.36, Y:-2.40, Z:-0.76 [[ 9.99983083e-01 -3.30564382e-03 4.78596547e-03 -1.93642387e+01] [ 3.31833889e-03 9.99990991e-01 -2.64705501e-03 -2.40462749e+00] [-4.77717213e-03 2.66289168e-03 9.99985044e-01 -7.56264869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.430418555 meters Centerline goodness [0,1] 0.47045095903807255 Centerline is valid? [False, False] Translation: X:-19.37, Y:-2.40, Z:-0.76 [[ 9.99987536e-01 3.39137764e-04 4.98119573e-03 -1.93654777e+01] [-3.45112291e-04 9.99999222e-01 1.19860558e-03 -2.40435733e+00] [-4.98078536e-03 -1.20030971e-03 9.99986875e-01 -7.55294603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.460418554999997 meters Centerline goodness [0,1] 0.47684979075772416 Centerline is valid? [False, False] Translation: X:-19.36, Y:-2.41, Z:-0.76 [[ 9.99988583e-01 -1.39092866e-04 4.77641320e-03 -1.93643144e+01] [ 1.34758365e-04 9.99999579e-01 9.07790241e-04 -2.40639973e+00] [-4.77653746e-03 -9.07136216e-04 9.99988181e-01 -7.56474733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.490418554999998 meters Centerline goodness [0,1] 0.47874997187661705 Centerline is valid? [False, False] Translation: X:-19.37, Y:-2.41, Z:-0.76 [[ 9.99979971e-01 -3.95027007e-03 4.94503711e-03 -1.93650350e+01] [ 3.96580329e-03 9.99987221e-01 -3.13531780e-03 -2.40591234e+00] [-4.93258856e-03 3.15486604e-03 9.99982858e-01 -7.56340870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.520418555 meters Centerline goodness [0,1] 0.4767293055836196 Centerline is valid? [False, False] Translation: X:-19.37, Y:-2.41, Z:-0.75 [[ 9.99985821e-01 -3.66083999e-04 5.31263685e-03 -1.93670765e+01] [ 3.60394807e-04 9.99999361e-01 1.07179700e-03 -2.40667969e+00] [-5.31302582e-03 -1.06986715e-03 9.99985313e-01 -7.54735676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.550418555 meters Centerline goodness [0,1] 0.4808871258564731 Centerline is valid? [False, False] Translation: X:-19.37, Y:-2.41, Z:-0.75 [[ 9.99985851e-01 -8.42969731e-04 5.25235416e-03 -1.93669146e+01] [ 8.37559360e-04 9.99999117e-01 1.03219947e-03 -2.40816147e+00] [-5.25321963e-03 -1.02778570e-03 9.99985674e-01 -7.54876902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.580418554999998 meters Centerline goodness [0,1] 0.477798469788418 Centerline is valid? [False, False] Translation: X:-19.37, Y:-2.41, Z:-0.76 [[ 9.99973591e-01 -4.89097399e-03 5.37546988e-03 -1.93667584e+01] [ 4.90700855e-03 9.99983539e-01 -2.97378364e-03 -2.40961278e+00] [-5.36083669e-03 3.00008259e-03 9.99981130e-01 -7.55529848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.610418555 meters Centerline goodness [0,1] 0.4795223747349626 Centerline is valid? [False, False] Translation: X:-19.37, Y:-2.41, Z:-0.75 [[ 9.99968733e-01 -5.44930018e-03 5.73040895e-03 -1.93684991e+01] [ 5.46620258e-03 9.99980744e-01 -2.93808476e-03 -2.41253259e+00] [-5.71428809e-03 2.96931647e-03 9.99979265e-01 -7.54366929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.640418555 meters Centerline goodness [0,1] 0.12774694783573803 Centerline is valid? [False, False] Translation: X:-19.37, Y:-2.41, Z:-0.75 [[ 9.99967792e-01 -5.52694731e-03 5.81953079e-03 -1.93684401e+01] [ 5.54129250e-03 9.99981641e-01 -2.45177590e-03 -2.41372981e+00] [-5.80587311e-03 2.48394466e-03 9.99980061e-01 -7.54919258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.670418554999998 meters Centerline goodness [0,1] 0.39733213765272957 Centerline is valid? [False, False] Translation: X:-19.37, Y:-2.42, Z:-0.76 [[ 9.99968142e-01 -5.71783514e-03 5.56960389e-03 -1.93676774e+01] [ 5.72968910e-03 9.99981349e-01 -2.11470452e-03 -2.41550199e+00] [-5.55740848e-03 2.14654925e-03 9.99982254e-01 -7.55353301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.700418555 meters Centerline goodness [0,1] 0.39054097531828835 Centerline is valid? [False, False] Translation: X:-19.41, Y:-2.42, Z:-0.76 [[ 9.99959625e-01 -7.96039633e-03 4.16895263e-03 -1.94124694e+01] [ 7.98206578e-03 9.99954585e-01 -5.20722880e-03 -2.41736655e+00] [-4.12731169e-03 5.24029541e-03 9.99977752e-01 -7.57002872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.730418555 meters Centerline goodness [0,1] 0.39951232607042186 Centerline is valid? [False, False] Translation: X:-19.37, Y:-2.42, Z:-0.76 [[ 9.99951862e-01 -8.45735711e-03 4.97453779e-03 -1.93686260e+01] [ 8.48443291e-03 9.99949170e-01 -5.44719142e-03 -2.41829894e+00] [-4.92821609e-03 5.48913534e-03 9.99972791e-01 -7.56674439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.760418554999998 meters Centerline goodness [0,1] 0.36300791322130344 Centerline is valid? [False, False] Translation: X:-19.37, Y:-2.42, Z:-0.76 [[ 9.99976244e-01 -4.41931668e-03 5.28974120e-03 -1.93698086e+01] [ 4.42569101e-03 9.99989494e-01 -1.19393965e-03 -2.41900758e+00] [-5.28440923e-03 1.21732204e-03 9.99985296e-01 -7.56650216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.790418555 meters Centerline goodness [0,1] 0.39617024155896885 Centerline is valid? [False, False] Translation: X:-19.40, Y:-2.42, Z:-0.75 [[ 9.99987439e-01 3.83810570e-03 3.22361633e-03 -1.94024978e+01] [-3.83125293e-03 9.99990394e-01 -2.12929227e-03 -2.41543989e+00] [-3.23175781e-03 2.11691503e-03 9.99992537e-01 -7.47704916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.820418555 meters Centerline goodness [0,1] 0.37132010123884374 Centerline is valid? [False, False] Translation: X:-19.38, Y:-2.42, Z:-0.75 [[ 9.99962954e-01 -1.64889976e-03 8.44819735e-03 -1.93786290e+01] [ 1.64848230e-03 9.99998640e-01 5.63780644e-05 -2.41837414e+00] [-8.44827882e-03 -4.24492721e-05 9.99964312e-01 -7.54709953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.850418554999997 meters Centerline goodness [0,1] 0.3626782531194296 Centerline is valid? [False, False] Translation: X:-19.38, Y:-2.42, Z:-0.76 [[ 9.99963124e-01 -1.72913417e-03 8.41195519e-03 -1.93784499e+01] [ 1.73025321e-03 9.99998495e-01 -1.25753401e-04 -2.41936269e+00] [-8.41172508e-03 1.40303577e-04 9.99964611e-01 -7.55562210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.880418555 meters Centerline goodness [0,1] 0.3665744939719058 Centerline is valid? [False, False] Translation: X:-19.38, Y:-2.42, Z:-0.76 [[ 9.99959147e-01 2.75949802e-03 8.60757421e-03 -1.93788482e+01] [-2.79450878e-03 9.99987861e-01 4.05806434e-03 -2.41599012e+00] [-8.59627150e-03 -4.08195250e-03 9.99954720e-01 -7.57014381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.910418555 meters Centerline goodness [0,1] 0.368489032401737 Centerline is valid? [False, False] Translation: X:-19.38, Y:-2.41, Z:-0.76 [[ 9.99954549e-01 2.80813462e-03 9.11123497e-03 -1.93810394e+01] [-2.84219168e-03 9.99989015e-01 3.72712686e-03 -2.41461285e+00] [-9.10066861e-03 -3.75285334e-03 9.99951546e-01 -7.55922230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.940418554999997 meters Centerline goodness [0,1] 0.37706896159187664 Centerline is valid? [False, False] Translation: X:-19.43, Y:-2.41, Z:-0.76 [[ 9.99962127e-01 1.97542146e-03 8.47598705e-03 -1.94292476e+01] [-1.98644239e-03 9.99997192e-01 1.29203135e-03 -2.41433705e+00] [-8.47341095e-03 -1.30881948e-03 9.99963243e-01 -7.55083120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.970418555 meters Centerline goodness [0,1] 0.3803546701210524 Centerline is valid? [False, False] Translation: X:-19.39, Y:-2.41, Z:-0.75 [[ 9.99953597e-01 2.61370818e-03 9.27214226e-03 -1.93862991e+01] [-2.63357839e-03 9.99994261e-01 2.13143912e-03 -2.41110746e+00] [-9.26651808e-03 -2.15575913e-03 9.99954741e-01 -7.53927764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.000418555 meters Centerline goodness [0,1] 0.37249755316309285 Centerline is valid? [False, False] Translation: X:-19.39, Y:-2.41, Z:-0.75 [[ 9.99952622e-01 2.78037034e-03 9.32867726e-03 -1.93866071e+01] [-2.80021943e-03 9.99993842e-01 2.11536424e-03 -2.41031888e+00] [-9.32273832e-03 -2.14138636e-03 9.99954249e-01 -7.54029542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.030418554999997 meters Centerline goodness [0,1] 0.3722836404243439 Centerline is valid? [False, False] Translation: X:-19.39, Y:-2.41, Z:-0.75 [[ 9.99951897e-01 2.33805988e-03 9.52559040e-03 -1.93872505e+01] [-2.35466294e-03 9.99995728e-01 1.73215297e-03 -2.41152024e+00] [-9.52149983e-03 -1.75449920e-03 9.99953130e-01 -7.54486513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.060418555 meters Centerline goodness [0,1] 0.3571954238308691 Centerline is valid? [False, False] Translation: X:-19.39, Y:-2.41, Z:-0.75 [[ 9.99944930e-01 2.30209062e-03 1.02389658e-02 -1.93906450e+01] [-2.32033174e-03 9.99995742e-01 1.77001709e-03 -2.41035486e+00] [-1.02348475e-02 -1.79367742e-03 9.99946014e-01 -7.52954248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.090418555 meters Centerline goodness [0,1] 0.364867574009311 Centerline is valid? [False, False] Translation: X:-19.39, Y:-2.41, Z:-0.75 [[ 9.99939692e-01 2.28418308e-03 1.07421769e-02 -1.93929285e+01] [-2.30018565e-03 9.99996263e-01 1.47757691e-03 -2.40842758e+00] [-1.07387617e-02 -1.50219680e-03 9.99941209e-01 -7.52153702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.120418554999997 meters Centerline goodness [0,1] 0.3730870595530751 Centerline is valid? [False, False] Translation: X:-19.39, Y:-2.41, Z:-0.75 [[ 9.99943399e-01 1.95066280e-03 1.04591698e-02 -1.93920286e+01] [-1.95947314e-03 9.99997734e-01 8.32173732e-04 -2.40949799e+00] [-1.04575228e-02 -8.52621092e-04 9.99944955e-01 -7.52856914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.150418554999998 meters Centerline goodness [0,1] 0.36733406905249877 Centerline is valid? [False, False] Translation: X:-19.42, Y:-2.41, Z:-0.75 [[ 9.99950316e-01 6.82785831e-03 7.26267834e-03 -1.94208758e+01] [-6.79997531e-03 9.99969441e-01 -3.85700725e-03 -2.40829335e+00] [-7.28879150e-03 3.80742958e-03 9.99966188e-01 -7.46622346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.180418555 meters Centerline goodness [0,1] 0.3573483205735275 Centerline is valid? [False, False] Translation: X:-19.40, Y:-2.41, Z:-0.74 [[ 9.99934759e-01 3.23624010e-03 1.09546259e-02 -1.94048409e+01] [-3.26973978e-03 9.99990029e-01 3.04151274e-03 -2.40526127e+00] [-1.09446736e-02 -3.07713308e-03 9.99935371e-01 -7.44611713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.210418554999997 meters Centerline goodness [0,1] 0.35379784888770127 Centerline is valid? [False, False] Translation: X:-19.41, Y:-2.41, Z:-0.74 [[ 9.99930772e-01 2.95515282e-03 1.13893934e-02 -1.94061688e+01] [-2.98818541e-03 9.99991376e-01 2.88436907e-03 -2.40621622e+00] [-1.13807715e-02 -2.91820301e-03 9.99930979e-01 -7.44763434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.240418554999998 meters Centerline goodness [0,1] 0.36917828204610237 Centerline is valid? [False, False] Translation: X:-19.43, Y:-2.40, Z:-0.74 [[ 9.99954453e-01 6.31461313e-03 7.15663802e-03 -1.94311461e+01] [-6.29029350e-03 9.99974383e-01 -3.41562060e-03 -2.40497790e+00] [-7.17802301e-03 3.37044767e-03 9.99968558e-01 -7.40189298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.270418555 meters Centerline goodness [0,1] 0.3555069910576901 Centerline is valid? [False, False] Translation: X:-19.43, Y:-2.40, Z:-0.74 [[ 9.99949833e-01 6.55266111e-03 7.57594140e-03 -1.94323795e+01] [-6.52451298e-03 9.99971743e-01 -3.73422728e-03 -2.40229538e+00] [-7.60019645e-03 3.68461061e-03 9.99964330e-01 -7.41002554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.300418555 meters Centerline goodness [0,1] 0.37194849324868107 Centerline is valid? [False, False] Translation: X:-19.43, Y:-2.40, Z:-0.74 [[ 9.99950367e-01 6.61124147e-03 7.45350002e-03 -1.94324799e+01] [-6.58358278e-03 9.99971374e-01 -3.72928237e-03 -2.40106078e+00] [-7.47794185e-03 3.68002654e-03 9.99965268e-01 -7.41093088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.330418554999998 meters Centerline goodness [0,1] 0.3738637125053046 Centerline is valid? [False, False] Translation: X:-19.43, Y:-2.40, Z:-0.74 [[ 9.99953910e-01 6.27245740e-03 7.26870219e-03 -1.94319130e+01] [-6.24388717e-03 9.99972719e-01 -3.94663150e-03 -2.40150880e+00] [-7.29325897e-03 3.90106465e-03 9.99965794e-01 -7.42134679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.360418555 meters Centerline goodness [0,1] 0.35698535896983596 Centerline is valid? [False, False] Translation: X:-19.41, Y:-2.40, Z:-0.74 [[ 9.99947133e-01 7.95916780e-04 1.02517310e-02 -1.94135307e+01] [-7.97725548e-04 9.99999667e-01 1.72347468e-04 -2.39930525e+00] [-1.02515904e-02 -1.80516424e-04 9.99947435e-01 -7.40906231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.390418555 meters Centerline goodness [0,1] 0.3558449022902114 Centerline is valid? [False, False] Translation: X:-19.42, Y:-2.40, Z:-0.74 [[ 9.99938332e-01 8.39094707e-04 1.10737215e-02 -1.94182283e+01] [-8.41283382e-04 9.99999627e-01 1.92989093e-04 -2.39871179e+00] [-1.10735555e-02 -2.02293330e-04 9.99938666e-01 -7.37407293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.420418554999998 meters Centerline goodness [0,1] 0.35883307041126933 Centerline is valid? [False, False] Translation: X:-19.42, Y:-2.40, Z:-0.74 [[ 9.99933453e-01 2.33460317e-04 1.15341038e-02 -1.94198268e+01] [-2.30696226e-04 9.99999944e-01 -2.40974961e-04 -2.39927727e+00] [-1.15341594e-02 2.38298051e-04 9.99933451e-01 -7.37827675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.450418555 meters Centerline goodness [0,1] 0.3563280216947937 Centerline is valid? [False, False] Translation: X:-19.43, Y:-2.40, Z:-0.73 [[ 9.99999960e-01 -2.19771578e-04 -1.75613988e-04 -1.94340514e+01] [ 2.19732838e-04 9.99999952e-01 -2.20585089e-04 -2.39921102e+00] [ 1.75662458e-04 2.20546492e-04 9.99999960e-01 -7.32823777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.480418555 meters Centerline goodness [0,1] 0.36599777034559644 Centerline is valid? [False, False] Translation: X:-19.43, Y:-2.40, Z:-0.73 [[ 9.99999864e-01 -3.11275074e-04 -4.18521990e-04 -1.94336355e+01] [ 3.11095626e-04 9.99999860e-01 -4.28763918e-04 -2.39836985e+00] [ 4.18655395e-04 4.28633659e-04 9.99999821e-01 -7.33049947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.510418554999998 meters Centerline goodness [0,1] 0.3579213184476342 Centerline is valid? [False, False] Translation: X:-19.44, Y:-2.40, Z:-0.73 [[ 9.99999902e-01 -3.03401175e-04 3.22109101e-04 -1.94376007e+01] [ 3.03584258e-04 9.99999792e-01 -5.68490819e-04 -2.39788666e+00] [-3.21936553e-04 5.68588551e-04 9.99999787e-01 -7.30507833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.540418555 meters Centerline goodness [0,1] 0.35836222698261966 Centerline is valid? [False, False] Translation: X:-19.44, Y:-2.40, Z:-0.73 [[ 9.99999660e-01 -1.61833227e-04 8.08952879e-04 -1.94398895e+01] [ 1.62151847e-04 9.99999909e-01 -3.93816876e-04 -2.39645092e+00] [-8.08889073e-04 3.93947915e-04 9.99999595e-01 -7.29385635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.570418555 meters Centerline goodness [0,1] 0.3551088400153074 Centerline is valid? [False, False] Translation: X:-19.49, Y:-2.40, Z:-0.73 [[ 9.99999805e-01 4.97108826e-04 -3.78982603e-04 -1.94851921e+01] [-4.96980037e-04 9.99999819e-01 3.39846332e-04 -2.39603461e+00] [ 3.79151475e-04 -3.39657919e-04 9.99999870e-01 -7.32099230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.600418554999997 meters Centerline goodness [0,1] 0.3803137991149256 Centerline is valid? [False, False] Translation: X:-19.48, Y:-2.40, Z:-0.73 [[ 9.99999712e-01 -2.87029258e-04 -7.02858685e-04 -1.94837378e+01] [ 2.86674245e-04 9.99999831e-01 -5.05147912e-04 -2.39658619e+00] [ 7.03003559e-04 5.04946275e-04 9.99999625e-01 -7.33384190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.630418555 meters Centerline goodness [0,1] 0.3803137991149256 Centerline is valid? [False, False] Translation: X:-19.48, Y:-2.40, Z:-0.73 [[ 9.99999712e-01 -2.87029258e-04 -7.02858685e-04 -1.94837378e+01] [ 2.86674245e-04 9.99999831e-01 -5.05147912e-04 -2.39658619e+00] [ 7.03003559e-04 5.04946275e-04 9.99999625e-01 -7.33384190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.660418555 meters Centerline goodness [0,1] 0.3501291404232181 Centerline is valid? [False, False] Translation: X:-19.53, Y:-2.40, Z:-0.73 [[ 9.99997087e-01 -2.01629655e-03 -1.32704720e-03 -1.95311152e+01] [ 2.01138785e-03 9.99991169e-01 -3.68995630e-03 -2.39845839e+00] [ 1.33447552e-03 3.68727635e-03 9.99992312e-01 -7.34088670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.690418554999997 meters Centerline goodness [0,1] 0.3584969686001267 Centerline is valid? [False, False] Translation: X:-19.53, Y:-2.40, Z:-0.73 [[ 9.99998656e-01 1.54101522e-03 -5.60385964e-04 -1.95348138e+01] [-1.54089868e-03 9.99998791e-01 2.08333324e-04 -2.39787751e+00] [ 5.60706332e-04 -2.07469546e-04 9.99999821e-01 -7.31934305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.720418555 meters Centerline goodness [0,1] 0.34705359128307756 Centerline is valid? [False, False] Translation: X:-19.51, Y:-2.40, Z:-0.73 [[ 9.99994232e-01 -2.38852980e-03 2.41487964e-03 -1.95137462e+01] [ 2.37328644e-03 9.99977367e-01 6.29555001e-03 -2.39636158e+00] [-2.42986209e-03 -6.28978250e-03 9.99977267e-01 -7.32570206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.750418555 meters Centerline goodness [0,1] 0.38531272273699213 Centerline is valid? [False, False] Translation: X:-19.51, Y:-2.40, Z:-0.73 [[ 9.99990827e-01 -3.49371916e-03 2.47797439e-03 -1.95140290e+01] [ 3.48059829e-03 9.99980005e-01 5.27969347e-03 -2.39805800e+00] [-2.49637060e-03 -5.27102021e-03 9.99982992e-01 -7.32820689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.780418554999997 meters Centerline goodness [0,1] 0.34169999337148416 Centerline is valid? [False, False] Translation: X:-19.52, Y:-2.40, Z:-0.73 [[ 9.99967728e-01 -7.55616373e-03 2.72910267e-03 -1.95154864e+01] [ 7.55322734e-03 9.99970886e-01 1.08466255e-03 -2.39845521e+00] [-2.73721910e-03 -1.06401401e-03 9.99995688e-01 -7.32503955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.810418555 meters Centerline goodness [0,1] 0.34419219748732643 Centerline is valid? [False, False] Translation: X:-19.52, Y:-2.40, Z:-0.73 [[ 9.99969685e-01 -7.26903309e-03 2.79109430e-03 -1.95156230e+01] [ 7.26498003e-03 9.99972545e-01 1.45954380e-03 -2.39660468e+00] [-2.80162714e-03 -1.43922231e-03 9.99995040e-01 -7.33009365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.840418555 meters Centerline goodness [0,1] 0.4057495051286666 Centerline is valid? [False, False] Translation: X:-19.54, Y:-2.40, Z:-0.73 [[ 9.99988738e-01 -3.92314903e-03 -2.67077932e-03 -1.95442303e+01] [ 3.91964272e-03 9.99991451e-01 -1.31681185e-03 -2.39538328e+00] [ 2.67592254e-03 1.30632852e-03 9.99995566e-01 -7.27346749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.870418554999997 meters Centerline goodness [0,1] 0.41749977483563006 Centerline is valid? [False, False] Translation: X:-19.55, Y:-2.40, Z:-0.73 [[ 9.99985132e-01 -4.81811578e-03 -2.55376449e-03 -1.95450864e+01] [ 4.81473431e-03 9.99987526e-01 -1.32861076e-03 -2.39884508e+00] [ 2.56013403e-03 1.31629531e-03 9.99995857e-01 -7.27123677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.900418554999998 meters Centerline goodness [0,1] 0.3697430808247877 Centerline is valid? [False, False] Translation: X:-19.51, Y:-2.40, Z:-0.72 [[ 9.99969904e-01 -7.73382763e-03 -6.15347681e-04 -1.95058886e+01] [ 7.73244586e-03 9.99967646e-01 -2.21706499e-03 -2.40031413e+00] [ 6.32474171e-04 2.21224012e-03 9.99997353e-01 -7.24072090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.930418555 meters Centerline goodness [0,1] 0.40321319241168185 Centerline is valid? [False, False] Translation: X:-19.53, Y:-2.40, Z:-0.72 [[ 9.99996643e-01 -2.44409202e-03 -8.60778368e-04 -1.95331433e+01] [ 2.43838089e-03 9.99975414e-01 -6.57455125e-03 -2.40325840e+00] [ 8.76826013e-04 6.57243027e-03 9.99978017e-01 -7.21643540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.960418554999997 meters Centerline goodness [0,1] 0.38925470413606844 Centerline is valid? [False, False] Translation: X:-19.53, Y:-2.40, Z:-0.72 [[ 9.99996624e-01 -2.48492505e-03 -7.60267708e-04 -1.95342431e+01] [ 2.48003610e-03 9.99976666e-01 -6.36530620e-03 -2.40352688e+00] [ 7.76067277e-04 6.36339922e-03 9.99979452e-01 -7.20926164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.990418554999998 meters Centerline goodness [0,1] 0.40076035363192586 Centerline is valid? [False, False] Translation: X:-19.53, Y:-2.40, Z:-0.72 [[ 9.99995744e-01 -2.64454072e-03 -1.23192633e-03 -1.95324454e+01] [ 2.63709287e-03 9.99978471e-01 -6.00858551e-03 -2.40399439e+00] [ 1.24778975e-03 6.00531123e-03 9.99981189e-01 -7.22802516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.020418555 meters Centerline goodness [0,1] 0.39193439676477193 Centerline is valid? [False, False] Translation: X:-19.53, Y:-2.41, Z:-0.72 [[ 9.99994047e-01 -3.37903051e-03 -6.98783026e-04 -1.95348292e+01] [ 3.37459707e-03 9.99974767e-01 -6.25125572e-03 -2.40692305e+00] [ 7.19888578e-04 6.24886040e-03 9.99980217e-01 -7.21596290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.050418555 meters Centerline goodness [0,1] 0.3897086643965191 Centerline is valid? [False, False] Translation: X:-19.54, Y:-2.41, Z:-0.72 [[ 9.99992588e-01 -3.85006354e-03 2.77454632e-06 -1.95386682e+01] [ 3.85000295e-03 9.99972256e-01 -6.37684637e-03 -2.40833846e+00] [ 2.17767944e-05 6.37680979e-03 9.99979668e-01 -7.18943178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.080418554999998 meters Centerline goodness [0,1] 0.35422085078245535 Centerline is valid? [False, False] Translation: X:-19.54, Y:-2.41, Z:-0.72 [[ 9.99998969e-01 -1.42452105e-03 -1.80816136e-04 -1.95385759e+01] [ 1.42398344e-03 9.99994666e-01 -2.93937092e-03 -2.40961363e+00] [ 1.85002368e-04 2.93911042e-03 9.99995664e-01 -7.19134750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.110418555 meters Centerline goodness [0,1] 0.3936991777585972 Centerline is valid? [False, False] Translation: X:-19.58, Y:-2.41, Z:-0.72 [[ 9.99995606e-01 -2.34542307e-03 -1.81326455e-03 -1.95817193e+01] [ 2.33751500e-03 9.99987802e-01 -4.35111959e-03 -2.41076886e+00] [ 1.82344765e-03 4.34686193e-03 9.99988890e-01 -7.23411896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.140418555 meters Centerline goodness [0,1] 0.38781392439002593 Centerline is valid? [False, False] Translation: X:-19.56, Y:-2.41, Z:-0.73 [[ 9.99947634e-01 -1.02311288e-02 2.31212918e-04 -1.95562621e+01] [ 1.02317659e-02 9.99943312e-01 -2.94681229e-03 -2.41385921e+00] [-2.01050595e-04 2.94902369e-03 9.99995631e-01 -7.27612500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.170418554999998 meters Centerline goodness [0,1] 0.37578879300733603 Centerline is valid? [False, False] Translation: X:-19.56, Y:-2.41, Z:-0.73 [[ 9.99944539e-01 -1.05205509e-02 4.86250921e-04 -1.95577765e+01] [ 1.05218781e-02 9.99940688e-01 -2.81266084e-03 -2.41438206e+00] [-4.56631338e-04 2.81762112e-03 9.99995926e-01 -7.27091353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.200418555 meters Centerline goodness [0,1] 0.37649795104662753 Centerline is valid? [False, False] Translation: X:-19.56, Y:-2.41, Z:-0.72 [[ 9.99944932e-01 -1.04468275e-02 9.98649308e-04 -1.95608277e+01] [ 1.04493387e-02 9.99942170e-01 -2.54333609e-03 -2.41472338e+00] [-9.72021763e-04 2.55363125e-03 9.99996267e-01 -7.24581953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.230418555 meters Centerline goodness [0,1] 0.36231399058519065 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.42, Z:-0.72 [[ 9.99992557e-01 -3.85476663e-03 1.60991531e-04 -1.95881413e+01] [ 3.85560112e-03 9.99977153e-01 -5.55222732e-03 -2.41606609e+00] [-1.39585312e-04 5.55280671e-03 9.99984573e-01 -7.21079570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.260418554999998 meters Centerline goodness [0,1] 0.3389620996402004 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.42, Z:-0.72 [[ 9.99992702e-01 -3.81735109e-03 1.52329475e-04 -1.95882530e+01] [ 3.81809732e-03 9.99978967e-01 -5.24292581e-03 -2.41662903e+00] [-1.32312182e-04 5.24346915e-03 9.99986244e-01 -7.21584015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.290418555 meters Centerline goodness [0,1] 0.39427292862631647 Centerline is valid? [False, False] Translation: X:-19.63, Y:-2.42, Z:-0.72 [[ 9.99993788e-01 -3.41732137e-03 -8.64155583e-04 -1.96336506e+01] [ 3.41211205e-03 9.99976421e-01 -5.95951295e-03 -2.41680221e+00] [ 8.84500777e-04 5.95652733e-03 9.99981869e-01 -7.24113392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.320418555 meters Centerline goodness [0,1] 0.3217327655043918 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.42, Z:-0.72 [[ 9.99990398e-01 -4.32866492e-03 6.82406305e-04 -1.95921288e+01] [ 4.33285098e-03 9.99971038e-01 -6.25700272e-03 -2.41886950e+00] [-6.55302073e-04 6.25989941e-03 9.99980192e-01 -7.22174861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.350418554999997 meters Centerline goodness [0,1] 0.3927928333483389 Centerline is valid? [False, False] Translation: X:-19.62, Y:-2.42, Z:-0.72 [[ 9.99977882e-01 -6.65090599e-03 3.76326437e-05 -1.96225043e+01] [ 6.65088028e-03 9.99977674e-01 6.46574867e-04 -2.41791948e+00] [-4.19321121e-05 -6.46310276e-04 9.99999790e-01 -7.17574302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.380418555 meters Centerline goodness [0,1] 0.38398652442448067 Centerline is valid? [False, False] Translation: X:-19.62, Y:-2.42, Z:-0.72 [[ 9.99986541e-01 -5.14187818e-03 -6.92425671e-04 -1.96191478e+01] [ 5.14338355e-03 9.99984374e-01 2.19009819e-03 -2.41764516e+00] [ 6.81153633e-04 -2.19363013e-03 9.99997362e-01 -7.19578123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.410418555 meters Centerline goodness [0,1] 0.40299952710158304 Centerline is valid? [False, False] Translation: X:-19.62, Y:-2.42, Z:-0.72 [[ 9.99985148e-01 -5.30724668e-03 -1.23978539e-03 -1.96170835e+01] [ 5.30972099e-03 9.99983901e-01 2.00106514e-03 -2.41951573e+00] [ 1.22914528e-03 -2.00761833e-03 9.99997229e-01 -7.21010681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.440418554999997 meters Centerline goodness [0,1] 0.3319060241509776 Centerline is valid? [False, False] Translation: X:-19.64, Y:-2.42, Z:-0.72 [[ 9.99994773e-01 -6.83527294e-06 -3.23329050e-03 -1.96410747e+01] [-3.06953829e-06 9.99995308e-01 -3.06336938e-03 -2.42130458e+00] [ 3.23329626e-03 3.06336330e-03 9.99990081e-01 -7.20012941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.470418555 meters Centerline goodness [0,1] 0.31847968545216254 Centerline is valid? [False, False] Translation: X:-19.60, Y:-2.42, Z:-0.72 [[ 9.99996997e-01 2.07242509e-03 -1.30842250e-03 -1.96013622e+01] [-2.07214498e-03 9.99997830e-01 2.15400653e-04 -2.42004071e+00] [ 1.30886606e-03 -2.12688765e-04 9.99999121e-01 -7.15719202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.500418555 meters Centerline goodness [0,1] 0.4356316351815227 Centerline is valid? [False, False] Translation: X:-19.65, Y:-2.42, Z:-0.72 [[ 9.99987261e-01 4.93092214e-03 -1.07901137e-03 -1.96507808e+01] [-4.92852234e-03 9.99985400e-01 2.21553919e-03 -2.41650362e+00] [ 1.08992026e-03 -2.21019304e-03 9.99996964e-01 -7.15006036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.530418554999997 meters Centerline goodness [0,1] 0.36378711831428134 Centerline is valid? [False, False] Translation: X:-19.61, Y:-2.42, Z:-0.71 [[ 9.99997121e-01 2.39069797e-03 -2.03953491e-04 -1.96072616e+01] [-2.39106918e-03 9.99995449e-01 -1.83964676e-03 -2.41693816e+00] [ 1.99554523e-04 1.84012913e-03 9.99998287e-01 -7.14353524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.560418555 meters Centerline goodness [0,1] 0.367444537926759 Centerline is valid? [False, False] Translation: X:-19.61, Y:-2.42, Z:-0.71 [[ 9.99996622e-01 2.59247588e-03 1.86292030e-04 -1.96091809e+01] [-2.59208055e-03 9.99994452e-01 -2.09191480e-03 -2.41585358e+00] [-1.91714236e-04 2.09142485e-03 9.99997795e-01 -7.13393269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.590418555 meters Centerline goodness [0,1] 0.4770609318996416 Centerline is valid? [False, False] Translation: X:-19.63, Y:-2.41, Z:-0.71 [[ 9.99998964e-01 -1.33983960e-03 -5.26760633e-04 -1.96346859e+01] [ 1.34138731e-03 9.99994752e-01 2.94888597e-03 -2.41162177e+00] [ 5.22806835e-04 -2.94958950e-03 9.99995513e-01 -7.12438645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.620418554999997 meters Centerline goodness [0,1] 0.38504992994239706 Centerline is valid? [False, False] Translation: X:-19.63, Y:-2.41, Z:-0.72 [[ 9.99998106e-01 -6.86723490e-05 -1.94488451e-03 -1.96291334e+01] [ 7.61666326e-05 9.99992572e-01 3.85351900e-03 -2.41055524e+00] [ 1.94460543e-03 -3.85365984e-03 9.99990684e-01 -7.15149251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.650418554999998 meters Centerline goodness [0,1] 0.38533509838677105 Centerline is valid? [False, False] Translation: X:-19.63, Y:-2.41, Z:-0.72 [[ 9.99998039e-01 -1.01308174e-04 -1.97801016e-03 -1.96291829e+01] [ 1.08772021e-04 9.99992874e-01 3.77366911e-03 -2.41141883e+00] [ 1.97761376e-03 -3.77387686e-03 9.99990923e-01 -7.15399005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.680418555 meters Centerline goodness [0,1] 0.39035414830383985 Centerline is valid? [False, False] Translation: X:-19.63, Y:-2.41, Z:-0.71 [[ 9.99998639e-01 -2.22053356e-04 -1.63501084e-03 -1.96313619e+01] [ 2.27920039e-04 9.99993534e-01 3.58884990e-03 -2.41054009e+00] [ 1.63420335e-03 -3.58921767e-03 9.99992223e-01 -7.13595079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.710418554999997 meters Centerline goodness [0,1] 0.3799089610853267 Centerline is valid? [False, False] Translation: X:-19.61, Y:-2.41, Z:-0.71 [[ 9.99988324e-01 4.67526331e-03 -1.22223849e-03 -1.96059382e+01] [-4.67607285e-03 9.99988849e-01 -6.60326652e-04 -2.41032471e+00] [ 1.21913766e-03 6.66034218e-04 9.99999035e-01 -7.14584748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.740418554999998 meters Centerline goodness [0,1] 0.40301819795827787 Centerline is valid? [False, False] Translation: X:-19.60, Y:-2.41, Z:-0.72 [[ 9.99986307e-01 4.82686536e-03 -2.02169835e-03 -1.96037455e+01] [-4.82822027e-03 9.99988122e-01 -6.65841326e-04 -2.40929438e+00] [ 2.01846041e-03 6.75593414e-04 9.99997735e-01 -7.15093948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.770418555 meters Centerline goodness [0,1] 0.39232283910101173 Centerline is valid? [False, False] Translation: X:-19.63, Y:-2.41, Z:-0.71 [[ 9.99994762e-01 8.87936228e-06 -3.23673801e-03 -1.96295475e+01] [ 2.89642589e-06 9.99993382e-01 3.63814253e-03 -2.40692282e+00] [ 3.23674889e-03 -3.63813285e-03 9.99988144e-01 -7.13541013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.800418554999997 meters Centerline goodness [0,1] 0.3790947847407833 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.41, Z:-0.71 [[ 9.99995995e-01 -2.32162360e-03 -1.61862734e-03 -1.95882678e+01] [ 2.32398448e-03 9.99996236e-01 1.45821763e-03 -2.40812974e+00] [ 1.61523582e-03 -1.46197345e-03 9.99997627e-01 -7.10141770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.830418554999998 meters Centerline goodness [0,1] 0.3817289783309863 Centerline is valid? [False, False] Translation: X:-19.64, Y:-2.41, Z:-0.71 [[ 9.99995237e-01 -2.36111971e-03 -1.98756609e-03 -1.96378356e+01] [ 2.36091163e-03 9.99997207e-01 -1.07032737e-04 -2.40882243e+00] [ 1.98781326e-03 1.02339759e-04 9.99998019e-01 -7.08683467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.860418555 meters Centerline goodness [0,1] 0.3825313205542521 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.41, Z:-0.71 [[ 9.99997939e-01 6.75492691e-04 -1.91450661e-03 -1.95927061e+01] [-6.65310037e-04 9.99985657e-01 5.31433877e-03 -2.40897707e+00] [ 1.91806895e-03 -5.31305407e-03 9.99984046e-01 -7.07508633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.890418555 meters Centerline goodness [0,1] 0.3992379433331118 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.41, Z:-0.71 [[ 9.99996790e-01 4.55922862e-04 -2.49238282e-03 -1.95901120e+01] [-4.42628939e-04 9.99985688e-01 5.33177269e-03 -2.41073234e+00] [ 2.49477803e-03 -5.33065238e-03 9.99982680e-01 -7.09255066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.920418554999998 meters Centerline goodness [0,1] 0.4091759666328486 Centerline is valid? [False, False] Translation: X:-19.62, Y:-2.41, Z:-0.71 [[ 9.99981132e-01 3.34057292e-03 -5.15528764e-03 -1.96165650e+01] [-3.34838402e-03 9.99993258e-01 -1.50727621e-03 -2.41388490e+00] [ 5.15021772e-03 1.52450965e-03 9.99985575e-01 -7.05544361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.950418555 meters Centerline goodness [0,1] 0.39024118158898735 Centerline is valid? [False, False] Translation: X:-19.60, Y:-2.42, Z:-0.71 [[ 9.99998542e-01 -1.54599817e-03 -7.24965026e-04 -1.95967269e+01] [ 1.54822890e-03 9.99994038e-01 3.08662355e-03 -2.41694113e+00] [ 7.20188789e-04 -3.08774146e-03 9.99994974e-01 -7.06715305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.980418555 meters Centerline goodness [0,1] 0.40671969714041056 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.42, Z:-0.71 [[ 9.99998264e-01 -1.36785088e-03 -1.26568586e-03 -1.95944782e+01] [ 1.37236717e-03 9.99992670e-01 3.57429379e-03 -2.41773069e+00] [ 1.26078748e-03 -3.57602457e-03 9.99992811e-01 -7.08079341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.010418554999998 meters Centerline goodness [0,1] 0.3923924588422729 Centerline is valid? [False, False] Translation: X:-19.57, Y:-2.42, Z:-0.71 [[ 9.99999885e-01 4.78733233e-04 -2.45747888e-05 -1.95672696e+01] [-4.78803754e-04 9.99995520e-01 -2.95470354e-03 -2.42362971e+00] [ 2.31601640e-05 2.95471497e-03 9.99995635e-01 -7.11018700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.040418555 meters Centerline goodness [0,1] 0.388653777619387 Centerline is valid? [False, False] Translation: X:-19.57, Y:-2.43, Z:-0.71 [[ 9.99998911e-01 -5.00936554e-04 1.38814661e-03 -1.95741621e+01] [ 5.06085572e-04 9.99992985e-01 -3.71140979e-03 -2.42598237e+00] [-1.38627769e-03 3.71210827e-03 9.99992149e-01 -7.07113058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.070418555 meters Centerline goodness [0,1] 0.3981803585763982 Centerline is valid? [False, False] Translation: X:-19.58, Y:-2.43, Z:-0.70 [[ 9.99997728e-01 1.02355670e-03 1.86959771e-03 -1.95778207e+01] [-1.01993596e-03 9.99997605e-01 -1.93657034e-03 -2.42836200e+00] [-1.87157542e-03 1.93465907e-03 9.99996377e-01 -7.04081683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.100418554999997 meters Centerline goodness [0,1] 0.4025765254861685 Centerline is valid? [False, False] Translation: X:-19.58, Y:-2.43, Z:-0.71 [[ 9.99998423e-01 1.30583264e-03 1.20363871e-03 -1.95753342e+01] [-1.30418917e-03 9.99998218e-01 -1.36519523e-03 -2.43115306e+00] [-1.20541928e-03 1.36362331e-03 9.99998344e-01 -7.05204682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.130418555 meters Centerline goodness [0,1] 0.3904768235398387 Centerline is valid? [False, False] Translation: X:-19.58, Y:-2.43, Z:-0.70 [[ 9.99998203e-01 1.42680280e-03 1.24857946e-03 -1.95756658e+01] [-1.42555783e-03 9.99998486e-01 -9.97435049e-04 -2.43433876e+00] [-1.25000071e-03 9.95653334e-04 9.99998723e-01 -7.04983364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.160418555 meters Centerline goodness [0,1] 0.40379643338563187 Centerline is valid? [False, False] Translation: X:-19.58, Y:-2.43, Z:-0.70 [[ 9.99997684e-01 1.81105689e-03 1.16317995e-03 -1.95755512e+01] [-1.81022624e-03 9.99998106e-01 -7.14770471e-04 -2.43475990e+00] [-1.16447223e-03 7.12663196e-04 9.99999068e-01 -7.04921930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.190418554999997 meters Centerline goodness [0,1] 0.39106746485504806 Centerline is valid? [False, False] Translation: X:-19.62, Y:-2.44, Z:-0.71 [[ 9.99988901e-01 4.70446612e-03 2.58007295e-04 -1.96213989e+01] [-4.70461256e-03 9.99988771e-01 5.69907527e-04 -2.43507514e+00] [-2.55323287e-04 -5.71115026e-04 9.99999804e-01 -7.06515425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.220418555 meters Centerline goodness [0,1] 0.4216373878387104 Centerline is valid? [False, False] Translation: X:-19.62, Y:-2.44, Z:-0.71 [[ 9.99988665e-01 4.74778214e-03 -3.59085636e-04 -1.96191357e+01] [-4.74765354e-03 9.99988666e-01 3.58143681e-04 -2.43594005e+00] [ 3.60781954e-04 -3.56434807e-04 9.99999871e-01 -7.07521942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.250418555 meters Centerline goodness [0,1] 0.4169045880087644 Centerline is valid? [False, False] Translation: X:-19.62, Y:-2.43, Z:-0.71 [[ 9.99985676e-01 5.25617851e-03 -1.01053660e-03 -1.96167759e+01] [-5.25566332e-03 9.99986058e-01 5.11799807e-04 -2.43480061e+00] [ 1.01321262e-03 -5.06481436e-04 9.99999358e-01 -7.08807158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.280418554999997 meters Centerline goodness [0,1] 0.3794188537761114 Centerline is valid? [False, False] Translation: X:-19.62, Y:-2.43, Z:-0.71 [[ 9.99955610e-01 9.38757890e-03 -8.07333840e-04 -1.96181051e+01] [-9.38390868e-03 9.99946132e-01 4.43568597e-03 -2.43469365e+00] [ 8.48930702e-04 -4.42791312e-03 9.99989836e-01 -7.07729640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.310418555 meters Centerline goodness [0,1] 0.36896243291592123 Centerline is valid? [False, False] Translation: X:-19.62, Y:-2.43, Z:-0.71 [[ 9.99952520e-01 9.74132412e-03 -2.52730365e-04 -1.96209196e+01] [-9.74012117e-03 9.99942928e-01 4.38985863e-03 -2.43412428e+00] [ 2.95478977e-04 -4.38718857e-03 9.99990333e-01 -7.05678540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.340418555 meters Centerline goodness [0,1] 0.36017025089605736 Centerline is valid? [False, False] Translation: X:-19.62, Y:-2.43, Z:-0.71 [[ 9.99949480e-01 1.00470454e-02 -3.07021273e-04 -1.96213428e+01] [-1.00457070e-02 9.99941186e-01 4.08759955e-03 -2.43275844e+00] [ 3.48071514e-04 -4.08430880e-03 9.99991599e-01 -7.05145895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.370418554999997 meters Centerline goodness [0,1] 0.37788833609729133 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.43, Z:-0.71 [[ 9.99988678e-01 4.46922510e-03 -1.63424656e-03 -1.95930002e+01] [-4.45685485e-03 9.99961970e-01 7.49626698e-03 -2.42980728e+00] [ 1.66768691e-03 -7.48889851e-03 9.99970567e-01 -7.07824065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.400418554999998 meters Centerline goodness [0,1] 0.3733550067915117 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.43, Z:-0.71 [[ 9.99987378e-01 4.49730988e-03 -2.23990882e-03 -1.95909876e+01] [-4.48064629e-03 9.99962658e-01 7.38967957e-03 -2.42896272e+00] [ 2.27305885e-03 -7.37955007e-03 9.99970187e-01 -7.08531007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.430418555 meters Centerline goodness [0,1] 0.3856618147190859 Centerline is valid? [False, False] Translation: X:-19.64, Y:-2.43, Z:-0.71 [[ 9.99987438e-01 4.70277006e-03 -1.73419393e-03 -1.96422198e+01] [-4.69195827e-03 9.99969855e-01 6.18671535e-03 -2.42787810e+00] [ 1.76323635e-03 -6.17850087e-03 9.99979358e-01 -7.07082310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.460418554999997 meters Centerline goodness [0,1] 0.37127250927015565 Centerline is valid? [False, False] Translation: X:-19.60, Y:-2.43, Z:-0.70 [[ 9.99992682e-01 3.74816958e-03 -7.66505330e-04 -1.95984762e+01] [-3.74430883e-03 9.99980601e-01 4.97771248e-03 -2.42540396e+00] [ 7.85147771e-04 -4.97480602e-03 9.99987317e-01 -7.04421645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.490418554999998 meters Centerline goodness [0,1] 0.3844202491862162 Centerline is valid? [False, False] Translation: X:-19.60, Y:-2.43, Z:-0.70 [[ 9.99992532e-01 3.74212796e-03 -9.66118551e-04 -1.95977727e+01] [-3.73720667e-03 9.99980283e-01 5.04640098e-03 -2.42611555e+00] [ 9.84983781e-04 -5.04275271e-03 9.99986800e-01 -7.04997187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.520418555 meters Centerline goodness [0,1] 0.36982399928798704 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.43, Z:-0.71 [[ 9.99992196e-01 3.56923754e-03 -1.69387986e-03 -1.95947220e+01] [-3.56062577e-03 9.99980858e-01 5.06012106e-03 -2.42582950e+00] [ 1.71190821e-03 -5.05405030e-03 9.99985763e-01 -7.06790669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.550418554999997 meters Centerline goodness [0,1] 0.36982399928798704 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.43, Z:-0.71 [[ 9.99992196e-01 3.56923754e-03 -1.69387986e-03 -1.95947220e+01] [-3.56062577e-03 9.99980858e-01 5.06012106e-03 -2.42582950e+00] [ 1.71190821e-03 -5.05405030e-03 9.99985763e-01 -7.06790669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.580418554999998 meters Centerline goodness [0,1] 0.39396464362121386 Centerline is valid? [False, False] Translation: X:-19.64, Y:-2.43, Z:-0.71 [[ 9.99990060e-01 1.66123916e-03 -4.13777106e-03 -1.96353211e+01] [-1.65115521e-03 9.99995662e-01 2.43927528e-03 -2.42985075e+00] [ 4.14180533e-03 -2.43241893e-03 9.99988464e-01 -7.10965259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.610418555 meters Centerline goodness [0,1] 0.39362040019964606 Centerline is valid? [False, False] Translation: X:-19.64, Y:-2.43, Z:-0.71 [[ 9.99994669e-01 -4.16622223e-04 -3.23847068e-03 -1.96411351e+01] [ 4.18734602e-04 9.99999700e-01 6.51626032e-04 -2.43258684e+00] [ 3.23819822e-03 -6.52978618e-04 9.99994544e-01 -7.06629592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.640418555 meters Centerline goodness [0,1] 0.3825820998816779 Centerline is valid? [False, False] Translation: X:-19.60, Y:-2.43, Z:-0.70 [[ 9.99999737e-01 -6.73539657e-04 -2.70282032e-04 -1.96040731e+01] [ 6.74109522e-04 9.99997539e-01 2.11388275e-03 -2.43320299e+00] [ 2.68857583e-04 -2.11406439e-03 9.99997729e-01 -7.01830287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.670418554999998 meters Centerline goodness [0,1] 0.3789267898071996 Centerline is valid? [False, False] Translation: X:-19.61, Y:-2.44, Z:-0.70 [[ 9.99996805e-01 -2.39167588e-03 8.18728655e-04 -1.96104363e+01] [ 2.39092991e-03 9.99996727e-01 9.10904162e-04 -2.43673534e+00] [-8.20904563e-04 -9.08943728e-04 9.99999250e-01 -6.97120046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.700418555 meters Centerline goodness [0,1] 0.3885637703819522 Centerline is valid? [False, False] Translation: X:-19.61, Y:-2.44, Z:-0.70 [[ 9.99980290e-01 -6.25765300e-03 5.11862244e-04 -1.96090025e+01] [ 6.25905111e-03 9.99976556e-01 -2.77702050e-03 -2.43914778e+00] [-4.94472614e-04 2.78016954e-03 9.99996013e-01 -6.98124664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.730418555 meters Centerline goodness [0,1] 0.4278242917765799 Centerline is valid? [False, False] Translation: X:-19.65, Y:-2.44, Z:-0.70 [[ 9.99981863e-01 -5.96829429e-03 -8.08368289e-04 -1.96532390e+01] [ 5.96676083e-03 9.99980420e-01 -1.88629717e-03 -2.44462461e+00] [ 8.19610438e-04 1.88143962e-03 9.99997894e-01 -7.01441978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.760418554999998 meters Centerline goodness [0,1] 0.35110794061259976 Centerline is valid? [False, False] Translation: X:-19.61, Y:-2.45, Z:-0.70 [[ 9.99974132e-01 -7.16912270e-03 -5.82799657e-04 -1.96088135e+01] [ 7.16928393e-03 9.99974263e-01 2.75025858e-04 -2.44712017e+00] [ 5.80812963e-04 -2.79197000e-04 9.99999792e-01 -7.00291820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.790418555 meters Centerline goodness [0,1] 0.3909937888198758 Centerline is valid? [False, False] Translation: X:-19.61, Y:-2.45, Z:-0.70 [[ 9.99967357e-01 -8.07583604e-03 -2.57277139e-04 -1.96098871e+01] [ 8.07582908e-03 9.99967390e-01 -2.80918606e-05 -2.45211684e+00] [ 2.57495614e-04 2.60132174e-05 9.99999967e-01 -6.99529211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.820418555 meters Centerline goodness [0,1] 0.38532749129311317 Centerline is valid? [False, False] Translation: X:-19.63, Y:-2.46, Z:-0.70 [[ 9.99991188e-01 -3.55869388e-03 -2.22683727e-03 -1.96338631e+01] [ 3.54723277e-03 9.99980551e-01 -5.12976311e-03 -2.45637359e+00] [ 2.24504922e-03 5.12181880e-03 9.99984363e-01 -6.98886702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.850418554999997 meters Centerline goodness [0,1] 0.38514534625300023 Centerline is valid? [False, False] Translation: X:-19.61, Y:-2.46, Z:-0.70 [[ 9.99971142e-01 -6.85517541e-03 -3.27438497e-03 -1.96059603e+01] [ 6.86131453e-03 9.99974717e-01 1.86735271e-03 -2.45549552e+00] [ 3.26150115e-03 -1.88976541e-03 9.99992896e-01 -7.00300415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.880418555 meters Centerline goodness [0,1] 0.39084317937701396 Centerline is valid? [False, False] Translation: X:-19.61, Y:-2.46, Z:-0.70 [[ 9.99972822e-01 -6.72732853e-03 -3.01626669e-03 -1.96071149e+01] [ 6.73304803e-03 9.99975547e-01 1.89009278e-03 -2.45535045e+00] [ 3.00347765e-03 -1.91035008e-03 9.99993665e-01 -6.99464279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.910418555 meters Centerline goodness [0,1] 0.43735229958189425 Centerline is valid? [False, False] Translation: X:-19.64, Y:-2.46, Z:-0.70 [[ 9.99996506e-01 -4.63072998e-04 -2.60259939e-03 -1.96371370e+01] [ 4.58008571e-04 9.99998001e-01 -1.94617035e-03 -2.45827676e+00] [ 2.60349540e-03 1.94497154e-03 9.99994719e-01 -6.95386676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.940418554999997 meters Centerline goodness [0,1] 0.38768397451550607 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.45, Z:-0.69 [[ 9.99996881e-01 3.52061479e-04 -2.47280068e-03 -1.95892685e+01] [-3.53976831e-04 9.99999638e-01 -7.74172852e-04 -2.45475977e+00] [ 2.47252723e-03 7.75045751e-04 9.99996643e-01 -6.94433472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.970418555 meters Centerline goodness [0,1] 0.395641484130532 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.45, Z:-0.70 [[ 9.99996149e-01 6.22236942e-04 -2.70444905e-03 -1.95877807e+01] [-6.24476743e-04 9.99999463e-01 -8.27425600e-04 -2.45172317e+00] [ 2.70393274e-03 8.29111280e-04 9.99996001e-01 -6.95923809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.000418555 meters Centerline goodness [0,1] 0.47126746641506045 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.45, Z:-0.70 [[ 9.99995743e-01 3.20879435e-04 -2.90006375e-03 -1.95871823e+01] [-3.24465494e-04 9.99999183e-01 -1.23615880e-03 -2.45040742e+00] [ 2.89966472e-03 1.23709451e-03 9.99995031e-01 -6.96207271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.030418554999997 meters Centerline goodness [0,1] 0.4647078464106845 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.45, Z:-0.70 [[ 9.99995684e-01 5.20772560e-05 -2.93758207e-03 -1.95871920e+01] [-5.66011079e-05 9.99998813e-01 -1.53992957e-03 -2.44990422e+00] [ 2.93749839e-03 1.54008919e-03 9.99994500e-01 -6.96037680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.060418555 meters Centerline goodness [0,1] 0.4709161037165853 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.45, Z:-0.70 [[ 9.99994955e-01 -1.40302980e-04 -3.17322221e-03 -1.95863858e+01] [ 1.34730269e-04 9.99998449e-01 -1.75631370e-03 -2.44895656e+00] [ 3.17346371e-03 1.75587731e-03 9.99993423e-01 -6.96378595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.090418555 meters Centerline goodness [0,1] 0.4650982305202005 Centerline is valid? [False, False] Translation: X:-19.58, Y:-2.45, Z:-0.70 [[ 9.99988174e-01 6.49491859e-04 -4.81983063e-03 -1.95778562e+01] [-6.53363921e-04 9.99999465e-01 -8.01829460e-04 -2.44764033e+00] [ 4.81930727e-03 8.04969081e-04 9.99988063e-01 -7.01973557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.120418554999997 meters Centerline goodness [0,1] 0.4681174089068826 Centerline is valid? [False, False] Translation: X:-19.58, Y:-2.44, Z:-0.70 [[ 9.99988091e-01 3.25030166e-04 -4.86948947e-03 -1.95778027e+01] [-3.30855584e-04 9.99999231e-01 -1.19555211e-03 -2.44451175e+00] [ 4.86909714e-03 1.19714897e-03 9.99987429e-01 -7.01690321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.150418554999998 meters Centerline goodness [0,1] 0.464923766617102 Centerline is valid? [False, False] Translation: X:-19.58, Y:-2.44, Z:-0.70 [[ 9.99993086e-01 -5.54086147e-04 -3.67717745e-03 -1.95842473e+01] [ 5.44982340e-04 9.99996785e-01 -2.47629998e-03 -2.44206499e+00] [ 3.67853772e-03 2.47427886e-03 9.99990173e-01 -6.97380620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.180418555 meters Centerline goodness [0,1] 0.4612183791638229 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.44, Z:-0.70 [[ 9.99993986e-01 -1.19251184e-04 -3.46617589e-03 -1.95856363e+01] [ 1.10341104e-04 9.99996690e-01 -2.57065702e-03 -2.43820636e+00] [ 3.46647097e-03 2.57025910e-03 9.99990689e-01 -6.96242740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.210418554999997 meters Centerline goodness [0,1] 0.4755268448038308 Centerline is valid? [False, False] Translation: X:-19.63, Y:-2.43, Z:-0.70 [[ 9.99982896e-01 2.40373204e-03 -5.33203042e-03 -1.96286282e+01] [-2.41150783e-03 9.99996038e-01 -1.45236697e-03 -2.43339687e+00] [ 5.32851819e-03 1.46520036e-03 9.99984730e-01 -6.99950008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.240418554999998 meters Centerline goodness [0,1] 0.4614516236137858 Centerline is valid? [False, False] Translation: X:-19.58, Y:-2.43, Z:-0.70 [[ 9.99980881e-01 2.49690966e-03 -5.65714360e-03 -1.95794378e+01] [-2.50943647e-03 9.99994413e-01 -2.20831929e-03 -2.43155030e+00] [ 5.65159802e-03 2.22247331e-03 9.99981560e-01 -7.00978773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.270418555 meters Centerline goodness [0,1] 0.46196590657516046 Centerline is valid? [False, False] Translation: X:-19.58, Y:-2.43, Z:-0.70 [[ 9.99984398e-01 2.72797888e-03 -4.87454289e-03 -1.95828137e+01] [-2.74059987e-03 9.99992905e-01 -2.58436293e-03 -2.42851354e+00] [ 4.86745821e-03 2.59768178e-03 9.99984780e-01 -6.99094966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.300418554999997 meters Centerline goodness [0,1] 0.4530742175326121 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.42, Z:-0.70 [[ 9.99967526e-01 6.88729515e-03 -4.18476181e-03 -1.95862888e+01] [-6.88253840e-03 9.99975654e-01 1.15002336e-03 -2.42285039e+00] [ 4.19258048e-03 -1.12118423e-03 9.99990583e-01 -6.96959204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.330418554999998 meters Centerline goodness [0,1] 0.4708716110239749 Centerline is valid? [False, False] Translation: X:-19.58, Y:-2.42, Z:-0.70 [[ 9.99967648e-01 6.58774476e-03 -4.61572396e-03 -1.95845211e+01] [-6.58423389e-03 9.99978023e-01 7.75416173e-04 -2.42157665e+00] [ 4.62073076e-03 -7.45000080e-04 9.99989047e-01 -6.97736094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.360418555 meters Centerline goodness [0,1] 0.4702143485022652 Centerline is valid? [False, False] Translation: X:-19.58, Y:-2.42, Z:-0.70 [[ 9.99984884e-01 2.64438633e-03 -4.82071710e-03 -1.95834925e+01] [-2.66066577e-03 9.99990769e-01 -3.37369481e-03 -2.42014460e+00] [ 4.81175125e-03 3.38647013e-03 9.99982689e-01 -6.98953934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.390418555 meters Centerline goodness [0,1] 0.46791740674955595 Centerline is valid? [False, False] Translation: X:-19.56, Y:-2.42, Z:-0.70 [[ 9.99993809e-01 -3.49166855e-03 -4.36588971e-04 -1.95608648e+01] [ 3.49161902e-03 9.99993898e-01 -1.14157311e-04 -2.41775336e+00] [ 4.36984906e-04 1.12632201e-04 9.99999898e-01 -7.01660396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.420418554999998 meters Centerline goodness [0,1] 0.4653610120300419 Centerline is valid? [False, False] Translation: X:-19.56, Y:-2.42, Z:-0.70 [[ 9.99992944e-01 -3.64229534e-03 -9.19543021e-04 -1.95586364e+01] [ 3.64190073e-03 9.99993276e-01 -4.30452536e-04 -2.41584245e+00] [ 9.21104673e-04 4.27100615e-04 9.99999485e-01 -7.03109744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.450418555 meters Centerline goodness [0,1] 0.4717589504113854 Centerline is valid? [False, False] Translation: X:-19.55, Y:-2.41, Z:-0.71 [[ 9.99991056e-01 -3.76870802e-03 -1.91981221e-03 -1.95534778e+01] [ 3.76719221e-03 9.99992590e-01 -7.92566668e-04 -2.41426416e+00] [ 1.92278493e-03 7.85327278e-04 9.99997843e-01 -7.07222521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.480418555 meters Centerline goodness [0,1] 0.4725663716814159 Centerline is valid? [False, False] Translation: X:-19.55, Y:-2.41, Z:-0.71 [[ 9.99990903e-01 -3.46797916e-03 -2.48334931e-03 -1.95507181e+01] [ 3.46611788e-03 9.99993709e-01 -7.53416651e-04 -2.41166182e+00] [ 2.48594652e-03 7.44802216e-04 9.99996633e-01 -7.09351869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.510418554999998 meters Centerline goodness [0,1] 0.4657716042556015 Centerline is valid? [False, False] Translation: X:-19.53, Y:-2.41, Z:-0.71 [[ 9.99995941e-01 2.21716546e-03 1.78958109e-03 -1.95282601e+01] [-2.21097544e-03 9.99991592e-01 -3.45351938e-03 -2.40990196e+00] [-1.79722307e-03 3.44954864e-03 9.99992435e-01 -7.11279387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.540418555 meters Centerline goodness [0,1] 0.4711971499630302 Centerline is valid? [False, False] Translation: X:-19.56, Y:-2.41, Z:-0.71 [[ 9.99994531e-01 -2.83001792e-03 1.71168015e-03 -1.95557214e+01] [ 2.82944710e-03 9.99995941e-01 3.35815533e-04 -2.40906343e+00] [-1.71262357e-03 -3.30970588e-04 9.99998479e-01 -7.08144406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.570418555 meters Centerline goodness [0,1] 0.47817375447443666 Centerline is valid? [False, False] Translation: X:-19.56, Y:-2.41, Z:-0.71 [[ 9.99996101e-01 -2.00512248e-03 1.94363198e-03 -1.95563539e+01] [ 2.00374718e-03 9.99997741e-01 7.09281746e-04 -2.40649004e+00] [-1.94504979e-03 -7.05384433e-04 9.99997860e-01 -7.08294644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.600418554999997 meters Centerline goodness [0,1] 0.475724897082513 Centerline is valid? [False, False] Translation: X:-19.56, Y:-2.41, Z:-0.71 [[ 9.99996955e-01 -1.71492121e-03 1.77459985e-03 -1.95555679e+01] [ 1.71335647e-03 9.99998142e-01 8.82883886e-04 -2.40621071e+00] [-1.77611063e-03 -8.79840675e-04 9.99998036e-01 -7.08981874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.630418555 meters Centerline goodness [0,1] 0.46437808085943544 Centerline is valid? [False, False] Translation: X:-19.53, Y:-2.41, Z:-0.71 [[ 9.99987441e-01 4.00954423e-03 3.00698311e-03 -1.95317203e+01] [-4.00109130e-03 9.99988042e-01 -2.81186808e-03 -2.40569844e+00] [-3.01822146e-03 2.79980155e-03 9.99991526e-01 -7.09179030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.660418555 meters Centerline goodness [0,1] 0.46538212507535337 Centerline is valid? [False, False] Translation: X:-19.54, Y:-2.40, Z:-0.70 [[ 9.99983918e-01 3.58873393e-03 4.39144133e-03 -1.95384644e+01] [-3.57241890e-03 9.99986709e-01 -3.71741046e-03 -2.40379655e+00] [-4.40472376e-03 3.70166261e-03 9.99983448e-01 -7.04920738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.690418554999997 meters Centerline goodness [0,1] 0.46023915963795725 Centerline is valid? [False, False] Translation: X:-19.52, Y:-2.40, Z:-0.71 [[ 9.99972212e-01 -1.16620826e-03 7.36313453e-03 -1.95153043e+01] [ 1.16006126e-03 9.99998975e-01 8.39050683e-04 -2.40165800e+00] [-7.36410549e-03 -8.30485680e-04 9.99972540e-01 -7.06352947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.720418555 meters Centerline goodness [0,1] 0.4391991709478976 Centerline is valid? [False, False] Translation: X:-19.52, Y:-2.40, Z:-0.71 [[ 9.99970669e-01 -1.01061693e-03 7.59206734e-03 -1.95161528e+01] [ 1.00452530e-03 9.99999171e-01 8.06137877e-04 -2.39990501e+00] [-7.59287574e-03 -7.98487808e-04 9.99970855e-01 -7.06100150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.750418555 meters Centerline goodness [0,1] 0.4767779553794548 Centerline is valid? [False, False] Translation: X:-19.56, Y:-2.40, Z:-0.71 [[ 9.99982683e-01 -1.14599454e-03 5.77241893e-03 -1.95604894e+01] [ 1.14416991e-03 9.99999294e-01 3.19386323e-04 -2.40058012e+00] [-5.77278087e-03 -3.12776164e-04 9.99983288e-01 -7.08343705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.780418554999997 meters Centerline goodness [0,1] 0.4642564045691472 Centerline is valid? [False, False] Translation: X:-19.51, Y:-2.40, Z:-0.71 [[ 9.99983555e-01 -2.67698946e-03 5.07185716e-03 -1.95099300e+01] [ 2.67676808e-03 9.99996416e-01 5.04368719e-05 -2.39969001e+00] [-5.07197400e-03 -3.68598571e-05 9.99987137e-01 -7.10623830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.810418555 meters Centerline goodness [0,1] 0.4749977556333602 Centerline is valid? [False, False] Translation: X:-19.53, Y:-2.40, Z:-0.71 [[ 9.99998850e-01 1.12048783e-03 1.02241527e-03 -1.95335682e+01] [-1.11473301e-03 9.99983631e-01 -5.61196761e-03 -2.39882824e+00] [-1.02868668e-03 5.61082143e-03 9.99983730e-01 -7.07622658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.840418555 meters Centerline goodness [0,1] 0.4675350656856425 Centerline is valid? [False, False] Translation: X:-19.51, Y:-2.40, Z:-0.71 [[ 9.99979108e-01 -5.42600165e-03 3.51303720e-03 -1.95093094e+01] [ 5.43458264e-03 9.99982261e-01 -2.43769204e-03 -2.39819542e+00] [-3.49974796e-03 2.45673301e-03 9.99990858e-01 -7.10426974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.870418554999997 meters Centerline goodness [0,1] 0.46701699463327373 Centerline is valid? [False, False] Translation: X:-19.51, Y:-2.40, Z:-0.71 [[ 9.99982798e-01 -4.95144520e-03 3.14446471e-03 -1.95076935e+01] [ 4.95854520e-03 9.99985166e-01 -2.25416675e-03 -2.39623046e+00] [-3.13325668e-03 2.26971994e-03 9.99992516e-01 -7.11364826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.900418554999998 meters Centerline goodness [0,1] 0.4780778594343701 Centerline is valid? [False, False] Translation: X:-19.53, Y:-2.40, Z:-0.71 [[ 9.99997104e-01 2.32901030e-03 -6.06485165e-04 -1.95333830e+01] [-2.33180571e-03 9.99986470e-01 -4.65002194e-03 -2.39549266e+00] [ 5.95647010e-04 4.65142268e-03 9.99989005e-01 -7.07071249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.930418555 meters Centerline goodness [0,1] 0.46606233812628384 Centerline is valid? [False, False] Translation: X:-19.51, Y:-2.40, Z:-0.71 [[ 9.99992498e-01 -2.59654208e-04 3.86487285e-03 -1.95064884e+01] [ 2.56392284e-04 9.99999611e-01 8.44464315e-04 -2.39784140e+00] [-3.86509061e-03 -8.43467056e-04 9.99992175e-01 -7.13521810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.960418554999997 meters Centerline goodness [0,1] 0.4524412945477382 Centerline is valid? [False, False] Translation: X:-19.51, Y:-2.40, Z:-0.71 [[ 9.99991720e-01 -5.97177002e-05 4.06906828e-03 -1.95075483e+01] [ 5.67019183e-05 9.99999724e-01 7.41259358e-04 -2.39620476e+00] [-4.06911142e-03 -7.41022496e-04 9.99991447e-01 -7.12860196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.990418554999998 meters Centerline goodness [0,1] 0.470283189033189 Centerline is valid? [False, False] Translation: X:-19.51, Y:-2.39, Z:-0.71 [[ 9.99989489e-01 4.32478656e-04 4.56446434e-03 -1.95098471e+01] [-4.36704945e-04 9.99999477e-01 9.24955119e-04 -2.39466424e+00] [-4.56406192e-03 -9.26938722e-04 9.99989155e-01 -7.11375610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.020418555 meters Centerline goodness [0,1] 0.45464045893182725 Centerline is valid? [False, False] Translation: X:-19.47, Y:-2.39, Z:-0.70 [[ 9.99971178e-01 2.09465744e-04 7.58942370e-03 -1.94739103e+01] [-2.14955894e-04 9.99999716e-01 7.22586366e-04 -2.39245691e+00] [-7.58927019e-03 -7.24196931e-04 9.99970939e-01 -7.04619175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.050418554999997 meters Centerline goodness [0,1] 0.4544741676748667 Centerline is valid? [False, False] Translation: X:-19.47, Y:-2.39, Z:-0.71 [[ 9.99970190e-01 2.25549610e-04 7.71806772e-03 -1.94739869e+01] [-2.30517937e-04 9.99999767e-01 6.42843373e-04 -2.39233302e+00] [-7.71792093e-03 -6.44603363e-04 9.99970009e-01 -7.05281155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.080418554999998 meters Centerline goodness [0,1] 0.45156871409633226 Centerline is valid? [False, False] Translation: X:-19.47, Y:-2.39, Z:-0.71 [[ 9.99974561e-01 3.22942042e-04 7.12549783e-03 -1.94710848e+01] [-3.29082903e-04 9.99999575e-01 8.60659312e-04 -2.39223131e+00] [-7.12521687e-03 -8.62982297e-04 9.99974243e-01 -7.07384603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.110418555 meters Centerline goodness [0,1] 0.4582996133441237 Centerline is valid? [False, False] Translation: X:-19.52, Y:-2.39, Z:-0.71 [[ 9.99983906e-01 3.85234504e-04 5.66036931e-03 -1.95165903e+01] [-3.87218364e-04 9.99999864e-01 3.49390700e-04 -2.39321671e+00] [-5.66023394e-03 -3.51576876e-04 9.99983919e-01 -7.08483114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.140418555 meters Centerline goodness [0,1] 0.451058288640226 Centerline is valid? [False, False] Translation: X:-19.47, Y:-2.39, Z:-0.71 [[ 9.99982946e-01 -5.33312549e-04 5.81572266e-03 -1.94682624e+01] [ 5.34643732e-04 9.99999831e-01 -2.27341467e-04 -2.39268689e+00] [-5.81560043e-03 2.30446929e-04 9.99983063e-01 -7.09618186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.170418554999998 meters Centerline goodness [0,1] 0.45352836087539083 Centerline is valid? [False, False] Translation: X:-19.49, Y:-2.39, Z:-0.71 [[ 9.99993269e-01 -3.58849245e-03 7.64473120e-04 -1.94931481e+01] [ 3.58445787e-03 9.99979977e-01 5.21516579e-03 -2.39492075e+00] [-7.83172396e-04 -5.21239047e-03 9.99986109e-01 -7.05179040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.200418555 meters Centerline goodness [0,1] 0.4751592356687898 Centerline is valid? [False, False] Translation: X:-19.52, Y:-2.39, Z:-0.70 [[ 9.99989880e-01 1.17536713e-03 -4.34261944e-03 -1.95180917e+01] [-1.16976603e-03 9.99998481e-01 1.29211229e-03 -2.39426151e+00] [ 4.34413155e-03 -1.28701936e-03 9.99989736e-01 -7.00224748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.230418555 meters Centerline goodness [0,1] 0.48094869577092914 Centerline is valid? [False, False] Translation: X:-19.52, Y:-2.40, Z:-0.70 [[ 9.99989085e-01 9.38955914e-04 -4.57697100e-03 -1.95175044e+01] [-9.33008320e-04 9.99998718e-01 1.30142281e-03 -2.39651496e+00] [ 4.57818711e-03 -1.29713825e-03 9.99988679e-01 -7.00220683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.260418554999998 meters Centerline goodness [0,1] 0.4582260759608002 Centerline is valid? [False, False] Translation: X:-19.52, Y:-2.40, Z:-0.70 [[ 9.99993442e-01 1.00951116e-03 -3.47798430e-03 -1.95218168e+01] [-1.00470407e-03 9.99998538e-01 1.38362068e-03 -2.39711797e+00] [ 3.47937600e-03 -1.38011726e-03 9.99992995e-01 -6.97265525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.290418555 meters Centerline goodness [0,1] 0.4507421796052188 Centerline is valid? [False, False] Translation: X:-19.53, Y:-2.40, Z:-0.69 [[ 9.99995730e-01 8.21803003e-04 -2.80437891e-03 -1.95250163e+01] [-8.18443958e-04 9.99998947e-01 1.19872323e-03 -2.39756562e+00] [ 2.80536107e-03 -1.19642288e-03 9.99995349e-01 -6.94776378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.320418555 meters Centerline goodness [0,1] 0.42423906291596414 Centerline is valid? [False, False] Translation: X:-19.50, Y:-2.40, Z:-0.70 [[ 9.99990151e-01 4.31260730e-03 1.04885599e-03 -1.94988613e+01] [-4.30839417e-03 9.99982773e-01 -3.98650734e-03 -2.39548718e+00] [-1.06603016e-03 3.98194919e-03 9.99991504e-01 -6.99640990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.350418554999997 meters Centerline goodness [0,1] 0.4427849572955328 Centerline is valid? [False, False] Translation: X:-19.52, Y:-2.40, Z:-0.70 [[ 9.99998808e-01 -8.70094272e-04 1.27540572e-03 -1.95231223e+01] [ 8.69650955e-04 9.99999561e-01 3.48102519e-04 -2.39564067e+00] [-1.27570804e-03 -3.46992946e-04 9.99999126e-01 -7.00846384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.380418555 meters Centerline goodness [0,1] 0.46116581066230067 Centerline is valid? [False, False] Translation: X:-19.52, Y:-2.40, Z:-0.70 [[ 9.99999265e-01 -9.89098332e-04 7.00692456e-04 -1.95202184e+01] [ 9.88750261e-04 9.99999388e-01 4.96925260e-04 -2.39683877e+00] [-7.01183535e-04 -4.96232085e-04 9.99999631e-01 -7.03399037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.410418555 meters Centerline goodness [0,1] 0.4649867433103848 Centerline is valid? [False, False] Translation: X:-19.52, Y:-2.40, Z:-0.70 [[ 9.99999389e-01 -1.03064962e-03 3.99747532e-04 -1.95185783e+01] [ 1.03041715e-03 9.99999300e-01 5.81301745e-04 -2.39773095e+00] [-4.00346371e-04 -5.80889483e-04 9.99999751e-01 -7.04735358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.440418554999997 meters Centerline goodness [0,1] 0.4649867433103848 Centerline is valid? [False, False] Translation: X:-19.52, Y:-2.40, Z:-0.70 [[ 9.99999389e-01 -1.03064962e-03 3.99747532e-04 -1.95185783e+01] [ 1.03041715e-03 9.99999300e-01 5.81301745e-04 -2.39773095e+00] [-4.00346371e-04 -5.80889483e-04 9.99999751e-01 -7.04735358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.470418555 meters Centerline goodness [0,1] 0.4645627291921325 Centerline is valid? [False, False] Translation: X:-19.52, Y:-2.40, Z:-0.70 [[ 9.99999277e-01 -9.52450433e-04 7.34242676e-04 -1.95198828e+01] [ 9.51888738e-04 9.99999254e-01 7.64968504e-04 -2.39804766e+00] [-7.34970723e-04 -7.64269033e-04 9.99999438e-01 -7.04047140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.500418555 meters Centerline goodness [0,1] 0.4593626122595239 Centerline is valid? [False, False] Translation: X:-19.52, Y:-2.40, Z:-0.70 [[ 9.99998827e-01 -1.16748561e-03 9.91597667e-04 -1.95213690e+01] [ 1.16705767e-03 9.99999226e-01 4.32036804e-04 -2.39725872e+00] [-9.92101296e-04 -4.30879046e-04 9.99999415e-01 -7.02761663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.530418554999997 meters Centerline goodness [0,1] 0.4641307524561048 Centerline is valid? [False, False] Translation: X:-19.52, Y:-2.40, Z:-0.70 [[ 9.99998421e-01 -1.20613527e-03 1.30510030e-03 -1.95224080e+01] [ 1.20591010e-03 9.99999258e-01 1.73303488e-04 -2.39598180e+00] [-1.30530836e-03 -1.71729381e-04 9.99999133e-01 -7.02698992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.560418555 meters Centerline goodness [0,1] 0.44484608994364494 Centerline is valid? [False, False] Translation: X:-19.52, Y:-2.39, Z:-0.70 [[ 9.99998621e-01 -9.80197632e-04 1.34095430e-03 -1.95228714e+01] [ 9.79959431e-04 9.99999504e-01 1.78280950e-04 -2.39440054e+00] [-1.34112839e-03 -1.76966624e-04 9.99999085e-01 -7.01882338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.590418555 meters Centerline goodness [0,1] 0.4501265710352178 Centerline is valid? [False, False] Translation: X:-19.51, Y:-2.39, Z:-0.71 [[ 9.99998682e-01 -1.30017497e-03 -9.72539629e-04 -1.95120392e+01] [ 1.29969838e-03 9.99999035e-01 -4.90527166e-04 -2.39244035e+00] [ 9.73176462e-04 4.89262511e-04 9.99999407e-01 -7.08311024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.620418554999997 meters Centerline goodness [0,1] 0.44943046828163513 Centerline is valid? [False, False] Translation: X:-19.51, Y:-2.39, Z:-0.71 [[ 9.99998536e-01 -1.06919952e-03 -1.33599313e-03 -1.95097644e+01] [ 1.06834370e-03 9.99999224e-01 -6.41132084e-04 -2.39064027e+00] [ 1.33667759e-03 6.39703845e-04 9.99998902e-01 -7.10460286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.650418554999998 meters Centerline goodness [0,1] 0.44604683104051746 Centerline is valid? [False, False] Translation: X:-19.51, Y:-2.39, Z:-0.71 [[ 9.99999892e-01 -1.85301521e-04 -4.25903444e-04 -1.95136254e+01] [ 1.85123069e-04 9.99999895e-01 -4.18998721e-04 -2.38812008e+00] [ 4.25981041e-04 4.18919831e-04 9.99999822e-01 -7.08272588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.680418555 meters Centerline goodness [0,1] 0.45419310970081594 Centerline is valid? [False, False] Translation: X:-19.57, Y:-2.39, Z:-0.71 [[ 9.99999375e-01 8.85276063e-04 6.82456388e-04 -1.95662090e+01] [-8.84804346e-04 9.99999370e-01 -6.91197232e-04 -2.38760119e+00] [-6.83067859e-04 6.90592960e-04 9.99999528e-01 -7.06052345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.710418554999997 meters Centerline goodness [0,1] 0.460929462808069 Centerline is valid? [False, False] Translation: X:-19.54, Y:-2.39, Z:-0.71 [[ 9.99986565e-01 -4.54261283e-03 2.49697546e-03 -1.95434223e+01] [ 4.53257244e-03 9.99981679e-01 4.01207759e-03 -2.38676906e+00] [-2.51515503e-03 -4.00070597e-03 9.99988834e-01 -7.06354783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.740418554999998 meters Centerline goodness [0,1] 0.4300130858118748 Centerline is valid? [False, False] Translation: X:-19.54, Y:-2.39, Z:-0.71 [[ 9.99982806e-01 -5.10281505e-03 2.88950795e-03 -1.95448741e+01] [ 5.09129874e-03 9.99979123e-01 3.97898956e-03 -2.38969263e+00] [-2.90975167e-03 -3.96420980e-03 9.99987909e-01 -7.05288045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.770418555 meters Centerline goodness [0,1] 0.46172254154272807 Centerline is valid? [False, False] Translation: X:-19.57, Y:-2.39, Z:-0.70 [[ 9.99999555e-01 -3.58015789e-04 8.72773145e-04 -1.95678750e+01] [ 3.59110807e-04 9.99999148e-01 -1.25480757e-03 -2.39343675e+00] [-8.72323161e-04 1.25512043e-03 9.99998832e-01 -7.04788851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.800418554999997 meters Centerline goodness [0,1] 0.4533720773077443 Centerline is valid? [False, False] Translation: X:-19.57, Y:-2.39, Z:-0.71 [[ 9.99999630e-01 -2.04000237e-04 8.36235206e-04 -1.95669121e+01] [ 2.05092298e-04 9.99999126e-01 -1.30604797e-03 -2.39230006e+00] [-8.35968041e-04 1.30621899e-03 9.99998797e-01 -7.06439816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.830418554999998 meters Centerline goodness [0,1] 0.4424684533653519 Centerline is valid? [False, False] Translation: X:-19.56, Y:-2.39, Z:-0.71 [[ 9.99999976e-01 7.91329617e-05 2.03022361e-04 -1.95642461e+01] [-7.89395804e-05 9.99999543e-01 -9.52343884e-04 -2.39149127e+00] [-2.03097630e-04 9.52327835e-04 9.99999526e-01 -7.08119168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.860418555 meters Centerline goodness [0,1] 0.46157258511700117 Centerline is valid? [False, False] Translation: X:-19.51, Y:-2.39, Z:-0.71 [[ 9.99999359e-01 -7.68045489e-04 -8.31629285e-04 -1.95144031e+01] [ 7.68198461e-04 9.99999688e-01 1.83638983e-04 -2.39305123e+00] [ 8.31487983e-04 -1.84277722e-04 9.99999637e-01 -7.09755164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.890418555 meters Centerline goodness [0,1] 0.46133917005404923 Centerline is valid? [False, False] Translation: X:-19.51, Y:-2.39, Z:-0.71 [[ 9.99999141e-01 -1.01289134e-03 -8.31873412e-04 -1.95145898e+01] [ 1.01307769e-03 9.99999462e-01 2.23624048e-04 -2.39461563e+00] [ 8.31646458e-04 -2.24466608e-04 9.99999629e-01 -7.09294827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.920418554999998 meters Centerline goodness [0,1] 0.4639005087620124 Centerline is valid? [False, False] Translation: X:-19.54, Y:-2.40, Z:-0.71 [[ 9.99985411e-01 5.29837192e-03 -1.05151469e-03 -1.95416782e+01] [-5.30244304e-03 9.99978308e-01 -3.90739869e-03 -2.39521142e+00] [ 1.03078903e-03 3.91291728e-03 9.99991813e-01 -7.06192755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.950418555 meters Centerline goodness [0,1] 0.4590723362219927 Centerline is valid? [False, False] Translation: X:-19.53, Y:-2.39, Z:-0.70 [[ 9.99997867e-01 1.66725847e-04 -2.05864935e-03 -1.95262254e+01] [-1.67235008e-04 9.99999955e-01 -2.47158228e-04 -2.39149076e+00] [ 2.05860805e-03 2.47501980e-04 9.99997850e-01 -6.99061459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.980418555 meters Centerline goodness [0,1] 0.32733003151733453 Centerline is valid? [False, False] Translation: X:-19.53, Y:-2.39, Z:-0.70 [[ 9.99998849e-01 4.25259974e-04 -1.45619962e-03 -1.95287468e+01] [-4.25454607e-04 9.99999901e-01 -1.33351559e-04 -2.39104938e+00] [ 1.45614277e-03 1.33970953e-04 9.99998931e-01 -6.97618080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.010418555 meters Centerline goodness [0,1] 0.40494085208574226 Centerline is valid? [False, False] Translation: X:-19.53, Y:-2.39, Z:-0.70 [[ 9.99998212e-01 1.65626873e-04 -1.88365622e-03 -1.95266152e+01] [-1.66953766e-04 9.99999738e-01 -7.04288740e-04 -2.39103551e+00] [ 1.88353907e-03 7.04601965e-04 9.99997978e-01 -6.99227631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.040418555 meters Centerline goodness [0,1] 0.42677898470405673 Centerline is valid? [False, False] Translation: X:-19.53, Y:-2.39, Z:-0.70 [[ 9.99997891e-01 4.10959457e-04 -2.01228704e-03 -1.95258714e+01] [-4.11812870e-04 9.99999825e-01 -4.23705022e-04 -2.39109358e+00] [ 2.01211257e-03 4.24532814e-04 9.99997886e-01 -6.99930577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.070418555 meters Centerline goodness [0,1] 0.44680710849460714 Centerline is valid? [False, False] Translation: X:-19.53, Y:-2.39, Z:-0.70 [[ 9.99998592e-01 3.55776983e-04 -1.63988308e-03 -1.95271280e+01] [-3.55882943e-04 9.99999935e-01 -6.43233566e-05 -2.39207809e+00] [ 1.63986008e-03 6.49068724e-05 9.99998653e-01 -6.99158656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.100418555000005 meters Centerline goodness [0,1] 0.4542260523699039 Centerline is valid? [False, False] Translation: X:-19.53, Y:-2.40, Z:-0.70 [[ 9.99998968e-01 -3.70089066e-04 -1.38792392e-03 -1.95279532e+01] [ 3.69936426e-04 9.99999925e-01 -1.10232205e-04 -2.39564122e+00] [ 1.38796462e-03 1.09718648e-04 9.99999031e-01 -6.99002190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.130418555 meters Centerline goodness [0,1] 0.44926300675296704 Centerline is valid? [False, False] Translation: X:-19.57, Y:-2.40, Z:-0.70 [[ 9.99998042e-01 -8.50310430e-04 -1.78712486e-03 -1.95748778e+01] [ 8.48993730e-04 9.99999368e-01 -7.37399669e-04 -2.39771077e+00] [ 1.78775074e-03 7.35880967e-04 9.99998131e-01 -7.00955174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.160418555 meters Centerline goodness [0,1] 0.46638105975197297 Centerline is valid? [False, False] Translation: X:-19.57, Y:-2.40, Z:-0.70 [[ 9.99996607e-01 -1.03780417e-03 -2.38932336e-03 -1.95716168e+01] [ 1.03579025e-03 9.99999107e-01 -8.43965499e-04 -2.39900203e+00] [ 2.39019709e-03 8.41487798e-04 9.99996789e-01 -7.04093834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.190418555 meters Centerline goodness [0,1] 0.44676450967311543 Centerline is valid? [False, False] Translation: X:-19.56, Y:-2.40, Z:-0.71 [[ 9.99989115e-01 -7.01354763e-04 -4.61270803e-03 -1.95610845e+01] [ 6.98604767e-04 9.99999577e-01 -5.97762338e-04 -2.39866739e+00] [ 4.61312532e-03 5.94533371e-04 9.99989183e-01 -7.10410300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.220418555 meters Centerline goodness [0,1] 0.47404569770604765 Centerline is valid? [False, False] Translation: X:-19.61, Y:-2.40, Z:-0.71 [[ 9.99986443e-01 1.47423094e-03 -4.99412925e-03 -1.96103073e+01] [-1.47098804e-03 9.99998705e-01 6.52954716e-04 -2.39941369e+00] [ 4.99508538e-03 -6.45599559e-04 9.99987316e-01 -7.09818264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.250418555 meters Centerline goodness [0,1] 0.4393969849246231 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.40, Z:-0.71 [[ 9.99977724e-01 6.64306391e-03 6.48970599e-04 -1.95918001e+01] [-6.64112781e-03 9.99973622e-01 -2.94127113e-03 -2.39681239e+00] [-6.68492532e-04 2.93689571e-03 9.99995464e-01 -7.09096794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.280418555000004 meters Centerline goodness [0,1] 0.45881558207610895 Centerline is valid? [False, False] Translation: X:-19.60, Y:-2.40, Z:-0.70 [[ 9.99975474e-01 6.42986706e-03 2.77623850e-03 -1.96022256e+01] [-6.42092999e-03 9.99974214e-01 -3.21612854e-03 -2.39701466e+00] [-2.79684619e-03 3.19822363e-03 9.99990974e-01 -7.02455091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.310418555000005 meters Centerline goodness [0,1] 0.4346749504772195 Centerline is valid? [False, False] Translation: X:-19.60, Y:-2.40, Z:-0.70 [[ 9.99975736e-01 6.20762488e-03 3.16099261e-03 -1.96034643e+01] [-6.19789426e-03 9.99976053e-01 -3.07888886e-03 -2.39876532e+00] [-3.18002950e-03 3.05922266e-03 9.99990264e-01 -7.02293334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.340418555 meters Centerline goodness [0,1] 0.4562325944079314 Centerline is valid? [False, False] Translation: X:-19.57, Y:-2.40, Z:-0.71 [[ 9.99997013e-01 -3.27614280e-04 2.42222248e-03 -1.95745632e+01] [ 3.27546431e-04 9.99999946e-01 2.84078327e-05 -2.39773658e+00] [-2.42223165e-03 -2.76143575e-05 9.99997066e-01 -7.06327442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.370418555 meters Centerline goodness [0,1] 0.462584880546845 Centerline is valid? [False, False] Translation: X:-19.62, Y:-2.40, Z:-0.71 [[ 9.99999583e-01 -6.77684612e-04 6.12550469e-04 -1.96164665e+01] [ 6.78353108e-04 9.99999174e-01 -1.09178451e-03 -2.39970427e+00] [-6.11810077e-04 1.09219958e-03 9.99999216e-01 -7.10831698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.400418555 meters Centerline goodness [0,1] 0.4426804964217773 Centerline is valid? [False, False] Translation: X:-19.62, Y:-2.40, Z:-0.71 [[ 9.99999575e-01 -6.20997673e-04 6.81203852e-04 -1.96162247e+01] [ 6.21838777e-04 9.99999044e-01 -1.23521672e-03 -2.40122925e+00] [-6.80436134e-04 1.23563980e-03 9.99999005e-01 -7.11523241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.430418555 meters Centerline goodness [0,1] 0.46155932203389827 Centerline is valid? [False, False] Translation: X:-19.62, Y:-2.40, Z:-0.71 [[ 9.99999623e-01 2.43825254e-04 8.33340257e-04 -1.96171808e+01] [-2.43258278e-04 9.99999739e-01 -6.80398849e-04 -2.39955096e+00] [-8.33505938e-04 6.80195876e-04 9.99999421e-01 -7.10639298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.460418555000004 meters Centerline goodness [0,1] 0.44277828681252374 Centerline is valid? [False, False] Translation: X:-19.62, Y:-2.40, Z:-0.71 [[ 9.99998972e-01 9.53910013e-04 1.07091699e-03 -1.96182584e+01] [-9.53950243e-04 9.99999544e-01 3.70562700e-05 -2.39888051e+00] [-1.07088116e-03 -3.80778334e-05 9.99999426e-01 -7.09687895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.490418555000005 meters Centerline goodness [0,1] 0.4474532559638943 Centerline is valid? [False, False] Translation: X:-19.62, Y:-2.40, Z:-0.71 [[ 9.99999299e-01 5.88402160e-04 1.02712068e-03 -1.96176500e+01] [-5.88621466e-04 9.99999804e-01 2.13226729e-04 -2.40240322e+00] [-1.02699501e-03 -2.13831165e-04 9.99999450e-01 -7.10174069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.520418555 meters Centerline goodness [0,1] 0.4657148647735717 Centerline is valid? [False, False] Translation: X:-19.63, Y:-2.40, Z:-0.70 [[ 9.99926842e-01 -1.64892506e-04 -1.20947789e-02 -1.96261214e+01] [ 1.43084529e-04 9.99998363e-01 -1.80393335e-03 -2.40190119e+00] [ 1.20950566e-02 1.80207080e-03 9.99925228e-01 -7.04171771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.550418555 meters Centerline goodness [0,1] 0.4639665120488743 Centerline is valid? [False, False] Translation: X:-19.62, Y:-2.40, Z:-0.71 [[ 9.99919170e-01 -1.40796666e-04 -1.27135328e-02 -1.96232933e+01] [ 1.15956943e-04 9.99998083e-01 -1.95451780e-03 -2.40029211e+00] [ 1.27137836e-02 1.95288559e-03 9.99917270e-01 -7.06138387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.580418555 meters Centerline goodness [0,1] 0.4517551674982181 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.40, Z:-0.70 [[ 9.99949682e-01 -7.62897744e-04 -1.00026107e-02 -1.95859779e+01] [ 7.40388307e-04 9.99997186e-01 -2.25386619e-03 -2.39786406e+00] [ 1.00043021e-02 2.24634696e-03 9.99947433e-01 -6.99634388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.610418555 meters Centerline goodness [0,1] 0.45997658923104623 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.40, Z:-0.69 [[ 9.99961223e-01 -1.53801453e-03 -8.67109475e-03 -1.95928607e+01] [ 1.50905381e-03 9.99993265e-01 -3.34546842e-03 -2.39553091e+00] [ 8.67618174e-03 3.33225354e-03 9.99956809e-01 -6.94940312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.640418555000004 meters Centerline goodness [0,1] 0.45921858120273673 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.39, Z:-0.70 [[ 9.99961176e-01 -1.29809541e-03 -8.71557187e-03 -1.95926873e+01] [ 1.26681056e-03 9.99992739e-01 -3.59409563e-03 -2.39321230e+00] [ 8.72017407e-03 3.58291511e-03 9.99955560e-01 -6.95007022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.670418555000005 meters Centerline goodness [0,1] 0.44318536694178 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.39, Z:-0.70 [[ 9.99961470e-01 -8.49188718e-04 -8.73713093e-03 -1.95920512e+01] [ 8.19138357e-04 9.99993739e-01 -3.44238927e-03 -2.39198327e+00] [ 8.73999947e-03 3.43509972e-03 9.99955905e-01 -6.95862764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.700418555 meters Centerline goodness [0,1] 0.45463539675758324 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.39, Z:-0.70 [[ 9.99962736e-01 -3.54710727e-04 -8.62560612e-03 -1.95926490e+01] [ 3.29139042e-04 9.99995548e-01 -2.96586355e-03 -2.39178330e+00] [ 8.62661974e-03 2.96291401e-03 9.99958400e-01 -6.95422103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.730418555 meters Centerline goodness [0,1] 0.41189792806529735 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.39, Z:-0.70 [[ 9.99959898e-01 -9.71184988e-06 -8.95560849e-03 -1.95909228e+01] [-1.18790297e-05 9.99997094e-01 -2.41082166e-03 -2.39304381e+00] [ 8.95560588e-03 2.41083137e-03 9.99956992e-01 -6.96818306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.760418555 meters Centerline goodness [0,1] 0.4532843093025354 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.39, Z:-0.70 [[ 9.99957546e-01 -2.58433511e-05 -9.21443088e-03 -1.95893174e+01] [ 5.01173775e-06 9.99997444e-01 -2.26077555e-03 -2.39460513e+00] [ 9.21446575e-03 2.26063339e-03 9.99954991e-01 -6.98259786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.790418555 meters Centerline goodness [0,1] 0.45274872023147117 Centerline is valid? [False, False] Translation: X:-19.57, Y:-2.39, Z:-0.70 [[ 9.99967892e-01 5.75989584e-03 -5.57115897e-03 -1.95652779e+01] [-5.79000590e-03 9.99968638e-01 -5.40368605e-03 -2.39439002e+00] [ 5.53985958e-03 5.43576959e-03 9.99969881e-01 -7.00313484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.820418555 meters Centerline goodness [0,1] 0.4580087551913795 Centerline is valid? [False, False] Translation: X:-19.57, Y:-2.39, Z:-0.70 [[ 9.99969012e-01 6.15920804e-03 -4.90304625e-03 -1.95679721e+01] [-6.18406952e-03 9.99968017e-01 -5.07171158e-03 -2.39404437e+00] [ 4.87165171e-03 5.10187520e-03 9.99975119e-01 -6.98951402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.850418555000005 meters Centerline goodness [0,1] 0.44289625392303067 Centerline is valid? [False, False] Translation: X:-19.54, Y:-2.39, Z:-0.70 [[ 9.99987874e-01 1.09543566e-03 -4.80122286e-03 -1.95441578e+01] [-1.09882017e-03 9.99999150e-01 -7.02346167e-04 -2.39202419e+00] [ 4.80044940e-03 7.07613331e-04 9.99988227e-01 -6.99022933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.880418555 meters Centerline goodness [0,1] 0.43134207325314233 Centerline is valid? [False, False] Translation: X:-19.58, Y:-2.39, Z:-0.71 [[ 9.99968370e-01 1.32648933e-03 -7.84216891e-03 -1.95809661e+01] [-1.34049806e-03 9.99997515e-01 -1.78134668e-03 -2.39257757e+00] [ 7.83978649e-03 1.79180274e-03 9.99967663e-01 -7.05873878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.910418555 meters Centerline goodness [0,1] 0.45500201784673333 Centerline is valid? [False, False] Translation: X:-19.58, Y:-2.39, Z:-0.71 [[ 9.99969120e-01 1.41727639e-03 -7.72985385e-03 -1.95812229e+01] [-1.43193502e-03 9.99997187e-01 -1.89116210e-03 -2.39279456e+00] [ 7.72715180e-03 1.90217235e-03 9.99968336e-01 -7.05865234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.940418555 meters Centerline goodness [0,1] 0.44753536123377646 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.39, Z:-0.70 [[ 9.99974797e-01 1.90365903e-03 -6.83969553e-03 -1.95853550e+01] [-1.91612801e-03 9.99996514e-01 -1.81694166e-03 -2.39107112e+00] [ 6.83621284e-03 1.83000160e-03 9.99974958e-01 -7.02753639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.970418555 meters Centerline goodness [0,1] 0.44034526277832864 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.39, Z:-0.70 [[ 9.99978540e-01 2.30588789e-03 -6.13209314e-03 -1.95883158e+01] [-2.31617599e-03 9.99995921e-01 -1.67117440e-03 -2.38968862e+00] [ 6.12821459e-03 1.68534154e-03 9.99979802e-01 -7.01257924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.000418555 meters Centerline goodness [0,1] 0.4099786457869917 Centerline is valid? [False, False] Translation: X:-19.56, Y:-2.39, Z:-0.70 [[ 9.99994359e-01 -1.95395200e-03 -2.73206188e-03 -1.95649435e+01] [ 1.96379668e-03 9.99991572e-01 3.60536105e-03 -2.39004824e+00] [ 2.72499416e-03 -3.61070593e-03 9.99989769e-01 -7.03786572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.030418555000004 meters Centerline goodness [0,1] 0.4374635633884928 Centerline is valid? [False, False] Translation: X:-19.57, Y:-2.39, Z:-0.70 [[ 9.99994911e-01 -2.15659999e-03 -2.35110549e-03 -1.95665554e+01] [ 2.16526468e-03 9.99990851e-01 3.68907696e-03 -2.39124670e+00] [ 2.34312811e-03 -3.69414896e-03 9.99990431e-01 -7.02791870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.060418555000005 meters Centerline goodness [0,1] 0.42977855477855476 Centerline is valid? [False, False] Translation: X:-19.56, Y:-2.39, Z:-0.71 [[ 9.99992434e-01 -2.73168270e-03 -2.76957544e-03 -1.95638720e+01] [ 2.74105415e-03 9.99990512e-01 3.38558028e-03 -2.39426826e+00] [ 2.76030083e-03 -3.39314622e-03 9.99990434e-01 -7.05079779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.090418555 meters Centerline goodness [0,1] 0.46676631111715017 Centerline is valid? [False, False] Translation: X:-19.58, Y:-2.40, Z:-0.71 [[ 9.99972291e-01 2.40621155e-03 -7.04463068e-03 -1.95832091e+01] [-2.41373260e-03 9.99996526e-01 -1.05932142e-03 -2.39566522e+00] [ 7.04205725e-03 1.07629592e-03 9.99974625e-01 -7.05903799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.120418555 meters Centerline goodness [0,1] 0.43134644887645524 Centerline is valid? [False, False] Translation: X:-19.58, Y:-2.39, Z:-0.71 [[ 9.99967590e-01 2.48278884e-03 -7.65864208e-03 -1.95803516e+01] [-2.49041721e-03 9.99996412e-01 -9.86671787e-04 -2.39437319e+00] [ 7.65616490e-03 1.00571302e-03 9.99970185e-01 -7.08112231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.150418555 meters Centerline goodness [0,1] 0.4182704128389101 Centerline is valid? [False, False] Translation: X:-19.56, Y:-2.40, Z:-0.71 [[ 9.99989881e-01 -3.05717385e-03 -3.30010979e-03 -1.95607195e+01] [ 3.06788459e-03 9.99990028e-01 3.24540109e-03 -2.39604785e+00] [ 3.29015513e-03 -3.25549261e-03 9.99989288e-01 -7.07495370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.180418555 meters Centerline goodness [0,1] 0.4310837893219843 Centerline is valid? [False, False] Translation: X:-19.57, Y:-2.40, Z:-0.70 [[ 9.99984297e-01 -5.25223523e-03 -1.95449795e-03 -1.95681876e+01] [ 5.25448367e-03 9.99985537e-01 1.14704147e-03 -2.39779703e+00] [ 1.94844515e-03 -1.15729334e-03 9.99997432e-01 -7.02230677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.210418555000004 meters Centerline goodness [0,1] 0.4554381855447195 Centerline is valid? [False, False] Translation: X:-19.57, Y:-2.40, Z:-0.70 [[ 9.99983622e-01 -5.36184189e-03 -2.00139292e-03 -1.95682028e+01] [ 5.36451961e-03 9.99984720e-01 1.33496912e-03 -2.40006872e+00] [ 1.99420445e-03 -1.34568377e-03 9.99997106e-01 -7.02078069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.240418555000005 meters Centerline goodness [0,1] 0.4614667000386812 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.40, Z:-0.70 [[ 9.99977558e-01 4.33025560e-04 -6.68545246e-03 -1.95894481e+01] [-4.44501236e-04 9.99998430e-01 -1.71512405e-03 -2.40083901e+00] [ 6.68469927e-03 1.71805725e-03 9.99976181e-01 -7.00527665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.270418555 meters Centerline goodness [0,1] 0.448330862200656 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.40, Z:-0.70 [[ 9.99972213e-01 3.12686591e-04 -7.44823931e-03 -1.95864131e+01] [-3.23979773e-04 9.99998800e-01 -1.51506341e-03 -2.40259806e+00] [ 7.44775663e-03 1.51743439e-03 9.99971114e-01 -7.01992437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.300418555 meters Centerline goodness [0,1] 0.4434212579990635 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.41, Z:-0.70 [[ 9.99971379e-01 -1.24634306e-04 -7.56476426e-03 -1.95863794e+01] [ 1.14217294e-04 9.99999045e-01 -1.37746025e-03 -2.40710776e+00] [ 7.56492871e-03 1.37655679e-03 9.99970438e-01 -7.01256493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.330418555 meters Centerline goodness [0,1] 0.44103450598298277 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.41, Z:-0.70 [[ 9.99974633e-01 -8.38997874e-05 -7.12219636e-03 -1.95885108e+01] [ 7.69892407e-05 9.99999526e-01 -9.70551706e-04 -2.40865353e+00] [ 7.12227442e-03 9.69978754e-04 9.99974166e-01 -6.99994491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.360418555 meters Centerline goodness [0,1] 0.44103450598298277 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.41, Z:-0.70 [[ 9.99974633e-01 -8.38997874e-05 -7.12219636e-03 -1.95885108e+01] [ 7.69892407e-05 9.99999526e-01 -9.70551706e-04 -2.40865353e+00] [ 7.12227442e-03 9.69978754e-04 9.99974166e-01 -6.99994491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.390418555000004 meters Centerline goodness [0,1] 0.4617413048420096 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.41, Z:-0.70 [[ 9.99976850e-01 -2.01483845e-04 -6.80136591e-03 -1.95903034e+01] [ 1.96445753e-04 9.99999706e-01 -7.41406996e-04 -2.41018729e+00] [ 6.80151329e-03 7.40053733e-04 9.99976596e-01 -6.98484325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.420418555000005 meters Centerline goodness [0,1] 0.44459264199177506 Centerline is valid? [False, False] Translation: X:-19.55, Y:-2.41, Z:-0.69 [[ 9.99982854e-01 -2.84389898e-03 -5.11906194e-03 -1.95480984e+01] [ 2.82940715e-03 9.99991976e-01 -2.83597363e-03 -2.41228140e+00] [ 5.12708608e-03 2.82144110e-03 9.99982876e-01 -6.94994510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.450418555 meters Centerline goodness [0,1] 0.4432492997198879 Centerline is valid? [False, False] Translation: X:-19.55, Y:-2.41, Z:-0.70 [[ 9.99982843e-01 -2.68070409e-03 -5.20845635e-03 -1.95478009e+01] [ 2.66735961e-03 9.99993147e-01 -2.56733942e-03 -2.41321784e+00] [ 5.21530293e-03 2.55340254e-03 9.99983140e-01 -6.95368322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.480418555 meters Centerline goodness [0,1] 0.4468889037941288 Centerline is valid? [False, False] Translation: X:-19.54, Y:-2.41, Z:-0.70 [[ 9.99980347e-01 -8.33311990e-04 -6.21380871e-03 -1.95414789e+01] [ 8.30116164e-04 9.99999522e-01 -5.16871557e-04 -2.41242274e+00] [ 6.21423646e-03 5.11703215e-04 9.99980561e-01 -7.00102054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.510418555 meters Centerline goodness [0,1] 0.4555424291732608 Centerline is valid? [False, False] Translation: X:-19.54, Y:-2.41, Z:-0.70 [[ 9.99978616e-01 -8.64434320e-04 -6.48232542e-03 -1.95393556e+01] [ 8.59909075e-04 9.99999385e-01 -7.00844424e-04 -2.41285843e+00] [ 6.48292726e-03 6.95255226e-04 9.99978744e-01 -7.01938927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.540418555 meters Centerline goodness [0,1] 0.44915044446944974 Centerline is valid? [False, False] Translation: X:-19.54, Y:-2.41, Z:-0.70 [[ 9.99981916e-01 -7.25892436e-04 -5.97003975e-03 -1.95414148e+01] [ 7.20955575e-04 9.99999396e-01 -8.29049789e-04 -2.41241574e+00] [ 5.97063795e-03 8.24730662e-04 9.99981835e-01 -7.01301135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.570418555 meters Centerline goodness [0,1] 0.45030173943911966 Centerline is valid? [False, False] Translation: X:-19.54, Y:-2.41, Z:-0.70 [[ 9.99973190e-01 3.17294391e-03 -6.59933177e-03 -1.95393807e+01] [-3.15186096e-03 9.99989904e-01 3.20266092e-03 -2.41226130e+00] [ 6.60942701e-03 -3.18177488e-03 9.99973096e-01 -7.01480504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.600418555000005 meters Centerline goodness [0,1] 0.4385922114787546 Centerline is valid? [False, False] Translation: X:-19.54, Y:-2.41, Z:-0.70 [[ 9.99974769e-01 3.22577886e-03 -6.32889104e-03 -1.95403267e+01] [-3.20671902e-03 9.99990300e-01 3.01940099e-03 -2.41077848e+00] [ 6.33856957e-03 -2.99902984e-03 9.99975414e-01 -7.00953612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.630418555 meters Centerline goodness [0,1] 0.43777581641659313 Centerline is valid? [False, False] Translation: X:-19.60, Y:-2.41, Z:-0.70 [[ 9.99990581e-01 2.54528476e-03 -3.51561888e-03 -1.95957265e+01] [-2.54434007e-03 9.99996726e-01 2.73158216e-04 -2.41081723e+00] [ 3.51630264e-03 -2.64210713e-04 9.99993783e-01 -6.98399591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.660418555 meters Centerline goodness [0,1] 0.4189466179484894 Centerline is valid? [False, False] Translation: X:-19.57, Y:-2.41, Z:-0.70 [[ 9.99999509e-01 -6.69851952e-04 7.29752684e-04 -1.95710334e+01] [ 6.65932312e-04 9.99985423e-01 5.35825710e-03 -2.40980381e+00] [-7.33331285e-04 -5.35776850e-03 9.99985378e-01 -7.03114036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.690418555 meters Centerline goodness [0,1] 0.43376225081672115 Centerline is valid? [False, False] Translation: X:-19.56, Y:-2.41, Z:-0.71 [[ 9.99998744e-01 1.36129376e-03 -8.11148152e-04 -1.95631054e+01] [-1.35523115e-03 9.99971491e-01 7.42836390e-03 -2.40708448e+00] [ 8.21237212e-04 -7.42725528e-03 9.99972080e-01 -7.08362661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.720418555 meters Centerline goodness [0,1] 0.4300932090545939 Centerline is valid? [False, False] Translation: X:-19.56, Y:-2.40, Z:-0.71 [[ 9.99997491e-01 -4.11643667e-04 -2.20185308e-03 -1.95552973e+01] [ 4.23374359e-04 9.99985707e-01 5.32983500e-03 -2.40424328e+00] [ 2.19962762e-03 -5.33075383e-03 9.99983372e-01 -7.13797426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.750418555 meters Centerline goodness [0,1] 0.42336431970822397 Centerline is valid? [False, False] Translation: X:-19.56, Y:-2.41, Z:-0.71 [[ 9.99994700e-01 -2.86550082e-03 -1.54546359e-03 -1.95587324e+01] [ 2.86954694e-03 9.99992445e-01 2.62223133e-03 -2.40509243e+00] [ 1.53793791e-03 -2.62665221e-03 9.99995368e-01 -7.11984821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.780418555000004 meters Centerline goodness [0,1] 0.4488292672038571 Centerline is valid? [False, False] Translation: X:-19.57, Y:-2.41, Z:-0.71 [[ 9.99998725e-01 -1.48619302e-03 -5.84233634e-04 -1.95658062e+01] [ 1.48870293e-03 9.99989563e-01 4.31937377e-03 -2.40573585e+00] [ 5.77808114e-04 -4.32023801e-03 9.99990501e-01 -7.05954839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.810418555000005 meters Centerline goodness [0,1] 0.43381761287438536 Centerline is valid? [False, False] Translation: X:-19.57, Y:-2.41, Z:-0.70 [[ 9.99997980e-01 -1.97961535e-03 3.48784839e-04 -1.95701701e+01] [ 1.97817615e-03 9.99989722e-01 4.07944294e-03 -2.40545895e+00] [-3.56856982e-04 -4.07874474e-03 9.99991618e-01 -7.02820810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.840418555 meters Centerline goodness [0,1] 0.44145537695877324 Centerline is valid? [False, False] Translation: X:-19.57, Y:-2.41, Z:-0.70 [[ 9.99996919e-01 -2.32588316e-03 8.67883475e-04 -1.95723972e+01] [ 2.32245128e-03 9.99989563e-01 3.93458369e-03 -2.40647637e+00] [-8.77025798e-04 -3.93255595e-03 9.99991883e-01 -7.01552013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.870418555 meters Centerline goodness [0,1] 0.43950396603731423 Centerline is valid? [False, False] Translation: X:-19.57, Y:-2.41, Z:-0.70 [[ 9.99996090e-01 -2.76419547e-03 4.23658208e-04 -1.95699329e+01] [ 2.76269425e-03 9.99990045e-01 3.50402294e-03 -2.40530758e+00] [-4.33339794e-04 -3.50283880e-03 9.99993771e-01 -7.03516404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.900418555 meters Centerline goodness [0,1] 0.4419356997835836 Centerline is valid? [False, False] Translation: X:-19.56, Y:-2.40, Z:-0.71 [[ 9.99990436e-01 -4.31098498e-03 -7.36683988e-04 -1.95633611e+01] [ 4.31237409e-03 9.99988907e-01 1.89455855e-03 -2.40442875e+00] [ 7.28508402e-04 -1.89771729e-03 9.99997934e-01 -7.08183223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.930418555 meters Centerline goodness [0,1] 0.46780430774765047 Centerline is valid? [False, False] Translation: X:-19.58, Y:-2.41, Z:-0.71 [[ 9.99993976e-01 5.52647954e-04 -3.42675473e-03 -1.95844790e+01] [-5.64744884e-04 9.99993609e-01 -3.53017948e-03 -2.40519604e+00] [ 3.42478189e-03 3.53209346e-03 9.99987898e-01 -7.09265090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.960418555000004 meters Centerline goodness [0,1] 0.443867574674668 Centerline is valid? [False, False] Translation: X:-19.58, Y:-2.40, Z:-0.71 [[ 9.99993427e-01 1.00779777e-03 -3.48276053e-03 -1.95844942e+01] [-1.01957531e-03 9.99993763e-01 -3.38154958e-03 -2.40354338e+00] [ 3.47933089e-03 3.38507829e-03 9.99988218e-01 -7.09103970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.990418555000005 meters Centerline goodness [0,1] 0.45733294764246457 Centerline is valid? [False, False] Translation: X:-19.56, Y:-2.40, Z:-0.71 [[ 9.99995293e-01 -3.02791214e-03 -4.96418531e-04 -1.95640149e+01] [ 3.02919257e-03 9.99992034e-01 2.59921612e-03 -2.40262162e+00] [ 4.88544378e-04 -2.60070763e-03 9.99996499e-01 -7.08443004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.020418555 meters Centerline goodness [0,1] 0.45542510930113855 Centerline is valid? [False, False] Translation: X:-19.57, Y:-2.40, Z:-0.71 [[ 9.99995259e-01 -3.06419623e-03 -3.04163979e-04 -1.95654376e+01] [ 3.06511704e-03 9.99990576e-01 3.07450725e-03 -2.40412006e+00] [ 2.94740219e-04 -3.07542497e-03 9.99995227e-01 -7.06895718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.050418555 meters Centerline goodness [0,1] 0.4445871722182849 Centerline is valid? [False, False] Translation: X:-19.56, Y:-2.41, Z:-0.71 [[ 9.99972412e-01 -7.41423168e-03 -4.52529691e-04 -1.95647409e+01] [ 7.41392755e-03 9.99972292e-01 -6.70087543e-04 -2.40697193e+00] [ 4.57485336e-04 6.66714034e-04 9.99999673e-01 -7.07125839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.080418555 meters Centerline goodness [0,1] 0.46597189325753985 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.41, Z:-0.70 [[ 9.99984927e-01 -4.52937961e-03 -3.10319102e-03 -1.95907714e+01] [ 4.50613764e-03 9.99962049e-01 -7.45619483e-03 -2.40856137e+00] [ 3.13684519e-03 7.44209904e-03 9.99967387e-01 -7.03304560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.110418555 meters Centerline goodness [0,1] 0.46676358756430325 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.41, Z:-0.70 [[ 9.99985084e-01 -4.38768871e-03 -3.25259455e-03 -1.95904023e+01] [ 4.36379583e-03 9.99963710e-01 -7.31684745e-03 -2.40912517e+00] [ 3.28458056e-03 7.30254465e-03 9.99967942e-01 -7.03282103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.140418555000004 meters Centerline goodness [0,1] 0.46746971856074104 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.41, Z:-0.70 [[ 9.99984154e-01 -4.46782892e-03 -3.42506588e-03 -1.95895473e+01] [ 4.44323320e-03 9.99964528e-01 -7.15537804e-03 -2.41113775e+00] [ 3.45691339e-03 7.14004628e-03 9.99968534e-01 -7.04004492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.170418555000005 meters Centerline goodness [0,1] 0.4654153478385976 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.41, Z:-0.70 [[ 9.99984766e-01 -4.30475915e-03 -3.45486088e-03 -1.95896102e+01] [ 4.28257460e-03 9.99970329e-01 -6.40317143e-03 -2.41360401e+00] [ 3.48232248e-03 6.38827819e-03 9.99973531e-01 -7.03643918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.200418555 meters Centerline goodness [0,1] 0.44875376973567505 Centerline is valid? [False, False] Translation: X:-19.60, Y:-2.42, Z:-0.70 [[ 9.99993722e-01 -2.79597873e-03 -2.17692277e-03 -1.95965612e+01] [ 2.78615458e-03 9.99985981e-01 -4.50289350e-03 -2.41713408e+00] [ 2.18948225e-03 4.49679999e-03 9.99987492e-01 -6.99027773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.230418555 meters Centerline goodness [0,1] 0.471384437579179 Centerline is valid? [False, False] Translation: X:-19.60, Y:-2.42, Z:-0.70 [[ 9.99998705e-01 -1.35409676e-03 -8.69432808e-04 -1.96031014e+01] [ 1.35165972e-03 9.99995173e-01 -2.79752233e-03 -2.42170545e+00] [ 8.73216727e-04 2.79634353e-03 9.99995709e-01 -6.95173591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.260418555 meters Centerline goodness [0,1] 0.4721027142696249 Centerline is valid? [False, False] Translation: X:-19.62, Y:-2.42, Z:-0.70 [[ 9.99957443e-01 -4.73071628e-03 -7.92038733e-03 -1.96173301e+01] [ 4.74899073e-03 9.99986101e-01 2.29005222e-03 -2.42462684e+00] [ 7.90944366e-03 -2.32756861e-03 9.99966011e-01 -6.97844069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.290418555 meters Centerline goodness [0,1] 0.4688317446242518 Centerline is valid? [False, False] Translation: X:-19.57, Y:-2.42, Z:-0.71 [[ 9.99908817e-01 1.04748031e-03 -1.34633371e-02 -1.95743257e+01] [-1.03067355e-03 9.99998681e-01 1.25521349e-03 -2.42413920e+00] [ 1.34646342e-02 -1.24122273e-03 9.99908577e-01 -7.08362414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.320418555 meters Centerline goodness [0,1] 0.4660881174899867 Centerline is valid? [False, False] Translation: X:-19.58, Y:-2.42, Z:-0.71 [[ 9.99910512e-01 4.46296777e-04 -1.33704593e-02 -1.95754707e+01] [-4.37085097e-04 9.99999665e-01 6.91871862e-04 -2.42445756e+00] [ 1.33707636e-02 -6.85965919e-04 9.99910372e-01 -7.06874899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.350418555000005 meters Centerline goodness [0,1] 0.46722028952979466 Centerline is valid? [False, False] Translation: X:-19.62, Y:-2.42, Z:-0.70 [[ 9.99999507e-01 5.94552638e-04 -7.94698999e-04 -1.96163638e+01] [-5.95716814e-04 9.99998749e-01 -1.46549398e-03 -2.42463927e+00] [ 7.93826691e-04 1.46596667e-03 9.99998610e-01 -7.03519957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.380418555 meters Centerline goodness [0,1] 0.4592630118279333 Centerline is valid? [False, False] Translation: X:-19.58, Y:-2.42, Z:-0.70 [[ 9.99994083e-01 1.49903716e-03 3.09617296e-03 -1.95834148e+01] [-1.49516484e-03 9.99998098e-01 -1.25261752e-03 -2.41986135e+00] [-3.09804479e-03 1.24798082e-03 9.99994422e-01 -6.95007200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.410418555 meters Centerline goodness [0,1] 0.451310945496992 Centerline is valid? [False, False] Translation: X:-19.62, Y:-2.42, Z:-0.70 [[ 9.99990595e-01 4.32858469e-03 -2.69279422e-04 -1.96181641e+01] [-4.32855774e-03 9.99990627e-01 1.00603440e-04 -2.41689498e+00] [ 2.69712368e-04 -9.94369025e-05 9.99999959e-01 -7.04320677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.440418555 meters Centerline goodness [0,1] 0.4513802866749248 Centerline is valid? [False, False] Translation: X:-19.58, Y:-2.41, Z:-0.71 [[ 9.99996063e-01 -2.34527664e-04 -2.79616624e-03 -1.95831936e+01] [ 2.45333219e-04 9.99992502e-01 3.86470155e-03 -2.41378862e+00] [ 2.79523889e-03 -3.86537233e-03 9.99988623e-01 -7.12159545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.470418555 meters Centerline goodness [0,1] 0.47239319129748614 Centerline is valid? [False, False] Translation: X:-19.63, Y:-2.42, Z:-0.71 [[ 9.99990882e-01 -1.48225776e-05 -4.27043277e-03 -1.96283240e+01] [ 3.02727630e-05 9.99993455e-01 3.61790181e-03 -2.41505807e+00] [ 4.27035119e-03 -3.61799810e-03 9.99984337e-01 -7.14664669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.500418555 meters Centerline goodness [0,1] 0.4569742847601024 Centerline is valid? [False, False] Translation: X:-19.61, Y:-2.41, Z:-0.72 [[ 9.99993082e-01 3.51903619e-03 1.20518439e-03 -1.96053296e+01] [-3.51908407e-03 9.99993807e-01 3.76090983e-05 -2.41181663e+00] [-1.20504458e-03 -4.18499833e-05 9.99999273e-01 -7.18947814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.530418555000004 meters Centerline goodness [0,1] 0.4506417890697366 Centerline is valid? [False, False] Translation: X:-19.59, Y:-2.41, Z:-0.71 [[ 9.99995444e-01 -3.01456519e-03 1.54739361e-04 -1.95859461e+01] [ 3.01402062e-03 9.99989656e-01 3.40647990e-03 -2.40992038e+00] [-1.65006817e-04 -3.40599799e-03 9.99994186e-01 -7.13459065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.560418555000005 meters Centerline goodness [0,1] 0.47148623356709585 Centerline is valid? [False, False] Translation: X:-19.64, Y:-2.41, Z:-0.71 [[ 9.99989546e-01 -4.40850437e-03 1.21384205e-03 -1.96388942e+01] [ 4.40670359e-03 9.99989192e-01 1.48223500e-03 -2.41066243e+00] [-1.22036337e-03 -1.47687046e-03 9.99998165e-01 -7.11506412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.590418555 meters Centerline goodness [0,1] 0.4659053110100898 Centerline is valid? [False, False] Translation: X:-19.62, Y:-2.41, Z:-0.71 [[ 9.99989303e-01 -2.50739165e-03 3.88682877e-03 -1.96156413e+01] [ 2.53397147e-03 9.99973337e-01 -6.84866152e-03 -2.40895470e+00] [-3.86955286e-03 6.85843737e-03 9.99968994e-01 -7.11939082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.620418555 meters Centerline goodness [0,1] 0.469385927600797 Centerline is valid? [False, False] Translation: X:-19.64, Y:-2.41, Z:-0.71 [[ 9.99984329e-01 -5.47788541e-03 -1.15546177e-03 -1.96402031e+01] [ 5.47613424e-03 9.99983861e-01 -1.51331670e-03 -2.41193057e+00] [ 1.16373290e-03 1.50696552e-03 9.99998187e-01 -7.07846698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.650418555 meters Centerline goodness [0,1] 0.47714016511127066 Centerline is valid? [False, False] Translation: X:-19.64, Y:-2.41, Z:-0.71 [[ 9.99997687e-01 -1.63038953e-03 -1.40245116e-03 -1.96397192e+01] [ 1.63445904e-03 9.99994443e-01 2.90547646e-03 -2.41109860e+00] [ 1.39770631e-03 -2.90776199e-03 9.99994796e-01 -7.07898063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.680418555 meters Centerline goodness [0,1] 0.48524018653506584 Centerline is valid? [False, False] Translation: X:-19.67, Y:-2.41, Z:-0.71 [[ 9.99995017e-01 3.15531640e-03 -9.47329826e-05 -1.96656410e+01] [-3.15542887e-03 9.99994288e-01 -1.21160399e-03 -2.41391369e+00] [ 9.09094475e-05 1.21189688e-03 9.99999262e-01 -7.06825147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.710418555000004 meters Centerline goodness [0,1] 0.45615750411092837 Centerline is valid? [False, False] Translation: X:-19.62, Y:-2.42, Z:-0.70 [[ 9.99997735e-01 -4.38960709e-04 2.08271129e-03 -1.96249949e+01] [ 4.49331325e-04 9.99987491e-01 -4.98152995e-03 -2.41598212e+00] [-2.08049854e-03 4.98245450e-03 9.99985423e-01 -7.03442985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.740418555000005 meters Centerline goodness [0,1] 0.45068611585271234 Centerline is valid? [False, False] Translation: X:-19.63, Y:-2.42, Z:-0.70 [[ 9.99996711e-01 -5.17810298e-05 2.56433293e-03 -1.96268427e+01] [ 6.30582162e-05 9.99990328e-01 -4.39782199e-03 -2.41780529e+00] [-2.56408041e-03 4.39796923e-03 9.99987042e-01 -7.02757848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.770418555 meters Centerline goodness [0,1] 0.47856644065505827 Centerline is valid? [False, False] Translation: X:-19.65, Y:-2.42, Z:-0.70 [[ 9.99995494e-01 -2.30277225e-03 -1.92611284e-03 -1.96478943e+01] [ 2.30897050e-03 9.99992144e-01 3.22199840e-03 -2.41926541e+00] [ 1.91867818e-03 -3.22643121e-03 9.99992954e-01 -7.02486942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.800418555 meters Centerline goodness [0,1] 0.46769230769230774 Centerline is valid? [False, False] Translation: X:-19.64, Y:-2.42, Z:-0.71 [[ 9.99987927e-01 -2.33757076e-03 -4.32214086e-03 -1.96351452e+01] [ 2.35155756e-03 9.99992006e-01 3.23383604e-03 -2.41935674e+00] [ 4.31454699e-03 -3.24396076e-03 9.99985431e-01 -7.11740531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.830418555 meters Centerline goodness [0,1] 0.4829841755080022 Centerline is valid? [False, False] Translation: X:-19.63, Y:-2.42, Z:-0.72 [[ 9.99973944e-01 -4.22311075e-03 -5.85469942e-03 -1.96270047e+01] [ 4.22717259e-03 9.99990833e-01 6.81574293e-04 -2.42119839e+00] [ 5.85176739e-03 -7.06305358e-04 9.99982629e-01 -7.17018777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.860418555 meters Centerline goodness [0,1] 0.48219882302541095 Centerline is valid? [False, False] Translation: X:-19.64, Y:-2.42, Z:-0.71 [[ 9.99987496e-01 -3.27927764e-03 -3.77557291e-03 -1.96369581e+01] [ 3.28473500e-03 9.99993568e-01 1.44014593e-03 -2.42361969e+00] [ 3.77082599e-03 -1.45252968e-03 9.99991835e-01 -7.10718625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.890418555000004 meters Centerline goodness [0,1] 0.45916051558885096 Centerline is valid? [False, False] Translation: X:-19.60, Y:-2.42, Z:-0.70 [[ 9.99997706e-01 -2.13734996e-03 -1.39935338e-04 -1.96036604e+01] [ 2.13774632e-03 9.99993520e-01 2.89638081e-03 -2.42214795e+00] [ 1.33743852e-04 -2.89667331e-03 9.99995796e-01 -7.01130044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.920418555000005 meters Centerline goodness [0,1] 0.4646376422108752 Centerline is valid? [False, False] Translation: X:-19.65, Y:-2.42, Z:-0.70 [[ 9.99996265e-01 2.61081817e-03 -8.08133710e-04 -1.96528492e+01] [-2.60387207e-03 9.99960653e-01 8.48014868e-03 -2.42457444e+00] [ 8.30242038e-04 -8.47801273e-03 9.99963716e-01 -6.99809297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.950418555 meters Centerline goodness [0,1] 0.45319826594709367 Centerline is valid? [False, False] Translation: X:-19.62, Y:-2.42, Z:-0.70 [[ 9.99981653e-01 5.91238871e-03 1.31808109e-03 -1.96247271e+01] [-5.91607765e-03 9.99978544e-01 2.81261268e-03 -2.42326566e+00] [-1.30142355e-03 -2.82035895e-03 9.99995176e-01 -7.04736189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.980418555 meters Centerline goodness [0,1] 0.47039687703318156 Centerline is valid? [False, False] Translation: X:-19.65, Y:-2.43, Z:-0.70 [[ 9.99997220e-01 -4.92209723e-04 -2.30606960e-03 -1.96525613e+01] [ 4.99468779e-04 9.99994919e-01 3.14828702e-03 -2.42956328e+00] [ 2.30450826e-03 -3.14943007e-03 9.99992385e-01 -6.98558709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.010418555 meters Centerline goodness [0,1] 0.4585460463249883 Centerline is valid? [False, False] Translation: X:-19.65, Y:-2.43, Z:-0.70 [[ 9.99997026e-01 1.34894248e-04 -2.43521423e-03 -1.96515962e+01] [-1.26551908e-04 9.99994125e-01 3.42553994e-03 -2.42707666e+00] [ 2.43566201e-03 -3.42522157e-03 9.99991168e-01 -6.99951996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.040418555 meters Centerline goodness [0,1] 0.4713375796178344 Centerline is valid? [False, False] Translation: X:-19.69, Y:-2.43, Z:-0.71 [[ 9.99980574e-01 3.10952642e-03 -5.40204150e-03 -1.96892326e+01] [-3.07363680e-03 9.99973235e-01 6.63936077e-03 -2.42700350e+00] [ 5.42254218e-03 -6.62262788e-03 9.99963368e-01 -7.06436834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.070418555 meters Centerline goodness [0,1] 0.46606040193106546 Centerline is valid? [False, False] Translation: X:-19.69, Y:-2.43, Z:-0.71 [[ 9.99983296e-01 8.26850121e-04 -5.72053372e-03 -1.96863072e+01] [-8.04010531e-04 9.99991702e-01 3.99371097e-03 -2.42594149e+00] [ 5.72378845e-03 -3.98904489e-03 9.99975663e-01 -7.08409332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.100418555000005 meters Centerline goodness [0,1] 0.46521457163942126 Centerline is valid? [False, False] Translation: X:-19.69, Y:-2.43, Z:-0.71 [[ 9.99985555e-01 3.93749198e-04 -5.36054916e-03 -1.96879095e+01] [-3.75954909e-04 9.99994418e-01 3.32009310e-03 -2.42610383e+00] [ 5.36182653e-03 -3.31802982e-03 9.99980121e-01 -7.07563666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.130418555 meters Centerline goodness [0,1] 0.4703381251265438 Centerline is valid? [False, False] Translation: X:-19.69, Y:-2.42, Z:-0.71 [[ 9.99981757e-01 2.63234277e-04 -6.03459380e-03 -1.96852140e+01] [-2.46538103e-04 9.99996141e-01 2.76732057e-03 -2.42325054e+00] [ 6.03529896e-03 -2.76578233e-03 9.99977963e-01 -7.09320291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.160418555 meters Centerline goodness [0,1] 0.46283986572108227 Centerline is valid? [False, False] Translation: X:-19.68, Y:-2.42, Z:-0.71 [[ 9.99974011e-01 1.73082342e-03 -6.99863520e-03 -1.96795116e+01] [-1.70141520e-03 9.99989708e-01 4.20576543e-03 -2.42212065e+00] [ 7.00584261e-03 -4.19374854e-03 9.99966665e-01 -7.13128461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.190418555 meters Centerline goodness [0,1] 0.4635825664334091 Centerline is valid? [False, False] Translation: X:-19.68, Y:-2.42, Z:-0.71 [[ 9.99980281e-01 9.95623899e-04 -6.20055049e-03 -1.96842973e+01] [-9.74233237e-04 9.99993568e-01 3.45186604e-03 -2.42046511e+00] [ 6.20394736e-03 -3.44575719e-03 9.99974819e-01 -7.09453170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.220418555 meters Centerline goodness [0,1] 0.4793570181603827 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.42, Z:-0.70 [[ 9.99997180e-01 -1.10989245e-03 -2.09960638e-03 -1.97032307e+01] [ 1.11248779e-03 9.99998618e-01 1.23534790e-03 -2.42141132e+00] [ 2.09823238e-03 -1.23768020e-03 9.99997033e-01 -6.97402795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.250418555 meters Centerline goodness [0,1] 0.4793570181603827 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.42, Z:-0.70 [[ 9.99997180e-01 -1.10989245e-03 -2.09960638e-03 -1.97032307e+01] [ 1.11248779e-03 9.99998618e-01 1.23534790e-03 -2.42141132e+00] [ 2.09823238e-03 -1.23768020e-03 9.99997033e-01 -6.97402795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.280418555000004 meters Centerline goodness [0,1] 0.47902516078077395 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.42, Z:-0.70 [[ 9.99997451e-01 -1.36817882e-03 -1.79627878e-03 -1.97040224e+01] [ 1.37042383e-03 9.99998281e-01 1.24917437e-03 -2.42318589e+00] [ 1.79456660e-03 -1.25163285e-03 9.99997606e-01 -6.97393520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.310418555 meters Centerline goodness [0,1] 0.47268462128389044 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.42, Z:-0.70 [[ 9.99995770e-01 -1.14004149e-03 -2.67592284e-03 -1.96993763e+01] [ 1.14468563e-03 9.99997840e-01 1.73463955e-03 -2.42380090e+00] [ 2.67393950e-03 -1.73769530e-03 9.99994915e-01 -7.01544303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.340418555 meters Centerline goodness [0,1] 0.47672784953546343 Centerline is valid? [False, False] Translation: X:-19.69, Y:-2.42, Z:-0.71 [[ 9.99984741e-01 9.57032204e-05 -5.52348253e-03 -1.96860906e+01] [-7.76375455e-05 9.99994648e-01 3.27082547e-03 -2.42169698e+00] [ 5.52376600e-03 -3.27034673e-03 9.99979396e-01 -7.10233639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.370418555 meters Centerline goodness [0,1] 0.39070038823186193 Centerline is valid? [False, False] Translation: X:-19.68, Y:-2.42, Z:-0.72 [[ 9.99973099e-01 -1.81360342e-03 -7.10723424e-03 -1.96779423e+01] [ 1.82437003e-03 9.99997198e-01 1.50868988e-03 -2.42199196e+00] [ 7.10447816e-03 -1.52161552e-03 9.99973605e-01 -7.15190267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.400418555 meters Centerline goodness [0,1] 0.46313967422662106 Centerline is valid? [False, False] Translation: X:-19.66, Y:-2.42, Z:-0.72 [[ 9.99990621e-01 -6.70677925e-04 -4.27882988e-03 -1.96554913e+01] [ 6.40747673e-04 9.99975347e-01 -6.99250209e-03 -2.42343513e+00] [ 4.28341411e-03 6.98969486e-03 9.99966398e-01 -7.15081886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.430418555 meters Centerline goodness [0,1] 0.4783002012800507 Centerline is valid? [False, False] Translation: X:-19.72, Y:-2.42, Z:-0.71 [[ 9.99998506e-01 1.40346072e-03 1.00887605e-03 -1.97159409e+01] [-1.39826378e-03 9.99985845e-01 -5.13359942e-03 -2.42385112e+00] [-1.01606657e-03 5.13218108e-03 9.99986314e-01 -7.09473191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.460418555000004 meters Centerline goodness [0,1] 0.4909897610921502 Centerline is valid? [False, False] Translation: X:-19.72, Y:-2.42, Z:-0.70 [[ 9.99990744e-01 3.69950988e-03 2.19662762e-03 -1.97227712e+01] [-3.69373900e-03 9.99989732e-01 -2.62542561e-03 -2.42312303e+00] [-2.20631785e-03 2.61728754e-03 9.99994141e-01 -7.04420503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.490418555000005 meters Centerline goodness [0,1] 0.4746152643452235 Centerline is valid? [False, False] Translation: X:-19.69, Y:-2.43, Z:-0.72 [[ 9.99992409e-01 -1.53479495e-03 3.58134095e-03 -1.96881475e+01] [ 1.53327098e-03 9.99998733e-01 4.28238910e-04 -2.42608244e+00] [-3.58199367e-03 -4.22744493e-04 9.99993495e-01 -7.15250417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.520418555 meters Centerline goodness [0,1] 0.485773704778664 Centerline is valid? [False, False] Translation: X:-19.73, Y:-2.43, Z:-0.72 [[ 9.99996694e-01 -1.57703488e-03 2.03080859e-03 -1.97331523e+01] [ 1.57711415e-03 9.99998756e-01 -3.74340183e-05 -2.42833752e+00] [-2.03074703e-03 4.06367115e-05 9.99997937e-01 -7.17452842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.550418555 meters Centerline goodness [0,1] 0.4713099070301421 Centerline is valid? [False, False] Translation: X:-19.72, Y:-2.43, Z:-0.72 [[ 9.99954806e-01 3.56125944e-03 8.81496891e-03 -1.97156880e+01] [-3.54065865e-03 9.99990967e-01 -2.35152758e-03 -2.42644030e+00] [-8.82326368e-03 2.32021050e-03 9.99958382e-01 -7.18063554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.580418555 meters Centerline goodness [0,1] 0.4742632170978628 Centerline is valid? [False, False] Translation: X:-19.72, Y:-2.43, Z:-0.72 [[ 9.99949651e-01 3.41523886e-03 9.43569675e-03 -1.97184865e+01] [-3.39282711e-03 9.99991388e-01 -2.39019543e-03 -2.42759720e+00] [-9.44377857e-03 2.35806140e-03 9.99952626e-01 -7.16089875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.610418555 meters Centerline goodness [0,1] 0.45502669039145904 Centerline is valid? [False, False] Translation: X:-19.72, Y:-2.43, Z:-0.72 [[ 9.99955352e-01 3.68104439e-03 8.70307987e-03 -1.97150982e+01] [-3.66188847e-03 9.99990840e-01 -2.21596192e-03 -2.42757040e+00] [-8.71115721e-03 2.18399328e-03 9.99959672e-01 -7.18370002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.640418555000004 meters Centerline goodness [0,1] 0.4546003084005632 Centerline is valid? [False, False] Translation: X:-19.71, Y:-2.43, Z:-0.72 [[ 9.99956311e-01 7.31776954e-03 -5.81605582e-03 -1.97135274e+01] [-7.32601991e-03 9.99972186e-01 -1.39851319e-03 -2.42590455e+00] [ 5.80566006e-03 1.44106063e-03 9.99982109e-01 -7.21190707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.670418555000005 meters Centerline goodness [0,1] 0.4896121569516897 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.42, Z:-0.72 [[ 9.99955544e-01 2.68750909e-03 -9.03807983e-03 -1.97375431e+01] [-2.66112871e-03 9.99992168e-01 2.92956493e-03 -2.42448750e+00] [ 9.04588228e-03 -2.90538320e-03 9.99954864e-01 -7.20094630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.700418555 meters Centerline goodness [0,1] 0.48108218063466235 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.42, Z:-0.72 [[ 9.99964089e-01 2.13535953e-03 -8.20132853e-03 -1.97418315e+01] [-2.11452450e-03 9.99994518e-01 2.54827717e-03 -2.42351602e+00] [ 8.20672505e-03 -2.53084375e-03 9.99963122e-01 -7.16612260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.730418555 meters Centerline goodness [0,1] 0.4781051311901138 Centerline is valid? [False, False] Translation: X:-19.75, Y:-2.42, Z:-0.71 [[ 9.99969256e-01 -1.97616366e-03 -7.58822953e-03 -1.97450841e+01] [ 1.96344606e-03 9.99996656e-01 -1.68304813e-03 -2.42179374e+00] [ 7.59153013e-03 1.66809731e-03 9.99969793e-01 -7.13726201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.760418555 meters Centerline goodness [0,1] 0.12253201707577377 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.42, Z:-0.72 [[ 9.99957278e-01 -3.60271448e-03 -8.51254643e-03 -1.97391749e+01] [ 3.57107118e-03 9.99986669e-01 -3.72953445e-03 -2.41991855e+00] [ 8.52586939e-03 3.69897621e-03 9.99956813e-01 -7.17931717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.790418555 meters Centerline goodness [0,1] 0.48616018845700826 Centerline is valid? [False, False] Translation: X:-19.79, Y:-2.42, Z:-0.72 [[ 9.99966741e-01 -1.16567718e-03 -8.07201327e-03 -1.97908945e+01] [ 1.14185669e-03 9.99994982e-01 -2.95497763e-03 -2.42037124e+00] [ 8.07541731e-03 2.94566227e-03 9.99963055e-01 -7.15717104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.820418555 meters Centerline goodness [0,1] 0.46284643191859687 Centerline is valid? [False, False] Translation: X:-19.77, Y:-2.42, Z:-0.72 [[ 9.99988301e-01 -3.23626485e-03 -3.59502774e-03 -1.97714341e+01] [ 3.25391634e-03 9.99982627e-01 4.91502228e-03 -2.42062057e+00] [ 3.57905897e-03 -4.92666270e-03 9.99981459e-01 -7.15087495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.850418555000005 meters Centerline goodness [0,1] 0.45554956896551724 Centerline is valid? [False, False] Translation: X:-19.77, Y:-2.42, Z:-0.71 [[ 9.99988931e-01 -3.30662955e-03 -3.34716566e-03 -1.97726061e+01] [ 3.32400794e-03 9.99980956e-01 5.19979224e-03 -2.42011387e+00] [ 3.32990814e-03 -5.21086069e-03 9.99980879e-01 -7.14433298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.880418555 meters Centerline goodness [0,1] 0.4552058111380145 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.42, Z:-0.72 [[ 9.99998016e-01 -1.22650996e-03 -1.56946532e-03 -1.97442281e+01] [ 1.22508343e-03 9.99998836e-01 -9.09562924e-04 -2.42031239e+00] [ 1.57057908e-03 9.07638394e-04 9.99998355e-01 -7.20251417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.910418555 meters Centerline goodness [0,1] 0.4620735489587948 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.42, Z:-0.72 [[ 9.99996943e-01 -1.59774484e-03 -1.88714261e-03 -1.97423030e+01] [ 1.59562130e-03 9.99998093e-01 -1.12623990e-03 -2.42028901e+00] [ 1.88893845e-03 1.12322530e-03 9.99997585e-01 -7.21967810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.940418555 meters Centerline goodness [0,1] 0.4862484029318809 Centerline is valid? [False, False] Translation: X:-19.76, Y:-2.42, Z:-0.72 [[ 9.99981788e-01 1.19082942e-03 -5.91661586e-03 -1.97649375e+01] [-1.23757172e-03 9.99968007e-01 -7.90280493e-03 -2.41957089e+00] [ 5.90701567e-03 7.90998324e-03 9.99951268e-01 -7.20155000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.970418555 meters Centerline goodness [0,1] 0.4821279003961517 Centerline is valid? [False, False] Translation: X:-19.77, Y:-2.42, Z:-0.72 [[ 9.99979236e-01 -3.22498753e-03 -5.57916103e-03 -1.97670456e+01] [ 3.15635011e-03 9.99919766e-01 -1.22678308e-02 -2.41973003e+00] [ 5.61827699e-03 1.22499663e-02 9.99909183e-01 -7.18356612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.000418555 meters Centerline goodness [0,1] 0.47259377564827754 Centerline is valid? [False, False] Translation: X:-19.75, Y:-2.42, Z:-0.72 [[ 9.99982660e-01 -5.81484800e-03 -9.31210887e-04 -1.97470542e+01] [ 5.81031949e-03 9.99971628e-01 -4.79406255e-03 -2.42042386e+00] [ 9.59061212e-04 4.78856879e-03 9.99988075e-01 -7.18819964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.030418555000004 meters Centerline goodness [0,1] 0.4819051023143598 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.42, Z:-0.72 [[ 9.99979813e-01 -5.99823466e-03 -2.09642009e-03 -1.97418241e+01] [ 5.98841180e-03 9.99971207e-01 -4.66082335e-03 -2.42110312e+00] [ 2.12431644e-03 4.64817503e-03 9.99986941e-01 -7.21870295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.060418555 meters Centerline goodness [0,1] 0.48221820373719104 Centerline is valid? [False, False] Translation: X:-19.73, Y:-2.42, Z:-0.73 [[ 9.99954241e-01 -8.78681350e-03 -3.78254798e-03 -1.97324781e+01] [ 8.75919677e-03 9.99935306e-01 -7.25677207e-03 -2.42486762e+00] [ 3.84606718e-03 7.22330792e-03 9.99966515e-01 -7.28733707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.090418555 meters Centerline goodness [0,1] 0.4813510199531825 Centerline is valid? [False, False] Translation: X:-19.73, Y:-2.43, Z:-0.73 [[ 9.99947541e-01 -9.29188412e-03 -4.30997984e-03 -1.97301768e+01] [ 9.26186969e-03 9.99933078e-01 -6.93238911e-03 -2.43038168e+00] [ 4.37410637e-03 6.89210697e-03 9.99966682e-01 -7.30124171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.120418555 meters Centerline goodness [0,1] 0.4938783885456328 Centerline is valid? [False, False] Translation: X:-19.79, Y:-2.43, Z:-0.72 [[ 9.99978809e-01 -5.99746191e-03 -2.53234539e-03 -1.97870305e+01] [ 5.99067770e-03 9.99978469e-01 -2.67816339e-03 -2.43378812e+00] [ 2.54835305e-03 2.66293617e-03 9.99993207e-01 -7.24681404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.150418555 meters Centerline goodness [0,1] 0.48340509508432006 Centerline is valid? [False, False] Translation: X:-19.77, Y:-2.44, Z:-0.72 [[ 9.99949779e-01 -9.42460945e-03 3.40832403e-03 -1.97719230e+01] [ 9.41110125e-03 9.99947882e-01 3.95785472e-03 -2.43776423e+00] [-3.44544763e-03 -3.92557987e-03 9.99986359e-01 -7.21866567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.180418555 meters Centerline goodness [0,1] 0.4846195117589198 Centerline is valid? [False, False] Translation: X:-19.77, Y:-2.44, Z:-0.72 [[ 9.99943893e-01 -9.81035021e-03 3.99586460e-03 -1.97742960e+01] [ 9.79547238e-03 9.99945081e-01 3.72601386e-03 -2.43891952e+00] [-4.03219865e-03 -3.68666342e-03 9.99985075e-01 -7.20499076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.210418555000004 meters Centerline goodness [0,1] 0.4819279803176023 Centerline is valid? [False, False] Translation: X:-19.80, Y:-2.44, Z:-0.72 [[ 9.99985273e-01 -4.51258495e-03 3.01507659e-03 -1.97968783e+01] [ 4.51654074e-03 9.99988947e-01 -1.30648485e-03 -2.43891235e+00] [-3.00914765e-03 1.32008333e-03 9.99994601e-01 -7.21921421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.240418555000005 meters Centerline goodness [0,1] 0.48363162154870043 Centerline is valid? [False, False] Translation: X:-19.79, Y:-2.44, Z:-0.73 [[ 9.99978770e-01 -6.27172882e-03 1.76786766e-03 -1.97887357e+01] [ 6.27828390e-03 9.99973346e-01 -3.72706302e-03 -2.43578198e+00] [-1.74444541e-03 3.73808307e-03 9.99991492e-01 -7.28696756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.270418555 meters Centerline goodness [0,1] 0.4830390751030651 Centerline is valid? [False, False] Translation: X:-19.79, Y:-2.44, Z:-0.73 [[ 9.99993289e-01 -3.16992254e-03 1.83648288e-03 -1.97886913e+01] [ 3.17117491e-03 9.99994741e-01 -6.79427978e-04 -2.43747778e+00] [-1.83431948e-03 6.85247228e-04 9.99998083e-01 -7.29145888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.300418555 meters Centerline goodness [0,1] 0.48267035157665816 Centerline is valid? [False, False] Translation: X:-19.81, Y:-2.44, Z:-0.73 [[ 9.99984393e-01 5.48733648e-03 -1.05001637e-03 -1.98125823e+01] [-5.48975353e-03 9.99982256e-01 -2.31304649e-03 -2.43556190e+00] [ 1.03730528e-03 2.31877473e-03 9.99996774e-01 -7.28002063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.330418555 meters Centerline goodness [0,1] 0.4910348881904719 Centerline is valid? [False, False] Translation: X:-19.80, Y:-2.43, Z:-0.73 [[ 9.99956565e-01 8.91224915e-03 -2.72754983e-03 -1.98046935e+01] [-8.90946384e-03 9.99959778e-01 1.03163010e-03 -2.43328519e+00] [ 2.73663427e-03 -1.00728428e-03 9.99995748e-01 -7.32990754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.360418555 meters Centerline goodness [0,1] 0.4794662113587347 Centerline is valid? [False, False] Translation: X:-19.78, Y:-2.43, Z:-0.73 [[ 9.99975150e-01 6.52735820e-03 -2.66345098e-03 -1.97781385e+01] [-6.50384436e-03 9.99940624e-01 8.74350366e-03 -2.43059729e+00] [ 2.72036482e-03 -8.72596371e-03 9.99958228e-01 -7.34538420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.390418555000004 meters Centerline goodness [0,1] 0.4891099023646419 Centerline is valid? [False, False] Translation: X:-19.79, Y:-2.43, Z:-0.72 [[ 9.99996802e-01 2.52786351e-03 7.19711906e-05 -1.97923524e+01] [-2.52817288e-03 9.99985836e-01 4.68364949e-03 -2.43169356e+00] [-6.01305446e-05 -4.68381647e-03 9.99989029e-01 -7.24311962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.420418555000005 meters Centerline goodness [0,1] 0.48053140962451835 Centerline is valid? [False, False] Translation: X:-19.77, Y:-2.43, Z:-0.72 [[ 9.99977228e-01 4.32251286e-03 5.18260358e-03 -1.97721551e+01] [-4.30856996e-03 9.99987077e-01 -2.69848176e-03 -2.42904597e+00] [-5.19420083e-03 2.67609070e-03 9.99982929e-01 -7.24908716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.450418555 meters Centerline goodness [0,1] 0.48077565287085067 Centerline is valid? [False, False] Translation: X:-19.77, Y:-2.42, Z:-0.72 [[ 9.99974507e-01 4.63980895e-03 5.42742000e-03 -1.97731293e+01] [-4.62297510e-03 9.99984478e-01 -3.11007488e-03 -2.42491796e+00] [-5.44176591e-03 3.08490477e-03 9.99980435e-01 -7.24490623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.480418555 meters Centerline goodness [0,1] 0.48834358613488293 Centerline is valid? [False, False] Translation: X:-19.79, Y:-2.42, Z:-0.72 [[ 9.99992973e-01 3.72667393e-03 4.06704036e-04 -1.97943159e+01] [-3.72829176e-03 9.99984839e-01 4.05239491e-03 -2.42291710e+00] [-3.91595915e-04 -4.05388275e-03 9.99991706e-01 -7.23503853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.510418555 meters Centerline goodness [0,1] 0.48730407523510977 Centerline is valid? [False, False] Translation: X:-19.76, Y:-2.42, Z:-0.73 [[ 9.99991437e-01 -1.87118490e-03 -3.69101818e-03 -1.97613005e+01] [ 1.89699560e-03 9.99973688e-01 7.00177954e-03 -2.41764547e+00] [ 3.67781944e-03 -7.00872143e-03 9.99968675e-01 -7.27793570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.540418555 meters Centerline goodness [0,1] 0.48523597587149536 Centerline is valid? [False, False] Translation: X:-19.76, Y:-2.42, Z:-0.73 [[ 9.99988925e-01 -2.37243677e-03 -4.06454864e-03 -1.97595862e+01] [ 2.39949764e-03 9.99974904e-01 6.66589018e-03 -2.41764086e+00] [ 4.04863223e-03 -6.67556924e-03 9.99969522e-01 -7.28992590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.570418555 meters Centerline goodness [0,1] 0.48576605140980633 Centerline is valid? [False, False] Translation: X:-19.76, Y:-2.42, Z:-0.73 [[ 9.99971260e-01 -6.64844594e-03 -3.64382605e-03 -1.97612083e+01] [ 6.65659255e-03 9.99975362e-01 2.22817978e-03 -2.41829473e+00] [ 3.62892234e-03 -2.25237120e-03 9.99990879e-01 -7.27797720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.600418555000005 meters Centerline goodness [0,1] 0.47242577030812327 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.42, Z:-0.72 [[ 9.99999988e-01 -1.52632074e-04 3.65508580e-05 -1.97436192e+01] [ 1.52668137e-04 9.99999500e-01 -9.88690783e-04 -2.41956152e+00] [-3.63999338e-05 9.88696351e-04 9.99999511e-01 -7.24814650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.630418555 meters Centerline goodness [0,1] 0.47489403691327847 Centerline is valid? [False, False] Translation: X:-19.75, Y:-2.42, Z:-0.72 [[ 9.99991577e-01 4.08392323e-03 4.09649558e-04 -1.97457955e+01] [-4.08537162e-03 9.99985177e-01 3.59946213e-03 -2.41863889e+00] [-3.94943558e-04 -3.60110538e-03 9.99993438e-01 -7.22983359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.660418555 meters Centerline goodness [0,1] 0.4643289538585713 Centerline is valid? [False, False] Translation: X:-19.75, Y:-2.42, Z:-0.72 [[ 9.99990132e-01 4.42620027e-03 3.79243325e-04 -1.97454297e+01] [-4.42773335e-03 9.99981620e-01 4.14176902e-03 -2.41743118e+00] [-3.60904055e-04 -4.14340734e-03 9.99991351e-01 -7.23436820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.690418555 meters Centerline goodness [0,1] 0.4912371598486214 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.42, Z:-0.73 [[ 9.99999927e-01 3.53387746e-04 -1.44611869e-04 -1.97423363e+01] [-3.53362429e-04 9.99999922e-01 1.75058518e-04 -2.41868999e+00] [ 1.44673722e-04 -1.75007405e-04 9.99999974e-01 -7.26592275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.720418555 meters Centerline goodness [0,1] 0.4853004026362553 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.42, Z:-0.73 [[ 9.99999825e-01 -1.22099510e-04 -5.78612384e-04 -1.97398224e+01] [ 1.22014750e-04 9.99999982e-01 -1.46521195e-04 -2.41939431e+00] [ 5.78630263e-04 1.46450571e-04 9.99999822e-01 -7.28686888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.750418555 meters Centerline goodness [0,1] 0.4791490120868829 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.42, Z:-0.73 [[ 9.99999244e-01 -5.93607899e-04 -1.07669054e-03 -1.97382655e+01] [ 5.93140139e-04 9.99999730e-01 -4.34709575e-04 -2.41961528e+00] [ 1.07694830e-03 4.34070618e-04 9.99999326e-01 -7.28766797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.780418555000004 meters Centerline goodness [0,1] 0.1261198239873632 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.42, Z:-0.72 [[ 9.99996778e-01 -2.53780296e-03 5.57837029e-05 -1.97448456e+01] [ 2.53793061e-03 9.99993847e-01 -2.42172336e-03 -2.41929991e+00] [-4.96375030e-05 2.42185713e-03 9.99997066e-01 -7.24322244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.810418555 meters Centerline goodness [0,1] 0.4813385669616127 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.42, Z:-0.72 [[ 9.99994646e-01 -2.63302459e-03 1.94313981e-03 -1.97032460e+01] [ 2.63728511e-03 9.99994117e-01 -2.19329846e-03 -2.41763075e+00] [-1.93735337e-03 2.19841133e-03 9.99995707e-01 -7.20561689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.840418555 meters Centerline goodness [0,1] 0.4853329720208658 Centerline is valid? [False, False] Translation: X:-19.76, Y:-2.42, Z:-0.72 [[ 9.99994837e-01 -4.53215614e-05 3.21293795e-03 -1.97560011e+01] [ 4.62890870e-05 9.99999954e-01 -3.01060504e-04 -2.41756412e+00] [-3.21292416e-03 3.01207674e-04 9.99994793e-01 -7.18192857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.870418555 meters Centerline goodness [0,1] 0.4867760596033943 Centerline is valid? [False, False] Translation: X:-19.75, Y:-2.42, Z:-0.72 [[ 9.99995804e-01 5.89948391e-04 2.83634463e-03 -1.97536738e+01] [-5.90972117e-04 9.99999761e-01 3.60107133e-04 -2.41533738e+00] [-2.83613151e-03 -3.61781823e-04 9.99995913e-01 -7.20297623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.900418555 meters Centerline goodness [0,1] 0.4953961990293464 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.42, Z:-0.73 [[ 9.99998838e-01 -1.08668731e-03 1.06911006e-03 -1.97443947e+01] [ 1.08772366e-03 9.99998939e-01 -9.69255791e-04 -2.41509493e+00] [-1.06805564e-03 9.70417561e-04 9.99998959e-01 -7.27067518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.930418555 meters Centerline goodness [0,1] 0.48748845694722853 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.42, Z:-0.73 [[ 9.99990430e-01 -4.35392508e-03 -4.28447254e-04 -1.97370419e+01] [ 4.35211042e-03 9.99981923e-01 -4.14893580e-03 -2.41755210e+00] [ 4.46503665e-04 4.14703144e-03 9.99991301e-01 -7.31871440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.960418555000004 meters Centerline goodness [0,1] 0.48490015705631595 Centerline is valid? [False, False] Translation: X:-19.75, Y:-2.42, Z:-0.72 [[ 9.99978438e-01 -6.44528518e-03 1.25801347e-03 -1.97464252e+01] [ 6.45306553e-03 9.99959448e-01 -6.28179199e-03 -2.41773698e+00] [-1.21747451e-03 6.28977459e-03 9.99979478e-01 -7.24672328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.990418555000005 meters Centerline goodness [0,1] 0.48521656826069315 Centerline is valid? [False, False] Translation: X:-19.76, Y:-2.42, Z:-0.72 [[ 9.99990918e-01 -2.79664322e-03 3.21613285e-03 -1.97568315e+01] [ 2.80378124e-03 9.99993612e-01 -2.21707744e-03 -2.41777753e+00] [-3.20991193e-03 2.22607463e-03 9.99992370e-01 -7.17521885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.020418555 meters Centerline goodness [0,1] 0.48565294209737664 Centerline is valid? [False, False] Translation: X:-19.76, Y:-2.42, Z:-0.72 [[ 9.99991649e-01 -2.77784029e-03 2.99751147e-03 -1.97554237e+01] [ 2.78406487e-03 9.99993973e-01 -2.07441179e-03 -2.41630813e+00] [-2.99173102e-03 2.08273973e-03 9.99993356e-01 -7.18840402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.050418555 meters Centerline goodness [0,1] 0.4772797527047914 Centerline is valid? [False, False] Translation: X:-19.72, Y:-2.42, Z:-0.72 [[ 9.99999426e-01 -6.64149073e-04 8.41149322e-04 -1.97225384e+01] [ 6.71406618e-04 9.99962298e-01 -8.65743873e-03 -2.41940642e+00] [-8.35367779e-04 8.65799851e-03 9.99962170e-01 -7.23577228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.080418555 meters Centerline goodness [0,1] 0.4868319659126966 Centerline is valid? [False, False] Translation: X:-19.76, Y:-2.42, Z:-0.73 [[ 9.99990885e-01 -3.76842437e-03 -2.00704371e-03 -1.97619109e+01] [ 3.74369383e-03 9.99918736e-01 -1.21862949e-02 -2.42282880e+00] [ 2.05280374e-03 1.21786701e-02 9.99923730e-01 -7.29484230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.110418555 meters Centerline goodness [0,1] 0.4882342374708102 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.42, Z:-0.73 [[ 9.99957928e-01 -8.92183354e-03 2.13151972e-03 -1.97442814e+01] [ 8.93562905e-03 9.99938606e-01 -6.55274900e-03 -2.42496444e+00] [-2.07292632e-03 6.57151978e-03 9.99976259e-01 -7.27343715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.140418555000004 meters Centerline goodness [0,1] 0.4841799905552182 Centerline is valid? [False, False] Translation: X:-19.75, Y:-2.43, Z:-0.72 [[ 9.99960938e-01 -7.71701374e-03 4.30933954e-03 -1.97546835e+01] [ 7.73604618e-03 9.99960319e-01 -4.41749223e-03 -2.42767915e+00] [-4.27507869e-03 4.45065692e-03 9.99980957e-01 -7.20354248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.170418555000005 meters Centerline goodness [0,1] 0.4841799905552182 Centerline is valid? [False, False] Translation: X:-19.75, Y:-2.43, Z:-0.72 [[ 9.99960938e-01 -7.71701374e-03 4.30933954e-03 -1.97546835e+01] [ 7.73604618e-03 9.99960319e-01 -4.41749223e-03 -2.42767915e+00] [-4.27507869e-03 4.45065692e-03 9.99980957e-01 -7.20354248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.200418555 meters Centerline goodness [0,1] 0.47753284346470715 Centerline is valid? [False, False] Translation: X:-19.75, Y:-2.43, Z:-0.72 [[ 9.99922985e-01 -1.16380226e-02 4.31039820e-03 -1.97538386e+01] [ 1.16715970e-02 9.99901089e-01 -7.84768404e-03 -2.43075826e+00] [-4.21864033e-03 7.89738888e-03 9.99959916e-01 -7.21507967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.230418555 meters Centerline goodness [0,1] 0.4798433489689353 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.43, Z:-0.73 [[ 9.99898089e-01 -1.41054384e-02 2.20171944e-03 -1.97429652e+01] [ 1.41264846e-02 9.99851644e-01 -9.85557196e-03 -2.43417142e+00] [-2.06237563e-03 9.88567013e-03 9.99949009e-01 -7.29040114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.260418555 meters Centerline goodness [0,1] 0.4738547585227273 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.44, Z:-0.73 [[ 9.99891942e-01 -1.46063888e-02 1.66069828e-03 -1.97402957e+01] [ 1.46214584e-02 9.99848384e-01 -9.45636323e-03 -2.43883695e+00] [-1.52232317e-03 9.47962322e-03 9.99953909e-01 -7.31187738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.290418555 meters Centerline goodness [0,1] 0.4904786645282252 Centerline is valid? [False, False] Translation: X:-19.75, Y:-2.44, Z:-0.73 [[ 9.99852084e-01 -1.69257135e-02 3.05469747e-03 -1.97482486e+01] [ 1.69588783e-02 9.99793693e-01 -1.11789050e-02 -2.44103266e+00] [-2.86485632e-03 1.12290557e-02 9.99932848e-01 -7.25575111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.320418555 meters Centerline goodness [0,1] 0.4703442739921513 Centerline is valid? [False, False] Translation: X:-19.73, Y:-2.44, Z:-0.73 [[ 9.99909217e-01 -1.24244130e-02 5.21461443e-03 -1.97255393e+01] [ 1.25018440e-02 9.99808000e-01 -1.50886460e-02 -2.44307133e+00] [-5.02614566e-03 1.51524685e-02 9.99872562e-01 -7.25552806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.350418555000005 meters Centerline goodness [0,1] 0.5004489053615415 Centerline is valid? [False, False] Translation: X:-19.77, Y:-2.45, Z:-0.73 [[ 9.99849002e-01 -1.70378987e-02 3.41810086e-03 -1.97673989e+01] [ 1.71014825e-02 9.99663080e-01 -1.95260209e-02 -2.44684485e+00] [-3.08426687e-03 1.95815271e-02 9.99803506e-01 -7.30287195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.380418555 meters Centerline goodness [0,1] 0.44276701216764314 Centerline is valid? [False, False] Translation: X:-19.72, Y:-2.45, Z:-0.73 [[ 9.99818126e-01 -1.89543829e-02 2.10864354e-03 -1.97161565e+01] [ 1.89921390e-02 9.99627126e-01 -1.96190526e-02 -2.45107000e+00] [-1.73599025e-03 1.96555321e-02 9.99805304e-01 -7.32330100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.410418555 meters Centerline goodness [0,1] 0.48637439422968554 Centerline is valid? [False, False] Translation: X:-19.72, Y:-2.45, Z:-0.73 [[ 9.99873911e-01 -1.56618412e-02 2.62086760e-03 -1.97192986e+01] [ 1.57002686e-02 9.99758954e-01 -1.53471873e-02 -2.45436588e+00] [-2.37987064e-03 1.53864005e-02 9.99878790e-01 -7.29825394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.440418555 meters Centerline goodness [0,1] 0.43548827680400637 Centerline is valid? [False, False] Translation: X:-19.73, Y:-2.46, Z:-0.72 [[ 9.99850085e-01 -1.62623136e-02 5.94517919e-03 -1.97346916e+01] [ 1.63532512e-02 9.99744860e-01 -1.55815699e-02 -2.45667682e+00] [-5.69026996e-03 1.56764570e-02 9.99860925e-01 -7.19492797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.470418555 meters Centerline goodness [0,1] 0.4175564265441276 Centerline is valid? [False, False] Translation: X:-19.71, Y:-2.46, Z:-0.72 [[ 9.99883591e-01 -1.25921804e-02 8.61632293e-03 -1.97135563e+01] [ 1.27728659e-02 9.99692668e-01 -2.12467176e-02 -2.45990284e+00] [-8.34613236e-03 2.13542995e-02 9.99737133e-01 -7.19650465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.500418555 meters Centerline goodness [0,1] 0.37404749738964305 Centerline is valid? [False, False] Translation: X:-19.68, Y:-2.46, Z:-0.72 [[ 9.99955501e-01 -6.97748679e-03 6.34899497e-03 -1.96843382e+01] [ 7.12659898e-03 9.99691944e-01 -2.37745556e-02 -2.46293108e+00] [-6.18115247e-03 2.38187444e-02 9.99697185e-01 -7.23025192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.530418555000004 meters Centerline goodness [0,1] 0.45317104996737834 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.46, Z:-0.73 [[ 9.99975562e-01 -6.98657681e-03 -2.49458037e-04 -1.96998258e+01] [ 6.98192216e-03 9.99857692e-01 -1.53573807e-02 -2.46305680e+00] [ 3.56718057e-04 1.53552637e-02 9.99882037e-01 -7.25334321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.560418555 meters Centerline goodness [0,1] 0.46769355675334345 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.46, Z:-0.73 [[ 9.99995159e-01 -2.95469295e-03 -9.75193561e-04 -1.96959693e+01] [ 2.94345146e-03 9.99931432e-01 -1.13343102e-02 -2.46327461e+00] [ 1.00861610e-03 1.13313849e-02 9.99935289e-01 -7.28854300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.590418555 meters Centerline goodness [0,1] 0.48603588543408005 Centerline is valid? [False, False] Translation: X:-19.67, Y:-2.46, Z:-0.73 [[ 9.99982581e-01 -5.72910904e-03 -1.41958666e-03 -1.96673378e+01] [ 5.72237062e-03 9.99972553e-01 -4.70619434e-03 -2.46400880e+00] [ 1.44650999e-03 4.69798896e-03 9.99987918e-01 -7.31211303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.620418555 meters Centerline goodness [0,1] 0.4345526467843015 Centerline is valid? [False, False] Translation: X:-19.68, Y:-2.46, Z:-0.72 [[ 9.99988097e-01 -4.82399195e-03 7.30805287e-04 -1.96785730e+01] [ 4.82762767e-03 9.99975557e-01 -5.05767217e-03 -2.46187761e+00] [-7.06389254e-04 5.06114003e-03 9.99986943e-01 -7.22840038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.650418555 meters Centerline goodness [0,1] 0.4574356689317144 Centerline is valid? [False, False] Translation: X:-19.69, Y:-2.46, Z:-0.72 [[ 9.99996442e-01 -1.82013973e-03 1.95025841e-03 -1.96855509e+01] [ 1.82587615e-03 9.99994001e-01 -2.94362968e-03 -2.45887501e+00] [-1.94488889e-03 2.94718013e-03 9.99993766e-01 -7.17977253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.680418555 meters Centerline goodness [0,1] 0.474788600062637 Centerline is valid? [False, False] Translation: X:-19.68, Y:-2.45, Z:-0.72 [[ 9.99976671e-01 6.71424584e-03 1.25555166e-03 -1.96829260e+01] [-6.71990489e-03 9.99967030e-01 4.55867411e-03 -2.45340306e+00] [-1.22490220e-03 -4.56700494e-03 9.99988821e-01 -7.19001668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.710418555000004 meters Centerline goodness [0,1] 0.48294010481095795 Centerline is valid? [False, False] Translation: X:-19.68, Y:-2.45, Z:-0.72 [[ 9.99970416e-01 7.58682351e-03 1.26803547e-03 -1.96824833e+01] [-7.59245585e-03 9.99961062e-01 4.49761257e-03 -2.44953597e+00] [-1.23386350e-03 -4.50710701e-03 9.99989082e-01 -7.19452382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.740418555000005 meters Centerline goodness [0,1] 0.47231941184286286 Centerline is valid? [False, False] Translation: X:-19.64, Y:-2.45, Z:-0.72 [[ 9.99938466e-01 1.04444043e-02 3.73872048e-03 -1.96442494e+01] [-1.04635080e-02 9.99932111e-01 5.12713909e-03 -2.44799516e+00] [-3.68491675e-03 -5.16594373e-03 9.99979867e-01 -7.16644315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.770418555 meters Centerline goodness [0,1] 0.4805587685737165 Centerline is valid? [False, False] Translation: X:-19.64, Y:-2.45, Z:-0.72 [[ 9.99882786e-01 1.49215090e-02 3.42974396e-03 -1.96422224e+01] [-1.49527730e-02 9.99845153e-01 9.27821488e-03 -2.44588894e+00] [-3.29076791e-03 -9.32841152e-03 9.99951075e-01 -7.18391323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.800418555 meters Centerline goodness [0,1] 0.48516658031671656 Centerline is valid? [False, False] Translation: X:-19.66, Y:-2.45, Z:-0.72 [[ 9.99912068e-01 1.27291481e-02 -3.71830039e-03 -1.96586635e+01] [-1.26735562e-02 9.99812944e-01 1.46102188e-02 -2.44591633e+00] [ 3.90358050e-03 -1.45618100e-02 9.99886351e-01 -7.17743583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.830418555 meters Centerline goodness [0,1] 0.48034165161347875 Centerline is valid? [False, False] Translation: X:-19.66, Y:-2.44, Z:-0.72 [[ 9.99951569e-01 9.09114900e-03 -3.76963821e-03 -1.96587776e+01] [-9.05131839e-03 9.99904411e-01 1.04519203e-02 -2.44490880e+00] [ 3.86429784e-03 -1.04172939e-02 9.99938272e-01 -7.17252594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.860418555 meters Centerline goodness [0,1] 0.4837816102225002 Centerline is valid? [False, False] Translation: X:-19.67, Y:-2.44, Z:-0.71 [[ 9.99961059e-01 8.46338924e-03 -2.50024151e-03 -1.96653480e+01] [-8.43911116e-03 9.99918630e-01 9.56629505e-03 -2.44234733e+00] [ 2.58100134e-03 -9.54482272e-03 9.99951116e-01 -7.12842349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.890418555000004 meters Centerline goodness [0,1] 0.4788729252186329 Centerline is valid? [False, False] Translation: X:-19.67, Y:-2.44, Z:-0.71 [[ 9.99944711e-01 1.04593186e-02 -1.08500382e-03 -1.96735133e+01] [-1.04459381e-02 9.99877212e-01 1.16808714e-02 -2.44117546e+00] [ 1.20704455e-03 -1.16688917e-02 9.99931188e-01 -7.06827516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.920418555000005 meters Centerline goodness [0,1] 0.4765480925189415 Centerline is valid? [False, False] Translation: X:-19.67, Y:-2.44, Z:-0.71 [[ 9.99977369e-01 6.66930825e-03 -8.84081329e-04 -1.96742226e+01] [-6.66228548e-03 9.99947993e-01 7.72178968e-03 -2.44007089e+00] [ 9.35534346e-04 -7.71572493e-03 9.99969796e-01 -7.06627373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.950418555 meters Centerline goodness [0,1] 0.4738514497550642 Centerline is valid? [False, False] Translation: X:-19.67, Y:-2.44, Z:-0.71 [[ 9.99990032e-01 3.95091774e-03 -2.08003161e-03 -1.96668541e+01] [-3.94062255e-03 9.99980080e-01 4.93058338e-03 -2.44022083e+00] [ 2.09947050e-03 -4.92233761e-03 9.99985681e-01 -7.12344015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.980418555 meters Centerline goodness [0,1] 0.4859561283369631 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.44, Z:-0.72 [[ 9.99975160e-01 2.97097283e-03 -6.39168835e-03 -1.96985015e+01] [-2.94959920e-03 9.99990036e-01 3.35080308e-03 -2.44047723e+00] [ 6.40157981e-03 -3.33186692e-03 9.99973959e-01 -7.22722125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.010418555 meters Centerline goodness [0,1] 0.4833553767177027 Centerline is valid? [False, False] Translation: X:-19.71, Y:-2.44, Z:-0.72 [[ 9.99986117e-01 1.22064690e-03 -5.12601322e-03 -1.97056417e+01] [-1.21215329e-03 9.99997888e-01 1.65974211e-03 -2.44147914e+00] [ 5.12802836e-03 -1.65350555e-03 9.99985485e-01 -7.17677758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.040418555 meters Centerline goodness [0,1] 0.48288522241375453 Centerline is valid? [False, False] Translation: X:-19.71, Y:-2.44, Z:-0.71 [[ 9.99992854e-01 1.35234349e-04 -3.77806054e-03 -1.97138288e+01] [-1.31966958e-04 9.99999617e-01 8.65068874e-04 -2.44268660e+00] [ 3.77817608e-03 -8.64564113e-04 9.99992489e-01 -7.11103507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.070418555 meters Centerline goodness [0,1] 0.48812926165132664 Centerline is valid? [False, False] Translation: X:-19.71, Y:-2.44, Z:-0.72 [[ 9.99984707e-01 1.91690989e-03 -5.18768349e-03 -1.97058495e+01] [-1.90096185e-03 9.99993458e-01 3.07739820e-03 -2.44316075e+00] [ 5.19354865e-03 -3.06748954e-03 9.99981809e-01 -7.17125137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.100418555000005 meters Centerline goodness [0,1] 0.49499931808883024 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.44, Z:-0.72 [[ 9.99981582e-01 2.18345873e-03 -5.66285920e-03 -1.97035100e+01] [-2.16368049e-03 9.99991547e-01 3.49640086e-03 -2.44231867e+00] [ 5.67044558e-03 -3.48408385e-03 9.99977853e-01 -7.18893972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.130418555 meters Centerline goodness [0,1] 0.4865101258157841 Centerline is valid? [False, False] Translation: X:-19.68, Y:-2.44, Z:-0.72 [[ 9.99993528e-01 3.29502717e-03 -1.44456379e-03 -1.96839169e+01] [-3.30204640e-03 9.99982622e-01 -4.88390847e-03 -2.44461357e+00] [ 1.42844608e-03 4.88864687e-03 9.99987030e-01 -7.17413044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.160418555 meters Centerline goodness [0,1] 0.48481593375853194 Centerline is valid? [False, False] Translation: X:-19.68, Y:-2.45, Z:-0.72 [[ 9.99994683e-01 2.89024448e-03 -1.51020614e-03 -1.96835224e+01] [-2.89831434e-03 9.99981387e-01 -5.36896905e-03 -2.44669386e+00] [ 1.49466039e-03 5.37331755e-03 9.99984447e-01 -7.17602339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.190418555 meters Centerline goodness [0,1] 0.4914597519315863 Centerline is valid? [False, False] Translation: X:-19.73, Y:-2.44, Z:-0.72 [[ 9.99970232e-01 7.30746802e-03 -2.47695090e-03 -1.97298817e+01] [-7.30964237e-03 9.99972906e-01 -8.69921426e-04 -2.44414332e+00] [ 2.47052687e-03 8.88001156e-04 9.99996554e-01 -7.19200292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.220418555 meters Centerline goodness [0,1] 0.4859619963164278 Centerline is valid? [False, False] Translation: X:-19.71, Y:-2.44, Z:-0.72 [[ 9.99995991e-01 2.64370060e-03 1.01461684e-03 -1.97076373e+01] [-2.64793662e-03 9.99987688e-01 4.19660552e-03 -2.44389049e+00] [-1.00350978e-03 -4.19927534e-03 9.99990679e-01 -7.20401001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.250418555 meters Centerline goodness [0,1] 0.4841111881387392 Centerline is valid? [False, False] Translation: X:-19.71, Y:-2.44, Z:-0.72 [[ 9.99998637e-01 -6.28035330e-04 1.52716823e-03 -1.97103498e+01] [ 6.27108242e-04 9.99999619e-01 6.07466633e-04 -2.44366437e+00] [-1.52754916e-03 -6.06508105e-04 9.99998649e-01 -7.18318731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.280418555000004 meters Centerline goodness [0,1] 0.47437134076583143 Centerline is valid? [False, False] Translation: X:-19.71, Y:-2.44, Z:-0.72 [[ 9.99998915e-01 -7.19283276e-04 1.28547535e-03 -1.97088909e+01] [ 7.19467814e-04 9.99999731e-01 -1.43099439e-04 -2.44316517e+00] [-1.28537208e-03 1.44024142e-04 9.99999164e-01 -7.19905927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.310418555 meters Centerline goodness [0,1] 0.4873307957386428 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.44, Z:-0.73 [[ 9.99998463e-01 1.70793687e-03 3.95613081e-04 -1.97026379e+01] [-1.70875736e-03 9.99996371e-01 2.08300863e-03 -2.44050934e+00] [-3.92053998e-04 -2.08368144e-03 9.99997752e-01 -7.25278874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.340418555 meters Centerline goodness [0,1] 0.4831079573347614 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.44, Z:-0.73 [[ 9.99995082e-01 3.10433475e-03 -4.46617261e-04 -1.96972788e+01] [-3.10267083e-03 9.99988418e-01 3.67926388e-03 -2.44016753e+00] [ 4.58033755e-04 -3.67786008e-03 9.99993132e-01 -7.29374984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.370418555 meters Centerline goodness [0,1] 0.4832322870757735 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.44, Z:-0.73 [[ 9.99999487e-01 -8.03772592e-04 -6.16894317e-04 -1.96969888e+01] [ 8.03622062e-04 9.99999647e-01 -2.44220438e-04 -2.43927178e+00] [ 6.17090397e-04 2.43724562e-04 9.99999780e-01 -7.28839255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.400418555 meters Centerline goodness [0,1] 0.46761464144781606 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.44, Z:-0.73 [[ 9.99997576e-01 -2.19710499e-03 1.41167334e-04 -1.97012657e+01] [ 2.19734849e-03 9.99996057e-01 -1.74854185e-03 -2.43984584e+00] [-1.37325047e-04 1.74884780e-03 9.99998461e-01 -7.26360489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.430418555 meters Centerline goodness [0,1] 0.4970477116937765 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.44, Z:-0.73 [[ 9.99998359e-01 -1.81153029e-03 -2.84939143e-05 -1.97012881e+01] [ 1.81148515e-03 9.99997217e-01 -1.51164062e-03 -2.43807648e+00] [ 3.12322178e-05 1.51158652e-03 9.99998857e-01 -7.25472831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.460418555000004 meters Centerline goodness [0,1] 0.4894036582878125 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.44, Z:-0.73 [[ 9.99998475e-01 -1.65453891e-03 -5.58526122e-04 -1.96992942e+01] [ 1.65394061e-03 9.99998060e-01 -1.06998289e-03 -2.43791927e+00] [ 5.60295367e-04 1.06905749e-03 9.99999272e-01 -7.26452668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.490418555000005 meters Centerline goodness [0,1] 0.4831483170563502 Centerline is valid? [False, False] Translation: X:-19.66, Y:-2.44, Z:-0.72 [[ 9.99976367e-01 -6.39385348e-03 2.52653513e-03 -1.96627636e+01] [ 6.40506150e-03 9.99969572e-01 -4.45321716e-03 -2.44173284e+00] [-2.49798503e-03 4.46929453e-03 9.99986893e-01 -7.20221835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.520418555 meters Centerline goodness [0,1] 0.4753300440058674 Centerline is valid? [False, False] Translation: X:-19.67, Y:-2.44, Z:-0.71 [[ 9.99953295e-01 -8.75018762e-03 4.10400925e-03 -1.96715314e+01] [ 8.77688275e-03 9.99940145e-01 -6.53237873e-03 -2.44343040e+00] [-4.04660407e-03 6.56809404e-03 9.99970242e-01 -7.13999961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.550418555 meters Centerline goodness [0,1] 0.48267216897408594 Centerline is valid? [False, False] Translation: X:-19.67, Y:-2.45, Z:-0.72 [[ 9.99961610e-01 -8.25731486e-03 2.93160993e-03 -1.96651974e+01] [ 8.27259207e-03 9.99952063e-01 -5.23789382e-03 -2.44774334e+00] [-2.88821845e-03 5.26194476e-03 9.99981985e-01 -7.18810292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.580418555 meters Centerline goodness [0,1] 0.48703545589358743 Centerline is valid? [False, False] Translation: X:-19.68, Y:-2.45, Z:-0.72 [[ 9.99984288e-01 -4.27435626e-03 -3.62688639e-03 -1.96846667e+01] [ 4.24130952e-03 9.99949864e-01 -9.07088776e-03 -2.44722228e+00] [ 3.66547676e-03 9.05536249e-03 9.99952281e-01 -7.16613188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.610418555 meters Centerline goodness [0,1] 0.49529297007916884 Centerline is valid? [False, False] Translation: X:-19.69, Y:-2.45, Z:-0.72 [[ 9.99984040e-01 -4.58235697e-03 -3.30488578e-03 -1.96858987e+01] [ 4.55361554e-03 9.99952199e-01 -8.65236232e-03 -2.45088146e+00] [ 3.34437602e-03 8.63717505e-03 9.99957106e-01 -7.16381853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.640418555000004 meters Centerline goodness [0,1] 0.4598598421005944 Centerline is valid? [False, False] Translation: X:-19.65, Y:-2.46, Z:-0.71 [[ 9.99952561e-01 -9.67165563e-03 -1.15512183e-03 -1.96459972e+01] [ 9.65629555e-03 9.99873546e-01 -1.26351596e-02 -2.45537583e+00] [ 1.27717867e-03 1.26234060e-02 9.99919506e-01 -7.10690293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.670418555000005 meters Centerline goodness [0,1] 0.47631549671821116 Centerline is valid? [False, False] Translation: X:-19.65, Y:-2.46, Z:-0.71 [[ 9.99950278e-01 -9.92550148e-03 -9.62279407e-04 -1.96464915e+01] [ 9.91251196e-03 9.99870529e-01 -1.26754557e-02 -2.45669081e+00] [ 1.08796507e-03 1.26652868e-02 9.99919200e-01 -7.10744378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.700418555 meters Centerline goodness [0,1] 0.4927315677099896 Centerline is valid? [False, False] Translation: X:-19.69, Y:-2.46, Z:-0.71 [[ 9.99974586e-01 -6.75835175e-03 -2.26966671e-03 -1.96918251e+01] [ 6.73659772e-03 9.99932567e-01 -9.45931896e-03 -2.45799731e+00] [ 2.33344306e-03 9.44378873e-03 9.99952684e-01 -7.13789991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.730418555 meters Centerline goodness [0,1] 0.49359190177990264 Centerline is valid? [False, False] Translation: X:-19.68, Y:-2.46, Z:-0.72 [[ 9.99973650e-01 -5.88631181e-03 -4.24852760e-03 -1.96819816e+01] [ 5.85244990e-03 9.99951358e-01 -7.93917428e-03 -2.46172411e+00] [ 4.29505340e-03 7.91410079e-03 9.99959459e-01 -7.20496208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.760418555 meters Centerline goodness [0,1] 0.47200231275573745 Centerline is valid? [False, False] Translation: X:-19.68, Y:-2.46, Z:-0.72 [[ 9.99973037e-01 -6.08937519e-03 -4.10430142e-03 -1.96825236e+01] [ 6.05606617e-03 9.99949019e-01 -8.07978269e-03 -2.46293737e+00] [ 4.15329301e-03 8.05470891e-03 9.99958935e-01 -7.19999110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.790418555 meters Centerline goodness [0,1] 0.49746169572508214 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.46, Z:-0.71 [[ 9.99989391e-01 -3.30560110e-03 -3.20803617e-03 -1.97387739e+01] [ 3.28265609e-03 9.99969183e-01 -7.13145410e-03 -2.45981399e+00] [ 3.23151105e-03 7.12084756e-03 9.99969425e-01 -7.14653664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.820418555 meters Centerline goodness [0,1] 0.473494002616234 Centerline is valid? [False, False] Translation: X:-19.69, Y:-2.46, Z:-0.71 [[ 9.99995394e-01 4.89486378e-04 -2.99546277e-03 -1.96907533e+01] [-5.02282323e-04 9.99990747e-01 -4.27251558e-03 -2.45792193e+00] [ 2.99334372e-03 4.27400047e-03 9.99986386e-01 -7.14510891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.850418555000005 meters Centerline goodness [0,1] 0.48634198939707074 Centerline is valid? [False, False] Translation: X:-19.72, Y:-2.46, Z:-0.71 [[ 9.99983584e-01 -3.45131664e-03 -4.57374514e-03 -1.97154708e+01] [ 3.45490688e-03 9.99993730e-01 7.77299350e-04 -2.45558829e+00] [ 4.57103376e-03 -7.93088454e-04 9.99989238e-01 -7.13406260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.880418555 meters Centerline goodness [0,1] 0.4872532801559065 Centerline is valid? [False, False] Translation: X:-19.72, Y:-2.45, Z:-0.71 [[ 9.99995793e-01 4.36409728e-04 -2.86755453e-03 -1.97240181e+01] [-4.24524776e-04 9.99991324e-01 4.14393221e-03 -2.45113598e+00] [ 2.86933811e-03 -4.14269743e-03 9.99987302e-01 -7.07696266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.910418555 meters Centerline goodness [0,1] 0.47517215585329897 Centerline is valid? [False, False] Translation: X:-19.68, Y:-2.45, Z:-0.71 [[ 9.99997747e-01 1.79618974e-03 -1.13125998e-03 -1.96811320e+01] [-1.79191243e-03 9.99991285e-01 3.77074492e-03 -2.44777399e+00] [ 1.13802310e-03 -3.76870931e-03 9.99992251e-01 -7.06249291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.940418555 meters Centerline goodness [0,1] 0.489994615936827 Centerline is valid? [False, False] Translation: X:-19.72, Y:-2.44, Z:-0.71 [[ 9.99986794e-01 3.23009222e-03 -3.99719825e-03 -1.97200276e+01] [-3.22045171e-03 9.99991896e-01 2.41590659e-03 -2.44292376e+00] [ 4.00496946e-03 -2.40300190e-03 9.99989093e-01 -7.10482239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.970418555 meters Centerline goodness [0,1] 0.48579677956690726 Centerline is valid? [False, False] Translation: X:-19.71, Y:-2.44, Z:-0.72 [[ 9.99947363e-01 8.19830465e-03 -6.16925108e-03 -1.97071517e+01] [-8.15574512e-03 9.99942987e-01 6.89247513e-03 -2.43766023e+00] [ 6.22540596e-03 -6.84179749e-03 9.99957216e-01 -7.20572615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.000418555 meters Centerline goodness [0,1] 0.4860169681734524 Centerline is valid? [False, False] Translation: X:-19.71, Y:-2.43, Z:-0.72 [[ 9.99942593e-01 8.77614484e-03 -6.14729225e-03 -1.97078068e+01] [-8.73520034e-03 9.99939695e-01 6.65605329e-03 -2.43257649e+00] [ 6.20533602e-03 -6.60197336e-03 9.99958953e-01 -7.19429876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.030418555000004 meters Centerline goodness [0,1] 0.4865070655946969 Centerline is valid? [False, False] Translation: X:-19.71, Y:-2.43, Z:-0.72 [[ 9.99946011e-01 8.79234081e-03 -5.53802041e-03 -1.97104554e+01] [-8.76012341e-03 9.99944721e-01 5.81513252e-03 -2.43010012e+00] [ 5.58884290e-03 -5.76630482e-03 9.99967757e-01 -7.17538462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.060418555 meters Centerline goodness [0,1] 0.4865070655946969 Centerline is valid? [False, False] Translation: X:-19.71, Y:-2.43, Z:-0.72 [[ 9.99946011e-01 8.79234081e-03 -5.53802041e-03 -1.97104554e+01] [-8.76012341e-03 9.99944721e-01 5.81513252e-03 -2.43010012e+00] [ 5.58884290e-03 -5.76630482e-03 9.99967757e-01 -7.17538462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.090418555 meters Centerline goodness [0,1] 0.49391084299238575 Centerline is valid? [False, False] Translation: X:-19.71, Y:-2.43, Z:-0.72 [[ 9.99947633e-01 9.10586066e-03 -4.67062008e-03 -1.97145178e+01] [-9.08195128e-03 9.99945676e-01 5.11501909e-03 -2.42691057e+00] [ 4.71694301e-03 -5.07233288e-03 9.99976011e-01 -7.15012044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.120418555 meters Centerline goodness [0,1] 0.48613723909343365 Centerline is valid? [False, False] Translation: X:-19.69, Y:-2.42, Z:-0.71 [[ 9.99957186e-01 9.22596882e-03 -7.12336174e-04 -1.96949774e+01] [-9.21421057e-03 9.99844366e-01 1.50446772e-02 -2.42313603e+00] [ 8.51027033e-04 -1.50374694e-02 9.99886569e-01 -7.14880587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.150418555 meters Centerline goodness [0,1] 0.47050209669188614 Centerline is valid? [False, False] Translation: X:-19.69, Y:-2.42, Z:-0.72 [[ 9.99953902e-01 9.53210925e-03 -1.15469592e-03 -1.96931340e+01] [-9.51340863e-03 9.99838568e-01 1.52424432e-02 -2.42041140e+00] [ 1.29980215e-03 -1.52307555e-02 9.99883160e-01 -7.15543343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.180418555 meters Centerline goodness [0,1] 0.44594472949860475 Centerline is valid? [False, False] Translation: X:-19.73, Y:-2.42, Z:-0.72 [[ 9.99976792e-01 5.23900730e-03 -4.35533130e-03 -1.97298920e+01] [-5.19714403e-03 9.99940717e-01 9.56834237e-03 -2.41978883e+00] [ 4.40520171e-03 -9.54548502e-03 9.99944737e-01 -7.22840521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.210418555000004 meters Centerline goodness [0,1] 0.4945378056227806 Centerline is valid? [False, False] Translation: X:-19.72, Y:-2.42, Z:-0.73 [[ 9.99980839e-01 -8.48444627e-05 -6.18985049e-03 -1.97203953e+01] [ 1.09956269e-04 9.99991765e-01 4.05670511e-03 -2.41902881e+00] [ 6.18945533e-03 -4.05730799e-03 9.99972614e-01 -7.30041283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.240418555000005 meters Centerline goodness [0,1] 0.4865454709085182 Centerline is valid? [False, False] Translation: X:-19.72, Y:-2.42, Z:-0.73 [[ 9.99982205e-01 1.79944389e-04 -5.96297447e-03 -1.97226298e+01] [-1.54292592e-04 9.99990734e-01 4.30202671e-03 -2.41650961e+00] [ 5.96369335e-03 -4.30103011e-03 9.99972967e-01 -7.27253133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.270418555 meters Centerline goodness [0,1] 0.47649292678051924 Centerline is valid? [False, False] Translation: X:-19.71, Y:-2.42, Z:-0.72 [[ 9.99992378e-01 -3.89644827e-03 -2.50113869e-04 -1.97069145e+01] [ 3.89877787e-03 9.99941293e-01 1.01099189e-02 -2.41744132e+00] [ 2.10706410e-04 -1.01108170e-02 9.99948862e-01 -7.24266848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.300418555 meters Centerline goodness [0,1] 0.48746461787302875 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.42, Z:-0.72 [[ 9.99997291e-01 -1.56706500e-03 1.72100304e-03 -1.97379674e+01] [ 1.56216219e-03 9.99994729e-01 2.84646812e-03 -2.41986629e+00] [-1.72545457e-03 -2.84377192e-03 9.99994468e-01 -7.20489365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.330418555 meters Centerline goodness [0,1] 0.4857866654710129 Centerline is valid? [False, False] Translation: X:-19.73, Y:-2.42, Z:-0.73 [[ 9.99993617e-01 -3.46764863e-03 8.60543371e-04 -1.97316280e+01] [ 3.46674013e-03 9.99993434e-01 1.05498227e-03 -2.42117599e+00] [-8.64196029e-04 -1.05199225e-03 9.99999073e-01 -7.26052446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.360418555 meters Centerline goodness [0,1] 0.4996257739674763 Centerline is valid? [False, False] Translation: X:-19.75, Y:-2.42, Z:-0.72 [[ 9.99984998e-01 1.58018634e-03 -5.24477468e-03 -1.97519710e+01] [-1.58934519e-03 9.99997219e-01 -1.74257214e-03 -2.42043024e+00] [ 5.24200651e-03 1.75088175e-03 9.99984728e-01 -7.23490251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.390418555000004 meters Centerline goodness [0,1] 0.49327344086753333 Centerline is valid? [False, False] Translation: X:-19.75, Y:-2.42, Z:-0.72 [[ 9.99983504e-01 8.96404377e-04 -5.67353489e-03 -1.97499541e+01] [-9.01552082e-04 9.99999184e-01 -9.04826457e-04 -2.42310732e+00] [ 5.67271917e-03 9.09926518e-04 9.99983496e-01 -7.24983702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.420418555000005 meters Centerline goodness [0,1] 0.4874684759077823 Centerline is valid? [False, False] Translation: X:-19.73, Y:-2.43, Z:-0.73 [[ 9.99971220e-01 -7.58348720e-03 -2.24686690e-04 -1.97273332e+01] [ 7.58349229e-03 9.99971245e-01 2.18005806e-05 -2.42836494e+00] [ 2.24514905e-04 -2.35038629e-05 9.99999975e-01 -7.28910251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.450418555 meters Centerline goodness [0,1] 0.487407671086589 Centerline is valid? [False, False] Translation: X:-19.73, Y:-2.43, Z:-0.73 [[ 9.99931105e-01 -1.17366873e-02 1.86013321e-04 -1.97295333e+01] [ 1.17373606e-02 9.99922436e-01 -4.16611603e-03 -2.42988837e+00] [-1.37102492e-04 4.16801232e-03 9.99991304e-01 -7.26910989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.480418555 meters Centerline goodness [0,1] 0.5014822585058833 Centerline is valid? [False, False] Translation: X:-19.77, Y:-2.43, Z:-0.73 [[ 9.99943705e-01 -1.03017923e-02 -2.54164615e-03 -1.97693685e+01] [ 1.02947730e-02 9.99943200e-01 -2.75948678e-03 -2.43133175e+00] [ 2.56992944e-03 2.73316576e-03 9.99992963e-01 -7.32148644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.510418555 meters Centerline goodness [0,1] 0.4945566954885534 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.43, Z:-0.74 [[ 9.99990600e-01 -4.22393414e-03 -9.78594483e-04 -1.97373763e+01] [ 4.22078818e-03 9.99985989e-01 -3.19483986e-03 -2.43127107e+00] [ 9.92075565e-04 3.19067939e-03 9.99994418e-01 -7.40575770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.540418555 meters Centerline goodness [0,1] 0.4904002313733342 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.43, Z:-0.74 [[ 9.99987911e-01 -4.89356361e-03 -4.81327828e-04 -1.97396775e+01] [ 4.89196609e-03 9.99982701e-01 -3.26598767e-03 -2.43467259e+00] [ 4.97301820e-04 3.26359355e-03 9.99994551e-01 -7.38755741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.570418555 meters Centerline goodness [0,1] 0.47250061109753116 Centerline is valid? [False, False] Translation: X:-19.75, Y:-2.44, Z:-0.73 [[ 9.99951580e-01 -9.68279241e-03 1.75539192e-03 -1.97512553e+01] [ 9.69659623e-03 9.99920716e-01 -8.03353189e-03 -2.43789221e+00] [-1.67746572e-03 8.05016424e-03 9.99966190e-01 -7.31181825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.600418555000005 meters Centerline goodness [0,1] 0.46779796013186137 Centerline is valid? [False, False] Translation: X:-19.75, Y:-2.44, Z:-0.73 [[ 9.99978249e-01 -6.25236485e-03 2.10009352e-03 -1.97524865e+01] [ 6.26060125e-03 9.99972646e-01 -3.93851668e-03 -2.44061313e+00] [-2.07541103e-03 3.95157886e-03 9.99990039e-01 -7.31185750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.630418555 meters Centerline goodness [0,1] 0.4856457183869376 Centerline is valid? [False, False] Translation: X:-19.79, Y:-2.44, Z:-0.74 [[ 9.99995360e-01 -3.01247427e-03 -4.51685741e-04 -1.97924651e+01] [ 3.01224603e-03 9.99995336e-01 -5.05133452e-04 -2.43986378e+00] [ 4.53205335e-04 5.03770519e-04 9.99999770e-01 -7.36230967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.660418555 meters Centerline goodness [0,1] 0.4383782433996958 Centerline is valid? [False, False] Translation: X:-19.81, Y:-2.44, Z:-0.74 [[ 9.99977867e-01 1.12309655e-03 -6.55778950e-03 -1.98087686e+01] [-1.15857571e-03 9.99984700e-01 -5.40894204e-03 -2.44004612e+00] [ 6.55161440e-03 5.41642001e-03 9.99963869e-01 -7.38150328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.690418555 meters Centerline goodness [0,1] 0.4321217282179993 Centerline is valid? [False, False] Translation: X:-19.79, Y:-2.44, Z:-0.74 [[ 9.99990190e-01 -4.30897133e-03 -1.02551019e-03 -1.97857714e+01] [ 4.30632201e-03 9.99987421e-01 -2.57175628e-03 -2.44328762e+00] [ 1.03657892e-03 2.56731487e-03 9.99996167e-01 -7.42321547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.720418555 meters Centerline goodness [0,1] 0.4927342128172504 Centerline is valid? [False, False] Translation: X:-19.79, Y:-2.44, Z:-0.74 [[ 9.99986714e-01 -5.12788344e-03 5.25524202e-04 -1.97936464e+01] [ 5.12985921e-03 9.99979508e-01 -3.82986610e-03 -2.44060846e+00] [-5.05874326e-04 3.83251108e-03 9.99992528e-01 -7.36726485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.750418555 meters Centerline goodness [0,1] 0.49538766143184987 Centerline is valid? [False, False] Translation: X:-19.79, Y:-2.44, Z:-0.74 [[ 9.99998824e-01 -1.53190917e-03 7.43820442e-05 -1.97911210e+01] [ 1.53192420e-03 9.99998806e-01 -2.02449756e-04 -2.44118087e+00] [-7.40718207e-05 2.02563466e-04 9.99999977e-01 -7.39112860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.780418555000004 meters Centerline goodness [0,1] 0.4846121463230896 Centerline is valid? [False, False] Translation: X:-19.76, Y:-2.44, Z:-0.74 [[ 9.99963150e-01 8.58119703e-03 2.49389330e-04 -1.97616904e+01] [-8.58140535e-03 9.99962821e-01 8.46626493e-04 -2.44046197e+00] [-2.42114989e-04 -8.48735406e-04 9.99999611e-01 -7.43028602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.810418555 meters Centerline goodness [0,1] 0.4829015776263894 Centerline is valid? [False, False] Translation: X:-19.79, Y:-2.44, Z:-0.74 [[ 9.99996040e-01 2.66799807e-03 -8.95483107e-04 -1.97882481e+01] [-2.66449162e-03 9.99988867e-01 3.89431985e-03 -2.43965018e+00] [ 9.05863176e-04 -3.89191842e-03 9.99992016e-01 -7.40228357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.840418555 meters Centerline goodness [0,1] 0.4876812238726319 Centerline is valid? [False, False] Translation: X:-19.79, Y:-2.44, Z:-0.74 [[ 9.99996647e-01 2.41451453e-03 -9.35949855e-04 -1.97879771e+01] [-2.41093983e-03 9.99989867e-01 3.80182363e-03 -2.44107439e+00] [ 9.45119929e-04 -3.79955436e-03 9.99992335e-01 -7.40654940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.870418555 meters Centerline goodness [0,1] 0.4893026404874746 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.44, Z:-0.74 [[ 9.99986999e-01 5.08575693e-03 -3.69187640e-04 -1.98406287e+01] [-5.08372093e-03 9.99972922e-01 5.32081722e-03 -2.43778803e+00] [ 3.96238026e-04 -5.31887120e-03 9.99985776e-01 -7.38404588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.900418555 meters Centerline goodness [0,1] 0.47646380820654677 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.43, Z:-0.74 [[ 9.99987770e-01 4.85682054e-03 9.33142947e-04 -1.98937655e+01] [-4.85936878e-03 9.99984417e-01 2.74823611e-03 -2.43362544e+00] [-9.19780716e-04 -2.75273698e-03 9.99995788e-01 -7.35489850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.930418555 meters Centerline goodness [0,1] 0.491569800248279 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.43, Z:-0.73 [[ 9.99993874e-01 2.91046959e-03 1.94426228e-03 -1.98490029e+01] [-2.91073798e-03 9.99995755e-01 1.35225120e-04 -2.43189099e+00] [-1.94386045e-03 -1.40883529e-04 9.99998101e-01 -7.34255163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.960418555000004 meters Centerline goodness [0,1] 0.4769326268650098 Centerline is valid? [False, False] Translation: X:-19.80, Y:-2.43, Z:-0.74 [[ 9.99985321e-01 5.40760225e-03 3.39370998e-04 -1.97965628e+01] [-5.40821104e-03 9.99983720e-01 1.81935987e-03 -2.42747698e+00] [-3.29527099e-04 -1.82116855e-03 9.99998287e-01 -7.36899299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.990418555000005 meters Centerline goodness [0,1] 0.4921162013192374 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.42, Z:-0.74 [[ 9.99951003e-01 9.73904696e-03 -1.77248825e-03 -1.98384831e+01] [-9.72993528e-03 9.99939766e-01 5.07861886e-03 -2.42482521e+00] [ 1.82184240e-03 -5.06112383e-03 9.99985533e-01 -7.41336862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.020418555 meters Centerline goodness [0,1] 0.5006946816991231 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.42, Z:-0.74 [[ 9.99947409e-01 1.00177853e-02 -2.19599074e-03 -1.98363921e+01] [-1.00069005e-02 9.99937861e-01 4.91281340e-03 -2.42289127e+00] [ 2.24506980e-03 -4.89057997e-03 9.99985521e-01 -7.42878037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.050418555 meters Centerline goodness [0,1] 0.4889828221962407 Centerline is valid? [False, False] Translation: X:-19.81, Y:-2.42, Z:-0.75 [[ 9.99988254e-01 3.93359643e-03 2.83187093e-03 -1.98109926e+01] [-3.95079344e-03 9.99973634e-01 6.09290458e-03 -2.42385564e+00] [-2.80782924e-03 -6.10402115e-03 9.99977428e-01 -7.49343912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.080418555 meters Centerline goodness [0,1] 0.4916222222222222 Centerline is valid? [False, False] Translation: X:-19.81, Y:-2.42, Z:-0.75 [[ 9.99986234e-01 4.55980512e-03 2.59619991e-03 -1.98104614e+01] [-4.57547617e-03 9.99971155e-01 6.06254786e-03 -2.42040099e+00] [-2.56848099e-03 -6.07434325e-03 9.99978252e-01 -7.49361634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.110418555 meters Centerline goodness [0,1] 0.4899623729806457 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.42, Z:-0.74 [[ 9.99872765e-01 1.59424239e-02 -5.40988097e-04 -1.98384531e+01] [-1.59380345e-02 9.99846130e-01 7.32775156e-03 -2.41649273e+00] [ 6.57726977e-04 -7.31819693e-03 9.99973005e-01 -7.43401915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.140418555000004 meters Centerline goodness [0,1] 0.48327129210207653 Centerline is valid? [False, False] Translation: X:-19.82, Y:-2.41, Z:-0.74 [[ 9.99930330e-01 1.16503012e-02 1.89873992e-03 -1.98165588e+01] [-1.16727511e-02 9.99856517e-01 1.22756815e-02 -2.41414013e+00] [-1.75545210e-03 -1.22969897e-02 9.99922848e-01 -7.43571505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.170418555000005 meters Centerline goodness [0,1] 0.49381889588075156 Centerline is valid? [False, False] Translation: X:-19.82, Y:-2.41, Z:-0.74 [[ 9.99930427e-01 1.16790362e-02 1.65550062e-03 -1.98157167e+01] [-1.16981288e-02 9.99859148e-01 1.20349023e-02 -2.41249942e+00] [-1.51471138e-03 -1.20534312e-02 9.99926208e-01 -7.43865250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.200418555 meters Centerline goodness [0,1] 0.4957091695384823 Centerline is valid? [False, False] Translation: X:-19.82, Y:-2.41, Z:-0.74 [[ 9.99930297e-01 1.16177650e-02 2.10433774e-03 -1.98176929e+01] [-1.16411226e-02 9.99866680e-01 1.14501879e-02 -2.40982007e+00] [-1.97103160e-03 -1.14738866e-02 9.99932230e-01 -7.42612269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.230418555 meters Centerline goodness [0,1] 0.49165947002408983 Centerline is valid? [False, False] Translation: X:-19.82, Y:-2.41, Z:-0.74 [[ 9.99926083e-01 1.17658792e-02 3.06480344e-03 -1.98215712e+01] [-1.17988709e-02 9.99870119e-01 1.09787287e-02 -2.40707708e+00] [-2.93523098e-03 -1.10140784e-02 9.99935035e-01 -7.40669982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.260418555 meters Centerline goodness [0,1] 0.470388793468805 Centerline is valid? [False, False] Translation: X:-19.78, Y:-2.40, Z:-0.74 [[ 9.99906033e-01 1.31090392e-02 4.00983566e-03 -1.97758645e+01] [-1.31552452e-02 9.99844750e-01 1.17224283e-02 -2.40040753e+00] [-3.85554336e-03 -1.17740772e-02 9.99923250e-01 -7.40660488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.290418555 meters Centerline goodness [0,1] 0.4893202142681041 Centerline is valid? [False, False] Translation: X:-19.77, Y:-2.40, Z:-0.75 [[ 9.99875441e-01 1.55438829e-02 2.73670022e-03 -1.97684694e+01] [-1.55800592e-02 9.99784281e-01 1.37350986e-02 -2.39528384e+00] [-2.52261310e-03 -1.37760257e-02 9.99901924e-01 -7.45837317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.320418555 meters Centerline goodness [0,1] 0.4745290380113699 Centerline is valid? [False, False] Translation: X:-19.77, Y:-2.39, Z:-0.75 [[ 9.99877238e-01 1.54440768e-02 2.64365913e-03 -1.97681001e+01] [-1.54778326e-02 9.99792235e-01 1.32636047e-02 -2.39277306e+00] [-2.43826574e-03 -1.33028945e-02 9.99908540e-01 -7.46273035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.350418555000005 meters Centerline goodness [0,1] 0.4806413328257608 Centerline is valid? [False, False] Translation: X:-19.76, Y:-2.39, Z:-0.75 [[ 9.99902725e-01 1.38166535e-02 1.90787986e-03 -1.97625238e+01] [-1.38367334e-02 9.99844348e-01 1.09464766e-02 -2.38936955e+00] [-1.75633922e-03 -1.09718106e-02 9.99938265e-01 -7.51040158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.380418555 meters Centerline goodness [0,1] 0.4954799043606968 Centerline is valid? [False, False] Translation: X:-19.79, Y:-2.39, Z:-0.75 [[ 9.99961473e-01 8.25359114e-03 -2.98829806e-03 -1.97863323e+01] [-8.21299045e-03 9.99877114e-01 1.33530390e-02 -2.38972407e+00] [ 3.09814136e-03 -1.33279817e-02 9.99906379e-01 -7.47084161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.410418555 meters Centerline goodness [0,1] 0.4958070100496864 Centerline is valid? [False, False] Translation: X:-19.76, Y:-2.39, Z:-0.75 [[ 9.99904181e-01 1.36886558e-02 2.06126542e-03 -1.97629784e+01] [-1.37101505e-02 9.99847660e-01 1.08022789e-02 -2.38514383e+00] [-1.91308272e-03 -1.08295041e-02 9.99939529e-01 -7.51061566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.440418555 meters Centerline goodness [0,1] 0.4960779868510542 Centerline is valid? [False, False] Translation: X:-19.80, Y:-2.38, Z:-0.74 [[ 9.99954905e-01 7.83083349e-03 5.37272214e-03 -1.97986974e+01] [-7.90630936e-03 9.99868291e-01 1.41735833e-02 -2.38333617e+00] [-5.26102354e-03 -1.42154226e-02 9.99885115e-01 -7.44561363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.470418555 meters Centerline goodness [0,1] 0.4793623110634111 Centerline is valid? [False, False] Translation: X:-19.80, Y:-2.39, Z:-0.75 [[ 9.99982306e-01 3.72317751e-03 4.63958013e-03 -1.97955296e+01] [-3.76976019e-03 9.99942167e-01 1.00723116e-02 -2.38563550e+00] [-4.60181081e-03 -1.00896235e-02 9.99938510e-01 -7.46240327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.500418555 meters Centerline goodness [0,1] 0.48087065343702506 Centerline is valid? [False, False] Translation: X:-19.79, Y:-2.39, Z:-0.75 [[ 9.99994244e-01 7.45237355e-04 3.31005890e-03 -1.97888467e+01] [-7.68301921e-04 9.99975399e-01 6.97222571e-03 -2.38583663e+00] [-3.30478151e-03 -6.97472870e-03 9.99970215e-01 -7.51103876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.530418555000004 meters Centerline goodness [0,1] 0.48169505162934156 Centerline is valid? [False, False] Translation: X:-19.79, Y:-2.38, Z:-0.75 [[ 9.99993614e-01 4.50617301e-04 3.54533409e-03 -1.97907155e+01] [-4.77718402e-04 9.99970647e-01 7.64703042e-03 -2.38430242e+00] [-3.54178414e-03 -7.64867526e-03 9.99964476e-01 -7.49525281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.560418555 meters Centerline goodness [0,1] 0.443898387208417 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.39, Z:-0.74 [[ 9.99957547e-01 -7.53356592e-03 5.30568407e-03 -1.98480492e+01] [ 7.53841928e-03 9.99971185e-01 -8.95344477e-04 -2.39088202e+00] [-5.29878605e-03 9.35302937e-04 9.99985524e-01 -7.43561326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.590418555 meters Centerline goodness [0,1] 0.4948783030412909 Centerline is valid? [False, False] Translation: X:-19.82, Y:-2.39, Z:-0.74 [[ 9.99960522e-01 -3.69715648e-03 8.07994637e-03 -1.98245791e+01] [ 3.74125954e-03 9.99978150e-01 -5.45005461e-03 -2.39435333e+00] [-8.05962012e-03 5.48006863e-03 9.99952505e-01 -7.44903683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.620418555 meters Centerline goodness [0,1] 0.48181736754892746 Centerline is valid? [False, False] Translation: X:-19.83, Y:-2.39, Z:-0.74 [[ 9.99966568e-01 7.51768763e-05 8.17667532e-03 -1.98250424e+01] [-6.67469793e-05 9.99999466e-01 -1.03123679e-03 -2.39433361e+00] [-8.17674848e-03 1.03065655e-03 9.99966039e-01 -7.44667123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.650418555 meters Centerline goodness [0,1] 0.48119835623702 Centerline is valid? [False, False] Translation: X:-19.79, Y:-2.40, Z:-0.75 [[ 9.99954225e-01 -5.24800736e-03 8.00044220e-03 -1.97948584e+01] [ 5.21115155e-03 9.99975747e-01 4.62062819e-03 -2.39628773e+00] [-8.02449725e-03 -4.57872516e-03 9.99957320e-01 -7.49470110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.680418555 meters Centerline goodness [0,1] 0.48811846071998577 Centerline is valid? [False, False] Translation: X:-19.79, Y:-2.40, Z:-0.76 [[ 9.99910510e-01 -1.14589443e-02 6.90393583e-03 -1.97875161e+01] [ 1.14696681e-02 9.99933072e-01 -1.51569883e-03 -2.39776009e+00] [-6.88610545e-03 1.59474904e-03 9.99975019e-01 -7.55094986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.710418555000004 meters Centerline goodness [0,1] 0.4939386470074171 Centerline is valid? [False, False] Translation: X:-19.81, Y:-2.40, Z:-0.75 [[ 9.99942688e-01 -1.01631271e-02 3.36621099e-03 -1.98120711e+01] [ 1.01941067e-02 9.99904628e-01 -9.31748594e-03 -2.40103162e+00] [-3.27119516e-03 9.35126745e-03 9.99950925e-01 -7.51602118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.740418555000005 meters Centerline goodness [0,1] 0.49850370137029454 Centerline is valid? [False, False] Translation: X:-19.82, Y:-2.40, Z:-0.75 [[ 9.99942380e-01 -9.66111718e-03 4.67966277e-03 -1.98193752e+01] [ 9.69730284e-03 9.99922772e-01 -7.77257118e-03 -2.40396799e+00] [-4.60420965e-03 7.81750343e-03 9.99958843e-01 -7.46477979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.770418555 meters Centerline goodness [0,1] 0.4927774647887324 Centerline is valid? [False, False] Translation: X:-19.82, Y:-2.40, Z:-0.74 [[ 9.99937510e-01 -9.80894731e-03 5.36296529e-03 -1.98225805e+01] [ 9.84995160e-03 9.99922044e-01 -7.67363174e-03 -2.40460918e+00] [-5.28727697e-03 7.72597717e-03 9.99956176e-01 -7.44063806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.800418555 meters Centerline goodness [0,1] 0.49207415368081675 Centerline is valid? [False, False] Translation: X:-19.82, Y:-2.41, Z:-0.74 [[ 9.99890442e-01 -1.37826473e-02 5.39842045e-03 -1.98221262e+01] [ 1.38453622e-02 9.99835020e-01 -1.17575045e-02 -2.40517966e+00] [-5.23548028e-03 1.18309595e-02 9.99916306e-01 -7.44802119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.830418555 meters Centerline goodness [0,1] 0.48128544423440456 Centerline is valid? [False, False] Translation: X:-19.81, Y:-2.41, Z:-0.75 [[ 9.99859809e-01 -1.63065000e-02 3.80267227e-03 -1.98136231e+01] [ 1.63584755e-02 9.99767290e-01 -1.40629678e-02 -2.40854463e+00] [-3.57246956e-03 1.41232022e-02 9.99893881e-01 -7.50434624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.860418555 meters Centerline goodness [0,1] 0.4818405243036592 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.41, Z:-0.76 [[ 9.99890998e-01 -1.47042389e-02 1.33304566e-03 -1.98542987e+01] [ 1.47196919e-02 9.99814310e-01 -1.24368499e-02 -2.41277228e+00] [-1.14992372e-03 1.24551163e-02 9.99921771e-01 -7.55192633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.890418555000004 meters Centerline goodness [0,1] 0.49045724757520226 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.42, Z:-0.75 [[ 9.99848268e-01 -1.63884492e-02 5.90414965e-03 -1.98363828e+01] [ 1.64078823e-02 9.99860073e-01 -3.25816897e-03 -2.41676072e+00] [-5.84992716e-03 3.35454919e-03 9.99977262e-01 -7.53431452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.920418555000005 meters Centerline goodness [0,1] 0.48544953116381684 Centerline is valid? [False, False] Translation: X:-19.82, Y:-2.42, Z:-0.75 [[ 9.99851567e-01 -1.24974958e-02 1.18598848e-02 -1.98167012e+01] [ 1.25788707e-02 9.99897681e-01 -6.81174935e-03 -2.41797712e+00] [-1.17735415e-02 6.95992222e-03 9.99906467e-01 -7.54784070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.950418555 meters Centerline goodness [0,1] 0.4516186095878295 Centerline is valid? [False, False] Translation: X:-19.82, Y:-2.42, Z:-0.75 [[ 9.99840572e-01 -1.29480694e-02 1.22954168e-02 -1.98179162e+01] [ 1.30317518e-02 9.99892297e-01 -6.75042899e-03 -2.42156769e+00] [-1.22066875e-02 6.90958361e-03 9.99901622e-01 -7.54906715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.980418555 meters Centerline goodness [0,1] 0.4516186095878295 Centerline is valid? [False, False] Translation: X:-19.82, Y:-2.42, Z:-0.75 [[ 9.99840572e-01 -1.29480694e-02 1.22954168e-02 -1.98179162e+01] [ 1.30317518e-02 9.99892297e-01 -6.75042899e-03 -2.42156769e+00] [-1.22066875e-02 6.90958361e-03 9.99901622e-01 -7.54906715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.010418555 meters Centerline goodness [0,1] 0.4939674649796656 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.42, Z:-0.76 [[ 9.99836013e-01 -1.49427075e-02 1.02305060e-02 -1.98599394e+01] [ 1.50398952e-02 9.99841861e-01 -9.48969258e-03 -2.42270883e+00] [-1.00870864e-02 9.64200213e-03 9.99902637e-01 -7.59125526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.040418555 meters Centerline goodness [0,1] 0.4964516637754297 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.42, Z:-0.76 [[ 9.99840710e-01 -1.50473667e-02 9.59850505e-03 -1.98565179e+01] [ 1.51390290e-02 9.99839795e-01 -9.54955880e-03 -2.42417593e+00] [-9.45327161e-03 9.69334970e-03 9.99908333e-01 -7.62065398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.070418555 meters Centerline goodness [0,1] 0.4946564885496183 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.42, Z:-0.77 [[ 9.99877117e-01 -1.34333254e-02 8.08067633e-03 -1.98488552e+01] [ 1.34974838e-02 9.99877393e-01 -7.93829900e-03 -2.42371921e+00] [-7.97304783e-03 8.04639231e-03 9.99935841e-01 -7.67044763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.100418555000005 meters Centerline goodness [0,1] 0.4827169711876318 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.43, Z:-0.77 [[ 9.99911974e-01 -1.02743651e-02 8.39535713e-03 -1.98505840e+01] [ 1.03102734e-02 9.99937837e-01 -4.24513588e-03 -2.42612494e+00] [-8.35121917e-03 4.33132062e-03 9.99955747e-01 -7.65942571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.130418555 meters Centerline goodness [0,1] 0.4940209602293085 Centerline is valid? [False, False] Translation: X:-19.88, Y:-2.43, Z:-0.76 [[ 9.99956180e-01 -4.67613466e-03 8.10993416e-03 -1.98824342e+01] [ 4.74584959e-03 9.99951771e-01 -8.59840563e-03 -2.42760383e+00] [-8.06933572e-03 8.63651738e-03 9.99930146e-01 -7.58841885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.160418555 meters Centerline goodness [0,1] 0.4965106232137714 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.43, Z:-0.75 [[ 9.99951069e-01 -2.64399844e-03 9.53255548e-03 -1.98902573e+01] [ 2.71002134e-03 9.99972386e-01 -6.91979313e-03 -2.42948059e+00] [-9.51399632e-03 6.94528796e-03 9.99930621e-01 -7.53336782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.190418555 meters Centerline goodness [0,1] 0.49427455206789705 Centerline is valid? [False, False] Translation: X:-19.92, Y:-2.43, Z:-0.75 [[ 9.99961127e-01 -3.72721367e-03 7.99076808e-03 -1.99205091e+01] [ 3.71986518e-03 9.99992645e-01 9.34288279e-04 -2.42951628e+00] [-7.99419160e-03 -9.04527380e-04 9.99967637e-01 -7.47158230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.220418555 meters Centerline goodness [0,1] 0.4926889437093519 Centerline is valid? [False, False] Translation: X:-19.92, Y:-2.43, Z:-0.75 [[ 9.99964989e-01 -2.80223623e-03 7.88468374e-03 -1.99197351e+01] [ 2.78943069e-03 9.99994774e-01 1.63463181e-03 -2.42755723e+00] [-7.88922315e-03 -1.61258080e-03 9.99967579e-01 -7.47849294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.250418555 meters Centerline goodness [0,1] 0.49792169482434967 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.43, Z:-0.76 [[ 9.99977081e-01 -2.96596050e-03 6.08613041e-03 -1.99098780e+01] [ 2.95767074e-03 9.99994687e-01 1.37062413e-03 -2.42869717e+00] [-6.09016329e-03 -1.35259195e-03 9.99980540e-01 -7.55121603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.280418555000004 meters Centerline goodness [0,1] 0.49923046883973077 Centerline is valid? [False, False] Translation: X:-19.94, Y:-2.43, Z:-0.76 [[ 9.99993116e-01 -2.92042996e-03 2.28868668e-03 -1.99440043e+01] [ 2.91985248e-03 9.99995705e-01 2.55621252e-04 -2.42935634e+00] [-2.28942337e-03 -2.48936865e-04 9.99997348e-01 -7.63851476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.310418555 meters Centerline goodness [0,1] 0.5002138628126337 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.43, Z:-0.77 [[ 9.99995219e-01 -2.98833862e-03 -7.94781216e-04 -1.98879243e+01] [ 2.98882289e-03 9.99995348e-01 6.08823076e-04 -2.42984873e+00] [ 7.92958150e-04 -6.11195626e-04 9.99999499e-01 -7.68013539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.340418555 meters Centerline goodness [0,1] 0.48427167113494196 Centerline is valid? [False, False] Translation: X:-19.90, Y:-2.43, Z:-0.76 [[ 9.99999651e-01 -7.82962165e-04 2.91173530e-04 -1.98960317e+01] [ 7.82151040e-04 9.99995843e-01 2.77546709e-03 -2.42935593e+00] [-2.93345406e-04 -2.77523838e-03 9.99996106e-01 -7.60579675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.370418555 meters Centerline goodness [0,1] 0.4880659723774192 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.43, Z:-0.75 [[ 9.99994778e-01 -5.10197591e-04 3.19120805e-03 -1.99105701e+01] [ 5.01685778e-04 9.99996316e-01 2.66750186e-03 -2.43050184e+00] [-3.19255725e-03 -2.66588694e-03 9.99991350e-01 -7.50650522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.400418555 meters Centerline goodness [0,1] 0.48363726083933334 Centerline is valid? [False, False] Translation: X:-19.92, Y:-2.43, Z:-0.75 [[ 9.99988438e-01 -1.22623663e-03 4.64974868e-03 -1.99180004e+01] [ 1.21868789e-03 9.99997936e-01 1.62595834e-03 -2.43053679e+00] [-4.65173289e-03 -1.62027295e-03 9.99987868e-01 -7.46086794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.430418555 meters Centerline goodness [0,1] 0.4836675326982435 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.43, Z:-0.75 [[ 9.99992092e-01 3.34099065e-03 2.15718403e-03 -1.99055549e+01] [-3.35584519e-03 9.99970428e-01 6.91957537e-03 -2.43206189e+00] [-2.13400200e-03 -6.92675983e-03 9.99973733e-01 -7.54245815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.460418555000004 meters Centerline goodness [0,1] 0.4953300404131118 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.43, Z:-0.75 [[ 9.99995676e-01 -8.65765762e-04 -2.81052360e-03 -1.99250608e+01] [ 9.01177393e-04 9.99919921e-01 1.26229376e-02 -2.43420983e+00] [ 2.79937003e-03 -1.26254158e-02 9.99916378e-01 -7.54558594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.490418555000005 meters Centerline goodness [0,1] 0.4855932776138232 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.44, Z:-0.75 [[ 9.99985228e-01 -4.79311449e-03 -2.56298116e-03 -1.99262141e+01] [ 4.81529992e-03 9.99950376e-01 8.72115522e-03 -2.43516675e+00] [ 2.52105248e-03 -8.73336792e-03 9.99958685e-01 -7.53587935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.520418555 meters Centerline goodness [0,1] 0.4896882818310907 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.44, Z:-0.75 [[ 9.99997355e-01 1.91777619e-03 1.26997991e-03 -1.99334579e+01] [-1.91421829e-03 9.99994257e-01 -2.79685533e-03 -2.43538921e+00] [-1.27533636e-03 2.79441691e-03 9.99995282e-01 -7.50391162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.550418555 meters Centerline goodness [0,1] 0.48954415188966505 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.43, Z:-0.75 [[ 9.99997361e-01 2.09186026e-03 9.49860335e-04 -1.99321407e+01] [-2.08901671e-03 9.99993363e-01 -2.98484228e-03 -2.43331997e+00] [-9.56097904e-04 2.98285013e-03 9.99995094e-01 -7.51140642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.580418555 meters Centerline goodness [0,1] 0.467231866505181 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.43, Z:-0.75 [[ 9.99996664e-01 2.57165502e-03 2.41636638e-04 -1.99279373e+01] [-2.57099109e-03 9.99993026e-01 -2.70891448e-03 -2.43243934e+00] [-2.48601346e-04 2.70828420e-03 9.99996302e-01 -7.54919698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.610418555 meters Centerline goodness [0,1] 0.4855171793892272 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.43, Z:-0.75 [[ 9.99995344e-01 3.04705274e-03 1.65280155e-04 -1.99278265e+01] [-3.04663977e-03 9.99992373e-01 -2.44384323e-03 -2.43228905e+00] [-1.72725414e-04 2.44332830e-03 9.99997000e-01 -7.54923059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.640418555000004 meters Centerline goodness [0,1] 0.48595875874086814 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.43, Z:-0.75 [[ 9.99993528e-01 3.53843619e-03 6.49956896e-04 -1.99302544e+01] [-3.53707704e-03 9.99991580e-01 -2.08051226e-03 -2.43131647e+00] [-6.57313184e-04 2.07819985e-03 9.99997625e-01 -7.52974934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.670418555000005 meters Centerline goodness [0,1] 0.488766559255281 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.43, Z:-0.75 [[ 9.99994552e-01 3.24327975e-03 6.13458895e-04 -1.99309013e+01] [-3.24219021e-03 9.99993180e-01 -1.76879936e-03 -2.43461604e+00] [-6.19191422e-04 1.76680077e-03 9.99998248e-01 -7.51742542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.700418555 meters Centerline goodness [0,1] 0.48686616420639517 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.44, Z:-0.75 [[ 9.99995728e-01 2.85874431e-03 6.10219919e-04 -1.99309118e+01] [-2.85781892e-03 9.99994773e-01 -1.51200645e-03 -2.43843425e+00] [-6.14539170e-04 1.51025609e-03 9.99998671e-01 -7.51679732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.730418555 meters Centerline goodness [0,1] 0.48766383102239486 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.44, Z:-0.75 [[ 9.99996628e-01 2.51882371e-03 6.32736436e-04 -1.99312959e+01] [-2.51777924e-03 9.99995476e-01 -1.64612345e-03 -2.43997683e+00] [-6.36879868e-04 1.64452481e-03 9.99998445e-01 -7.51226428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.760418555 meters Centerline goodness [0,1] 0.48954618402282457 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.44, Z:-0.75 [[ 9.99996514e-01 2.60716564e-03 4.19125226e-04 -1.99304039e+01] [-2.60643716e-03 9.99995108e-01 -1.72934773e-03 -2.43972593e+00] [-4.23631872e-04 1.72824928e-03 9.99998417e-01 -7.51795426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.790418555 meters Centerline goodness [0,1] 0.5030977801147665 Centerline is valid? [False, False] Translation: X:-19.98, Y:-2.44, Z:-0.75 [[ 9.99992934e-01 3.75477328e-03 1.84336577e-04 -1.99805553e+01] [-3.75456393e-03 9.99992321e-01 -1.12319682e-03 -2.43968388e+00] [-1.88552511e-04 1.12249678e-03 9.99999352e-01 -7.51140293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.820418555 meters Centerline goodness [0,1] 0.4904277895677427 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.44, Z:-0.75 [[ 9.99996108e-01 2.54467068e-03 1.14355456e-03 -1.99337564e+01] [-2.54288632e-03 9.99995551e-01 -1.55911967e-03 -2.44125359e+00] [-1.14751692e-03 1.55620567e-03 9.99998131e-01 -7.50900431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.850418555000005 meters Centerline goodness [0,1] 0.49138238971244863 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.44, Z:-0.75 [[ 9.99996940e-01 2.20344236e-03 1.12454278e-03 -1.99332758e+01] [-2.20163730e-03 9.99996290e-01 -1.60387176e-03 -2.44382550e+00] [-1.12807265e-03 1.60139102e-03 9.99998081e-01 -7.51765400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.880418555 meters Centerline goodness [0,1] 0.4880883594826436 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.44, Z:-0.76 [[ 9.99990648e-01 4.31879256e-03 -2.27839116e-04 -1.99252814e+01] [-4.31866434e-03 9.99990518e-01 5.60252744e-04 -2.44422232e+00] [ 2.30256571e-04 -5.59263544e-04 9.99999817e-01 -7.57767043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.910418555 meters Centerline goodness [0,1] 0.49069502468666915 Centerline is valid? [False, False] Translation: X:-19.92, Y:-2.44, Z:-0.76 [[ 9.99990197e-01 4.40413076e-03 -4.58829001e-04 -1.99242023e+01] [-4.40382712e-03 9.99990085e-01 6.60697236e-04 -2.44386792e+00] [ 4.61734249e-04 -6.58670156e-04 9.99999676e-01 -7.58400336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.940418555 meters Centerline goodness [0,1] 0.49514887922382067 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.45, Z:-0.75 [[ 9.99997567e-01 2.16391997e-03 4.27214004e-04 -1.99300564e+01] [-2.16331663e-03 9.99996669e-01 -1.40770800e-03 -2.44679209e+00] [-4.30258749e-04 1.40678037e-03 9.99998918e-01 -7.54029254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.970418555 meters Centerline goodness [0,1] 0.48989626835511246 Centerline is valid? [False, False] Translation: X:-19.94, Y:-2.45, Z:-0.75 [[ 9.99996757e-01 1.74079894e-03 1.85899080e-03 -1.99394013e+01] [-1.73781902e-03 9.99997205e-01 -1.60339001e-03 -2.44835264e+00] [-1.86177679e-03 1.60015422e-03 9.99996987e-01 -7.46892112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.000418555 meters Centerline goodness [0,1] 0.4874884777085816 Centerline is valid? [False, False] Translation: X:-19.94, Y:-2.45, Z:-0.75 [[ 9.99996554e-01 2.04915117e-03 1.64132098e-03 -1.99383508e+01] [-2.04675106e-03 9.99996836e-01 -1.46264721e-03 -2.44614357e+00] [-1.64431297e-03 1.45928279e-03 9.99997583e-01 -7.47953611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.030418555000004 meters Centerline goodness [0,1] 0.49209392551823694 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.45, Z:-0.75 [[ 9.99999865e-01 2.37477301e-04 4.62156373e-04 -1.99304604e+01] [-2.35989193e-04 9.99994797e-01 -3.21731840e-03 -2.44757338e+00] [-4.62918008e-04 3.21720890e-03 9.99994718e-01 -7.54202258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.060418555 meters Centerline goodness [0,1] 0.4861265755132944 Centerline is valid? [False, False] Translation: X:-19.90, Y:-2.45, Z:-0.76 [[ 9.99976788e-01 -4.69261812e-03 4.93996047e-03 -1.99035802e+01] [ 4.69313329e-03 9.99988983e-01 -9.26999448e-05 -2.45229906e+00] [-4.93947104e-03 1.15881686e-04 9.99987794e-01 -7.60463002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.090418555 meters Centerline goodness [0,1] 0.4892603576885054 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.45, Z:-0.76 [[ 9.99980921e-01 2.62740634e-03 5.59059862e-03 -1.99332014e+01] [-2.61479833e-03 9.99994025e-01 -2.26133179e-03 -2.45411035e+00] [-5.59650665e-03 2.24667036e-03 9.99981816e-01 -7.55883971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.120418555 meters Centerline goodness [0,1] 0.4889525459107765 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.45, Z:-0.76 [[ 9.99966828e-01 -4.39157183e-04 8.13323381e-03 -1.99098948e+01] [ 3.98951512e-04 9.99987697e-01 4.94434350e-03 -2.45361613e+00] [-8.13530509e-03 -4.94093472e-03 9.99954701e-01 -7.57298934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.150418555 meters Centerline goodness [0,1] 0.5006391818472355 Centerline is valid? [False, False] Translation: X:-19.96, Y:-2.46, Z:-0.76 [[ 9.99973934e-01 -2.12596262e-03 6.90017530e-03 -1.99567205e+01] [ 2.10457249e-03 9.99992963e-01 3.10572196e-03 -2.45573771e+00] [-6.90672939e-03 -3.09111908e-03 9.99971371e-01 -7.58253308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.180418555 meters Centerline goodness [0,1] 0.48950596632095467 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.46, Z:-0.76 [[ 9.99963084e-01 -3.88219640e-03 7.66551013e-03 -1.99093435e+01] [ 3.86985813e-03 9.99991194e-01 1.62375923e-03 -2.45799322e+00] [-7.67174638e-03 -1.59403485e-03 9.99969301e-01 -7.58857306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.210418555000004 meters Centerline goodness [0,1] 0.48536909776102855 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.46, Z:-0.76 [[ 9.99962503e-01 -3.49554828e-03 7.92299292e-03 -1.99101188e+01] [ 3.48023691e-03 9.99992051e-01 1.94548654e-03 -2.45712581e+00] [-7.92973049e-03 -1.91783969e-03 9.99966720e-01 -7.58786441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.240418555 meters Centerline goodness [0,1] 0.4938394186938665 Centerline is valid? [False, False] Translation: X:-19.94, Y:-2.46, Z:-0.75 [[ 9.99994288e-01 5.09671073e-04 3.34128604e-03 -1.99354146e+01] [-4.98472433e-04 9.99994259e-01 -3.35157230e-03 -2.45629137e+00] [-3.34297505e-03 3.34988762e-03 9.99988801e-01 -7.54038281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.270418555 meters Centerline goodness [0,1] 0.4795884352985622 Centerline is valid? [False, False] Translation: X:-19.88, Y:-2.46, Z:-0.76 [[ 9.99998409e-01 5.56992243e-04 1.69474651e-03 -1.98823849e+01] [-5.51955153e-04 9.99995434e-01 -2.97119691e-03 -2.45789757e+00] [-1.69639370e-03 2.97025676e-03 9.99994150e-01 -7.56693840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.300418555 meters Centerline goodness [0,1] 0.46357423619796323 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.46, Z:-0.75 [[ 9.99990798e-01 3.32369617e-03 2.71236966e-03 -1.98889173e+01] [-3.32356749e-03 9.99994476e-01 -5.19452598e-05 -2.45683428e+00] [-2.71252732e-03 4.29300382e-05 9.99996320e-01 -7.51618393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.330418555 meters Centerline goodness [0,1] 0.48368600682593854 Centerline is valid? [False, False] Translation: X:-19.92, Y:-2.46, Z:-0.75 [[ 9.99993005e-01 -3.39193109e-03 1.57658971e-03 -1.99201691e+01] [ 3.38809117e-03 9.99991303e-01 2.43190820e-03 -2.45793956e+00] [-1.58482486e-03 -2.42654956e-03 9.99995800e-01 -7.45304552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.360418555 meters Centerline goodness [0,1] 0.4931071524483036 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.46, Z:-0.75 [[ 9.99999575e-01 2.35601620e-04 8.91796415e-04 -1.98876379e+01] [-2.32563230e-04 9.99994174e-01 -3.40561679e-03 -2.45896151e+00] [-8.92593588e-04 3.40540794e-03 9.99993803e-01 -7.50825445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.390418555000004 meters Centerline goodness [0,1] 0.5003666585186997 Centerline is valid? [False, False] Translation: X:-19.88, Y:-2.46, Z:-0.76 [[ 9.99996788e-01 2.45937012e-03 -6.12492239e-04 -1.98794921e+01] [-2.46010480e-03 9.99996252e-01 -1.20163692e-03 -2.45963197e+00] [ 6.09534673e-04 1.20313986e-03 9.99999090e-01 -7.56434425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.420418555000005 meters Centerline goodness [0,1] 0.45000335173061023 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.46, Z:-0.75 [[ 9.99990557e-01 4.28931871e-03 6.98250470e-04 -1.98873889e+01] [-4.28986485e-03 9.99990492e-01 7.82540383e-04 -2.45997391e+00] [-6.94887266e-04 -7.85528394e-04 9.99999450e-01 -7.50897987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.450418555 meters Centerline goodness [0,1] 0.4918346229980205 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.46, Z:-0.75 [[ 9.99995286e-01 2.48839714e-03 1.79894625e-03 -1.98941853e+01] [-2.48674442e-03 9.99996485e-01 -9.20371285e-04 -2.45955792e+00] [-1.80123018e-03 9.15893426e-04 9.99997958e-01 -7.45845395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.480418555 meters Centerline goodness [0,1] 0.4236511555138349 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.46, Z:-0.75 [[ 9.99998772e-01 1.15874245e-03 1.05514601e-03 -1.98891980e+01] [-1.15626412e-03 9.99996579e-01 -2.34638985e-03 -2.46013449e+00] [-1.05786126e-03 2.34516694e-03 9.99996691e-01 -7.49813221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.510418555 meters Centerline goodness [0,1] 0.4869044705044616 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.46, Z:-0.75 [[ 9.99998306e-01 1.39737089e-03 1.19821343e-03 -1.98896348e+01] [-1.39439659e-03 9.99995954e-01 -2.47953138e-03 -2.45913706e+00] [-1.20167340e-03 2.47785640e-03 9.99996208e-01 -7.49761196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.540418555 meters Centerline goodness [0,1] 0.48708669558767337 Centerline is valid? [False, False] Translation: X:-19.90, Y:-2.46, Z:-0.74 [[ 9.99991001e-01 3.43121408e-03 2.49481354e-03 -1.98982108e+01] [-3.43023823e-03 9.99994039e-01 -3.95323000e-04 -2.45894965e+00] [-2.49615510e-03 3.86761638e-04 9.99996810e-01 -7.43044483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.570418555 meters Centerline goodness [0,1] 0.4936246902455508 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.46, Z:-0.75 [[ 9.99991779e-01 3.61521513e-03 1.83642074e-03 -1.98948684e+01] [-3.61462811e-03 9.99993415e-01 -3.22873702e-04 -2.45779075e+00] [-1.83757591e-03 3.16233070e-04 9.99998262e-01 -7.45628769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.600418555000005 meters Centerline goodness [0,1] 0.46357675581893154 Centerline is valid? [False, False] Translation: X:-19.88, Y:-2.46, Z:-0.76 [[ 9.99994082e-01 3.40777352e-03 -4.72720794e-04 -1.98817548e+01] [-3.40813543e-03 9.99993898e-01 -7.66906571e-04 -2.45750292e+00] [ 4.70104465e-04 7.68513129e-04 9.99999594e-01 -7.55540429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.630418555 meters Centerline goodness [0,1] 0.4886032600235718 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.46, Z:-0.76 [[ 9.99984415e-01 -1.65797738e-03 5.33107174e-03 -1.98613403e+01] [ 1.64419618e-03 9.99995298e-01 2.58841491e-03 -2.46017261e+00] [-5.33533821e-03 -2.57960924e-03 9.99982440e-01 -7.58029407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.660418555 meters Centerline goodness [0,1] 0.47119953812674864 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.46, Z:-0.75 [[ 9.99979630e-01 -1.84627241e-03 6.10993201e-03 -1.98653547e+01] [ 1.83088876e-03 9.99995143e-01 2.52244585e-03 -2.46157995e+00] [-6.11455946e-03 -2.51120786e-03 9.99978153e-01 -7.54926207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.690418555 meters Centerline goodness [0,1] 0.48037523784238245 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.46, Z:-0.76 [[ 9.99990628e-01 5.88119421e-04 4.28933315e-03 -1.98559646e+01] [-6.10259649e-04 9.99986489e-01 5.16221375e-03 -2.45847437e+00] [-4.28623920e-03 -5.16478298e-03 9.99977476e-01 -7.61351518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.720418555 meters Centerline goodness [0,1] 0.4389428647829575 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.46, Z:-0.76 [[ 9.99989932e-01 3.64579378e-04 4.47240005e-03 -1.98571964e+01] [-3.86471504e-04 9.99987944e-01 4.89505172e-03 -2.45870074e+00] [-4.47056150e-03 -4.89673089e-03 9.99978018e-01 -7.60189848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.750418555 meters Centerline goodness [0,1] 0.4934956787900612 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.46, Z:-0.75 [[ 9.99969024e-01 3.62772528e-03 6.98497614e-03 -1.98919518e+01] [-3.61347559e-03 9.99991367e-01 -2.05158937e-03 -2.46163359e+00] [-6.99235844e-03 2.02628578e-03 9.99973500e-01 -7.53831333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.780418555000004 meters Centerline goodness [0,1] 0.4855408388520971 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.46, Z:-0.76 [[ 9.99985483e-01 9.11496277e-04 5.31064142e-03 -1.98608032e+01] [-9.36939058e-04 9.99988087e-01 4.79038889e-03 -2.45900279e+00] [-5.30621174e-03 -4.79529509e-03 9.99974424e-01 -7.58314320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.810418555 meters Centerline goodness [0,1] 0.49295899782328634 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.46, Z:-0.76 [[ 9.99989832e-01 1.22059460e-03 4.34126679e-03 -1.98558411e+01] [-1.24229697e-03 9.99986729e-01 4.99990786e-03 -2.45696763e+00] [-4.33510631e-03 -5.00525016e-03 9.99978077e-01 -7.61668471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.840418555 meters Centerline goodness [0,1] 0.49156810720870625 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.46, Z:-0.76 [[ 9.99974542e-01 2.41599763e-03 6.71406792e-03 -1.98894707e+01] [-2.39495502e-03 9.99992201e-01 -3.14038206e-03 -2.46483789e+00] [-6.72160271e-03 3.12422222e-03 9.99972529e-01 -7.56184694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.870418555 meters Centerline goodness [0,1] 0.49156810720870625 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.46, Z:-0.76 [[ 9.99974542e-01 2.41599763e-03 6.71406792e-03 -1.98894707e+01] [-2.39495502e-03 9.99992201e-01 -3.14038206e-03 -2.46483789e+00] [-6.72160271e-03 3.12422222e-03 9.99972529e-01 -7.56184694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.900418555 meters Centerline goodness [0,1] 0.4918383911259413 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.47, Z:-0.76 [[ 9.99973809e-01 2.67670298e-03 6.72428526e-03 -1.98898211e+01] [-2.65901112e-03 9.99992984e-01 -2.63860303e-03 -2.46525914e+00] [-6.73130084e-03 2.62065397e-03 9.99973911e-01 -7.55916032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.930418555 meters Centerline goodness [0,1] 0.4891236793039154 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.47, Z:-0.76 [[ 9.99983990e-01 -2.09218166e-03 5.25752758e-03 -1.98559049e+01] [ 2.07476641e-03 9.99992351e-01 3.31571358e-03 -2.46527213e+00] [-5.26442444e-03 -3.30475235e-03 9.99980682e-01 -7.62542611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.960418555000004 meters Centerline goodness [0,1] 0.4938194753223655 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.47, Z:-0.76 [[ 9.99963049e-01 -6.85266229e-03 5.19045015e-03 -1.98553741e+01] [ 6.85387143e-03 9.99976489e-01 -2.15203235e-04 -2.47311438e+00] [-5.18885340e-03 2.50769961e-04 9.99986506e-01 -7.62885850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.990418555 meters Centerline goodness [0,1] 0.49431502124913784 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.48, Z:-0.76 [[ 9.99891539e-01 -1.31497499e-02 6.63281400e-03 -1.98639116e+01] [ 1.31905285e-02 9.99894136e-01 -6.14219164e-03 -2.47608601e+00] [-6.55134354e-03 6.22901577e-03 9.99959139e-01 -7.56423350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.020418555 meters Centerline goodness [0,1] 0.4588216978404466 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.48, Z:-0.76 [[ 9.99874245e-01 -1.43209948e-02 6.81203283e-03 -1.98645207e+01] [ 1.43604626e-02 9.99880173e-01 -5.78065025e-03 -2.48287181e+00] [-6.72843190e-03 5.87774724e-03 9.99960089e-01 -7.56172708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.050418555 meters Centerline goodness [0,1] 0.47268115291371104 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.48, Z:-0.75 [[ 9.99945111e-01 -1.03718326e-02 1.48329507e-03 -1.98862350e+01] [ 1.03860824e-02 9.99896603e-01 -9.94549183e-03 -2.48390247e+00] [-1.37998873e-03 9.96035156e-03 9.99949442e-01 -7.54030346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.080418555 meters Centerline goodness [0,1] 0.469222984369729 Centerline is valid? [False, False] Translation: X:-19.88, Y:-2.49, Z:-0.76 [[ 9.99942127e-01 -1.07093535e-02 1.02597930e-03 -1.98840869e+01] [ 1.07185693e-02 9.99897967e-01 -9.44288454e-03 -2.48871742e+00] [-9.24747426e-04 9.45333508e-03 9.99954889e-01 -7.55682183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.110418555 meters Centerline goodness [0,1] 0.4573478668220562 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.50, Z:-0.75 [[ 9.99980348e-01 -6.09347990e-03 1.47387918e-03 -1.99103566e+01] [ 6.11147343e-03 9.99902839e-01 -1.25284880e-02 -2.49718445e+00] [-1.39739389e-03 1.25372494e-02 9.99920429e-01 -7.53682480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.140418555000004 meters Centerline goodness [0,1] 0.5015678967460462 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.50, Z:-0.75 [[ 9.99976920e-01 -6.62677029e-03 1.49814466e-03 -1.99101975e+01] [ 6.64465667e-03 9.99902678e-01 -1.22671380e-02 -2.50150963e+00] [-1.41670735e-03 1.22768096e-02 9.99923634e-01 -7.54290460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.170418555000005 meters Centerline goodness [0,1] 0.48482676759759025 Centerline is valid? [False, False] Translation: X:-19.88, Y:-2.51, Z:-0.76 [[ 9.99879916e-01 -1.48342390e-02 4.48310658e-03 -1.98827132e+01] [ 1.48807876e-02 9.99833779e-01 -1.05345232e-02 -2.50792262e+00] [-4.32608976e-03 1.05999704e-02 9.99934461e-01 -7.59636379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.200418555 meters Centerline goodness [0,1] 0.48849918251248625 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.51, Z:-0.75 [[ 9.99835147e-01 -1.72107193e-02 5.78525077e-03 -1.98899639e+01] [ 1.72813519e-02 9.99773905e-01 -1.23892650e-02 -2.51175409e+00] [-5.57071459e-03 1.24871995e-02 9.99906514e-01 -7.54542230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.230418555 meters Centerline goodness [0,1] 0.3835513422359965 Centerline is valid? [False, False] Translation: X:-19.92, Y:-2.51, Z:-0.75 [[ 9.99962079e-01 -8.04172335e-03 3.34240336e-03 -1.99155471e+01] [ 8.08267056e-03 9.99890159e-01 -1.24233990e-02 -2.51371415e+00] [-3.24213069e-03 1.24499434e-02 9.99917240e-01 -7.51693913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.260418555 meters Centerline goodness [0,1] 0.4670409832441752 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.52, Z:-0.76 [[ 9.99947391e-01 -9.83935952e-03 2.89877441e-03 -1.98636910e+01] [ 9.87715506e-03 9.99862418e-01 -1.33261930e-02 -2.52032021e+00] [-2.76725439e-03 1.33541235e-02 9.99907001e-01 -7.55205545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.290418555 meters Centerline goodness [0,1] 0.48550660007135216 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.52, Z:-0.75 [[ 9.99910933e-01 -1.27688625e-02 3.88352688e-03 -1.98689002e+01] [ 1.28294848e-02 9.99789555e-01 -1.60078022e-02 -2.52429876e+00] [-3.67830819e-03 1.60562001e-02 9.99864325e-01 -7.52019674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.320418555 meters Centerline goodness [0,1] 0.4646036362021888 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.53, Z:-0.75 [[ 9.99947992e-01 -9.24100024e-03 4.31472952e-03 -1.98708451e+01] [ 9.29063984e-03 9.99889208e-01 -1.16299875e-02 -2.52865329e+00] [-4.20677876e-03 1.16694693e-02 9.99923060e-01 -7.51463994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.350418555000005 meters Centerline goodness [0,1] 0.3886002168805349 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.53, Z:-0.76 [[ 9.99981486e-01 -5.51807388e-03 2.56482716e-03 -1.99143322e+01] [ 5.53694139e-03 9.99957229e-01 -7.40830266e-03 -2.53038518e+00] [-2.52383790e-03 7.42236680e-03 9.99969269e-01 -7.55197921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.380418555 meters Centerline goodness [0,1] 0.4876571857941612 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.54, Z:-0.76 [[ 9.99983210e-01 -5.49060789e-03 1.85276611e-03 -1.98628532e+01] [ 5.50287187e-03 9.99962545e-01 -6.68041333e-03 -2.53667917e+00] [-1.81601718e-03 6.69049670e-03 9.99975969e-01 -7.57597515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.410418555 meters Centerline goodness [0,1] 0.4900829024781601 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.54, Z:-0.76 [[ 9.99981606e-01 -5.72777020e-03 1.99489587e-03 -1.98635406e+01] [ 5.74061934e-03 9.99962423e-01 -6.49596767e-03 -2.54028900e+00] [-1.95761349e-03 6.50730013e-03 9.99976911e-01 -7.57351293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.440418555 meters Centerline goodness [0,1] 0.4029944838455477 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.54, Z:-0.76 [[ 9.99981428e-01 -5.73307698e-03 2.06750244e-03 -1.98643537e+01] [ 5.74636907e-03 9.99962484e-01 -6.48146710e-03 -2.54162501e+00] [-2.03026612e-03 6.49322736e-03 9.99976858e-01 -7.56361995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.470418555 meters Centerline goodness [0,1] 0.45696972348617426 Centerline is valid? [False, False] Translation: X:-19.82, Y:-2.54, Z:-0.76 [[ 9.99992831e-01 -2.74119880e-03 2.61223451e-03 -1.98165096e+01] [ 2.75055451e-03 9.99989792e-01 -3.58465971e-03 -2.54434715e+00] [-2.60238158e-03 3.59181910e-03 9.99990163e-01 -7.56108858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.500418555 meters Centerline goodness [0,1] 0.4978855749222474 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.55, Z:-0.75 [[ 9.99996268e-01 -9.40960578e-04 2.56486875e-03 -1.98682210e+01] [ 9.45581320e-04 9.99997931e-01 -1.80093408e-03 -2.54507418e+00] [-2.56316883e-03 1.80335265e-03 9.99995089e-01 -7.54420599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.530418555000004 meters Centerline goodness [0,1] 0.49829848206689653 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.54, Z:-0.75 [[ 9.99997238e-01 -9.56452715e-05 2.34828658e-03 -1.98672757e+01] [ 9.90459971e-05 9.99998947e-01 -1.44809958e-03 -2.54427621e+00] [-2.34814560e-03 1.44832817e-03 9.99996194e-01 -7.54878471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.560418555 meters Centerline goodness [0,1] 0.49258384927174736 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.54, Z:-0.76 [[ 9.99997874e-01 5.01514127e-04 2.00010249e-03 -1.98659586e+01] [-4.99546707e-04 9.99999391e-01 -9.84037695e-04 -2.54394684e+00] [-2.00059478e-03 9.83036458e-04 9.99997516e-01 -7.55524440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.590418555 meters Centerline goodness [0,1] 0.48973809842502114 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.54, Z:-0.75 [[ 9.99996919e-01 6.99570187e-04 2.38186740e-03 -1.98679385e+01] [-6.97871178e-04 9.99999502e-01 -7.14065915e-04 -2.54478453e+00] [-2.38236575e-03 7.12401479e-04 9.99996908e-01 -7.54043510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.620418555 meters Centerline goodness [0,1] 0.5020252076120653 Centerline is valid? [False, False] Translation: X:-19.92, Y:-2.54, Z:-0.75 [[ 9.99996821e-01 4.55331894e-04 2.47989017e-03 -1.99179249e+01] [-4.51446679e-04 9.99998670e-01 -1.56702253e-03 -2.54453364e+00] [-2.48060039e-03 1.56589802e-03 9.99995697e-01 -7.52809679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.650418555 meters Centerline goodness [0,1] 0.4937848552039239 Centerline is valid? [False, False] Translation: X:-19.92, Y:-2.54, Z:-0.75 [[ 9.99996604e-01 1.39985856e-03 2.19829215e-03 -1.99161875e+01] [-1.39694203e-03 9.99998143e-01 -1.32770237e-03 -2.54437573e+00] [-2.20014667e-03 1.32462697e-03 9.99996702e-01 -7.54451180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.680418555 meters Centerline goodness [0,1] 0.4934555265681093 Centerline is valid? [False, False] Translation: X:-19.92, Y:-2.54, Z:-0.76 [[ 9.99996467e-01 1.70925177e-03 2.03566699e-03 -1.99153797e+01] [-1.70688490e-03 9.99997866e-01 -1.16386934e-03 -2.54453221e+00] [-2.03765199e-03 1.16039058e-03 9.99997251e-01 -7.55118343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.710418555000004 meters Centerline goodness [0,1] 0.49340760539969897 Centerline is valid? [False, False] Translation: X:-19.92, Y:-2.54, Z:-0.75 [[ 9.99994391e-01 2.36295114e-03 2.37363182e-03 -1.99168844e+01] [-2.36197476e-03 9.99997125e-01 -4.14062583e-04 -2.54469402e+00] [-2.37460340e-03 4.08453802e-04 9.99997097e-01 -7.54306029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.740418555 meters Centerline goodness [0,1] 0.46414529532660176 Centerline is valid? [False, False] Translation: X:-19.92, Y:-2.54, Z:-0.76 [[ 9.99994225e-01 2.74081075e-03 2.00921337e-03 -1.99153231e+01] [-2.74075322e-03 9.99996244e-01 -3.13860654e-05 -2.54460493e+00] [-2.00929185e-03 2.58791261e-05 9.99997981e-01 -7.55059635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.770418555 meters Centerline goodness [0,1] 0.49301952750996414 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.54, Z:-0.76 [[ 9.99998854e-01 1.18722707e-03 9.39772685e-04 -1.99090378e+01] [-1.18538939e-03 9.99997389e-01 -1.95360012e-03 -2.54434812e+00] [-9.42089599e-04 1.95248388e-03 9.99997650e-01 -7.59361425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.800418555 meters Centerline goodness [0,1] 0.4844848619274703 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.55, Z:-0.76 [[ 9.99998190e-01 1.54807307e-03 1.10595034e-03 -1.99101380e+01] [-1.54597263e-03 9.99997005e-01 -1.89755202e-03 -2.54743503e+00] [-1.10888458e-03 1.89583882e-03 9.99997588e-01 -7.58462336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.830418555 meters Centerline goodness [0,1] 0.4985099562017429 Centerline is valid? [False, False] Translation: X:-19.94, Y:-2.55, Z:-0.75 [[ 9.99997835e-01 -1.03139935e-03 1.80716543e-03 -1.99420353e+01] [ 1.02195631e-03 9.99985861e-01 5.21848639e-03 -2.54530311e+00] [-1.81252222e-03 -5.21662825e-03 9.99984751e-01 -7.53072930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.860418555 meters Centerline goodness [0,1] 0.47776541286445584 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.54, Z:-0.76 [[ 9.99975783e-01 5.28825967e-03 4.52411988e-03 -1.99147744e+01] [-5.30043392e-03 9.99982353e-01 2.68322112e-03 -2.54451941e+00] [-4.50985047e-03 -2.70713594e-03 9.99986166e-01 -7.58230262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.890418555000004 meters Centerline goodness [0,1] 0.48938798923355253 Centerline is valid? [False, False] Translation: X:-19.90, Y:-2.55, Z:-0.77 [[ 9.99996096e-01 1.73154134e-03 2.19290441e-03 -1.99027202e+01] [-1.72945541e-03 9.99998051e-01 -9.52757460e-04 -2.54643831e+00] [-2.19454988e-03 9.48961211e-04 9.99997142e-01 -7.65948669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.920418555000005 meters Centerline goodness [0,1] 0.4731221966712962 Centerline is valid? [False, False] Translation: X:-19.96, Y:-2.55, Z:-0.76 [[ 9.99985803e-01 3.22116518e-03 4.24483904e-03 -1.99611557e+01] [-3.22461066e-03 9.99994477e-01 8.05092849e-04 -2.54674780e+00] [-4.24222225e-03 -8.18769372e-04 9.99990667e-01 -7.60101079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.950418555 meters Centerline goodness [0,1] 0.4866402497066832 Centerline is valid? [False, False] Translation: X:-19.92, Y:-2.55, Z:-0.75 [[ 9.99971800e-01 2.67635118e-03 7.01685678e-03 -1.99233902e+01] [-2.67398683e-03 9.99996365e-01 -3.46312286e-04 -2.54508905e+00] [-7.01775813e-03 3.27539537e-04 9.99975322e-01 -7.53586180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.980418555 meters Centerline goodness [0,1] 0.4820718007342757 Centerline is valid? [False, False] Translation: X:-19.92, Y:-2.55, Z:-0.76 [[ 9.99983853e-01 5.72525977e-04 5.65384771e-03 -1.99155759e+01] [-5.56874506e-04 9.99996010e-01 -2.76947287e-03 -2.54766710e+00] [-5.65541074e-03 2.76627967e-03 9.99980182e-01 -7.59265091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.010418555 meters Centerline goodness [0,1] 0.4964703759669816 Centerline is valid? [False, False] Translation: X:-19.96, Y:-2.55, Z:-0.76 [[ 9.99993059e-01 2.29693267e-03 2.93344821e-03 -1.99561594e+01] [-2.29389022e-03 9.99996828e-01 -1.04010138e-03 -2.54788056e+00] [-2.93582794e-03 1.03336515e-03 9.99995157e-01 -7.64030538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.040418555 meters Centerline goodness [0,1] 0.4888972608811275 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.55, Z:-0.76 [[ 9.99984155e-01 2.04032097e-03 5.24665817e-03 -1.99343122e+01] [-2.08593239e-03 9.99959955e-01 8.70269668e-03 -2.54505577e+00] [-5.22869177e-03 -8.71350296e-03 9.99948366e-01 -7.63265005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.070418555 meters Centerline goodness [0,1] 0.4927897454157023 Centerline is valid? [False, False] Translation: X:-19.94, Y:-2.54, Z:-0.76 [[ 9.99981762e-01 -1.45160858e-03 5.86246298e-03 -1.99371671e+01] [ 1.42330354e-03 9.99987325e-01 4.82947175e-03 -2.54454529e+00] [-5.86939917e-03 -4.82103961e-03 9.99971153e-01 -7.61379623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.100418555000005 meters Centerline goodness [0,1] 0.4749525702412142 Centerline is valid? [False, False] Translation: X:-19.96, Y:-2.55, Z:-0.76 [[ 9.99991237e-01 1.04852804e-03 4.05296877e-03 -1.99637202e+01] [-1.03766954e-03 9.99995870e-01 -2.68032385e-03 -2.54894117e+00] [-4.05576243e-03 2.67609472e-03 9.99988195e-01 -7.58207734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.130418555 meters Centerline goodness [0,1] 0.488264381446759 Centerline is valid? [False, False] Translation: X:-19.96, Y:-2.55, Z:-0.76 [[ 9.99978064e-01 5.10682980e-03 4.21799980e-03 -1.99640169e+01] [-5.11370598e-03 9.99985611e-01 1.62102628e-03 -2.54681032e+00] [-4.20966080e-03 -1.64256033e-03 9.99989790e-01 -7.58730717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.160418555 meters Centerline goodness [0,1] 0.49166281195621053 Centerline is valid? [False, False] Translation: X:-19.94, Y:-2.54, Z:-0.76 [[ 9.99976218e-01 8.67720544e-04 6.84181327e-03 -1.99422695e+01] [-9.17331581e-04 9.99973288e-01 7.25135261e-03 -2.54377042e+00] [-6.83533836e-03 -7.25745637e-03 9.99950303e-01 -7.58172233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.190418555 meters Centerline goodness [0,1] 0.49124364637205065 Centerline is valid? [False, False] Translation: X:-19.97, Y:-2.55, Z:-0.76 [[ 9.99982175e-01 1.58548557e-03 5.75635313e-03 -1.99668810e+01] [-1.57117222e-03 9.99995665e-01 -2.49020192e-03 -2.54821059e+00] [-5.76027635e-03 2.48111331e-03 9.99980331e-01 -7.57380642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.220418555 meters Centerline goodness [0,1] 0.48864869653812926 Centerline is valid? [False, False] Translation: X:-19.96, Y:-2.55, Z:-0.76 [[ 9.99987118e-01 9.42672437e-04 4.98745176e-03 -1.99630495e+01] [-9.27043864e-04 9.99994656e-01 -3.13496306e-03 -2.55086036e+00] [-4.99038035e-03 3.13029909e-03 9.99982649e-01 -7.60428574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.250418555 meters Centerline goodness [0,1] 0.48934316353887397 Centerline is valid? [False, False] Translation: X:-19.98, Y:-2.55, Z:-0.76 [[ 9.99998479e-01 1.10322528e-03 1.35096257e-03 -1.99795777e+01] [-1.11389533e-03 9.99967992e-01 7.92299128e-03 -2.54646525e+00] [-1.34217848e-03 -7.92448406e-03 9.99967700e-01 -7.64476307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.280418555000004 meters Centerline goodness [0,1] 0.49421494972913926 Centerline is valid? [False, False] Translation: X:-19.97, Y:-2.55, Z:-0.77 [[ 9.99988126e-01 -4.86897098e-03 -2.01514576e-04 -1.99714318e+01] [ 4.86933004e-03 9.99986486e-01 1.82145826e-03 -2.55125584e+00] [ 1.92643226e-04 -1.82241788e-03 9.99998321e-01 -7.68901831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.310418555 meters Centerline goodness [0,1] 0.49364766932092685 Centerline is valid? [False, False] Translation: X:-19.98, Y:-2.56, Z:-0.76 [[ 9.99967514e-01 -7.97981407e-03 1.13699220e-03 -1.99791406e+01] [ 7.98121452e-03 9.99967390e-01 -1.23254831e-03 -2.55707933e+00] [-1.12711962e-03 1.24158285e-03 9.99998594e-01 -7.63243108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.340418555 meters Centerline goodness [0,1] 0.48989099663404734 Centerline is valid? [False, False] Translation: X:-19.99, Y:-2.56, Z:-0.75 [[ 9.99985248e-01 -3.69614094e-03 3.98035170e-03 -1.99930163e+01] [ 3.68016237e-03 9.99985171e-01 4.01422916e-03 -2.55583310e+00] [-3.99512984e-03 -3.99952160e-03 9.99984021e-01 -7.54159763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.370418555 meters Centerline goodness [0,1] 0.4964168206607473 Centerline is valid? [False, False] Translation: X:-20.02, Y:-2.56, Z:-0.75 [[ 9.99997663e-01 1.99565690e-03 8.31005928e-04 -2.00209300e+01] [-1.99770933e-03 9.99994938e-01 2.47634893e-03 -2.55502993e+00] [-8.26059779e-04 -2.47800325e-03 9.99996589e-01 -7.48105630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.400418555 meters Centerline goodness [0,1] 0.49354395604395607 Centerline is valid? [False, False] Translation: X:-20.05, Y:-2.56, Z:-0.76 [[ 9.99990664e-01 -3.29140983e-03 -2.79969427e-03 -2.00548088e+01] [ 3.28108765e-03 9.99987833e-01 -3.68353331e-03 -2.55991755e+00] [ 2.81178423e-03 3.67431287e-03 9.99989297e-01 -7.55979099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.430418555 meters Centerline goodness [0,1] 0.49272178582523407 Centerline is valid? [False, False] Translation: X:-20.00, Y:-2.56, Z:-0.76 [[ 9.99982451e-01 -4.49940541e-03 -3.85405816e-03 -2.00027219e+01] [ 4.48067160e-03 9.99978173e-01 -4.85571958e-03 -2.56144491e+00] [ 3.87582188e-03 4.83836559e-03 9.99980784e-01 -7.57903515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.460418555000004 meters Centerline goodness [0,1] 0.49381296909865435 Centerline is valid? [False, False] Translation: X:-20.07, Y:-2.56, Z:-0.76 [[ 9.99934684e-01 -7.03648442e-03 9.00646296e-03 -2.00690333e+01] [ 7.00551762e-03 9.99969457e-01 3.46522897e-03 -2.56176899e+00] [-9.03057090e-03 -3.40190770e-03 9.99953437e-01 -7.57977169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.490418555 meters Centerline goodness [0,1] 0.49240645060278687 Centerline is valid? [False, False] Translation: X:-20.07, Y:-2.56, Z:-0.76 [[ 9.99900621e-01 -1.07745794e-02 9.09156831e-03 -2.00690755e+01] [ 1.07788312e-02 9.99941819e-01 -4.18799172e-04 -2.56326511e+00] [-9.08652697e-03 5.16754033e-04 9.99958583e-01 -7.58002502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.520418555 meters Centerline goodness [0,1] 0.4964655931705775 Centerline is valid? [False, False] Translation: X:-20.08, Y:-2.57, Z:-0.76 [[ 9.99963806e-01 -7.84882787e-03 3.28374424e-03 -2.00823826e+01] [ 7.87138783e-03 9.99945113e-01 -6.91462392e-03 -2.56624490e+00] [-3.22929231e-03 6.94022127e-03 9.99970702e-01 -7.63031518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.550418555 meters Centerline goodness [0,1] 0.49094977066785994 Centerline is valid? [False, False] Translation: X:-20.07, Y:-2.57, Z:-0.77 [[ 9.99994780e-01 -3.22782390e-03 1.45396314e-04 -2.00675400e+01] [ 3.22806782e-03 9.99993328e-01 -1.70983338e-03 -2.56769819e+00] [-1.39876303e-04 1.71029381e-03 9.99998528e-01 -7.72723469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.580418555 meters Centerline goodness [0,1] 0.49544985878872105 Centerline is valid? [False, False] Translation: X:-20.07, Y:-2.57, Z:-0.77 [[ 9.99998281e-01 -1.61685656e-03 9.08122371e-04 -2.00728806e+01] [ 1.61671406e-03 9.99998681e-01 1.57622570e-04 -2.57123661e+00] [-9.08376026e-04 -1.56154125e-04 9.99999575e-01 -7.68224132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.610418555 meters Centerline goodness [0,1] 0.4939322301024429 Centerline is valid? [False, False] Translation: X:-20.08, Y:-2.57, Z:-0.76 [[ 9.99993521e-01 -2.05888424e-03 2.95291509e-03 -2.00847392e+01] [ 2.05845460e-03 9.99997870e-01 1.48531251e-04 -2.57477726e+00] [-2.95321461e-03 -1.42451847e-04 9.99995629e-01 -7.59530455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.640418555000004 meters Centerline goodness [0,1] 0.49668382832347846 Centerline is valid? [False, False] Translation: X:-20.10, Y:-2.58, Z:-0.75 [[ 9.99977868e-01 -2.89571223e-03 5.98991858e-03 -2.00970785e+01] [ 2.89145073e-03 9.99995561e-01 7.19983422e-04 -2.57780408e+00] [-5.99197686e-03 -7.02647932e-04 9.99981801e-01 -7.52770539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.670418555000005 meters Centerline goodness [0,1] 0.48920379380703605 Centerline is valid? [False, False] Translation: X:-20.10, Y:-2.58, Z:-0.75 [[ 9.99958609e-01 -7.03031241e-03 5.77540279e-03 -2.00959691e+01] [ 7.04965047e-03 9.99969590e-01 -3.33484169e-03 -2.58067629e+00] [-5.75178219e-03 3.37541823e-03 9.99977762e-01 -7.53286617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.700418555 meters Centerline goodness [0,1] 0.49563323679306703 Centerline is valid? [False, False] Translation: X:-20.08, Y:-2.58, Z:-0.76 [[ 9.99968203e-01 -7.22553066e-03 3.37420300e-03 -2.00844381e+01] [ 7.24002347e-03 9.99964533e-01 -4.30290333e-03 -2.58010888e+00] [-3.34299257e-03 4.32719582e-03 9.99985050e-01 -7.61087115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.730418555 meters Centerline goodness [0,1] 0.5047339432837179 Centerline is valid? [False, False] Translation: X:-20.11, Y:-2.58, Z:-0.76 [[ 9.99997464e-01 1.72111843e-03 -1.45230128e-03 -2.01096681e+01] [-1.72595006e-03 9.99992959e-01 -3.33221196e-03 -2.57683290e+00] [ 1.44655593e-03 3.33471011e-03 9.99993394e-01 -7.56561468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.760418555 meters Centerline goodness [0,1] 0.49561640140275154 Centerline is valid? [False, False] Translation: X:-20.08, Y:-2.58, Z:-0.76 [[ 9.99988795e-01 -4.50671554e-03 1.44924178e-03 -2.00835922e+01] [ 4.50764310e-03 9.99989637e-01 -6.37399488e-04 -2.57938624e+00] [-1.44635419e-03 6.43925010e-04 9.99998747e-01 -7.60132193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.790418555 meters Centerline goodness [0,1] 0.49561640140275154 Centerline is valid? [False, False] Translation: X:-20.08, Y:-2.58, Z:-0.76 [[ 9.99988795e-01 -4.50671554e-03 1.44924178e-03 -2.00835922e+01] [ 4.50764310e-03 9.99989637e-01 -6.37399488e-04 -2.57938624e+00] [-1.44635419e-03 6.43925010e-04 9.99998747e-01 -7.60132193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.820418555 meters Centerline goodness [0,1] 0.4922998061022087 Centerline is valid? [False, False] Translation: X:-20.06, Y:-2.58, Z:-0.76 [[ 9.99995102e-01 7.53438877e-04 3.03796580e-03 -2.00623548e+01] [-7.37555479e-04 9.99986072e-01 -5.22603540e-03 -2.58296637e+00] [-3.04186099e-03 5.22376913e-03 9.99981729e-01 -7.58340990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.850418555000005 meters Centerline goodness [0,1] 0.4929631209176001 Centerline is valid? [False, False] Translation: X:-20.06, Y:-2.58, Z:-0.76 [[ 9.99994773e-01 1.46122121e-03 2.88438755e-03 -2.00621793e+01] [-1.44762775e-03 9.99987864e-01 -4.70924650e-03 -2.58253703e+00] [-2.89123379e-03 4.70504636e-03 9.99984752e-01 -7.57994958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.880418555 meters Centerline goodness [0,1] 0.13396881197043442 Centerline is valid? [False, False] Translation: X:-20.06, Y:-2.58, Z:-0.76 [[ 9.99993545e-01 2.12646348e-03 2.89614774e-03 -2.00621341e+01] [-2.11446875e-03 9.99989201e-01 -4.13839938e-03 -2.58307370e+00] [-2.90491662e-03 4.13224885e-03 9.99987243e-01 -7.58165065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.910418555 meters Centerline goodness [0,1] 0.49899763486879156 Centerline is valid? [False, False] Translation: X:-20.07, Y:-2.59, Z:-0.75 [[ 9.99981388e-01 3.97125699e-03 4.63181628e-03 -2.00711117e+01] [-3.96195408e-03 9.99990119e-01 -2.01592913e-03 -2.58544642e+00] [-4.63977629e-03 1.99754057e-03 9.99987241e-01 -7.51874301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.940418555 meters Centerline goodness [0,1] 0.4840880727402389 Centerline is valid? [False, False] Translation: X:-20.05, Y:-2.58, Z:-0.75 [[ 9.99965358e-01 -6.93539673e-04 8.29474190e-03 -2.00511308e+01] [ 6.70968422e-04 9.99996066e-01 2.72362498e-03 -2.58454192e+00] [-8.29659821e-03 -2.71796512e-03 9.99961889e-01 -7.51520817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.970418555 meters Centerline goodness [0,1] 0.4921558418038168 Centerline is valid? [False, False] Translation: X:-20.07, Y:-2.58, Z:-0.75 [[ 9.99992306e-01 2.73384486e-03 2.81307845e-03 -2.00691545e+01] [-2.72446839e-03 9.99990739e-01 -3.33162068e-03 -2.58386352e+00] [-2.82216053e-03 3.32393090e-03 9.99990493e-01 -7.53027539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.000418555 meters Centerline goodness [0,1] 0.495523454419612 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.58, Z:-0.76 [[ 9.99971797e-01 7.39398623e-03 -1.31688645e-03 -2.00313545e+01] [-7.40653313e-03 9.99924624e-01 -9.79229875e-03 -2.58466945e+00] [ 1.24438307e-03 9.80177614e-03 9.99951187e-01 -7.60166049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.030418555000004 meters Centerline goodness [0,1] 0.4436726620359722 Centerline is valid? [False, False] Translation: X:-20.07, Y:-2.58, Z:-0.75 [[ 9.99957027e-01 9.20734991e-03 1.08129242e-03 -2.00723240e+01] [-9.20853817e-03 9.99956996e-01 1.09914490e-03 -2.58291598e+00] [-1.07112571e-03 -1.10905479e-03 9.99998811e-01 -7.48261810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.060418555 meters Centerline goodness [0,1] 0.497042750803967 Centerline is valid? [False, False] Translation: X:-20.05, Y:-2.58, Z:-0.75 [[ 9.99959339e-01 8.15552038e-03 3.84813450e-03 -2.00494099e+01] [-8.19114299e-03 9.99922888e-01 9.33398792e-03 -2.58047324e+00] [-3.77171423e-03 -9.36512901e-03 9.99949033e-01 -7.48597358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.090418555 meters Centerline goodness [0,1] 0.4931180815950782 Centerline is valid? [False, False] Translation: X:-20.05, Y:-2.58, Z:-0.75 [[ 9.99985481e-01 4.50171888e-03 2.96169823e-03 -2.00451886e+01] [-4.51689505e-03 9.99976601e-01 5.13756728e-03 -2.58084310e+00] [-2.93850105e-03 -5.15087037e-03 9.99982417e-01 -7.51576182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.120418555 meters Centerline goodness [0,1] 0.48694950219750655 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.58, Z:-0.75 [[ 9.99996558e-01 1.22989185e-03 2.31758682e-03 -2.00428441e+01] [-1.23242082e-03 9.99998646e-01 1.09009908e-03 -2.58037640e+00] [-2.31624298e-03 -1.09295157e-03 9.99996720e-01 -7.52876890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.150418555 meters Centerline goodness [0,1] 0.48814720300852865 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.58, Z:-0.75 [[ 9.99979960e-01 5.77786643e-03 2.58781384e-03 -2.00446035e+01] [-5.79202212e-03 9.99968120e-01 5.49645875e-03 -2.57662980e+00] [-2.55597354e-03 -5.51133727e-03 9.99981546e-01 -7.51357689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.180418555 meters Centerline goodness [0,1] 0.49560819202023165 Centerline is valid? [False, False] Translation: X:-20.05, Y:-2.57, Z:-0.75 [[ 9.99976946e-01 6.22855614e-03 2.70427341e-03 -2.00452362e+01] [-6.24335859e-03 9.99965383e-01 5.50022896e-03 -2.57384280e+00] [-2.66992131e-03 -5.51698591e-03 9.99981217e-01 -7.50600895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.210418555000004 meters Centerline goodness [0,1] 0.4939560687384421 Centerline is valid? [False, False] Translation: X:-20.05, Y:-2.57, Z:-0.75 [[ 9.99991223e-01 2.90567713e-03 3.01855651e-03 -2.00465254e+01] [-2.90778513e-03 9.99995531e-01 6.94194432e-04 -2.57116254e+00] [-3.01652592e-03 -7.02965653e-04 9.99995203e-01 -7.49968464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.240418555 meters Centerline goodness [0,1] 0.49188395981487754 Centerline is valid? [False, False] Translation: X:-20.05, Y:-2.57, Z:-0.75 [[ 9.99990606e-01 3.00064277e-03 3.12795987e-03 -2.00471339e+01] [-3.00144342e-03 9.99995464e-01 2.51304355e-04 -2.56838904e+00] [-3.12719161e-03 -2.60690389e-04 9.99995076e-01 -7.49569504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.270418555 meters Centerline goodness [0,1] 0.46705086999889167 Centerline is valid? [False, False] Translation: X:-20.00, Y:-2.56, Z:-0.75 [[ 9.99969884e-01 6.60274299e-03 4.07862349e-03 -2.00021751e+01] [-6.61400973e-03 9.99974332e-01 2.75510217e-03 -2.56268566e+00] [-4.06032756e-03 -2.78199525e-03 9.99987887e-01 -7.48217799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.300418555 meters Centerline goodness [0,1] 0.47110332749562167 Centerline is valid? [False, False] Translation: X:-20.00, Y:-2.56, Z:-0.75 [[ 9.99969943e-01 6.82242736e-03 3.68332454e-03 -2.00000617e+01] [-6.83141934e-03 9.99973703e-01 2.43422971e-03 -2.55936362e+00] [-3.66662033e-03 -2.45931888e-03 9.99990254e-01 -7.49824641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.330418555 meters Centerline goodness [0,1] 0.4866373972756951 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.56, Z:-0.75 [[ 9.99977918e-01 6.51332206e-03 1.31909407e-03 -2.00421564e+01] [-6.51535582e-03 9.99977584e-01 1.54340678e-03 -2.56011145e+00] [-1.30901179e-03 -1.55196706e-03 9.99997939e-01 -7.52593457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.360418555 meters Centerline goodness [0,1] 0.4492335880591679 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.56, Z:-0.75 [[ 9.99976331e-01 6.67941468e-03 1.65031707e-03 -2.00439479e+01] [-6.68146302e-03 9.99976911e-01 1.23879947e-03 -2.56054936e+00] [-1.64200451e-03 -1.24979668e-03 9.99997871e-01 -7.51218122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.390418555000004 meters Centerline goodness [0,1] 0.43215329362689325 Centerline is valid? [False, False] Translation: X:-20.05, Y:-2.56, Z:-0.75 [[ 9.99947790e-01 9.48694578e-03 3.79671731e-03 -2.00537935e+01] [-9.50509440e-03 9.99943348e-01 4.79093024e-03 -2.55960406e+00] [-3.75105093e-03 -4.82676826e-03 9.99981316e-01 -7.45237260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.420418555000005 meters Centerline goodness [0,1] 0.44578421264960333 Centerline is valid? [False, False] Translation: X:-20.05, Y:-2.56, Z:-0.75 [[ 9.99947661e-01 9.49544758e-03 3.80952116e-03 -2.00535463e+01] [-9.51439480e-03 9.99942303e-01 4.98674410e-03 -2.55824003e+00] [-3.76195000e-03 -5.02272839e-03 9.99980310e-01 -7.45656318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.450418555 meters Centerline goodness [0,1] 0.48606315029227887 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.56, Z:-0.75 [[ 9.99880101e-01 1.27303898e-02 -8.81594897e-03 -2.00383019e+01] [-1.27830196e-02 9.99900654e-01 -5.93944276e-03 -2.55868735e+00] [ 8.73946171e-03 6.05142507e-03 9.99943499e-01 -7.52002805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.480418555 meters Centerline goodness [0,1] 0.49398877298243227 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.56, Z:-0.75 [[ 9.99880379e-01 1.27843820e-02 -8.70559043e-03 -2.00391514e+01] [-1.28387874e-02 9.99898218e-01 -6.22253312e-03 -2.55731054e+00] [ 8.62515312e-03 6.33355800e-03 9.99942745e-01 -7.51371463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.510418555 meters Centerline goodness [0,1] 0.4863684940539803 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.56, Z:-0.74 [[ 9.99966045e-01 7.97047620e-03 -2.09288429e-03 -2.00339334e+01] [-7.97182149e-03 9.99968023e-01 -6.35236653e-04 -2.55653926e+00] [ 2.08775423e-03 6.51899183e-04 9.99997608e-01 -7.40874557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.540418555 meters Centerline goodness [0,1] 0.46058212338143223 Centerline is valid? [False, False] Translation: X:-20.01, Y:-2.56, Z:-0.74 [[ 9.99999109e-01 6.08301762e-04 -1.18789790e-03 -2.00065753e+01] [-6.07005162e-04 9.99999220e-01 1.09156312e-03 -2.55522058e+00] [ 1.18856097e-03 -1.09084109e-03 9.99998699e-01 -7.44027357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.570418555 meters Centerline goodness [0,1] 0.4757419064748202 Centerline is valid? [False, False] Translation: X:-20.00, Y:-2.56, Z:-0.75 [[ 9.99995755e-01 -1.45529294e-03 -2.52420331e-03 -1.99984886e+01] [ 1.45239850e-03 9.99998286e-01 -1.14812764e-03 -2.55672063e+00] [ 2.52586984e-03 1.14445661e-03 9.99996155e-01 -7.50169286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.600418555000005 meters Centerline goodness [0,1] 0.45245725298612827 Centerline is valid? [False, False] Translation: X:-20.00, Y:-2.56, Z:-0.75 [[ 9.99997693e-01 -1.24154743e-03 -1.75272425e-03 -2.00021071e+01] [ 1.24055013e-03 9.99999068e-01 -5.69974269e-04 -2.55816550e+00] [ 1.75343026e-03 5.67798612e-04 9.99998302e-01 -7.47675158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.630418555 meters Centerline goodness [0,1] 0.46228171261413 Centerline is valid? [False, False] Translation: X:-20.01, Y:-2.56, Z:-0.75 [[ 9.99998848e-01 -1.03121130e-03 -1.11367262e-03 -2.00050269e+01] [ 1.03140008e-03 9.99999454e-01 1.68943921e-04 -2.55992555e+00] [ 1.11349779e-03 -1.70092368e-04 9.99999366e-01 -7.45480037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.660418555 meters Centerline goodness [0,1] 0.475787598797729 Centerline is valid? [False, False] Translation: X:-19.99, Y:-2.57, Z:-0.75 [[ 9.99988519e-01 -3.74682322e-03 -2.98715548e-03 -1.99948616e+01] [ 3.74080500e-03 9.99990967e-01 -2.01774805e-03 -2.56554115e+00] [ 2.99468864e-03 2.00655052e-03 9.99993503e-01 -7.52601898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.690418555 meters Centerline goodness [0,1] 0.4851143842055782 Centerline is valid? [False, False] Translation: X:-19.99, Y:-2.57, Z:-0.75 [[ 9.99987620e-01 -3.58500946e-03 -3.45062033e-03 -1.99930271e+01] [ 3.57933443e-03 9.99992234e-01 -1.64941277e-03 -2.56653050e+00] [ 3.45650669e-03 1.63704143e-03 9.99992686e-01 -7.53804093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.720418555 meters Centerline goodness [0,1] 0.4957836909095019 Centerline is valid? [False, False] Translation: X:-20.00, Y:-2.57, Z:-0.75 [[ 9.99995580e-01 -1.92831354e-03 -2.26320974e-03 -2.00000966e+01] [ 1.92998014e-03 9.99997868e-01 7.34435764e-04 -2.56870592e+00] [ 2.26178869e-03 -7.38800467e-04 9.99997169e-01 -7.48626782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.750418555 meters Centerline goodness [0,1] 0.4915025930000224 Centerline is valid? [False, False] Translation: X:-20.00, Y:-2.57, Z:-0.75 [[ 9.99976194e-01 -6.42208911e-03 -2.52356839e-03 -1.99996555e+01] [ 6.41306751e-03 9.99973074e-01 -3.56691461e-03 -2.57403747e+00] [ 2.54640749e-03 3.55064588e-03 9.99990454e-01 -7.47657421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.780418555000004 meters Centerline goodness [0,1] 0.47688791247808626 Centerline is valid? [False, False] Translation: X:-19.98, Y:-2.58, Z:-0.75 [[ 9.99999278e-01 -1.19949551e-03 6.72212612e-05 -1.99762554e+01] [ 1.20000602e-03 9.99965713e-01 -8.19341801e-03 -2.57591447e+00] [-5.73909883e-05 8.19349276e-03 9.99966431e-01 -7.48811453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.810418555 meters Centerline goodness [0,1] 0.48676358415219634 Centerline is valid? [False, False] Translation: X:-20.02, Y:-2.58, Z:-0.74 [[ 9.99988794e-01 -2.81079030e-03 3.80946573e-03 -2.00161092e+01] [ 2.80583633e-03 9.99995212e-01 1.30515867e-03 -2.57739569e+00] [-3.81311601e-03 -1.29445530e-03 9.99991892e-01 -7.40846260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.840418555 meters Centerline goodness [0,1] 0.48822546507742004 Centerline is valid? [False, False] Translation: X:-20.01, Y:-2.58, Z:-0.75 [[ 9.99986589e-01 -4.50138490e-03 2.56111600e-03 -2.00086664e+01] [ 4.50191927e-03 9.99989846e-01 -2.02922600e-04 -2.57925566e+00] [-2.56017656e-03 2.14449816e-04 9.99996700e-01 -7.46094956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.870418555 meters Centerline goodness [0,1] 0.4877084675001665 Centerline is valid? [False, False] Translation: X:-19.99, Y:-2.58, Z:-0.76 [[ 9.99967393e-01 -8.07216099e-03 -2.29160104e-04 -1.99947432e+01] [ 8.07114141e-03 9.99958827e-01 -4.14731991e-03 -2.58229652e+00] [ 2.62628503e-04 4.14533509e-03 9.99991374e-01 -7.55446169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.900418555 meters Centerline goodness [0,1] 0.49221951055683677 Centerline is valid? [False, False] Translation: X:-20.02, Y:-2.59, Z:-0.75 [[ 9.99985507e-01 -1.79803884e-03 -5.07465533e-03 -2.00180407e+01] [ 1.76778057e-03 9.99980672e-01 -5.96082682e-03 -2.58565593e+00] [ 5.08527504e-03 5.95176955e-03 9.99969358e-01 -7.52143922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.930418555 meters Centerline goodness [0,1] 0.4970718082710154 Centerline is valid? [False, False] Translation: X:-20.02, Y:-2.59, Z:-0.75 [[ 9.99989845e-01 -1.95916873e-04 -4.50247449e-03 -2.00225954e+01] [ 1.78168087e-04 9.99992214e-01 -3.94207016e-03 -2.58820699e+00] [ 4.50321175e-03 3.94122793e-03 9.99982094e-01 -7.48294667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.960418555000004 meters Centerline goodness [0,1] 0.4818628856204106 Centerline is valid? [False, False] Translation: X:-19.98, Y:-2.59, Z:-0.74 [[ 9.99995411e-01 1.31243541e-03 -2.73053943e-03 -1.99799455e+01] [-1.31955489e-03 9.99995731e-01 -2.60718412e-03 -2.58927212e+00] [ 2.72710602e-03 2.61077525e-03 9.99992873e-01 -7.44714034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.990418555 meters Centerline goodness [0,1] 0.4888576904220707 Centerline is valid? [False, False] Translation: X:-19.99, Y:-2.59, Z:-0.74 [[ 9.99999220e-01 1.12848186e-03 -5.34427446e-04 -1.99910781e+01] [-1.12989402e-03 9.99995852e-01 -2.64949017e-03 -2.59210443e+00] [ 5.31435327e-04 2.65009195e-03 9.99996347e-01 -7.37954850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.020418555 meters Centerline goodness [0,1] 0.4838975501113586 Centerline is valid? [False, False] Translation: X:-19.99, Y:-2.59, Z:-0.74 [[ 9.99999256e-01 9.96963413e-04 -7.03403635e-04 -1.99900318e+01] [-9.98736714e-04 9.99996313e-01 -2.52519804e-03 -2.59417794e+00] [ 7.00883511e-04 2.52589868e-03 9.99996564e-01 -7.38939909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.050418555 meters Centerline goodness [0,1] 0.4957547490207621 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.60, Z:-0.74 [[ 9.99994880e-01 1.07850303e-03 -3.01271793e-03 -2.00307501e+01] [-1.08280889e-03 9.99998394e-01 -1.42796158e-03 -2.59722639e+00] [ 3.01117304e-03 1.43121646e-03 9.99994442e-01 -7.44045805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.080418555 meters Centerline goodness [0,1] 0.49401332373064455 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.60, Z:-0.74 [[ 9.99995440e-01 1.08827263e-03 -2.81698321e-03 -2.00319085e+01] [-1.09265827e-03 9.99998193e-01 -1.55578495e-03 -2.59884184e+00] [ 2.81528500e-03 1.55885586e-03 9.99994822e-01 -7.42756307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.110418555 meters Centerline goodness [0,1] 0.49743833877402976 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.60, Z:-0.74 [[ 9.99996475e-01 1.18063835e-03 -2.37819708e-03 -2.00336154e+01] [-1.18413486e-03 9.99998219e-01 -1.46936441e-03 -2.60002540e+00] [ 2.37645806e-03 1.47217534e-03 9.99996093e-01 -7.41983499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.140418555000004 meters Centerline goodness [0,1] 0.4869565217391304 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.60, Z:-0.75 [[ 9.99981529e-01 4.78012416e-03 -3.75382006e-03 -2.00266070e+01] [-4.77186806e-03 9.99986183e-01 2.20527110e-03 -2.59861043e+00] [ 3.76430966e-03 -2.18731764e-03 9.99990523e-01 -7.46914612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.170418555000005 meters Centerline goodness [0,1] 0.4794920122060672 Centerline is valid? [False, False] Translation: X:-20.02, Y:-2.60, Z:-0.75 [[ 9.99979578e-01 4.86167388e-03 -4.14817623e-03 -2.00247677e+01] [-4.85159536e-03 9.99985263e-01 2.43624220e-03 -2.60117840e+00] [ 4.15995932e-03 -2.41606717e-03 9.99988429e-01 -7.47705200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.200418555 meters Centerline goodness [0,1] 0.11258697027197972 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.60, Z:-0.74 [[ 9.99992390e-01 2.85226023e-03 -2.66175974e-03 -2.00328297e+01] [-2.85130844e-03 9.99995870e-01 3.61306215e-04 -2.60360790e+00] [ 2.66277928e-03 -3.53713967e-04 9.99996392e-01 -7.42647640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.230418555 meters Centerline goodness [0,1] 0.49114598491123596 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.61, Z:-0.74 [[ 9.99974208e-01 6.85897091e-03 -2.13016137e-03 -2.00355273e+01] [-6.84838561e-03 9.99964360e-01 4.93741268e-03 -2.60604120e+00] [ 2.16395102e-03 -4.92269716e-03 9.99985542e-01 -7.40497532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.260418555 meters Centerline goodness [0,1] 0.506455089545736 Centerline is valid? [False, False] Translation: X:-20.08, Y:-2.61, Z:-0.74 [[ 9.99979576e-01 5.00796519e-03 -3.97077891e-03 -2.00785931e+01] [-4.99356334e-03 9.99980949e-01 3.62861489e-03 -2.61033539e+00] [ 3.98887524e-03 -3.60871244e-03 9.99985533e-01 -7.44439151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.290418555 meters Centerline goodness [0,1] 0.49934069931341796 Centerline is valid? [False, False] Translation: X:-20.08, Y:-2.61, Z:-0.74 [[ 9.99991214e-01 1.31253382e-03 -3.98108746e-03 -2.00790313e+01] [-1.31416518e-03 9.99999054e-01 -4.07188221e-04 -2.61082521e+00] [ 3.98054924e-03 4.12416450e-04 9.99991993e-01 -7.43790385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.320418555 meters Centerline goodness [0,1] 0.501583876595354 Centerline is valid? [False, False] Translation: X:-20.08, Y:-2.61, Z:-0.75 [[ 9.99989738e-01 1.02742545e-03 -4.41220142e-03 -2.00767887e+01] [-1.02946347e-03 9.99999364e-01 -4.59657626e-04 -2.61382544e+00] [ 4.41172635e-03 4.64195109e-04 9.99990161e-01 -7.45646768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.350418555000005 meters Centerline goodness [0,1] 0.4883336682519481 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.61, Z:-0.74 [[ 9.99982729e-01 5.30133048e-03 -2.53709699e-03 -2.00355216e+01] [-5.29217215e-03 9.99979506e-01 3.60297087e-03 -2.61362891e+00] [ 2.55614553e-03 -3.58948189e-03 9.99990291e-01 -7.41241487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.380418555 meters Centerline goodness [0,1] 0.4919664214469468 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.62, Z:-0.74 [[ 9.99977005e-01 6.66042243e-03 -1.27601821e-03 -2.00420358e+01] [-6.65363036e-03 9.99964056e-01 5.25514484e-03 -2.61641878e+00] [ 1.31097383e-03 -5.24653384e-03 9.99985378e-01 -7.36745415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.410418555 meters Centerline goodness [0,1] 0.46900179051029545 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.62, Z:-0.74 [[ 9.99988847e-01 4.05814752e-03 -2.41604481e-03 -2.00361426e+01] [-4.05174294e-03 9.99988281e-01 2.64987238e-03 -2.61977783e+00] [ 2.42677007e-03 -2.64005363e-03 9.99993570e-01 -7.40856719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.440418555 meters Centerline goodness [0,1] 0.47945020279405137 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.62, Z:-0.75 [[ 9.99987586e-01 2.93562535e-03 -4.02607390e-03 -2.00286008e+01] [-2.92594647e-03 9.99992821e-01 2.40783478e-03 -2.62358553e+00] [ 4.03311349e-03 -2.39602482e-03 9.99988996e-01 -7.45726962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.470418555 meters Centerline goodness [0,1] 0.5029967621190897 Centerline is valid? [False, False] Translation: X:-20.08, Y:-2.63, Z:-0.74 [[ 9.99989733e-01 2.44189044e-03 -3.81712438e-03 -2.00789088e+01] [-2.42574381e-03 9.99988116e-01 4.22897322e-03 -2.62666508e+00] [ 3.82740571e-03 -4.21967044e-03 9.99983773e-01 -7.44601770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.500418555 meters Centerline goodness [0,1] 0.49915405265176294 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.63, Z:-0.74 [[ 9.99997730e-01 -1.51760734e-03 -1.49576590e-03 -2.00413428e+01] [ 1.51435955e-03 9.99996499e-01 -2.17007232e-03 -2.62733142e+00] [ 1.49905398e-03 2.16780227e-03 9.99996527e-01 -7.38428709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.530418555000004 meters Centerline goodness [0,1] 0.4876374242764191 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.63, Z:-0.74 [[ 9.99997652e-01 -1.43891384e-03 -1.62058527e-03 -2.00412934e+01] [ 1.43520419e-03 9.99996353e-01 -2.28792678e-03 -2.62867157e+00] [ 1.62387149e-03 2.28559554e-03 9.99996070e-01 -7.38027443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.560418555 meters Centerline goodness [0,1] 0.4597223153799719 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.63, Z:-0.74 [[ 9.99998360e-01 -9.08537369e-04 -1.56648711e-03 -2.00414263e+01] [ 9.06017248e-04 9.99998296e-01 -1.60873173e-03 -2.62799977e+00] [ 1.56794604e-03 1.60730983e-03 9.99997479e-01 -7.38065678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.590418555 meters Centerline goodness [0,1] 0.4524005425960106 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.63, Z:-0.74 [[ 9.99998840e-01 -7.02053449e-04 -1.35197505e-03 -2.00417580e+01] [ 7.01136912e-04 9.99999524e-01 -6.78278868e-04 -2.63144497e+00] [ 1.35245060e-03 6.77330161e-04 9.99998856e-01 -7.38096248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.620418555 meters Centerline goodness [0,1] 0.5024410181884239 Centerline is valid? [False, False] Translation: X:-20.08, Y:-2.64, Z:-0.74 [[ 9.99993887e-01 -1.08088822e-03 -3.32538489e-03 -2.00844217e+01] [ 1.08166365e-03 9.99999388e-01 2.31395252e-04 -2.63538841e+00] [ 3.32513274e-03 -2.34990785e-04 9.99994444e-01 -7.42077518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.650418555 meters Centerline goodness [0,1] 0.4816900149697254 Centerline is valid? [False, False] Translation: X:-20.05, Y:-2.64, Z:-0.75 [[ 9.99986917e-01 3.83158708e-03 -3.38877461e-03 -2.00516216e+01] [-3.84769997e-03 9.99981263e-01 -4.76111446e-03 -2.63525280e+00] [ 3.37046849e-03 4.77409116e-03 9.99982924e-01 -7.48124024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.680418555 meters Centerline goodness [0,1] 0.4816900149697254 Centerline is valid? [False, False] Translation: X:-20.05, Y:-2.64, Z:-0.75 [[ 9.99986917e-01 3.83158708e-03 -3.38877461e-03 -2.00516216e+01] [-3.84769997e-03 9.99981263e-01 -4.76111446e-03 -2.63525280e+00] [ 3.37046849e-03 4.77409116e-03 9.99982924e-01 -7.48124024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.710418555000004 meters Centerline goodness [0,1] 0.4761174161232824 Centerline is valid? [False, False] Translation: X:-20.06, Y:-2.64, Z:-0.74 [[ 9.99987519e-01 4.37780062e-03 -2.40756996e-03 -2.00566480e+01] [-4.38657323e-03 9.99983715e-01 -3.65063024e-03 -2.63988397e+00] [ 2.39154903e-03 3.66114566e-03 9.99990438e-01 -7.44856689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.740418555 meters Centerline goodness [0,1] 0.46663856036567775 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.64, Z:-0.74 [[ 9.99998406e-01 2.80131528e-04 1.76327249e-03 -2.00366320e+01] [-2.83545558e-04 9.99998085e-01 1.93623768e-03 -2.63928339e+00] [-1.76272671e-03 -1.93673456e-03 9.99996571e-01 -7.43991667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.770418555 meters Centerline goodness [0,1] 0.44615625419256744 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.64, Z:-0.74 [[ 9.99991706e-01 -3.75715043e-03 1.57224710e-03 -2.00357691e+01] [ 3.76067501e-03 9.99990409e-01 -2.24482813e-03 -2.64024715e+00] [-1.56379786e-03 2.25072222e-03 9.99996244e-01 -7.44595045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.800418555 meters Centerline goodness [0,1] 0.456536679451083 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.64, Z:-0.75 [[ 9.99970120e-01 -7.62324109e-03 1.28232341e-03 -2.00343517e+01] [ 7.63134585e-03 9.99950150e-01 -6.43890023e-03 -2.64163922e+00] [-1.23317419e-03 6.44849369e-03 9.99978448e-01 -7.45626375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.830418555 meters Centerline goodness [0,1] 0.4529431475483078 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.64, Z:-0.75 [[ 9.99994559e-01 -3.12309069e-03 1.06197641e-03 -2.00327505e+01] [ 3.12490285e-03 9.99993657e-01 -1.70904267e-03 -2.63987751e+00] [-1.05663218e-03 1.71235194e-03 9.99997976e-01 -7.47651512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.860418555 meters Centerline goodness [0,1] 0.5003291938156968 Centerline is valid? [False, False] Translation: X:-20.08, Y:-2.64, Z:-0.75 [[ 9.99997167e-01 -2.34591063e-03 -4.02171690e-04 -2.00770354e+01] [ 2.34631416e-03 9.99996742e-01 1.00587292e-03 -2.64391858e+00] [ 3.99810691e-04 -1.00681369e-03 9.99999413e-01 -7.49782990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.890418555000004 meters Centerline goodness [0,1] 0.5022309559588487 Centerline is valid? [False, False] Translation: X:-20.11, Y:-2.65, Z:-0.75 [[ 9.99999845e-01 -1.40674667e-05 -5.57180559e-04 -2.01067790e+01] [ 1.09988283e-05 9.99984836e-01 -5.50705996e-03 -2.64900163e+00] [ 5.57249580e-04 5.50705297e-03 9.99984681e-01 -7.45371270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.920418555000005 meters Centerline goodness [0,1] 0.4087673454676518 Centerline is valid? [False, False] Translation: X:-20.06, Y:-2.65, Z:-0.74 [[ 9.99999163e-01 -1.28971841e-03 1.05299335e-04 -2.00620858e+01] [ 1.29057063e-03 9.99962702e-01 -8.53982314e-03 -2.64927562e+00] [-9.42814403e-05 8.53995189e-03 9.99963530e-01 -7.42817797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.950418555 meters Centerline goodness [0,1] 0.45313996747532803 Centerline is valid? [False, False] Translation: X:-20.06, Y:-2.65, Z:-0.74 [[ 9.99996560e-01 2.60651770e-03 -2.91745481e-04 -2.00606517e+01] [-2.60776602e-03 9.99987080e-01 -4.36348130e-03 -2.65019291e+00] [ 2.80368220e-04 4.36422710e-03 9.99990437e-01 -7.43321612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.980418555 meters Centerline goodness [0,1] 0.45922555317630265 Centerline is valid? [False, False] Translation: X:-20.06, Y:-2.65, Z:-0.74 [[ 9.99995529e-01 2.99029190e-03 -3.26476287e-06 -2.00618315e+01] [-2.99028438e-03 9.99989101e-01 -3.58552920e-03 -2.65293798e+00] [-7.45705165e-06 3.58552294e-03 9.99993572e-01 -7.42650774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.010418555 meters Centerline goodness [0,1] 0.46818516124718623 Centerline is valid? [False, False] Translation: X:-20.06, Y:-2.66, Z:-0.74 [[ 9.99995627e-01 2.95054669e-03 1.98777153e-04 -2.00629559e+01] [-2.94989982e-03 9.99990594e-01 -3.17951357e-03 -2.65610666e+00] [-2.08156587e-04 3.17891330e-03 9.99994926e-01 -7.41931648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.040418555 meters Centerline goodness [0,1] 0.4844608573780339 Centerline is valid? [False, False] Translation: X:-20.06, Y:-2.66, Z:-0.74 [[ 9.99995583e-01 2.96569718e-03 1.98916120e-04 -2.00630702e+01] [-2.96508787e-03 9.99991115e-01 -2.99650949e-03 -2.65706497e+00] [-2.07801092e-04 2.99590645e-03 9.99995491e-01 -7.41387429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.070418555 meters Centerline goodness [0,1] 0.43358717789781276 Centerline is valid? [False, False] Translation: X:-20.06, Y:-2.66, Z:-0.74 [[ 9.99995393e-01 3.01436079e-03 3.58303884e-04 -2.00631447e+01] [-3.01330652e-03 9.99991234e-01 -2.90736557e-03 -2.66002344e+00] [-3.67064591e-04 2.90627249e-03 9.99995709e-01 -7.41835881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.100418555000005 meters Centerline goodness [0,1] 0.4368033883192154 Centerline is valid? [False, False] Translation: X:-20.06, Y:-2.66, Z:-0.74 [[ 9.99995525e-01 2.96653676e-03 3.85648307e-04 -2.00633432e+01] [-2.96540372e-03 9.99991380e-01 -2.90611974e-03 -2.66174660e+00] [-3.94266094e-04 2.90496313e-03 9.99995703e-01 -7.41736178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.130418555 meters Centerline goodness [0,1] 0.4824984707401617 Centerline is valid? [False, False] Translation: X:-20.09, Y:-2.67, Z:-0.74 [[ 9.99992016e-01 -9.43177215e-04 -3.88304444e-03 -2.00879578e+01] [ 9.55158696e-04 9.99994786e-01 3.08489236e-03 -2.66561536e+00] [ 3.88011459e-03 -3.08857666e-03 9.99987703e-01 -7.38480185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.160418555 meters Centerline goodness [0,1] 0.4908889491770664 Centerline is valid? [False, False] Translation: X:-20.09, Y:-2.67, Z:-0.74 [[ 9.99989596e-01 -1.05254051e-03 -4.43858137e-03 -2.00858914e+01] [ 1.06853388e-03 9.99992940e-01 3.60243204e-03 -2.66983391e+00] [ 4.43475833e-03 -3.60713733e-03 9.99983661e-01 -7.39170905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.190418555 meters Centerline goodness [0,1] 0.4825886254649756 Centerline is valid? [False, False] Translation: X:-20.07, Y:-2.67, Z:-0.74 [[ 9.99997152e-01 2.28917514e-03 6.75701897e-04 -2.00685013e+01] [-2.28778681e-03 9.99995285e-01 -2.04832577e-03 -2.67478800e+00] [-6.80387688e-04 2.04677408e-03 9.99997674e-01 -7.37367142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.220418555 meters Centerline goodness [0,1] 0.47431598712446355 Centerline is valid? [False, False] Translation: X:-20.07, Y:-2.68, Z:-0.74 [[ 9.99996704e-01 2.56761555e-03 1.29853713e-05 -2.00652584e+01] [-2.56759220e-03 9.99995490e-01 -1.55807763e-03 -2.67506112e+00] [-1.69858571e-05 1.55803915e-03 9.99998786e-01 -7.39666453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.250418555 meters Centerline goodness [0,1] 0.451153777619387 Centerline is valid? [False, False] Translation: X:-20.06, Y:-2.68, Z:-0.74 [[ 9.99996448e-01 2.64761218e-03 -3.07683792e-04 -2.00637629e+01] [-2.64788185e-03 9.99996108e-01 -8.79363492e-04 -2.67838129e+00] [ 3.05354381e-04 8.80175078e-04 9.99999566e-01 -7.40589447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.280418555000004 meters Centerline goodness [0,1] 0.47633182315263245 Centerline is valid? [False, False] Translation: X:-20.07, Y:-2.69, Z:-0.74 [[ 9.99999268e-01 -3.77211811e-04 1.14999095e-03 -2.00709854e+01] [ 3.80941924e-04 9.99994662e-01 -3.24511028e-03 -2.68587116e+00] [-1.14876071e-03 3.24554598e-03 9.99994073e-01 -7.35972583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.310418555 meters Centerline goodness [0,1] 0.4722222222222222 Centerline is valid? [False, False] Translation: X:-20.07, Y:-2.69, Z:-0.74 [[ 9.99999516e-01 -2.45083064e-04 9.52558890e-04 -2.00700858e+01] [ 2.48037009e-04 9.99995157e-01 -3.10218343e-03 -2.68776627e+00] [-9.51793984e-04 3.10241820e-03 9.99994735e-01 -7.36775354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.340418555 meters Centerline goodness [0,1] 0.46399785661658 Centerline is valid? [False, False] Translation: X:-20.07, Y:-2.69, Z:-0.74 [[ 9.99999810e-01 -2.82777057e-05 6.15229348e-04 -2.00685084e+01] [ 2.97010077e-05 9.99997323e-01 -2.31356345e-03 -2.69221736e+00] [-6.15162279e-04 2.31358128e-03 9.99997134e-01 -7.37901787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.370418555 meters Centerline goodness [0,1] 0.46532518065592 Centerline is valid? [False, False] Translation: X:-20.07, Y:-2.70, Z:-0.74 [[ 9.99999942e-01 7.85913179e-05 3.32541449e-04 -2.00673473e+01] [-7.80615629e-05 9.99998729e-01 -1.59276275e-03 -2.69569210e+00] [-3.32666204e-04 1.59273670e-03 9.99998676e-01 -7.38444330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.400418555 meters Centerline goodness [0,1] 0.504539588902203 Centerline is valid? [False, False] Translation: X:-20.14, Y:-2.70, Z:-0.74 [[ 9.99991486e-01 3.20348483e-03 -2.60116254e-03 -2.01351426e+01] [-3.21267362e-03 9.99988587e-01 -3.53611098e-03 -2.70336599e+00] [ 2.58980498e-03 3.54443756e-03 9.99990365e-01 -7.37967718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.430418555 meters Centerline goodness [0,1] 0.4650908441587429 Centerline is valid? [False, False] Translation: X:-20.09, Y:-2.71, Z:-0.73 [[ 9.99989553e-01 4.30984192e-03 -1.52276193e-03 -2.00912791e+01] [-4.31516036e-03 9.99984541e-01 -3.50677649e-03 -2.70552760e+00] [ 1.50762473e-03 3.51331082e-03 9.99992692e-01 -7.34667810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.460418555000004 meters Centerline goodness [0,1] 0.4923190138901665 Centerline is valid? [False, False] Translation: X:-20.16, Y:-2.71, Z:-0.73 [[ 9.99998483e-01 1.59487184e-03 7.00568637e-04 -2.01630518e+01] [-1.59558878e-03 9.99998203e-01 1.02400475e-03 -2.71070398e+00] [-6.98934221e-04 -1.02512102e-03 9.99999230e-01 -7.30290860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.490418555 meters Centerline goodness [0,1] 0.47923668599012026 Centerline is valid? [False, False] Translation: X:-20.12, Y:-2.71, Z:-0.73 [[ 9.99998008e-01 1.17794531e-03 1.61135618e-03 -2.01189139e+01] [-1.17690742e-03 9.99999099e-01 -6.44905939e-04 -2.71076368e+00] [-1.61211440e-03 6.43008238e-04 9.99998494e-01 -7.27492527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.520418555 meters Centerline goodness [0,1] 0.44670776378093446 Centerline is valid? [False, False] Translation: X:-20.11, Y:-2.71, Z:-0.73 [[ 9.99999426e-01 -8.89543087e-04 5.97133854e-04 -2.01128130e+01] [ 8.91418436e-04 9.99994649e-01 -3.14769812e-03 -2.71365670e+00] [-5.94330646e-04 3.14822861e-03 9.99994868e-01 -7.32137277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.550418555 meters Centerline goodness [0,1] 0.49680083495938654 Centerline is valid? [False, False] Translation: X:-20.15, Y:-2.72, Z:-0.74 [[ 9.99998148e-01 4.03026384e-04 -1.88189580e-03 -2.01521194e+01] [-4.02722195e-04 9.99999906e-01 1.62015770e-04 -2.71532124e+00] [ 1.88196092e-03 -1.61257588e-04 9.99998216e-01 -7.37997717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.580418555 meters Centerline goodness [0,1] 0.48958779865983804 Centerline is valid? [False, False] Translation: X:-20.15, Y:-2.72, Z:-0.74 [[ 9.99997955e-01 1.93440016e-04 -2.01288797e-03 -2.01518186e+01] [-1.93012565e-04 9.99999959e-01 2.12549133e-04 -2.71787093e+00] [ 2.01292900e-03 -2.12160185e-04 9.99997952e-01 -7.37302082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.610418555 meters Centerline goodness [0,1] 0.5009751061144889 Centerline is valid? [False, False] Translation: X:-20.19, Y:-2.72, Z:-0.73 [[ 9.99991955e-01 3.96414525e-03 -6.13025051e-04 -2.01875972e+01] [-3.96734357e-03 9.99978047e-01 -5.30717887e-03 -2.72316943e+00] [ 5.91973166e-04 5.30956825e-03 9.99985729e-01 -7.29227652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.640418555000004 meters Centerline goodness [0,1] 0.4850313033579966 Centerline is valid? [False, False] Translation: X:-20.19, Y:-2.72, Z:-0.73 [[ 9.99989555e-01 4.57018168e-03 -6.18288123e-05 -2.01899835e+01] [-4.57042741e-03 9.99977843e-01 -4.84000432e-03 -2.72418683e+00] [ 3.97077433e-05 4.84023635e-03 9.99988285e-01 -7.27790751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.670418555000005 meters Centerline goodness [0,1] 0.42074850500571126 Centerline is valid? [False, False] Translation: X:-20.16, Y:-2.72, Z:-0.73 [[ 9.99983222e-01 5.28414660e-03 -2.37347395e-03 -2.01552359e+01] [-5.27240827e-03 9.99973973e-01 4.92495930e-03 -2.72314236e+00] [ 2.39943639e-03 -4.91236275e-03 9.99985056e-01 -7.34497648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.700418555 meters Centerline goodness [0,1] 0.45218825942523355 Centerline is valid? [False, False] Translation: X:-20.15, Y:-2.73, Z:-0.74 [[ 9.99981438e-01 5.22987210e-03 -3.12590763e-03 -2.01514429e+01] [-5.21377516e-03 9.99973220e-01 5.13568033e-03 -2.72505006e+00] [ 3.15268287e-03 -5.11928723e-03 9.99981927e-01 -7.37080881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.730418555 meters Centerline goodness [0,1] 0.4502410043717072 Centerline is valid? [False, False] Translation: X:-20.15, Y:-2.73, Z:-0.74 [[ 9.99995624e-01 1.51307679e-03 -2.54213509e-03 -2.01541205e+01] [-1.50947782e-03 9.99997857e-01 1.41704839e-03 -2.72856136e+00] [ 2.54427374e-03 -1.41320489e-03 9.99995765e-01 -7.35610194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.760418555 meters Centerline goodness [0,1] 0.4176838016200587 Centerline is valid? [False, False] Translation: X:-20.12, Y:-2.73, Z:-0.73 [[ 9.99996569e-01 2.40005666e-03 1.04972023e-03 -2.01196374e+01] [-2.40065397e-03 9.99996957e-01 5.68125874e-04 -2.72818865e+00] [-1.04835350e-03 -5.70643940e-04 9.99999288e-01 -7.28021291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.790418555 meters Centerline goodness [0,1] 0.4690146223130658 Centerline is valid? [False, False] Translation: X:-20.15, Y:-2.73, Z:-0.74 [[ 9.99983952e-01 5.07391768e-03 -2.52024621e-03 -2.01541334e+01] [-5.06094685e-03 9.99974052e-01 5.12664050e-03 -2.73173741e+00] [ 2.54619297e-03 -5.11380339e-03 9.99983683e-01 -7.36722514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.820418555 meters Centerline goodness [0,1] 0.48328267477203646 Centerline is valid? [False, False] Translation: X:-20.15, Y:-2.73, Z:-0.74 [[ 9.99994999e-01 1.47363452e-03 -2.79811031e-03 -2.01532162e+01] [-1.46999772e-03 9.99998073e-01 1.30134775e-03 -2.73278899e+00] [ 2.80002262e-03 -1.29722803e-03 9.99995239e-01 -7.37256334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.850418555000005 meters Centerline goodness [0,1] 0.4974073143431482 Centerline is valid? [False, False] Translation: X:-20.16, Y:-2.74, Z:-0.73 [[ 9.99999693e-01 3.83853642e-04 -6.82483884e-04 -2.01642485e+01] [-3.83607872e-04 9.99999862e-01 3.60205707e-04 -2.73595024e+00] [ 6.82622056e-04 -3.59943790e-04 9.99999702e-01 -7.30204816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.880418555 meters Centerline goodness [0,1] 0.42092344434124984 Centerline is valid? [False, False] Translation: X:-20.12, Y:-2.73, Z:-0.73 [[ 9.99995972e-01 2.65317370e-03 1.00876420e-03 -2.01220586e+01] [-2.65449659e-03 9.99995616e-01 1.31233404e-03 -2.73317671e+00] [-1.00527793e-03 -1.31500651e-03 9.99998630e-01 -7.26728715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.910418555 meters Centerline goodness [0,1] 0.465294756859549 Centerline is valid? [False, False] Translation: X:-20.16, Y:-2.74, Z:-0.73 [[ 9.99997276e-01 1.67289108e-03 -1.62778734e-03 -2.01617909e+01] [-1.67010773e-03 9.99997144e-01 1.70975890e-03 -2.73699997e+00] [ 1.63064294e-03 -1.70703567e-03 9.99997214e-01 -7.31929412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.940418555 meters Centerline goodness [0,1] 0.422106337149983 Centerline is valid? [False, False] Translation: X:-20.16, Y:-2.74, Z:-0.73 [[ 9.99996615e-01 1.87640320e-03 -1.80259430e-03 -2.01606412e+01] [-1.87293583e-03 9.99996396e-01 1.92330989e-03 -2.73757853e+00] [ 1.80619671e-03 -1.91992724e-03 9.99996526e-01 -7.33105760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.970418555 meters Centerline goodness [0,1] 0.45590020229265005 Centerline is valid? [False, False] Translation: X:-20.16, Y:-2.74, Z:-0.73 [[ 9.99995912e-01 1.83913227e-03 -2.18953029e-03 -2.01589115e+01] [-1.83516731e-03 9.99996675e-01 1.81150500e-03 -2.73794742e+00] [ 2.19285461e-03 -1.80747944e-03 9.99995962e-01 -7.34305419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.000418555 meters Centerline goodness [0,1] 0.48212119850860247 Centerline is valid? [False, False] Translation: X:-20.16, Y:-2.74, Z:-0.73 [[ 9.99995908e-01 1.49747918e-03 -2.43737300e-03 -2.01585068e+01] [-1.49375480e-03 9.99997715e-01 1.52913074e-03 -2.73938497e+00] [ 2.43965727e-03 -1.52548364e-03 9.99995860e-01 -7.33632039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.030418555000004 meters Centerline goodness [0,1] 0.4362640569235259 Centerline is valid? [False, False] Translation: X:-20.17, Y:-2.74, Z:-0.73 [[ 9.99997666e-01 2.15255251e-03 1.87974366e-04 -2.01702665e+01] [-2.15300303e-03 9.99994729e-01 2.43036123e-03 -2.74098768e+00] [-1.82741895e-04 -2.43076027e-03 9.99997029e-01 -7.26747890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.060418555 meters Centerline goodness [0,1] 0.4460023933708144 Centerline is valid? [False, False] Translation: X:-20.17, Y:-2.74, Z:-0.73 [[ 9.99997085e-01 2.40454766e-03 2.18805759e-04 -2.01704586e+01] [-2.40513826e-03 9.99993353e-01 2.74018144e-03 -2.74168630e+00] [-2.12215408e-04 -2.74069971e-03 9.99996222e-01 -7.26651059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.090418555 meters Centerline goodness [0,1] 0.43063208350132154 Centerline is valid? [False, False] Translation: X:-20.16, Y:-2.74, Z:-0.73 [[ 9.99999207e-01 5.51110343e-04 -1.13280854e-03 -2.01622766e+01] [-5.50280462e-04 9.99999580e-01 7.32768569e-04 -2.74266131e+00] [ 1.13321190e-03 -7.32144625e-04 9.99999090e-01 -7.32931102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.120418555 meters Centerline goodness [0,1] 0.43197172386023 Centerline is valid? [False, False] Translation: X:-20.16, Y:-2.74, Z:-0.73 [[ 9.99999478e-01 5.02065331e-04 -8.90374536e-04 -2.01633566e+01] [-5.01004671e-04 9.99999165e-01 1.19107412e-03 -2.74470596e+00] [ 8.90971789e-04 -1.19062741e-03 9.99998894e-01 -7.32022616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.150418555 meters Centerline goodness [0,1] 0.42540156392719497 Centerline is valid? [False, False] Translation: X:-20.17, Y:-2.75, Z:-0.73 [[ 9.99999645e-01 6.87314018e-04 -4.86867864e-04 -2.01654479e+01] [-6.86447380e-04 9.99998184e-01 1.77796313e-03 -2.74690969e+00] [ 4.88088999e-04 -1.77762829e-03 9.99998301e-01 -7.30044762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.180418555 meters Centerline goodness [0,1] 0.46342782459777365 Centerline is valid? [False, False] Translation: X:-20.19, Y:-2.75, Z:-0.73 [[ 9.99975067e-01 4.69283822e-03 -5.27667279e-03 -2.01860624e+01] [-4.70646403e-03 9.99985615e-01 -2.57282746e-03 -2.74844375e+00] [ 5.26452302e-03 2.59759778e-03 9.99982768e-01 -7.29565106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.210418555000004 meters Centerline goodness [0,1] 0.47403986935465703 Centerline is valid? [False, False] Translation: X:-20.18, Y:-2.75, Z:-0.73 [[ 9.99977553e-01 2.17905648e-03 -6.33603780e-03 -2.01801856e+01] [-2.21031628e-03 9.99985401e-01 -4.93084158e-03 -2.75180535e+00] [ 6.32520071e-03 4.94473555e-03 9.99967770e-01 -7.33471548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.240418555 meters Centerline goodness [0,1] 0.44477922768460465 Centerline is valid? [False, False] Translation: X:-20.16, Y:-2.75, Z:-0.73 [[ 9.99997681e-01 -2.13485891e-03 -2.84507163e-04 -2.01629364e+01] [ 2.13466542e-03 9.99997491e-01 -6.78651738e-04 -2.75444178e+00] [ 2.85955275e-04 6.78042837e-04 9.99999729e-01 -7.31802055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.270418555 meters Centerline goodness [0,1] 0.46396528074475496 Centerline is valid? [False, False] Translation: X:-20.21, Y:-2.76, Z:-0.73 [[ 9.99996810e-01 -2.42058700e-03 -7.22119855e-04 -2.02104523e+01] [ 2.42199361e-03 9.99995159e-01 1.95342790e-03 -2.75912356e+00] [ 7.17387917e-04 -1.95517064e-03 9.99997831e-01 -7.31826042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.300418555 meters Centerline goodness [0,1] 0.47238146624401434 Centerline is valid? [False, False] Translation: X:-20.21, Y:-2.76, Z:-0.73 [[ 9.99995579e-01 -2.68899688e-03 -1.26947773e-03 -2.02080087e+01] [ 2.69144643e-03 9.99994512e-01 1.93182284e-03 -2.76014023e+00] [ 1.26427610e-03 -1.93523103e-03 9.99997328e-01 -7.33609599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.330418555 meters Centerline goodness [0,1] 0.45338622204293844 Centerline is valid? [False, False] Translation: X:-20.21, Y:-2.76, Z:-0.73 [[ 9.99974998e-01 -6.89287869e-03 -1.57837674e-03 -2.02065057e+01] [ 6.88918916e-03 9.99973552e-01 -2.33117463e-03 -2.76197573e+00] [ 1.59440349e-03 2.32024261e-03 9.99996037e-01 -7.34456481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.360418555 meters Centerline goodness [0,1] 0.4802843347639485 Centerline is valid? [False, False] Translation: X:-20.21, Y:-2.76, Z:-0.73 [[ 9.99993858e-01 -3.25849733e-03 -1.29068842e-03 -2.02079427e+01] [ 3.26091723e-03 9.99992921e-01 1.87724736e-03 -2.76397857e+00] [ 1.28456228e-03 -1.88144466e-03 9.99997405e-01 -7.33066231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.390418555000004 meters Centerline goodness [0,1] 0.4861423220973783 Centerline is valid? [False, False] Translation: X:-20.23, Y:-2.77, Z:-0.73 [[ 9.99985644e-01 1.75939686e-03 -5.06121953e-03 -2.02347214e+01] [-1.76237991e-03 9.99998276e-01 -5.84995774e-04 -2.76539298e+00] [ 5.06018156e-03 5.93907168e-04 9.99987021e-01 -7.28418008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.420418555000005 meters Centerline goodness [0,1] 0.46770020075842067 Centerline is valid? [False, False] Translation: X:-20.21, Y:-2.77, Z:-0.73 [[ 9.99985231e-01 -5.23890317e-03 -1.44601976e-03 -2.02069186e+01] [ 5.23959842e-03 9.99986159e-01 4.77430212e-04 -2.76828151e+00] [ 1.44349853e-03 -4.84999724e-04 9.99998841e-01 -7.33770003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.450418555 meters Centerline goodness [0,1] 0.48204298901691256 Centerline is valid? [False, False] Translation: X:-20.21, Y:-2.77, Z:-0.73 [[ 9.99984833e-01 -5.36144325e-03 -1.26069028e-03 -2.02082111e+01] [ 5.36242183e-03 9.99985322e-01 7.74123776e-04 -2.77043095e+00] [ 1.25652136e-03 -7.80872387e-04 9.99998906e-01 -7.32325462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.480418555 meters Centerline goodness [0,1] 0.4878966707493597 Centerline is valid? [False, False] Translation: X:-20.21, Y:-2.77, Z:-0.73 [[ 9.99984383e-01 -5.32379707e-03 -1.70031430e-03 -2.02061207e+01] [ 5.32554448e-03 9.99985294e-01 1.02483013e-03 -2.77157362e+00] [ 1.69483331e-03 -1.03386922e-03 9.99998029e-01 -7.33391833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.510418555 meters Centerline goodness [0,1] 0.35047125461508477 Centerline is valid? [False, False] Translation: X:-20.26, Y:-2.78, Z:-0.73 [[ 9.99977008e-01 -6.41088275e-03 -2.20983807e-03 -2.02558325e+01] [ 6.41675099e-03 9.99975878e-01 2.65872668e-03 -2.77707542e+00] [ 2.19273998e-03 -2.67284553e-03 9.99994024e-01 -7.31993770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.540418555 meters Centerline goodness [0,1] 0.35511796481832036 Centerline is valid? [False, False] Translation: X:-20.26, Y:-2.78, Z:-0.73 [[ 9.99979352e-01 -6.25706262e-03 -1.46478472e-03 -2.02590070e+01] [ 6.26151607e-03 9.99975728e-01 3.05576488e-03 -2.77890152e+00] [ 1.44562906e-03 -3.06487355e-03 9.99994258e-01 -7.30007090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.570418555 meters Centerline goodness [0,1] 0.47256301583760874 Centerline is valid? [False, False] Translation: X:-20.21, Y:-2.78, Z:-0.73 [[ 9.99974280e-01 -6.92800224e-03 -1.85536009e-03 -2.02084313e+01] [ 6.92966272e-03 9.99975594e-01 8.90032693e-04 -2.77763852e+00] [ 1.84914866e-03 -9.02866821e-04 9.99997883e-01 -7.31450078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.600418555000005 meters Centerline goodness [0,1] 0.47256301583760874 Centerline is valid? [False, False] Translation: X:-20.21, Y:-2.78, Z:-0.73 [[ 9.99974280e-01 -6.92800224e-03 -1.85536009e-03 -2.02084313e+01] [ 6.92966272e-03 9.99975594e-01 8.90032693e-04 -2.77763852e+00] [ 1.84914866e-03 -9.02866821e-04 9.99997883e-01 -7.31450078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.630418555 meters Centerline goodness [0,1] 0.490287753534806 Centerline is valid? [False, False] Translation: X:-20.23, Y:-2.78, Z:-0.73 [[ 9.99964436e-01 -2.76088345e-03 -7.96892064e-03 -2.02274478e+01] [ 2.73900625e-03 9.99992454e-01 -2.75492477e-03 -2.77761933e+00] [ 7.97646653e-03 2.73299987e-03 9.99964453e-01 -7.31197207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.660418555 meters Centerline goodness [0,1] 0.46720673002025237 Centerline is valid? [False, False] Translation: X:-20.20, Y:-2.78, Z:-0.74 [[ 9.99940219e-01 -8.44353408e-03 -6.94731730e-03 -2.01979092e+01] [ 8.44064999e-03 9.99964278e-01 -4.44352508e-04 -2.77811476e+00] [ 6.95082103e-03 3.85686070e-04 9.99975768e-01 -7.35046564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.690418555 meters Centerline goodness [0,1] 0.47554311310190367 Centerline is valid? [False, False] Translation: X:-20.21, Y:-2.78, Z:-0.73 [[ 9.99962512e-01 -7.11958937e-03 -4.92799445e-03 -2.02091192e+01] [ 7.12550174e-03 9.99973913e-01 1.18323469e-03 -2.78126190e+00] [ 4.91944175e-03 -1.21830477e-03 9.99987157e-01 -7.27121835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.720418555 meters Centerline goodness [0,1] 0.3532162690828968 Centerline is valid? [False, False] Translation: X:-20.21, Y:-2.78, Z:-0.72 [[ 9.99986632e-01 -3.24899367e-03 -4.02246407e-03 -2.02128368e+01] [ 3.27105629e-03 9.99979577e-01 5.49047815e-03 -2.78149201e+00] [ 4.00454339e-03 -5.50356245e-03 9.99976837e-01 -7.24886572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.750418555 meters Centerline goodness [0,1] 0.49622160564841755 Centerline is valid? [False, False] Translation: X:-20.21, Y:-2.78, Z:-0.73 [[ 9.99985824e-01 -3.53662088e-03 -3.98043044e-03 -2.02124805e+01] [ 3.55815948e-03 9.99978997e-01 5.41711341e-03 -2.78365108e+00] [ 3.96118856e-03 -5.43119962e-03 9.99977405e-01 -7.25552213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.780418555000004 meters Centerline goodness [0,1] 0.4935839711841513 Centerline is valid? [False, False] Translation: X:-20.20, Y:-2.79, Z:-0.73 [[ 9.99966295e-01 -6.13370927e-03 -5.45765029e-03 -2.02048763e+01] [ 6.14884032e-03 9.99977287e-01 2.76000162e-03 -2.78676952e+00] [ 5.44059728e-03 -2.79346682e-03 9.99981298e-01 -7.30834600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.810418555 meters Centerline goodness [0,1] 0.4987587452042428 Centerline is valid? [False, False] Translation: X:-20.20, Y:-2.78, Z:-0.73 [[ 9.99973896e-01 -3.27943375e-03 -6.43835007e-03 -2.01999897e+01] [ 3.31720228e-03 9.99977303e-01 5.86429300e-03 -2.78474986e+00] [ 6.41897238e-03 -5.88549723e-03 9.99962078e-01 -7.33820725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.840418555 meters Centerline goodness [0,1] 0.49793140867677976 Centerline is valid? [False, False] Translation: X:-20.20, Y:-2.78, Z:-0.73 [[ 9.99976813e-01 -3.21670901e-03 -6.00225356e-03 -2.02020819e+01] [ 3.25240334e-03 9.99977030e-01 5.94656734e-03 -2.78458802e+00] [ 5.98298732e-03 -5.96595120e-03 9.99964305e-01 -7.31938669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.870418555 meters Centerline goodness [0,1] 0.48216042206921217 Centerline is valid? [False, False] Translation: X:-20.18, Y:-2.79, Z:-0.73 [[ 9.99997172e-01 2.51757810e-04 -2.36499666e-03 -2.01847405e+01] [-2.55747503e-04 9.99998545e-01 -1.68682535e-03 -2.78531965e+00] [ 2.36456855e-03 1.68742542e-03 9.99995781e-01 -7.28769387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.900418555 meters Centerline goodness [0,1] 0.4874791318864775 Centerline is valid? [False, False] Translation: X:-20.18, Y:-2.78, Z:-0.73 [[ 9.99989531e-01 3.38344893e-03 -3.08064499e-03 -2.01801720e+01] [-3.37927345e-03 9.99993366e-01 1.35958807e-03 -2.78244157e+00] [ 3.08522464e-03 -1.34916349e-03 9.99994331e-01 -7.32412146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.930418555 meters Centerline goodness [0,1] 0.4681599572497328 Centerline is valid? [False, False] Translation: X:-20.15, Y:-2.78, Z:-0.73 [[ 9.99993998e-01 -5.66287794e-04 -3.41816431e-03 -2.01534279e+01] [ 5.86548404e-04 9.99982250e-01 5.92924731e-03 -2.77886629e+00] [ 3.41474598e-03 -5.93121664e-03 9.99976580e-01 -7.33360407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.960418555000004 meters Centerline goodness [0,1] 0.47267833717826935 Centerline is valid? [False, False] Translation: X:-20.18, Y:-2.78, Z:-0.73 [[ 9.99982250e-01 3.43576368e-03 -4.86767791e-03 -2.01838198e+01] [-3.42923671e-03 9.99993211e-01 1.34859166e-03 -2.77840721e+00] [ 4.87227831e-03 -1.33187530e-03 9.99987243e-01 -7.27740809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.990418555 meters Centerline goodness [0,1] 0.48390206717187567 Centerline is valid? [False, False] Translation: X:-20.19, Y:-2.78, Z:-0.72 [[ 9.99993530e-01 8.39527191e-04 -3.49783127e-03 -2.01910809e+01] [-8.44888660e-04 9.99998470e-01 -1.53160243e-03 -2.78025629e+00] [ 3.49654009e-03 1.53454779e-03 9.99992710e-01 -7.22757459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.020418555 meters Centerline goodness [0,1] 0.4707803025254881 Centerline is valid? [False, False] Translation: X:-20.19, Y:-2.78, Z:-0.73 [[ 9.99991566e-01 1.18883514e-03 -3.93130386e-03 -2.01886438e+01] [-1.19463183e-03 9.99998202e-01 -1.47247651e-03 -2.77791973e+00] [ 3.92954626e-03 1.47716055e-03 9.99991188e-01 -7.25051371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.050418555 meters Centerline goodness [0,1] 0.47431246080802647 Centerline is valid? [False, False] Translation: X:-20.19, Y:-2.77, Z:-0.73 [[ 9.99989135e-01 1.94751122e-03 -4.23533163e-03 -2.01858084e+01] [-1.95203287e-03 9.99997529e-01 -1.06373136e-03 -2.77479396e+00] [ 4.23324954e-03 1.07198731e-03 9.99990465e-01 -7.28243752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.080418555 meters Centerline goodness [0,1] 0.47938938112348517 Centerline is valid? [False, False] Translation: X:-20.18, Y:-2.77, Z:-0.73 [[ 9.99987764e-01 1.74542707e-03 -4.62871548e-03 -2.01838251e+01] [-1.75180184e-03 9.99997522e-01 -1.37352576e-03 -2.77491131e+00] [ 4.62630662e-03 1.38161755e-03 9.99988344e-01 -7.29667702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.110418555 meters Centerline goodness [0,1] 0.49797368061563685 Centerline is valid? [False, False] Translation: X:-20.23, Y:-2.78, Z:-0.73 [[ 9.99980208e-01 2.13517327e-04 -6.28786035e-03 -2.02288969e+01] [-2.22334359e-04 9.99998993e-01 -1.40156527e-03 -2.77813718e+00] [ 6.28755476e-03 1.40293554e-03 9.99979249e-01 -7.30722926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.140418555000004 meters Centerline goodness [0,1] 0.47549990992613944 Centerline is valid? [False, False] Translation: X:-20.23, Y:-2.78, Z:-0.73 [[ 9.99981573e-01 2.94495802e-04 -6.06361157e-03 -2.02300768e+01] [-3.02682136e-04 9.99999044e-01 -1.34920213e-03 -2.77734691e+00] [ 6.06320844e-03 1.35101261e-03 9.99980706e-01 -7.29681763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.170418555000005 meters Centerline goodness [0,1] 0.47109588736404284 Centerline is valid? [False, False] Translation: X:-20.21, Y:-2.78, Z:-0.73 [[ 9.99996833e-01 -2.49984149e-03 -2.90947543e-04 -2.02140874e+01] [ 2.50107925e-03 9.99987478e-01 4.33461856e-03 -2.77508241e+00] [ 2.80108041e-04 -4.33533252e-03 9.99990563e-01 -7.27337275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.200418555 meters Centerline goodness [0,1] 0.48129498005837656 Centerline is valid? [False, False] Translation: X:-20.21, Y:-2.77, Z:-0.73 [[ 9.99996711e-01 -2.55297886e-03 -2.44305156e-04 -2.02142647e+01] [ 2.55398078e-03 9.99987949e-01 4.19264728e-03 -2.77344774e+00] [ 2.33598472e-04 -4.19325745e-03 9.99991181e-01 -7.27315118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.230418555 meters Centerline goodness [0,1] 0.46043870393052 Centerline is valid? [False, False] Translation: X:-20.21, Y:-2.77, Z:-0.73 [[ 9.99989774e-01 -4.35218689e-03 -1.22931830e-03 -2.02081913e+01] [ 4.35479983e-03 9.99988247e-01 2.13090450e-03 -2.77259067e+00] [ 1.22002975e-03 -2.13623614e-03 9.99996974e-01 -7.31693123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.260418555 meters Centerline goodness [0,1] 0.49027202305890827 Centerline is valid? [False, False] Translation: X:-20.23, Y:-2.78, Z:-0.73 [[ 9.99993960e-01 5.37939681e-04 -3.43386294e-03 -2.02337814e+01] [-5.43771758e-04 9.99998411e-01 -1.69769351e-03 -2.77510609e+00] [ 3.43294423e-03 1.69955049e-03 9.99992663e-01 -7.29459964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.290418555 meters Centerline goodness [0,1] 0.49353265004699454 Centerline is valid? [False, False] Translation: X:-20.23, Y:-2.77, Z:-0.73 [[ 9.99993402e-01 6.11054648e-04 -3.58075506e-03 -2.02334021e+01] [-6.16986853e-04 9.99998439e-01 -1.65582081e-03 -2.77349552e+00] [ 3.57973768e-03 1.65801916e-03 9.99992218e-01 -7.29316877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.320418555 meters Centerline goodness [0,1] 0.48602637717566843 Centerline is valid? [False, False] Translation: X:-20.23, Y:-2.77, Z:-0.73 [[ 9.99993186e-01 6.25378159e-04 -3.63836931e-03 -2.02329547e+01] [-6.30502865e-04 9.99998811e-01 -1.40754071e-03 -2.77304552e+00] [ 3.63748474e-03 1.40982512e-03 9.99992391e-01 -7.29717003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.350418555000005 meters Centerline goodness [0,1] 0.48533659186847367 Centerline is valid? [False, False] Translation: X:-20.23, Y:-2.77, Z:-0.73 [[ 9.99992623e-01 8.11635425e-05 -3.84031109e-03 -2.02316861e+01] [-8.80137302e-05 9.99998405e-01 -1.78362316e-03 -2.77405314e+00] [ 3.84016020e-03 1.78394800e-03 9.99991035e-01 -7.30547651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.380418555 meters Centerline goodness [0,1] 0.5046301563104366 Centerline is valid? [False, False] Translation: X:-20.27, Y:-2.78, Z:-0.73 [[ 9.99973667e-01 -3.86442793e-03 -6.14254708e-03 -2.02733640e+01] [ 3.84359710e-03 9.99986835e-01 -3.39943133e-03 -2.77763931e+00] [ 6.15560308e-03 3.37573234e-03 9.99975356e-01 -7.34219842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.410418555 meters Centerline goodness [0,1] 0.4919476541207739 Centerline is valid? [False, False] Translation: X:-20.27, Y:-2.78, Z:-0.73 [[ 9.99971780e-01 -4.47961862e-03 -6.03097784e-03 -2.02742853e+01] [ 4.45867053e-03 9.99983996e-01 -3.48239114e-03 -2.78055434e+00] [ 6.04648111e-03 3.45540273e-03 9.99975750e-01 -7.32843231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.440418555 meters Centerline goodness [0,1] 0.48883563637992433 Centerline is valid? [False, False] Translation: X:-20.28, Y:-2.78, Z:-0.73 [[ 9.99981467e-01 -3.99575954e-03 -4.59344577e-03 -2.02817605e+01] [ 3.98537600e-03 9.99989488e-01 -2.26744643e-03 -2.78496187e+00] [ 4.60245765e-03 2.24909780e-03 9.99986879e-01 -7.27231152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.470418555 meters Centerline goodness [0,1] 0.48740340376111135 Centerline is valid? [False, False] Translation: X:-20.29, Y:-2.79, Z:-0.72 [[ 9.99986749e-01 -4.03910402e-03 -3.19166945e-03 -2.02878130e+01] [ 4.03508280e-03 9.99991058e-01 -1.26534914e-03 -2.78992494e+00] [ 3.19675179e-03 1.25245372e-03 9.99994106e-01 -7.23536308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.500418555 meters Centerline goodness [0,1] 0.4848038230499542 Centerline is valid? [False, False] Translation: X:-20.28, Y:-2.79, Z:-0.73 [[ 9.99982209e-01 -4.52288770e-03 -3.88914592e-03 -2.02844602e+01] [ 4.51805453e-03 9.99989012e-01 -1.25062075e-03 -2.79300180e+00] [ 3.89475960e-03 1.23302713e-03 9.99991655e-01 -7.25965312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.530418555000004 meters Centerline goodness [0,1] 0.4953602498327013 Centerline is valid? [False, False] Translation: X:-20.28, Y:-2.79, Z:-0.73 [[ 9.99968097e-01 -6.01128022e-03 -5.26009862e-03 -2.02767720e+01] [ 6.00013875e-03 9.99979728e-01 -2.13133347e-03 -2.79433837e+00] [ 5.27280403e-03 2.09970415e-03 9.99983894e-01 -7.31374092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.560418555 meters Centerline goodness [0,1] 0.49524127939373674 Centerline is valid? [False, False] Translation: X:-20.26, Y:-2.80, Z:-0.74 [[ 9.99918608e-01 -1.00394544e-02 -7.87319467e-03 -2.02634620e+01] [ 9.99903778e-03 9.99936715e-01 -5.15612309e-03 -2.79845077e+00] [ 7.92446107e-03 5.07697905e-03 9.99955713e-01 -7.39585103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.590418555 meters Centerline goodness [0,1] 0.5053274547625608 Centerline is valid? [False, False] Translation: X:-20.31, Y:-2.80, Z:-0.74 [[ 9.99868812e-01 -1.35335496e-02 -8.89951506e-03 -2.03111727e+01] [ 1.34820544e-02 9.99892169e-01 -5.82104906e-03 -2.80268151e+00] [ 8.97733487e-03 5.70030166e-03 9.99943455e-01 -7.38391437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.620418555 meters Centerline goodness [0,1] 0.49058946108315415 Centerline is valid? [False, False] Translation: X:-20.28, Y:-2.81, Z:-0.73 [[ 9.99851246e-01 -1.68643080e-02 -3.61668732e-03 -2.02837895e+01] [ 1.68303648e-02 9.99815860e-01 -9.21876880e-03 -2.80504250e+00] [ 3.77148950e-03 9.15652730e-03 9.99950966e-01 -7.26675110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.650418555 meters Centerline goodness [0,1] 0.4711490215755143 Centerline is valid? [False, False] Translation: X:-20.36, Y:-2.81, Z:-0.72 [[ 9.99880577e-01 -1.51006981e-02 -3.28642208e-03 -2.03595043e+01] [ 1.50644619e-02 9.99828360e-01 -1.07847960e-02 -2.80972580e+00] [ 3.44871595e-03 1.07339999e-02 9.99936442e-01 -7.21882598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.680418555 meters Centerline goodness [0,1] 0.5017401916470801 Centerline is valid? [False, False] Translation: X:-20.33, Y:-2.81, Z:-0.72 [[ 9.99949751e-01 -9.55726581e-03 -3.02554770e-03 -2.03345987e+01] [ 9.51283757e-03 9.99851449e-01 -1.43731015e-02 -2.81334420e+00] [ 3.16246580e-03 1.43435978e-02 9.99892124e-01 -7.23627375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.710418555000004 meters Centerline goodness [0,1] 0.4911429918502054 Centerline is valid? [False, False] Translation: X:-20.33, Y:-2.82, Z:-0.73 [[ 9.99922257e-01 -1.18343776e-02 -3.92776891e-03 -2.03279621e+01] [ 1.17708798e-02 9.99805666e-01 -1.58138207e-02 -2.81662913e+00] [ 4.11415234e-03 1.57663580e-02 9.99867239e-01 -7.29487064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.740418555 meters Centerline goodness [0,1] 0.4899273704551007 Centerline is valid? [False, False] Translation: X:-20.32, Y:-2.82, Z:-0.73 [[ 9.99908162e-01 -1.26491133e-02 -4.86490185e-03 -2.03239867e+01] [ 1.25702657e-02 9.99794406e-01 -1.59101703e-02 -2.82090310e+00] [ 5.06515120e-03 1.58475560e-02 9.99861590e-01 -7.31529387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.770418555 meters Centerline goodness [0,1] 0.4975472078489349 Centerline is valid? [False, False] Translation: X:-20.32, Y:-2.82, Z:-0.73 [[ 9.99936718e-01 -9.75757655e-03 -5.59900724e-03 -2.03212230e+01] [ 9.69179410e-03 9.99885071e-01 -1.16581979e-02 -2.82461888e+00] [ 5.71211951e-03 1.16031957e-02 9.99916365e-01 -7.32860321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.800418555 meters Centerline goodness [0,1] 0.4986196081895885 Centerline is valid? [False, False] Translation: X:-20.30, Y:-2.83, Z:-0.74 [[ 9.99866834e-01 -1.62668157e-02 -1.30612758e-03 -2.02975646e+01] [ 1.62542227e-02 9.99826172e-01 -9.13382134e-03 -2.82867731e+00] [ 1.45447872e-03 9.11137493e-03 9.99957433e-01 -7.35269191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.830418555 meters Centerline goodness [0,1] 0.49717297772171287 Centerline is valid? [False, False] Translation: X:-20.33, Y:-2.83, Z:-0.73 [[ 9.99872884e-01 -1.58876320e-02 -1.34108466e-03 -2.03254727e+01] [ 1.58619323e-02 9.99723031e-01 -1.73856391e-02 -2.83281270e+00] [ 1.61692985e-03 1.73621569e-02 9.99847959e-01 -7.33051047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.860418555 meters Centerline goodness [0,1] 0.498546020152837 Centerline is valid? [False, False] Translation: X:-20.33, Y:-2.83, Z:-0.73 [[ 9.99868346e-01 -1.61659305e-02 -1.39753056e-03 -2.03257524e+01] [ 1.61392658e-02 9.99719179e-01 -1.73518754e-02 -2.83428809e+00] [ 1.67764732e-03 1.73270358e-02 9.99848468e-01 -7.32501293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.890418555000004 meters Centerline goodness [0,1] 0.4664569998449647 Centerline is valid? [False, False] Translation: X:-20.30, Y:-2.83, Z:-0.74 [[ 9.99828627e-01 -1.84600987e-02 1.39349573e-03 -2.03007593e+01] [ 1.84730748e-02 9.99779772e-01 -9.95755873e-03 -2.83378500e+00] [-1.20937133e-03 9.98159442e-03 9.99949451e-01 -7.35348948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.920418555000005 meters Centerline goodness [0,1] 0.49357181522915916 Centerline is valid? [False, False] Translation: X:-20.33, Y:-2.84, Z:-0.73 [[ 9.99862701e-01 -1.63528589e-02 2.67631672e-03 -2.03311377e+01] [ 1.63945532e-02 9.99731439e-01 -1.63788862e-02 -2.83719502e+00] [-2.40775635e-03 1.64205144e-02 9.99862275e-01 -7.31916708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.950418555 meters Centerline goodness [0,1] 0.4819293058558757 Centerline is valid? [False, False] Translation: X:-20.29, Y:-2.84, Z:-0.73 [[ 9.99845796e-01 -1.69913731e-02 4.43587857e-03 -2.02891464e+01] [ 1.70719507e-02 9.99677364e-01 -1.88073280e-02 -2.83922191e+00] [-4.11488508e-03 1.88801569e-02 9.99813286e-01 -7.29431677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.980418555 meters Centerline goodness [0,1] 0.47033879391152966 Centerline is valid? [False, False] Translation: X:-20.31, Y:-2.84, Z:-0.73 [[ 9.99803736e-01 -1.97953217e-02 -7.97228658e-04 -2.03086362e+01] [ 1.97850514e-02 9.99740333e-01 -1.13056949e-02 -2.84006129e+00] [ 1.02082151e-03 1.12877028e-02 9.99935771e-01 -7.29059529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.010418555 meters Centerline goodness [0,1] 0.47896906302632747 Centerline is valid? [False, False] Translation: X:-20.29, Y:-2.84, Z:-0.74 [[ 9.99812680e-01 -1.89648194e-02 -3.86538508e-03 -2.02936602e+01] [ 1.89266627e-02 9.99774016e-01 -9.67983978e-03 -2.84146604e+00] [ 4.04808798e-03 9.60486771e-03 9.99945678e-01 -7.38700164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.040418555 meters Centerline goodness [0,1] 0.39098092883630586 Centerline is valid? [False, False] Translation: X:-20.28, Y:-2.84, Z:-0.74 [[ 9.99884957e-01 -1.51681144e-02 -1.15061695e-05 -2.02758027e+01] [ 1.51658994e-02 9.99751345e-01 -1.63476038e-02 -2.84332159e+00] [ 2.59465634e-04 1.63455486e-02 9.99866369e-01 -7.36449465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.070418555 meters Centerline goodness [0,1] 0.5048893114219748 Centerline is valid? [False, False] Translation: X:-20.34, Y:-2.84, Z:-0.73 [[ 9.99848764e-01 -1.60580587e-02 6.67737750e-03 -2.03412190e+01] [ 1.61637547e-02 9.99739915e-01 -1.60883412e-02 -2.84334808e+00] [-6.41729329e-03 1.61938396e-02 9.99848277e-01 -7.27346585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.100418555000005 meters Centerline goodness [0,1] 0.48284703801945184 Centerline is valid? [False, False] Translation: X:-20.29, Y:-2.85, Z:-0.73 [[ 9.99904342e-01 -1.18959913e-02 7.05634336e-03 -2.02935600e+01] [ 1.19841413e-02 9.99848995e-01 -1.25844271e-02 -2.84561516e+00] [-6.90557358e-03 1.26677875e-02 9.99895915e-01 -7.28709907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.130418555 meters Centerline goodness [0,1] 0.49946246192438626 Centerline is valid? [False, False] Translation: X:-20.31, Y:-2.85, Z:-0.73 [[ 9.99985357e-01 -4.51378581e-03 2.98510303e-03 -2.03140022e+01] [ 4.55457393e-03 9.99894385e-01 -1.38012499e-02 -2.84835403e+00] [-2.92249188e-03 1.38146437e-02 9.99900302e-01 -7.29718612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.160418555 meters Centerline goodness [0,1] 0.5048974144366276 Centerline is valid? [False, False] Translation: X:-20.34, Y:-2.85, Z:-0.72 [[ 9.99967538e-01 -8.00704191e-03 -9.00006970e-04 -2.03433585e+01] [ 7.99960672e-03 9.99936147e-01 -7.98171773e-03 -2.85192745e+00] [ 9.63859451e-04 7.97425893e-03 9.99967741e-01 -7.21209929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.190418555 meters Centerline goodness [0,1] 0.4326505697232773 Centerline is valid? [False, False] Translation: X:-20.34, Y:-2.86, Z:-0.72 [[ 9.99989267e-01 -4.52995218e-03 -9.72830504e-04 -2.03436228e+01] [ 4.52601461e-03 9.99981708e-01 -4.01229989e-03 -2.85619949e+00] [ 9.90988236e-04 4.00785378e-03 9.99991477e-01 -7.20812748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.220418555 meters Centerline goodness [0,1] 0.5005716335268668 Centerline is valid? [False, False] Translation: X:-20.34, Y:-2.86, Z:-0.72 [[ 9.99990560e-01 -4.22411946e-03 -1.01788252e-03 -2.03438264e+01] [ 4.22035572e-03 9.99984353e-01 -3.67182449e-03 -2.85724586e+00] [ 1.03337682e-03 3.66749400e-03 9.99992741e-01 -7.20199786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.250418555 meters Centerline goodness [0,1] 0.4909476755753034 Centerline is valid? [False, False] Translation: X:-20.30, Y:-2.86, Z:-0.72 [[ 9.99998728e-01 -1.29498741e-03 -9.31192691e-04 -2.02964846e+01] [ 1.29272007e-03 9.99996209e-01 -2.43136896e-03 -2.85844591e+00] [ 9.34337752e-04 2.43016209e-03 9.99996611e-01 -7.20394328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.280418555000004 meters Centerline goodness [0,1] 0.50727132696054 Centerline is valid? [False, False] Translation: X:-20.34, Y:-2.86, Z:-0.72 [[ 9.99992952e-01 -1.41763354e-03 -3.47643669e-03 -2.03379039e+01] [ 1.41363726e-03 9.99998338e-01 -1.15172153e-03 -2.85975239e+00] [ 3.47806363e-03 1.14679900e-03 9.99993294e-01 -7.23244734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.310418555 meters Centerline goodness [0,1] 0.43758487877640984 Centerline is valid? [False, False] Translation: X:-20.30, Y:-2.86, Z:-0.72 [[ 9.99998108e-01 -1.06038161e-03 -1.63076368e-03 -2.02971686e+01] [ 1.05578206e-03 9.99995470e-01 -2.81876907e-03 -2.86188188e+00] [ 1.63374527e-03 2.81704201e-03 9.99994698e-01 -7.19115864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.340418555 meters Centerline goodness [0,1] 0.49564694618244975 Centerline is valid? [False, False] Translation: X:-20.30, Y:-2.86, Z:-0.71 [[ 9.99999743e-01 4.41865931e-04 -5.64457309e-04 -2.03032862e+01] [-4.42693647e-04 9.99998826e-01 -1.46710940e-03 -2.86238398e+00] [ 5.63808380e-04 1.46735890e-03 9.99998764e-01 -7.14857424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.370418555 meters Centerline goodness [0,1] 0.49735685767180426 Centerline is valid? [False, False] Translation: X:-20.30, Y:-2.86, Z:-0.72 [[ 9.99998738e-01 1.49722462e-03 -5.30669416e-04 -2.03025958e+01] [-1.49759803e-03 9.99998631e-01 -7.03949620e-04 -2.85946231e+00] [ 5.29614719e-04 7.04743462e-04 9.99999611e-01 -7.15858265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.400418555 meters Centerline goodness [0,1] 0.4971678047688347 Centerline is valid? [False, False] Translation: X:-20.30, Y:-2.86, Z:-0.72 [[ 9.99999048e-01 1.30316697e-03 -4.53271567e-04 -2.03033896e+01] [-1.30347072e-03 9.99998926e-01 -6.70464944e-04 -2.86252869e+00] [ 4.52397353e-04 6.71055132e-04 9.99999673e-01 -7.15046066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.430418555 meters Centerline goodness [0,1] 0.4992416525183928 Centerline is valid? [False, False] Translation: X:-20.31, Y:-2.86, Z:-0.71 [[ 9.99998773e-01 -1.48862186e-03 4.87421381e-04 -2.03085698e+01] [ 1.49043243e-03 9.99991912e-01 -3.73554687e-03 -2.86436417e+00] [-4.81856622e-04 3.73626875e-03 9.99992904e-01 -7.11818756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.460418555000004 meters Centerline goodness [0,1] 0.49064911383397447 Centerline is valid? [False, False] Translation: X:-20.26, Y:-2.86, Z:-0.71 [[ 9.99994669e-01 3.22529931e-03 5.08675074e-04 -2.02600086e+01] [-3.22471685e-03 9.99994149e-01 -1.14173695e-03 -2.86448466e+00] [-5.12354541e-04 1.14009053e-03 9.99999219e-01 -7.13040274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.490418555 meters Centerline goodness [0,1] 0.49064911383397447 Centerline is valid? [False, False] Translation: X:-20.26, Y:-2.86, Z:-0.71 [[ 9.99994669e-01 3.22529931e-03 5.08675074e-04 -2.02600086e+01] [-3.22471685e-03 9.99994149e-01 -1.14173695e-03 -2.86448466e+00] [-5.12354541e-04 1.14009053e-03 9.99999219e-01 -7.13040274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.520418555 meters Centerline goodness [0,1] 0.4967737599139669 Centerline is valid? [False, False] Translation: X:-20.28, Y:-2.86, Z:-0.71 [[ 9.99994711e-01 1.09757681e-03 -3.06156595e-03 -2.02809006e+01] [-1.07477486e-03 9.99971749e-01 7.43953243e-03 -2.86383385e+00] [ 3.06964491e-03 -7.43620258e-03 9.99967640e-01 -7.11978408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.550418555 meters Centerline goodness [0,1] 0.4694474442044636 Centerline is valid? [False, False] Translation: X:-20.28, Y:-2.87, Z:-0.71 [[ 9.99990824e-01 -2.60010392e-03 -3.40454721e-03 -2.02790048e+01] [ 2.61237730e-03 9.99990088e-01 3.60552421e-03 -2.86566216e+00] [ 3.39513872e-03 -3.61438509e-03 9.99987705e-01 -7.13572204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.580418555 meters Centerline goodness [0,1] 0.49708084499509764 Centerline is valid? [False, False] Translation: X:-20.26, Y:-2.87, Z:-0.71 [[ 9.99986172e-01 3.03406217e-03 -4.29532106e-03 -2.02553972e+01] [-3.03913887e-03 9.99994690e-01 -1.17588034e-03 -2.86699300e+00] [ 4.29173056e-03 1.18891816e-03 9.99990084e-01 -7.12564603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.610418555 meters Centerline goodness [0,1] 0.4750467872738615 Centerline is valid? [False, False] Translation: X:-20.26, Y:-2.86, Z:-0.71 [[ 9.99981274e-01 5.36084017e-03 -2.95184003e-03 -2.02634691e+01] [-5.35777603e-03 9.99985101e-01 1.04497837e-03 -2.86400939e+00] [ 2.95739802e-03 -1.02914351e-03 9.99995097e-01 -7.06435661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.640418555000004 meters Centerline goodness [0,1] 0.47011674898967215 Centerline is valid? [False, False] Translation: X:-20.27, Y:-2.86, Z:-0.70 [[ 9.99991331e-01 3.55273723e-03 -2.17173400e-03 -2.02692095e+01] [-3.55493340e-03 9.99993173e-01 -1.00823020e-03 -2.86328939e+00] [ 2.16813719e-03 1.01594183e-03 9.99997134e-01 -7.01943804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.670418555 meters Centerline goodness [0,1] 0.4794032810528214 Centerline is valid? [False, False] Translation: X:-20.27, Y:-2.86, Z:-0.70 [[ 9.99991911e-01 3.13226730e-03 -2.52312909e-03 -2.02674855e+01] [-3.13597487e-03 9.99994007e-01 -1.46681970e-03 -2.86396952e+00] [ 2.51851950e-03 1.47472030e-03 9.99995741e-01 -7.03546190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.700418555 meters Centerline goodness [0,1] 0.4997081013112987 Centerline is valid? [False, False] Translation: X:-20.27, Y:-2.86, Z:-0.71 [[ 9.99989117e-01 3.63807846e-03 -2.92082279e-03 -2.02651632e+01] [-3.64194720e-03 9.99992496e-01 -1.32031311e-03 -2.86122751e+00] [ 2.91599747e-03 1.33093622e-03 9.99994863e-01 -7.05652595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.730418555 meters Centerline goodness [0,1] 0.4967833045661384 Centerline is valid? [False, False] Translation: X:-20.28, Y:-2.86, Z:-0.70 [[ 9.99983842e-01 5.61206303e-03 -9.05998972e-04 -2.02755141e+01] [-5.61165868e-03 9.99984154e-01 4.48232310e-04 -2.85885811e+00] [ 9.08500124e-04 -4.43140911e-04 9.99999489e-01 -6.98269915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.760418555 meters Centerline goodness [0,1] 0.4957291713250749 Centerline is valid? [False, False] Translation: X:-20.27, Y:-2.86, Z:-0.71 [[ 9.99989243e-01 3.76506383e-03 -2.70883786e-03 -2.02660833e+01] [-3.76912331e-03 9.99991779e-01 -1.49506697e-03 -2.85933827e+00] [ 2.70318657e-03 1.50526084e-03 9.99995213e-01 -7.05235459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.790418555 meters Centerline goodness [0,1] 0.4995874863424532 Centerline is valid? [False, False] Translation: X:-20.25, Y:-2.86, Z:-0.71 [[ 9.99978571e-01 3.89268266e-03 -5.26353553e-03 -2.02535641e+01] [-3.90073074e-03 9.99991237e-01 -1.51962423e-03 -2.85779516e+00] [ 5.25757400e-03 1.54012330e-03 9.99984993e-01 -7.13279116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.820418555 meters Centerline goodness [0,1] 0.5002794607525319 Centerline is valid? [False, False] Translation: X:-20.26, Y:-2.86, Z:-0.71 [[ 9.99978876e-01 5.66706994e-03 -3.18311780e-03 -2.02643124e+01] [-5.66606574e-03 9.99983895e-01 3.24406359e-04 -2.85738709e+00] [ 3.18490497e-03 -3.06363751e-04 9.99994881e-01 -7.06016790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.850418555000005 meters Centerline goodness [0,1] 0.4900293189498892 Centerline is valid? [False, False] Translation: X:-20.28, Y:-2.85, Z:-0.70 [[ 9.99987927e-01 4.84809748e-03 8.01295823e-04 -2.02810832e+01] [-4.84757096e-03 9.99988034e-01 -6.57731823e-04 -2.85480278e+00] [-8.04474983e-04 6.53839544e-04 9.99999463e-01 -6.95432160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.880418555 meters Centerline goodness [0,1] 0.4930444798865852 Centerline is valid? [False, False] Translation: X:-20.27, Y:-2.85, Z:-0.70 [[ 9.99996454e-01 1.93608043e-03 -1.82856916e-03 -2.02680649e+01] [-1.94295465e-03 9.99991025e-01 -3.76507897e-03 -2.85457781e+00] [ 1.82126325e-03 3.76861845e-03 9.99991240e-01 -7.03763781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.910418555 meters Centerline goodness [0,1] 0.49473660584023527 Centerline is valid? [False, False] Translation: X:-20.28, Y:-2.85, Z:-0.71 [[ 9.99944728e-01 5.34971033e-03 -9.05104641e-03 -2.02810470e+01] [-5.42976271e-03 9.99946156e-01 -8.84321109e-03 -2.85385100e+00] [ 9.00325045e-03 8.89186734e-03 9.99919935e-01 -7.07599114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.940418555 meters Centerline goodness [0,1] 0.49714722134866796 Centerline is valid? [False, False] Translation: X:-20.29, Y:-2.85, Z:-0.70 [[ 9.99928692e-01 9.74343879e-03 -6.90478231e-03 -2.02918171e+01] [-9.77575948e-03 9.99941345e-01 -4.66272417e-03 -2.85238387e+00] [ 6.85894634e-03 4.72989117e-03 9.99965291e-01 -7.00823828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.970418555 meters Centerline goodness [0,1] 0.49105601062652204 Centerline is valid? [False, False] Translation: X:-20.28, Y:-2.85, Z:-0.70 [[ 9.99985498e-01 5.27914483e-03 -1.06470410e-03 -2.02767790e+01] [-5.27928491e-03 9.99986056e-01 -1.28803248e-04 -2.85282729e+00] [ 1.06400929e-03 1.34422257e-04 9.99999425e-01 -6.97871520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.000418555 meters Centerline goodness [0,1] 0.4993357202368889 Centerline is valid? [False, False] Translation: X:-20.29, Y:-2.86, Z:-0.70 [[ 9.99954597e-01 -2.39347391e-03 -9.22361427e-03 -2.02903111e+01] [ 2.40456193e-03 9.99996400e-01 1.19123201e-03 -2.85961230e+00] [ 9.22072988e-03 -1.21335667e-03 9.99956752e-01 -6.98101857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.030418555000004 meters Centerline goodness [0,1] 0.5002904119381646 Centerline is valid? [False, False] Translation: X:-20.28, Y:-2.86, Z:-0.70 [[ 9.99931613e-01 -3.49732190e-03 -1.11596682e-02 -2.02809985e+01] [ 3.49834159e-03 9.99993878e-01 7.18530963e-05 -2.85998739e+00] [ 1.11593486e-02 -1.10888514e-04 9.99937726e-01 -7.03836382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.060418555 meters Centerline goodness [0,1] 0.4819099800760732 Centerline is valid? [False, False] Translation: X:-20.29, Y:-2.86, Z:-0.70 [[ 9.99947394e-01 -2.58984667e-03 -9.92480254e-03 -2.02884188e+01] [ 2.60256720e-03 9.99995808e-01 1.26898978e-03 -2.86294933e+00] [ 9.92147445e-03 -1.29475299e-03 9.99949943e-01 -6.98134078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.090418555 meters Centerline goodness [0,1] 0.4872251798721404 Centerline is valid? [False, False] Translation: X:-20.28, Y:-2.87, Z:-0.69 [[ 9.99977355e-01 -6.60038335e-03 -1.31332110e-03 -2.02843828e+01] [ 6.60838986e-03 9.99959016e-01 6.18840802e-03 -2.86626651e+00] [ 1.27242141e-03 -6.19694682e-03 9.99979989e-01 -6.88846568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.120418555 meters Centerline goodness [0,1] 0.5060957410171047 Centerline is valid? [False, False] Translation: X:-20.35, Y:-2.87, Z:-0.69 [[ 9.99992704e-01 -3.78547430e-03 -5.12126586e-04 -2.03540114e+01] [ 3.78845083e-03 9.99975172e-01 5.94164597e-03 -2.86866449e+00] [ 4.89621923e-04 -5.94354278e-03 9.99982217e-01 -6.90189499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.150418555 meters Centerline goodness [0,1] 0.4955197331851028 Centerline is valid? [False, False] Translation: X:-20.29, Y:-2.87, Z:-0.70 [[ 9.99984234e-01 -3.72360318e-03 -4.20324349e-03 -2.02937304e+01] [ 3.73820512e-03 9.99986987e-01 3.47147648e-03 -2.86833452e+00] [ 4.19026240e-03 -3.48713434e-03 9.99985141e-01 -6.97761665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.180418555 meters Centerline goodness [0,1] 0.49457955527966835 Centerline is valid? [False, False] Translation: X:-20.28, Y:-2.87, Z:-0.71 [[ 9.99960987e-01 -5.47263455e-03 -6.93358933e-03 -2.02815920e+01] [ 5.48417948e-03 9.99983605e-01 1.64715520e-03 -2.87032611e+00] [ 6.92446138e-03 -1.68511599e-03 9.99974606e-01 -7.05372889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.210418555000004 meters Centerline goodness [0,1] 0.4911107667102088 Centerline is valid? [False, False] Translation: X:-20.28, Y:-2.87, Z:-0.70 [[ 9.99962881e-01 -5.43531616e-03 -6.68535449e-03 -2.02831115e+01] [ 5.44816662e-03 9.99983343e-01 1.90547333e-03 -2.87097863e+00] [ 6.67488628e-03 -1.94182553e-03 9.99975837e-01 -7.04097920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.240418555 meters Centerline goodness [0,1] 0.49091875609107827 Centerline is valid? [False, False] Translation: X:-20.29, Y:-2.87, Z:-0.70 [[ 9.99979523e-01 -3.34908572e-03 -5.45318689e-03 -2.02907408e+01] [ 3.37337176e-03 9.99984407e-01 4.45046002e-03 -2.86881298e+00] [ 5.43819688e-03 -4.46876451e-03 9.99975228e-01 -6.98413768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.270418555 meters Centerline goodness [0,1] 0.5027365481204531 Centerline is valid? [False, False] Translation: X:-20.31, Y:-2.87, Z:-0.70 [[ 9.99939790e-01 -1.24150181e-03 -1.09029817e-02 -2.03097585e+01] [ 1.22241735e-03 9.99997710e-01 -1.75687899e-03 -2.86903879e+00] [ 1.09051379e-02 1.74344522e-03 9.99939017e-01 -6.98948333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.300418555 meters Centerline goodness [0,1] 0.49641076100811776 Centerline is valid? [False, False] Translation: X:-20.31, Y:-2.87, Z:-0.70 [[ 9.99923610e-01 -5.96073685e-03 -1.08279169e-02 -2.03117223e+01] [ 5.89005114e-03 9.99961213e-01 -6.54830083e-03 -2.87268144e+00] [ 1.08665296e-02 6.48402362e-03 9.99919935e-01 -6.96169547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.330418555 meters Centerline goodness [0,1] 0.4898282753846498 Centerline is valid? [False, False] Translation: X:-20.33, Y:-2.87, Z:-0.69 [[ 9.99973867e-01 -2.47012201e-03 -6.79443747e-03 -2.03279987e+01] [ 2.45331412e-03 9.99993913e-01 -2.48099605e-03 -2.87213871e+00] [ 6.80052447e-03 2.46426233e-03 9.99973840e-01 -6.86771603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.360418555 meters Centerline goodness [0,1] 0.48488137695766786 Centerline is valid? [False, False] Translation: X:-20.33, Y:-2.87, Z:-0.69 [[ 9.99981009e-01 9.84418059e-04 -6.08383669e-03 -2.03304696e+01] [-9.74547917e-04 9.99998205e-01 1.62510648e-03 -2.87203995e+00] [ 6.08542555e-03 -1.61914663e-03 9.99980173e-01 -6.85874997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.390418555000004 meters Centerline goodness [0,1] 0.5002247797158784 Centerline is valid? [False, False] Translation: X:-20.35, Y:-2.88, Z:-0.70 [[ 9.99909313e-01 -4.24706975e-03 -1.27800135e-02 -2.03490467e+01] [ 4.22460886e-03 9.99989485e-01 -1.78398481e-03 -2.87635862e+00] [ 1.27874558e-02 1.72983247e-03 9.99916741e-01 -7.04392197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.420418555 meters Centerline goodness [0,1] 0.4992330596408915 Centerline is valid? [False, False] Translation: X:-20.35, Y:-2.88, Z:-0.71 [[ 9.99876869e-01 -8.23733393e-03 -1.33564176e-02 -2.03461203e+01] [ 8.16425085e-03 9.99951452e-01 -5.51708159e-03 -2.87791750e+00] [ 1.34012153e-02 5.40735712e-03 9.99895579e-01 -7.06495184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.450418555 meters Centerline goodness [0,1] 0.4980382429872824 Centerline is valid? [False, False] Translation: X:-20.37, Y:-2.88, Z:-0.69 [[ 9.99932645e-01 -7.16825392e-03 -9.12808256e-03 -2.03654091e+01] [ 7.13442979e-03 9.99967583e-01 -3.73268896e-03 -2.87946736e+00] [ 9.15454351e-03 3.66731388e-03 9.99951371e-01 -6.94037080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.480418555 meters Centerline goodness [0,1] 0.46641275780658387 Centerline is valid? [False, False] Translation: X:-20.34, Y:-2.88, Z:-0.70 [[ 9.99913623e-01 -1.21675371e-02 -4.96965572e-03 -2.03418953e+01] [ 1.21671031e-02 9.99925971e-01 -1.17554708e-04 -2.88235673e+00] [ 4.97071817e-03 5.70782410e-05 9.99987644e-01 -6.95991862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.510418555 meters Centerline goodness [0,1] 0.48631050268900844 Centerline is valid? [False, False] Translation: X:-20.33, Y:-2.89, Z:-0.70 [[ 9.99870797e-01 -1.48710471e-02 -6.10260183e-03 -2.03343731e+01] [ 1.48582207e-02 9.99887317e-01 -2.14178272e-03 -2.88800268e+00] [ 6.13376472e-03 2.05083219e-03 9.99979085e-01 -7.02052657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.540418555 meters Centerline goodness [0,1] 0.47345142627381775 Centerline is valid? [False, False] Translation: X:-20.33, Y:-2.89, Z:-0.70 [[ 9.99612267e-01 -1.86141149e-02 -2.07082392e-02 -2.03338383e+01] [ 1.85690975e-02 9.99824785e-01 -2.36407018e-03 -2.89247143e+00] [ 2.07486158e-02 1.97862024e-03 9.99782766e-01 -7.02282119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.570418555 meters Centerline goodness [0,1] 0.4954851494066518 Centerline is valid? [False, False] Translation: X:-20.33, Y:-2.89, Z:-0.70 [[ 9.99619552e-01 -1.82942787e-02 -2.06414893e-02 -2.03344970e+01] [ 1.82658310e-02 9.99831940e-01 -1.56589275e-03 -2.89415647e+00] [ 2.06666672e-02 1.18826305e-03 9.99785715e-01 -7.01482502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.600418555000005 meters Centerline goodness [0,1] 0.4989452194624022 Centerline is valid? [False, False] Translation: X:-20.35, Y:-2.90, Z:-0.69 [[ 9.99638332e-01 -2.06774208e-02 -1.71944658e-02 -2.03515170e+01] [ 2.06205121e-02 9.99781317e-01 -3.48046167e-03 -2.89752485e+00] [ 1.72626726e-02 3.12464421e-03 9.99846107e-01 -6.89888713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.630418555 meters Centerline goodness [0,1] 0.3852528973138083 Centerline is valid? [False, False] Translation: X:-20.34, Y:-2.91, Z:-0.69 [[ 9.99534504e-01 -2.90608626e-02 -9.28664667e-03 -2.03361288e+01] [ 2.90254080e-02 9.99570948e-01 -3.93008015e-03 -2.90675228e+00] [ 9.39687373e-03 3.65870201e-03 9.99949155e-01 -6.90598046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.660418555 meters Centerline goodness [0,1] 0.5008509769215059 Centerline is valid? [False, False] Translation: X:-20.37, Y:-2.91, Z:-0.70 [[ 9.99526540e-01 -2.81604822e-02 -1.23968667e-02 -2.03716847e+01] [ 2.81693481e-02 9.99603019e-01 5.41107936e-04 -2.90782892e+00] [ 1.23767075e-02 -8.90063398e-04 9.99923009e-01 -6.97276378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.690418555 meters Centerline goodness [0,1] 0.41211248892825514 Centerline is valid? [False, False] Translation: X:-20.34, Y:-2.91, Z:-0.70 [[ 9.99633041e-01 -2.43668158e-02 -1.18339593e-02 -2.03399019e+01] [ 2.43167495e-02 9.99694812e-01 -4.35636868e-03 -2.91315064e+00] [ 1.19364985e-02 4.06700664e-03 9.99920487e-01 -7.04658112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.720418555 meters Centerline goodness [0,1] 0.374789469018704 Centerline is valid? [False, False] Translation: X:-20.32, Y:-2.92, Z:-0.70 [[ 9.99671680e-01 -2.31294915e-02 -1.10254174e-02 -2.03183283e+01] [ 2.29767948e-02 9.99641016e-01 -1.37806411e-02 -2.91944977e+00] [ 1.13401986e-02 1.35227878e-02 9.99844255e-01 -7.03333089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.750418555 meters Centerline goodness [0,1] 0.4942994163688187 Centerline is valid? [False, False] Translation: X:-20.35, Y:-2.92, Z:-0.70 [[ 9.99783569e-01 -1.77681261e-02 -1.08216641e-02 -2.03482321e+01] [ 1.75903798e-02 9.99712329e-01 -1.63045271e-02 -2.92217626e+00] [ 1.11082519e-02 1.61106411e-02 9.99808509e-01 -7.00436251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.780418555000004 meters Centerline goodness [0,1] 0.4557052528096164 Centerline is valid? [False, False] Translation: X:-20.32, Y:-2.93, Z:-0.70 [[ 9.99773374e-01 -1.91301929e-02 -9.33998917e-03 -2.03204079e+01] [ 1.90618188e-02 9.99791250e-01 -7.35552855e-03 -2.92523706e+00] [ 9.47875213e-03 7.17582442e-03 9.99929328e-01 -7.04880274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.810418555 meters Centerline goodness [0,1] 0.33043303211953123 Centerline is valid? [False, False] Translation: X:-20.31, Y:-2.93, Z:-0.71 [[ 9.99667295e-01 -2.30061564e-02 -1.16625626e-02 -2.03085143e+01] [ 2.28839158e-02 9.99682896e-01 -1.05087336e-02 -2.93087737e+00] [ 1.19006299e-02 1.02383522e-02 9.99876768e-01 -7.12109990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.840418555 meters Centerline goodness [0,1] 0.4509236590251502 Centerline is valid? [False, False] Translation: X:-20.28, Y:-2.94, Z:-0.71 [[ 9.99666093e-01 -2.13038472e-02 -1.46235619e-02 -2.02809711e+01] [ 2.10394011e-02 9.99616503e-01 -1.80052791e-02 -2.93722601e+00] [ 1.50015355e-02 1.76915960e-02 9.99730944e-01 -7.12427834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.870418555 meters Centerline goodness [0,1] 0.37013882708908075 Centerline is valid? [False, False] Translation: X:-20.29, Y:-2.94, Z:-0.71 [[ 9.99782604e-01 -2.08369642e-02 7.52460027e-04 -2.02907423e+01] [ 2.08455535e-02 9.99681810e-01 -1.42035869e-02 -2.94131831e+00] [-4.56260970e-04 1.42161845e-02 9.99898841e-01 -7.06588765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.900418555 meters Centerline goodness [0,1] 0.4017547349112688 Centerline is valid? [False, False] Translation: X:-20.28, Y:-2.94, Z:-0.70 [[ 9.99846582e-01 -1.57946608e-02 7.57240551e-03 -2.02785196e+01] [ 1.59336994e-02 9.99698791e-01 -1.86666767e-02 -2.94455080e+00] [-7.27529080e-03 1.87844693e-02 9.99797086e-01 -7.04651892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.930418555 meters Centerline goodness [0,1] 0.3959282555064121 Centerline is valid? [False, False] Translation: X:-20.29, Y:-2.95, Z:-0.71 [[ 9.99888937e-01 -1.48748507e-02 9.23237638e-04 -2.02910450e+01] [ 1.48934057e-02 9.99571047e-01 -2.52172258e-02 -2.95240674e+00] [-5.47739144e-04 2.52281752e-02 9.99681569e-01 -7.09883065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.960418555000004 meters Centerline goodness [0,1] 0.3679636403946347 Centerline is valid? [False, False] Translation: X:-20.28, Y:-2.96, Z:-0.72 [[ 9.99905677e-01 -1.36617896e-02 -1.41128537e-03 -2.02784203e+01] [ 1.36254251e-02 9.99638497e-01 -2.31780640e-02 -2.95688969e+00] [ 1.72742902e-03 2.31566485e-02 9.99730356e-01 -7.19211079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.990418555 meters Centerline goodness [0,1] 0.3616557249360187 Centerline is valid? [False, False] Translation: X:-20.28, Y:-2.96, Z:-0.72 [[ 9.99957923e-01 -9.07912663e-03 -1.31242140e-03 -2.02785730e+01] [ 9.05486065e-03 9.99806847e-01 -1.74435781e-02 -2.96267748e+00] [ 1.47054036e-03 1.74309603e-02 9.99846988e-01 -7.19904231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.020418555 meters Centerline goodness [0,1] 0.36937786156746566 Centerline is valid? [False, False] Translation: X:-20.28, Y:-2.97, Z:-0.72 [[ 9.99915661e-01 -1.29384112e-02 -1.12617447e-03 -2.02799940e+01] [ 1.29121599e-02 9.99699709e-01 -2.08270990e-02 -2.96720598e+00] [ 1.39530586e-03 2.08108011e-02 9.99782458e-01 -7.18413720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.050418555 meters Centerline goodness [0,1] 0.3765628167871866 Centerline is valid? [False, False] Translation: X:-20.29, Y:-2.97, Z:-0.71 [[ 9.99859601e-01 -1.67559371e-02 -1.30477074e-04 -2.02856375e+01] [ 1.67479779e-02 9.99571573e-01 -2.40036803e-02 -2.97411423e+00] [ 5.32625332e-04 2.39981249e-02 9.99711862e-01 -7.14409968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.080418555 meters Centerline goodness [0,1] 0.36733870063465723 Centerline is valid? [False, False] Translation: X:-20.29, Y:-2.98, Z:-0.71 [[ 9.99860350e-01 -1.67080002e-02 3.51005183e-04 -2.02873897e+01] [ 1.67116509e-02 9.99594044e-01 -2.30752508e-02 -2.97782676e+00] [ 3.46786066e-05 2.30778943e-02 9.99733669e-01 -7.14032091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.110418555 meters Centerline goodness [0,1] 0.3633780124862942 Centerline is valid? [False, False] Translation: X:-20.28, Y:-2.98, Z:-0.72 [[ 9.99848145e-01 -1.73276178e-02 -1.85470591e-03 -2.02766256e+01] [ 1.72812083e-02 9.99594176e-01 -2.26460571e-02 -2.98348177e+00] [ 2.24635545e-03 2.26105667e-02 9.99741825e-01 -7.20563649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.140418555000004 meters Centerline goodness [0,1] 0.37071546677391964 Centerline is valid? [False, False] Translation: X:-20.28, Y:-2.99, Z:-0.72 [[ 9.99790732e-01 -2.04310195e-02 -1.03200327e-03 -2.02815216e+01] [ 2.03974204e-02 9.99455876e-01 -2.59209816e-02 -2.98766673e+00] [ 1.56103381e-03 2.58945070e-02 9.99663462e-01 -7.16791096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.170418555 meters Centerline goodness [0,1] 0.40275883310599725 Centerline is valid? [False, False] Translation: X:-20.25, Y:-2.99, Z:-0.71 [[ 9.99829029e-01 -1.82957092e-02 2.67959606e-03 -2.02490064e+01] [ 1.83591764e-02 9.99494186e-01 -2.59675271e-02 -2.99317886e+00] [-2.20314636e-03 2.60122826e-02 9.99659196e-01 -7.08278644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.200418555 meters Centerline goodness [0,1] 0.3678265906255569 Centerline is valid? [False, False] Translation: X:-20.30, Y:-2.99, Z:-0.71 [[ 9.99863504e-01 -1.60858341e-02 3.77091716e-03 -2.03015629e+01] [ 1.61602725e-02 9.99656787e-01 -2.06192616e-02 -2.99314578e+00] [-3.43794492e-03 2.06773862e-02 9.99780289e-01 -7.05670147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.230418555 meters Centerline goodness [0,1] 0.3779963122311002 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.00, Z:-0.71 [[ 9.99823914e-01 -1.87543736e-02 6.43252000e-04 -2.03223106e+01] [ 1.87603825e-02 9.99761839e-01 -1.11495816e-02 -2.99668070e+00] [-4.33995383e-04 1.11596860e-02 9.99937635e-01 -7.05846006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.260418555 meters Centerline goodness [0,1] 0.3561588602916471 Centerline is valid? [False, False] Translation: X:-20.29, Y:-3.00, Z:-0.71 [[ 9.99886730e-01 -1.47559798e-02 -2.96448227e-03 -2.02902814e+01] [ 1.47091540e-02 9.99775653e-01 -1.52409132e-02 -3.00411523e+00] [ 3.18871180e-03 1.51955819e-02 9.99879456e-01 -7.12327586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.290418555 meters Centerline goodness [0,1] 0.3799145015172658 Centerline is valid? [False, False] Translation: X:-20.26, Y:-3.01, Z:-0.72 [[ 9.99880201e-01 -1.42954674e-02 -5.93499269e-03 -2.02578300e+01] [ 1.41437515e-02 9.99590813e-01 -2.48628364e-02 -3.01253608e+00] [ 6.28799003e-03 2.47759148e-02 9.99673254e-01 -7.16117360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.320418555 meters Centerline goodness [0,1] 0.3614225570573898 Centerline is valid? [False, False] Translation: X:-20.27, Y:-3.02, Z:-0.71 [[ 9.99868343e-01 -1.57823464e-02 -3.77019821e-03 -2.02711778e+01] [ 1.56764577e-02 9.99522335e-01 -2.66336195e-02 -3.01685465e+00] [ 4.18873833e-03 2.65710096e-02 9.99638152e-01 -7.06124208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.350418555000005 meters Centerline goodness [0,1] 0.38783900271865257 Centerline is valid? [False, False] Translation: X:-20.28, Y:-3.02, Z:-0.70 [[ 9.99941348e-01 -1.07061485e-02 -1.63699738e-03 -2.02807571e+01] [ 1.06695451e-02 9.99723874e-01 -2.09364650e-02 -3.01967277e+00] [ 1.86069427e-03 2.09177710e-02 9.99779468e-01 -7.01227233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.380418555 meters Centerline goodness [0,1] 0.39099610067352 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.02, Z:-0.71 [[ 9.99894915e-01 -1.38890547e-02 -4.15372227e-03 -2.02963355e+01] [ 1.38418439e-02 9.99841620e-01 -1.11865109e-02 -3.02396370e+00] [ 4.30843447e-03 1.11278402e-02 9.99928802e-01 -7.06215918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.410418555 meters Centerline goodness [0,1] 0.39099610067352 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.02, Z:-0.71 [[ 9.99894915e-01 -1.38890547e-02 -4.15372227e-03 -2.02963355e+01] [ 1.38418439e-02 9.99841620e-01 -1.11865109e-02 -3.02396370e+00] [ 4.30843447e-03 1.11278402e-02 9.99928802e-01 -7.06215918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.440418555 meters Centerline goodness [0,1] 0.36522853481418194 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.03, Z:-0.71 [[ 9.99912715e-01 -1.11785159e-02 -7.04301165e-03 -2.03192941e+01] [ 1.10656874e-02 9.99812984e-01 -1.58602312e-02 -3.02886777e+00] [ 7.21898834e-03 1.57809111e-02 9.99849413e-01 -7.05557492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.470418555 meters Centerline goodness [0,1] 0.36862683766030657 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.04, Z:-0.70 [[ 9.99912054e-01 -1.20521602e-02 -5.53445868e-03 -2.03022799e+01] [ 1.18899547e-02 9.99524185e-01 -2.84610728e-02 -3.03779177e+00] [ 5.87484271e-03 2.83927653e-02 9.99579580e-01 -7.01422513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.500418555 meters Centerline goodness [0,1] 0.3746987951807229 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.04, Z:-0.70 [[ 9.99947139e-01 -8.61100005e-03 -5.61864442e-03 -2.03030954e+01] [ 8.46915218e-03 9.99656576e-01 -2.47992798e-02 -3.04182612e+00] [ 5.83026144e-03 2.47503838e-02 9.99676661e-01 -7.00305898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.530418555000004 meters Centerline goodness [0,1] 0.36757769301947685 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.04, Z:-0.70 [[ 9.99928427e-01 -9.95040016e-03 -6.64301688e-03 -2.03309481e+01] [ 9.85270257e-03 9.99845147e-01 -1.45810140e-02 -3.04221909e+00] [ 6.78707511e-03 1.45145188e-02 9.99871624e-01 -6.96281649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.560418555 meters Centerline goodness [0,1] 0.36138878971795785 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.05, Z:-0.70 [[ 9.99879327e-01 -1.31724056e-02 -8.23526186e-03 -2.02969271e+01] [ 1.31090172e-02 9.99884392e-01 -7.70436670e-03 -3.05163851e+00] [ 8.33579484e-03 7.59548080e-03 9.99936410e-01 -7.02482821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.590418555 meters Centerline goodness [0,1] 0.3718629453142728 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.05, Z:-0.70 [[ 9.99871307e-01 -9.43845048e-03 -1.29725027e-02 -2.03208320e+01] [ 9.28726205e-03 9.99888822e-01 -1.16657747e-02 -3.05172521e+00] [ 1.30811672e-02 1.15437944e-02 9.99847800e-01 -6.99289676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.620418555 meters Centerline goodness [0,1] 0.3590887897155798 Centerline is valid? [False, False] Translation: X:-20.29, Y:-3.06, Z:-0.69 [[ 9.99923828e-01 -9.04499631e-03 -8.39793897e-03 -2.02929953e+01] [ 8.91306024e-03 9.99838317e-01 -1.56172328e-02 -3.05581612e+00] [ 8.53783897e-03 1.55411918e-02 9.99842776e-01 -6.89702423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.650418555 meters Centerline goodness [0,1] 0.3672469231622131 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.05, Z:-0.68 [[ 9.99937567e-01 -9.17906339e-03 -6.37239065e-03 -2.03045841e+01] [ 9.06835866e-03 9.99811128e-01 -1.71893460e-02 -3.05307273e+00] [ 6.52896918e-03 1.71304857e-02 9.99831945e-01 -6.81496989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.680418555 meters Centerline goodness [0,1] 0.37191201353637904 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.05, Z:-0.68 [[ 9.99913603e-01 -5.29189762e-03 -1.20325404e-02 -2.03196661e+01] [ 5.26097268e-03 9.99982780e-01 -2.60031079e-03 -3.05171402e+00] [ 1.20460938e-02 2.53678326e-03 9.99924225e-01 -6.83604573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.710418555000004 meters Centerline goodness [0,1] 0.3654278652385936 Centerline is valid? [False, False] Translation: X:-20.31, Y:-3.05, Z:-0.69 [[ 9.99896277e-01 5.22751760e-04 -1.43931040e-02 -2.03071630e+01] [-4.78619655e-04 9.99995175e-01 3.06947179e-03 -3.05089161e+00] [ 1.43946391e-02 -3.06226459e-03 9.99891703e-01 -6.91057065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.740418555 meters Centerline goodness [0,1] 0.3699606142408284 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.05, Z:-0.69 [[ 9.99943773e-01 8.91355853e-03 -5.74445107e-03 -2.03170786e+01] [-8.94663194e-03 9.99943402e-01 -5.75770534e-03 -3.04882448e+00] [ 5.69280430e-03 5.80877509e-03 9.99966925e-01 -6.86908852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.770418555 meters Centerline goodness [0,1] 0.4452858597936318 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.04, Z:-0.68 [[ 9.99919490e-01 1.16815048e-02 -4.95536053e-03 -2.03227246e+01] [-1.17006605e-02 9.99924116e-01 -3.85443354e-03 -3.04368271e+00] [ 4.90995891e-03 3.91210421e-03 9.99980294e-01 -6.82137798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.800418555 meters Centerline goodness [0,1] 0.4421401262558905 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.04, Z:-0.69 [[ 9.99772884e-01 1.86414846e-02 -1.03283787e-02 -2.03487414e+01] [-1.85915984e-02 9.99815129e-01 4.90516020e-03 -3.03612990e+00] [ 1.04179088e-02 -4.71202509e-03 9.99934630e-01 -6.93566013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.830418555 meters Centerline goodness [0,1] 0.38528496945557067 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.03, Z:-0.69 [[ 9.99742529e-01 2.00730871e-02 -1.05805188e-02 -2.03483036e+01] [-2.00219212e-02 9.99787436e-01 4.91981472e-03 -3.03062339e+00] [ 1.06770256e-02 -4.70670569e-03 9.99931922e-01 -6.92929878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.860418555 meters Centerline goodness [0,1] 0.48672821696480095 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.03, Z:-0.69 [[ 9.99585070e-01 2.81600635e-02 -6.05791663e-03 -2.03325850e+01] [-2.81551995e-02 9.99603170e-01 8.86726911e-04 -3.02559814e+00] [ 6.08048295e-03 -7.15797131e-04 9.99981258e-01 -6.90186411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.890418555000004 meters Centerline goodness [0,1] 0.49721041445270986 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.02, Z:-0.69 [[ 9.99452217e-01 3.25356892e-02 -6.05770316e-03 -2.03320651e+01] [-3.25122461e-02 9.99463614e-01 3.92905931e-03 -3.01853485e+00] [ 6.18228854e-03 -3.72995750e-03 9.99973933e-01 -6.90095842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.920418555 meters Centerline goodness [0,1] 0.49830546515542584 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.01, Z:-0.69 [[ 9.99231916e-01 3.77263150e-02 -1.05972867e-02 -2.03524009e+01] [-3.77309192e-02 9.99287908e-01 -2.34807488e-04 -3.01406105e+00] [ 1.05808820e-02 6.34472505e-04 9.99943820e-01 -6.90941697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.950418555 meters Centerline goodness [0,1] 0.47075448235320716 Centerline is valid? [False, False] Translation: X:-20.38, Y:-3.01, Z:-0.68 [[ 9.99181693e-01 3.75355727e-02 -1.50673266e-02 -2.03788601e+01] [-3.74234476e-02 9.99270170e-01 7.65592607e-03 -3.01059288e+00] [ 1.53436996e-02 -7.08578986e-03 9.99857171e-01 -6.83000528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.980418555 meters Centerline goodness [0,1] 0.4997644102403016 Centerline is valid? [False, False] Translation: X:-20.37, Y:-3.01, Z:-0.68 [[ 9.99014018e-01 4.38093220e-02 -7.19276445e-03 -2.03673485e+01] [-4.36531577e-02 9.98834423e-01 2.05960354e-02 -3.00606015e+00] [ 8.08667908e-03 -2.02617412e-02 9.99762005e-01 -6.78429222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.010418555 meters Centerline goodness [0,1] 0.5050774507386402 Centerline is valid? [False, False] Translation: X:-20.37, Y:-3.00, Z:-0.68 [[ 9.99006071e-01 4.39500768e-02 -7.43381900e-03 -2.03660988e+01] [-4.37925956e-02 9.98837124e-01 2.01645213e-02 -3.00454631e+00] [ 8.31140665e-03 -1.98189330e-02 9.99769039e-01 -6.79065398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.040418555 meters Centerline goodness [0,1] 0.4930731046931408 Centerline is valid? [False, False] Translation: X:-20.37, Y:-3.00, Z:-0.69 [[ 9.98692073e-01 4.86868041e-02 -1.56121165e-02 -2.03738199e+01] [-4.84520423e-02 9.98711687e-01 1.50786557e-02 -3.00007635e+00] [ 1.63261348e-02 -1.43024950e-02 9.99764420e-01 -6.85200655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.070418555 meters Centerline goodness [0,1] 0.49232041852042296 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.00, Z:-0.68 [[ 9.98672818e-01 5.01855286e-02 -1.15765174e-02 -2.03550810e+01] [-4.98917389e-02 9.98456386e-01 2.44061349e-02 -2.99536434e+00] [ 1.27834825e-02 -2.37961710e-02 9.99635096e-01 -6.82689374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.100418555000005 meters Centerline goodness [0,1] 0.4886888834833374 Centerline is valid? [False, False] Translation: X:-20.36, Y:-2.99, Z:-0.68 [[ 9.98679236e-01 5.12809114e-02 3.17048352e-03 -2.03594566e+01] [-5.13359701e-02 9.98464455e-01 2.08170496e-02 -2.99229141e+00] [-2.09809783e-03 -2.09523150e-02 9.99778275e-01 -6.79579748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.130418555 meters Centerline goodness [0,1] 0.47163684258334093 Centerline is valid? [False, False] Translation: X:-20.43, Y:-2.99, Z:-0.68 [[ 9.99085309e-01 4.27302233e-02 1.63518991e-03 -2.04275128e+01] [-4.27560672e-02 9.98837249e-01 2.22726016e-02 -2.98585511e+00] [-6.81575348e-04 -2.23221433e-02 9.99750598e-01 -6.77921153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.160418555 meters Centerline goodness [0,1] 0.5002569774977095 Centerline is valid? [False, False] Translation: X:-20.39, Y:-2.98, Z:-0.68 [[ 9.99259997e-01 3.83650128e-02 -2.75378185e-03 -2.03941739e+01] [-3.82868900e-02 9.98970811e-01 2.43194050e-02 -2.98257264e+00] [ 3.68396197e-03 -2.41959748e-02 9.99700447e-01 -6.84825419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.190418555 meters Centerline goodness [0,1] 0.5064730028418061 Centerline is valid? [False, False] Translation: X:-20.42, Y:-2.98, Z:-0.70 [[ 9.99336595e-01 3.56378977e-02 -7.50399616e-03 -2.04230406e+01] [-3.54554206e-02 9.99102211e-01 2.31880443e-02 -2.97994935e+00] [ 8.32363231e-03 -2.29066039e-02 9.99702958e-01 -6.96268547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.220418555 meters Centerline goodness [0,1] 0.4985300013363624 Centerline is valid? [False, False] Translation: X:-20.40, Y:-2.98, Z:-0.70 [[ 9.99585534e-01 2.86554470e-02 -2.76146369e-03 -2.04015319e+01] [-2.85858436e-02 9.99335759e-01 2.26028997e-02 -2.98031518e+00] [ 3.40732560e-03 -2.25145928e-02 9.99740708e-01 -6.97306919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.250418555 meters Centerline goodness [0,1] 0.5012741582662428 Centerline is valid? [False, False] Translation: X:-20.44, Y:-2.98, Z:-0.69 [[ 9.99695515e-01 2.46741651e-02 2.52013998e-04 -2.04415035e+01] [-2.46707767e-02 9.99255167e-01 2.96726128e-02 -2.97596969e+00] [ 4.80320655e-04 -2.96697953e-02 9.99559639e-01 -6.85500621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.280418555000004 meters Centerline goodness [0,1] 0.49521997089443637 Centerline is valid? [False, False] Translation: X:-20.44, Y:-2.98, Z:-0.69 [[ 9.99775901e-01 2.11298075e-02 1.29556011e-03 -2.04436397e+01] [-2.11569535e-02 9.99416735e-01 2.68062148e-02 -2.97514543e+00] [-7.28394293e-04 -2.68276177e-02 9.99639809e-01 -6.86420909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.310418555 meters Centerline goodness [0,1] 0.49869684346528254 Centerline is valid? [False, False] Translation: X:-20.43, Y:-2.98, Z:-0.69 [[ 9.99911494e-01 1.32790281e-02 -8.19776082e-04 -2.04330453e+01] [-1.32606343e-02 9.99723915e-01 1.93971344e-02 -2.97843264e+00] [ 1.07712485e-03 -1.93845469e-02 9.99811522e-01 -6.93366318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.340418555 meters Centerline goodness [0,1] 0.5084055245897969 Centerline is valid? [False, False] Translation: X:-20.42, Y:-2.98, Z:-0.70 [[ 9.99992322e-01 2.96519835e-03 -2.56187034e-03 -2.04242022e+01] [-2.93961800e-03 9.99946358e-01 9.93175136e-03 -2.98392841e+00] [ 2.59118253e-03 -9.92414419e-03 9.99947397e-01 -6.99805419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.370418555 meters Centerline goodness [0,1] 0.48240127403235855 Centerline is valid? [False, False] Translation: X:-20.48, Y:-2.99, Z:-0.70 [[ 9.99996329e-01 -2.26339996e-03 -1.48994999e-03 -2.04765296e+01] [ 2.27793311e-03 9.99949131e-01 9.82578257e-03 -2.98840114e+00] [ 1.46763452e-03 -9.82914051e-03 9.99950616e-01 -6.95745614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.400418555 meters Centerline goodness [0,1] 0.5032916170490036 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.00, Z:-0.69 [[ 9.99983729e-01 -5.55384682e-03 1.30215459e-03 -2.04385029e+01] [ 5.54434331e-03 9.99958769e-01 7.19172238e-03 -2.99563163e+00] [-1.34204263e-03 -7.18438578e-03 9.99973291e-01 -6.92427922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.430418555 meters Centerline goodness [0,1] 0.45316011867301986 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.01, Z:-0.69 [[ 9.99939229e-01 -1.00683804e-02 4.49061364e-03 -2.04472932e+01] [ 1.00377049e-02 9.99926486e-01 6.80205497e-03 -3.00589024e+00] [-4.55876919e-03 -6.75656615e-03 9.99966783e-01 -6.91315156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.460418555000004 meters Centerline goodness [0,1] 0.46284501061571126 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.02, Z:-0.70 [[ 9.99668856e-01 -2.54698898e-02 3.66931874e-03 -2.04400271e+01] [ 2.54926004e-02 9.99655275e-01 -6.28154207e-03 -3.01640609e+00] [-3.50806365e-03 6.37300244e-03 9.99973539e-01 -6.97818156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.490418555 meters Centerline goodness [0,1] 0.3393095174620101 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.02, Z:-0.70 [[ 9.99379239e-01 -3.51274075e-02 2.68365696e-03 -2.04326471e+01] [ 3.51642522e-02 9.99265878e-01 -1.52045952e-02 -3.02144878e+00] [-2.14758882e-03 1.52895256e-02 9.99880802e-01 -7.03468549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.520418555 meters Centerline goodness [0,1] 0.38095453722151784 Centerline is valid? [False, False] Translation: X:-20.46, Y:-3.02, Z:-0.70 [[ 9.99467125e-01 -3.25414339e-02 -2.55359857e-03 -2.04573298e+01] [ 3.24899632e-02 9.99307869e-01 -1.81159079e-02 -3.02219760e+00] [ 3.14134876e-03 1.80232881e-02 9.99832633e-01 -6.98291176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.550418555 meters Centerline goodness [0,1] 0.371244635193133 Centerline is valid? [False, False] Translation: X:-20.46, Y:-3.03, Z:-0.70 [[ 9.99443392e-01 -3.32515587e-02 -2.69063505e-03 -2.04560472e+01] [ 3.32000152e-02 9.99298112e-01 -1.73505599e-02 -3.02723591e+00] [ 3.26567969e-03 1.72515733e-02 9.99845847e-01 -6.99744974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.580418555 meters Centerline goodness [0,1] 0.3769194237771094 Centerline is valid? [False, False] Translation: X:-20.46, Y:-3.04, Z:-0.69 [[ 9.99159222e-01 -4.09967609e-02 -3.38803656e-04 -2.04649050e+01] [ 4.09778150e-02 9.98889592e-01 -2.32465357e-02 -3.03597521e+00] [ 1.29146011e-03 2.32131071e-02 9.99729705e-01 -6.94961245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.610418555 meters Centerline goodness [0,1] 0.36392611047516443 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.04, Z:-0.69 [[ 9.99160947e-01 -4.09559935e-02 9.12272830e-05 -2.04663048e+01] [ 4.09479472e-02 9.98915264e-01 -2.21711649e-02 -3.03989113e+00] [ 8.16913762e-04 2.21562977e-02 9.99754185e-01 -6.94935254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.640418555000004 meters Centerline goodness [0,1] 0.3648895015340833 Centerline is valid? [False, False] Translation: X:-20.46, Y:-3.05, Z:-0.70 [[ 9.98876732e-01 -4.73646904e-02 -1.36365086e-03 -2.04569254e+01] [ 4.73096405e-02 9.98504517e-01 -2.73957469e-02 -3.04778064e+00] [ 2.65920262e-03 2.73004603e-02 9.99623736e-01 -7.01724411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.670418555 meters Centerline goodness [0,1] 0.35198419744318177 Centerline is valid? [False, False] Translation: X:-20.46, Y:-3.05, Z:-0.70 [[ 9.98621618e-01 -5.24867911e-02 -1.86763354e-05 -2.04614550e+01] [ 5.24599551e-02 9.98122283e-01 -3.16205839e-02 -3.05365665e+00] [ 1.67830425e-03 3.15760189e-02 9.99499944e-01 -6.99545771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.700418555 meters Centerline goodness [0,1] 0.3556887282982286 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.06, Z:-0.69 [[ 9.98619681e-01 -5.23356076e-02 4.44038654e-03 -2.04298274e+01] [ 5.24541341e-02 9.98075701e-01 -3.30674948e-02 -3.06013526e+00] [-2.70123448e-03 3.32547677e-02 9.99443257e-01 -6.92435837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.730418555 meters Centerline goodness [0,1] 0.3638244848916381 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.06, Z:-0.69 [[ 9.98943237e-01 -4.59410464e-02 -1.35278176e-03 -2.04500521e+01] [ 4.58703156e-02 9.98388816e-01 -3.34018934e-02 -3.06061277e+00] [ 2.88512012e-03 3.33045430e-02 9.99441086e-01 -6.92517743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.760418555 meters Centerline goodness [0,1] 0.3653709304394236 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.07, Z:-0.71 [[ 9.98995862e-01 -4.43731454e-02 -6.18808440e-03 -2.04294163e+01] [ 4.41693836e-02 9.98576810e-01 -2.98901238e-02 -3.07141786e+00] [ 7.50559639e-03 2.95867861e-02 9.99534035e-01 -7.06378761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.790418555 meters Centerline goodness [0,1] 0.3791751642873329 Centerline is valid? [False, False] Translation: X:-20.46, Y:-3.08, Z:-0.70 [[ 9.98931994e-01 -4.61449959e-02 2.34760537e-03 -2.04627918e+01] [ 4.61982559e-02 9.98350028e-01 -3.41019390e-02 -3.07583555e+00] [-7.70098055e-04 3.41739732e-02 9.99415602e-01 -6.98071519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.820418555 meters Centerline goodness [0,1] 0.3598799065940176 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.08, Z:-0.69 [[ 9.98982724e-01 -4.47588180e-02 5.49222540e-03 -2.04273998e+01] [ 4.49214213e-02 9.98400911e-01 -3.43174534e-02 -3.08450798e+00] [-3.94743419e-03 3.45292616e-02 9.99395891e-01 -6.92382541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.850418555000005 meters Centerline goodness [0,1] 0.3620093147039255 Centerline is valid? [False, False] Translation: X:-20.42, Y:-3.09, Z:-0.70 [[ 9.99119588e-01 -4.17231488e-02 4.38503577e-03 -2.04215260e+01] [ 4.18386759e-02 9.98649745e-01 -3.07930449e-02 -3.08667334e+00] [-3.09433206e-03 3.09493984e-02 9.99516163e-01 -6.96996670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.880418555 meters Centerline goodness [0,1] 0.3624480493363722 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.09, Z:-0.70 [[ 9.99381433e-01 -3.50544185e-02 -2.81772357e-03 -2.04313165e+01] [ 3.49437936e-02 9.98854711e-01 -3.26832983e-02 -3.08965588e+00] [ 3.96019048e-03 3.25646196e-02 9.99461786e-01 -7.02783303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.910418555 meters Centerline goodness [0,1] 0.36469412679027424 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.10, Z:-0.70 [[ 9.99575073e-01 -2.90011831e-02 -2.93330550e-03 -2.04098219e+01] [ 2.88707374e-02 9.98877447e-01 -3.75543102e-02 -3.09673551e+00] [ 4.01913214e-03 3.74536656e-02 9.99290283e-01 -7.01328373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.940418555 meters Centerline goodness [0,1] 0.3522342473939314 Centerline is valid? [False, False] Translation: X:-20.42, Y:-3.10, Z:-0.69 [[ 9.99640603e-01 -2.68077806e-02 8.73456377e-05 -2.04248632e+01] [ 2.67943414e-02 9.99025155e-01 -3.50827900e-02 -3.09977831e+00] [ 8.53231249e-04 3.50725217e-02 9.99384406e-01 -6.90988455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.970418555 meters Centerline goodness [0,1] 0.3628593457429232 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.10, Z:-0.69 [[ 9.99648491e-01 -2.20913577e-02 1.46583057e-02 -2.04297693e+01] [ 2.24897896e-02 9.99366097e-01 -2.75973480e-02 -3.10473879e+00] [-1.40393509e-02 2.79173095e-02 9.99511641e-01 -6.90922725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.000418555 meters Centerline goodness [0,1] 0.36136131694546747 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.11, Z:-0.69 [[ 9.99823031e-01 -1.88123791e-02 3.97053872e-05 -2.04266133e+01] [ 1.88072725e-02 9.99497805e-01 -2.55034144e-02 -3.10724313e+00] [ 4.40094452e-04 2.54996478e-02 9.99674734e-01 -6.93404667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.030418555000004 meters Centerline goodness [0,1] 0.3626170749279539 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.12, Z:-0.70 [[ 9.99714711e-01 -1.67322854e-02 -1.70448767e-02 -2.04134544e+01] [ 1.63292997e-02 9.99590148e-01 -2.35136078e-02 -3.11507399e+00] [ 1.74313272e-02 2.32285688e-02 9.99578202e-01 -7.00679124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.060418555 meters Centerline goodness [0,1] 0.37492750390363594 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.12, Z:-0.69 [[ 9.99893197e-01 -1.31060111e-02 -6.46731622e-03 -2.04107315e+01] [ 1.29205145e-02 9.99526224e-01 -2.79354273e-02 -3.11851720e+00] [ 6.83037418e-03 2.78488827e-02 9.99588808e-01 -6.90795802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.090418555 meters Centerline goodness [0,1] 0.3730826433439144 Centerline is valid? [False, False] Translation: X:-20.42, Y:-3.12, Z:-0.68 [[ 9.99954107e-01 -6.29047770e-03 7.22597048e-03 -2.04196451e+01] [ 6.50615419e-03 9.99522031e-01 -3.02221755e-02 -3.12075564e+00] [-7.03240476e-03 3.02678018e-02 9.99517086e-01 -6.81202622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.120418555 meters Centerline goodness [0,1] 0.37615213832387706 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.12, Z:-0.69 [[ 9.99990679e-01 -3.86849232e-03 1.91765198e-03 -2.04461608e+01] [ 3.91488047e-03 9.99684585e-01 -2.48073383e-02 -3.12013140e+00] [-1.82108012e-03 2.48146145e-02 9.99690411e-01 -6.92593018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.150418555 meters Centerline goodness [0,1] 0.37035216303181984 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.13, Z:-0.70 [[ 9.99998641e-01 9.77477583e-05 -1.64556422e-03 -2.04295244e+01] [-1.30041212e-04 9.99807189e-01 -1.96358934e-02 -3.12737032e+00] [ 1.64332757e-03 1.96360807e-02 9.99805843e-01 -7.03793114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.180418555 meters Centerline goodness [0,1] 0.368143600693981 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.13, Z:-0.70 [[ 9.99933537e-01 -1.33793758e-03 1.14512813e-02 -2.04370213e+01] [ 1.52482066e-03 9.99865548e-01 -1.63266989e-02 -3.13254156e+00] [-1.14278975e-02 1.63430749e-02 9.99801134e-01 -6.96825677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.210418555000004 meters Centerline goodness [0,1] 0.380238378487576 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.14, Z:-0.69 [[ 9.99898758e-01 -3.11628903e-03 1.38838943e-02 -2.04506087e+01] [ 3.37892271e-03 9.99815039e-01 -1.89333030e-02 -3.13624819e+00] [-1.38223247e-02 1.89782988e-02 9.99724346e-01 -6.86964190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.240418555 meters Centerline goodness [0,1] 0.3818853308111516 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.14, Z:-0.70 [[ 9.99995047e-01 1.27847304e-03 -2.87612587e-03 -2.04357301e+01] [-1.32722300e-03 9.99854399e-01 -1.70123069e-02 -3.14188693e+00] [ 2.85395733e-03 1.70160399e-02 9.99851144e-01 -6.95337196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.270418555 meters Centerline goodness [0,1] 0.3815691663100038 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.14, Z:-0.70 [[ 9.99979958e-01 1.33649582e-03 -6.18850034e-03 -2.04508549e+01] [-1.36817224e-03 9.99985971e-01 -5.11719161e-03 -3.13953582e+00] [ 6.18157441e-03 5.12555598e-03 9.99967758e-01 -6.98649319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.300418555 meters Centerline goodness [0,1] 0.3815691663100038 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.14, Z:-0.70 [[ 9.99979958e-01 1.33649582e-03 -6.18850034e-03 -2.04508549e+01] [-1.36817224e-03 9.99985971e-01 -5.11719161e-03 -3.13953582e+00] [ 6.18157441e-03 5.12555598e-03 9.99967758e-01 -6.98649319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.330418555 meters Centerline goodness [0,1] 0.36486396888191486 Centerline is valid? [False, False] Translation: X:-20.46, Y:-3.14, Z:-0.69 [[ 9.99956770e-01 3.44093432e-03 8.63813053e-03 -2.04558763e+01] [-3.38680113e-03 9.99974585e-01 -6.27359648e-03 -3.14189213e+00] [-8.65949803e-03 6.24406964e-03 9.99943011e-01 -6.93371242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.360418555 meters Centerline goodness [0,1] 0.3844209301805329 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.15, Z:-0.68 [[ 9.99942409e-01 2.02912729e-03 1.05385886e-02 -2.04939619e+01] [-1.86021942e-03 9.99870058e-01 -1.60127071e-02 -3.14629437e+00] [-1.05697110e-02 1.59921808e-02 9.99816249e-01 -6.82063649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.390418555000004 meters Centerline goodness [0,1] 0.38182926003655815 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.15, Z:-0.69 [[ 9.99986586e-01 8.16233683e-04 5.11486571e-03 -2.05056494e+01] [-7.89917553e-04 9.99986453e-01 -5.14493837e-03 -3.14601855e+00] [-5.11899589e-03 5.14082903e-03 9.99973684e-01 -6.86414400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.420418555 meters Centerline goodness [0,1] 0.37663376900506806 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.15, Z:-0.69 [[ 9.99971448e-01 6.53710409e-03 3.79069918e-03 -2.04992788e+01] [-6.53897485e-03 9.99978505e-01 4.81327808e-04 -3.14738213e+00] [-3.78747121e-03 -5.06101352e-04 9.99992699e-01 -6.89708269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.450418555 meters Centerline goodness [0,1] 0.39087146213222956 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.15, Z:-0.68 [[ 9.99985545e-01 2.68570453e-03 4.65797787e-03 -2.05075041e+01] [-2.66626670e-03 9.99987733e-01 -4.17422148e-03 -3.14808371e+00] [-4.66913146e-03 4.16174173e-03 9.99980439e-01 -6.81883347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.480418555 meters Centerline goodness [0,1] 0.3838352386459677 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.15, Z:-0.68 [[ 9.99980416e-01 2.91021120e-03 5.54055626e-03 -2.05114938e+01] [-2.88828992e-03 9.99987986e-01 -3.96041118e-03 -3.14754168e+00] [-5.55201533e-03 3.94433089e-03 9.99976808e-01 -6.79366885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.510418555 meters Centerline goodness [0,1] 0.39034949267192787 Centerline is valid? [False, False] Translation: X:-20.54, Y:-3.14, Z:-0.67 [[ 9.99983092e-01 -1.58057791e-03 5.59622279e-03 -2.05402049e+01] [ 1.56622068e-03 9.99995474e-01 2.56897421e-03 -3.14445812e+00] [-5.60025793e-03 -2.56016586e-03 9.99981041e-01 -6.73725833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.540418555 meters Centerline goodness [0,1] 0.3853552107219983 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.15, Z:-0.68 [[ 9.99987921e-01 4.47275459e-03 2.03762359e-03 -2.05073259e+01] [-4.46913655e-03 9.99988435e-01 -1.77672617e-03 -3.15007792e+00] [-2.04554689e-03 1.76759829e-03 9.99996346e-01 -6.80151488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.570418555 meters Centerline goodness [0,1] 0.3965078292215839 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.15, Z:-0.68 [[ 9.99994652e-01 -1.47075315e-03 -2.92122819e-03 -2.05246511e+01] [ 1.48050415e-03 9.99993331e-01 3.33862602e-03 -3.14996797e+00] [ 2.91629841e-03 -3.34293306e-03 9.99990160e-01 -6.79890368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.600418555000005 meters Centerline goodness [0,1] 0.3838247347318521 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.15, Z:-0.68 [[ 9.99991834e-01 2.01637471e-03 3.50236406e-03 -2.05090903e+01] [-2.00546574e-03 9.99993136e-01 -3.11547134e-03 -3.15142627e+00] [-3.50862197e-03 3.10842202e-03 9.99989014e-01 -6.79986725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.630418555 meters Centerline goodness [0,1] 0.3772094772470854 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.15, Z:-0.68 [[ 9.99990464e-01 -8.55029771e-04 4.28258395e-03 -2.05140251e+01] [ 8.80822823e-04 9.99981464e-01 -6.02451741e-03 -3.15436050e+00] [-4.27735343e-03 6.02823216e-03 9.99972682e-01 -6.76453162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.660418555 meters Centerline goodness [0,1] 0.38596881464510535 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.16, Z:-0.68 [[ 9.99993294e-01 1.83806120e-03 3.16747251e-03 -2.05072326e+01] [-1.83025605e-03 9.99995286e-01 -2.46529618e-03 -3.15662303e+00] [-3.17198894e-03 2.45948236e-03 9.99991945e-01 -6.82095390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.690418555 meters Centerline goodness [0,1] 0.3845603043186395 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.15, Z:-0.68 [[ 9.99996231e-01 -1.55275080e-03 2.26429511e-03 -2.05283200e+01] [ 1.53885318e-03 9.99980048e-01 6.12660628e-03 -3.15350398e+00] [-2.27376302e-03 -6.12309877e-03 9.99978669e-01 -6.82405109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.720418555 meters Centerline goodness [0,1] 0.38803869439914207 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.16, Z:-0.68 [[ 9.99977655e-01 -5.68970004e-03 3.50948545e-03 -2.05123591e+01] [ 5.72545595e-03 9.99930934e-01 -1.02638818e-02 -3.16164061e+00] [-3.45084466e-03 1.02837458e-02 9.99941166e-01 -6.77352142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.750418555 meters Centerline goodness [0,1] 0.3866047008071869 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.16, Z:-0.68 [[ 9.99990917e-01 -2.45141983e-03 3.48648096e-03 -2.05134261e+01] [ 2.47484791e-03 9.99974282e-01 -6.73132841e-03 -3.16311850e+00] [-3.46988999e-03 6.73989578e-03 9.99971266e-01 -6.76012490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.780418555000004 meters Centerline goodness [0,1] 0.3782361467276173 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.16, Z:-0.68 [[ 9.99977383e-01 5.14312967e-03 4.33383182e-03 -2.05149885e+01] [-5.15028906e-03 9.99985388e-01 1.64243897e-03 -3.16116637e+00] [-4.32532122e-03 -1.66472231e-03 9.99989260e-01 -6.77070829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.810418555 meters Centerline goodness [0,1] 0.382720702345586 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.16, Z:-0.68 [[ 9.99987390e-01 2.96746703e-03 4.05148748e-03 -2.05115467e+01] [-2.96624797e-03 9.99995554e-01 -3.06867542e-04 -3.16420435e+00] [-4.05238009e-03 2.94845956e-04 9.99991746e-01 -6.80301678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.840418555 meters Centerline goodness [0,1] 0.38127547136011464 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.16, Z:-0.68 [[ 9.99990199e-01 4.05913050e-03 -1.76771875e-03 -2.05317254e+01] [-4.07131634e-03 9.99967593e-01 -6.94538160e-03 -3.16438597e+00] [ 1.73946925e-03 6.95251048e-03 9.99974318e-01 -6.78379552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.870418555 meters Centerline goodness [0,1] 0.39187792161093127 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.17, Z:-0.68 [[ 9.99990869e-01 3.44367365e-03 -2.53029128e-03 -2.05296788e+01] [-3.46231570e-03 9.99966622e-01 -7.40048287e-03 -3.16718864e+00] [ 2.50472197e-03 7.40917597e-03 9.99969415e-01 -6.78757130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.900418555 meters Centerline goodness [0,1] 0.39333711048158637 Centerline is valid? [False, False] Translation: X:-20.56, Y:-3.16, Z:-0.68 [[ 9.99999610e-01 7.93800651e-04 -3.86709587e-04 -2.05571519e+01] [-7.93370660e-04 9.99999068e-01 1.11081091e-03 -3.16263408e+00] [ 3.87590989e-04 -1.11050367e-03 9.99999308e-01 -6.76224074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.930418555 meters Centerline goodness [0,1] 0.3804667319853924 Centerline is valid? [False, False] Translation: X:-20.54, Y:-3.16, Z:-0.68 [[ 9.99983465e-01 -2.78082957e-03 5.03346438e-03 -2.05385302e+01] [ 2.75234923e-03 9.99980215e-01 5.65630982e-03 -3.16478927e+00] [-5.04909402e-03 -5.64236244e-03 9.99971335e-01 -6.75866422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.960418555000004 meters Centerline goodness [0,1] 0.3882655917590415 Centerline is valid? [False, False] Translation: X:-20.56, Y:-3.17, Z:-0.68 [[ 9.99983456e-01 3.42251124e-04 5.74208640e-03 -2.05623368e+01] [-3.46794841e-04 9.99999628e-01 7.90323583e-04 -3.16599779e+00] [-5.74181377e-03 -7.92301834e-04 9.99983202e-01 -6.77623734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.990418555 meters Centerline goodness [0,1] 0.3850489867131929 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.17, Z:-0.68 [[ 9.99993739e-01 -8.12688412e-04 3.44410675e-03 -2.05519680e+01] [ 8.13674518e-04 9.99999628e-01 -2.84925546e-04 -3.16834729e+00] [-3.44387392e-03 2.87726144e-04 9.99994028e-01 -6.84426732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.020418555 meters Centerline goodness [0,1] 0.3768542709117477 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.17, Z:-0.69 [[ 9.99990205e-01 2.73406480e-03 3.48075251e-03 -2.05516431e+01] [-2.74782108e-03 9.99988410e-01 3.95346983e-03 -3.17001046e+00] [-3.46990312e-03 -3.96299559e-03 9.99986127e-01 -6.85172844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.050418555 meters Centerline goodness [0,1] 0.3829620508227919 Centerline is valid? [False, False] Translation: X:-20.56, Y:-3.17, Z:-0.68 [[ 9.99983653e-01 1.60700001e-03 5.48735746e-03 -2.05621656e+01] [-1.62184005e-03 9.99995037e-01 2.70102693e-03 -3.16828284e+00] [-5.48298968e-03 -2.70988239e-03 9.99981297e-01 -6.78395719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.080418555 meters Centerline goodness [0,1] 0.3747122326277911 Centerline is valid? [False, False] Translation: X:-20.56, Y:-3.17, Z:-0.68 [[ 9.99985354e-01 1.39273278e-03 5.22991353e-03 -2.05605528e+01] [-1.40437481e-03 9.99996543e-01 2.22303455e-03 -3.16657172e+00] [-5.22679936e-03 -2.23034675e-03 9.99983853e-01 -6.79568368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.110418555 meters Centerline goodness [0,1] 0.3926473884779198 Centerline is valid? [False, False] Translation: X:-20.56, Y:-3.17, Z:-0.68 [[ 9.99988337e-01 9.71088925e-04 4.73111152e-03 -2.05595098e+01] [-9.78809337e-04 9.99998193e-01 1.62979682e-03 -3.16702839e+00] [-4.72952029e-03 -1.63440867e-03 9.99987480e-01 -6.79384071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.140418555000004 meters Centerline goodness [0,1] 0.39637540160188245 Centerline is valid? [False, False] Translation: X:-20.56, Y:-3.17, Z:-0.68 [[ 9.99989621e-01 4.09390141e-04 4.53755279e-03 -2.05578255e+01] [-4.16239884e-04 9.99998775e-01 1.50872602e-03 -3.16739156e+00] [-4.53692958e-03 -1.51059907e-03 9.99988567e-01 -6.81824424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.170418555 meters Centerline goodness [0,1] 0.37423134545291925 Centerline is valid? [False, False] Translation: X:-20.56, Y:-3.17, Z:-0.68 [[ 9.99986916e-01 4.93017878e-04 5.09171561e-03 -2.05593118e+01] [-5.01682762e-04 9.99998428e-01 1.70062409e-03 -3.16504408e+00] [-5.09086917e-03 -1.70315627e-03 9.99985591e-01 -6.81585561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.200418555 meters Centerline goodness [0,1] 0.3735407691792594 Centerline is valid? [False, False] Translation: X:-20.56, Y:-3.16, Z:-0.68 [[ 9.99985010e-01 2.57547080e-04 5.46932425e-03 -2.05615547e+01] [-2.64346678e-04 9.99999193e-01 1.24253786e-03 -3.16412428e+00] [-5.46899983e-03 -1.24396503e-03 9.99984271e-01 -6.79093454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.230418555 meters Centerline goodness [0,1] 0.3854603911762079 Centerline is valid? [False, False] Translation: X:-20.56, Y:-3.17, Z:-0.68 [[ 9.99980576e-01 -4.02748975e-03 4.75676160e-03 -2.05592651e+01] [ 4.04314482e-03 9.99986427e-01 -3.28610247e-03 -3.16565583e+00] [-4.74346229e-03 3.30527091e-03 9.99983287e-01 -6.79778688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.260418555 meters Centerline goodness [0,1] 0.38764107721533136 Centerline is valid? [False, False] Translation: X:-20.56, Y:-3.17, Z:-0.68 [[ 9.99982117e-01 -4.24324982e-03 4.21428514e-03 -2.05568166e+01] [ 4.25565076e-03 9.99986629e-01 -2.93800073e-03 -3.16851629e+00] [-4.20176212e-03 2.95588272e-03 9.99986804e-01 -6.81871482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.290418555 meters Centerline goodness [0,1] 0.37039686975964226 Centerline is valid? [False, False] Translation: X:-20.56, Y:-3.17, Z:-0.68 [[ 9.99981944e-01 -5.25133823e-04 5.98623982e-03 -2.05621152e+01] [ 5.14742795e-04 9.99998359e-01 1.73722746e-03 -3.16757361e+00] [-5.98714227e-03 -1.73411472e-03 9.99980573e-01 -6.80481461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.320418555 meters Centerline goodness [0,1] 0.3731985901039575 Centerline is valid? [False, False] Translation: X:-20.56, Y:-3.17, Z:-0.68 [[ 9.99980817e-01 -1.11740948e-03 6.09241524e-03 -2.05614742e+01] [ 1.10675175e-03 9.99997852e-01 1.75243446e-03 -3.16966276e+00] [-6.09436034e-03 -1.74565805e-03 9.99979906e-01 -6.82094896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.350418555000005 meters Centerline goodness [0,1] 0.3800483026969006 Centerline is valid? [False, False] Translation: X:-20.56, Y:-3.17, Z:-0.68 [[ 9.99974148e-01 -5.25781471e-03 4.90488094e-03 -2.05573533e+01] [ 5.26922708e-03 9.99983434e-01 -2.31672489e-03 -3.17176228e+00] [-4.89261878e-03 2.34250993e-03 9.99985287e-01 -6.83455089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.380418555 meters Centerline goodness [0,1] 0.3838325353524107 Centerline is valid? [False, False] Translation: X:-20.54, Y:-3.18, Z:-0.68 [[ 9.99976658e-01 -4.39467600e-03 5.23169647e-03 -2.05388260e+01] [ 4.46481982e-03 9.99899278e-01 -1.34721587e-02 -3.17974935e+00] [-5.17196375e-03 1.34952028e-02 9.99895560e-01 -6.80525140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.410418555 meters Centerline goodness [0,1] 0.38518585104948533 Centerline is valid? [False, False] Translation: X:-20.57, Y:-3.18, Z:-0.68 [[ 9.99961594e-01 -5.88829605e-03 6.49137380e-03 -2.05688041e+01] [ 5.90751519e-03 9.99978212e-01 -2.94553187e-03 -3.17597909e+00] [-6.47388821e-03 2.98376663e-03 9.99974593e-01 -6.75772452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.440418555 meters Centerline goodness [0,1] 0.37303586154634805 Centerline is valid? [False, False] Translation: X:-20.54, Y:-3.18, Z:-0.68 [[ 9.99992536e-01 -3.76370306e-03 8.72749887e-04 -2.05436751e+01] [ 3.75779438e-03 9.99970656e-01 6.67577827e-03 -3.18036798e+00] [-8.97849924e-04 -6.67244883e-03 9.99977336e-01 -6.76320727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.470418555 meters Centerline goodness [0,1] 0.3803736864322055 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.19, Z:-0.68 [[ 9.99991169e-01 -4.20261262e-03 9.21839169e-06 -2.05199448e+01] [ 4.20259864e-03 9.99975605e-01 -5.57926665e-03 -3.18886696e+00] [ 1.42293296e-05 5.57925612e-03 9.99984436e-01 -6.76387443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.500418555 meters Centerline goodness [0,1] 0.3759428788862278 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.19, Z:-0.67 [[ 9.99976503e-01 -6.84762654e-03 3.21589707e-04 -2.05240433e+01] [ 6.85032109e-03 9.99933304e-01 -9.29847519e-03 -3.18645068e+00] [-2.57895773e-04 9.30045970e-03 9.99956717e-01 -6.72258214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.530418555000004 meters Centerline goodness [0,1] 0.3745462693255658 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.18, Z:-0.67 [[ 9.99999436e-01 9.17558559e-04 5.35124258e-04 -2.05232231e+01] [-9.16936176e-04 9.99998904e-01 -1.16215088e-03 -3.18151177e+00] [-5.36190013e-04 1.16165955e-03 9.99999182e-01 -6.74197758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.560418555 meters Centerline goodness [0,1] 0.37571543552137365 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.18, Z:-0.67 [[ 9.99998372e-01 1.77755838e-03 3.08965442e-04 -2.05218548e+01] [-1.77724924e-03 9.99997923e-01 -9.97985174e-04 -3.17688822e+00] [-3.10738777e-04 9.97434441e-04 9.99999454e-01 -6.74891410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.590418555 meters Centerline goodness [0,1] 0.3901951087933825 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.17, Z:-0.67 [[ 9.99995929e-01 2.64789846e-03 -1.06326141e-03 -2.05208217e+01] [-2.65200051e-03 9.99988974e-01 -3.87528742e-03 -3.17362445e+00] [ 1.05298832e-03 3.87809141e-03 9.99991926e-01 -6.73276701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.620418555 meters Centerline goodness [0,1] 0.3951811586013607 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.17, Z:-0.68 [[ 9.99943809e-01 1.04596811e-02 -1.72437794e-03 -2.05174017e+01] [-1.04546712e-02 9.99941175e-01 2.88914889e-03 -3.16789431e+00] [ 1.75449608e-03 -2.87095875e-03 9.99994340e-01 -6.75209189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.650418555 meters Centerline goodness [0,1] 0.38744394618834077 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.16, Z:-0.67 [[ 9.99711626e-01 2.39994486e-02 -8.31920849e-04 -2.05207466e+01] [-2.39850456e-02 9.99609254e-01 1.43546969e-02 -3.15957082e+00] [ 1.17610059e-03 -1.43306037e-02 9.99896620e-01 -6.72072074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.680418555 meters Centerline goodness [0,1] 0.422093798621916 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.15, Z:-0.67 [[ 9.99513439e-01 3.11893974e-02 -3.26747615e-04 -2.05250173e+01] [-3.11773890e-02 9.99329644e-01 1.91893797e-02 -3.15352021e+00] [ 9.25033767e-04 -1.91698558e-02 9.99815814e-01 -6.67676779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.710418555000004 meters Centerline goodness [0,1] 0.47814765763541267 Centerline is valid? [False, False] Translation: X:-20.54, Y:-3.15, Z:-0.67 [[ 9.98914167e-01 4.61335794e-02 -6.49452841e-03 -2.05393487e+01] [-4.59640479e-02 9.98649956e-01 2.41985897e-02 -3.14720643e+00] [ 7.60212807e-03 -2.38737993e-02 9.99686075e-01 -6.69477838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.740418555 meters Centerline goodness [0,1] 0.4993093453499694 Centerline is valid? [False, False] Translation: X:-20.58, Y:-3.14, Z:-0.67 [[ 9.97899619e-01 6.46779493e-02 -3.62109246e-03 -2.05825941e+01] [-6.45618283e-02 9.97571356e-01 2.61373405e-02 -3.13805141e+00] [ 5.30280770e-03 -2.58486578e-02 9.99651803e-01 -6.73499153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.770418555 meters Centerline goodness [0,1] 0.48927734726977834 Centerline is valid? [False, False] Translation: X:-20.59, Y:-3.14, Z:-0.67 [[ 9.97763542e-01 6.67803667e-02 -2.88039944e-03 -2.05869580e+01] [-6.66768880e-02 9.97398708e-01 2.73863109e-02 -3.13703973e+00] [ 4.70177457e-03 -2.71330065e-02 9.99620775e-01 -6.70204108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.800418555 meters Centerline goodness [0,1] 0.48897827112778913 Centerline is valid? [False, False] Translation: X:-20.61, Y:-3.13, Z:-0.67 [[ 9.98089377e-01 6.17511635e-02 -2.09508430e-03 -2.06148988e+01] [-6.16454410e-02 9.97526487e-01 3.37749561e-02 -3.13427554e+00] [ 4.17554491e-03 -3.35812725e-02 9.99427267e-01 -6.66222654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.830418555 meters Centerline goodness [0,1] 0.4909385623269321 Centerline is valid? [False, False] Translation: X:-20.65, Y:-3.13, Z:-0.66 [[ 9.98647981e-01 5.19729113e-02 -1.01343859e-03 -2.06455056e+01] [-5.19044118e-02 9.98022899e-01 3.54432687e-02 -3.13350062e+00] [ 2.85352478e-03 -3.53427468e-02 9.99371176e-01 -6.59320830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.860418555 meters Centerline goodness [0,1] 0.4974440171906809 Centerline is valid? [False, False] Translation: X:-20.67, Y:-3.14, Z:-0.65 [[ 9.99319474e-01 3.68622647e-02 -1.32748722e-03 -2.06738969e+01] [-3.68006021e-02 9.98805467e-01 3.21458515e-02 -3.13561479e+00] [ 2.51087039e-03 -3.20751231e-02 9.99482307e-01 -6.53824391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.890418555000004 meters Centerline goodness [0,1] 0.49361022364217255 Centerline is valid? [False, False] Translation: X:-20.67, Y:-3.13, Z:-0.66 [[ 9.99347209e-01 3.60439299e-02 -2.44760366e-03 -2.06684738e+01] [-3.59487666e-02 9.98854115e-01 3.15933945e-02 -3.13492782e+00] [ 3.58354908e-03 -3.14847823e-02 9.99497807e-01 -6.57347156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.920418555 meters Centerline goodness [0,1] 0.4945003036642148 Centerline is valid? [False, False] Translation: X:-20.68, Y:-3.13, Z:-0.66 [[ 9.99416111e-01 3.35695104e-02 -6.36594065e-03 -2.06823895e+01] [-3.32843055e-02 9.98621536e-01 4.05855024e-02 -3.13136839e+00] [ 7.71960087e-03 -4.03499190e-02 9.99155790e-01 -6.60853722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.950418555 meters Centerline goodness [0,1] 0.4897644826431521 Centerline is valid? [False, False] Translation: X:-20.68, Y:-3.13, Z:-0.66 [[ 9.99109342e-01 4.14311223e-02 -7.99909195e-03 -2.06838448e+01] [-4.11979931e-02 9.98775521e-01 2.73894850e-02 -3.13113813e+00] [ 9.12407433e-03 -2.70355438e-02 9.99592832e-01 -6.60208235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.980418555 meters Centerline goodness [0,1] 0.4742954893310525 Centerline is valid? [False, False] Translation: X:-20.69, Y:-3.13, Z:-0.66 [[ 9.98896192e-01 4.64135861e-02 -7.22334763e-03 -2.06866872e+01] [-4.61631412e-02 9.98432309e-01 3.16526381e-02 -3.12857105e+00] [ 8.68113609e-03 -3.12842473e-02 9.99472828e-01 -6.58786870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.010418555 meters Centerline goodness [0,1] 0.4764288415760084 Centerline is valid? [False, False] Translation: X:-20.69, Y:-3.13, Z:-0.66 [[ 9.98880751e-01 4.67197974e-02 -7.38276018e-03 -2.06857785e+01] [-4.64624965e-02 9.98412222e-01 3.18476243e-02 -3.12674974e+00] [ 8.85895255e-03 -3.14689574e-02 9.99465469e-01 -6.59110788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.040418555 meters Centerline goodness [0,1] 0.4925464848995198 Centerline is valid? [False, False] Translation: X:-20.74, Y:-3.13, Z:-0.65 [[ 9.99538104e-01 2.83544744e-02 -1.09363115e-02 -2.07355135e+01] [-2.79523862e-02 9.98985211e-01 3.53158837e-02 -3.13023196e+00] [ 1.19265768e-02 -3.49938755e-02 9.99316359e-01 -6.52614276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.070418555 meters Centerline goodness [0,1] 0.4973412078836015 Centerline is valid? [False, False] Translation: X:-20.74, Y:-3.13, Z:-0.65 [[ 9.99645130e-01 2.44960043e-02 -1.04671164e-02 -2.07370609e+01] [-2.41486324e-02 9.99192388e-01 3.21156480e-02 -3.12898109e+00] [ 1.12453681e-02 -3.18514845e-02 9.99429349e-01 -6.52734666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.100418555000005 meters Centerline goodness [0,1] 0.4983233641471815 Centerline is valid? [False, False] Translation: X:-20.76, Y:-3.13, Z:-0.66 [[ 9.99815721e-01 1.62112882e-02 -1.02819239e-02 -2.07564815e+01] [-1.58342448e-02 9.99235361e-01 3.57487092e-02 -3.12516500e+00] [ 1.08535946e-02 -3.55793149e-02 9.99307916e-01 -6.56292425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.130418555 meters Centerline goodness [0,1] 0.4932630345635618 Centerline is valid? [False, False] Translation: X:-20.75, Y:-3.12, Z:-0.67 [[ 9.99810715e-01 1.68329818e-02 -9.75624992e-03 -2.07457669e+01] [-1.66448054e-02 9.99679815e-01 1.90582842e-02 -3.12218051e+00] [ 1.00739339e-02 -1.88922859e-02 9.99770772e-01 -6.65305162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.160418555 meters Centerline goodness [0,1] 0.4941834250157814 Centerline is valid? [False, False] Translation: X:-20.77, Y:-3.11, Z:-0.67 [[ 9.99800080e-01 1.77462475e-02 -9.21254271e-03 -2.07689893e+01] [-1.74532383e-02 9.99368020e-01 3.09668271e-02 -3.11063711e+00] [ 9.75626555e-03 -3.07998475e-02 9.99477956e-01 -6.66129405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.190418555 meters Centerline goodness [0,1] 0.49698597972591607 Centerline is valid? [False, False] Translation: X:-20.77, Y:-3.11, Z:-0.67 [[ 9.99857776e-01 1.40230919e-02 -9.36917990e-03 -2.07682736e+01] [-1.37743433e-02 9.99564262e-01 2.61065767e-02 -3.10535209e+00] [ 9.73119232e-03 -2.59738094e-02 9.99615259e-01 -6.66898182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.220418555 meters Centerline goodness [0,1] 0.49698597972591607 Centerline is valid? [False, False] Translation: X:-20.77, Y:-3.11, Z:-0.67 [[ 9.99857776e-01 1.40230919e-02 -9.36917990e-03 -2.07682736e+01] [-1.37743433e-02 9.99564262e-01 2.61065767e-02 -3.10535209e+00] [ 9.73119232e-03 -2.59738094e-02 9.99615259e-01 -6.66898182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.250418555 meters Centerline goodness [0,1] 0.49170403587443945 Centerline is valid? [False, False] Translation: X:-20.77, Y:-3.10, Z:-0.67 [[ 9.99856816e-01 1.42222917e-02 -9.16913421e-03 -2.07697281e+01] [-1.39909478e-02 9.99594040e-01 2.48195215e-02 -3.09728389e+00] [ 9.51840238e-03 -2.46876828e-02 9.99649898e-01 -6.65975536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.280418555000004 meters Centerline goodness [0,1] 0.4881115735012934 Centerline is valid? [False, False] Translation: X:-20.77, Y:-3.09, Z:-0.67 [[ 9.99795094e-01 1.80742985e-02 -9.11535120e-03 -2.07696746e+01] [-1.78102243e-02 9.99441820e-01 2.82638468e-02 -3.09207886e+00] [ 9.62111239e-03 -2.80957089e-02 9.99558935e-01 -6.66000105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.310418555 meters Centerline goodness [0,1] 0.4881195908733281 Centerline is valid? [False, False] Translation: X:-20.77, Y:-3.08, Z:-0.67 [[ 9.99805644e-01 1.77354419e-02 -8.60981944e-03 -2.07714179e+01] [-1.74954921e-02 9.99477239e-01 2.71874158e-02 -3.08425813e+00] [ 9.08749940e-03 -2.70314987e-02 9.99593275e-01 -6.65585635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.340418555 meters Centerline goodness [0,1] 0.49157937511287697 Centerline is valid? [False, False] Translation: X:-20.77, Y:-3.08, Z:-0.66 [[ 9.99818569e-01 1.71884805e-02 -8.20880054e-03 -2.07730599e+01] [-1.69677820e-02 9.99511707e-01 2.62381758e-02 -3.07929439e+00] [ 8.65578662e-03 -2.60941302e-02 9.99622015e-01 -6.64875640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.370418555 meters Centerline goodness [0,1] 0.48863814449145904 Centerline is valid? [False, False] Translation: X:-20.77, Y:-3.07, Z:-0.66 [[ 9.99884151e-01 1.30792458e-02 -7.78576086e-03 -2.07748191e+01] [-1.29099975e-02 9.99687523e-01 2.14053517e-02 -3.07227802e+00] [ 8.06329385e-03 -2.13023578e-02 9.99740563e-01 -6.64150092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.400418555 meters Centerline goodness [0,1] 0.4920375754864683 Centerline is valid? [False, False] Translation: X:-20.77, Y:-3.06, Z:-0.67 [[ 9.99929126e-01 7.51679094e-03 -9.23257863e-03 -2.07678792e+01] [-7.38170027e-03 9.99866460e-01 1.45798966e-02 -3.06382553e+00] [ 9.34093974e-03 -1.45107112e-02 9.99851082e-01 -6.69117551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.430418555 meters Centerline goodness [0,1] 0.4846790376767153 Centerline is valid? [False, False] Translation: X:-20.77, Y:-3.06, Z:-0.67 [[ 9.99894626e-01 1.13796948e-02 -9.01324630e-03 -2.07683554e+01] [-1.12158015e-02 9.99774536e-01 1.80300597e-02 -3.05887192e+00] [ 9.21639071e-03 -1.79270690e-02 9.99796819e-01 -6.69398579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.460418555000004 meters Centerline goodness [0,1] 0.4987076072908775 Centerline is valid? [False, False] Translation: X:-20.75, Y:-3.05, Z:-0.67 [[ 9.99939740e-01 9.99287255e-03 -4.54515528e-03 -2.07494159e+01] [-9.87780758e-03 9.99646836e-01 2.46704635e-02 -3.05162936e+00] [ 4.79007889e-03 -2.46240807e-02 9.99685305e-01 -6.69589206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.490418555 meters Centerline goodness [0,1] 0.49223206836681777 Centerline is valid? [False, False] Translation: X:-20.77, Y:-3.04, Z:-0.67 [[ 9.99812445e-01 1.63375785e-02 -1.03999503e-02 -2.07711315e+01] [-1.60916439e-02 9.99598826e-01 2.33076489e-02 -3.03970821e+00] [ 1.07765686e-02 -2.31359251e-02 9.99674244e-01 -6.68219168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.520418555 meters Centerline goodness [0,1] 0.4889218462091591 Centerline is valid? [False, False] Translation: X:-20.77, Y:-3.03, Z:-0.67 [[ 9.99860792e-01 1.22741967e-02 -1.13021998e-02 -2.07680338e+01] [-1.20743822e-02 9.99772534e-01 1.75809483e-02 -3.03365598e+00] [ 1.15154209e-02 -1.74420338e-02 9.99781561e-01 -6.69967929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.550418555 meters Centerline goodness [0,1] 0.4875014062324221 Centerline is valid? [False, False] Translation: X:-20.77, Y:-3.03, Z:-0.67 [[ 9.99863173e-01 1.23920761e-02 -1.09577265e-02 -2.07697567e+01] [-1.22090413e-02 9.99787405e-01 1.66157495e-02 -3.02573465e+00] [ 1.11613005e-02 -1.64796926e-02 9.99801903e-01 -6.69091587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.580418555 meters Centerline goodness [0,1] 0.4816773875428648 Centerline is valid? [False, False] Translation: X:-20.78, Y:-3.01, Z:-0.66 [[ 9.99839342e-01 1.59515389e-02 -8.17543631e-03 -2.07815048e+01] [-1.57857395e-02 9.99676180e-01 1.99585755e-02 -3.01433161e+00] [ 8.49115894e-03 -1.98263137e-02 9.99767382e-01 -6.63344130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.610418555 meters Centerline goodness [0,1] 0.48468079362936967 Centerline is valid? [False, False] Translation: X:-20.78, Y:-3.01, Z:-0.66 [[ 9.99889519e-01 1.23425606e-02 -8.28320930e-03 -2.07809771e+01] [-1.22136360e-02 9.99806218e-01 1.54387163e-02 -3.00598847e+00] [ 8.47215745e-03 -1.53358425e-02 9.99846505e-01 -6.64019044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.640418555000004 meters Centerline goodness [0,1] 0.48814517395302937 Centerline is valid? [False, False] Translation: X:-20.78, Y:-3.00, Z:-0.67 [[ 9.99928728e-01 7.44745375e-03 -9.33139314e-03 -2.07755427e+01] [-7.36215484e-03 9.99931106e-01 9.14231626e-03 -2.99510254e+00] [ 9.39883724e-03 -9.07296550e-03 9.99914668e-01 -6.68260709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.670418555 meters Centerline goodness [0,1] 0.49044094273647887 Centerline is valid? [False, False] Translation: X:-20.80, Y:-2.99, Z:-0.67 [[ 9.99953880e-01 8.25866871e-04 -9.56852306e-03 -2.08002182e+01] [-7.01114936e-04 9.99914811e-01 1.30337686e-02 -2.98540613e+00] [ 9.57847208e-03 -1.30264589e-02 9.99869274e-01 -6.67971972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.700418555 meters Centerline goodness [0,1] 0.4946984609878311 Centerline is valid? [False, False] Translation: X:-20.78, Y:-2.98, Z:-0.67 [[ 9.99974158e-01 -3.57447166e-03 -6.23755094e-03 -2.07772920e+01] [ 3.67735218e-03 9.99856095e-01 1.65609668e-02 -2.97604987e+00] [ 6.17745663e-03 -1.65834765e-02 9.99843401e-01 -6.69676893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.730418555 meters Centerline goodness [0,1] 0.4998448237641321 Centerline is valid? [False, False] Translation: X:-20.75, Y:-2.97, Z:-0.67 [[ 9.99970698e-01 8.35067326e-04 -7.60961402e-03 -2.07486175e+01] [-7.48946209e-04 9.99935723e-01 1.13132397e-02 -2.96814641e+00] [ 7.61857221e-03 -1.13072090e-02 9.99907048e-01 -6.74625831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.760418555 meters Centerline goodness [0,1] 0.4916342893076111 Centerline is valid? [False, False] Translation: X:-20.77, Y:-2.96, Z:-0.68 [[ 9.99960735e-01 3.87252215e-03 -7.97069255e-03 -2.07707936e+01] [-3.82968376e-03 9.99978180e-01 5.38275218e-03 -2.96180482e+00] [ 7.99136346e-03 -5.35201560e-03 9.99953746e-01 -6.77651518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.790418555 meters Centerline goodness [0,1] 0.5042486532783375 Centerline is valid? [False, False] Translation: X:-20.78, Y:-2.95, Z:-0.67 [[ 9.99977806e-01 -7.26812910e-04 -6.62266099e-03 -2.07784014e+01] [ 7.22196951e-04 9.99999495e-01 -6.99359304e-04 -2.95395245e+00] [ 6.62316594e-03 6.94560917e-04 9.99977825e-01 -6.71997381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.820418555 meters Centerline goodness [0,1] 0.499463878836617 Centerline is valid? [False, False] Translation: X:-20.78, Y:-2.95, Z:-0.67 [[ 9.99973060e-01 2.62495337e-03 -6.85482460e-03 -2.07771287e+01] [-2.61074998e-03 9.99994428e-01 2.08015557e-03 -2.94819624e+00] [ 6.86024672e-03 -2.06220330e-03 9.99974342e-01 -6.73026240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.850418555000005 meters Centerline goodness [0,1] 0.5031419722608734 Centerline is valid? [False, False] Translation: X:-20.78, Y:-2.94, Z:-0.68 [[ 9.99952521e-01 6.85987914e-03 -6.92082439e-03 -2.07754460e+01] [-6.81853677e-03 9.99958875e-01 5.97963347e-03 -2.94066022e+00] [ 6.96155933e-03 -5.93215967e-03 9.99958172e-01 -6.75042242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.880418555 meters Centerline goodness [0,1] 0.5027970165157165 Centerline is valid? [False, False] Translation: X:-20.76, Y:-2.93, Z:-0.67 [[ 9.99986534e-01 4.73173351e-03 -2.13109329e-03 -2.07567833e+01] [-4.70782404e-03 9.99927444e-01 1.10879905e-02 -2.93221135e+00] [ 2.18340408e-03 -1.10778084e-02 9.99936255e-01 -6.73928542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.910418555 meters Centerline goodness [0,1] 0.479348432444494 Centerline is valid? [False, False] Translation: X:-20.76, Y:-2.93, Z:-0.67 [[ 9.99986823e-01 4.45682641e-03 -2.54771545e-03 -2.07554591e+01] [-4.43204107e-03 9.99943590e-01 9.65269837e-03 -2.92765251e+00] [ 2.59059213e-03 -9.64127959e-03 9.99950166e-01 -6.74324039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.940418555 meters Centerline goodness [0,1] 0.4881714064527881 Centerline is valid? [False, False] Translation: X:-20.80, Y:-2.92, Z:-0.68 [[ 9.99971566e-01 5.60696701e-03 -5.04275690e-03 -2.07962139e+01] [-5.54639549e-03 9.99913257e-01 1.19464142e-02 -2.91961845e+00] [ 5.10930262e-03 -1.19181054e-02 9.99915923e-01 -6.79008815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.970418555 meters Centerline goodness [0,1] 0.49857032029258563 Centerline is valid? [False, False] Translation: X:-20.75, Y:-2.91, Z:-0.68 [[ 9.99954589e-01 8.20452205e-03 -4.84827499e-03 -2.07486041e+01] [-8.15364074e-03 9.99912437e-01 1.04229149e-02 -2.90764937e+00] [ 4.93336549e-03 -1.03829105e-02 9.99933926e-01 -6.80826337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.000418555 meters Centerline goodness [0,1] 0.5021719457013575 Centerline is valid? [False, False] Translation: X:-20.80, Y:-2.90, Z:-0.68 [[ 9.99970155e-01 5.90758489e-03 -4.97892549e-03 -2.07988239e+01] [-5.86596007e-03 9.99948068e-01 8.33374543e-03 -2.90076722e+00] [ 5.02789923e-03 -8.30429053e-03 9.99952878e-01 -6.78651595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.030418555000004 meters Centerline goodness [0,1] 0.49691026329930144 Centerline is valid? [False, False] Translation: X:-20.80, Y:-2.89, Z:-0.68 [[ 9.99971645e-01 5.80235660e-03 -4.80009816e-03 -2.07991970e+01] [-5.76723649e-03 9.99956736e-01 7.29830999e-03 -2.89412902e+00] [ 4.84223789e-03 -7.27041974e-03 9.99961846e-01 -6.79018496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.060418555 meters Centerline goodness [0,1] 0.4956067971990544 Centerline is valid? [False, False] Translation: X:-20.80, Y:-2.89, Z:-0.68 [[ 9.99970148e-01 6.25382676e-03 -4.53783316e-03 -2.07995249e+01] [-6.22313097e-03 9.99957872e-01 6.74729520e-03 -2.88535386e+00] [ 4.57983841e-03 -6.71885425e-03 9.99966940e-01 -6.79464662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.090418555 meters Centerline goodness [0,1] 0.4956832124930285 Centerline is valid? [False, False] Translation: X:-20.80, Y:-2.88, Z:-0.68 [[ 9.99986119e-01 2.49340844e-03 -4.64173637e-03 -2.07990085e+01] [-2.48288711e-03 9.99994339e-01 2.27106559e-03 -2.88068295e+00] [ 4.64737279e-03 -2.25950915e-03 9.99986648e-01 -6.80124638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.120418555 meters Centerline goodness [0,1] 0.5005404918475813 Centerline is valid? [False, False] Translation: X:-20.80, Y:-2.88, Z:-0.68 [[ 9.99973190e-01 6.18771134e-03 -3.91546001e-03 -2.08019703e+01] [-6.16414789e-03 9.99962990e-01 6.00177185e-03 -2.87709824e+00] [ 3.95245233e-03 -5.97747547e-03 9.99974324e-01 -6.78768726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.150418555 meters Centerline goodness [0,1] 0.4922394678492239 Centerline is valid? [False, False] Translation: X:-20.80, Y:-2.87, Z:-0.68 [[ 9.99973270e-01 6.35542819e-03 -3.61488001e-03 -2.08036788e+01] [-6.33452335e-03 9.99963317e-01 5.76534395e-03 -2.87299252e+00] [ 3.65138863e-03 -5.74229130e-03 9.99976846e-01 -6.76936452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.180418555 meters Centerline goodness [0,1] 0.46482270462793895 Centerline is valid? [False, False] Translation: X:-20.80, Y:-2.87, Z:-0.68 [[ 9.99989199e-01 2.79558650e-03 -3.71294821e-03 -2.08032531e+01] [-2.78964145e-03 9.99994820e-01 1.60538151e-03 -2.86916931e+00] [ 3.71741696e-03 -1.59500637e-03 9.99991818e-01 -6.77356821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.210418555000004 meters Centerline goodness [0,1] 0.4648583105043338 Centerline is valid? [False, False] Translation: X:-20.79, Y:-2.87, Z:-0.68 [[ 9.99985764e-01 1.48796062e-03 -5.12421712e-03 -2.07948764e+01] [-1.49170692e-03 9.99998623e-01 -7.27353423e-04 -2.86509238e+00] [ 5.12312779e-03 7.34986899e-04 9.99986607e-01 -6.83980270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.240418555 meters Centerline goodness [0,1] 0.43720266412940056 Centerline is valid? [False, False] Translation: X:-20.80, Y:-2.86, Z:-0.68 [[ 9.99985396e-01 1.80374826e-03 -5.09445777e-03 -2.07953455e+01] [-1.80731402e-03 9.99998125e-01 -6.95413105e-04 -2.86491517e+00] [ 5.09319386e-03 7.04610234e-04 9.99986781e-01 -6.83780297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.270418555 meters Centerline goodness [0,1] 0.4499149202937489 Centerline is valid? [False, False] Translation: X:-20.77, Y:-2.86, Z:-0.68 [[ 9.99997761e-01 -9.95403192e-04 -1.86757431e-03 -2.07738066e+01] [ 1.00456094e-03 9.99987446e-01 4.90904087e-03 -2.86061361e+00] [ 1.86266439e-03 -4.91090597e-03 9.99986207e-01 -6.84624938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.300418555 meters Centerline goodness [0,1] 0.49791806581598386 Centerline is valid? [False, False] Translation: X:-20.77, Y:-2.86, Z:-0.68 [[ 9.99998471e-01 -1.99182928e-04 -1.73739164e-03 -2.07749366e+01] [ 2.08560858e-04 9.99985402e-01 5.39919623e-03 -2.85935569e+00] [ 1.73629085e-03 -5.39955033e-03 9.99983915e-01 -6.83327185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.330418555 meters Centerline goodness [0,1] 0.49683494402018424 Centerline is valid? [False, False] Translation: X:-20.78, Y:-2.86, Z:-0.68 [[ 9.99996120e-01 -2.78099304e-03 -1.62679524e-04 -2.07833512e+01] [ 2.78140852e-03 9.99992720e-01 2.61204360e-03 -2.86238651e+00] [ 1.55414265e-04 -2.61248594e-03 9.99996575e-01 -6.77620017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.360418555 meters Centerline goodness [0,1] 0.5026788957500908 Centerline is valid? [False, False] Translation: X:-20.78, Y:-2.86, Z:-0.68 [[ 9.99998908e-01 -2.37628078e-04 -1.45864081e-03 -2.07755288e+01] [ 2.45703191e-04 9.99984633e-01 5.53837244e-03 -2.86119145e+00] [ 1.45730232e-03 -5.53872479e-03 9.99983599e-01 -6.84260932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.390418555000004 meters Centerline goodness [0,1] 0.4573536087153881 Centerline is valid? [False, False] Translation: X:-20.77, Y:-2.86, Z:-0.69 [[ 9.99997516e-01 -6.25668675e-04 -2.13919026e-03 -2.07720350e+01] [ 6.37579325e-04 9.99984275e-01 5.57169011e-03 -2.86086030e+00] [ 2.13567059e-03 -5.57304017e-03 9.99982190e-01 -6.86878471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.420418555 meters Centerline goodness [0,1] 0.4382275967872936 Centerline is valid? [False, False] Translation: X:-20.78, Y:-2.86, Z:-0.68 [[ 9.99987827e-01 -4.70832062e-03 -1.47558733e-03 -2.07758786e+01] [ 4.71058682e-03 9.99987725e-01 1.53610183e-03 -2.86385239e+00] [ 1.46833676e-03 -1.54303402e-03 9.99997732e-01 -6.83335947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.450418555 meters Centerline goodness [0,1] 0.46203870737845487 Centerline is valid? [False, False] Translation: X:-20.76, Y:-2.86, Z:-0.68 [[ 9.99991253e-01 -2.68933741e-03 3.20339147e-03 -2.07563278e+01] [ 2.70942112e-03 9.99976599e-01 -6.28176235e-03 -2.86265134e+00] [-3.18642273e-03 6.29038674e-03 9.99975139e-01 -6.84509994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.480418555 meters Centerline goodness [0,1] 0.5055260579267598 Centerline is valid? [False, False] Translation: X:-20.80, Y:-2.87, Z:-0.69 [[ 9.99990723e-01 -4.20021425e-03 9.55158438e-04 -2.07961019e+01] [ 4.20445003e-03 9.99981141e-01 -4.47673353e-03 -2.86505815e+00] [-9.36337184e-04 4.48070791e-03 9.99989523e-01 -6.89118807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.510418555 meters Centerline goodness [0,1] 0.49418096508579057 Centerline is valid? [False, False] Translation: X:-20.79, Y:-2.87, Z:-0.69 [[ 9.99989550e-01 -4.54980095e-03 4.45541764e-04 -2.07936151e+01] [ 4.55167652e-03 9.99980382e-01 -4.30321307e-03 -2.86759744e+00] [-4.25954261e-04 4.30519606e-03 9.99990642e-01 -6.91042720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.540418555 meters Centerline goodness [0,1] 0.4983787651781122 Centerline is valid? [False, False] Translation: X:-20.75, Y:-2.87, Z:-0.69 [[ 9.99994125e-01 -3.31549478e-03 8.70649559e-04 -2.07455065e+01] [ 3.31870841e-03 9.99987589e-01 -3.71593308e-03 -2.86735233e+00] [-8.58318596e-04 3.71880068e-03 9.99992717e-01 -6.92862708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.570418555 meters Centerline goodness [0,1] 0.4954797639309476 Centerline is valid? [False, False] Translation: X:-20.70, Y:-2.87, Z:-0.69 [[ 9.99997363e-01 -1.80091038e-03 1.42524113e-03 -2.06993736e+01] [ 1.80764211e-03 9.99987151e-01 -4.73611579e-03 -2.86644988e+00] [-1.41669350e-03 4.73867962e-03 9.99987769e-01 -6.92053727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.600418555 meters Centerline goodness [0,1] 0.48995133381398703 Centerline is valid? [False, False] Translation: X:-20.75, Y:-2.87, Z:-0.69 [[ 9.99986651e-01 -4.78923069e-03 1.93915079e-03 -2.07516784e+01] [ 4.80161021e-03 9.99967796e-01 -6.43047078e-03 -2.86826817e+00] [-1.90829134e-03 6.43969599e-03 9.99977444e-01 -6.88404540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.630418555 meters Centerline goodness [0,1] 0.49665488653286216 Centerline is valid? [False, False] Translation: X:-20.72, Y:-2.87, Z:-0.68 [[ 9.99986671e-01 -6.09379647e-05 5.16271270e-03 -2.07153835e+01] [ 7.89689763e-05 9.99993898e-01 -3.49241413e-03 -2.86569794e+00] [-5.16246838e-03 3.49277527e-03 9.99980575e-01 -6.82598175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.660418555 meters Centerline goodness [0,1] 0.4799440824333161 Centerline is valid? [False, False] Translation: X:-20.74, Y:-2.87, Z:-0.68 [[ 9.99997900e-01 -1.54769651e-03 -1.34340508e-03 -2.07420592e+01] [ 1.55006581e-03 9.99997242e-01 1.76440477e-03 -2.86841538e+00] [ 1.34067061e-03 -1.76648343e-03 9.99997541e-01 -6.78038299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.690418555 meters Centerline goodness [0,1] 0.5031398922193026 Centerline is valid? [False, False] Translation: X:-20.71, Y:-2.87, Z:-0.68 [[ 9.99993435e-01 3.09069465e-03 -1.89150532e-03 -2.07131156e+01] [-3.09873112e-03 9.99986122e-01 -4.26063458e-03 -2.87185082e+00] [ 1.87831075e-03 4.26646787e-03 9.99989135e-01 -6.81810999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.720418555 meters Centerline goodness [0,1] 0.49775005569169084 Centerline is valid? [False, False] Translation: X:-20.71, Y:-2.87, Z:-0.68 [[ 9.99990201e-01 4.11231271e-03 -1.63887715e-03 -2.07139897e+01] [-4.11801635e-03 9.99985423e-01 -3.49217121e-03 -2.86877647e+00] [ 1.62449236e-03 3.49888591e-03 9.99992559e-01 -6.81737300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.750418555 meters Centerline goodness [0,1] 0.5036739096240703 Centerline is valid? [False, False] Translation: X:-20.74, Y:-2.87, Z:-0.68 [[ 9.99999130e-01 -1.12314732e-03 -6.92125876e-04 -2.07371754e+01] [ 1.12457433e-03 9.99997236e-01 2.06485073e-03 -2.86610903e+00] [ 6.89804831e-04 -2.06562728e-03 9.99997629e-01 -6.84007527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.780418555000004 meters Centerline goodness [0,1] 0.48186924286677146 Centerline is valid? [False, False] Translation: X:-20.74, Y:-2.87, Z:-0.68 [[ 9.99990020e-01 -4.46761978e-03 6.56517864e-06 -2.07414664e+01] [ 4.46762458e-03 9.99989071e-01 -1.37751679e-03 -2.86781087e+00] [-4.10885621e-07 1.37753238e-03 9.99999051e-01 -6.80763199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.810418555 meters Centerline goodness [0,1] 0.5013779659877664 Centerline is valid? [False, False] Translation: X:-20.74, Y:-2.87, Z:-0.68 [[ 9.99990418e-01 -4.37654628e-03 9.77306430e-05 -2.07421947e+01] [ 4.37666701e-03 9.99989614e-01 -1.27127537e-03 -2.86735800e+00] [-9.21658325e-05 1.27169093e-03 9.99999187e-01 -6.79890747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.840418555 meters Centerline goodness [0,1] 0.5039851881957145 Centerline is valid? [False, False] Translation: X:-20.74, Y:-2.86, Z:-0.68 [[ 9.99990514e-01 -4.35572586e-03 -9.28870688e-06 -2.07407248e+01] [ 4.35570958e-03 9.99989623e-01 -1.33480332e-03 -2.86468763e+00] [ 1.51026478e-05 1.33475020e-03 9.99999109e-01 -6.81898550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.870418555 meters Centerline goodness [0,1] 0.4906042659304448 Centerline is valid? [False, False] Translation: X:-20.71, Y:-2.87, Z:-0.69 [[ 9.99994288e-01 -2.81373769e-03 -1.87286724e-03 -2.07071704e+01] [ 2.79375708e-03 9.99940054e-01 -1.05869190e-02 -2.86513463e+00] [ 1.90254379e-03 1.05816262e-02 9.99942203e-01 -6.87842513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.900418555 meters Centerline goodness [0,1] 0.488657908237236 Centerline is valid? [False, False] Translation: X:-20.71, Y:-2.86, Z:-0.68 [[ 9.99987583e-01 -4.91907869e-03 -7.98277711e-04 -2.07144632e+01] [ 4.90835618e-03 9.99904488e-01 -1.29198516e-02 -2.86477716e+00] [ 8.61755232e-04 1.29157729e-02 9.99916217e-01 -6.82356560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.930418555 meters Centerline goodness [0,1] 0.5070163331032896 Centerline is valid? [False, False] Translation: X:-20.80, Y:-2.87, Z:-0.68 [[ 9.99979217e-01 -6.28577785e-03 1.43319995e-03 -2.07953042e+01] [ 6.28818828e-03 9.99978812e-01 -1.68358923e-03 -2.86531307e+00] [-1.42258691e-03 1.69256647e-03 9.99997556e-01 -6.75535185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.960418555000004 meters Centerline goodness [0,1] 0.4951270996137609 Centerline is valid? [False, False] Translation: X:-20.74, Y:-2.86, Z:-0.68 [[ 9.99997172e-01 -1.86333192e-03 -1.47798485e-03 -2.07396202e+01] [ 1.86636322e-03 9.99996152e-01 2.05225045e-03 -2.86220671e+00] [ 1.47415514e-03 -2.05500310e-03 9.99996802e-01 -6.80888392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.990418555 meters Centerline goodness [0,1] 0.49154697118387014 Centerline is valid? [False, False] Translation: X:-20.74, Y:-2.86, Z:-0.68 [[ 9.99949815e-01 -9.88135829e-03 -1.65090778e-03 -2.07388699e+01] [ 9.87016403e-03 9.99929133e-01 -6.65653405e-03 -2.86243085e+00] [ 1.71656638e-03 6.63990526e-03 9.99976482e-01 -6.80933031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.020418555 meters Centerline goodness [0,1] 0.49544695536012473 Centerline is valid? [False, False] Translation: X:-20.75, Y:-2.86, Z:-0.68 [[ 9.99964440e-01 -8.42156597e-03 -4.43569255e-04 -2.07461629e+01] [ 8.41914922e-03 9.99951067e-01 -5.19432507e-03 -2.86113608e+00] [ 4.87291901e-04 5.19040588e-03 9.99986411e-01 -6.75902282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.050418555 meters Centerline goodness [0,1] 0.5033040644518874 Centerline is valid? [False, False] Translation: X:-20.80, Y:-2.86, Z:-0.68 [[ 9.99986584e-01 -5.17768098e-03 -1.54208061e-04 -2.07956046e+01] [ 5.17779310e-03 9.99986324e-01 7.35762075e-04 -2.85944648e+00] [ 1.50396411e-04 -7.36550662e-04 9.99999717e-01 -6.75371357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.080418555 meters Centerline goodness [0,1] 0.49213724088634736 Centerline is valid? [False, False] Translation: X:-20.76, Y:-2.86, Z:-0.68 [[ 9.99997991e-01 3.25085523e-04 -1.97791679e-03 -2.07606437e+01] [-3.34195906e-04 9.99989330e-01 -4.60746400e-03 -2.85936631e+00] [ 1.97639787e-03 4.60811576e-03 9.99987429e-01 -6.83661204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.110418555 meters Centerline goodness [0,1] 0.49213724088634736 Centerline is valid? [False, False] Translation: X:-20.76, Y:-2.86, Z:-0.68 [[ 9.99997991e-01 3.25085523e-04 -1.97791679e-03 -2.07606437e+01] [-3.34195906e-04 9.99989330e-01 -4.60746400e-03 -2.85936631e+00] [ 1.97639787e-03 4.60811576e-03 9.99987429e-01 -6.83661204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.140418555000004 meters Centerline goodness [0,1] 0.4988168373151308 Centerline is valid? [False, False] Translation: X:-20.81, Y:-2.86, Z:-0.68 [[ 9.99989536e-01 -2.10852340e-03 -4.05985566e-03 -2.08053616e+01] [ 2.08444887e-03 9.99980274e-01 -5.92502583e-03 -2.85927639e+00] [ 4.07226864e-03 5.91650126e-03 9.99974205e-01 -6.83737680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.170418555 meters Centerline goodness [0,1] 0.49939882436765226 Centerline is valid? [False, False] Translation: X:-20.79, Y:-2.86, Z:-0.68 [[ 9.99990248e-01 -4.31366917e-03 9.46389747e-04 -2.07851837e+01] [ 4.31334454e-03 9.99990638e-01 3.44791178e-04 -2.85758348e+00] [-9.47868202e-04 -3.40705710e-04 9.99999493e-01 -6.84508425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.200418555 meters Centerline goodness [0,1] 0.49666406337163893 Centerline is valid? [False, False] Translation: X:-20.79, Y:-2.85, Z:-0.68 [[ 9.99994142e-01 -1.86091444e-03 2.87286811e-03 -2.07943441e+01] [ 1.85190034e-03 9.99993364e-01 3.13714380e-03 -2.85293604e+00] [-2.87868701e-03 -3.13180516e-03 9.99990952e-01 -6.78490189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.230418555 meters Centerline goodness [0,1] 0.5073935670235448 Centerline is valid? [False, False] Translation: X:-20.84, Y:-2.85, Z:-0.68 [[ 9.99989007e-01 -4.67845800e-03 3.12066295e-04 -2.08352010e+01] [ 4.67796262e-03 9.99987826e-01 1.56970226e-03 -2.85171564e+00] [-3.19406282e-04 -1.56822517e-03 9.99998719e-01 -6.82536334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.260418555 meters Centerline goodness [0,1] 0.49899359137496235 Centerline is valid? [False, False] Translation: X:-20.85, Y:-2.85, Z:-0.68 [[ 9.99987814e-01 3.60208502e-04 -4.92366446e-03 -2.08547294e+01] [-3.69882187e-04 9.99998003e-01 -1.96396353e-03 -2.84781165e+00] [ 4.92294719e-03 1.96576077e-03 9.99985950e-01 -6.82710332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.290418555 meters Centerline goodness [0,1] 0.5008641005498822 Centerline is valid? [False, False] Translation: X:-20.81, Y:-2.84, Z:-0.68 [[ 9.99995710e-01 1.24383980e-03 -2.65203679e-03 -2.08143584e+01] [-1.25273690e-03 9.99993585e-01 -3.35580135e-03 -2.84156257e+00] [ 2.64784569e-03 3.35910926e-03 9.99990853e-01 -6.79415585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.320418555 meters Centerline goodness [0,1] 0.49580364212193195 Centerline is valid? [False, False] Translation: X:-20.82, Y:-2.84, Z:-0.68 [[ 9.99997195e-01 3.21114987e-04 -2.34683732e-03 -2.08163887e+01] [-3.31764691e-04 9.99989644e-01 -4.53891634e-03 -2.84106030e+00] [ 2.34535550e-03 4.53968220e-03 9.99986945e-01 -6.77510531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.350418555 meters Centerline goodness [0,1] 0.49733994589720465 Centerline is valid? [False, False] Translation: X:-20.81, Y:-2.84, Z:-0.68 [[ 9.99995294e-01 1.61265939e-04 -3.06374525e-03 -2.08136931e+01] [-1.76666615e-04 9.99987348e-01 -5.02714280e-03 -2.83956551e+00] [ 3.06289578e-03 5.02766040e-03 9.99982670e-01 -6.79156285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.380418555 meters Centerline goodness [0,1] 0.4943464089018771 Centerline is valid? [False, False] Translation: X:-20.81, Y:-2.83, Z:-0.69 [[ 9.99965803e-01 7.06862412e-03 -4.29265312e-03 -2.08059085e+01] [-7.06015763e-03 9.99973108e-01 1.98428231e-03 -2.83442842e+00] [ 4.30656383e-03 -1.95390765e-03 9.99988818e-01 -6.85483590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.410418555 meters Centerline goodness [0,1] 0.49917055236728836 Centerline is valid? [False, False] Translation: X:-20.81, Y:-2.83, Z:-0.68 [[ 9.99928816e-01 1.13353570e-02 -3.72451413e-03 -2.08082302e+01] [-1.13126383e-02 9.99917615e-01 6.06524116e-03 -2.83234566e+00] [ 3.79295896e-03 -6.02267533e-03 9.99974670e-01 -6.83884973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.440418555 meters Centerline goodness [0,1] 0.49077092560534186 Centerline is valid? [False, False] Translation: X:-20.81, Y:-2.83, Z:-0.68 [[ 9.99961797e-01 7.86396937e-03 -3.81616281e-03 -2.08080793e+01] [-7.85758010e-03 9.99967707e-01 1.68638071e-03 -2.82993329e+00] [ 3.82930122e-03 -1.65633047e-03 9.99991296e-01 -6.83698986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.470418555 meters Centerline goodness [0,1] 0.473627289728049 Centerline is valid? [False, False] Translation: X:-20.79, Y:-2.83, Z:-0.69 [[ 9.99920475e-01 1.00419185e-02 -7.62910155e-03 -2.07933543e+01] [-1.00319295e-02 9.99948772e-01 1.34646346e-03 -2.82605442e+00] [ 7.64223181e-03 -1.26982177e-03 9.99969991e-01 -6.90964650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.500418555 meters Centerline goodness [0,1] 0.42858439407346904 Centerline is valid? [False, False] Translation: X:-20.80, Y:-2.82, Z:-0.69 [[ 9.99862773e-01 1.49531820e-02 -7.13006650e-03 -2.07958246e+01] [-1.49128298e-02 9.99872668e-01 5.67941942e-03 -2.82390498e+00] [ 7.21408400e-03 -5.57231058e-03 9.99958452e-01 -6.88931116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.530418555000004 meters Centerline goodness [0,1] 0.4971234134001925 Centerline is valid? [False, False] Translation: X:-20.79, Y:-2.83, Z:-0.68 [[ 9.99776788e-01 2.11273662e-02 9.52859005e-05 -2.07865491e+01] [-2.11275095e-02 9.99774973e-01 1.90570409e-03 -2.82664538e+00] [-5.50019504e-05 -1.90729187e-03 9.99998180e-01 -6.83509958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.560418555 meters Centerline goodness [0,1] 0.5005053340819764 Centerline is valid? [False, False] Translation: X:-20.81, Y:-2.83, Z:-0.68 [[ 9.99912892e-01 1.30392597e-02 -2.04579701e-03 -2.08125720e+01] [-1.30290528e-02 9.99902986e-01 4.92564833e-03 -2.83114050e+00] [ 2.10982535e-03 -4.89856448e-03 9.99985776e-01 -6.79613109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.590418555 meters Centerline goodness [0,1] 0.42389175315757477 Centerline is valid? [False, False] Translation: X:-20.81, Y:-2.83, Z:-0.68 [[ 9.99935229e-01 1.10202263e-02 -2.84456183e-03 -2.08070645e+01] [-1.10101010e-02 9.99933082e-01 3.55097324e-03 -2.83486005e+00] [ 2.88350400e-03 -3.51942433e-03 9.99989649e-01 -6.84040726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.620418555 meters Centerline goodness [0,1] 0.5044205979618006 Centerline is valid? [False, False] Translation: X:-20.83, Y:-2.85, Z:-0.69 [[ 9.99991833e-01 2.10371933e-03 3.45075194e-03 -2.08259907e+01] [-2.11019025e-03 9.99996020e-01 1.87265132e-03 -2.84601970e+00] [-3.44679867e-03 -1.87991777e-03 9.99992293e-01 -6.89028585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.650418555 meters Centerline goodness [0,1] 0.5016620189626324 Centerline is valid? [False, False] Translation: X:-20.82, Y:-2.85, Z:-0.69 [[ 9.99993318e-01 -2.08111313e-03 3.00543137e-03 -2.08236599e+01] [ 2.08501426e-03 9.99996987e-01 -1.29547430e-03 -2.84935069e+00] [-3.00272628e-03 1.30173202e-03 9.99994645e-01 -6.90452969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.680418555 meters Centerline goodness [0,1] 0.5035256839380551 Centerline is valid? [False, False] Translation: X:-20.82, Y:-2.85, Z:-0.69 [[ 9.99977055e-01 -6.15286625e-03 2.83388020e-03 -2.08222431e+01] [ 6.16611464e-03 9.99969990e-01 -4.69023358e-03 -2.85245267e+00] [-2.80493678e-03 4.70760000e-03 9.99984985e-01 -6.91698626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.710418555000004 meters Centerline goodness [0,1] 0.503248884964568 Centerline is valid? [False, False] Translation: X:-20.85, Y:-2.86, Z:-0.69 [[ 9.99957229e-01 -7.06012298e-03 5.97444356e-03 -2.08522949e+01] [ 7.13584074e-03 9.99893270e-01 -1.27486502e-02 -2.86032114e+00] [-5.88379887e-03 1.27907376e-02 9.99900884e-01 -6.89113390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.740418555 meters Centerline goodness [0,1] 0.49122530356619887 Centerline is valid? [False, False] Translation: X:-20.85, Y:-2.86, Z:-0.69 [[ 9.99957893e-01 -6.70818907e-03 6.26200127e-03 -2.08540866e+01] [ 6.78482298e-03 9.99901358e-01 -1.22979745e-02 -2.86145580e+00] [-6.17888644e-03 1.23399433e-02 9.99904769e-01 -6.87834689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.770418555 meters Centerline goodness [0,1] 0.5038081421706411 Centerline is valid? [False, False] Translation: X:-20.85, Y:-2.86, Z:-0.69 [[ 9.99988349e-01 -7.64870229e-04 4.76615254e-03 -2.08457603e+01] [ 7.92816447e-04 9.99982490e-01 -5.86434732e-03 -2.86329181e+00] [-4.76158362e-03 5.86805768e-03 9.99971446e-01 -6.93973858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.800418555 meters Centerline goodness [0,1] 0.49475844225364674 Centerline is valid? [False, False] Translation: X:-20.83, Y:-2.87, Z:-0.70 [[ 9.99996844e-01 2.27833918e-04 2.50202377e-03 -2.08337137e+01] [-2.15732416e-04 9.99988284e-01 -4.83589085e-03 -2.86644443e+00] [-2.50309624e-03 4.83533582e-03 9.99985177e-01 -7.01869429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.830418555 meters Centerline goodness [0,1] 0.4955369218285096 Centerline is valid? [False, False] Translation: X:-20.84, Y:-2.87, Z:-0.70 [[ 9.99991658e-01 -1.14628352e-04 4.08306720e-03 -2.08429836e+01] [ 1.37200883e-04 9.99984708e-01 -5.52847616e-03 -2.86647587e+00] [-4.08237105e-03 5.52899024e-03 9.99976382e-01 -6.95496165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.860418555 meters Centerline goodness [0,1] 0.4944197929272556 Centerline is valid? [False, False] Translation: X:-20.85, Y:-2.87, Z:-0.69 [[ 9.99981498e-01 3.32272015e-03 5.09531231e-03 -2.08471008e+01] [-3.31336205e-03 9.99992811e-01 -1.84395256e-03 -2.86621303e+00] [-5.10140262e-03 1.82703582e-03 9.99985319e-01 -6.93528359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.890418555000004 meters Centerline goodness [0,1] 0.5060303433350617 Centerline is valid? [False, False] Translation: X:-20.85, Y:-2.86, Z:-0.69 [[ 9.99981034e-01 3.64003283e-03 4.96801393e-03 -2.08459458e+01] [-3.63093206e-03 9.99991716e-01 -1.83966555e-03 -2.86302050e+00] [-4.97466922e-03 1.82159214e-03 9.99985967e-01 -6.94678282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.920418555 meters Centerline goodness [0,1] 0.5000224104701716 Centerline is valid? [False, False] Translation: X:-20.85, Y:-2.87, Z:-0.69 [[ 9.99986182e-01 -7.88867651e-04 5.19741294e-03 -2.08477980e+01] [ 8.20840650e-04 9.99980737e-01 -6.15245574e-03 -2.86526196e+00] [-5.19245935e-03 6.15663697e-03 9.99967567e-01 -6.92431934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.950418555 meters Centerline goodness [0,1] 0.4978008796481408 Centerline is valid? [False, False] Translation: X:-20.84, Y:-2.87, Z:-0.70 [[ 9.99987756e-01 -2.89773500e-03 4.01137545e-03 -2.08417063e+01] [ 2.92816690e-03 9.99966821e-01 -7.60143112e-03 -2.86536101e+00] [-3.98921542e-03 7.61308402e-03 9.99963063e-01 -6.96444472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.980418555 meters Centerline goodness [0,1] 0.4921029441670244 Centerline is valid? [False, False] Translation: X:-20.88, Y:-2.87, Z:-0.70 [[ 9.99990980e-01 -3.70443545e-03 2.07765725e-03 -2.08842168e+01] [ 3.71555100e-03 9.99978668e-01 -5.37194550e-03 -2.86568554e+00] [-2.05771290e-03 5.37961669e-03 9.99983413e-01 -6.98964295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.010418555 meters Centerline goodness [0,1] 0.49280248419651773 Centerline is valid? [False, False] Translation: X:-20.85, Y:-2.87, Z:-0.70 [[ 9.99966024e-01 -3.52138051e-03 7.45321425e-03 -2.08534470e+01] [ 3.54514373e-03 9.99988668e-01 -3.17751109e-03 -2.86551176e+00] [-7.44194056e-03 3.20382585e-03 9.99967176e-01 -6.97961787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.040418555 meters Centerline goodness [0,1] 0.48088389240362295 Centerline is valid? [False, False] Translation: X:-20.91, Y:-2.86, Z:-0.69 [[ 9.99955001e-01 -5.61080636e-03 7.64947395e-03 -2.09056910e+01] [ 5.63595086e-03 9.99978773e-01 -3.26950445e-03 -2.86379058e+00] [-7.63096702e-03 3.31246938e-03 9.99965397e-01 -6.94308826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.070418555 meters Centerline goodness [0,1] 0.4992380440141634 Centerline is valid? [False, False] Translation: X:-20.88, Y:-2.86, Z:-0.70 [[ 9.99971693e-01 1.14572114e-03 7.43648203e-03 -2.08782356e+01] [-1.08935399e-03 9.99970682e-01 -7.57944315e-03 -2.86156985e+00] [-7.44494794e-03 7.57112764e-03 9.99943624e-01 -6.97476906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.100418555 meters Centerline goodness [0,1] 0.4814707132153959 Centerline is valid? [False, False] Translation: X:-20.88, Y:-2.86, Z:-0.70 [[ 9.99958364e-01 4.86003643e-03 7.72334033e-03 -2.08789006e+01] [-4.82349873e-03 9.99977121e-01 -4.74242319e-03 -2.85512876e+00] [-7.74621198e-03 4.70497222e-03 9.99958929e-01 -6.97527581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.130418555 meters Centerline goodness [0,1] 0.4950371927920595 Centerline is valid? [False, False] Translation: X:-20.91, Y:-2.85, Z:-0.69 [[ 9.99957162e-01 8.04711260e-04 9.22096657e-03 -2.09075121e+01] [-8.01769482e-04 9.99999627e-01 -3.22723589e-04 -2.84899054e+00] [-9.22122283e-03 3.15316675e-04 9.99957434e-01 -6.93314265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.160418555 meters Centerline goodness [0,1] 0.5019429906332128 Centerline is valid? [False, False] Translation: X:-20.91, Y:-2.84, Z:-0.69 [[ 9.99944906e-01 4.84546724e-03 9.31162730e-03 -2.09077486e+01] [-4.87125091e-03 9.99984359e-01 2.74829222e-03 -2.84317211e+00] [-9.29816489e-03 -2.79350008e-03 9.99952869e-01 -6.93387276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.190418555 meters Centerline goodness [0,1] 0.4966568360386321 Centerline is valid? [False, False] Translation: X:-20.90, Y:-2.84, Z:-0.70 [[ 9.99920230e-01 1.04315428e-02 7.12157650e-03 -2.08956005e+01] [-1.04854068e-02 9.99916383e-01 7.56851709e-03 -2.83707895e+00] [-7.04202971e-03 -7.64258597e-03 9.99945999e-01 -7.02391585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.220418555 meters Centerline goodness [0,1] 0.49936201239518774 Centerline is valid? [False, False] Translation: X:-20.92, Y:-2.83, Z:-0.70 [[ 9.99904438e-01 1.34351311e-02 3.25761568e-03 -2.09224586e+01] [-1.34400665e-02 9.99908556e-01 1.49788175e-03 -2.83323320e+00] [-3.23719356e-03 -1.54152118e-03 9.99993572e-01 -6.97150163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.250418555 meters Centerline goodness [0,1] 0.5019652134628416 Centerline is valid? [False, False] Translation: X:-20.93, Y:-2.83, Z:-0.69 [[ 9.99905818e-01 1.32308963e-02 3.64679498e-03 -2.09250152e+01] [-1.32330307e-02 9.99912282e-01 5.61761716e-04 -2.82884302e+00] [-3.63904248e-03 -6.09966958e-04 9.99993193e-01 -6.94732437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.280418555000004 meters Centerline goodness [0,1] 0.4896083762104837 Centerline is valid? [False, False] Translation: X:-20.91, Y:-2.82, Z:-0.69 [[ 9.99914272e-01 1.07742353e-02 7.44072907e-03 -2.09077359e+01] [-1.08237810e-02 9.99919303e-01 6.65085721e-03 -2.82223437e+00] [-7.36847072e-03 -6.73082386e-03 9.99950200e-01 -6.91702765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.310418555 meters Centerline goodness [0,1] 0.4872083089789129 Centerline is valid? [False, False] Translation: X:-20.91, Y:-2.82, Z:-0.69 [[ 9.99911808e-01 1.04974665e-02 8.13506551e-03 -2.09106410e+01] [-1.05480026e-02 9.99925182e-01 6.19432532e-03 -2.81987347e+00] [-8.06943214e-03 -6.27958773e-03 9.99947724e-01 -6.90108155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.340418555 meters Centerline goodness [0,1] 0.49414862492685785 Centerline is valid? [False, False] Translation: X:-20.91, Y:-2.82, Z:-0.69 [[ 9.99948780e-01 6.28455973e-03 7.93358783e-03 -2.09093143e+01] [-6.29760649e-03 9.99978857e-01 1.62058768e-03 -2.81782693e+00] [-7.92323540e-03 -1.67046728e-03 9.99967215e-01 -6.91612642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.370418555 meters Centerline goodness [0,1] 0.496034928272298 Centerline is valid? [False, False] Translation: X:-20.88, Y:-2.82, Z:-0.70 [[ 9.99999838e-01 3.63423250e-04 -4.38558303e-04 -2.08754786e+01] [-3.63359980e-04 9.99999924e-01 1.44340617e-04 -2.81602972e+00] [ 4.38610727e-04 -1.44181239e-04 9.99999893e-01 -6.98367149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.400418555 meters Centerline goodness [0,1] 0.4944572593106846 Centerline is valid? [False, False] Translation: X:-20.88, Y:-2.81, Z:-0.70 [[ 9.99999958e-01 1.83030928e-04 -2.24545652e-04 -2.08758401e+01] [-1.83011215e-04 9.99999979e-01 8.78081972e-05 -2.81441876e+00] [ 2.24561719e-04 -8.77670991e-05 9.99999971e-01 -6.98975003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.430418555 meters Centerline goodness [0,1] 0.4912162767769114 Centerline is valid? [False, False] Translation: X:-20.88, Y:-2.81, Z:-0.70 [[ 9.99999947e-01 -3.31016392e-05 3.24891900e-04 -2.08783692e+01] [ 3.31963403e-05 9.99999957e-01 -2.91484125e-04 -2.81241297e+00] [-3.24882237e-04 2.91494895e-04 9.99999905e-01 -6.97349131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.460418555000004 meters Centerline goodness [0,1] 0.49310421780852487 Centerline is valid? [False, False] Translation: X:-20.88, Y:-2.81, Z:-0.70 [[ 9.99999922e-01 -1.74727315e-04 3.53701387e-04 -2.08788732e+01] [ 1.75040247e-04 9.99999593e-01 -8.84899248e-04 -2.80866492e+00] [-3.53546627e-04 8.84961091e-04 9.99999546e-01 -6.96462689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.490418555 meters Centerline goodness [0,1] 0.49478424184825653 Centerline is valid? [False, False] Translation: X:-20.91, Y:-2.81, Z:-0.69 [[ 9.99984613e-01 -4.95477716e-03 -2.49476345e-03 -2.09076800e+01] [ 4.96496976e-03 9.99979285e-01 4.09611297e-03 -2.80714294e+00] [ 2.47441645e-03 -4.10843637e-03 9.99988499e-01 -6.89758287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.520418555 meters Centerline goodness [0,1] 0.48818669695147754 Centerline is valid? [False, False] Translation: X:-20.89, Y:-2.80, Z:-0.69 [[ 9.99999598e-01 -1.22863991e-05 8.96823699e-04 -2.08863343e+01] [ 1.39096615e-05 9.99998362e-01 -1.81002908e-03 -2.80365671e+00] [-8.96799991e-04 1.81004082e-03 9.99997960e-01 -6.89893225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.550418555 meters Centerline goodness [0,1] 0.4894335487622157 Centerline is valid? [False, False] Translation: X:-20.89, Y:-2.80, Z:-0.69 [[ 9.99999257e-01 5.49647851e-04 1.08838221e-03 -2.08870499e+01] [-5.47472238e-04 9.99997854e-01 -1.99823215e-03 -2.79849181e+00] [-1.08947819e-03 1.99763481e-03 9.99997411e-01 -6.90005556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.580418555 meters Centerline goodness [0,1] 0.4975405027302676 Centerline is valid? [False, False] Translation: X:-20.89, Y:-2.79, Z:-0.69 [[ 9.99971061e-01 7.25598778e-03 2.28644220e-03 -2.08927659e+01] [-7.26613415e-03 9.99963651e-01 4.46101139e-03 -2.79268871e+00] [-2.25399004e-03 -4.47749588e-03 9.99987436e-01 -6.86673528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.610418555 meters Centerline goodness [0,1] 0.4729379716875809 Centerline is valid? [False, False] Translation: X:-20.89, Y:-2.79, Z:-0.69 [[ 9.99992098e-01 3.25146956e-03 2.28739044e-03 -2.08929493e+01] [-3.25124859e-03 9.99994710e-01 -1.00314921e-04 -2.79031728e+00] [-2.28770451e-03 9.28772537e-05 9.99997379e-01 -6.86378792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.640418555000004 meters Centerline goodness [0,1] 0.49852232073417324 Centerline is valid? [False, False] Translation: X:-20.89, Y:-2.79, Z:-0.69 [[ 9.99996891e-01 2.16527939e-03 1.23649599e-03 -2.08873279e+01] [-2.16343548e-03 9.99996549e-01 -1.49063461e-03 -2.78705144e+00] [-1.23971936e-03 1.48795489e-03 9.99998125e-01 -6.90332066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.670418555 meters Centerline goodness [0,1] 0.4932242050181135 Centerline is valid? [False, False] Translation: X:-20.89, Y:-2.78, Z:-0.69 [[ 9.99982277e-01 5.83118196e-03 1.20152158e-03 -2.08867127e+01] [-5.83303958e-03 9.99981789e-01 1.54840119e-03 -2.78035902e+00] [-1.19247069e-03 -1.55538227e-03 9.99998079e-01 -6.91042570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.700418555 meters Centerline goodness [0,1] 0.49768088014519707 Centerline is valid? [False, False] Translation: X:-20.89, Y:-2.78, Z:-0.69 [[ 9.99992855e-01 3.14386956e-03 2.09894627e-03 -2.08915119e+01] [-3.13919554e-03 9.99992594e-01 -2.22643285e-03 -2.77782318e+00] [-2.10593034e-03 2.21982794e-03 9.99995319e-01 -6.88111709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.730418555 meters Centerline goodness [0,1] 0.49400144326177164 Centerline is valid? [False, False] Translation: X:-20.90, Y:-2.78, Z:-0.69 [[ 9.99990880e-01 3.04397575e-03 2.99558390e-03 -2.08953773e+01] [-3.03542314e-03 9.99991316e-01 -2.85549139e-03 -2.77534187e+00] [-3.00424994e-03 2.84637248e-03 9.99991436e-01 -6.86416524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.760418555 meters Centerline goodness [0,1] 0.4888490819525302 Centerline is valid? [False, False] Translation: X:-20.87, Y:-2.77, Z:-0.69 [[ 9.99982040e-01 4.98114376e-03 3.33278014e-03 -2.08678407e+01] [-5.01066994e-03 9.99947747e-01 8.91041720e-03 -2.76889254e+00] [-3.28822193e-03 -8.92695663e-03 9.99954747e-01 -6.89970904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.790418555 meters Centerline goodness [0,1] 0.49460467817966536 Centerline is valid? [False, False] Translation: X:-20.86, Y:-2.77, Z:-0.69 [[ 9.99996476e-01 6.75440442e-04 2.56746704e-03 -2.08644219e+01] [-6.86297265e-04 9.99990818e-01 4.23008594e-03 -2.76728666e+00] [-2.56458629e-03 -4.23183308e-03 9.99987757e-01 -6.91971408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.820418555 meters Centerline goodness [0,1] 0.49336983104848664 Centerline is valid? [False, False] Translation: X:-20.86, Y:-2.77, Z:-0.69 [[ 9.99990698e-01 -3.59288687e-03 2.38629601e-03 -2.08636631e+01] [ 3.59379576e-03 9.99993471e-01 -3.76701796e-04 -2.76756066e+00] [-2.38492698e-03 3.85274152e-04 9.99997082e-01 -6.92524496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.850418555 meters Centerline goodness [0,1] 0.49724301788676195 Centerline is valid? [False, False] Translation: X:-20.86, Y:-2.76, Z:-0.70 [[ 9.99998444e-01 -8.01189433e-04 1.57193885e-03 -2.08582790e+01] [ 7.97882582e-04 9.99997470e-01 2.10317691e-03 -2.76049714e+00] [-1.57361991e-03 -2.10191942e-03 9.99996553e-01 -6.97526886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.880418555 meters Centerline goodness [0,1] 0.4999659129644358 Centerline is valid? [False, False] Translation: X:-20.88, Y:-2.75, Z:-0.69 [[ 9.99982905e-01 4.48021524e-03 -3.75723388e-03 -2.08839289e+01] [-4.48201724e-03 9.99989845e-01 -4.71324303e-04 -2.75435840e+00] [ 3.75508409e-03 4.88156233e-04 9.99992830e-01 -6.91875113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.910418555 meters Centerline goodness [0,1] 0.4945108999441028 Centerline is valid? [False, False] Translation: X:-20.86, Y:-2.76, Z:-0.69 [[ 9.99996280e-01 -1.44093700e-03 2.31616252e-03 -2.08620816e+01] [ 1.44015744e-03 9.99998906e-01 3.38204961e-04 -2.75700330e+00] [-2.31664732e-03 -3.34868064e-04 9.99997261e-01 -6.93969200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.940418555 meters Centerline goodness [0,1] 0.48669883144475923 Centerline is valid? [False, False] Translation: X:-20.87, Y:-2.76, Z:-0.69 [[ 9.99985050e-01 -2.46605562e-03 4.88050345e-03 -2.08748834e+01] [ 2.46928571e-03 9.99996736e-01 -6.55920972e-04 -2.75555042e+00] [-4.87886998e-03 6.67962523e-04 9.99987875e-01 -6.85991365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.970418555 meters Centerline goodness [0,1] 0.48987211590055446 Centerline is valid? [False, False] Translation: X:-20.92, Y:-2.75, Z:-0.69 [[ 9.99996332e-01 -3.67159364e-04 2.68364848e-03 -2.09165520e+01] [ 3.58006036e-04 9.99994120e-01 3.41046267e-03 -2.75272089e+00] [-2.68488489e-03 -3.40948940e-03 9.99990583e-01 -6.89467623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.000418555 meters Centerline goodness [0,1] 0.49907985098074414 Centerline is valid? [False, False] Translation: X:-20.91, Y:-2.75, Z:-0.69 [[ 9.99997770e-01 -4.70801719e-04 2.05859077e-03 -2.09131285e+01] [ 4.64203527e-04 9.99994758e-01 3.20450268e-03 -2.75198783e+00] [-2.06008867e-03 -3.20353993e-03 9.99992747e-01 -6.92106166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.030418555000004 meters Centerline goodness [0,1] 0.49907985098074414 Centerline is valid? [False, False] Translation: X:-20.91, Y:-2.75, Z:-0.69 [[ 9.99997770e-01 -4.70801719e-04 2.05859077e-03 -2.09131285e+01] [ 4.64203527e-04 9.99994758e-01 3.20450268e-03 -2.75198783e+00] [-2.06008867e-03 -3.20353993e-03 9.99992747e-01 -6.92106166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.060418555 meters Centerline goodness [0,1] 0.5011010184420589 Centerline is valid? [False, False] Translation: X:-20.94, Y:-2.75, Z:-0.69 [[ 9.99995612e-01 2.96024915e-03 1.11467677e-04 -2.09416001e+01] [-2.95987379e-03 9.99990406e-01 -3.22913389e-03 -2.75204044e+00] [-1.21025649e-04 3.22878979e-03 9.99994780e-01 -6.88090430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.090418555 meters Centerline goodness [0,1] 0.4977634920991706 Centerline is valid? [False, False] Translation: X:-20.91, Y:-2.75, Z:-0.69 [[ 9.99995094e-01 -1.70240480e-03 2.62948073e-03 -2.09147141e+01] [ 1.70022565e-03 9.99998210e-01 8.30748745e-04 -2.75073389e+00] [-2.63089029e-03 -8.26273959e-04 9.99996198e-01 -6.92413371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.120418555 meters Centerline goodness [0,1] 0.4956055347726146 Centerline is valid? [False, False] Translation: X:-20.91, Y:-2.75, Z:-0.70 [[ 9.99996883e-01 -1.67772442e-03 1.84912518e-03 -2.09108746e+01] [ 1.67514886e-03 9.99997626e-01 1.39352581e-03 -2.75193589e+00] [-1.85145874e-03 -1.39042391e-03 9.99997319e-01 -6.95246679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.150418555 meters Centerline goodness [0,1] 0.4857168422700937 Centerline is valid? [False, False] Translation: X:-20.91, Y:-2.76, Z:-0.69 [[ 9.99978274e-01 -6.32308722e-03 1.86290061e-03 -2.09120618e+01] [ 6.32741897e-03 9.99977270e-01 -2.32862442e-03 -2.75809800e+00] [-1.84813417e-03 2.34036118e-03 9.99995554e-01 -6.93199934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.180418555 meters Centerline goodness [0,1] 0.469152601891886 Centerline is valid? [False, False] Translation: X:-20.88, Y:-2.76, Z:-0.69 [[ 9.99963024e-01 -6.85588439e-03 5.19115047e-03 -2.08753639e+01] [ 6.87247442e-03 9.99971313e-01 -3.18476479e-03 -2.76225896e+00] [-5.16916717e-03 3.22032307e-03 9.99981454e-01 -6.87016152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.210418555000004 meters Centerline goodness [0,1] 0.4695768697903654 Centerline is valid? [False, False] Translation: X:-20.92, Y:-2.76, Z:-0.69 [[ 9.99974137e-01 -5.85715424e-03 4.17363503e-03 -2.09233725e+01] [ 5.85590306e-03 9.99982805e-01 3.11940239e-04 -2.76218936e+00] [-4.17539035e-03 -2.87491769e-04 9.99991242e-01 -6.86460988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.240418555 meters Centerline goodness [0,1] 0.5008455342441369 Centerline is valid? [False, False] Translation: X:-20.87, Y:-2.77, Z:-0.69 [[ 9.99961461e-01 -7.56994550e-03 4.44672121e-03 -2.08749160e+01] [ 7.57720993e-03 9.99969982e-01 -1.61909108e-03 -2.76629666e+00] [-4.43433130e-03 1.65272242e-03 9.99988803e-01 -6.86744882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.270418555 meters Centerline goodness [0,1] 0.4487210826907264 Centerline is valid? [False, False] Translation: X:-20.88, Y:-2.77, Z:-0.68 [[ 9.99955676e-01 -7.90619432e-03 5.11252746e-03 -2.08783093e+01] [ 7.91523667e-03 9.99967141e-01 -1.75085741e-03 -2.76725444e+00] [-5.09851685e-03 1.79124667e-03 9.99985398e-01 -6.84224083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.300418555 meters Centerline goodness [0,1] 0.44907585894092306 Centerline is valid? [False, False] Translation: X:-20.91, Y:-2.77, Z:-0.68 [[ 9.99992033e-01 -8.50690822e-04 3.90007710e-03 -2.09096104e+01] [ 8.64608133e-04 9.99993260e-01 -3.56817458e-03 -2.76526052e+00] [-3.89701540e-03 3.57151819e-03 9.99986029e-01 -6.77919380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.330418555 meters Centerline goodness [0,1] 0.4662105122850668 Centerline is valid? [False, False] Translation: X:-20.86, Y:-2.76, Z:-0.68 [[ 9.99997243e-01 1.34982757e-03 1.92168477e-03 -2.08579715e+01] [-1.33960562e-03 9.99985001e-01 -5.31065009e-03 -2.76320528e+00] [-1.92882441e-03 5.30806114e-03 9.99984052e-01 -6.80583080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.360418555 meters Centerline goodness [0,1] 0.4862206924297624 Centerline is valid? [False, False] Translation: X:-20.86, Y:-2.76, Z:-0.68 [[ 9.99984507e-01 5.33494042e-03 1.58907115e-03 -2.08558687e+01] [-5.33246098e-03 9.99984565e-01 -1.56047985e-03 -2.76226222e+00] [-1.59737169e-03 1.55198201e-03 9.99997520e-01 -6.82732495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.390418555000004 meters Centerline goodness [0,1] 0.4916146078233806 Centerline is valid? [False, False] Translation: X:-20.86, Y:-2.76, Z:-0.68 [[ 9.99951125e-01 9.72559569e-03 1.77754390e-03 -2.08562183e+01] [-9.72991523e-03 9.99949692e-01 2.43778307e-03 -2.75720044e+00] [-1.75374559e-03 -2.45495927e-03 9.99995449e-01 -6.82810651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.420418555 meters Centerline goodness [0,1] 0.4980083267694385 Centerline is valid? [False, False] Translation: X:-20.86, Y:-2.75, Z:-0.68 [[ 9.99949505e-01 9.88759439e-03 1.79497565e-03 -2.08566451e+01] [-9.89095088e-03 9.99949333e-01 1.87079103e-03 -2.75363064e+00] [-1.77638708e-03 -1.88845058e-03 9.99996639e-01 -6.81878672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.450418555 meters Centerline goodness [0,1] 0.4925037143757598 Centerline is valid? [False, False] Translation: X:-20.86, Y:-2.75, Z:-0.68 [[ 9.99980002e-01 6.11067117e-03 1.62970265e-03 -2.08562697e+01] [-6.10574851e-03 9.99976834e-01 -3.00865356e-03 -2.75010202e+00] [-1.64804978e-03 2.99864284e-03 9.99994146e-01 -6.81918025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.480418555 meters Centerline goodness [0,1] 0.5040734109221128 Centerline is valid? [False, False] Translation: X:-20.86, Y:-2.75, Z:-0.68 [[ 9.99976415e-01 6.63502911e-03 1.77379272e-03 -2.08569855e+01] [-6.62874941e-03 9.99971824e-01 -3.52300611e-03 -2.74520596e+00] [-1.79711799e-03 3.51116500e-03 9.99992221e-01 -6.81431807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.510418555 meters Centerline goodness [0,1] 0.4754502284741511 Centerline is valid? [False, False] Translation: X:-20.87, Y:-2.74, Z:-0.68 [[ 9.99943012e-01 1.00178104e-02 3.69004643e-03 -2.08659122e+01] [-1.00149210e-02 9.99949529e-01 -8.00673620e-04 -2.74025923e+00] [-3.69788119e-03 7.63672467e-04 9.99992871e-01 -6.76305150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.540418555 meters Centerline goodness [0,1] 0.47336802376219933 Centerline is valid? [False, False] Translation: X:-20.86, Y:-2.74, Z:-0.68 [[ 9.99912495e-01 1.29133513e-02 2.87176509e-03 -2.08606074e+01] [-1.29200200e-02 9.99913851e-01 2.31586125e-03 -2.73896404e+00] [-2.84161216e-03 -2.35276186e-03 9.99993195e-01 -6.80376665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.570418555 meters Centerline goodness [0,1] 0.4826697476004266 Centerline is valid? [False, False] Translation: X:-20.85, Y:-2.74, Z:-0.69 [[ 9.99880619e-01 1.53740727e-02 1.54470471e-03 -2.08522983e+01] [-1.53814784e-02 9.99869679e-01 4.90253224e-03 -2.73621915e+00] [-1.46913152e-03 -4.92570681e-03 9.99986789e-01 -6.86879766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.600418555 meters Centerline goodness [0,1] 0.48812402540170396 Centerline is valid? [False, False] Translation: X:-20.89, Y:-2.74, Z:-0.69 [[ 9.99938868e-01 1.08609600e-02 -2.07348581e-03 -2.08898474e+01] [-1.08602864e-02 9.99940969e-01 3.35854560e-04 -2.73504860e+00] [ 2.07701111e-03 -3.13315379e-04 9.99997794e-01 -6.91193008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.630418555 meters Centerline goodness [0,1] 0.484403876493126 Centerline is valid? [False, False] Translation: X:-20.89, Y:-2.73, Z:-0.69 [[ 9.99973640e-01 7.00116397e-03 -1.92409994e-03 -2.08915962e+01] [-7.00963111e-03 9.99965621e-01 -4.42963814e-03 -2.73264570e+00] [ 1.89302117e-03 4.44300861e-03 9.99988338e-01 -6.89314055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.660418555 meters Centerline goodness [0,1] 0.4638668350775893 Centerline is valid? [False, False] Translation: X:-20.90, Y:-2.73, Z:-0.68 [[ 9.99945559e-01 1.04302095e-02 -2.98231305e-04 -2.08996275e+01] [-1.04306581e-02 9.99944407e-01 -1.54424092e-03 -2.72682756e+00] [ 2.82107969e-04 1.54726760e-03 9.99998763e-01 -6.84170286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.690418555 meters Centerline goodness [0,1] 0.4446634120123617 Centerline is valid? [False, False] Translation: X:-20.88, Y:-2.72, Z:-0.68 [[ 9.99941356e-01 1.05407833e-02 2.48525742e-03 -2.08780465e+01] [-1.05593237e-02 9.99915602e-01 7.56894702e-03 -2.72067286e+00] [-2.40526504e-03 -7.59474578e-03 9.99968267e-01 -6.83142197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.720418555 meters Centerline goodness [0,1] 0.44773534835604734 Centerline is valid? [False, False] Translation: X:-20.88, Y:-2.72, Z:-0.68 [[ 9.99979117e-01 6.13077672e-03 2.04446280e-03 -2.08760080e+01] [-6.13661856e-03 9.99977071e-01 2.86347048e-03 -2.72031287e+00] [-2.02686062e-03 -2.87595677e-03 9.99993810e-01 -6.84617878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.750418555 meters Centerline goodness [0,1] 0.46718795510048616 Centerline is valid? [False, False] Translation: X:-20.88, Y:-2.72, Z:-0.68 [[ 9.99995724e-01 1.82736163e-03 2.28308301e-03 -2.08772405e+01] [-1.82382109e-03 9.99997133e-01 -1.55189183e-03 -2.72132123e+00] [-2.28591233e-03 1.54772126e-03 9.99996190e-01 -6.83897968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.780418555000004 meters Centerline goodness [0,1] 0.49662690434704915 Centerline is valid? [False, False] Translation: X:-20.88, Y:-2.72, Z:-0.68 [[ 9.99979415e-01 5.60970389e-03 3.11459373e-03 -2.08806473e+01] [-5.61837573e-03 9.99980346e-01 2.78252649e-03 -2.71874333e+00] [-3.09892336e-03 -2.79996817e-03 9.99991278e-01 -6.82014001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.810418555 meters Centerline goodness [0,1] 0.4770114942528736 Centerline is valid? [False, False] Translation: X:-20.87, Y:-2.72, Z:-0.69 [[ 9.99986487e-01 4.79160028e-03 2.01662396e-03 -2.08746861e+01] [-4.79580148e-03 9.99986329e-01 2.08363212e-03 -2.71554919e+00] [-2.00661246e-03 -2.09327529e-03 9.99995796e-01 -6.86268137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.840418555 meters Centerline goodness [0,1] 0.48197996780540153 Centerline is valid? [False, False] Translation: X:-20.87, Y:-2.72, Z:-0.69 [[ 9.99999288e-01 2.36014372e-04 1.16940265e-03 -2.08707981e+01] [-2.33512029e-04 9.99997684e-01 -2.13952182e-03 -2.71816596e+00] [-1.16990490e-03 2.13924722e-03 9.99997027e-01 -6.88983962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.870418555 meters Centerline goodness [0,1] 0.49120132708646236 Centerline is valid? [False, False] Translation: X:-20.87, Y:-2.72, Z:-0.69 [[ 9.99989105e-01 -4.63723757e-03 5.34364816e-04 -2.08683026e+01] [ 4.64062166e-03 9.99968003e-01 -6.51598140e-03 -2.72066702e+00] [-5.04131564e-04 6.51839020e-03 9.99978628e-01 -6.90108317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.900418555 meters Centerline goodness [0,1] 0.5025030170294551 Centerline is valid? [False, False] Translation: X:-20.87, Y:-2.72, Z:-0.69 [[ 9.99988474e-01 -4.69854826e-03 9.87956691e-04 -2.08710470e+01] [ 4.70475645e-03 9.99968590e-01 -6.37835779e-03 -2.72160135e+00] [-9.57956637e-04 6.38293237e-03 9.99979170e-01 -6.87616255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.930418555 meters Centerline goodness [0,1] 0.500674066418011 Centerline is valid? [False, False] Translation: X:-20.88, Y:-2.72, Z:-0.68 [[ 9.99993219e-01 -1.40780015e-03 3.40297094e-03 -2.08843527e+01] [ 1.41778084e-03 9.99994696e-01 -2.93230378e-03 -2.72230851e+00] [-3.39882479e-03 2.93710856e-03 9.99989911e-01 -6.78139749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.960418555000004 meters Centerline goodness [0,1] 0.5039796820789587 Centerline is valid? [False, False] Translation: X:-20.88, Y:-2.72, Z:-0.68 [[ 9.99990175e-01 2.66003605e-03 3.54612268e-03 -2.08845921e+01] [-2.66457453e-03 9.99995636e-01 1.27573514e-03 -2.72191997e+00] [-3.54271370e-03 -1.28517151e-03 9.99992899e-01 -6.78535907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.990418555 meters Centerline goodness [0,1] 0.5004849879316957 Centerline is valid? [False, False] Translation: X:-20.88, Y:-2.72, Z:-0.68 [[ 9.99990775e-01 3.04716495e-03 3.02738045e-03 -2.08818361e+01] [-3.05072950e-03 9.99994658e-01 1.17351905e-03 -2.71837695e+00] [-3.02378837e-03 -1.18274395e-03 9.99994729e-01 -6.80746802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.020418555 meters Centerline goodness [0,1] 0.48800461616991053 Centerline is valid? [False, False] Translation: X:-20.83, Y:-2.72, Z:-0.68 [[ 9.99996236e-01 2.31121038e-03 1.47867547e-03 -2.08298897e+01] [-2.30733238e-03 9.99993909e-01 -2.61896803e-03 -2.71603426e+00] [-1.48471945e-03 2.61554638e-03 9.99995477e-01 -6.83705278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.050418555 meters Centerline goodness [0,1] 0.49879507218305896 Centerline is valid? [False, False] Translation: X:-20.87, Y:-2.71, Z:-0.68 [[ 9.99992659e-01 3.78299103e-03 -6.09761483e-04 -2.08740105e+01] [-3.78491582e-03 9.99987759e-01 -3.18700145e-03 -2.71173634e+00] [ 5.97697621e-04 3.18928595e-03 9.99994736e-01 -6.82229321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.080418555 meters Centerline goodness [0,1] 0.4934393726748201 Centerline is valid? [False, False] Translation: X:-20.85, Y:-2.70, Z:-0.68 [[ 9.99996242e-01 1.56143212e-03 2.25324909e-03 -2.08535243e+01] [-1.56782406e-03 9.99994744e-01 2.83779593e-03 -2.70450202e+00] [-2.24880622e-03 -2.84131797e-03 9.99993435e-01 -6.81055195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.110418555 meters Centerline goodness [0,1] 0.5019555535459951 Centerline is valid? [False, False] Translation: X:-20.88, Y:-2.70, Z:-0.67 [[ 9.99977021e-01 6.77430591e-03 -2.57223057e-04 -2.08837718e+01] [-6.77456420e-03 9.99976535e-01 -1.01691232e-03 -2.70233574e+00] [ 2.50328146e-04 1.01863152e-03 9.99999450e-01 -6.74083085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.140418555000004 meters Centerline goodness [0,1] 0.4960151380231522 Centerline is valid? [False, False] Translation: X:-20.86, Y:-2.70, Z:-0.68 [[ 9.99994238e-01 1.76834754e-03 2.89757141e-03 -2.08591395e+01] [-1.77464635e-03 9.99996065e-01 2.17269625e-03 -2.69835669e+00] [-2.89371793e-03 -2.17782589e-03 9.99993442e-01 -6.77770259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.170418555 meters Centerline goodness [0,1] 0.4650200237152382 Centerline is valid? [False, False] Translation: X:-20.85, Y:-2.70, Z:-0.68 [[ 9.99991185e-01 3.91459394e-03 1.51879789e-03 -2.08510596e+01] [-3.92135650e-03 9.99982297e-01 4.47544755e-03 -2.69550411e+00] [-1.50125144e-03 -4.48136384e-03 9.99988832e-01 -6.83546465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.200418555 meters Centerline goodness [0,1] 0.49958942719545485 Centerline is valid? [False, False] Translation: X:-20.85, Y:-2.70, Z:-0.69 [[ 9.99999736e-01 -2.66253826e-04 6.76355464e-04 -2.08472259e+01] [ 2.66058937e-04 9.99999923e-01 2.88220548e-04 -2.69592792e+00] [-6.76432152e-04 -2.88040522e-04 9.99999730e-01 -6.85887494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.230418555 meters Centerline goodness [0,1] 0.47958606009827676 Centerline is valid? [False, False] Translation: X:-20.91, Y:-2.70, Z:-0.68 [[ 9.99957045e-01 -8.56292494e-03 3.54741656e-03 -2.09059674e+01] [ 8.58610909e-03 9.99941538e-01 -6.57265537e-03 -2.70046128e+00] [-3.49092801e-03 6.60283155e-03 9.99972108e-01 -6.79813155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.260418555 meters Centerline goodness [0,1] 0.5080830882185283 Centerline is valid? [False, False] Translation: X:-20.91, Y:-2.70, Z:-0.68 [[ 9.99975921e-01 -5.29084110e-03 4.49047406e-03 -2.09100659e+01] [ 5.29968491e-03 9.99984036e-01 -1.95985204e-03 -2.70128956e+00] [-4.48003311e-03 1.98360295e-03 9.99987997e-01 -6.77521710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.290418555 meters Centerline goodness [0,1] 0.47921363513391646 Centerline is valid? [False, False] Translation: X:-20.91, Y:-2.70, Z:-0.68 [[ 9.99942183e-01 -9.74143718e-03 4.55348853e-03 -2.09093457e+01] [ 9.76577073e-03 9.99937988e-01 -5.35260216e-03 -2.70410279e+00] [-4.50106412e-03 5.39676101e-03 9.99975307e-01 -6.78631754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.320418555 meters Centerline goodness [0,1] 0.5007350320741268 Centerline is valid? [False, False] Translation: X:-20.88, Y:-2.71, Z:-0.68 [[ 9.99958784e-01 -8.52960480e-03 3.11074104e-03 -2.08811665e+01] [ 8.57171542e-03 9.99868243e-01 -1.37848689e-02 -2.70798705e+00] [-2.99275170e-03 1.38109651e-02 9.99900145e-01 -6.80785120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.350418555 meters Centerline goodness [0,1] 0.4893296732489153 Centerline is valid? [False, False] Translation: X:-20.88, Y:-2.71, Z:-0.68 [[ 9.99959038e-01 -8.82643447e-03 2.00395285e-03 -2.08765728e+01] [ 8.85299065e-03 9.99867585e-01 -1.36541600e-02 -2.71005633e+00] [-1.88316995e-03 1.36713416e-02 9.99904770e-01 -6.83223535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.380418555 meters Centerline goodness [0,1] 0.49910181632698325 Centerline is valid? [False, False] Translation: X:-20.88, Y:-2.71, Z:-0.68 [[ 9.99988451e-01 -3.50039264e-03 3.29322604e-03 -2.08840607e+01] [ 3.52523661e-03 9.99965144e-01 -7.56864814e-03 -2.71023894e+00] [-3.26661801e-03 7.58017013e-03 9.99965935e-01 -6.78283896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.410418555 meters Centerline goodness [0,1] 0.4992195165462492 Centerline is valid? [False, False] Translation: X:-20.89, Y:-2.71, Z:-0.68 [[ 9.99984860e-01 -3.99577029e-03 3.78330238e-03 -2.08869818e+01] [ 4.02519917e-03 9.99961453e-01 -7.80322524e-03 -2.71240713e+00] [-3.75197665e-03 7.81833564e-03 9.99962397e-01 -6.75750587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.440418555 meters Centerline goodness [0,1] 0.504965501640086 Centerline is valid? [False, False] Translation: X:-20.93, Y:-2.71, Z:-0.68 [[ 9.99973386e-01 -7.11281655e-03 1.62341637e-03 -2.09286171e+01] [ 7.12954860e-03 9.99918986e-01 -1.05447602e-02 -2.71391475e+00] [-1.54828190e-03 1.05560538e-02 9.99943085e-01 -6.79728489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.470418555 meters Centerline goodness [0,1] 0.4783237657864523 Centerline is valid? [False, False] Translation: X:-20.97, Y:-2.71, Z:-0.68 [[ 9.99988919e-01 -4.70720740e-03 -5.64477823e-05 -2.09728617e+01] [ 4.70665012e-03 9.99960672e-01 -7.51681652e-03 -2.71406415e+00] [ 9.18287767e-05 7.51646755e-03 9.99971747e-01 -6.81977499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.500418555 meters Centerline goodness [0,1] 0.12802316841314054 Centerline is valid? [False, False] Translation: X:-20.91, Y:-2.71, Z:-0.68 [[ 9.99978110e-01 -5.15278925e-03 4.15079814e-03 -2.09088160e+01] [ 5.15975493e-03 9.99985295e-01 -1.66919797e-03 -2.71232469e+00] [-4.14213608e-03 1.69057853e-03 9.99989992e-01 -6.80395623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.530418555000004 meters Centerline goodness [0,1] 0.5014949350707305 Centerline is valid? [False, False] Translation: X:-20.93, Y:-2.72, Z:-0.68 [[ 9.99994207e-01 2.32475771e-03 2.48607399e-03 -2.09317661e+01] [-2.31672070e-03 9.99992097e-01 -3.23081906e-03 -2.71690482e+00] [-2.49356521e-03 3.22504081e-03 9.99991691e-01 -6.80913574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.560418555 meters Centerline goodness [0,1] 0.4833692916217188 Centerline is valid? [False, False] Translation: X:-20.95, Y:-2.72, Z:-0.68 [[ 9.99990486e-01 -2.81850271e-03 -3.32922337e-03 -2.09530439e+01] [ 2.81956200e-03 9.99995976e-01 3.13527409e-04 -2.71905881e+00] [ 3.32832630e-03 -3.22911378e-04 9.99994409e-01 -6.77264930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.590418555 meters Centerline goodness [0,1] 0.48021397555844036 Centerline is valid? [False, False] Translation: X:-20.95, Y:-2.72, Z:-0.68 [[ 9.99991681e-01 -2.46962211e-03 -3.24640817e-03 -2.09537855e+01] [ 2.47191079e-03 9.99996699e-01 7.01162665e-04 -2.71946669e+00] [ 3.24466585e-03 -7.09181664e-04 9.99994485e-01 -6.76537628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.620418555 meters Centerline goodness [0,1] 0.44085876619730957 Centerline is valid? [False, False] Translation: X:-20.96, Y:-2.72, Z:-0.67 [[ 9.99993327e-01 -2.48131529e-03 -2.68115624e-03 -2.09562426e+01] [ 2.48393259e-03 9.99996441e-01 9.73294796e-04 -2.72010296e+00] [ 2.67873165e-03 -9.79948113e-04 9.99995932e-01 -6.74892206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.650418555 meters Centerline goodness [0,1] 0.4684573956959932 Centerline is valid? [False, False] Translation: X:-20.95, Y:-2.72, Z:-0.68 [[ 9.99991892e-01 -2.69178006e-03 -2.99493527e-03 -2.09549752e+01] [ 2.69560048e-03 9.99995557e-01 1.27232329e-03 -2.72328202e+00] [ 2.99149715e-03 -1.28038612e-03 9.99994706e-01 -6.75443836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.680418555 meters Centerline goodness [0,1] 0.47839214095804605 Centerline is valid? [False, False] Translation: X:-20.95, Y:-2.73, Z:-0.68 [[ 9.99988648e-01 -2.88556735e-03 -3.79178236e-03 -2.09512659e+01] [ 2.89085121e-03 9.99994857e-01 1.38876321e-03 -2.72539246e+00] [ 3.78775549e-03 -1.39970893e-03 9.99991847e-01 -6.78259759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.710418555000004 meters Centerline goodness [0,1] 0.49918152457638365 Centerline is valid? [False, False] Translation: X:-20.91, Y:-2.73, Z:-0.67 [[ 9.99994705e-01 -2.87145311e-03 -1.53126433e-03 -2.09106077e+01] [ 2.87246279e-03 9.99995658e-01 6.57584362e-04 -2.72532445e+00] [ 1.52936946e-03 -6.61979380e-04 9.99998611e-01 -6.74684400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.740418555 meters Centerline goodness [0,1] 0.4932477603957748 Centerline is valid? [False, False] Translation: X:-20.92, Y:-2.73, Z:-0.67 [[ 9.99991700e-01 -4.01367777e-03 7.00609288e-04 -2.09227645e+01] [ 4.01381134e-03 9.99991927e-01 -1.89340221e-04 -2.72651100e+00] [-6.99843682e-04 1.92150763e-04 9.99999737e-01 -6.66312226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.770418555 meters Centerline goodness [0,1] 0.44585761450001105 Centerline is valid? [False, False] Translation: X:-20.92, Y:-2.73, Z:-0.67 [[ 9.99992000e-01 -3.97107888e-03 4.79371864e-04 -2.09212247e+01] [ 3.97107917e-03 9.99992115e-01 3.44041425e-07 -2.72692015e+00] [-4.79369450e-04 1.55958495e-06 9.99999885e-01 -6.67882154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.800418555 meters Centerline goodness [0,1] 0.47249183547628293 Centerline is valid? [False, False] Translation: X:-20.96, Y:-2.73, Z:-0.67 [[ 9.99988641e-01 -4.30314816e-03 -2.04979165e-03 -2.09612572e+01] [ 4.30461319e-03 9.99990482e-01 7.10842301e-04 -2.72612044e+00] [ 2.04671328e-03 -7.19657787e-04 9.99997647e-01 -6.73546294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.830418555 meters Centerline goodness [0,1] 0.4691479615208429 Centerline is valid? [False, False] Translation: X:-20.96, Y:-2.73, Z:-0.67 [[ 9.99987737e-01 -4.57744578e-03 -1.89044745e-03 -2.09618688e+01] [ 4.57841423e-03 9.99989390e-01 5.08275700e-04 -2.72741261e+00] [ 1.88810078e-03 -5.16924719e-04 9.99998084e-01 -6.73240141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.860418555 meters Centerline goodness [0,1] 0.504737568123742 Centerline is valid? [False, False] Translation: X:-20.94, Y:-2.73, Z:-0.67 [[ 9.99997766e-01 2.07618149e-03 3.96410527e-04 -2.09383078e+01] [-2.07489248e-03 9.99992647e-01 -3.22489032e-03 -2.72658012e+00] [-4.03103070e-04 3.22406061e-03 9.99994721e-01 -6.74607518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.890418555000004 meters Centerline goodness [0,1] 0.48094254386960567 Centerline is valid? [False, False] Translation: X:-20.93, Y:-2.72, Z:-0.68 [[ 9.99985286e-01 5.37693269e-03 -7.19232434e-04 -2.09324629e+01] [-5.37709956e-03 9.99985517e-01 -2.30280654e-04 -2.72244960e+00] [ 7.17983814e-04 2.34144650e-04 9.99999715e-01 -6.78744726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.920418555 meters Centerline goodness [0,1] 0.48094254386960567 Centerline is valid? [False, False] Translation: X:-20.93, Y:-2.72, Z:-0.68 [[ 9.99985286e-01 5.37693269e-03 -7.19232434e-04 -2.09324629e+01] [-5.37709956e-03 9.99985517e-01 -2.30280654e-04 -2.72244960e+00] [ 7.17983814e-04 2.34144650e-04 9.99999715e-01 -6.78744726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.950418555 meters Centerline goodness [0,1] 0.48247826674474126 Centerline is valid? [False, False] Translation: X:-20.93, Y:-2.72, Z:-0.68 [[ 9.99981483e-01 5.97955412e-03 -1.13117144e-03 -2.09307578e+01] [-5.97985689e-03 9.99982086e-01 -2.64472339e-04 -2.71736747e+00] [ 1.12956975e-03 2.71231685e-04 9.99999325e-01 -6.79188295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.980418555 meters Centerline goodness [0,1] 0.5019770838013929 Centerline is valid? [False, False] Translation: X:-20.94, Y:-2.72, Z:-0.67 [[ 9.99992816e-01 3.69837691e-03 8.30729678e-04 -2.09408526e+01] [-3.69576646e-03 9.99988296e-01 -3.12221438e-03 -2.71760693e+00] [-8.42267082e-04 3.11912177e-03 9.99994781e-01 -6.71843926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.010418555 meters Centerline goodness [0,1] 0.4790765437633083 Centerline is valid? [False, False] Translation: X:-20.94, Y:-2.71, Z:-0.67 [[ 9.99991174e-01 3.90326678e-03 1.55479651e-03 -2.09439844e+01] [-3.89757832e-03 9.99985761e-01 -3.64503402e-03 -2.71429621e+00] [-1.56900191e-03 3.63894190e-03 9.99992148e-01 -6.69785814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.040418555 meters Centerline goodness [0,1] 0.5044329225865822 Centerline is valid? [False, False] Translation: X:-20.94, Y:-2.71, Z:-0.68 [[ 9.99936877e-01 1.12320009e-02 2.90996453e-04 -2.09365056e+01] [-1.12328288e-02 9.99932350e-01 3.01981404e-03 -2.70622476e+00] [-2.57058213e-04 -3.02289213e-03 9.99995398e-01 -6.75394517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.070418555 meters Centerline goodness [0,1] 0.4985770429597507 Centerline is valid? [False, False] Translation: X:-20.93, Y:-2.71, Z:-0.68 [[ 9.99970984e-01 7.61086978e-03 -3.26719072e-04 -2.09335473e+01] [-7.61128266e-03 9.99970212e-01 -1.28163488e-03 -2.70502117e+00] [ 3.16954983e-04 1.28408444e-03 9.99999125e-01 -6.77714987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.100418555 meters Centerline goodness [0,1] 0.4859549934076739 Centerline is valid? [False, False] Translation: X:-20.93, Y:-2.70, Z:-0.68 [[ 9.99972401e-01 7.39119201e-03 -7.53176730e-04 -2.09327825e+01] [-7.39284304e-03 9.99970223e-01 -2.21340560e-03 -2.70480324e+00] [ 7.36794597e-04 2.21891263e-03 9.99997267e-01 -6.77366351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.130418555 meters Centerline goodness [0,1] 0.47375313269061436 Centerline is valid? [False, False] Translation: X:-20.96, Y:-2.70, Z:-0.67 [[ 9.99929134e-01 1.18941682e-02 -5.06410328e-04 -2.09623846e+01] [-1.18869770e-02 9.99852474e-01 1.23987539e-02 -2.69864199e+00] [ 6.53808485e-04 -1.23918556e-02 9.99923004e-01 -6.73760927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.160418555 meters Centerline goodness [0,1] 0.4692312865693725 Centerline is valid? [False, False] Translation: X:-20.96, Y:-2.70, Z:-0.67 [[ 9.99925557e-01 1.22015810e-02 -4.16386650e-05 -2.09638478e+01] [-1.22001719e-02 9.99851588e-01 1.21638113e-02 -2.69502580e+00] [ 1.90050214e-04 -1.21623978e-02 9.99926017e-01 -6.72916647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.190418555 meters Centerline goodness [0,1] 0.45863763411775316 Centerline is valid? [False, False] Translation: X:-20.96, Y:-2.69, Z:-0.67 [[ 9.99987151e-01 5.06725799e-03 -1.43871657e-04 -2.09641885e+01] [-5.06687375e-03 9.99983897e-01 2.55601528e-03 -2.69078252e+00] [ 1.56821329e-04 -2.55525346e-03 9.99996723e-01 -6.72588706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.220418555 meters Centerline goodness [0,1] 0.450909499214013 Centerline is valid? [False, False] Translation: X:-20.96, Y:-2.69, Z:-0.67 [[ 9.99958522e-01 9.09455586e-03 -4.93594820e-04 -2.09625422e+01] [-9.09130242e-03 9.99939231e-01 6.23560394e-03 -2.68780084e+00] [ 5.50274873e-04 -6.23085788e-03 9.99980437e-01 -6.73957009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.250418555 meters Centerline goodness [0,1] 0.43821414888102594 Centerline is valid? [False, False] Translation: X:-20.96, Y:-2.68, Z:-0.67 [[ 9.99905014e-01 1.37581203e-02 -8.23315436e-04 -2.09608490e+01] [-1.37490287e-02 9.99853626e-01 1.01828729e-02 -2.68186878e+00] [ 9.63292114e-04 -1.01705859e-02 9.99947814e-01 -6.74891656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.280418555000004 meters Centerline goodness [0,1] 0.4268163476927932 Centerline is valid? [False, False] Translation: X:-20.96, Y:-2.68, Z:-0.67 [[ 9.99900821e-01 1.40817257e-02 -2.30998518e-04 -2.09636650e+01] [-1.40788107e-02 9.99853509e-01 9.73382463e-03 -2.68048337e+00] [ 3.68033728e-04 -9.72960706e-03 9.99952599e-01 -6.72626836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.310418555 meters Centerline goodness [0,1] 0.48665159889900866 Centerline is valid? [False, False] Translation: X:-20.97, Y:-2.68, Z:-0.67 [[ 9.99913960e-01 1.30253472e-02 1.55319280e-03 -2.09723719e+01] [-1.30371881e-02 9.99884008e-01 7.87409189e-03 -2.67867871e+00] [-1.45044986e-03 -7.89366367e-03 9.99967793e-01 -6.67771483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.340418555 meters Centerline goodness [0,1] 0.37351079881989957 Centerline is valid? [False, False] Translation: X:-20.99, Y:-2.68, Z:-0.67 [[ 9.99939253e-01 1.10038447e-02 -6.37546399e-04 -2.09948518e+01] [-1.09917000e-02 9.99800817e-01 1.66585942e-02 -2.67702544e+00] [ 8.20727994e-04 -1.66505745e-02 9.99861033e-01 -6.68285888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.370418555 meters Centerline goodness [0,1] 0.397216780382355 Centerline is valid? [False, False] Translation: X:-20.98, Y:-2.68, Z:-0.68 [[ 9.99930818e-01 1.13660593e-02 -3.02855428e-03 -2.09827750e+01] [-1.13137147e-02 9.99795297e-01 1.67738861e-02 -2.67630406e+00] [ 3.21858731e-03 -1.67384614e-02 9.99854722e-01 -6.76211221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.400418555 meters Centerline goodness [0,1] 0.380575296108291 Centerline is valid? [False, False] Translation: X:-20.98, Y:-2.67, Z:-0.68 [[ 9.99958502e-01 8.29673539e-03 -3.76278219e-03 -2.09800448e+01] [-8.24917138e-03 9.99888035e-01 1.24847482e-02 -2.67335181e+00] [ 3.86594354e-03 -1.24531902e-02 9.99914983e-01 -6.77693832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.430418555 meters Centerline goodness [0,1] 0.49975060082528455 Centerline is valid? [False, False] Translation: X:-20.99, Y:-2.67, Z:-0.67 [[ 9.99961948e-01 8.64793797e-03 -1.14715098e-03 -2.09933618e+01] [-8.63258690e-03 9.99881165e-01 1.27724065e-02 -2.67378962e+00] [ 1.25746963e-03 -1.27620176e-02 9.99917771e-01 -6.68821909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.460418555000004 meters Centerline goodness [0,1] 0.38052977133801225 Centerline is valid? [False, False] Translation: X:-21.00, Y:-2.67, Z:-0.67 [[ 9.99956824e-01 9.27564587e-03 -5.59322411e-04 -2.09960062e+01] [-9.26736910e-03 9.99868231e-01 1.33280109e-02 -2.67047617e+00] [ 6.82874619e-04 -1.33222520e-02 9.99911022e-01 -6.67022275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.490418555 meters Centerline goodness [0,1] 0.4943450314662605 Centerline is valid? [False, False] Translation: X:-20.99, Y:-2.67, Z:-0.67 [[ 9.99966930e-01 7.92995742e-03 -1.80421428e-03 -2.09887121e+01] [-7.90800330e-03 9.99898322e-01 1.18662922e-02 -2.66906197e+00] [ 1.89813003e-03 -1.18516321e-02 9.99927965e-01 -6.72527242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.520418555 meters Centerline goodness [0,1] 0.5055452865064696 Centerline is valid? [False, False] Translation: X:-20.98, Y:-2.67, Z:-0.68 [[ 9.99993373e-01 2.35074918e-03 -2.77973640e-03 -2.09824111e+01] [-2.33395236e-03 9.99979093e-01 6.03047530e-03 -2.66952692e+00] [ 2.79385442e-03 -6.02394757e-03 9.99977953e-01 -6.77817684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.550418555 meters Centerline goodness [0,1] 0.38471446972949763 Centerline is valid? [False, False] Translation: X:-20.98, Y:-2.67, Z:-0.68 [[ 9.99994436e-01 2.32666894e-03 -2.39053090e-03 -2.09844675e+01] [-2.31148601e-03 9.99977265e-01 6.33453315e-03 -2.67103002e+00] [ 2.40521491e-03 -6.32897223e-03 9.99977079e-01 -6.76179948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.580418555 meters Centerline goodness [0,1] 0.3807983715933507 Centerline is valid? [False, False] Translation: X:-20.99, Y:-2.67, Z:-0.67 [[ 9.99995396e-01 2.18352949e-03 -2.10734224e-03 -2.09861004e+01] [-2.16936931e-03 9.99975212e-01 6.69850668e-03 -2.67236466e+00] [ 2.12191639e-03 -6.69390423e-03 9.99975344e-01 -6.74628268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.610418555 meters Centerline goodness [0,1] 0.4990207334368879 Centerline is valid? [False, False] Translation: X:-20.99, Y:-2.68, Z:-0.67 [[ 9.99996236e-01 -2.16792281e-03 -1.68156916e-03 -2.09877694e+01] [ 2.17412650e-03 9.99990806e-01 3.69621307e-03 -2.67737384e+00] [ 1.67354060e-03 -3.69985510e-03 9.99991755e-01 -6.73365119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.640418555000004 meters Centerline goodness [0,1] 0.41761357294340884 Centerline is valid? [False, False] Translation: X:-20.99, Y:-2.68, Z:-0.67 [[ 9.99978091e-01 -6.45165587e-03 -1.48130196e-03 -2.09875852e+01] [ 6.45245045e-03 9.99979041e-01 5.32249590e-04 -2.67897717e+00] [ 1.47783702e-03 -5.41795956e-04 9.99998761e-01 -6.74168722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.670418555 meters Centerline goodness [0,1] 0.5019187358916479 Centerline is valid? [False, False] Translation: X:-21.03, Y:-2.68, Z:-0.68 [[ 9.99934357e-01 -1.10500037e-02 -3.02961423e-03 -2.10299349e+01] [ 1.10470420e-02 9.99938487e-01 -9.92576172e-04 -2.68320567e+00] [ 3.04039584e-03 9.59042741e-04 9.99994918e-01 -6.77143954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.700418555 meters Centerline goodness [0,1] 0.48955937606740296 Centerline is valid? [False, False] Translation: X:-21.05, Y:-2.69, Z:-0.68 [[ 9.99861447e-01 -1.61204850e-02 -4.14925516e-03 -2.10537940e+01] [ 1.60571766e-02 9.99760588e-01 -1.48638117e-02 -2.68872250e+00] [ 4.38787363e-03 1.47951270e-02 9.99880918e-01 -6.76792620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.730418555 meters Centerline goodness [0,1] 0.4915786404718653 Centerline is valid? [False, False] Translation: X:-21.03, Y:-2.69, Z:-0.68 [[ 9.99890707e-01 -1.41335490e-02 -4.33788365e-03 -2.10268909e+01] [ 1.40348240e-02 9.99659396e-01 -2.20026504e-02 -2.69100220e+00] [ 4.64738169e-03 2.19393643e-02 9.99748501e-01 -6.78915800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.760418555 meters Centerline goodness [0,1] 0.4798168861627278 Centerline is valid? [False, False] Translation: X:-21.05, Y:-2.69, Z:-0.68 [[ 9.99771076e-01 -2.05208582e-02 -6.05721742e-03 -2.10496963e+01] [ 2.04201876e-02 9.99659606e-01 -1.62384898e-02 -2.69244379e+00] [ 6.38838333e-03 1.61110829e-02 9.99849800e-01 -6.79132469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.790418555 meters Centerline goodness [0,1] 0.45280767325618043 Centerline is valid? [False, False] Translation: X:-21.06, Y:-2.70, Z:-0.68 [[ 9.99761731e-01 -2.13283519e-02 -4.64564123e-03 -2.10550644e+01] [ 2.12526400e-02 9.99649616e-01 -1.57788051e-02 -2.69675057e+00] [ 4.98054938e-03 1.56763133e-02 9.99864715e-01 -6.76098097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.820418555 meters Centerline goodness [0,1] 0.35987602015787357 Centerline is valid? [False, False] Translation: X:-21.05, Y:-2.70, Z:-0.68 [[ 9.99549150e-01 -2.96445518e-02 -4.76421919e-03 -2.10532387e+01] [ 2.95278566e-02 9.99300746e-01 -2.29374010e-02 -2.70191798e+00] [ 5.44085676e-03 2.27863824e-02 9.99725551e-01 -6.77662378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.850418555 meters Centerline goodness [0,1] 0.4076867491644838 Centerline is valid? [False, False] Translation: X:-21.08, Y:-2.70, Z:-0.67 [[ 9.99527680e-01 -2.90435340e-02 -1.00443676e-02 -2.10762517e+01] [ 2.87360826e-02 9.99151429e-01 -2.95069312e-02 -2.70326024e+00] [ 1.08928298e-02 2.92043587e-02 9.99514108e-01 -6.74621356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.880418555 meters Centerline goodness [0,1] 0.39221004424090167 Centerline is valid? [False, False] Translation: X:-21.05, Y:-2.71, Z:-0.68 [[ 9.99644340e-01 -2.55569005e-02 -7.61822989e-03 -2.10504282e+01] [ 2.52736822e-02 9.99060499e-01 -3.52045531e-02 -2.70519011e+00] [ 8.51079181e-03 3.49994915e-02 9.99351090e-01 -6.78117320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.910418555 meters Centerline goodness [0,1] 0.3961614616146162 Centerline is valid? [False, False] Translation: X:-21.05, Y:-2.71, Z:-0.68 [[ 9.99647869e-01 -2.55329206e-02 -7.22547061e-03 -2.10529199e+01] [ 2.52681011e-02 9.99080604e-01 -3.46333561e-02 -2.70980222e+00] [ 8.10311828e-03 3.44385867e-02 9.99373966e-01 -6.76092228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.940418555 meters Centerline goodness [0,1] 0.39435343167244463 Centerline is valid? [False, False] Translation: X:-21.06, Y:-2.71, Z:-0.67 [[ 9.99730914e-01 -2.21967167e-02 -6.73840218e-03 -2.10552795e+01] [ 2.19819172e-02 9.99295076e-01 -3.04326535e-02 -2.71412552e+00] [ 7.40915710e-03 3.02763415e-02 9.99514106e-01 -6.74911083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.970418555 meters Centerline goodness [0,1] 0.38128951821177304 Centerline is valid? [False, False] Translation: X:-21.03, Y:-2.72, Z:-0.68 [[ 9.99686780e-01 -2.48887842e-02 -2.62487711e-03 -2.10303750e+01] [ 2.48182608e-02 9.99400395e-01 -2.41434288e-02 -2.71933665e+00] [ 3.22420381e-03 2.40707218e-02 9.99705059e-01 -6.78609970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.000418555 meters Centerline goodness [0,1] 0.3992612567699245 Centerline is valid? [False, False] Translation: X:-21.05, Y:-2.72, Z:-0.68 [[ 9.99767863e-01 -2.04314078e-02 -6.83942381e-03 -2.10503785e+01] [ 2.02283751e-02 9.99387852e-01 -2.85435485e-02 -2.72278537e+00] [ 7.41842195e-03 2.83985720e-02 9.99569151e-01 -6.79953837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.030418555000004 meters Centerline goodness [0,1] 0.4022462750781215 Centerline is valid? [False, False] Translation: X:-21.05, Y:-2.72, Z:-0.68 [[ 9.99767593e-01 -2.03460276e-02 -7.12735762e-03 -2.10487894e+01] [ 2.01359982e-02 9.99393960e-01 -2.83946250e-02 -2.72416781e+00] [ 7.70075598e-03 2.82445095e-02 9.99571381e-01 -6.81340793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.060418555 meters Centerline goodness [0,1] 0.407207615593835 Centerline is valid? [False, False] Translation: X:-21.05, Y:-2.73, Z:-0.68 [[ 9.99836021e-01 -1.65321959e-02 -7.39043027e-03 -2.10491640e+01] [ 1.63472529e-02 9.99568093e-01 -2.44211988e-02 -2.72868597e+00] [ 7.79097434e-03 2.42963810e-02 9.99674440e-01 -6.79776682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.090418555 meters Centerline goodness [0,1] 0.4298461952378817 Centerline is valid? [False, False] Translation: X:-21.03, Y:-2.73, Z:-0.68 [[ 9.99964352e-01 -6.11386933e-03 -5.82363090e-03 -2.10273388e+01] [ 5.96916975e-03 9.99680821e-01 -2.45484220e-02 -2.73107656e+00] [ 5.97185796e-03 2.45127846e-02 9.99681679e-01 -6.78644081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.120418555 meters Centerline goodness [0,1] 0.45767159232150256 Centerline is valid? [False, False] Translation: X:-21.08, Y:-2.73, Z:-0.68 [[ 9.99986161e-01 -2.12676014e-03 -4.81197489e-03 -2.10806251e+01] [ 2.03676291e-03 9.99824354e-01 -1.86309887e-02 -2.73267809e+00] [ 4.85075332e-03 1.86209300e-02 9.99814848e-01 -6.75936038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.150418555 meters Centerline goodness [0,1] 0.49801971285836444 Centerline is valid? [False, False] Translation: X:-21.06, Y:-2.74, Z:-0.68 [[ 9.99997107e-01 -2.39542211e-03 2.19914538e-04 -2.10569769e+01] [ 2.39768277e-03 9.99937389e-01 -1.09301640e-02 -2.73618375e+00] [-1.93718413e-04 1.09306596e-02 9.99940240e-01 -6.79298529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.180418555 meters Centerline goodness [0,1] 0.4990311588231364 Centerline is valid? [False, False] Translation: X:-21.05, Y:-2.74, Z:-0.68 [[ 9.99991986e-01 -3.89093062e-03 -9.42297458e-04 -2.10513967e+01] [ 3.87772567e-03 9.99899563e-01 -1.36318324e-02 -2.73854165e+00] [ 9.95243331e-04 1.36280692e-02 9.99906638e-01 -6.82417140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.210418555000004 meters Centerline goodness [0,1] 0.4986225895316805 Centerline is valid? [False, False] Translation: X:-21.05, Y:-2.74, Z:-0.68 [[ 9.99999423e-01 5.60625260e-05 -1.07272539e-03 -2.10511217e+01] [-6.61372752e-05 9.99955873e-01 -9.39400248e-03 -2.74088152e+00] [ 1.07215140e-03 9.39406801e-03 9.99955300e-01 -6.82825364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.240418555 meters Centerline goodness [0,1] 0.4896236289992263 Centerline is valid? [False, False] Translation: X:-21.08, Y:-2.74, Z:-0.68 [[ 9.99994505e-01 -9.71946467e-04 -3.16935036e-03 -2.10802900e+01] [ 9.71586147e-04 9.99999521e-01 -1.15226478e-04 -2.74125548e+00] [ 3.16946084e-03 1.12146548e-04 9.99994971e-01 -6.77254620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.270418555 meters Centerline goodness [0,1] 0.4981334892506971 Centerline is valid? [False, False] Translation: X:-21.05, Y:-2.74, Z:-0.68 [[ 9.99990764e-01 3.51643513e-03 -2.47101201e-03 -2.10531510e+01] [-3.53217377e-03 9.99973319e-01 -6.39407415e-03 -2.74386768e+00] [ 2.44846174e-03 6.40274314e-03 9.99976505e-01 -6.79626296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.300418555 meters Centerline goodness [0,1] 0.48860903108690723 Centerline is valid? [False, False] Translation: X:-21.05, Y:-2.75, Z:-0.68 [[ 9.99990945e-01 3.29254506e-03 -2.69594084e-03 -2.10529386e+01] [-3.31025097e-03 9.99972809e-01 -6.58971146e-03 -2.74738702e+00] [ 2.67417062e-03 6.59857604e-03 9.99974653e-01 -6.79331296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.330418555 meters Centerline goodness [0,1] 0.49266536273115225 Centerline is valid? [False, False] Translation: X:-21.03, Y:-2.75, Z:-0.68 [[ 9.99995323e-01 2.78945556e-03 1.25410162e-03 -2.10306649e+01] [-2.79178348e-03 9.99994376e-01 1.85834891e-03 -2.74704608e+00] [-1.24891078e-03 -1.86184140e-03 9.99997487e-01 -6.81078303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.360418555 meters Centerline goodness [0,1] 0.49418749012437646 Centerline is valid? [False, False] Translation: X:-21.08, Y:-2.75, Z:-0.68 [[ 9.99997432e-01 2.26005633e-03 1.67589616e-04 -2.10758009e+01] [-2.26051365e-03 9.99993579e-01 2.78075574e-03 -2.74784231e+00] [-1.61303876e-04 -2.78112744e-03 9.99996120e-01 -6.83282782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.390418555000004 meters Centerline goodness [0,1] 0.49261814341250754 Centerline is valid? [False, False] Translation: X:-21.07, Y:-2.75, Z:-0.69 [[ 9.99999057e-01 3.10650117e-04 -1.33801776e-03 -2.10684479e+01] [-3.10328188e-04 9.99999923e-01 2.40802399e-04 -2.74934183e+00] [ 1.33809246e-03 -2.40386948e-04 9.99999076e-01 -6.87569086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.420418555 meters Centerline goodness [0,1] 0.4902436831220214 Centerline is valid? [False, False] Translation: X:-21.07, Y:-2.75, Z:-0.69 [[ 9.99998297e-01 1.30343037e-03 -1.30654910e-03 -2.10686963e+01] [-1.30270298e-03 9.99998996e-01 5.57425374e-04 -2.74613161e+00] [ 1.30727436e-03 -5.55722379e-04 9.99998991e-01 -6.87816118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.450418555 meters Centerline goodness [0,1] 0.5020816363471807 Centerline is valid? [False, False] Translation: X:-21.08, Y:-2.75, Z:-0.68 [[ 9.99974327e-01 7.15739155e-03 3.43206355e-04 -2.10771212e+01] [-7.15937101e-03 9.99955383e-01 6.16245922e-03 -2.74525937e+00] [-2.99083908e-04 -6.16475815e-03 9.99980953e-01 -6.81811754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.480418555 meters Centerline goodness [0,1] 0.4845943400457461 Centerline is valid? [False, False] Translation: X:-21.08, Y:-2.74, Z:-0.68 [[ 9.99985697e-01 5.19726918e-03 1.26244944e-03 -2.10830626e+01] [-5.20185033e-03 9.99979798e-01 3.65301274e-03 -2.74434726e+00] [-1.24343824e-03 -3.65952756e-03 9.99992531e-01 -6.77264809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.510418555 meters Centerline goodness [0,1] 0.4949522142953291 Centerline is valid? [False, False] Translation: X:-21.08, Y:-2.74, Z:-0.68 [[ 9.99984762e-01 5.49132928e-03 5.66347749e-04 -2.10798019e+01] [-5.49323193e-03 9.99979082e-01 3.41454295e-03 -2.74247140e+00] [-5.47585523e-04 -3.41760200e-03 9.99994010e-01 -6.80028105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.540418555 meters Centerline goodness [0,1] 0.46980676328502413 Centerline is valid? [False, False] Translation: X:-21.10, Y:-2.74, Z:-0.68 [[ 9.99991827e-01 2.01089588e-03 -3.50749921e-03 -2.11006427e+01] [-1.97755194e-03 9.99953069e-01 9.48417340e-03 -2.74122859e+00] [ 3.52640628e-03 -9.47715962e-03 9.99948873e-01 -6.79362577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.570418555 meters Centerline goodness [0,1] 0.5051395007342143 Centerline is valid? [False, False] Translation: X:-21.08, Y:-2.74, Z:-0.68 [[ 9.99960654e-01 8.42244314e-03 -2.78430834e-03 -2.10756905e+01] [-8.40827619e-03 9.99951841e-01 5.06127951e-03 -2.74080373e+00] [ 2.82680259e-03 -5.03766914e-03 9.99983315e-01 -6.80214878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.600418555 meters Centerline goodness [0,1] 0.42053349734618095 Centerline is valid? [False, False] Translation: X:-21.08, Y:-2.74, Z:-0.68 [[ 9.99960779e-01 8.59808208e-03 -2.12452860e-03 -2.10790645e+01] [-8.58696996e-03 9.99949687e-01 5.18529962e-03 -2.74173257e+00] [ 2.16900534e-03 -5.16685299e-03 9.99984299e-01 -6.77638759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.630418555 meters Centerline goodness [0,1] 0.39580853118893056 Centerline is valid? [False, False] Translation: X:-21.06, Y:-2.74, Z:-0.68 [[ 9.99986825e-01 5.10169703e-03 5.68252792e-04 -2.10573399e+01] [-5.10755885e-03 9.99928181e-01 1.08418779e-02 -2.74056617e+00] [-5.12900005e-04 -1.08446374e-02 9.99941064e-01 -6.77878503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.660418555 meters Centerline goodness [0,1] 0.5000451589595376 Centerline is valid? [False, False] Translation: X:-21.06, Y:-2.74, Z:-0.68 [[ 9.99997811e-01 1.98535912e-03 6.61001048e-04 -2.10573582e+01] [-1.99025374e-03 9.99969981e-01 7.48843055e-03 -2.73794650e+00] [-6.46113981e-04 -7.48972971e-03 9.99971743e-01 -6.78482194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.690418555 meters Centerline goodness [0,1] 0.45453923825587494 Centerline is valid? [False, False] Translation: X:-21.08, Y:-2.74, Z:-0.68 [[ 9.99993917e-01 2.29069142e-03 -2.63025119e-03 -2.10771610e+01] [-2.29452774e-03 9.99996307e-01 -1.45644695e-03 -2.74236264e+00] [ 2.62690521e-03 1.46247327e-03 9.99995480e-01 -6.79944892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.720418555 meters Centerline goodness [0,1] 0.4105371808104833 Centerline is valid? [False, False] Translation: X:-21.05, Y:-2.74, Z:-0.68 [[ 9.99995796e-01 -2.83460123e-03 -6.10527074e-04 -2.10507819e+01] [ 2.83599555e-03 9.99993345e-01 2.29515974e-03 -2.74118893e+00] [ 6.04017148e-04 -2.29688154e-03 9.99997180e-01 -6.83037917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.750418555 meters Centerline goodness [0,1] 0.4452059396627024 Centerline is valid? [False, False] Translation: X:-21.05, Y:-2.74, Z:-0.68 [[ 9.99997264e-01 -2.33340559e-03 1.67841578e-04 -2.10544030e+01] [ 2.33288956e-03 9.99992744e-01 3.01164840e-03 -2.73947043e+00] [-1.74867758e-04 -3.01124860e-03 9.99995451e-01 -6.80452712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.780418555000004 meters Centerline goodness [0,1] 0.4613377715802258 Centerline is valid? [False, False] Translation: X:-21.05, Y:-2.74, Z:-0.68 [[ 9.99978284e-01 -6.58290177e-03 3.09752250e-04 -2.10545987e+01] [ 6.58314348e-03 9.99978022e-01 -7.85895663e-04 -2.74416712e+00] [-3.04571969e-04 7.87917740e-04 9.99999643e-01 -6.80538312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.810418555 meters Centerline goodness [0,1] 0.47736246971192675 Centerline is valid? [False, False] Translation: X:-21.05, Y:-2.75, Z:-0.68 [[ 9.99974519e-01 -7.13188623e-03 -3.11348745e-04 -2.10523323e+01] [ 7.13160328e-03 9.99974164e-01 -9.00647792e-04 -2.74718870e+00] [ 3.17764019e-04 8.98404427e-04 9.99999546e-01 -6.81747153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.840418555 meters Centerline goodness [0,1] 0.47736246971192675 Centerline is valid? [False, False] Translation: X:-21.05, Y:-2.75, Z:-0.68 [[ 9.99974519e-01 -7.13188623e-03 -3.11348745e-04 -2.10523323e+01] [ 7.13160328e-03 9.99974164e-01 -9.00647792e-04 -2.74718870e+00] [ 3.17764019e-04 8.98404427e-04 9.99999546e-01 -6.81747153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.870418555 meters Centerline goodness [0,1] 0.49683109515578605 Centerline is valid? [False, False] Translation: X:-21.03, Y:-2.75, Z:-0.68 [[ 9.99936119e-01 -1.11165703e-02 2.04449281e-03 -2.10293283e+01] [ 1.11059883e-02 9.99925237e-01 5.11636031e-03 -2.74717664e+00] [-2.10121634e-03 -5.09332736e-03 9.99984821e-01 -6.82358732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.900418555 meters Centerline goodness [0,1] 0.504870092839709 Centerline is valid? [False, False] Translation: X:-21.06, Y:-2.75, Z:-0.68 [[ 9.99961040e-01 -8.72185028e-03 -1.35968096e-03 -2.10574360e+01] [ 8.72098931e-03 9.99961768e-01 -6.37861694e-04 -2.74888148e+00] [ 1.36519231e-03 6.25979080e-04 9.99998872e-01 -6.76751132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.930418555 meters Centerline goodness [0,1] 0.49840103422467175 Centerline is valid? [False, False] Translation: X:-21.06, Y:-2.75, Z:-0.68 [[ 9.99953529e-01 -9.57189831e-03 -1.14811697e-03 -2.10585836e+01] [ 9.57093938e-03 9.99953847e-01 -8.37827236e-04 -2.75402765e+00] [ 1.15608358e-03 8.26799743e-04 9.99998990e-01 -6.75744613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.960418555000004 meters Centerline goodness [0,1] 0.49400771420699785 Centerline is valid? [False, False] Translation: X:-21.09, Y:-2.76, Z:-0.67 [[ 9.99987796e-01 -4.57016489e-03 -1.87638365e-03 -2.10863535e+01] [ 4.56380155e-03 9.99983868e-01 -3.38166952e-03 -2.75937386e+00] [ 1.89180817e-03 3.37306481e-03 9.99992522e-01 -6.72758496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.990418555 meters Centerline goodness [0,1] 0.49954885861228904 Centerline is valid? [False, False] Translation: X:-21.04, Y:-2.76, Z:-0.67 [[ 9.99997494e-01 -1.50555480e-03 -1.65671619e-03 -2.10392549e+01] [ 1.50427284e-03 9.99998568e-01 -7.74765785e-04 -2.75952751e+00] [ 1.65788027e-03 7.72271690e-04 9.99998328e-01 -6.72971862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02041855499999 meters Centerline goodness [0,1] 0.4991297577062245 Centerline is valid? [False, False] Translation: X:-21.07, Y:-2.76, Z:-0.67 [[ 9.99985202e-01 3.01895236e-03 -4.52567113e-03 -2.10652583e+01] [-3.03940241e-03 9.99985172e-01 -4.51863143e-03 -2.76300791e+00] [ 4.51196249e-03 4.53231990e-03 9.99979550e-01 -6.69338934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.050418555 meters Centerline goodness [0,1] 0.4931694911439696 Centerline is valid? [False, False] Translation: X:-21.04, Y:-2.77, Z:-0.67 [[ 9.99994391e-01 -3.33825673e-03 2.70319416e-04 -2.10404620e+01] [ 3.33909568e-03 9.99989417e-01 -3.16498394e-03 -2.76840034e+00] [-2.59751027e-04 3.16586881e-03 9.99994955e-01 -6.73860456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.080418555 meters Centerline goodness [0,1] 0.4889082112679196 Centerline is valid? [False, False] Translation: X:-21.04, Y:-2.77, Z:-0.68 [[ 9.99998921e-01 -1.37662137e-03 -5.13016939e-04 -2.10357041e+01] [ 1.37591570e-03 9.99998110e-01 -1.37333720e-03 -2.76861840e+00] [ 5.14906535e-04 1.37262985e-03 9.99998925e-01 -6.77273301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.110418555 meters Centerline goodness [0,1] 0.4922731860491196 Centerline is valid? [False, False] Translation: X:-21.04, Y:-2.77, Z:-0.68 [[ 9.99994906e-01 3.14128563e-03 -5.66031703e-04 -2.10350189e+01] [-3.13950459e-03 9.99990203e-01 3.12040684e-03 -2.76612033e+00] [ 5.75828247e-04 -3.11861388e-03 9.99994971e-01 -6.78190892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.140418555 meters Centerline goodness [0,1] 0.5036372182554782 Centerline is valid? [False, False] Translation: X:-21.04, Y:-2.77, Z:-0.68 [[ 9.99999975e-01 5.14080164e-05 2.17979923e-04 -2.10392362e+01] [-5.13886661e-05 9.99999995e-01 -8.87755192e-05 -2.76906651e+00] [-2.17984485e-04 8.87643152e-05 9.99999972e-01 -6.75093625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.170418555 meters Centerline goodness [0,1] 0.4905913978494624 Centerline is valid? [False, False] Translation: X:-21.04, Y:-2.77, Z:-0.67 [[ 9.99999887e-01 -2.56547492e-04 4.00379718e-04 -2.10403202e+01] [ 2.56743745e-04 9.99999847e-01 -4.90191183e-04 -2.77069597e+00] [-4.00253900e-04 4.90293922e-04 9.99999800e-01 -6.74420135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.200418555 meters Centerline goodness [0,1] 0.49552211870333196 Centerline is valid? [False, False] Translation: X:-21.04, Y:-2.77, Z:-0.68 [[ 9.99991718e-01 4.06674554e-03 1.56776911e-04 -2.10388219e+01] [-4.06729343e-03 9.99984998e-01 3.66901511e-03 -2.76694390e+00] [-1.41853608e-04 -3.66962238e-03 9.99993257e-01 -6.75992020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.230418555 meters Centerline goodness [0,1] 0.49291021110809097 Centerline is valid? [False, False] Translation: X:-21.04, Y:-2.77, Z:-0.68 [[ 9.99991769e-01 4.04934806e-03 2.55005813e-04 -2.10393469e+01] [-4.05016638e-03 9.99986370e-01 3.29473525e-03 -2.76558830e+00] [-2.41660808e-04 -3.29574094e-03 9.99994540e-01 -6.75548210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26041855499999 meters Centerline goodness [0,1] 0.47158709561949086 Centerline is valid? [False, False] Translation: X:-21.04, Y:-2.77, Z:-0.68 [[ 9.99992860e-01 3.77784463e-03 8.76615236e-05 -2.10389322e+01] [-3.77807871e-03 9.99988818e-01 2.84446394e-03 -2.76741875e+00] [-7.69146005e-05 -2.84477483e-03 9.99995951e-01 -6.75315813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29041855499999 meters Centerline goodness [0,1] 0.49772180881511163 Centerline is valid? [False, False] Translation: X:-21.08, Y:-2.77, Z:-0.68 [[ 9.99990127e-01 4.02773268e-03 -1.87697254e-03 -2.10822498e+01] [-4.01914579e-03 9.99981543e-01 4.55639876e-03 -2.76575714e+00] [ 1.89528985e-03 -4.54880994e-03 9.99987858e-01 -6.78696048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32041855499999 meters Centerline goodness [0,1] 0.4936995008840842 Centerline is valid? [False, False] Translation: X:-21.04, Y:-2.76, Z:-0.68 [[ 9.99987898e-01 4.91488434e-03 -2.19240571e-04 -2.10400264e+01] [-4.91393982e-03 9.99979445e-01 4.11859296e-03 -2.76363909e+00] [ 2.39478473e-04 -4.11746578e-03 9.99991495e-01 -6.75316466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35041855499999 meters Centerline goodness [0,1] 0.4866678677596613 Centerline is valid? [False, False] Translation: X:-21.04, Y:-2.76, Z:-0.67 [[ 9.99988582e-01 4.77007811e-03 2.87115837e-04 -2.10425627e+01] [-4.77111400e-03 9.99981690e-01 3.72236560e-03 -2.76280575e+00] [-2.69354606e-04 -3.72369297e-03 9.99993031e-01 -6.73461317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38041855499999 meters Centerline goodness [0,1] 0.5058894933237423 Centerline is valid? [False, False] Translation: X:-21.04, Y:-2.76, Z:-0.67 [[ 9.99998853e-01 1.47477227e-03 -3.44257829e-04 -2.10408366e+01] [-1.47479187e-03 9.99998911e-01 -5.66856978e-05 -2.75973544e+00] [ 3.44173855e-04 5.71933415e-05 9.99999939e-01 -6.73534947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41041855499999 meters Centerline goodness [0,1] 0.49662792035907466 Centerline is valid? [False, False] Translation: X:-21.09, Y:-2.76, Z:-0.67 [[ 9.99999348e-01 1.01952824e-03 -5.13444012e-04 -2.10915133e+01] [-1.01904974e-03 9.99999047e-01 9.31340168e-04 -2.75920364e+00] [ 5.14393050e-04 -9.30816336e-04 9.99999434e-01 -6.72886985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.440418555 meters Centerline goodness [0,1] 0.4922712399864606 Centerline is valid? [False, False] Translation: X:-21.04, Y:-2.75, Z:-0.67 [[ 9.99996773e-01 2.38811709e-03 -8.66682233e-04 -2.10423811e+01] [-2.38728616e-03 9.99996691e-01 9.58518288e-04 -2.75454087e+00] [ 8.68968419e-04 -9.56446176e-04 9.99999165e-01 -6.74818756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.470418555 meters Centerline goodness [0,1] 0.4902641780008514 Centerline is valid? [False, False] Translation: X:-21.04, Y:-2.76, Z:-0.68 [[ 9.99997371e-01 8.27190445e-04 -2.13855633e-03 -2.10359213e+01] [-8.28673979e-04 9.99999417e-01 -6.92915417e-04 -2.75508000e+00] [ 2.13798191e-03 6.94685761e-04 9.99997473e-01 -6.78584813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.500418555 meters Centerline goodness [0,1] 0.4872366017730655 Centerline is valid? [False, False] Translation: X:-21.04, Y:-2.76, Z:-0.68 [[ 9.99997915e-01 -3.31076717e-05 -2.04166422e-03 -2.10373822e+01] [ 3.00217931e-05 9.99998857e-01 -1.51146470e-03 -2.75718006e+00] [ 2.04171192e-03 1.51140026e-03 9.99996774e-01 -6.77153568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.530418555 meters Centerline goodness [0,1] 0.4872562056737588 Centerline is valid? [False, False] Translation: X:-21.04, Y:-2.76, Z:-0.68 [[ 9.99991553e-01 3.68288159e-03 -1.82467419e-03 -2.10385219e+01] [-3.67789684e-03 9.99989516e-01 2.72772319e-03 -2.75684768e+00] [ 1.83470094e-03 -2.72098919e-03 9.99994615e-01 -6.76398503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.560418555 meters Centerline goodness [0,1] 0.49979498861047833 Centerline is valid? [False, False] Translation: X:-21.09, Y:-2.76, Z:-0.68 [[ 9.99992072e-01 2.75546580e-03 -2.87453045e-03 -2.10861386e+01] [-2.74363355e-03 9.99987782e-01 4.11209145e-03 -2.75833921e+00] [ 2.88582606e-03 -4.10417219e-03 9.99987414e-01 -6.76250114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.590418555 meters Centerline goodness [0,1] 0.493703678673605 Centerline is valid? [False, False] Translation: X:-21.09, Y:-2.76, Z:-0.68 [[ 9.99983411e-01 -5.14352544e-03 -2.59284630e-03 -2.10876642e+01] [ 5.13359141e-03 9.99979513e-01 -3.82352681e-03 -2.76103909e+00] [ 2.61245958e-03 3.81015277e-03 9.99989329e-01 -6.75179472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.620418555 meters Centerline goodness [0,1] 0.49464114619309696 Centerline is valid? [False, False] Translation: X:-21.09, Y:-2.76, Z:-0.67 [[ 9.99994717e-01 -2.18429986e-03 -2.40708451e-03 -2.10891252e+01] [ 2.18419935e-03 9.99997614e-01 -4.43838485e-05 -2.76304134e+00] [ 2.40717572e-03 3.91260616e-05 9.99997102e-01 -6.73899259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65041855499999 meters Centerline goodness [0,1] 0.4917999821253016 Centerline is valid? [False, False] Translation: X:-21.09, Y:-2.76, Z:-0.67 [[ 9.99995384e-01 -1.96664243e-03 -2.31615839e-03 -2.10893963e+01] [ 1.96807788e-03 9.99997873e-01 6.17639415e-04 -2.76284934e+00] [ 2.31493878e-03 -6.22194944e-04 9.99997127e-01 -6.73817248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68041855499999 meters Centerline goodness [0,1] 0.5029228023203927 Centerline is valid? [False, False] Translation: X:-21.09, Y:-2.77, Z:-0.67 [[ 9.99944635e-01 -1.01839657e-02 -2.64827165e-03 -2.10879348e+01] [ 1.01642355e-02 9.99921257e-01 -7.35989792e-03 -2.76671028e+00] [ 2.72301606e-03 7.33257278e-03 9.99969409e-01 -6.74441622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71041855499999 meters Centerline goodness [0,1] 0.48963765509800394 Centerline is valid? [False, False] Translation: X:-21.09, Y:-2.77, Z:-0.67 [[ 9.99940726e-01 -1.06303113e-02 -2.35401795e-03 -2.10897998e+01] [ 1.06129569e-02 9.99917282e-01 -7.26596200e-03 -2.76958534e+00] [ 2.43106267e-03 7.24054823e-03 9.99970832e-01 -6.73200583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74041855499999 meters Centerline goodness [0,1] 0.4945269829853228 Centerline is valid? [False, False] Translation: X:-21.09, Y:-2.77, Z:-0.67 [[ 9.99971962e-01 -7.26830054e-03 -1.80217951e-03 -2.10922817e+01] [ 7.26332597e-03 9.99969836e-01 -2.75165879e-03 -2.77303448e+00] [ 1.82212503e-03 2.73849182e-03 9.99994590e-01 -6.71715115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77041855499999 meters Centerline goodness [0,1] 0.5030735628560492 Centerline is valid? [False, False] Translation: X:-21.09, Y:-2.78, Z:-0.68 [[ 9.99935498e-01 -1.09071936e-02 -3.16755163e-03 -2.10859961e+01] [ 1.08895124e-02 9.99925324e-01 -5.54658668e-03 -2.77931877e+00] [ 3.22781279e-03 5.51173582e-03 9.99979601e-01 -6.75536681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.800418555 meters Centerline goodness [0,1] 0.44778254649499283 Centerline is valid? [False, False] Translation: X:-21.06, Y:-2.78, Z:-0.67 [[ 9.99976108e-01 -5.84289488e-03 -3.69383966e-03 -2.10639076e+01] [ 5.80524312e-03 9.99931910e-01 -1.01229689e-02 -2.78414785e+00] [ 3.75273559e-03 1.01012834e-02 9.99941939e-01 -6.73231094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.830418555 meters Centerline goodness [0,1] 0.4481379093340525 Centerline is valid? [False, False] Translation: X:-21.07, Y:-2.79, Z:-0.67 [[ 9.99985405e-01 -4.94163477e-03 -2.18383735e-03 -2.10712954e+01] [ 4.92229208e-03 9.99949379e-01 -8.77554945e-03 -2.78724148e+00] [ 2.22709236e-03 8.76467189e-03 9.99959109e-01 -6.68767984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.860418555 meters Centerline goodness [0,1] 0.49504596982951 Centerline is valid? [False, False] Translation: X:-21.07, Y:-2.79, Z:-0.67 [[ 9.99995109e-01 -1.30752240e-03 -2.84107850e-03 -2.10691840e+01] [ 1.29540869e-03 9.99990081e-01 -4.26143624e-03 -2.79111013e+00] [ 2.84662224e-03 4.25773505e-03 9.99986884e-01 -6.69311251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.890418555 meters Centerline goodness [0,1] 0.4497366407058929 Centerline is valid? [False, False] Translation: X:-21.07, Y:-2.79, Z:-0.67 [[ 9.99993312e-01 -4.08927550e-04 -3.63442227e-03 -2.10651775e+01] [ 3.96377166e-04 9.99993959e-01 -3.45324881e-03 -2.79021914e+00] [ 3.63581244e-03 3.45178512e-03 9.99987433e-01 -6.72288619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.920418555 meters Centerline goodness [0,1] 0.4427559851635383 Centerline is valid? [False, False] Translation: X:-21.07, Y:-2.79, Z:-0.67 [[ 9.99982669e-01 -4.47716804e-03 -3.82306552e-03 -2.10652445e+01] [ 4.44749788e-03 9.99960199e-01 -7.73438209e-03 -2.79257031e+00] [ 3.85754149e-03 7.71724497e-03 9.99962781e-01 -6.71590642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.950418555 meters Centerline goodness [0,1] 0.4502492658608209 Centerline is valid? [False, False] Translation: X:-21.10, Y:-2.79, Z:-0.67 [[ 9.99999132e-01 4.64201004e-04 -1.23303029e-03 -2.10956848e+01] [-4.77832773e-04 9.99938519e-01 -1.10783115e-02 -2.79395290e+00] [ 1.22781192e-03 1.10788911e-02 9.99937873e-01 -6.69598154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.980418555 meters Centerline goodness [0,1] 0.48874921714234587 Centerline is valid? [False, False] Translation: X:-21.07, Y:-2.79, Z:-0.67 [[ 9.99997730e-01 -4.69701253e-04 2.07807722e-03 -2.10734973e+01] [ 4.76209805e-04 9.99994980e-01 -3.13262142e-03 -2.79171183e+00] [-2.07659539e-03 3.13360391e-03 9.99992934e-01 -6.69727800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01041855499999 meters Centerline goodness [0,1] 0.4911081665388103 Centerline is valid? [False, False] Translation: X:-21.14, Y:-2.79, Z:-0.67 [[ 9.99985363e-01 4.78715207e-03 -2.52117771e-03 -2.11380979e+01] [-4.79885780e-03 9.99977639e-01 -4.65755953e-03 -2.79205485e+00] [ 2.49882488e-03 4.66959013e-03 9.99985975e-01 -6.71954127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04041855499999 meters Centerline goodness [0,1] 0.4783466352258299 Centerline is valid? [False, False] Translation: X:-21.11, Y:-2.80, Z:-0.68 [[ 9.99996845e-01 9.07349523e-04 2.34241605e-03 -2.11117808e+01] [-9.01358657e-04 9.99996324e-01 -2.55734857e-03 -2.79639648e+00] [-2.34472784e-03 2.55522914e-03 9.99993987e-01 -6.77073987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07041855499999 meters Centerline goodness [0,1] 0.49976398660343 Centerline is valid? [False, False] Translation: X:-21.09, Y:-2.79, Z:-0.67 [[ 9.99989157e-01 2.25959165e-03 4.07193304e-03 -2.10916812e+01] [-2.29174829e-03 9.99966090e-01 7.90985869e-03 -2.79069576e+00] [-4.05392191e-03 -7.91910477e-03 9.99960426e-01 -6.74282754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10041855499999 meters Centerline goodness [0,1] 0.4906619091709763 Centerline is valid? [False, False] Translation: X:-21.09, Y:-2.79, Z:-0.68 [[ 9.99989078e-01 2.59481682e-03 3.88724321e-03 -2.10906004e+01] [-2.62444371e-03 9.99967402e-01 7.63595474e-03 -2.78814587e+00] [-3.86730258e-03 -7.64607319e-03 9.99963290e-01 -6.75141270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13041855499999 meters Centerline goodness [0,1] 0.5005300760543905 Centerline is valid? [False, False] Translation: X:-21.12, Y:-2.79, Z:-0.67 [[ 9.99978556e-01 6.10045258e-03 2.38179384e-03 -2.11198508e+01] [-6.10376497e-03 9.99980411e-01 1.38592825e-03 -2.78776701e+00] [-2.37329240e-03 -1.40043644e-03 9.99996203e-01 -6.70383964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16041855499999 meters Centerline goodness [0,1] 0.49212047322315544 Centerline is valid? [False, False] Translation: X:-21.10, Y:-2.78, Z:-0.67 [[ 9.99983014e-01 2.52402106e-03 5.25359600e-03 -2.10970568e+01] [-2.55312150e-03 9.99981396e-01 5.53983109e-03 -2.78237114e+00] [-5.23951561e-03 -5.55315006e-03 9.99970855e-01 -6.72382162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.190418555 meters Centerline goodness [0,1] 0.1260027260742297 Centerline is valid? [False, False] Translation: X:-21.09, Y:-2.78, Z:-0.68 [[ 9.99979197e-01 5.38489480e-03 3.55091337e-03 -2.10890146e+01] [-5.41173909e-03 9.99956521e-01 7.59405725e-03 -2.77780933e+00] [-3.50986578e-03 -7.61311588e-03 9.99964860e-01 -6.76958044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.220418555 meters Centerline goodness [0,1] 0.4944031968757805 Centerline is valid? [False, False] Translation: X:-21.12, Y:-2.78, Z:-0.67 [[ 9.99930667e-01 1.15034520e-02 2.51622147e-03 -2.11166381e+01] [-1.15130870e-02 9.99926315e-01 3.84878272e-03 -2.77708809e+00] [-2.47176177e-03 -3.87748535e-03 9.99989428e-01 -6.74601517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.250418555 meters Centerline goodness [0,1] 0.47100076669823654 Centerline is valid? [False, False] Translation: X:-21.12, Y:-2.78, Z:-0.67 [[ 9.99874383e-01 1.55745870e-02 2.94116204e-03 -2.11187974e+01] [-1.55964750e-02 9.99849698e-01 7.57177217e-03 -2.77533721e+00] [-2.82279275e-03 -7.61669278e-03 9.99967008e-01 -6.72818669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.280418555 meters Centerline goodness [0,1] 0.4109137978017985 Centerline is valid? [False, False] Translation: X:-21.16, Y:-2.78, Z:-0.67 [[ 9.99800578e-01 1.99665647e-02 -3.73582410e-04 -2.11582256e+01] [-1.99608345e-02 9.99732400e-01 1.16916268e-02 -2.77509482e+00] [ 6.06924061e-04 -1.16818382e-02 9.99931581e-01 -6.74951306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.310418555 meters Centerline goodness [0,1] 0.42616717291033857 Centerline is valid? [False, False] Translation: X:-21.16, Y:-2.77, Z:-0.68 [[ 9.99789093e-01 2.05171200e-02 -9.04420819e-04 -2.11559863e+01] [-2.05051932e-02 9.99721781e-01 1.16574756e-02 -2.77296567e+00] [ 1.14334702e-03 -1.16364716e-02 9.99931640e-01 -6.76586345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.340418555 meters Centerline goodness [0,1] 0.5053640105256055 Centerline is valid? [False, False] Translation: X:-21.16, Y:-2.77, Z:-0.68 [[ 9.99777874e-01 2.10752641e-02 -1.90730981e-04 -2.11588890e+01] [-2.10713800e-02 9.99703817e-01 1.21768212e-02 -2.77240390e+00] [ 4.47304214e-04 -1.21700975e-02 9.99925842e-01 -6.75079691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.370418555 meters Centerline goodness [0,1] 0.4994729169003028 Centerline is valid? [False, False] Translation: X:-21.14, Y:-2.77, Z:-0.67 [[ 9.99884179e-01 1.45454158e-02 4.47873745e-03 -2.11431611e+01] [-1.46111163e-02 9.99780676e-01 1.50038552e-02 -2.77274677e+00] [-4.25951784e-03 -1.50675568e-02 9.99877405e-01 -6.71895225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40041855499999 meters Centerline goodness [0,1] 0.40771641824700655 Centerline is valid? [False, False] Translation: X:-21.14, Y:-2.77, Z:-0.67 [[ 9.99932217e-01 1.07662900e-02 4.43270387e-03 -2.11424708e+01] [-1.08144541e-02 9.99881138e-01 1.09889414e-02 -2.77047679e+00] [-4.31386686e-03 -1.10361338e-02 9.99929795e-01 -6.73460873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43041855499999 meters Centerline goodness [0,1] 0.5028987129266929 Centerline is valid? [False, False] Translation: X:-21.13, Y:-2.77, Z:-0.68 [[ 9.99960814e-01 8.43593389e-03 2.68434062e-03 -2.11336670e+01] [-8.45845618e-03 9.99928163e-01 8.49252835e-03 -2.77031319e+00] [-2.61250538e-03 -8.51490094e-03 9.99960335e-01 -6.79056500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46041855499999 meters Centerline goodness [0,1] 0.5015700892352875 Centerline is valid? [False, False] Translation: X:-21.13, Y:-2.77, Z:-0.68 [[ 9.99990928e-01 3.95006617e-03 1.59376321e-03 -2.11298064e+01] [-3.95594716e-03 9.99985316e-01 3.70387631e-03 -2.77238962e+00] [-1.57910925e-03 -3.71014755e-03 9.99991871e-01 -6.81100673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49041855499999 meters Centerline goodness [0,1] 0.4617779783393502 Centerline is valid? [False, False] Translation: X:-21.13, Y:-2.77, Z:-0.68 [[ 9.99988497e-01 4.29174574e-03 2.14184904e-03 -2.11324253e+01] [-4.30042097e-03 9.99982502e-01 4.06231128e-03 -2.77068571e+00] [-2.12437715e-03 -4.07147540e-03 9.99989455e-01 -6.79555010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52041855499999 meters Centerline goodness [0,1] 0.45135845749342685 Centerline is valid? [False, False] Translation: X:-21.14, Y:-2.77, Z:-0.68 [[ 9.99963694e-01 8.07288985e-03 2.72738348e-03 -2.11352346e+01] [-8.09643401e-03 9.99929074e-01 8.73466723e-03 -2.77253510e+00] [-2.65667603e-03 -8.75643219e-03 9.99958133e-01 -6.77534649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.550418555 meters Centerline goodness [0,1] 0.4845576806109346 Centerline is valid? [False, False] Translation: X:-21.14, Y:-2.78, Z:-0.67 [[ 9.99993171e-01 2.01400353e-03 3.09868775e-03 -2.11393709e+01] [-2.02375584e-03 9.99992999e-01 3.14732682e-03 -2.77708749e+00] [-3.09232733e-03 -3.15357631e-03 9.99990246e-01 -6.73801140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.580418555 meters Centerline goodness [0,1] 0.5080827712358522 Centerline is valid? [False, False] Translation: X:-21.17, Y:-2.78, Z:-0.67 [[ 9.99985558e-01 4.47453875e-03 2.97710756e-03 -2.11712389e+01] [-4.46939534e-03 9.99988512e-01 -1.73206779e-03 -2.78077541e+00] [-2.98482356e-03 1.71873690e-03 9.99994068e-01 -6.67661870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.610418555 meters Centerline goodness [0,1] 0.48649816866483153 Centerline is valid? [False, False] Translation: X:-21.17, Y:-2.78, Z:-0.67 [[ 9.99986238e-01 4.44049900e-03 2.79371171e-03 -2.11704737e+01] [-4.43647365e-03 9.99989114e-01 -1.44541033e-03 -2.78038527e+00] [-2.80009964e-03 1.43299621e-03 9.99995053e-01 -6.68349294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.640418555 meters Centerline goodness [0,1] 0.4978320401643085 Centerline is valid? [False, False] Translation: X:-21.16, Y:-2.78, Z:-0.67 [[ 9.99995303e-01 2.72541419e-03 1.40198421e-03 -2.11627364e+01] [-2.72085517e-03 9.99991038e-01 -3.24352129e-03 -2.78068044e+00] [-1.41081158e-03 3.23969146e-03 9.99993757e-01 -6.73897307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.670418555 meters Centerline goodness [0,1] 0.5053258145363408 Centerline is valid? [False, False] Translation: X:-21.12, Y:-2.78, Z:-0.67 [[ 9.99990826e-01 3.81359630e-03 1.95027533e-03 -2.11173678e+01] [-3.80501323e-03 9.99983143e-01 -4.38588916e-03 -2.78125444e+00] [-1.96696846e-03 4.37842810e-03 9.99988480e-01 -6.71845006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.700418555 meters Centerline goodness [0,1] 0.49720594248330385 Centerline is valid? [False, False] Translation: X:-21.15, Y:-2.78, Z:-0.67 [[ 9.99999356e-01 -1.11743500e-03 -1.98266645e-04 -2.11467778e+01] [ 1.11746202e-03 9.99999366e-01 1.36217139e-04 -2.78230639e+00] [ 1.98114305e-04 -1.36438607e-04 9.99999971e-01 -6.65024777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.730418555 meters Centerline goodness [0,1] 0.49720594248330385 Centerline is valid? [False, False] Translation: X:-21.15, Y:-2.78, Z:-0.67 [[ 9.99999356e-01 -1.11743500e-03 -1.98266645e-04 -2.11467778e+01] [ 1.11746202e-03 9.99999366e-01 1.36217139e-04 -2.78230639e+00] [ 1.98114305e-04 -1.36438607e-04 9.99999971e-01 -6.65024777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76041855499999 meters Centerline goodness [0,1] 0.5073726846584444 Centerline is valid? [False, False] Translation: X:-21.15, Y:-2.78, Z:-0.67 [[ 9.99999850e-01 -4.97567489e-04 -2.30608578e-04 -2.11463910e+01] [ 4.97665008e-04 9.99999787e-01 4.23013502e-04 -2.78015269e+00] [ 2.30398051e-04 -4.23128204e-04 9.99999884e-01 -6.66114935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79041855499999 meters Centerline goodness [0,1] 0.5042094363407168 Centerline is valid? [False, False] Translation: X:-21.14, Y:-2.78, Z:-0.67 [[ 9.99998684e-01 1.44363200e-03 -7.40614211e-04 -2.11428627e+01] [-1.44171501e-03 9.99995626e-01 2.58241235e-03 -2.78061254e+00] [ 7.44339024e-04 -2.58134120e-03 9.99996391e-01 -6.68747831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82041855499999 meters Centerline goodness [0,1] 0.47399594505319265 Centerline is valid? [False, False] Translation: X:-21.17, Y:-2.78, Z:-0.67 [[ 9.99972226e-01 5.12454837e-03 -5.41161711e-03 -2.11677196e+01] [-5.13710246e-03 9.99984140e-01 -2.30849556e-03 -2.77831080e+00] [ 5.39970128e-03 2.33623148e-03 9.99982692e-01 -6.65024383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85041855499999 meters Centerline goodness [0,1] 0.45951586923478305 Centerline is valid? [False, False] Translation: X:-21.17, Y:-2.78, Z:-0.66 [[ 9.99966658e-01 5.31526087e-03 -6.19925509e-03 -2.11661589e+01] [-5.33142402e-03 9.99982424e-01 -2.59366790e-03 -2.77915922e+00] [ 6.18536011e-03 2.62663228e-03 9.99977421e-01 -6.64310268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88041855499999 meters Centerline goodness [0,1] 0.4283845060572563 Centerline is valid? [False, False] Translation: X:-21.17, Y:-2.78, Z:-0.66 [[ 9.99958759e-01 7.62397592e-03 -4.93506490e-03 -2.11736514e+01] [-7.62548437e-03 9.99970884e-01 -2.86914220e-04 -2.77717615e+00] [ 4.93273379e-03 3.24534648e-04 9.99987781e-01 -6.59280059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91041855499999 meters Centerline goodness [0,1] 0.4350756939558319 Centerline is valid? [False, False] Translation: X:-21.18, Y:-2.77, Z:-0.66 [[ 9.99958401e-01 8.07730297e-03 -4.23724532e-03 -2.11771294e+01] [-8.07837416e-03 9.99967342e-01 -2.35749110e-04 -2.77451815e+00] [ 4.23520272e-03 2.69969356e-04 9.99990995e-01 -6.56938962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.940418555 meters Centerline goodness [0,1] 0.41168181818181815 Centerline is valid? [False, False] Translation: X:-21.18, Y:-2.77, Z:-0.66 [[ 9.99972658e-01 5.80953995e-03 -4.57529249e-03 -2.11763737e+01] [-5.82709206e-03 9.99975679e-01 -3.83234038e-03 -2.77057466e+00] [ 4.55291708e-03 3.85889624e-03 9.99982190e-01 -6.57608230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.970418555 meters Centerline goodness [0,1] 0.4978106429560788 Centerline is valid? [False, False] Translation: X:-21.15, Y:-2.77, Z:-0.66 [[ 9.99997157e-01 2.26779490e-03 -7.36308881e-04 -2.11520562e+01] [-2.26769786e-03 9.99997420e-01 1.32603631e-04 -2.76812098e+00] [ 7.36607699e-04 -1.30933528e-04 9.99999720e-01 -6.61517236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.000418555 meters Centerline goodness [0,1] 0.36130909418982315 Centerline is valid? [False, False] Translation: X:-21.15, Y:-2.76, Z:-0.67 [[ 9.99983298e-01 5.55205678e-03 -1.60582398e-03 -2.11468529e+01] [-5.54693974e-03 9.99979580e-01 3.17364267e-03 -2.76388958e+00] [ 1.62341143e-03 -3.16468226e-03 9.99993675e-01 -6.65593200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.030418555 meters Centerline goodness [0,1] 0.3648863998543004 Centerline is valid? [False, False] Translation: X:-21.14, Y:-2.76, Z:-0.67 [[ 9.99986298e-01 4.42735494e-03 -2.79326628e-03 -2.11405850e+01] [-4.42227443e-03 9.99988561e-01 1.82240303e-03 -2.76225104e+00] [ 2.80130275e-03 -1.81002547e-03 9.99994438e-01 -6.70179457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.060418555 meters Centerline goodness [0,1] 0.3595505617977528 Centerline is valid? [False, False] Translation: X:-21.15, Y:-2.76, Z:-0.67 [[ 9.99994186e-01 2.93414285e-03 -1.73718008e-03 -2.11473052e+01] [-2.93387075e-03 9.99995684e-01 1.59160147e-04 -2.75966049e+00] [ 1.73763958e-03 -1.54062560e-04 9.99998478e-01 -6.65076729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.090418555 meters Centerline goodness [0,1] 0.5069822964998423 Centerline is valid? [False, False] Translation: X:-21.13, Y:-2.76, Z:-0.67 [[ 9.99994057e-01 -1.92080568e-03 2.86292466e-03 -2.11252237e+01] [ 1.91129037e-03 9.99992653e-01 3.32267044e-03 -2.75823105e+00] [-2.86928583e-03 -3.31717882e-03 9.99990382e-01 -6.67101527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.120418555 meters Centerline goodness [0,1] 0.35879967189208894 Centerline is valid? [False, False] Translation: X:-21.15, Y:-2.76, Z:-0.66 [[ 9.99995847e-01 2.74061375e-03 -8.91636823e-04 -2.11509796e+01] [-2.74168748e-03 9.99995515e-01 -1.20523926e-03 -2.75783342e+00] [ 8.88329729e-04 1.20767885e-03 9.99998876e-01 -6.62911839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15041855499999 meters Centerline goodness [0,1] 0.5070904313156941 Centerline is valid? [False, False] Translation: X:-21.15, Y:-2.75, Z:-0.66 [[ 9.99993632e-01 3.37161901e-03 -1.16961420e-03 -2.11498952e+01] [-3.37287540e-03 9.99993735e-01 -1.07388690e-03 -2.75426392e+00] [ 1.16598614e-03 1.07782502e-03 9.99998739e-01 -6.64019011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18041855499999 meters Centerline goodness [0,1] 0.3804924716976834 Centerline is valid? [False, False] Translation: X:-21.15, Y:-2.75, Z:-0.66 [[ 9.99992625e-01 3.75241989e-03 -8.17668667e-04 -2.11514641e+01] [-3.75303228e-03 9.99992677e-01 -7.48700769e-04 -2.75276395e+00] [ 8.14853240e-04 7.51763984e-04 9.99999385e-01 -6.63089882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21041855499999 meters Centerline goodness [0,1] 0.3643821956304959 Centerline is valid? [False, False] Translation: X:-21.15, Y:-2.75, Z:-0.66 [[ 9.99993525e-01 3.44905251e-03 -1.02654710e-03 -2.11509071e+01] [-3.45007367e-03 9.99993554e-01 -9.94650357e-04 -2.75298913e+00] [ 1.02310988e-03 9.98185580e-04 9.99998978e-01 -6.63070798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24041855499999 meters Centerline goodness [0,1] 0.5034575662326 Centerline is valid? [False, False] Translation: X:-21.13, Y:-2.75, Z:-0.66 [[ 9.99993852e-01 -2.93206837e-03 1.92346862e-03 -2.11295690e+01] [ 2.93106028e-03 9.99995566e-01 5.26711594e-04 -2.75028797e+00] [-1.92500444e-03 -5.21070553e-04 9.99998011e-01 -6.63830483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27041855499999 meters Centerline goodness [0,1] 0.3528972385694884 Centerline is valid? [False, False] Translation: X:-21.15, Y:-2.75, Z:-0.66 [[ 9.99995299e-01 3.06305097e-03 1.43666760e-04 -2.11542079e+01] [-3.06262328e-03 9.99991139e-01 -2.88831422e-03 -2.75169637e+00] [-1.52512541e-04 2.88786064e-03 9.99995818e-01 -6.62811606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3675.53 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%| | 0/2210 [00:00