+ python -m lidar_slam --no-model /working/f0c0db95-220b-4aae-bb3b-2fb615241d97 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/f0c0db95-220b-4aae-bb3b-2fb615241d97 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 0.011966746 Adjusted end_distance from 9.223372036854776e+18 to 55.363646746 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.011966746 meters Centerline goodness [0,1] 0.49612677614979417 Centerline is valid? [0, False] SLAMing on 0.041966746 meters Centerline goodness [0,1] 0.4860508912538869 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.00 [[ 9.99976423e-01 -4.69016186e-03 5.01555572e-03 2.36767471e-02] [ 4.67591544e-03 9.99985011e-01 2.84841176e-03 -4.04417629e-04] [-5.02884005e-03 -2.82489229e-03 9.99983365e-01 -3.87043806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.071966746 meters Centerline goodness [0,1] 0.49397403861038014 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99998715e-01 5.22231529e-04 1.51600460e-03 1.59798254e-04] [-5.20558553e-04 9.99999255e-01 -1.10372785e-03 -1.00920098e-03] [-1.51657987e-03 1.10293726e-03 9.99998242e-01 -1.94160036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.101966746 meters Centerline goodness [0,1] 0.49429430757662873 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99998228e-01 1.18981209e-03 1.45904348e-03 4.90975075e-04] [-1.18845139e-03 9.99998858e-01 -9.33108969e-04 2.07849630e-03] [-1.46015204e-03 9.31373314e-04 9.99998500e-01 -2.47187023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.131966746 meters Centerline goodness [0,1] 0.4782465174622037 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:-0.00 [[ 9.99997935e-01 1.19333940e-03 1.64503738e-03 -2.72218904e-04] [-1.19144672e-03 9.99998628e-01 -1.15104178e-03 3.56390131e-03] [-1.64640871e-03 1.14907943e-03 9.99997984e-01 -2.12760275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.161966746 meters Centerline goodness [0,1] 0.4951572243598249 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99998318e-01 1.25966721e-03 1.33282561e-03 9.74935560e-04] [-1.25792602e-03 9.99998355e-01 -1.30642172e-03 4.27924560e-03] [-1.33446907e-03 1.30474293e-03 9.99998258e-01 -2.96180189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.191966746 meters Centerline goodness [0,1] 0.48373786407766994 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:-0.00 [[ 9.99997662e-01 1.48020591e-03 1.57649189e-03 -4.43194945e-04] [-1.47822067e-03 9.99998114e-01 -1.25970256e-03 4.95990706e-03] [-1.57835354e-03 1.25736921e-03 9.99997964e-01 -1.86285362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.221966746 meters Centerline goodness [0,1] 0.47508583502068846 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:0.00 [[ 9.99995770e-01 1.62617701e-03 2.41165120e-03 -3.94615812e-03] [-1.62330600e-03 9.99997972e-01 -1.19195829e-03 5.96350361e-03] [-2.41358464e-03 1.18803840e-03 9.99996382e-01 3.00269160e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.251966746 meters Centerline goodness [0,1] 0.4757785080365725 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.00, Z:-0.00 [[ 9.99999864e-01 5.05608713e-04 -1.31029284e-04 -4.48924822e-02] [-5.05695166e-04 9.99999654e-01 -6.60613547e-04 1.71962899e-03] [ 1.30695226e-04 6.60679718e-04 9.99999773e-01 -3.89039939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.28196674600000005 meters Centerline goodness [0,1] 0.47140799822753965 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.00, Z:-0.01 [[ 9.99997454e-01 -1.19241384e-03 -1.91560692e-03 -3.57089794e-02] [ 1.18830471e-03 9.99996994e-01 -2.14478565e-03 8.53763423e-04] [ 1.91815864e-03 2.14250387e-03 9.99995865e-01 -9.76562476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.31196674599999996 meters Centerline goodness [0,1] 0.4998558790270726 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:-0.00 [[ 9.99999796e-01 -3.22270587e-05 -6.38061330e-04 -4.30299185e-02] [ 3.20279453e-05 9.99999951e-01 -3.12067740e-04 -1.05614312e-03] [ 6.38071356e-04 3.12047240e-04 9.99999748e-01 -4.53036318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.341966746 meters Centerline goodness [0,1] 0.3497048618933898 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.01, Z:-0.00 [[ 9.99989648e-01 -4.54230050e-03 2.66627257e-04 -9.47733185e-02] [ 4.54276517e-03 9.99988117e-01 -1.76883650e-03 -7.25214758e-03] [-2.58589502e-04 1.77002941e-03 9.99998400e-01 -2.87183418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.371966746 meters Centerline goodness [0,1] 0.49111787005201446 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:-0.01 [[ 0.99998256 -0.00567808 -0.00162731 -0.0414766 ] [ 0.00567103 0.99997465 -0.0043047 -0.00426985] [ 0.00165171 0.0042954 0.99998941 -0.00534523] [ 0. 0. 0. 1. ]] SLAMing on 0.40196674600000004 meters Centerline goodness [0,1] 0.36057723987963186 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:-0.01 [[ 0.99998079 -0.00589907 -0.00190077 -0.03987869] [ 0.00589102 0.99997378 -0.00421185 -0.00470929] [ 0.00192556 0.00420057 0.99998932 -0.00655495] [ 0. 0. 0. 1. ]] SLAMing on 0.43196674599999996 meters Centerline goodness [0,1] 0.4935730396128496 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:-0.01 [[ 0.99997549 -0.00676533 -0.0018025 -0.04067945] [ 0.00675719 0.99996712 -0.00448377 -0.00777307] [ 0.00183277 0.00447148 0.99998832 -0.00542786] [ 0. 0. 0. 1. ]] SLAMing on 0.461966746 meters Centerline goodness [0,1] 0.4950471128291858 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:-0.00 [[ 0.99996828 -0.00775564 -0.00181278 -0.04151911] [ 0.00774719 0.99995931 -0.00462263 -0.01194127] [ 0.00184856 0.00460844 0.99998767 -0.00411243] [ 0. 0. 0. 1. ]] SLAMing on 0.491966746 meters Centerline goodness [0,1] 0.49369002234783754 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:-0.00 [[ 9.99988001e-01 -4.63503830e-03 -1.58544330e-03 -4.26230304e-02] [ 4.63417611e-03 9.99989113e-01 -5.47062796e-04 -1.44486730e-02] [ 1.58796170e-03 5.39709008e-04 9.99998594e-01 -3.19961099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.521966746 meters Centerline goodness [0,1] 0.42521754494456465 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-0.00 [[ 9.99986818e-01 -4.96838033e-03 -1.29614122e-03 -4.38518800e-02] [ 4.96803038e-03 9.99987622e-01 -2.73076357e-04 -1.56800363e-02] [ 1.29748193e-03 2.66633489e-04 9.99999123e-01 -2.70455168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5519667460000001 meters Centerline goodness [0,1] 0.4981940712681143 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-0.00 [[ 0.99994954 -0.00999337 -0.00102663 -0.04481221] [ 0.00998845 0.99993909 -0.00469456 -0.01808705] [ 0.00107348 0.00468407 0.99998845 -0.00202089] [ 0. 0. 0. 1. ]] SLAMing on 0.581966746 meters Centerline goodness [0,1] 0.49383737642088754 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-0.01 [[ 0.99992731 -0.01191229 -0.00186128 -0.03914851] [ 0.01190041 0.99990954 -0.0062676 -0.01706889] [ 0.00193577 0.00624499 0.99997863 -0.00613235] [ 0. 0. 0. 1. ]] SLAMing on 0.611966746 meters Centerline goodness [0,1] 0.4960218031561827 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:-0.00 [[ 0.99992759 -0.00928201 -0.00765897 -0.06008806] [ 0.00919474 0.99989328 -0.0113528 -0.01542365] [ 0.00776353 0.01128156 0.99990622 -0.00416999] [ 0. 0. 0. 1. ]] SLAMing on 0.641966746 meters Centerline goodness [0,1] 0.4878395486751216 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:-0.00 [[ 0.999883 -0.01347155 -0.0072453 -0.06199549] [ 0.01335961 0.99979396 -0.01528259 -0.01545947] [ 0.00744969 0.01518401 0.99985696 -0.00300832] [ 0. 0. 0. 1. ]] SLAMing on 0.671966746 meters Centerline goodness [0,1] 0.5008688383960583 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:-0.00 [[ 9.99883266e-01 -1.38327415e-02 -6.48925351e-03 -6.54031799e-02] [ 1.37329345e-02 9.99790454e-01 -1.51807121e-02 -1.65934242e-02] [ 6.69788458e-03 1.50898235e-02 9.99863708e-01 -8.36343295e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.701966746 meters Centerline goodness [0,1] 0.49424504678645165 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:-0.00 [[ 0.9998771 -0.01397213 -0.00711106 -0.06259207] [ 0.01386364 0.99979012 -0.01508348 -0.01638169] [ 0.00732031 0.01498304 0.99986095 -0.00246892] [ 0. 0. 0. 1. ]] SLAMing on 0.731966746 meters Centerline goodness [0,1] 0.4993734198087282 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:-0.00 [[ 0.99987429 -0.01421402 -0.00702656 -0.06306106] [ 0.01410663 0.99978643 -0.01510306 -0.01771999] [ 0.00723974 0.01500204 0.99986125 -0.00225133] [ 0. 0. 0. 1. ]] SLAMing on 0.761966746 meters Centerline goodness [0,1] 0.49733096085409256 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:0.00 [[ 0.99989428 -0.01324319 -0.00600318 -0.06877288] [ 0.01315776 0.99981467 -0.01405375 -0.01891284] [ 0.00618819 0.01397328 0.99988322 0.00131594] [ 0. 0. 0. 1. ]] SLAMing on 0.791966746 meters Centerline goodness [0,1] 0.4922508081300093 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:0.00 [[ 0.99993449 -0.00970355 -0.00607056 -0.06894551] [ 0.00964088 0.99990078 -0.01027027 -0.01961121] [ 0.00616962 0.01021107 0.99992883 0.00178372] [ 0. 0. 0. 1. ]] SLAMing on 0.821966746 meters Centerline goodness [0,1] 0.48934728929484517 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:-0.00 [[ 9.99934479e-01 -9.36478183e-03 -6.58316678e-03 -6.64816282e-02] [ 9.29694811e-03 9.99904142e-01 -1.02602855e-02 -1.81581892e-02] [ 6.67862107e-03 1.01984099e-02 9.99925691e-01 -9.36624707e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.851966746 meters Centerline goodness [0,1] 0.49175091962378026 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:-0.00 [[ 9.99933937e-01 -9.24557047e-03 -6.82947362e-03 -6.54077289e-02] [ 9.17455567e-03 9.99904271e-01 -1.03574356e-02 -1.77459031e-02] [ 6.92458024e-03 1.02940940e-02 9.99923038e-01 -6.71774028e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.881966746 meters Centerline goodness [0,1] 0.48950437954609993 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:-0.00 [[ 9.99935410e-01 -9.07246991e-03 -6.84581091e-03 -6.54011181e-02] [ 9.00139136e-03 9.99905993e-01 -1.03431239e-02 -1.74287735e-02] [ 6.93900504e-03 1.02808340e-02 9.99923074e-01 -6.54948828e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9119667459999999 meters Centerline goodness [0,1] 0.4767211817462411 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:0.00 [[ 9.99962072e-01 -5.64173493e-03 -6.63523092e-03 -6.69320372e-02] [ 5.59791352e-03 9.99962521e-01 -6.60448543e-03 -1.99715314e-02] [ 6.67224300e-03 6.56709148e-03 9.99956176e-01 3.62812240e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.941966746 meters Centerline goodness [0,1] 0.4708068176761159 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:0.00 [[ 9.99963294e-01 -5.41472194e-03 -6.64015157e-03 -6.72553333e-02] [ 5.37287585e-03 9.99965697e-01 -6.30370591e-03 -2.12696525e-02] [ 6.67405661e-03 6.26779782e-03 9.99958085e-01 8.08629184e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.971966746 meters Centerline goodness [0,1] 0.4708068176761159 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:0.00 [[ 9.99963294e-01 -5.41472194e-03 -6.64015157e-03 -6.72553333e-02] [ 5.37287585e-03 9.99965697e-01 -6.30370591e-03 -2.12696525e-02] [ 6.67405661e-03 6.26779782e-03 9.99958085e-01 8.08629184e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.001966746 meters Centerline goodness [0,1] 0.4976039573349822 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:-0.00 [[ 9.99963059e-01 -5.11460796e-03 -6.90800375e-03 -6.59028196e-02] [ 5.07216821e-03 9.99968242e-01 -6.14717207e-03 -2.12159884e-02] [ 6.93922474e-03 6.11190643e-03 9.99957245e-01 -1.73349371e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.031966746 meters Centerline goodness [0,1] 0.4788560254216573 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:0.00 [[ 9.99975614e-01 -1.06979872e-03 -6.90117886e-03 -6.66941798e-02] [ 1.05709863e-03 9.99997742e-01 -1.84366306e-03 -2.30759514e-02] [ 6.90313562e-03 1.83632288e-03 9.99974487e-01 9.61153930e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.061966746 meters Centerline goodness [0,1] 0.49423567719792305 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:0.00 [[ 9.99981114e-01 -6.10269134e-04 -6.11546387e-03 -7.03408334e-02] [ 5.99959243e-04 9.99998396e-01 -1.68756512e-03 -2.17370343e-02] [ 6.11648393e-03 1.68386422e-03 9.99979876e-01 3.61805165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.091966746 meters Centerline goodness [0,1] 0.4895948150434284 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:0.01 [[ 9.99985428e-01 -2.96095968e-04 -5.39040646e-03 -7.35909102e-02] [ 2.87323654e-04 9.99998633e-01 -1.62809557e-03 -2.07488907e-02] [ 5.39088116e-03 1.62652305e-03 9.99984146e-01 5.64141902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1219667459999998 meters Centerline goodness [0,1] 0.4873725215564406 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:0.01 [[ 9.99984832e-01 -6.83292578e-04 -5.46518440e-03 -7.31943014e-02] [ 6.71726630e-04 9.99997532e-01 -2.11785170e-03 -2.10012302e-02] [ 5.46661802e-03 2.11414847e-03 9.99982823e-01 5.61708196e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1519667459999998 meters Centerline goodness [0,1] 0.4886886712188311 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:0.00 [[ 0.99997828 -0.00103602 -0.00650904 -0.06876094] [ 0.00102022 0.99999653 -0.00243031 -0.02188322] [ 0.00651153 0.00242362 0.99997586 0.00306611] [ 0. 0. 0. 1. ]] SLAMing on 1.1819667459999998 meters Centerline goodness [0,1] 0.4844578894296111 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:0.00 [[ 9.99974249e-01 -3.08602144e-04 -7.16981592e-03 -6.55421176e-02] [ 2.93473961e-04 9.99997729e-01 -2.11093823e-03 -1.98666964e-02] [ 7.17045108e-03 2.10877971e-03 9.99972068e-01 8.53537494e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2119667459999999 meters Centerline goodness [0,1] 0.49149895524029474 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:0.01 [[ 9.99977662e-01 2.14486006e-03 -6.33042553e-03 -7.16106565e-02] [-2.14458983e-03 9.99997699e-01 4.94763706e-05 -1.84861634e-02] [ 6.33051708e-03 -3.58990992e-05 9.99979961e-01 5.56788490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.241966746 meters Centerline goodness [0,1] 0.48170919151552416 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.02, Z:0.01 [[ 9.99985705e-01 2.85562426e-03 -4.52045488e-03 -8.04204961e-02] [-2.85279033e-03 9.99995730e-01 6.33235614e-04 -2.00325583e-02] [ 4.52224386e-03 -6.20330652e-04 9.99989582e-01 1.11466751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.271966746 meters Centerline goodness [0,1] 0.482360403315763 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.02, Z:0.01 [[ 9.99987671e-01 3.05969148e-03 -3.91091602e-03 -8.28671394e-02] [-3.05665178e-03 9.99995022e-01 7.82974648e-04 -1.98726533e-02] [ 3.91329221e-03 -7.71010686e-04 9.99992046e-01 1.22550845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.301966746 meters Centerline goodness [0,1] 0.4907902292504086 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:0.01 [[ 0.999973 0.00514919 -0.00524246 -0.07487053] [-0.00513486 0.99998305 0.00274475 -0.01774083] [ 0.0052565 -0.00271776 0.99998249 0.00662128] [ 0. 0. 0. 1. ]] SLAMing on 1.3319667459999998 meters Centerline goodness [0,1] 0.4897959183673469 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:0.00 [[ 0.99996891 0.00510188 -0.00601177 -0.07157472] [-0.00508774 0.99998426 0.00236557 -0.01560037] [ 0.00602374 -0.00233491 0.99997913 0.00473703] [ 0. 0. 0. 1. ]] SLAMing on 1.3619667459999998 meters Centerline goodness [0,1] 0.4893640423238522 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:0.00 [[ 0.99997132 0.00461974 -0.00600169 -0.07149517] [-0.0046073 0.99998721 0.00208519 -0.01644566] [ 0.00601124 -0.00205747 0.99997982 0.00457063] [ 0. 0. 0. 1. ]] SLAMing on 1.3919667459999998 meters Centerline goodness [0,1] 0.491312149859944 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:0.01 [[ 9.99981364e-01 8.58045308e-04 -6.04449206e-03 -7.16782780e-02] [-8.68238178e-04 9.99998205e-01 -1.68388487e-03 -1.63364904e-02] [ 6.04303636e-03 1.68910155e-03 9.99980314e-01 5.26311397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4219667459999998 meters Centerline goodness [0,1] 0.4919527662366062 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.02, Z:0.01 [[ 9.99986596e-01 5.46624939e-04 -5.14874891e-03 -7.52599133e-02] [-5.55472709e-04 9.99998371e-01 -1.71715785e-03 -1.84566283e-02] [ 5.14780189e-03 1.71999482e-03 9.99985271e-01 6.97261068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4519667459999999 meters Centerline goodness [0,1] 0.4891907236755907 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.02, Z:0.01 [[ 9.99987386e-01 7.60238908e-04 -4.96489316e-03 -7.60232957e-02] [-7.68343273e-04 9.99998375e-01 -1.63063089e-03 -1.85530383e-02] [ 4.96364543e-03 1.63442507e-03 9.99986345e-01 7.42675565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.481966746 meters Centerline goodness [0,1] 0.4900436352360068 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:0.01 [[ 9.99983609e-01 2.72802733e-05 -5.72555122e-03 -1.23378117e-01] [-3.35267721e-05 9.99999404e-01 -1.09089331e-03 -2.12460260e-02] [ 5.72551805e-03 1.09106739e-03 9.99983014e-01 6.81345576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.511966746 meters Centerline goodness [0,1] 0.4882518590223083 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:0.00 [[ 0.99997518 0.00304554 -0.00635341 -0.11960419] [-0.00303336 0.99999355 0.00192567 -0.02041268] [ 0.00635924 -0.00190635 0.99997796 0.0040676 ] [ 0. 0. 0. 1. ]] SLAMing on 1.541966746 meters Centerline goodness [0,1] 0.4943025015579098 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.02, Z:0.00 [[ 0.99996662 -0.00219528 -0.00786974 -0.14183497] [ 0.00225137 0.99997208 0.00712543 -0.01524412] [ 0.00785388 -0.00714291 0.99994365 0.00304705] [ 0. 0. 0. 1. ]] SLAMing on 1.571966746 meters Centerline goodness [0,1] 0.4841794955781199 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.01, Z:-0.00 [[ 9.99997534e-01 -2.22936011e-04 -2.20969244e-03 -1.16526840e-01] [ 2.25527740e-04 9.99999287e-01 1.17271147e-03 -1.17064738e-02] [ 2.20942943e-03 -1.17320692e-03 9.99996871e-01 -3.60311124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6019667459999998 meters Centerline goodness [0,1] 0.48724456307705777 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.01, Z:-0.00 [[ 0.9999877 -0.00448316 -0.00212272 -0.11696461] [ 0.00447697 0.99998573 -0.00291477 -0.01292944] [ 0.00213575 0.00290523 0.9999935 -0.00333953] [ 0. 0. 0. 1. ]] SLAMing on 1.6319667459999998 meters Centerline goodness [0,1] 0.4905677048818202 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.01, Z:-0.01 [[ 0.99998532 -0.00464382 -0.00279192 -0.11360086] [ 0.0046357 0.99998503 -0.00290778 -0.01348664] [ 0.00280538 0.0028948 0.99999187 -0.00574428] [ 0. 0. 0. 1. ]] SLAMing on 1.6619667459999998 meters Centerline goodness [0,1] 0.13247094935321202 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.02, Z:-0.01 [[ 0.9999807 -0.00519188 -0.00341333 -0.11114754] [ 0.00518204 0.99998241 -0.00288399 -0.01692017] [ 0.00342824 0.00286625 0.99999002 -0.00642735] [ 0. 0. 0. 1. ]] SLAMing on 1.6919667459999999 meters Centerline goodness [0,1] 0.4828526550023997 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:-0.00 [[ 0.99996468 -0.00814603 -0.00207123 -0.11866205] [ 0.00813463 0.99995205 -0.00545195 -0.01813054] [ 0.00211554 0.00543491 0.99998299 -0.00142006] [ 0. 0. 0. 1. ]] SLAMing on 1.7219667459999999 meters Centerline goodness [0,1] 0.481592278801642 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:0.00 [[ 9.99988079e-01 -4.71312749e-03 -1.27620789e-03 -1.22392473e-01] [ 4.71111996e-03 9.99987668e-01 -1.57150681e-03 -1.87984222e-02] [ 1.28359886e-03 1.56547570e-03 9.99997951e-01 8.05500418e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.751966746 meters Centerline goodness [0,1] 0.4811717303713383 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:0.00 [[ 9.99988264e-01 -4.62169421e-03 -1.45350287e-03 -1.21565704e-01] [ 4.61959896e-03 9.99988290e-01 -1.44158540e-03 -1.83887615e-02] [ 1.46014841e-03 1.43485388e-03 9.99997905e-01 3.25508890e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.781966746 meters Centerline goodness [0,1] 0.48914258167714797 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:-0.00 [[ 0.99998391 -0.00517358 -0.00232473 -0.1173712 ] [ 0.00516972 0.99998526 -0.00166064 -0.01865168] [ 0.00233329 0.0016486 0.99999592 -0.00250379] [ 0. 0. 0. 1. ]] SLAMing on 1.8119667459999997 meters Centerline goodness [0,1] 0.13214087323630708 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.02, Z:0.00 [[ 9.99995405e-01 -4.16825625e-04 -3.00269818e-03 -1.45030875e-01] [ 4.02839733e-04 9.99989076e-01 -4.65687494e-03 -2.07006414e-02] [ 3.00460648e-03 4.65564393e-03 9.99984649e-01 3.64548226e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8419667459999998 meters Centerline goodness [0,1] 0.4793707590600659 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:-0.00 [[ 9.99967258e-01 -7.83691644e-03 2.01642170e-03 -1.23902472e-01] [ 7.84336836e-03 9.99964082e-01 -3.21192516e-03 -2.21644556e-02] [-1.99117768e-03 3.22763554e-03 9.99992809e-01 -7.13467069e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8719667459999998 meters Centerline goodness [0,1] 0.4890295265606739 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.02, Z:0.00 [[ 0.99993952 -0.0105711 0.00303419 -0.12975215] [ 0.0105886 0.99992705 -0.00581229 -0.02224246] [-0.00297253 0.00584406 0.99997851 0.0030622 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9019667459999998 meters Centerline goodness [0,1] 0.4696853415195702 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.02, Z:0.00 [[ 0.99993547 -0.01111879 0.0023306 -0.12677297] [ 0.01113212 0.99992128 -0.00578862 -0.0246635 ] [-0.00226606 0.00581419 0.99998053 0.00156761] [ 0. 0. 0. 1. ]] SLAMing on 1.9319667459999998 meters Centerline goodness [0,1] 0.48357045324406467 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.03, Z:-0.00 [[ 9.99935434e-01 -1.12583722e-02 1.54147989e-03 -1.23259456e-01] [ 1.12669450e-02 9.99920448e-01 -5.67048144e-03 -2.59592735e-02] [-1.47751687e-03 5.68748309e-03 9.99982735e-01 -4.62057128e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9619667459999999 meters Centerline goodness [0,1] 0.4734616570497291 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.03, Z:0.00 [[ 0.99996671 -0.00788616 0.0020928 -0.12627613] [ 0.00788991 0.99996727 -0.00179216 -0.02845324] [-0.0020786 0.00180861 0.9999962 0.00175226] [ 0. 0. 0. 1. ]] SLAMing on 1.991966746 meters Centerline goodness [0,1] 0.447811890517827 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.03, Z:0.00 [[ 0.99996729 -0.00772999 0.0023816 -0.12795056] [ 0.00773385 0.99996879 -0.00161422 -0.02894188] [-0.00236905 0.00163259 0.99999586 0.00311272] [ 0. 0. 0. 1. ]] SLAMing on 2.021966746 meters Centerline goodness [0,1] 0.4845777260652895 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.03, Z:0.00 [[ 0.99996708 -0.00780867 0.00220483 -0.12760305] [ 0.00781216 0.99996824 -0.0015782 -0.03099977] [-0.00219244 0.00159538 0.99999632 0.00338471] [ 0. 0. 0. 1. ]] SLAMing on 2.051966746 meters Centerline goodness [0,1] 0.1256262716870501 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.03, Z:0.00 [[ 0.99998966 -0.00407626 0.00201393 -0.12756244] [ 0.00407127 0.99998865 0.00247633 -0.03307769] [-0.00202401 -0.0024681 0.99999491 0.00404584] [ 0. 0. 0. 1. ]] SLAMing on 2.081966746 meters Centerline goodness [0,1] 0.4711456395666922 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.03, Z:0.00 [[ 0.99999075 -0.00366529 0.00225086 -0.1281172 ] [ 0.00365934 0.99998983 0.002638 -0.03089734] [-0.00226051 -0.00262974 0.99999399 0.00387825] [ 0. 0. 0. 1. ]] SLAMing on 2.1119667460000002 meters Centerline goodness [0,1] 0.4812870634746321 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.04, Z:0.00 [[ 0.99998857 -0.004416 0.00183536 -0.12699397] [ 0.00441194 0.99998783 0.00220964 -0.03523436] [-0.0018451 -0.00220152 0.99999587 0.00393559] [ 0. 0. 0. 1. ]] SLAMing on 2.141966746 meters Centerline goodness [0,1] 0.48445029448509724 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.04, Z:0.01 [[ 9.99996842e-01 1.29604432e-03 -2.15333304e-03 -1.52220270e-01] [-1.29722036e-03 9.99999010e-01 -5.44842424e-04 -3.63129048e-02] [ 2.15262477e-03 5.47634051e-04 9.99997533e-01 7.07773349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1719667460000003 meters Centerline goodness [0,1] 0.47899973584573385 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.04, Z:0.00 [[ 9.99991792e-01 -3.93508062e-03 -9.64923325e-04 -1.25686835e-01] [ 3.93778195e-03 9.99988288e-01 2.81379831e-03 -3.56957534e-02] [ 9.53839501e-04 -2.81757487e-03 9.99995576e-01 4.70560305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.201966746 meters Centerline goodness [0,1] 0.47401143453403183 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.03, Z:-0.00 [[ 9.99993920e-01 1.34186167e-03 3.21848982e-03 -9.98239613e-02] [-1.33807693e-03 9.99998411e-01 -1.17780122e-03 -3.33762150e-02] [-3.22006515e-03 1.17348747e-03 9.99994127e-01 -5.73585858e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.231966746 meters Centerline goodness [0,1] 0.47245680135117574 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.03, Z:0.00 [[ 0.99999067 0.00169097 0.00397554 -0.1031791 ] [-0.00168646 0.99999793 -0.00113752 -0.03131235] [-0.00397745 0.0011308 0.99999145 0.00136963] [ 0. 0. 0. 1. ]] SLAMing on 2.261966746 meters Centerline goodness [0,1] 0.46700994938034557 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.03, Z:0.00 [[ 0.99999154 0.00163795 0.00377334 -0.10258717] [-0.00163378 0.99999805 -0.00110804 -0.03233345] [-0.00377515 0.00110187 0.99999227 0.00129212] [ 0. 0. 0. 1. ]] SLAMing on 2.291966746 meters Centerline goodness [0,1] 0.4731807829953367 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.03, Z:-0.00 [[ 9.99996076e-01 2.55524249e-04 2.78970333e-03 -9.75308459e-02] [-2.49214239e-04 9.99997411e-01 -2.26200613e-03 -3.38875024e-02] [-2.79027410e-03 2.26130202e-03 9.99993550e-01 -1.71354310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.321966746 meters Centerline goodness [0,1] 0.47870364299919144 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.03, Z:-0.00 [[ 9.99997082e-01 3.38641508e-04 2.39212440e-03 -9.56591894e-02] [-3.33603042e-04 9.99997726e-01 -2.10635740e-03 -3.35428261e-02] [-2.39283226e-03 2.10555323e-03 9.99994920e-01 -2.88602104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.351966746 meters Centerline goodness [0,1] 0.47493219004287335 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.03, Z:-0.00 [[ 9.99996779e-01 7.01365787e-04 2.43925094e-03 -9.63711353e-02] [-6.96574103e-04 9.99997827e-01 -1.96470295e-03 -3.20751368e-02] [-2.44062362e-03 1.96299750e-03 9.99995095e-01 -2.09646147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3819667460000002 meters Centerline goodness [0,1] 0.4714142645650091 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.03, Z:-0.00 [[ 9.99995512e-01 6.28483718e-04 2.92920969e-03 -9.89277240e-02] [-6.22479265e-04 9.99997704e-01 -2.05031532e-03 -3.30439956e-02] [-2.93049156e-03 2.04848275e-03 9.99993608e-01 -2.36249814e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.411966746 meters Centerline goodness [0,1] 0.457909058988764 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.03, Z:0.00 [[ 9.99994119e-01 9.22730665e-04 3.30321840e-03 -1.00859431e-01] [-9.16961700e-04 9.99998053e-01 -1.74755676e-03 -3.35589041e-02] [-3.30482449e-03 1.74451756e-03 9.99993017e-01 1.03694971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.441966746 meters Centerline goodness [0,1] 0.4864461139668732 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.03, Z:0.00 [[ 9.99995502e-01 1.09671688e-03 2.79147804e-03 -9.91014087e-02] [-1.09195978e-03 9.99997950e-01 -1.70510609e-03 -3.23144883e-02] [-2.79334234e-03 1.70205024e-03 9.99994650e-01 3.76200202e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.471966746 meters Centerline goodness [0,1] 0.48412924113490696 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.03, Z:-0.00 [[ 9.99995615e-01 1.11255057e-03 2.74444529e-03 -9.86798955e-02] [-1.10779977e-03 9.99997887e-01 -1.73197446e-03 -3.29241000e-02] [-2.74636640e-03 1.72892657e-03 9.99994734e-01 -1.19485540e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.501966746 meters Centerline goodness [0,1] 0.49578185865331104 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.03, Z:-0.00 [[ 9.99996954e-01 1.17864354e-03 2.16849879e-03 -1.47145275e-01] [-1.17801050e-03 9.99999263e-01 -2.93181824e-04 -3.22945458e-02] [-2.16884275e-03 2.90626417e-04 9.99997606e-01 -2.44421812e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.531966746 meters Centerline goodness [0,1] 0.4790453127386173 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.03, Z:-0.00 [[ 0.99999723 0.001514 0.00180381 -0.09664239] [-0.00151151 0.9999979 -0.00138103 -0.03128255] [-0.0018059 0.0013783 0.99999742 -0.00162235] [ 0. 0. 0. 1. ]] SLAMing on 2.561966746 meters Centerline goodness [0,1] 0.49154988084566786 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.03, Z:-0.00 [[ 0.9999979 0.00113809 0.00170451 -0.09664492] [-0.00113554 0.99999824 -0.00149485 -0.03307777] [-0.00170621 0.00149292 0.99999743 -0.00117772] [ 0. 0. 0. 1. ]] SLAMing on 2.591966746 meters Centerline goodness [0,1] 0.48920800315222623 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.03, Z:-0.00 [[ 0.9999977 0.00111284 0.00183107 -0.09700901] [-0.00111023 0.99999836 -0.00143004 -0.03397751] [-0.00183266 0.00142801 0.9999973 -0.00140219] [ 0. 0. 0. 1. ]] SLAMing on 2.621966746 meters Centerline goodness [0,1] 0.48226669308500103 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.03, Z:-0.00 [[ 0.99999831 0.00132541 0.00127261 -0.09418681] [-0.00132373 0.99999825 -0.00131927 -0.03289586] [-0.00127435 0.00131758 0.99999832 -0.00358551] [ 0. 0. 0. 1. ]] SLAMing on 2.651966746 meters Centerline goodness [0,1] 0.4896204746800831 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.03, Z:-0.00 [[ 0.99999875 0.00102309 0.00120342 -0.09357511] [-0.00102132 0.9999984 -0.00146766 -0.03344479] [-0.00120491 0.00146643 0.9999982 -0.00404665] [ 0. 0. 0. 1. ]] SLAMing on 2.681966746 meters Centerline goodness [0,1] 0.4891931951419154 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.03, Z:-0.00 [[ 9.99998543e-01 7.48601670e-04 1.53434963e-03 -9.60678992e-02] [-7.46280549e-04 9.99998577e-01 -1.51278651e-03 -3.47983848e-02] [-1.53547992e-03 1.51163925e-03 9.99997679e-01 -1.66706550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.711966746 meters Centerline goodness [0,1] 0.48889863975427816 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.04, Z:-0.00 [[ 9.99997937e-01 5.56796867e-04 1.95329502e-03 -9.80142782e-02] [-5.53730352e-04 9.99998614e-01 -1.57010855e-03 -3.55264798e-02] [-1.95416654e-03 1.56902371e-03 9.99996860e-01 -3.61906095e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.741966746 meters Centerline goodness [0,1] 0.4349278663629461 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.04, Z:-0.00 [[ 9.99998679e-01 6.49435284e-04 1.49034912e-03 -9.57588583e-02] [-6.47211132e-04 9.99998677e-01 -1.49236728e-03 -3.57205396e-02] [-1.49131634e-03 1.49140074e-03 9.99997776e-01 -1.94554019e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.771966746 meters Centerline goodness [0,1] 0.4281351612619738 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.03, Z:0.00 [[ 9.99989822e-01 -4.17788923e-03 -1.70328606e-03 -1.20185419e-01] [ 4.18467801e-03 9.99983237e-01 4.00180825e-03 -3.42510262e-02] [ 1.68653839e-03 -4.00889523e-03 9.99990542e-01 4.72977600e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.801966746 meters Centerline goodness [0,1] 0.4613213738788011 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.03, Z:-0.00 [[ 9.99989220e-01 -4.23674139e-03 -1.89997575e-03 -1.19130557e-01] [ 4.24427857e-03 9.99983070e-01 3.98065535e-03 -3.32924285e-02] [ 1.88307858e-03 -3.98867647e-03 9.99990272e-01 -2.15002626e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.831966746 meters Centerline goodness [0,1] 0.47382456447135457 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.04, Z:0.00 [[ 9.99986923e-01 -4.69730524e-03 -2.02225931e-03 -1.19098211e-01] [ 4.70508664e-03 9.99981479e-01 3.86046629e-03 -3.60353354e-02] [ 2.00408807e-03 -3.86993071e-03 9.99990504e-01 5.10698864e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8619667460000002 meters Centerline goodness [0,1] 0.4764422123835327 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.04, Z:0.00 [[ 9.99986931e-01 -4.78357128e-03 -1.80421832e-03 -1.19842723e-01] [ 4.79049176e-03 9.99981110e-01 3.85110413e-03 -3.69946055e-02] [ 1.78576221e-03 -3.85969689e-03 9.99990957e-01 6.82471285e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.891966746 meters Centerline goodness [0,1] 0.4764422123835327 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.04, Z:0.00 [[ 9.99986931e-01 -4.78357128e-03 -1.80421832e-03 -1.19842723e-01] [ 4.79049176e-03 9.99981110e-01 3.85110413e-03 -3.69946055e-02] [ 1.78576221e-03 -3.85969689e-03 9.99990957e-01 6.82471285e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.921966746 meters Centerline goodness [0,1] 0.48440511652356755 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.04, Z:0.00 [[ 0.99998784 -0.00475451 -0.00130592 -0.1226381 ] [ 0.0047596 0.99998099 0.00391993 -0.03911681] [ 0.00128726 -0.0039261 0.99999146 0.00298893] [ 0. 0. 0. 1. ]] SLAMing on 2.951966746 meters Centerline goodness [0,1] 0.48323869242068795 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.04, Z:0.00 [[ 0.99998865 -0.00463372 -0.00110758 -0.12380599] [ 0.00463809 0.99998133 0.00397837 -0.03986238] [ 0.00108912 -0.00398346 0.99999147 0.0039719 ] [ 0. 0. 0. 1. ]] SLAMing on 2.981966746 meters Centerline goodness [0,1] 0.4901935031958673 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.04, Z:0.00 [[ 0.9999887 -0.00459266 -0.00122759 -0.12378323] [ 0.00459744 0.99998173 0.00392456 -0.04031759] [ 0.00120954 -0.00393016 0.99999155 0.00451854] [ 0. 0. 0. 1. ]] SLAMing on 3.011966746 meters Centerline goodness [0,1] 0.4776116139752503 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.04, Z:0.01 [[ 0.99999013 -0.0043033 -0.00110469 -0.12486671] [ 0.00430794 0.99998177 0.0042311 -0.04041798] [ 0.00108646 -0.00423582 0.99999044 0.00571944] [ 0. 0. 0. 1. ]] SLAMing on 3.041966746 meters Centerline goodness [0,1] 0.4853507671311277 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.04, Z:0.01 [[ 9.99991669e-01 -4.03973783e-03 -5.84553178e-04 -1.26284398e-01] [ 4.04232233e-03 9.99981750e-01 4.48982912e-03 -3.85200049e-02] [ 5.66404777e-04 -4.49215467e-03 9.99989750e-01 5.43462186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.071966746 meters Centerline goodness [0,1] 0.4901193590222671 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.04, Z:0.01 [[ 9.99991896e-01 -3.97050580e-03 -6.65149978e-04 -1.26071151e-01] [ 3.97337255e-03 9.99982577e-01 4.36552022e-03 -3.58112183e-02] [ 6.47805066e-04 -4.36812773e-03 9.99990250e-01 5.61842688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.101966746 meters Centerline goodness [0,1] 0.4931534078360351 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.04, Z:0.00 [[ 9.99992218e-01 -3.84986228e-03 -8.62081480e-04 -1.25086867e-01] [ 3.85356595e-03 9.99983172e-01 4.33655681e-03 -3.52077006e-02] [ 8.45371826e-04 -4.33984515e-03 9.99990225e-01 4.85420459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1319667460000002 meters Centerline goodness [0,1] 0.4912495624781239 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.04, Z:0.00 [[ 9.99998378e-01 1.59697182e-03 -8.33207756e-04 -1.00738101e-01] [-1.59730984e-03 9.99998642e-01 -4.05187540e-04 -3.96585656e-02] [ 8.32559551e-04 4.06517774e-04 9.99999571e-01 4.95803002e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.161966746 meters Centerline goodness [0,1] 0.488817682448339 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.04, Z:0.01 [[ 9.99999047e-01 1.25099783e-03 -5.84460737e-04 -1.01991867e-01] [-1.25132693e-03 9.99999059e-01 -5.63054565e-04 -4.23784939e-02] [ 5.83755807e-04 5.63785380e-04 9.99999671e-01 5.78769855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.191966746 meters Centerline goodness [0,1] 0.48643061359137896 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.04, Z:0.00 [[ 9.99998509e-01 1.30281497e-03 -1.13313521e-03 -9.91104538e-02] [-1.30354173e-03 9.99998945e-01 -6.40862669e-04 -4.20627558e-02] [ 1.13229909e-03 6.42338803e-04 9.99999153e-01 3.75501889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.221966746 meters Centerline goodness [0,1] 0.49404748806196774 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.04, Z:0.00 [[ 9.99998249e-01 1.53211215e-03 -1.07416732e-03 -9.90525980e-02] [-1.53276259e-03 9.99998642e-01 -6.04971335e-04 -4.09471546e-02] [ 1.07323898e-03 6.06616720e-04 9.99999240e-01 3.23999797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.251966746 meters Centerline goodness [0,1] 0.4878759336735812 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.04, Z:0.00 [[ 9.99998075e-01 1.88049954e-03 -5.59977242e-04 -1.00805746e-01] [-1.88076154e-03 9.99998122e-01 -4.67714187e-04 -3.79493202e-02] [ 5.59096654e-04 4.68766470e-04 9.99999734e-01 3.78491265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.281966746 meters Centerline goodness [0,1] 0.4743341830007911 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.04, Z:0.00 [[ 9.99997923e-01 1.94427529e-03 -6.11917731e-04 -1.00601668e-01] [-1.94458899e-03 9.99997978e-01 -5.12472612e-04 -3.56491866e-02] [ 6.10920106e-04 5.13661476e-04 9.99999681e-01 3.62653675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.311966746 meters Centerline goodness [0,1] 0.48168001235303204 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.04, Z:0.00 [[ 9.99998456e-01 1.48834607e-03 -9.34142801e-04 -9.89969852e-02] [-1.48898790e-03 9.99998656e-01 -6.86752649e-04 -3.69386698e-02] [ 9.33119419e-04 6.88142516e-04 9.99999328e-01 2.56987419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.341966746 meters Centerline goodness [0,1] 0.4840923542438661 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.04, Z:0.00 [[ 9.99998673e-01 1.09050165e-03 -1.21031218e-03 -9.81461574e-02] [-1.09157058e-03 9.99999014e-01 -8.82883191e-04 -3.88693674e-02] [ 1.20934820e-03 8.84203160e-04 9.99998878e-01 2.54858470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.371966746 meters Centerline goodness [0,1] 0.49427421850820175 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.04, Z:0.00 [[ 9.99998972e-01 1.05138118e-03 -9.74938789e-04 -9.86209792e-02] [-1.05217369e-03 9.99999116e-01 -8.12720288e-04 -3.89995232e-02] [ 9.74083449e-04 8.13745257e-04 9.99999194e-01 2.07236223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.401966746 meters Centerline goodness [0,1] 0.46617377649829883 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.04, Z:0.00 [[ 0.99998962 -0.00438425 0.00123984 -0.07478741] [ 0.00438106 0.99998712 0.00256184 -0.03825613] [-0.00125105 -0.00255638 0.99999595 0.00169838] [ 0. 0. 0. 1. ]] SLAMing on 3.431966746 meters Centerline goodness [0,1] 0.49168797953964194 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.04, Z:0.00 [[ 9.99998358e-01 1.48969855e-03 1.03196216e-03 -1.02006062e-01] [-1.48925416e-03 9.99998798e-01 -4.31266693e-04 -3.92879663e-02] [-1.03260338e-03 4.29729131e-04 9.99999375e-01 3.10985748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.461966746 meters Centerline goodness [0,1] 0.47675922070522236 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.04, Z:0.00 [[ 9.99998904e-01 1.35742802e-03 5.91836864e-04 -1.00889512e-01] [-1.35712160e-03 9.99998945e-01 -5.17844004e-04 -4.04365082e-02] [-5.92539175e-04 5.17040242e-04 9.99999691e-01 3.44271179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.491966746 meters Centerline goodness [0,1] 0.4925902133221097 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.04, Z:0.00 [[ 9.99998541e-01 1.62240022e-03 5.35230802e-04 -1.00428385e-01] [-1.62221329e-03 9.99998623e-01 -3.49497442e-04 -4.05249722e-02] [-5.35797090e-04 3.48628674e-04 9.99999796e-01 2.60365753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.521966746 meters Centerline goodness [0,1] 0.48612572330352444 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.04, Z:0.00 [[ 9.99998635e-01 1.44095198e-03 8.08319303e-04 -1.01298264e-01] [-1.44058942e-03 9.99998862e-01 -4.48933364e-04 -4.01940634e-02] [-8.08965274e-04 4.47768295e-04 9.99999573e-01 2.93638273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.551966746 meters Centerline goodness [0,1] 0.4961007130124777 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.04, Z:0.00 [[ 9.99998078e-01 1.37699646e-04 1.95597722e-03 -1.53565265e-01] [-1.38470345e-04 9.99999913e-01 3.93892215e-04 -4.14552321e-02] [-1.95592281e-03 -3.94162302e-04 9.99998009e-01 4.73165496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.581966746 meters Centerline goodness [0,1] 0.4905341669408797 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.04, Z:0.01 [[ 9.99994689e-01 4.54557901e-04 3.22717143e-03 -1.09378853e-01] [-4.51834679e-04 9.99999541e-01 -8.44520595e-04 -4.37718627e-02] [-3.22755383e-03 8.43057962e-04 9.99994436e-01 6.87551766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.611966746 meters Centerline goodness [0,1] 0.4934800416214661 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.04, Z:0.01 [[ 9.99994847e-01 6.92975646e-04 3.13462895e-03 -1.09037799e-01] [-6.90950477e-04 9.99999552e-01 -6.47100228e-04 -4.44268225e-02] [-3.13507597e-03 6.44931020e-04 9.99994878e-01 6.52416653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.641966746 meters Centerline goodness [0,1] 0.48316124253910164 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:0.01 [[ 0.99999583 0.00184119 0.00222391 -0.05857083] [-0.0018377 0.99999707 -0.0015727 -0.04265438] [-0.0022268 0.00156861 0.99999629 0.00524873] [ 0. 0. 0. 1. ]] SLAMing on 3.671966746 meters Centerline goodness [0,1] 0.4875722858701582 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:0.00 [[ 0.99999671 0.0019533 0.00166535 -0.05592412] [-0.00195089 0.99999706 -0.00144354 -0.04174657] [-0.00166817 0.00144029 0.99999757 0.00329533] [ 0. 0. 0. 1. ]] SLAMing on 3.701966746 meters Centerline goodness [0,1] 0.48874994496059176 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.01 [[ 0.99998688 -0.00500632 -0.00108358 -0.08039733] [ 0.00500838 0.99998565 0.00189991 -0.04176037] [ 0.00107405 -0.00190531 0.99999761 0.00647621] [ 0. 0. 0. 1. ]] SLAMing on 3.731966746 meters Centerline goodness [0,1] 0.4798320981176625 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.01 [[ 9.99985747e-01 -5.27536266e-03 -8.21915153e-04 -8.14932483e-02] [ 5.27693642e-03 9.99984225e-01 1.92449803e-03 -4.41693896e-02] [ 8.11749763e-04 -1.92880779e-03 9.99997810e-01 7.26933279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.761966746 meters Centerline goodness [0,1] 0.4882439141751055 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.01 [[ 9.99988711e-01 -4.74323784e-03 -2.82530288e-04 -8.40857223e-02] [ 4.74384372e-03 9.99986363e-01 2.18387576e-03 -4.44939469e-02] [ 2.72167793e-04 -2.18519139e-03 9.99997575e-01 8.80459837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.791966746 meters Centerline goodness [0,1] 0.4917584839136183 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.01 [[ 9.99990349e-01 -4.37163459e-03 -4.36655726e-04 -8.33244099e-02] [ 4.37265360e-03 9.99987654e-01 2.36063048e-03 -4.26320342e-02] [ 4.26330521e-04 -2.36251704e-03 9.99997118e-01 8.15796306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.821966746 meters Centerline goodness [0,1] 0.49950805008944543 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.04, Z:0.01 [[ 9.99988629e-01 4.96651330e-04 -4.74286832e-03 -1.10113515e-01] [-4.99294331e-04 9.99999721e-01 -5.56090147e-04 -4.05207092e-02] [ 4.74259081e-03 5.58451911e-04 9.99988598e-01 1.31144026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.851966746 meters Centerline goodness [0,1] 0.4853219488578848 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.04, Z:0.01 [[ 9.99989872e-01 -4.43747214e-03 7.50845537e-04 -8.66259699e-02] [ 4.43561088e-03 9.99987130e-01 2.46265316e-03 -4.37638083e-02] [-7.61763828e-04 -2.45929776e-03 9.99996686e-01 8.90293447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.881966746 meters Centerline goodness [0,1] 0.48004369197160024 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:0.01 [[ 0.99999585 0.00180995 0.00224287 -0.06307951] [-0.00180672 0.99999733 -0.00144296 -0.04394991] [-0.00224548 0.0014389 0.99999644 0.00793552] [ 0. 0. 0. 1. ]] SLAMing on 3.911966746 meters Centerline goodness [0,1] 0.49143621570648477 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:0.01 [[ 0.9999965 0.00177343 0.0019651 -0.06192781] [-0.00177063 0.99999742 -0.0014253 -0.04404073] [-0.00196762 0.00142182 0.99999705 0.00727472] [ 0. 0. 0. 1. ]] SLAMing on 3.941966746 meters Centerline goodness [0,1] 0.49889736691218634 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 0.99999654 0.00148671 0.00217061 -0.06316196] [-0.00148338 0.99999772 -0.00153532 -0.04613603] [-0.00217288 0.00153209 0.99999647 0.00840623] [ 0. 0. 0. 1. ]] SLAMing on 3.971966746 meters Centerline goodness [0,1] 0.4966816860142499 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 0.99999626 0.00178131 0.0020777 -0.06309973] [-0.0017785 0.9999975 -0.00135649 -0.04752904] [-0.00208012 0.00135279 0.99999692 0.00862339] [ 0. 0. 0. 1. ]] SLAMing on 4.001966746 meters Centerline goodness [0,1] 0.4872138494661452 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 0.99999725 0.0020214 0.00119187 -0.05894499] [-0.00202012 0.99999737 -0.0010819 -0.04738458] [-0.00119405 0.00107949 0.9999987 0.0055856 ] [ 0. 0. 0. 1. ]] SLAMing on 4.031966745999999 meters Centerline goodness [0,1] 0.4852034660524295 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 0.9999976 0.00175969 0.00130874 -0.05926359] [-0.00175826 0.99999786 -0.00108701 -0.04770254] [-0.00131065 0.0010847 0.99999855 0.00577889] [ 0. 0. 0. 1. ]] SLAMing on 4.0619667459999995 meters Centerline goodness [0,1] 0.46478280141843975 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 0.99999655 0.00156325 0.00210988 -0.06270631] [-0.0015609 0.99999816 -0.00111496 -0.04815829] [-0.00211161 0.00111166 0.99999715 0.00785035] [ 0. 0. 0. 1. ]] SLAMing on 4.091966746 meters Centerline goodness [0,1] 0.12946878975303766 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 9.99995848e-01 1.87625142e-03 2.18707803e-03 -6.33982007e-02] [-1.87407990e-03 9.99997749e-01 -9.94512937e-04 -4.75349722e-02] [-2.18893907e-03 9.90410049e-04 9.99997114e-01 9.00312963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.121966745999999 meters Centerline goodness [0,1] 0.4870153980561319 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 0.99999618 0.0020312 0.00187379 -0.06211863] [-0.0020291 0.99999732 -0.00111769 -0.04521789] [-0.00187605 0.00111389 0.99999762 0.00830424] [ 0. 0. 0. 1. ]] SLAMing on 4.151966745999999 meters Centerline goodness [0,1] 0.48708837291427565 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 0.99999666 0.00171066 0.00193961 -0.06232723] [-0.00170833 0.99999782 -0.00119999 -0.04698843] [-0.00194165 0.00119667 0.9999974 0.00820376] [ 0. 0. 0. 1. ]] SLAMing on 4.181966746 meters Centerline goodness [0,1] 0.4843187998947276 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 0.99999752 0.00127946 0.00182523 -0.06183798] [-0.00127711 0.99999836 -0.00128469 -0.04945694] [-0.00182687 0.00128235 0.99999751 0.00823325] [ 0. 0. 0. 1. ]] SLAMing on 4.211966746 meters Centerline goodness [0,1] 0.4814651465367058 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 0.99999745 0.00113825 0.0019504 -0.06260731] [-0.00113596 0.99999866 -0.00117476 -0.05000586] [-0.00195173 0.00117254 0.99999741 0.00855533] [ 0. 0. 0. 1. ]] SLAMing on 4.241966745999999 meters Centerline goodness [0,1] 0.4822038350407145 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 0.99999756 0.00103125 0.00195404 -0.06252358] [-0.00102883 0.9999987 -0.00123825 -0.05076602] [-0.00195532 0.00123624 0.99999732 0.00848772] [ 0. 0. 0. 1. ]] SLAMing on 4.2719667459999995 meters Centerline goodness [0,1] 0.48147018453561075 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 0.99999763 0.00122811 0.00180028 -0.06186321] [-0.00122598 0.99999855 -0.00118386 -0.05140035] [-0.00180173 0.00118165 0.99999768 0.00814555] [ 0. 0. 0. 1. ]] SLAMing on 4.301966746 meters Centerline goodness [0,1] 0.48683893308786463 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 9.99996382e-01 1.58132065e-03 2.17620811e-03 -6.37699140e-02] [-1.57929494e-03 9.99998318e-01 -9.32249795e-04 -5.09468527e-02] [-2.17767864e-03 9.28809547e-04 9.99997198e-01 9.44312132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.331966746 meters Centerline goodness [0,1] 0.4876167812444915 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.05, Z:0.01 [[ 9.99995665e-01 1.60421159e-03 2.46904839e-03 -6.52538630e-02] [-1.60207286e-03 9.99998340e-01 -8.67952456e-04 -5.06289092e-02] [-2.47043667e-03 8.63993099e-04 9.99996575e-01 1.03482484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.361966745999999 meters Centerline goodness [0,1] 0.4801094690749863 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 9.99996674e-01 1.79623626e-03 1.85077726e-03 -6.24724741e-02] [-1.79493325e-03 9.99998140e-01 -7.05457064e-04 -4.84016237e-02] [-1.85204098e-03 7.02132696e-04 9.99998038e-01 8.78127558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.391966746 meters Centerline goodness [0,1] 0.4829175764794107 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 9.99996830e-01 2.07038430e-03 1.43290493e-03 -5.99907665e-02] [-2.06956176e-03 9.99997693e-01 -5.75285997e-04 -4.64597938e-02] [-1.43409269e-03 5.72318689e-04 9.99998808e-01 6.53571369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.421966746 meters Centerline goodness [0,1] 0.48035001535155053 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 0.99999805 -0.00150829 0.00127574 -0.05972473] [ 0.00151387 0.99998925 -0.00438157 -0.04662275] [-0.00126912 0.00438349 0.99998959 0.00704605] [ 0. 0. 0. 1. ]] SLAMing on 4.451966745999999 meters Centerline goodness [0,1] 0.49115347992648195 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 0.9999971 -0.00172934 0.0016739 -0.06223857] [ 0.00173665 0.99998892 -0.00437537 -0.05031038] [-0.00166632 0.00437826 0.99998903 0.0091674 ] [ 0. 0. 0. 1. ]] SLAMing on 4.4819667459999994 meters Centerline goodness [0,1] 0.48972746331236894 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 0.99999657 -0.00142727 0.00219539 -0.06467585] [ 0.00143618 0.99999072 -0.00406287 -0.05189886] [-0.00218957 0.00406601 0.99998934 0.01088298] [ 0. 0. 0. 1. ]] SLAMing on 4.511966746 meters Centerline goodness [0,1] 0.4860008722197994 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.06, Z:0.01 [[ 0.99995981 -0.003723 0.00815541 -0.04211861] [ 0.00371287 0.99999232 0.00125699 -0.05563703] [-0.00816003 -0.00122666 0.99996595 0.00698485] [ 0. 0. 0. 1. ]] SLAMing on 4.541966746 meters Centerline goodness [0,1] 0.49197990569779226 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.06, Z:0.01 [[ 0.99999353 0.00116916 0.00340266 -0.06518332] [-0.00116218 0.99999722 -0.00205357 -0.05523514] [-0.00340505 0.00204961 0.9999921 0.01017784] [ 0. 0. 0. 1. ]] SLAMing on 4.571966745999999 meters Centerline goodness [0,1] 0.4907427913363157 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 0.99999447 0.00170557 0.00285565 -0.06193223] [-0.00170071 0.9999971 -0.00170362 -0.05296999] [-0.00285854 0.00169875 0.99999447 0.00723271] [ 0. 0. 0. 1. ]] SLAMing on 4.6019667459999996 meters Centerline goodness [0,1] 0.4925723564391197 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 0.99999415 0.00203461 0.00274833 -0.06112042] [-0.00203026 0.99999669 -0.00158282 -0.05002192] [-0.00275154 0.00157723 0.99999497 0.0067352 ] [ 0. 0. 0. 1. ]] SLAMing on 4.631966746 meters Centerline goodness [0,1] 0.49062198014583147 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 0.99999509 -0.00173841 0.00260611 -0.06105902] [ 0.0017523 0.99998423 -0.00533591 -0.05265221] [-0.00259679 0.00534045 0.99998237 0.00712209] [ 0. 0. 0. 1. ]] SLAMing on 4.661966745999999 meters Centerline goodness [0,1] 0.4882414105882613 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.01 [[ 0.99999528 -0.00203469 0.0023034 -0.05992834] [ 0.0020467 0.99998427 -0.00522124 -0.05581348] [-0.00229274 0.00522593 0.99998372 0.00640086] [ 0. 0. 0. 1. ]] SLAMing on 4.691966745999999 meters Centerline goodness [0,1] 0.4968292197892039 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 0.99999586 0.00176709 0.00227147 -0.05966387] [-0.00176406 0.99999756 -0.00133312 -0.05328368] [-0.00227382 0.0013291 0.99999653 0.00614919] [ 0. 0. 0. 1. ]] SLAMing on 4.721966746 meters Centerline goodness [0,1] 0.4667439114062256 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 0.99999484 0.00177152 0.00267802 -0.06147061] [-0.00176776 0.99999745 -0.00140311 -0.05323015] [-0.0026805 0.00139837 0.99999543 0.00737426] [ 0. 0. 0. 1. ]] SLAMing on 4.751966746 meters Centerline goodness [0,1] 0.48664244025988324 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.01 [[ 0.99999537 0.00163714 0.00256644 -0.06098985] [-0.00163312 0.99999743 -0.00156961 -0.05501618] [-0.002569 0.00156541 0.99999547 0.00722395] [ 0. 0. 0. 1. ]] SLAMing on 4.781966745999999 meters Centerline goodness [0,1] 0.48664244025988324 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.01 [[ 0.99999537 0.00163714 0.00256644 -0.06098985] [-0.00163312 0.99999743 -0.00156961 -0.05501618] [-0.002569 0.00156541 0.99999547 0.00722395] [ 0. 0. 0. 1. ]] SLAMing on 4.8119667459999995 meters Centerline goodness [0,1] 0.482897955617683 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.01 [[ 0.9999962 0.0015865 0.00225497 -0.05967784] [-0.00158301 0.99999755 -0.00154962 -0.05582027] [-0.00225742 0.00154604 0.99999626 0.00648808] [ 0. 0. 0. 1. ]] SLAMing on 4.841966746 meters Centerline goodness [0,1] 0.4898565393416652 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.01 [[ 0.99999695 0.00146644 0.00198576 -0.05833905] [-0.00146348 0.99999782 -0.00149256 -0.05504301] [-0.00198794 0.00148965 0.99999691 0.00545677] [ 0. 0. 0. 1. ]] SLAMing on 4.871966745999999 meters Centerline goodness [0,1] 0.49009726684564936 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 0.9999964 0.00146345 0.00225119 -0.05985103] [-0.00146026 0.99999793 -0.00141928 -0.05459731] [-0.00225327 0.00141599 0.99999646 0.0067649 ] [ 0. 0. 0. 1. ]] SLAMing on 4.901966745999999 meters Centerline goodness [0,1] 0.49716060337178347 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.01 [[ 0.99999471 0.001389 0.00294232 -0.06326597] [-0.00138492 0.99999808 -0.00138609 -0.05535539] [-0.00294424 0.00138201 0.99999471 0.00928315] [ 0. 0. 0. 1. ]] SLAMing on 4.931966746 meters Centerline goodness [0,1] 0.48153586534879134 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.06, Z:0.01 [[ 0.99996097 -0.00247477 0.00848164 -0.04021854] [ 0.00246154 0.99999574 0.0015699 -0.05925772] [-0.00848549 -0.00154896 0.9999628 0.00656547] [ 0. 0. 0. 1. ]] SLAMing on 4.961966746 meters Centerline goodness [0,1] 0.4775551058598255 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.06, Z:0.01 [[ 0.99996367 -0.0024536 0.00816309 -0.03837132] [ 0.00244165 0.99999593 0.00147312 -0.06049658] [-0.00816667 -0.00145313 0.9999656 0.00500976] [ 0. 0. 0. 1. ]] SLAMing on 4.991966745999999 meters Centerline goodness [0,1] 0.4870880390991348 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.01 [[ 0.99999528 0.00203036 0.00230598 -0.06023141] [-0.00202574 0.99999594 -0.00200386 -0.0590102 ] [-0.00231004 0.00199918 0.99999533 0.00784924] [ 0. 0. 0. 1. ]] SLAMing on 5.0219667459999995 meters Centerline goodness [0,1] 0.49111616306531003 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.00 [[ 0.99998463 0.00535048 0.00145293 -0.05559311] [-0.00535236 0.99998484 0.00129374 -0.05380314] [-0.00144599 -0.00130149 0.99999811 0.00472918] [ 0. 0. 0. 1. ]] SLAMing on 5.051966746 meters Centerline goodness [0,1] 0.49285935358358757 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 0.99998335 0.0053704 0.00211385 -0.05831103] [-0.00537275 0.99998495 0.00110659 -0.0509809 ] [-0.00210788 -0.00111793 0.99999715 0.00652061] [ 0. 0. 0. 1. ]] SLAMing on 5.081966745999999 meters Centerline goodness [0,1] 0.49000394581086415 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.01 [[ 0.99999131 0.00239911 0.00340893 -0.06446786] [-0.00239201 0.99999497 -0.00208461 -0.05253718] [-0.00341391 0.00207643 0.99999202 0.01014714] [ 0. 0. 0. 1. ]] SLAMing on 5.111966745999999 meters Centerline goodness [0,1] 0.49006288756929683 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.01 [[ 0.99999321 0.0015099 0.00336281 -0.06464918] [-0.00150199 0.99999611 -0.00235204 -0.05815773] [-0.00336635 0.00234698 0.99999158 0.01068999] [ 0. 0. 0. 1. ]] SLAMing on 5.141966746 meters Centerline goodness [0,1] 0.48063437971033485 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.01 [[ 0.99999519 0.00114939 0.00288245 -0.06262535] [-0.00114275 0.99999669 -0.00230489 -0.0597151 ] [-0.00288509 0.00230158 0.99999319 0.00974464] [ 0. 0. 0. 1. ]] SLAMing on 5.171966746 meters Centerline goodness [0,1] 0.49004975124378114 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.01 [[ 0.99999679 0.00102749 0.00231623 -0.06050987] [-0.00102217 0.99999684 -0.0022965 -0.0608796 ] [-0.00231858 0.00229412 0.99999468 0.0087417 ] [ 0. 0. 0. 1. ]] SLAMing on 5.201966745999999 meters Centerline goodness [0,1] 0.4732015219160307 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.06, Z:0.00 [[ 9.99991335e-01 3.96667373e-03 1.26277769e-03 -5.43632829e-02] [-3.96746214e-03 9.99991936e-01 6.22454676e-04 -5.94798939e-02] [-1.26029843e-03 -6.27459305e-04 9.99999009e-01 4.54293758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2319667459999994 meters Centerline goodness [0,1] 0.4912312097351468 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.06, Z:0.01 [[ 0.99999172 0.00348343 0.00210457 -0.10620767] [-0.00348643 0.99999291 0.00142511 -0.05789636] [-0.00209959 -0.00143243 0.99999677 0.00628203] [ 0. 0. 0. 1. ]] SLAMing on 5.261966746 meters Centerline goodness [0,1] 0.48782478274295293 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.06, Z:0.00 [[ 0.99996825 -0.00277437 0.00747018 -0.08540474] [ 0.00275021 0.99999096 0.00324201 -0.05879564] [-0.0074791 -0.00322136 0.99996684 0.00490737] [ 0. 0. 0. 1. ]] SLAMing on 5.291966745999999 meters Centerline goodness [0,1] 0.4851884312007011 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.06, Z:0.01 [[ 0.99996432 -0.00317083 0.00783012 -0.08691776] [ 0.00314592 0.99998996 0.0031915 -0.06088653] [-0.00784016 -0.00316675 0.99996425 0.00582286] [ 0. 0. 0. 1. ]] SLAMing on 5.321966745999999 meters Centerline goodness [0,1] 0.4853725730278118 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.06, Z:0.01 [[ 0.9999641 -0.00327221 0.00781589 -0.08665212] [ 0.00324731 0.99998962 0.0031967 -0.06179913] [-0.00782627 -0.0031712 0.99996435 0.00557858] [ 0. 0. 0. 1. ]] SLAMing on 5.3519667459999996 meters Centerline goodness [0,1] 0.4892124188738818 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.06, Z:0.00 [[ 0.99997175 -0.00305471 0.00686766 -0.0832802 ] [ 0.00303279 0.99999028 0.00320092 -0.06213493] [-0.00687737 -0.00318 0.99997129 0.00424448] [ 0. 0. 0. 1. ]] SLAMing on 5.381966746 meters Centerline goodness [0,1] 0.49944909651828995 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.06, Z:0.00 [[ 0.99998008 -0.00286874 0.00562199 -0.07848238] [ 0.00285006 0.9999904 0.0033281 -0.06317295] [-0.00563148 -0.00331201 0.99997866 0.00141095] [ 0. 0. 0. 1. ]] SLAMing on 5.411966745999999 meters Centerline goodness [0,1] 0.4939796097732466 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.06, Z:0.00 [[ 0.99997747 -0.00283371 0.00608487 -0.08071316] [ 0.00281303 0.99999025 0.00340528 -0.0618955 ] [-0.00609447 -0.00338809 0.99997569 0.00308653] [ 0. 0. 0. 1. ]] SLAMing on 5.441966745999999 meters Centerline goodness [0,1] 0.4894045534150613 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.06, Z:0.01 [[ 0.99996766 -0.00186791 0.00782183 -0.08888814] [ 0.00183322 0.99998846 0.00444046 -0.05951661] [-0.00783004 -0.00442598 0.99995955 0.00767228] [ 0. 0. 0. 1. ]] SLAMing on 5.471966746 meters Centerline goodness [0,1] 0.4868065247732031 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.06, Z:0.01 [[ 0.99995895 -0.00245375 0.0087227 -0.09237843] [ 0.00241713 0.99998823 0.00420682 -0.06083365] [-0.00873292 -0.00418557 0.99995311 0.00965424] [ 0. 0. 0. 1. ]] SLAMing on 5.501966746 meters Centerline goodness [0,1] 0.490155327061912 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.06, Z:0.01 [[ 0.99996164 -0.00272997 0.00832231 -0.09097743] [ 0.00269537 0.99998769 0.00416569 -0.06342818] [-0.00833358 -0.0041431 0.99995669 0.0090104 ] [ 0. 0. 0. 1. ]] SLAMing on 5.531966745999999 meters Centerline goodness [0,1] 0.4946827366182205 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.07, Z:0.01 [[ 9.99997222e-01 9.92623824e-05 2.35499807e-03 -1.08601781e-01] [-9.54462629e-05 9.99998682e-01 -1.62049129e-03 -6.68189303e-02] [-2.35515583e-03 1.62026201e-03 9.99995914e-01 8.50386837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5619667459999995 meters Centerline goodness [0,1] 0.4927667469134439 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.07, Z:0.01 [[ 9.99997948e-01 2.46578764e-04 2.01082995e-03 -1.06987817e-01] [-2.43479892e-04 9.99998783e-01 -1.54119026e-03 -6.67747859e-02] [-2.01120753e-03 1.54069750e-03 9.99996791e-01 7.45602928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.591966746 meters Centerline goodness [0,1] 0.4946405983000821 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.06, Z:0.01 [[ 9.99997552e-01 8.64086315e-04 2.03682653e-03 -1.06459350e-01] [-8.61749813e-04 9.99998970e-01 -1.14772700e-03 -6.34811260e-02] [-2.03781616e-03 1.14596895e-03 9.99997267e-01 6.42457418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.621966745999999 meters Centerline goodness [0,1] 0.4999126103294591 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.06, Z:0.00 [[ 0.99997769 -0.00281316 0.00605842 -0.08327979] [ 0.00279153 0.99998971 0.00357602 -0.06197537] [-0.00606842 -0.00355903 0.99997525 0.00421991] [ 0. 0. 0. 1. ]] SLAMing on 5.651966745999999 meters Centerline goodness [0,1] 0.48602792237492654 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.06, Z:0.01 [[ 0.99997645 -0.00281769 0.006258 -0.08436508] [ 0.00279544 0.99998975 0.00356189 -0.06247441] [-0.00626797 -0.00354431 0.99997407 0.00529481] [ 0. 0. 0. 1. ]] SLAMing on 5.681966746 meters Centerline goodness [0,1] 0.47279098983932466 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.07, Z:0.01 [[ 9.99989176e-01 -8.75519991e-04 4.56950198e-03 -1.10863966e-01] [ 8.88241816e-04 9.99995734e-01 -2.78278612e-03 -6.60467483e-02] [-4.56704610e-03 2.78681483e-03 9.99985688e-01 7.46097693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.711966746 meters Centerline goodness [0,1] 0.49150344039218274 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.07, Z:0.01 [[ 9.99990351e-01 -9.98950054e-04 4.27789839e-03 -1.10076903e-01] [ 1.01063844e-03 9.99995760e-01 -2.73098341e-03 -6.73804382e-02] [-4.27515213e-03 2.73528047e-03 9.99987121e-01 7.35748870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.741966745999999 meters Centerline goodness [0,1] 0.4932561772536249 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.07, Z:0.01 [[ 9.99990684e-01 -3.96801994e-04 4.29814271e-03 -1.09792897e-01] [ 4.07068331e-04 9.99997066e-01 -2.38794047e-03 -6.55582022e-02] [-4.29718256e-03 2.38966786e-03 9.99987912e-01 6.75121675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7719667459999995 meters Centerline goodness [0,1] 0.492521273795947 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.06, Z:0.01 [[ 9.99989493e-01 6.53063930e-04 4.53737307e-03 -1.11139943e-01] [-6.45996670e-04 9.99998576e-01 -1.55885740e-03 -6.11518899e-02] [-4.53838464e-03 1.55590990e-03 9.99988491e-01 7.92951993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.801966746 meters Centerline goodness [0,1] 0.49613703589245506 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.06, Z:0.01 [[ 9.99986716e-01 8.46347688e-04 5.08445297e-03 -1.13590439e-01] [-8.39478757e-04 9.99998732e-01 -1.35294995e-03 -6.01186665e-02] [-5.08559159e-03 1.34866368e-03 9.99986159e-01 9.31491961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.831966745999999 meters Centerline goodness [0,1] 0.454280761024182 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.06, Z:0.01 [[ 9.99990618e-01 -4.82843448e-04 4.30471557e-03 -1.10615489e-01] [ 4.92226950e-04 9.99997505e-01 -2.17902640e-03 -6.41791880e-02] [-4.30365270e-03 2.18112486e-03 9.99988361e-01 8.23419652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.861966745999999 meters Centerline goodness [0,1] 0.4855051821986546 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.07, Z:0.01 [[ 0.99998206 -0.00238287 0.00549578 -0.06601618] [ 0.00241413 0.9999809 -0.00568942 -0.06867311] [-0.00548212 0.00570258 0.99996871 0.00965547] [ 0. 0. 0. 1. ]] SLAMing on 5.891966746 meters Centerline goodness [0,1] 0.49238444218798283 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.07, Z:0.01 [[ 0.99997943 -0.00280149 0.00577036 -0.06864144] [ 0.00283458 0.99997954 -0.00573417 -0.07382955] [-0.00575418 0.00575041 0.99996691 0.01255305] [ 0. 0. 0. 1. ]] SLAMing on 5.921966746 meters Centerline goodness [0,1] 0.48308786408832505 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.01 [[ 9.99988168e-01 -6.37444560e-04 4.82263827e-03 -6.34414233e-02] [ 6.55519375e-04 9.99992764e-01 -3.74725835e-03 -7.52182327e-02] [-4.82021470e-03 3.75037534e-03 9.99981350e-01 9.25170016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.951966745999999 meters Centerline goodness [0,1] 0.4858046242013042 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.07, Z:0.01 [[ 9.99989457e-01 2.69593394e-03 3.71735794e-03 -5.78799095e-02] [-2.69398012e-03 9.99996231e-01 -5.30501489e-04 -7.09974054e-02] [-3.71877412e-03 5.20481407e-04 9.99992950e-01 5.51195928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9819667459999994 meters Centerline goodness [0,1] 0.5019756703960221 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.07, Z:0.01 [[ 9.99997168e-01 -9.64480457e-04 2.17592972e-03 -8.18136870e-02] [ 9.49846197e-04 9.99976993e-01 6.71655862e-03 -6.62156256e-02] [-2.18235765e-03 -6.71447280e-03 9.99975076e-01 6.60153635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.011966746 meters Centerline goodness [0,1] 0.48484581885364886 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.07, Z:0.01 [[ 0.99999475 -0.00172982 0.00273945 -0.08360503] [ 0.0017124 0.99997838 0.00634931 -0.06763631] [-0.00275037 -0.00634459 0.99997609 0.00740327] [ 0. 0. 0. 1. ]] SLAMing on 6.041966745999999 meters Centerline goodness [0,1] 0.49262478598709336 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.07, Z:0.01 [[ 0.99997797 -0.0059524 0.00293686 -0.08509536] [ 0.00594534 0.99997943 0.00240641 -0.07232239] [-0.00295112 -0.0023889 0.99999279 0.00933779] [ 0. 0. 0. 1. ]] SLAMing on 6.071966745999999 meters Centerline goodness [0,1] 0.49257376284883336 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:0.01 [[ 9.99998267e-01 -1.60069330e-03 9.50978540e-04 -1.10198119e-01] [ 1.60315396e-03 9.99995355e-01 -2.59239428e-03 -7.98420491e-02] [-9.46824494e-04 2.59391436e-03 9.99996188e-01 1.15158395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1019667459999996 meters Centerline goodness [0,1] 0.4397548592006084 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:0.01 [[ 9.99996864e-01 2.33901198e-03 8.94615129e-04 -1.09721329e-01] [-2.34020480e-03 9.99996371e-01 1.33461324e-03 -7.94386214e-02] [-8.91490207e-04 -1.33670263e-03 9.99998709e-01 1.07159114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.131966746 meters Centerline goodness [0,1] 0.4950043630017452 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.07, Z:0.01 [[ 0.9999803 0.00607622 0.00157609 -0.06307919] [-0.00608155 0.99997573 0.00339835 -0.07495734] [-0.0015554 -0.00340787 0.99999298 0.0106317 ] [ 0. 0. 0. 1. ]] SLAMing on 6.161966745999999 meters Centerline goodness [0,1] 0.4885950925679865 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.07, Z:0.01 [[ 9.99999557e-01 1.74356185e-04 9.25469446e-04 -8.86441282e-02] [-1.81886278e-04 9.99966831e-01 8.14267323e-03 -7.00678197e-02] [-9.24019024e-04 -8.14283795e-03 9.99966420e-01 1.20531733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.191966745999999 meters Centerline goodness [0,1] 0.43640959112463096 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:0.01 [[ 0.9999955 0.00269268 0.00132576 -0.11694666] [-0.00269508 0.99999472 0.00181503 -0.07052239] [-0.00132087 -0.00181859 0.99999747 0.01393007] [ 0. 0. 0. 1. ]] SLAMing on 6.221966746 meters Centerline goodness [0,1] 0.4863313165216623 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:0.01 [[ 0.99999858 -0.00100771 0.00135239 -0.11750375] [ 0.00101036 0.99999756 -0.00196622 -0.07281846] [-0.00135041 0.00196758 0.99999715 0.01472433] [ 0. 0. 0. 1. ]] SLAMing on 6.251966746 meters Centerline goodness [0,1] 0.47082913729439413 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.08, Z:0.02 [[ 0.99999014 0.00267728 -0.00354423 -0.13841971] [-0.00270145 0.99997301 -0.00683255 -0.07508871] [ 0.00352584 0.00684206 0.99997038 0.01560185] [ 0. 0. 0. 1. ]] SLAMing on 6.281966745999999 meters Centerline goodness [0,1] 0.4848571491411353 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:0.01 [[ 9.99999839e-01 -2.87634233e-04 4.89577191e-04 -1.10619957e-01] [ 2.88736949e-04 9.99997418e-01 -2.25380738e-03 -7.76141597e-02] [-4.88927655e-04 2.25394837e-03 9.99997340e-01 1.01447440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3119667459999995 meters Centerline goodness [0,1] 0.48355916493798823 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.08, Z:0.01 [[ 0.99999851 0.00120574 0.00123663 -0.11523761] [-0.00120437 0.99999866 -0.00110771 -0.07682939] [-0.00123797 0.00110622 0.99999862 0.01357798] [ 0. 0. 0. 1. ]] SLAMing on 6.341966746 meters Centerline goodness [0,1] 0.4858514456849662 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.07, Z:0.01 [[ 9.99997441e-01 1.78115437e-03 1.39514545e-03 -1.14637790e-01] [-1.78008569e-03 9.99998122e-01 -7.66870991e-04 -7.21861183e-02] [-1.39650874e-03 7.64385550e-04 9.99998733e-01 1.17094221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.371966745999999 meters Centerline goodness [0,1] 0.4907429829389103 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.07, Z:0.01 [[ 9.99997812e-01 1.56605204e-03 1.38660917e-03 -1.14610956e-01] [-1.56475325e-03 9.99998337e-01 -9.37257724e-04 -6.98272583e-02] [-1.38807466e-03 9.35085973e-04 9.99998599e-01 1.16660287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.401966745999999 meters Centerline goodness [0,1] 0.4737762619968956 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.07, Z:0.01 [[ 9.99999062e-01 1.07155366e-03 8.53153919e-04 -1.11907954e-01] [-1.07054870e-03 9.99998734e-01 -1.17752617e-03 -7.03554469e-02] [-8.54414621e-04 1.17661172e-03 9.99998943e-01 1.00613923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.431966746 meters Centerline goodness [0,1] 0.4842974480607898 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.07, Z:0.01 [[ 9.99996695e-01 -2.57058911e-03 5.01998306e-05 -1.08838447e-01] [ 2.57080346e-03 9.99984791e-01 -4.87940629e-03 -7.25773618e-02] [-3.76561184e-05 4.87951922e-03 9.99988094e-01 9.00175977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.461966746 meters Centerline goodness [0,1] 0.4921659189852158 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:0.01 [[ 9.99995907e-01 -2.83484180e-03 3.88132928e-04 -1.10814137e-01] [ 2.83669098e-03 9.99984217e-01 -4.84965767e-03 -7.74121645e-02] [-3.74378790e-04 4.85073883e-03 9.99988165e-01 1.03358704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.491966745999999 meters Centerline goodness [0,1] 0.48626597171823804 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:0.01 [[ 9.99995893e-01 -2.82489735e-03 4.83208359e-04 -1.11525534e-01] [ 2.82717711e-03 9.99984559e-01 -4.78421766e-03 -7.92875320e-02] [-4.69685974e-04 4.78556413e-03 9.99988439e-01 1.10979432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5219667459999995 meters Centerline goodness [0,1] 0.48374332256149843 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:0.01 [[ 9.99999293e-01 1.14438103e-03 3.23097200e-04 -1.10935660e-01] [-1.14408997e-03 9.99998941e-01 -8.99568164e-04 -7.76614712e-02] [-3.24126306e-04 8.99197875e-04 9.99999543e-01 1.09281553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.551966746 meters Centerline goodness [0,1] 0.48207346257711814 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.07, Z:0.01 [[ 9.99998100e-01 1.85017463e-03 6.13760569e-04 -1.11695582e-01] [-1.84980841e-03 9.99998111e-01 -5.96719747e-04 -7.24600130e-02] [-6.14863445e-04 5.95583274e-04 9.99999634e-01 1.07945247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.581966745999999 meters Centerline goodness [0,1] 0.4860752287953759 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.07, Z:0.01 [[ 9.99998525e-01 1.62017443e-03 5.70323557e-04 -1.11250304e-01] [-1.61970883e-03 9.99998355e-01 -8.15890194e-04 -7.09065795e-02] [-5.71644503e-04 8.14965233e-04 9.99999505e-01 1.04617396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.611966745999999 meters Centerline goodness [0,1] 0.47929649332320057 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.07, Z:0.01 [[ 9.99997683e-01 -2.15271604e-03 -2.31460966e-05 -1.09359911e-01] [ 2.15258982e-03 9.99987522e-01 -4.50811105e-03 -7.27318707e-02] [ 3.28504907e-05 4.50805078e-03 9.99989838e-01 1.03906260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.641966746 meters Centerline goodness [0,1] 0.49950688124803877 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.07, Z:0.01 [[ 9.99992233e-01 -3.93530840e-03 2.18131693e-04 -1.62361184e-01] [ 3.93638270e-03 9.99978912e-01 -5.16531769e-03 -7.45185743e-02] [-1.97799975e-04 5.16613622e-03 9.99986636e-01 1.33443061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.671966746 meters Centerline goodness [0,1] 0.12741829348541345 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.08, Z:0.02 [[ 9.99998685e-01 -8.90694928e-04 1.35527540e-03 -1.17698238e-01] [ 8.96215770e-04 9.99991281e-01 -4.07845442e-03 -7.50915616e-02] [-1.35163092e-03 4.07966368e-03 9.99990765e-01 1.54219117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.701966745999999 meters Centerline goodness [0,1] 0.12741829348541345 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.08, Z:0.02 [[ 9.99998685e-01 -8.90694928e-04 1.35527540e-03 -1.17698238e-01] [ 8.96215770e-04 9.99991281e-01 -4.07845442e-03 -7.50915616e-02] [-1.35163092e-03 4.07966368e-03 9.99990765e-01 1.54219117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7319667459999994 meters Centerline goodness [0,1] 0.49645186249585493 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:0.01 [[ 9.99994996e-01 3.05215400e-03 8.32456986e-04 -1.15010716e-01] [-3.05195320e-03 9.99995313e-01 -2.42369192e-04 -7.16721799e-02] [-8.33192833e-04 2.39827360e-04 9.99999624e-01 1.32936583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.761966746 meters Centerline goodness [0,1] 0.4222554276171223 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.07, Z:0.01 [[ 9.99996075e-01 2.72569466e-03 6.48920147e-04 -1.13824343e-01] [-2.72545720e-03 9.99996219e-01 -3.66537670e-04 -7.14198937e-02] [-6.49916763e-04 3.64767627e-04 9.99999722e-01 1.23524691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.791966745999999 meters Centerline goodness [0,1] 0.1263111405542674 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:0.01 [[ 9.99998903e-01 -1.15936468e-03 9.22240887e-04 -1.15420122e-01] [ 1.16325446e-03 9.99990383e-01 -4.22845610e-03 -7.22356999e-02] [-9.17329695e-04 4.22952426e-03 9.99990635e-01 1.36774344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.821966745999999 meters Centerline goodness [0,1] 0.4819107523807429 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:0.01 [[ 9.99987435e-01 -4.92369283e-03 9.41726336e-04 -1.15893862e-01] [ 4.93108800e-03 9.99955692e-01 -8.01864749e-03 -7.45636383e-02] [-9.02203253e-04 8.02319047e-03 9.99967407e-01 1.43278207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8519667459999996 meters Centerline goodness [0,1] 0.4854360375446173 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.08, Z:0.02 [[ 0.99998859 -0.00464622 0.00110835 -0.11690946] [ 0.00465457 0.99995986 -0.00765652 -0.07705221] [-0.00107273 0.00766159 0.99997007 0.01505935] [ 0. 0. 0. 1. ]] SLAMing on 6.881966746 meters Centerline goodness [0,1] 0.13833150384193194 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:0.01 [[ 9.99999398e-01 -4.55242895e-04 9.98407879e-04 -1.15728586e-01] [ 4.58775695e-04 9.99993625e-01 -3.54106389e-03 -7.36822815e-02] [-9.96789470e-04 3.54151980e-03 9.99993232e-01 1.35916846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.911966745999999 meters Centerline goodness [0,1] 0.48977032734952486 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.07, Z:0.01 [[ 9.99999858e-01 1.43252813e-04 5.13312778e-04 -1.12698911e-01] [-1.41612476e-04 9.99994888e-01 -3.19420198e-03 -6.97559707e-02] [-5.13767732e-04 3.19412884e-03 9.99994767e-01 1.12127633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.941966745999999 meters Centerline goodness [0,1] 0.49111742760703503 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.08, Z:0.02 [[ 0.99996324 -0.00721246 -0.00463718 -0.13738016] [ 0.00720694 0.9999733 -0.00120479 -0.07534162] [ 0.00464575 0.00117133 0.99998852 0.01695142] [ 0. 0. 0. 1. ]] SLAMing on 6.971966746 meters Centerline goodness [0,1] 0.48526878395688855 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.08, Z:0.02 [[ 9.99964503e-01 -7.14388030e-03 -4.46740642e-03 -1.38670802e-01] [ 7.13967890e-03 9.99974055e-01 -9.55696671e-04 -7.63033970e-02] [ 4.47411790e-03 9.23766899e-04 9.99989564e-01 1.85260089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.001966745999999 meters Centerline goodness [0,1] 0.4940916620651574 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.08, Z:0.02 [[ 9.99966828e-01 -7.01449664e-03 -4.14012901e-03 -1.39999390e-01] [ 7.01118893e-03 9.99975091e-01 -8.12913503e-04 -7.56327987e-02] [ 4.14572806e-03 7.83859310e-04 9.99991099e-01 1.92373355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.031966745999999 meters Centerline goodness [0,1] 0.4741772707327775 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.08, Z:0.02 [[ 0.9999963 -0.0010754 -0.0025005 -0.11760996] [ 0.0010627 0.99998656 -0.00507376 -0.07658918] [ 0.00250593 0.00507108 0.999984 0.01893974] [ 0. 0. 0. 1. ]] SLAMing on 7.0619667459999995 meters Centerline goodness [0,1] 0.48234984771128686 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.08, Z:0.02 [[ 9.99996189e-01 -9.27491424e-04 -2.60050650e-03 -1.17403384e-01] [ 9.14582587e-04 9.99987277e-01 -4.96077304e-03 -7.81492552e-02] [ 2.60507449e-03 4.95837575e-03 9.99984314e-01 1.91646170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.091966746 meters Centerline goodness [0,1] 0.4864586076727241 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.08, Z:0.02 [[ 9.99996689e-01 -8.58586554e-04 -2.42596493e-03 -1.18287447e-01] [ 8.46992794e-04 9.99988236e-01 -4.77602283e-03 -7.92852636e-02] [ 2.43003702e-03 4.77395225e-03 9.99985652e-01 1.97571383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.121966745999999 meters Centerline goodness [0,1] 0.49404523841265613 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.08, Z:0.02 [[ 9.99973160e-01 -6.64130808e-03 -3.09407330e-03 -1.43104522e-01] [ 6.64187284e-03 9.99977928e-01 1.72290420e-04 -7.72571370e-02] [ 3.09286078e-03 -1.92836237e-04 9.99995199e-01 2.03717376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.151966745999999 meters Centerline goodness [0,1] 0.45836909871244635 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.08, Z:0.02 [[ 9.99974310e-01 -6.36261446e-03 -3.30104546e-03 -1.41514553e-01] [ 6.36417997e-03 9.99979641e-01 4.63959501e-04 -7.58823339e-02] [ 3.29802626e-03 -4.84956029e-04 9.99994444e-01 1.88809085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.181966746 meters Centerline goodness [0,1] 0.4720615289137132 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.08, Z:0.02 [[ 9.99972469e-01 -6.59653817e-03 -3.39810260e-03 -1.41798781e-01] [ 6.59827842e-03 9.99978106e-01 5.01169080e-04 -7.93317596e-02] [ 3.39472222e-03 -5.23576910e-04 9.99994101e-01 1.97168880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.211966745999999 meters Centerline goodness [0,1] 0.48535045711797997 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.08, Z:0.02 [[ 9.99997082e-01 -2.41325542e-03 1.07963405e-04 -1.18266630e-01] [ 2.41380106e-03 9.99982631e-01 -5.37694872e-03 -8.15029194e-02] [-9.49855795e-05 5.37719364e-03 9.99985538e-01 1.70452636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.241966745999999 meters Centerline goodness [0,1] 0.4843551426442877 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.08, Z:0.02 [[ 9.99997787e-01 -2.08413722e-03 2.85591757e-04 -1.19194276e-01] [ 2.08557203e-03 9.99984721e-01 -5.11934594e-03 -8.04304000e-02] [-2.74917974e-04 5.11993023e-03 9.99986855e-01 1.77568981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2719667459999995 meters Centerline goodness [0,1] 0.48830077994800347 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.08, Z:0.02 [[ 0.99998307 -0.00534654 -0.00229643 -0.14451609] [ 0.00535161 0.99998325 0.00220364 -0.07996658] [ 0.00228461 -0.00221589 0.99999494 0.02041495] [ 0. 0. 0. 1. ]] SLAMing on 7.301966746 meters Centerline goodness [0,1] 0.49189320710478 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.08, Z:0.02 [[ 0.99998079 -0.00554474 -0.00277068 -0.14252814] [ 0.00555054 0.99998241 0.00208995 -0.07922376] [ 0.00275904 -0.00210528 0.99999398 0.01950166] [ 0. 0. 0. 1. ]] SLAMing on 7.331966745999999 meters Centerline goodness [0,1] 0.4768187288042883 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.08, Z:0.02 [[ 9.99999871e-01 5.77899188e-05 -5.05564956e-04 -1.18249797e-01] [-5.89571140e-05 9.99997333e-01 -2.30898465e-03 -8.18473354e-02] [ 5.05430172e-04 2.30901416e-03 9.99997206e-01 1.74444390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.361966745999999 meters Centerline goodness [0,1] 0.48837516221982713 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.08, Z:0.02 [[ 9.99999941e-01 5.08557069e-05 -3.39963577e-04 -1.18856007e-01] [-5.15871243e-05 9.99997684e-01 -2.15179565e-03 -8.44465899e-02] [ 3.39853359e-04 2.15181306e-03 9.99997627e-01 1.76768155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.391966746 meters Centerline goodness [0,1] 0.48356684562000785 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:0.02 [[ 9.99999869e-01 1.66356819e-05 -5.11604691e-04 -1.18250617e-01] [-1.77837768e-05 9.99997482e-01 -2.24418286e-03 -8.53975127e-02] [ 5.11566069e-04 2.24419166e-03 9.99997351e-01 1.76449479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.421966746 meters Centerline goodness [0,1] 0.48906731192256925 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:0.02 [[ 9.99999724e-01 5.08607355e-05 -7.41732753e-04 -1.17529121e-01] [-5.23988368e-05 9.99997848e-01 -2.07378773e-03 -8.77871112e-02] [ 7.41625682e-04 2.07382602e-03 9.99997575e-01 1.73938366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.451966745999999 meters Centerline goodness [0,1] 0.48819432276152097 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:0.02 [[ 9.99999694e-01 3.25771840e-04 -7.11712591e-04 -1.17898067e-01] [-3.27163284e-04 9.99998034e-01 -1.95582384e-03 -8.72000435e-02] [ 7.11074039e-04 1.95605609e-03 9.99997834e-01 1.79106967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4819667459999994 meters Centerline goodness [0,1] 0.48645203823755634 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.08, Z:0.02 [[ 9.99999373e-01 9.32275761e-04 -6.20401755e-04 -1.17789823e-01] [-9.33284186e-04 9.99998241e-01 -1.62713942e-03 -8.32434051e-02] [ 6.18883721e-04 1.62771741e-03 9.99998484e-01 1.72530368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.511966746 meters Centerline goodness [0,1] 0.4713239780353874 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.08, Z:0.02 [[ 9.99997364e-01 2.24099388e-03 -4.98964075e-04 -1.17677960e-01] [-2.24109282e-03 9.99997469e-01 -1.97821885e-04 -7.93353105e-02] [ 4.98519495e-04 1.98939589e-04 9.99999856e-01 1.69079366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.541966745999999 meters Centerline goodness [0,1] 0.488328807918017 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.08, Z:0.02 [[ 9.99997623e-01 2.18008864e-03 -4.37991697e-05 -1.19259949e-01] [-2.18009749e-03 9.99997603e-01 -2.02999449e-04 -7.73752611e-02] [ 4.33565080e-05 2.03094453e-04 9.99999978e-01 1.72371880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.571966745999999 meters Centerline goodness [0,1] 0.47982712047541864 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.08, Z:0.01 [[ 0.99998799 -0.00470431 0.00137233 -0.08951683] [ 0.00470243 0.99998801 0.00136963 -0.0806315 ] [-0.00137876 -0.00136316 0.99999812 0.01271845] [ 0. 0. 0. 1. ]] SLAMing on 7.6019667459999996 meters Centerline goodness [0,1] 0.4839887030197697 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:0.01 [[ 9.99999048e-01 -1.21784518e-03 6.49173469e-04 -1.12306847e-01] [ 1.22029979e-03 9.99992057e-01 -3.79424883e-03 -8.56068192e-02] [-6.44547505e-04 3.79503741e-03 9.99992591e-01 1.15364077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.631966746 meters Centerline goodness [0,1] 0.4949088483770565 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.09, Z:0.01 [[ 9.99997295e-01 -2.32555474e-03 5.12497015e-05 -1.60554433e-01] [ 2.32577660e-03 9.99985456e-01 -4.86614371e-03 -9.04122514e-02] [-3.99324725e-05 4.86624974e-03 9.99988159e-01 1.33570132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.661966745999999 meters Centerline goodness [0,1] 0.48713471988826085 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:0.01 [[ 9.99999871e-01 4.39802438e-04 -2.54319970e-04 -1.12126195e-01] [-4.40840112e-04 9.99991520e-01 -4.09463154e-03 -9.26325457e-02] [ 2.52516985e-04 4.09474313e-03 9.99991585e-01 1.35569806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.691966745999999 meters Centerline goodness [0,1] 0.4885849736744369 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:0.01 [[ 9.99990202e-01 4.41117924e-03 -3.70279689e-04 -1.10940612e-01] [-4.41127191e-03 9.99990239e-01 -2.49837900e-04 -8.84355987e-02] [ 3.69173995e-04 2.51468856e-04 9.99999900e-01 1.22114560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.721966746 meters Centerline goodness [0,1] 0.4917960770531772 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:0.01 [[ 9.99987979e-01 4.87629935e-03 -5.12933098e-04 -1.09715354e-01] [-4.87633677e-03 9.99988108e-01 -7.17140561e-05 -8.44551505e-02] [ 5.12577299e-04 7.42144286e-05 9.99999866e-01 1.06798873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.751966745999999 meters Centerline goodness [0,1] 0.4934837924549176 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.08, Z:0.01 [[ 0.99999602 -0.00166402 0.00227967 -0.13097095] [ 0.00165844 0.99999563 0.00244737 -0.08116628] [-0.00228374 -0.00244358 0.99999441 0.00636911] [ 0. 0. 0. 1. ]] SLAMing on 7.781966745999999 meters Centerline goodness [0,1] 0.48429972847508107 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:0.00 [[ 9.99976434e-01 6.22847683e-04 6.83696115e-03 -1.09359685e-01] [-5.91674181e-04 9.99989425e-01 -4.56063141e-03 -8.15143369e-02] [-6.83972943e-03 4.55647868e-03 9.99966228e-01 2.79444171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8119667459999995 meters Centerline goodness [0,1] 0.49178133298220206 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:0.00 [[ 9.99976252e-01 -1.69314758e-04 6.88961481e-03 -1.10202012e-01] [ 2.02131813e-04 9.99988637e-01 -4.76284657e-03 -8.59618699e-02] [-6.88873010e-03 4.76412607e-03 9.99964924e-01 3.97479174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.841966746 meters Centerline goodness [0,1] 0.49320278008480134 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:0.00 [[ 9.99976180e-01 -1.35527941e-04 6.90087029e-03 -1.10813655e-01] [ 1.66943962e-04 9.99989625e-01 -4.55209976e-03 -8.84606464e-02] [-6.90018176e-03 4.55314339e-03 9.99965828e-01 4.74385370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.871966745999999 meters Centerline goodness [0,1] 0.4924060927094094 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:0.01 [[ 9.99968393e-01 3.61295463e-03 7.08237492e-03 -1.11654509e-01] [-3.60860106e-03 9.99993292e-01 -6.27387267e-04 -8.88551731e-02] [-7.08459413e-03 6.01809971e-04 9.99974723e-01 5.17145596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.901966745999999 meters Centerline goodness [0,1] 0.4962208274398868 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:0.00 [[ 9.99971931e-01 3.50863798e-03 6.62011968e-03 -1.09577872e-01] [-3.50434201e-03 9.99993642e-01 -6.60414411e-04 -8.89852178e-02] [-6.62239474e-03 6.37196711e-04 9.99977869e-01 3.86340483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.931966746 meters Centerline goodness [0,1] 0.48693011793698293 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:0.00 [[ 9.99975877e-01 3.14279448e-03 6.19420786e-03 -1.08003747e-01] [-3.13758021e-03 9.99994715e-01 -8.51336392e-04 -8.99149067e-02] [-6.19685070e-03 8.31881031e-04 9.99980453e-01 3.37159367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.961966745999999 meters Centerline goodness [0,1] 0.4677674336904971 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:0.00 [[ 9.99973463e-01 3.57152106e-03 6.34960958e-03 -1.08420564e-01] [-3.56688188e-03 9.99993364e-01 -7.41798229e-04 -8.83048461e-02] [-6.35221678e-03 7.19130236e-04 9.99979566e-01 3.59710246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.991966745999999 meters Centerline goodness [0,1] 0.48622553506821853 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:0.00 [[ 0.99997397 0.00348612 0.00631731 -0.10807788] [-0.00347967 0.99999341 -0.00103167 -0.08725137] [-0.00632087 0.00100966 0.99997951 0.00342001] [ 0. 0. 0. 1. ]] SLAMing on 8.021966746 meters Centerline goodness [0,1] 0.47745825804906716 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:0.00 [[ 9.99971739e-01 3.54652489e-03 6.62902813e-03 -1.09714393e-01] [-3.54020227e-03 9.99993268e-01 -9.65269569e-04 -8.68506843e-02] [-6.63240685e-03 9.41774189e-04 9.99977562e-01 4.75016544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.051966746 meters Centerline goodness [0,1] 0.48610898263896496 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:0.01 [[ 9.99957770e-01 4.26987945e-03 8.13795235e-03 -1.16640019e-01] [-4.26809534e-03 9.99990864e-01 -2.36588197e-04 -8.53854102e-02] [-8.13888821e-03 2.01844650e-04 9.99966858e-01 8.23065477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.081966746 meters Centerline goodness [0,1] 0.48557493413460495 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:0.01 [[ 9.99960394e-01 3.78889829e-03 8.05319352e-03 -1.16246425e-01] [-3.78521076e-03 9.99992724e-01 -4.73088878e-04 -8.84459445e-02] [-8.05492741e-03 4.42587107e-04 9.99967461e-01 8.08434155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.111966746 meters Centerline goodness [0,1] 0.49010926072781746 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.09, Z:0.01 [[ 0.99998689 0.00147052 0.0049057 -0.1560566 ] [-0.0014607 0.99999692 -0.00200414 -0.09018738] [-0.00490864 0.00199695 0.99998596 0.00540984] [ 0. 0. 0. 1. ]] SLAMing on 8.141966746 meters Centerline goodness [0,1] 0.4923686688418333 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.09, Z:0.00 [[ 9.99993846e-01 7.08514104e-04 3.43609697e-03 -1.48540355e-01] [-6.99070286e-04 9.99995978e-01 -2.74883680e-03 -9.00041033e-02] [-3.43803074e-03 2.74641781e-03 9.99990319e-01 3.72046931e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.171966746 meters Centerline goodness [0,1] 0.491651818121824 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.09, Z:-0.00 [[ 9.99996234e-01 7.17583306e-04 2.64888261e-03 -1.45826166e-01] [-7.10614768e-04 9.99996287e-01 -2.63075046e-03 -9.17863261e-02] [-2.65076056e-03 2.62885821e-03 9.99993031e-01 -7.71726170e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.201966746 meters Centerline goodness [0,1] 0.4919726279773654 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.09, Z:-0.00 [[ 0.99999513 0.00147747 0.00274975 -0.14576208] [-0.00147115 0.99999627 -0.00230138 -0.0893521 ] [-0.00275314 0.00229733 0.99999357 -0.00114897] [ 0. 0. 0. 1. ]] SLAMing on 8.231966746 meters Centerline goodness [0,1] 0.48551100730937247 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:-0.00 [[ 0.99996721 -0.00319412 0.0074419 -0.12386686] [ 0.0031824 0.99999368 0.00158721 -0.08880089] [-0.00744692 -0.00156348 0.99997105 -0.0028711 ] [ 0. 0. 0. 1. ]] SLAMing on 8.261966746 meters Centerline goodness [0,1] 0.4941854025916491 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.09, Z:-0.00 [[ 9.99961731e-01 -4.01743667e-03 7.77149772e-03 -1.75807049e-01] [ 3.99259233e-03 9.99986878e-01 3.20973078e-03 -8.85411742e-02] [-7.78429063e-03 -3.17857953e-03 9.99964650e-01 -3.29115693e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.291966746 meters Centerline goodness [0,1] 0.4692702221063154 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.09, Z:0.00 [[ 9.99954766e-01 -3.20509115e-03 8.95505681e-03 -1.30597991e-01] [ 3.18396556e-03 9.99992117e-01 2.37232909e-03 -8.81722747e-02] [-8.96258975e-03 -2.34370919e-03 9.99957089e-01 6.13730096e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.321966746000001 meters Centerline goodness [0,1] 0.4888228822882288 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.09, Z:0.00 [[ 0.99997232 0.00174782 0.00723221 -0.15746212] [-0.00173783 0.99999753 -0.00138664 -0.09087249] [-0.00723462 0.00137404 0.99997289 0.00349589] [ 0. 0. 0. 1. ]] SLAMing on 8.351966746 meters Centerline goodness [0,1] 0.49712276930655386 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.10, Z:0.00 [[ 9.99984162e-01 -3.65534026e-03 4.27956255e-03 -1.97862861e-01] [ 3.67893555e-03 9.99978005e-01 -5.51865427e-03 -9.54750247e-02] [-4.25929586e-03 5.53431110e-03 9.99975615e-01 9.20774969e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.381966746 meters Centerline goodness [0,1] 0.4924886275380007 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.10, Z:0.00 [[ 9.99986038e-01 -3.33451807e-03 4.09931200e-03 -1.97095830e-01] [ 3.35573567e-03 9.99980953e-01 -5.17995717e-03 -9.58182022e-02] [-4.08196126e-03 5.19364106e-03 9.99978182e-01 3.35037955e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.411966746000001 meters Centerline goodness [0,1] 0.4669709929753806 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.09, Z:0.00 [[ 9.99990406e-01 4.56126969e-04 4.35657888e-03 -1.97948245e-01] [-4.50255289e-04 9.99998989e-01 -1.34865883e-03 -9.37836281e-02] [-4.35718963e-03 1.34668431e-03 9.99989601e-01 7.04233499e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.441966746 meters Centerline goodness [0,1] 0.49255020035865305 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.09, Z:-0.00 [[ 9.99993135e-01 1.20730412e-03 3.50308844e-03 -1.93788745e-01] [-1.20499679e-03 9.99999056e-01 -6.60689634e-04 -9.11896612e-02] [-3.50388279e-03 6.56463888e-04 9.99993646e-01 -2.16346027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.471966746 meters Centerline goodness [0,1] 0.4848811145782974 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.09, Z:-0.00 [[ 9.99993545e-01 7.45453327e-04 3.51478775e-03 -1.93719989e-01] [-7.42746075e-04 9.99999427e-01 -7.71488559e-04 -9.35168693e-02] [-3.51536084e-03 7.68872984e-04 9.99993526e-01 -2.43450085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.501966746 meters Centerline goodness [0,1] 0.4863681373088349 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.10, Z:0.00 [[ 9.99991736e-01 3.23620615e-04 4.05245791e-03 -1.96546937e-01] [-3.20643035e-04 9.99999678e-01 -7.35387224e-04 -9.58632724e-02] [-4.05269459e-03 7.34081755e-04 9.99991518e-01 4.74648355e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.531966746 meters Centerline goodness [0,1] 0.4832242856828145 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.09, Z:-0.00 [[ 9.99991852e-01 3.50518783e-04 4.02169856e-03 -1.96326582e-01] [-3.47531515e-04 9.99999663e-01 -7.43462525e-04 -9.48821762e-02] [-4.02195781e-03 7.42058800e-04 9.99991637e-01 -1.67915205e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.561966746 meters Centerline goodness [0,1] 0.49114109774803816 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.09, Z:-0.00 [[ 9.99992890e-01 5.48411267e-04 3.73082516e-03 -1.94828533e-01] [-5.46157337e-04 9.99999668e-01 -6.05129092e-04 -9.41623835e-02] [-3.73115578e-03 6.03087172e-04 9.99992857e-01 -1.46861375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.591966746 meters Centerline goodness [0,1] 0.49114109774803816 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.09, Z:-0.00 [[ 9.99992890e-01 5.48411267e-04 3.73082516e-03 -1.94828533e-01] [-5.46157337e-04 9.99999668e-01 -6.05129092e-04 -9.41623835e-02] [-3.73115578e-03 6.03087172e-04 9.99992857e-01 -1.46861375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.621966746 meters Centerline goodness [0,1] 0.4765592526962875 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.10, Z:-0.00 [[ 0.99999457 0.00110714 0.00310281 -0.14592521] [-0.00110193 0.99999798 -0.00168295 -0.09603617] [-0.00310467 0.00167952 0.99999377 -0.00164313] [ 0. 0. 0. 1. ]] SLAMing on 8.651966746000001 meters Centerline goodness [0,1] 0.4878416420987298 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.10, Z:0.01 [[ 9.99987698e-01 -4.88008739e-03 8.88050232e-04 -1.76076759e-01] [ 4.87784934e-03 9.99984965e-01 2.50513930e-03 -9.83934323e-02] [-9.00262179e-04 -2.50077671e-03 9.99996468e-01 5.55113655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.681966746 meters Centerline goodness [0,1] 0.48211191296146005 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.10, Z:0.00 [[ 9.99990617e-01 8.78171863e-04 4.24190625e-03 -1.54939595e-01] [-8.70833902e-04 9.99998122e-01 -1.73141097e-03 -1.00702605e-01] [-4.24341876e-03 1.72770073e-03 9.99989504e-01 4.61556044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.711966746 meters Centerline goodness [0,1] 0.4806669730191032 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.10, Z:0.00 [[ 9.99991293e-01 8.57511094e-04 4.08384862e-03 -1.54110512e-01] [-8.50395283e-04 9.99998118e-01 -1.74384545e-03 -1.02075103e-01] [-4.08533630e-03 1.74035739e-03 9.99990141e-01 4.00642555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.741966746000001 meters Centerline goodness [0,1] 0.4817422486552674 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.10, Z:0.00 [[ 0.99999332 0.00101156 0.00351243 -0.15227952] [-0.001006 0.99999824 -0.00158256 -0.10255881] [-0.00351402 0.00157902 0.99999258 0.00365167] [ 0. 0. 0. 1. ]] SLAMing on 8.771966746 meters Centerline goodness [0,1] 0.4826107878734853 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.10, Z:0.00 [[ 0.99999382 0.0011127 0.00333538 -0.15175679] [-0.00110765 0.99999824 -0.00151707 -0.10275777] [-0.00333706 0.00151337 0.99999329 0.00362134] [ 0. 0. 0. 1. ]] SLAMing on 8.801966746 meters Centerline goodness [0,1] 0.48037110023691965 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.10, Z:0.01 [[ 0.99999108 -0.00349477 0.00237046 -0.18064188] [ 0.00348458 0.99998473 0.00428994 -0.10066595] [-0.00238542 -0.00428165 0.99998799 0.00822749] [ 0. 0. 0. 1. ]] SLAMing on 8.831966746 meters Centerline goodness [0,1] 0.48133780437021934 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.10, Z:0.01 [[ 9.99998059e-01 1.75380006e-03 8.98357302e-04 -1.58658528e-01] [-1.75430785e-03 9.99998302e-01 5.64765711e-04 -9.93305838e-02] [-8.97365290e-04 -5.66340610e-04 9.99999437e-01 9.32619352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.861966746 meters Centerline goodness [0,1] 0.13318767556962585 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.10, Z:0.01 [[ 9.99999640e-01 -5.52786821e-04 -6.43666443e-04 -2.03718695e-01] [ 5.53121916e-04 9.99999712e-01 5.20541298e-04 -1.01354717e-01] [ 6.43378509e-04 -5.20897136e-04 9.99999657e-01 7.80799790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.891966746 meters Centerline goodness [0,1] 0.47954008918422664 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.10, Z:0.01 [[ 9.99999500e-01 -9.78476241e-04 -2.06549590e-04 -1.57069045e-01] [ 9.78107725e-04 9.99997943e-01 -1.77677716e-03 -1.04762640e-01] [ 2.08287699e-04 1.77657424e-03 9.99998400e-01 8.95405357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.921966746 meters Centerline goodness [0,1] 0.48310322156476004 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.10, Z:0.01 [[ 9.99999825e-01 -5.77629547e-04 -1.26116686e-04 -1.57407993e-01] [ 5.77429700e-04 9.99998587e-01 -1.57894675e-03 -1.03720875e-01] [ 1.27028554e-04 1.57887365e-03 9.99998746e-01 9.03693682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.951966746 meters Centerline goodness [0,1] 0.39736338226555445 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.11, Z:0.01 [[ 9.99999811e-01 -6.15227532e-04 -4.52953496e-06 -1.58316141e-01] [ 6.15220186e-04 9.99998724e-01 -1.47435125e-03 -1.05952854e-01] [ 5.43659066e-06 1.47434818e-03 9.99998913e-01 9.92818048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.981966746 meters Centerline goodness [0,1] 0.4885848785554844 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.11, Z:0.01 [[ 9.99999871e-01 -5.08423402e-04 -1.40472171e-05 -1.58355437e-01] [ 5.08406251e-04 9.99999157e-01 -1.19515720e-03 -1.09961538e-01] [ 1.46548511e-05 1.19514991e-03 9.99999286e-01 9.71804891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.011966746 meters Centerline goodness [0,1] 0.47972840206973344 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.11, Z:0.01 [[ 9.99999978e-01 1.38544405e-04 -1.56988577e-04 -1.57740177e-01] [-1.38668269e-04 9.99999679e-01 -7.89264724e-04 -1.07350717e-01] [ 1.56879178e-04 7.89286476e-04 9.99999676e-01 9.40346811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.041966746 meters Centerline goodness [0,1] 0.48586934939440074 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.10, Z:0.01 [[ 9.99999664e-01 7.26559438e-04 3.80837250e-04 -1.59126864e-01] [-7.26419704e-04 9.99999669e-01 -3.66924825e-04 -1.04735945e-01] [-3.81103717e-04 3.66648054e-04 9.99999860e-01 9.10206164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.071966746000001 meters Centerline goodness [0,1] 0.12118193891102258 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.11, Z:0.01 [[ 9.99999649e-01 5.91439227e-04 5.94237384e-04 -1.60610489e-01] [-5.91242116e-04 9.99999770e-01 -3.31824134e-04 -1.05620104e-01] [-5.94433501e-04 3.31472679e-04 9.99999768e-01 1.07396681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.101966746 meters Centerline goodness [0,1] 0.4721281384524616 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.11, Z:0.01 [[ 0.99998219 -0.00572055 0.00170285 -0.13101881] [ 0.00571716 0.99998168 0.0019879 -0.10874275] [-0.00171419 -0.00197813 0.99999657 0.00609168] [ 0. 0. 0. 1. ]] SLAMing on 9.131966746 meters Centerline goodness [0,1] 0.47939764295067655 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.11, Z:0.00 [[ 0.99998024 -0.00620186 0.0010249 -0.12829391] [ 0.00619981 0.9999788 0.00199154 -0.11346873] [-0.00103723 -0.00198515 0.99999749 0.00497154] [ 0. 0. 0. 1. ]] SLAMing on 9.161966746000001 meters Centerline goodness [0,1] 0.48554489741540097 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.11, Z:0.01 [[ 9.99995921e-01 -9.30573125e-04 -2.70047730e-03 -1.55228933e-01] [ 9.27826264e-04 9.99999051e-01 -1.01825064e-03 -1.13991805e-01] [ 2.70142230e-03 1.01574091e-03 9.99995835e-01 9.61439409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.191966746 meters Centerline goodness [0,1] 0.47232367413887366 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.11, Z:0.01 [[ 9.99997373e-01 1.70138388e-03 -1.53575292e-03 -1.09772630e-01] [-1.70124259e-03 9.99998549e-01 9.33007727e-05 -1.12312299e-01] [ 1.53590943e-03 -9.06878393e-05 9.99998816e-01 9.90391485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.221966746 meters Centerline goodness [0,1] 0.483841059602649 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.11, Z:0.01 [[ 0.99999602 -0.00252575 -0.00125547 -0.13864347] [ 0.00253382 0.99997588 0.00646754 -0.10851248] [ 0.0012391 -0.00647069 0.9999783 0.0129226 ] [ 0. 0. 0. 1. ]] SLAMing on 9.251966746 meters Centerline goodness [0,1] 0.48811358133392035 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.11, Z:0.01 [[ 0.99997975 -0.00614359 -0.00165799 -0.13680124] [ 0.00614793 0.99997766 0.0026219 -0.10888496] [ 0.00164184 -0.00263204 0.99999519 0.01217827] [ 0. 0. 0. 1. ]] SLAMing on 9.281966746 meters Centerline goodness [0,1] 0.48709621169187844 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.12, Z:0.01 [[ 9.99998576e-01 -5.60196645e-04 -1.59172873e-03 -1.12098248e-01] [ 5.56819350e-04 9.99997595e-01 -2.12142934e-03 -1.15930306e-01] [ 1.59291332e-03 2.12054001e-03 9.99996483e-01 1.18615783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.311966746 meters Centerline goodness [0,1] 0.11756476117608483 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.11, Z:0.01 [[ 9.99999081e-01 2.91316365e-05 -1.35530632e-03 -1.13366036e-01] [-3.16426491e-05 9.99998283e-01 -1.85274241e-03 -1.14050411e-01] [ 1.35525002e-03 1.85278360e-03 9.99997365e-01 1.25621203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.341966746 meters Centerline goodness [0,1] 0.48401040977460197 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.11, Z:0.01 [[ 9.99999047e-01 5.08921619e-04 -1.28314067e-03 -1.13267968e-01] [-5.10864559e-04 9.99998723e-01 -1.51433389e-03 -1.11452328e-01] [ 1.28236836e-03 1.51498796e-03 9.99998030e-01 1.19852524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.371966746 meters Centerline goodness [0,1] 0.48130020631227777 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.11, Z:0.01 [[ 9.99999268e-01 4.70708181e-04 -1.11504303e-03 -1.13127362e-01] [-4.72309774e-04 9.99998857e-01 -1.43652329e-03 -1.10150059e-01] [ 1.11436557e-03 1.43704889e-03 9.99998347e-01 1.11135280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.401966746 meters Centerline goodness [0,1] 0.4859767462501109 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.11, Z:0.01 [[ 0.99997401 -0.00660087 -0.00289993 -0.13728241] [ 0.00660778 0.99997534 0.00237848 -0.10992232] [ 0.00288416 -0.00239758 0.99999297 0.01332476] [ 0. 0. 0. 1. ]] SLAMing on 9.431966746 meters Centerline goodness [0,1] 0.4789080799457105 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.11, Z:0.01 [[ 9.99999527e-01 -9.59971151e-04 1.57540527e-04 -1.12031854e-01] [ 9.60233634e-04 9.99998137e-01 -1.67459889e-03 -1.11533874e-01] [-1.55932667e-04 1.67474937e-03 9.99998585e-01 8.81762966e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.461966746 meters Centerline goodness [0,1] 0.4877887351909458 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.11, Z:0.01 [[ 9.99999164e-01 -1.24666852e-03 3.44395577e-04 -1.13449592e-01] [ 1.24726817e-03 9.99997697e-01 -1.74649414e-03 -1.14576854e-01] [-3.42217484e-04 1.74692223e-03 9.99998416e-01 1.00036427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.491966746000001 meters Centerline goodness [0,1] 0.4789739276703112 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:0.01 [[ 9.99999382e-01 -9.04700584e-04 6.45950065e-04 -1.15584265e-01] [ 9.05534741e-04 9.99998755e-01 -1.29224208e-03 -1.16999801e-01] [-6.44780169e-04 1.29282621e-03 9.99998956e-01 1.20108476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.521966746 meters Centerline goodness [0,1] 0.45079329856873407 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:0.01 [[ 9.99999415e-01 -5.12684810e-04 9.52692432e-04 -1.16093458e-01] [ 5.13641589e-04 9.99999364e-01 -1.00431652e-03 -1.16045853e-01] [-9.52176928e-04 1.00480527e-03 9.99999042e-01 1.12673121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.551966746 meters Centerline goodness [0,1] 0.4834854553811806 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.12, Z:0.01 [[ 9.99999014e-01 3.67878427e-05 1.40379583e-03 -7.03063768e-02] [-3.37466820e-05 9.99997653e-01 -2.16634613e-03 -1.17442724e-01] [-1.40387223e-03 2.16629662e-03 9.99996668e-01 1.26952429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.581966746 meters Centerline goodness [0,1] 0.48557902085696836 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.12, Z:0.01 [[ 9.99999582e-01 9.21205772e-05 9.09352964e-04 -6.83901003e-02] [-9.02977954e-05 9.99997987e-01 -2.00431973e-03 -1.18108546e-01] [-9.09535773e-04 2.00423678e-03 9.99997578e-01 1.18574936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.611966746 meters Centerline goodness [0,1] 0.486335403726708 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.12, Z:0.01 [[ 9.99999813e-01 1.60364180e-04 -5.90928881e-04 -1.12510026e-01] [-1.60116443e-04 9.99999899e-01 4.19256200e-04 -1.18508425e-01] [ 5.90996055e-04 -4.19161504e-04 9.99999738e-01 9.41274495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.641966746 meters Centerline goodness [0,1] 0.49120652602956005 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.12, Z:0.01 [[ 9.99999679e-01 -1.49782967e-04 -7.86811329e-04 -1.10927153e-01] [ 1.49929874e-04 9.99999971e-01 1.86656462e-04 -1.19408426e-01] [ 7.86783348e-04 -1.86774369e-04 9.99999673e-01 7.87121801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.671966746 meters Centerline goodness [0,1] 0.4852915272150784 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.12, Z:0.01 [[ 9.99999789e-01 -2.40412861e-04 -6.03635881e-04 -1.12118745e-01] [ 2.40690968e-04 9.99999865e-01 4.60689287e-04 -1.22170035e-01] [ 6.03525044e-04 -4.60834479e-04 9.99999712e-01 8.89287571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.701966746 meters Centerline goodness [0,1] 0.4820067093626106 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.12, Z:0.01 [[ 0.99999664 0.00227206 -0.00124755 -0.10816475] [-0.00226801 0.99999219 0.00323761 -0.12061427] [ 0.00125489 -0.00323477 0.99999398 0.00636727] [ 0. 0. 0. 1. ]] SLAMing on 9.731966746 meters Centerline goodness [0,1] 0.46911952173721927 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.12, Z:0.01 [[ 0.99999605 0.00255548 -0.00117338 -0.10799027] [-0.0025517 0.99999157 0.00321543 -0.11760221] [ 0.00118159 -0.00321242 0.99999414 0.00558404] [ 0. 0. 0. 1. ]] SLAMing on 9.761966746 meters Centerline goodness [0,1] 0.4925514566530037 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.12, Z:0.01 [[ 9.99999912e-01 1.21363371e-04 -4.02300195e-04 -1.13207132e-01] [-1.21055853e-04 9.99999701e-01 7.64335484e-04 -1.18827002e-01] [ 4.02392837e-04 -7.64286716e-04 9.99999627e-01 9.43403045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.791966746 meters Centerline goodness [0,1] 0.48540073162620556 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:0.01 [[ 9.99999878e-01 -4.91683561e-04 5.27573895e-05 -1.15640761e-01] [ 4.91656720e-04 9.99999750e-01 5.07581874e-04 -1.22455970e-01] [-5.30069460e-05 -5.07555873e-04 9.99999870e-01 1.10360429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.821966746000001 meters Centerline goodness [0,1] 0.12201828855764829 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.12, Z:0.01 [[ 0.99998817 0.00399126 0.00277965 -0.08917745] [-0.0039772 0.99997936 -0.00504504 -0.12311638] [-0.00279973 0.00503393 0.99998341 0.00652264] [ 0. 0. 0. 1. ]] SLAMing on 9.851966746 meters Centerline goodness [0,1] 0.48081358314846134 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.12, Z:0.01 [[ 0.99998609 0.00453941 0.0026844 -0.08871207] [-0.00452644 0.99997816 -0.00481661 -0.12398223] [-0.00270621 0.00480439 0.9999848 0.00587413] [ 0. 0. 0. 1. ]] SLAMing on 9.881966746 meters Centerline goodness [0,1] 0.49081502915515807 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.12, Z:0.01 [[ 0.99998577 0.00475298 0.00242462 -0.08767679] [-0.00474135 0.99997733 -0.00478049 -0.12413648] [-0.00244728 0.00476892 0.99998563 0.00551679] [ 0. 0. 0. 1. ]] SLAMing on 9.911966746000001 meters Centerline goodness [0,1] 0.49043300889076114 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.12, Z:0.01 [[ 9.99999989e-01 5.25326564e-05 1.35426161e-04 -1.14440859e-01] [-5.26034503e-05 9.99999862e-01 5.22798307e-04 -1.22987910e-01] [-1.35398678e-04 -5.22805426e-04 9.99999854e-01 9.87829777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.941966746 meters Centerline goodness [0,1] 0.48912613681296957 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:0.01 [[ 9.99999269e-01 1.07868134e-03 5.46019715e-04 -1.16493266e-01] [-1.07944679e-03 9.99998432e-01 1.40353197e-03 -1.20210231e-01] [-5.44504895e-04 -1.40412034e-03 9.99998866e-01 1.11933589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.971966746 meters Centerline goodness [0,1] 0.4901372682093833 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:0.01 [[ 9.99999396e-01 8.50760112e-04 6.95849176e-04 -1.16646986e-01] [-8.51609208e-04 9.99998892e-01 1.22084508e-03 -1.19399996e-01] [-6.94809759e-04 -1.22143693e-03 9.99999013e-01 1.08089576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.001966746 meters Centerline goodness [0,1] 0.4910716251623841 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:0.01 [[ 9.99999734e-01 5.82115620e-04 4.39204739e-04 -1.15686001e-01] [-5.82659517e-04 9.99999062e-01 1.23925849e-03 -1.20832151e-01] [-4.38482936e-04 -1.23951407e-03 9.99999136e-01 1.03519893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.031966746 meters Centerline goodness [0,1] 0.4952518304859108 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:0.01 [[ 9.99999955e-01 6.30219478e-05 2.94331387e-04 -1.15533187e-01] [-6.33263328e-05 9.99999463e-01 1.03426253e-03 -1.23733018e-01] [-2.94266048e-04 -1.03428112e-03 9.99999422e-01 1.06030212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.061966746 meters Centerline goodness [0,1] 0.4814563595387611 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.01 [[ 9.99998953e-01 2.02221761e-05 1.44713110e-03 -7.14536869e-02] [-1.88814723e-05 9.99999571e-01 -9.26464063e-04 -1.25450759e-01] [-1.44714921e-03 9.26435769e-04 9.99998524e-01 1.22976048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.091966746 meters Centerline goodness [0,1] 0.4960327897597756 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.01 [[ 9.99999484e-01 -2.05090503e-04 9.94701181e-04 -6.95439953e-02] [ 2.06031704e-04 9.99999531e-01 -9.46205149e-04 -1.25692675e-01] [-9.94506656e-04 9.46409601e-04 9.99999058e-01 1.13665793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.121966746 meters Centerline goodness [0,1] 0.490994863655402 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.01 [[ 9.99999146e-01 -7.66504781e-05 1.30477303e-03 -7.07973248e-02] [ 7.74322008e-05 9.99999818e-01 -5.99085435e-04 -1.27400899e-01] [-1.30472688e-03 5.99185954e-04 9.99998969e-01 1.18049578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.151966746 meters Centerline goodness [0,1] 0.4911854236471541 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.01 [[ 9.99999011e-01 -1.46232599e-04 1.39875662e-03 -7.13777875e-02] [ 1.47121083e-04 9.99999787e-01 -6.35113975e-04 -1.28726953e-01] [-1.39866345e-03 6.35319134e-04 9.99998820e-01 1.24369718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.181966746 meters Centerline goodness [0,1] 0.4941512694403828 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.01 [[ 9.99998947e-01 4.37616972e-05 1.45078453e-03 -7.18111645e-02] [-4.32054576e-05 9.99999926e-01 -3.83435202e-04 -1.29635654e-01] [-1.45080120e-03 3.83372116e-04 9.99998874e-01 1.27451788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.211966746 meters Centerline goodness [0,1] 0.4880418209540405 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.13, Z:0.02 [[ 9.99994871e-01 9.03912164e-04 3.07272693e-03 -2.90107984e-02] [-8.99613739e-04 9.99998615e-01 -1.39999020e-03 -1.28880403e-01] [-3.07398814e-03 1.39721875e-03 9.99994299e-01 1.51377915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.241966746000001 meters Centerline goodness [0,1] 0.4949198215311216 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:0.02 [[ 0.99998914 -0.00449877 0.00121606 -0.05647583] [ 0.0044941 0.9999826 0.00382066 -0.13014816] [-0.00123323 -0.00381515 0.99999196 0.02019509] [ 0. 0. 0. 1. ]] SLAMing on 10.271966746 meters Centerline goodness [0,1] 0.4883583007512191 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:0.02 [[ 0.99998884 -0.00457637 0.0011771 -0.05626963] [ 0.00457183 0.99998222 0.00382919 -0.12944253] [-0.00119461 -0.00382377 0.99999198 0.01999983] [ 0. 0. 0. 1. ]] SLAMing on 10.301966746 meters Centerline goodness [0,1] 0.46011745628259626 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:0.02 [[ 0.99998865 -0.00464619 0.0010531 -0.05573073] [ 0.00464205 0.99998161 0.0039034 -0.12969325] [-0.00107121 -0.00389847 0.99999183 0.01951756] [ 0. 0. 0. 1. ]] SLAMing on 10.331966746 meters Centerline goodness [0,1] 0.4880316821284789 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.02 [[ 9.99987341e-01 -4.96093816e-03 8.40940614e-04 -5.44080710e-02] [ 4.95770278e-03 9.99980465e-01 3.80672251e-03 -1.30196392e-01] [-8.59809101e-04 -3.80250518e-03 9.99992401e-01 1.85519802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.361966746 meters Centerline goodness [0,1] 0.493084918957012 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.02 [[ 9.99987227e-01 -5.01906843e-03 5.95711255e-04 -5.35597677e-02] [ 5.01663624e-03 9.99979351e-01 4.01642945e-03 -1.31354806e-01] [-6.15857688e-04 -4.01338968e-03 9.99991757e-01 1.81504632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.391966746 meters Centerline goodness [0,1] 0.4921475207340744 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.02 [[ 9.99986124e-01 -5.21102248e-03 7.72207434e-04 -5.46725182e-02] [ 5.20779813e-03 9.99977951e-01 4.12027745e-03 -1.34410005e-01] [-7.93661266e-04 -4.11619878e-03 9.99991213e-01 1.91907061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.421966746 meters Centerline goodness [0,1] 0.4944870034982066 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.02 [[ 0.99998547 -0.00529453 0.00101426 -0.05624739] [ 0.00529036 0.99997773 0.00406845 -0.13660823] [-0.00103577 -0.00406302 0.99999121 0.02042928] [ 0. 0. 0. 1. ]] SLAMing on 10.451966746 meters Centerline goodness [0,1] 0.49787055630337396 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.02 [[ 9.99988144e-01 -4.83881214e-03 5.45505506e-04 -5.43075458e-02] [ 4.83636310e-03 9.99978603e-01 4.40480916e-03 -1.36442238e-01] [-5.66807878e-04 -4.40211868e-03 9.99990150e-01 1.94592468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.481966746 meters Centerline goodness [0,1] 0.4948836386942781 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.02 [[ 0.99998979 -0.00439871 0.00103216 -0.05567165] [ 0.00439392 0.99997976 0.00460117 -0.1351213 ] [-0.00105237 -0.00459659 0.99998888 0.0194327 ] [ 0. 0. 0. 1. ]] SLAMing on 10.511966746 meters Centerline goodness [0,1] 0.4948836386942781 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.02 [[ 0.99998979 -0.00439871 0.00103216 -0.05567165] [ 0.00439392 0.99997976 0.00460117 -0.1351213 ] [-0.00105237 -0.00459659 0.99998888 0.0194327 ] [ 0. 0. 0. 1. ]] SLAMing on 10.541966746 meters Centerline goodness [0,1] 0.49569117907017857 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:0.02 [[ 0.99998987 -0.00433187 0.00122349 -0.05589041] [ 0.00432622 0.99998013 0.00458588 -0.13275761] [-0.00124333 -0.00458055 0.99998874 0.0188341 ] [ 0. 0. 0. 1. ]] SLAMing on 10.571966746 meters Centerline goodness [0,1] 0.4938432629600973 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.02 [[ 9.99989035e-01 -4.62636285e-03 7.26024320e-04 -5.47454489e-02] [ 4.62301117e-03 9.99978952e-01 4.55219117e-03 -1.34860750e-01] [-7.47069127e-04 -4.54878484e-03 9.99989375e-01 1.92716464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.601966746 meters Centerline goodness [0,1] 0.4921048563415119 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.02 [[ 9.99988733e-01 -4.69811486e-03 6.79214112e-04 -5.43085033e-02] [ 4.69487606e-03 9.99977963e-01 4.69389178e-03 -1.37684146e-01] [-7.01251587e-04 -4.69065007e-03 9.99988753e-01 1.88707617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.631966746 meters Centerline goodness [0,1] 0.49198356963031664 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.02 [[ 9.99988296e-01 -4.78575957e-03 7.09809880e-04 -5.48389470e-02] [ 4.78242335e-03 9.99977847e-01 4.62964059e-03 -1.38321768e-01] [-7.31950502e-04 -4.62619180e-03 9.99989031e-01 1.97253753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.661966746000001 meters Centerline goodness [0,1] 0.4948283450704225 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.02 [[ 9.99987672e-01 -4.93474044e-03 5.50975179e-04 -5.42916852e-02] [ 4.93215693e-03 9.99977276e-01 4.59580166e-03 -1.38663585e-01] [-5.73641747e-04 -4.59302751e-03 9.99989287e-01 1.93781347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.691966746 meters Centerline goodness [0,1] 0.4811605041462288 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.02 [[ 9.99988862e-01 -4.68614045e-03 5.62342016e-04 -5.42290698e-02] [ 4.68340646e-03 9.99977664e-01 4.76842702e-03 -1.38223056e-01] [-5.84674974e-04 -4.76574023e-03 9.99988473e-01 1.94537744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.721966746 meters Centerline goodness [0,1] 0.49616503570483994 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.02 [[ 9.99989544e-01 -4.48124260e-03 9.11643315e-04 -5.61800813e-02] [ 4.47672194e-03 9.99977965e-01 4.90183707e-03 -1.37758235e-01] [-9.33589548e-04 -4.89770464e-03 9.99987570e-01 2.09057884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.751966746 meters Centerline goodness [0,1] 0.4910474682152127 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.02 [[ 9.99988516e-01 -4.72239063e-03 8.17217251e-04 -5.61535941e-02] [ 4.71835043e-03 9.99976975e-01 4.87710541e-03 -1.39841378e-01] [-8.40230032e-04 -4.87319349e-03 9.99987773e-01 2.14833072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.781966746 meters Centerline goodness [0,1] 0.48937065414765935 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.02 [[ 9.99998955e-01 -2.33534780e-05 1.44567113e-03 -7.78210631e-02] [ 2.16738131e-05 9.99999325e-01 1.16186297e-03 -1.39578562e-01] [-1.44569728e-03 -1.16183043e-03 9.99998280e-01 1.81080680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.811966746 meters Centerline goodness [0,1] 0.49324219356843246 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.02 [[ 9.99999227e-01 8.51388467e-05 1.24018116e-03 -7.71379236e-02] [-8.65917314e-05 9.99999310e-01 1.17150347e-03 -1.39156246e-01] [-1.24008057e-03 -1.17160996e-03 9.99998545e-01 1.77661128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.841966746 meters Centerline goodness [0,1] 0.4852593688580703 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.02 [[ 9.99999249e-01 1.01609399e-04 1.22113136e-03 -7.67049276e-02] [-1.02998218e-04 9.99999348e-01 1.13731194e-03 -1.39098276e-01] [-1.22101501e-03 -1.13743686e-03 9.99998608e-01 1.73844076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.871966746 meters Centerline goodness [0,1] 0.49496188556908793 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.02 [[ 9.99999431e-01 -3.25569179e-05 1.06594433e-03 -7.59800471e-02] [ 3.15048345e-05 9.99999512e-01 9.86998421e-04 -1.38768250e-01] [-1.06597594e-03 -9.86964277e-04 9.99998945e-01 1.69623024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.901966746 meters Centerline goodness [0,1] 0.45870976230155247 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.02 [[ 9.99999394e-01 -2.14969603e-04 1.07958176e-03 -7.68190422e-02] [ 2.13698257e-04 9.99999284e-01 1.17760567e-03 -1.42316897e-01] [-1.07983414e-03 -1.17737425e-03 9.99998724e-01 1.84847531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.931966746 meters Centerline goodness [0,1] 0.48584730388406816 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.02 [[ 9.99999138e-01 -5.40046698e-04 1.19657305e-03 -7.79368974e-02] [ 5.38833197e-04 9.99999340e-01 1.01423712e-03 -1.44642845e-01] [-1.19712000e-03 -1.01359149e-03 9.99998770e-01 1.96351238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.961966746 meters Centerline goodness [0,1] 0.12447141824236985 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.02 [[ 9.99999228e-01 -6.46003371e-05 1.24114612e-03 -7.79080685e-02] [ 6.29189297e-05 9.99999080e-01 1.35471282e-03 -1.41629665e-01] [-1.24123250e-03 -1.35463369e-03 9.99998312e-01 1.93159352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.991966746000001 meters Centerline goodness [0,1] 0.4794928504171503 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.02 [[ 9.99999530e-01 4.53917411e-05 9.68492668e-04 -7.62285168e-02] [-4.66423359e-05 9.99999165e-01 1.29129598e-03 -1.39130023e-01] [-9.68433246e-04 -1.29134055e-03 9.99998697e-01 1.78899139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.021966746 meters Centerline goodness [0,1] 0.4763828532745179 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.14, Z:0.02 [[ 9.99999806e-01 -2.36605751e-04 5.75786360e-04 -7.47192670e-02] [ 2.35921405e-04 9.99999266e-01 1.18831974e-03 -1.41156620e-01] [-5.76067100e-04 -1.18818367e-03 9.99999128e-01 1.75649680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.051966746 meters Centerline goodness [0,1] 0.46580990394315536 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.02 [[ 9.99999663e-01 -6.01742669e-04 5.58779864e-04 -7.53068899e-02] [ 6.01096497e-04 9.99999151e-01 1.15584769e-03 -1.44342238e-01] [-5.59474912e-04 -1.15551142e-03 9.99999176e-01 1.85485669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.081966746 meters Centerline goodness [0,1] 0.48419499085842677 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.15, Z:0.02 [[ 9.99999384e-01 -7.13045830e-04 8.50746368e-04 -7.69823015e-02] [ 7.12072647e-04 9.99999092e-01 1.14367278e-03 -1.45399977e-01] [-8.51561087e-04 -1.14306628e-03 9.99998984e-01 1.98534523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.111966746 meters Centerline goodness [0,1] 0.4932452177040484 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:0.02 [[ 0.99999798 -0.00160711 0.0012044 -0.12743567] [ 0.00160423 0.99999586 0.00238979 -0.14635317] [-0.00120824 -0.00238786 0.99999642 0.02106683] [ 0. 0. 0. 1. ]] SLAMing on 11.141966746 meters Centerline goodness [0,1] 0.4847354363038343 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.15, Z:0.02 [[ 9.99998836e-01 -6.52749432e-04 1.37945986e-03 -8.12391533e-02] [ 6.51715799e-04 9.99999507e-01 7.49619214e-04 -1.47155392e-01] [-1.37994850e-03 -7.48719326e-04 9.99998768e-01 2.25511976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.171966746 meters Centerline goodness [0,1] 0.48317307692307687 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.15, Z:0.02 [[ 9.99999389e-01 -6.75760041e-04 8.74296586e-04 -7.92335938e-02] [ 6.75112814e-04 9.99999498e-01 7.40366115e-04 -1.47926863e-01] [-8.74796457e-04 -7.39775414e-04 9.99999344e-01 2.15890081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.201966746 meters Centerline goodness [0,1] 0.48976976446153164 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.15, Z:0.02 [[ 9.99999500e-01 -8.00203418e-04 6.00167390e-04 -7.80499466e-02] [ 7.99749650e-04 9.99999394e-01 7.55929842e-04 -1.47865229e-01] [-6.00771924e-04 -7.55449481e-04 9.99999534e-01 2.08219354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.231966746 meters Centerline goodness [0,1] 0.48153680557081036 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.02 [[ 9.99999588e-01 -6.55254626e-04 6.27521245e-04 -7.79115454e-02] [ 6.54664926e-04 9.99999344e-01 9.39473263e-04 -1.44796151e-01] [-6.28136428e-04 -9.39062060e-04 9.99999362e-01 2.05996271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.261966746 meters Centerline goodness [0,1] 0.47378338701549116 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.02 [[ 9.99999432e-01 -6.92460636e-04 8.10420293e-04 -7.81451664e-02] [ 6.91710986e-04 9.99999333e-01 9.24929153e-04 -1.43811513e-01] [-8.11060229e-04 -9.24368051e-04 9.99999244e-01 2.01526020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.291966746 meters Centerline goodness [0,1] 0.4791625388019285 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.02 [[ 9.99999403e-01 -6.80984918e-04 8.53990909e-04 -7.87859724e-02] [ 6.80094651e-04 9.99999226e-01 1.04233677e-03 -1.44432996e-01] [-8.54700063e-04 -1.04175536e-03 9.99999092e-01 2.08752314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.321966746 meters Centerline goodness [0,1] 0.4808829325975562 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.15, Z:0.02 [[ 9.99999314e-01 -9.87031952e-04 6.30231041e-04 -7.82396934e-02] [ 9.86474191e-04 9.99999122e-01 8.84707988e-04 -1.46247954e-01] [-6.31103723e-04 -8.84085675e-04 9.99999410e-01 2.11923103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.351966746 meters Centerline goodness [0,1] 0.4812139364841651 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.15, Z:0.02 [[ 9.99999080e-01 -1.24017251e-03 5.48943614e-04 -7.86664989e-02] [ 1.23973279e-03 9.99998911e-01 8.00658046e-04 -1.49497629e-01] [-5.49935971e-04 -7.99976767e-04 9.99999529e-01 2.18506043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.381966746 meters Centerline goodness [0,1] 0.48442975646542163 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.15, Z:0.02 [[ 9.99999066e-01 -1.22847968e-03 5.99508561e-04 -7.94796183e-02] [ 1.22791376e-03 9.99998801e-01 9.43431221e-04 -1.51469358e-01] [-6.00666828e-04 -9.42694194e-04 9.99999375e-01 2.28807585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.411966746000001 meters Centerline goodness [0,1] 0.4799807990224957 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.02 [[ 9.99997894e-01 7.26519015e-04 1.91946444e-03 -3.53808074e-02] [-7.28449347e-04 9.99999230e-01 1.00515418e-03 -1.51656133e-01] [-1.91873270e-03 -1.00655030e-03 9.99997653e-01 2.47197628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.441966746 meters Centerline goodness [0,1] 0.49062787617572456 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.15, Z:0.03 [[ 9.99999014e-01 -2.43105020e-04 1.38322665e-03 -8.44474104e-02] [ 2.39703148e-04 9.99996948e-01 2.45900875e-03 -1.51448485e-01] [-1.38382023e-03 -2.45867476e-03 9.99996020e-01 2.50709495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.471966746 meters Centerline goodness [0,1] 0.4870294734518159 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.03 [[ 9.99999753e-01 -9.96048655e-05 6.95570756e-04 -3.57377628e-02] [ 9.93611882e-05 9.99999934e-01 3.50352817e-04 -1.50791806e-01] [-6.95605607e-04 -3.50283618e-04 9.99999697e-01 2.54390491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.501966746 meters Centerline goodness [0,1] 0.4765954641350211 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.02 [[ 9.99999989e-01 7.34244592e-05 1.26036640e-04 -3.32266483e-02] [-7.34885395e-05 9.99999868e-01 5.08496678e-04 -1.50875975e-01] [-1.25999287e-04 -5.08505935e-04 9.99999863e-01 2.40590487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.531966746 meters Centerline goodness [0,1] 0.47890856744023735 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.02 [[ 9.99999995e-01 -8.15803689e-05 4.87943638e-05 -3.32715489e-02] [ 8.15618009e-05 9.99999924e-01 3.80416619e-04 -1.51813640e-01] [-4.88253946e-05 -3.80412637e-04 9.99999926e-01 2.46180578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.561966746 meters Centerline goodness [0,1] 0.48006659072986946 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.03 [[ 9.99999949e-01 8.20022894e-05 3.09139126e-04 -3.46357485e-02] [-8.21936555e-05 9.99999805e-01 6.19067269e-04 -1.53382473e-01] [-3.09088301e-04 -6.19092647e-04 9.99999761e-01 2.52748436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.591966746 meters Centerline goodness [0,1] 0.4873958838305936 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.03 [[ 9.99999487e-01 4.06522762e-04 9.27856274e-04 -3.76715679e-02] [-4.07300436e-04 9.99999566e-01 8.38105269e-04 -1.53797127e-01] [-9.27515162e-04 -8.38482755e-04 9.99999218e-01 2.72080755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.621966746 meters Centerline goodness [0,1] 0.4878980610397067 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.03 [[ 9.99999380e-01 2.08177241e-04 1.09397463e-03 -3.83987675e-02] [-2.08967964e-04 9.99999717e-01 7.22734296e-04 -1.54695049e-01] [-1.09382386e-03 -7.22962454e-04 9.99999140e-01 2.76110504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.651966746 meters Centerline goodness [0,1] 0.48330222856515537 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.16, Z:0.03 [[ 9.99999765e-01 1.70518819e-04 6.63853658e-04 -3.65144193e-02] [-1.71064740e-04 9.99999647e-01 8.22381758e-04 -1.55825762e-01] [-6.63713192e-04 -8.22495126e-04 9.99999441e-01 2.66383774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.681966746 meters Centerline goodness [0,1] 0.4893617021276596 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.03 [[ 9.99999598e-01 5.04751433e-04 7.41142035e-04 -3.62959558e-02] [-5.05350445e-04 9.99999546e-01 8.08264490e-04 -1.51579972e-01] [-7.40733726e-04 -8.08638702e-04 9.99999399e-01 2.55909655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.711966746 meters Centerline goodness [0,1] 0.48772092407493217 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.03 [[ 9.99999454e-01 5.31133949e-04 8.99869063e-04 -3.70550727e-02] [-5.31845747e-04 9.99999546e-01 7.90947728e-04 -1.49780438e-01] [-8.99448555e-04 -7.91425888e-04 9.99999282e-01 2.62604396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.741966746000001 meters Centerline goodness [0,1] 0.4855313303199503 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.03 [[ 9.99999313e-01 4.64790774e-04 1.07633123e-03 -3.76635757e-02] [-4.65582007e-04 9.99999622e-01 7.34985935e-04 -1.49515718e-01] [-1.07598920e-03 -7.35486550e-04 9.99999151e-01 2.64413389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.771966746 meters Centerline goodness [0,1] 0.47912833990363557 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:0.02 [[ 0.99998586 0.00490643 0.00205242 -0.01072581] [-0.00489525 0.99997334 -0.00541731 -0.15261804] [-0.00207895 0.00540719 0.99998322 0.02372535] [ 0. 0. 0. 1. ]] SLAMing on 11.801966746 meters Centerline goodness [0,1] 0.483223691447933 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:0.02 [[ 0.99998586 0.00489164 0.0020855 -0.01107479] [-0.00488041 0.99997375 -0.00535621 -0.15410314] [-0.00211165 0.00534595 0.99998348 0.02402463] [ 0. 0. 0. 1. ]] SLAMing on 11.831966746 meters Centerline goodness [0,1] 0.4755010651710795 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.02 [[ 9.99995339e-01 2.73161500e-04 3.04102319e-03 1.44165016e-02] [-2.68872535e-04 9.99998969e-01 -1.41068853e-03 -1.51673072e-01] [-3.04140540e-03 1.40986431e-03 9.99994381e-01 2.28158972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.861966746 meters Centerline goodness [0,1] 0.47991358805944095 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.02 [[ 9.99995654e-01 2.86601232e-04 2.93440271e-03 1.48203881e-02] [-2.82512135e-04 9.99998989e-01 -1.39382216e-03 -1.50977784e-01] [-2.93479922e-03 1.39298710e-03 9.99994723e-01 2.26379292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.891966746 meters Centerline goodness [0,1] 0.47824076113288994 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.16, Z:0.02 [[ 0.99994292 -0.0034163 -0.01012346 0.00771343] [ 0.00337863 0.99998731 -0.00373571 -0.16017907] [ 0.0101361 0.00370129 0.99994178 0.02456609] [ 0. 0. 0. 1. ]] SLAMing on 11.921966746 meters Centerline goodness [0,1] 0.491215323645971 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.16, Z:0.03 [[ 0.99994685 -0.00276694 -0.00993162 0.00648958] [ 0.00273474 0.99999097 -0.0032543 -0.15944423] [ 0.00994053 0.00322697 0.99994538 0.02548504] [ 0. 0. 0. 1. ]] SLAMing on 11.951966746 meters Centerline goodness [0,1] 0.4881076639498989 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.16, Z:0.03 [[ 0.99994898 -0.0024659 -0.00979535 0.00528076] [ 0.00243671 0.99999256 -0.00299108 -0.16092219] [ 0.00980265 0.00296706 0.99994755 0.02694342] [ 0. 0. 0. 1. ]] SLAMing on 11.981966746 meters Centerline goodness [0,1] 0.4897743067046132 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.02 [[ 0.99997742 0.00287034 -0.00607575 0.02943416] [-0.00291795 0.99996499 -0.00784256 -0.16152379] [ 0.00605303 0.00786011 0.99995079 0.02301935] [ 0. 0. 0. 1. ]] SLAMing on 12.011966746 meters Centerline goodness [0,1] 0.48798098089284137 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.02 [[ 0.99997711 0.00320896 -0.00595597 0.02901957] [-0.00325435 0.99996561 -0.00762748 -0.15936604] [ 0.00593129 0.00764669 0.99995317 0.02294885] [ 0. 0. 0. 1. ]] SLAMing on 12.041966746 meters Centerline goodness [0,1] 0.4803457232031778 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.02 [[ 9.99992727e-01 -3.47701747e-04 -3.79808811e-03 5.28835515e-02] [ 3.38707855e-04 9.99997138e-01 -2.36839159e-03 -1.59865535e-01] [ 3.79890073e-03 2.36708792e-03 9.99989983e-01 2.16637930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.071966746 meters Centerline goodness [0,1] 0.47955301432702135 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.02 [[ 9.99992350e-01 -5.10334992e-04 -3.87797118e-03 5.25638252e-02] [ 5.00805296e-04 9.99996854e-01 -2.45796610e-03 -1.60578080e-01] [ 3.87921337e-03 2.45600519e-03 9.99989460e-01 2.25660915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.101966746 meters Centerline goodness [0,1] 0.4939825671430468 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.16, Z:0.02 [[ 9.99990233e-01 -1.55276960e-03 -4.13797825e-03 3.31788821e-03] [ 1.54902608e-03 9.99998388e-01 -9.07725989e-04 -1.62828150e-01] [ 4.13938107e-03 9.01307287e-04 9.99991027e-01 2.30795213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.131966746 meters Centerline goodness [0,1] 0.4894744879038415 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.02 [[ 9.99999290e-01 8.04440923e-04 8.78879504e-04 3.46194884e-02] [-8.00309165e-04 9.99988675e-01 -4.69144585e-03 -1.61399207e-01] [-8.82643542e-04 4.69073915e-03 9.99988609e-01 1.81700726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.161966746000001 meters Centerline goodness [0,1] 0.4811683320522675 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.02 [[ 9.99999076e-01 8.33497618e-04 1.07381733e-03 3.32461270e-02] [-8.28555784e-04 9.99989103e-01 -4.59437282e-03 -1.61977131e-01] [-1.07763503e-03 4.59347885e-03 9.99988869e-01 1.91662346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.191966746 meters Centerline goodness [0,1] 0.4765447722115552 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.02 [[ 9.99999375e-01 7.29277056e-04 8.47874901e-04 3.40278403e-02] [-7.25419851e-04 9.99989428e-01 -4.54070432e-03 -1.63732939e-01] [-8.51177368e-04 4.54008642e-03 9.99989331e-01 1.91996838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.221966746 meters Centerline goodness [0,1] 0.4836076280041798 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:0.02 [[ 9.99999326e-01 7.40469111e-04 8.93813374e-04 3.31859363e-02] [-7.36618433e-04 9.99990480e-01 -4.30081401e-03 -1.65864513e-01] [-8.96989485e-04 4.30015272e-03 9.99990352e-01 2.03609600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.251966746 meters Centerline goodness [0,1] 0.48514354328130116 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:0.02 [[ 9.99999169e-01 8.26008997e-04 9.90146492e-04 3.26461021e-02] [-8.21982210e-04 9.99991419e-01 -4.06039166e-03 -1.67219692e-01] [-9.93491915e-04 4.05957440e-03 9.99991266e-01 2.06242679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.281966746 meters Centerline goodness [0,1] 0.48324950798163135 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:0.02 [[ 0.99999846 0.00120796 0.00127166 0.03125999] [-0.00120318 0.99999224 -0.00375245 -0.16535996] [-0.00127619 0.00375091 0.99999215 0.02124049] [ 0. 0. 0. 1. ]] SLAMing on 12.311966746 meters Centerline goodness [0,1] 0.45565202216308187 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.02 [[ 0.99999828 0.00121221 0.00140676 0.03057022] [-0.001207 0.99999245 -0.00369495 -0.16489615] [-0.00141123 0.00369325 0.99999218 0.02178955] [ 0. 0. 0. 1. ]] SLAMing on 12.341966746 meters Centerline goodness [0,1] 0.4975270033490806 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.17, Z:0.02 [[ 9.99999644e-01 -6.26602021e-04 5.65783709e-04 -1.70445477e-02] [ 6.28080218e-04 9.99996380e-01 -2.61626587e-03 -1.67036722e-01] [-5.64142304e-04 2.61662029e-03 9.99996418e-01 2.22785347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.371966746 meters Centerline goodness [0,1] 0.4846334658728938 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.17, Z:0.02 [[ 9.99999753e-01 -4.64396641e-04 5.28212194e-04 -1.67943483e-02] [ 4.65706957e-04 9.99996808e-01 -2.48325004e-03 -1.66876710e-01] [-5.27057295e-04 2.48349541e-03 9.99996777e-01 2.21559426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.401966746 meters Centerline goodness [0,1] 0.4846334658728938 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.17, Z:0.02 [[ 9.99999753e-01 -4.64396641e-04 5.28212194e-04 -1.67943483e-02] [ 4.65706957e-04 9.99996808e-01 -2.48325004e-03 -1.66876710e-01] [-5.27057295e-04 2.48349541e-03 9.99996777e-01 2.21559426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.431966746 meters Centerline goodness [0,1] 0.4672127557054624 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.17, Z:0.02 [[ 9.99999893e-01 -1.96999371e-04 4.19318252e-04 -1.64060236e-02] [ 1.97937144e-04 9.99997477e-01 -2.23755847e-03 -1.66062006e-01] [-4.18876396e-04 2.23764122e-03 9.99997409e-01 2.20942015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.461966746 meters Centerline goodness [0,1] 0.48158238884045335 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.17, Z:0.02 [[ 9.99999889e-01 -3.11014351e-04 3.53240394e-04 -1.62279671e-02] [ 3.11748709e-04 9.99997787e-01 -2.08076928e-03 -1.68590013e-01] [-3.52592463e-04 2.08087917e-03 9.99997773e-01 2.23089971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.491966746000001 meters Centerline goodness [0,1] 0.48928343282595765 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.17, Z:0.02 [[ 9.99999812e-01 -4.51453763e-04 4.14177662e-04 -1.75260304e-02] [ 4.52250076e-04 9.99998046e-01 -1.92456098e-03 -1.73233989e-01] [-4.13308003e-04 1.92474793e-03 9.99998062e-01 2.38341020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.521966746 meters Centerline goodness [0,1] 0.49266441635228453 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.17, Z:0.03 [[ 9.99999834e-01 -3.53537596e-04 4.55065276e-04 -1.85060443e-02] [ 3.54344915e-04 9.99998362e-01 -1.77521580e-03 -1.74292252e-01] [-4.54436924e-04 1.77537675e-03 9.99998321e-01 2.50755340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.551966746 meters Centerline goodness [0,1] 0.4808429118773946 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.17, Z:0.02 [[ 0.99998701 -0.00421254 0.00287125 0.01019137] [ 0.00420578 0.99998837 0.00235913 -0.17466327] [-0.00288115 -0.00234703 0.9999931 0.01976189] [ 0. 0. 0. 1. ]] SLAMing on 12.581966746 meters Centerline goodness [0,1] 0.49040189332515227 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.02 [[ 9.99998442e-01 1.25528077e-03 1.24090364e-03 -1.33044266e-02] [-1.25433644e-03 9.99998923e-01 -7.61486670e-04 -1.75760852e-01] [-1.24185818e-03 7.59928973e-04 9.99998940e-01 1.95644905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.611966746 meters Centerline goodness [0,1] 0.47496345427966746 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.02 [[ 9.99999095e-01 8.38130368e-04 1.05260663e-03 -1.26638250e-02] [-8.37039875e-04 9.99999113e-01 -1.03600706e-03 -1.77348869e-01] [-1.05347401e-03 1.03512505e-03 9.99998909e-01 1.95841889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.641966746 meters Centerline goodness [0,1] 0.4825016343429941 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.02 [[ 9.99999257e-01 9.71087976e-04 7.36308549e-04 -1.10157193e-02] [-9.70451249e-04 9.99999155e-01 -8.64620025e-04 -1.77069764e-01] [-7.37147549e-04 8.63904831e-04 9.99999355e-01 1.82381804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.671966746 meters Centerline goodness [0,1] 0.4913425620742694 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.02 [[ 9.99998972e-01 1.18145841e-03 8.12605162e-04 -1.11296411e-02] [-1.18092027e-03 9.99999083e-01 -6.62396156e-04 -1.75818578e-01] [-8.13387010e-04 6.61435853e-04 9.99999450e-01 1.79311037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.701966746 meters Centerline goodness [0,1] 0.49069655444157434 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.02 [[ 9.99999358e-01 8.84753124e-04 7.07821843e-04 -1.09313122e-02] [-8.84253597e-04 9.99999360e-01 -7.05726607e-04 -1.77176738e-01] [-7.08445784e-04 7.05100260e-04 9.99999500e-01 1.81142099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.731966746 meters Centerline goodness [0,1] 0.4131975004400633 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.02 [[ 9.99999508e-01 7.91728157e-04 5.97891554e-04 -1.05907229e-02] [-7.91305724e-04 9.99999437e-01 -7.06443311e-04 -1.77960308e-01] [-5.98450529e-04 7.05969848e-04 9.99999572e-01 1.80070827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.761966746 meters Centerline goodness [0,1] 0.47674267100977197 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.02 [[ 0.99999725 0.00162045 0.00169639 0.03434436] [-0.00161662 0.99999616 -0.00225225 -0.17963779] [-0.00170003 0.0022495 0.99999602 0.01880253] [ 0. 0. 0. 1. ]] SLAMing on 12.791966746 meters Centerline goodness [0,1] 0.4853872434879115 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.02 [[ 0.99999698 0.00164742 0.00182307 0.03377743] [-0.00164369 0.99999656 -0.00204446 -0.18116533] [-0.00182643 0.00204146 0.99999625 0.01918074] [ 0. 0. 0. 1. ]] SLAMing on 12.821966746 meters Centerline goodness [0,1] 0.4888694511261754 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.02 [[ 0.99999685 0.00174509 0.00180409 0.03373247] [-0.00174161 0.99999663 -0.00192558 -0.18150405] [-0.00180744 0.00192243 0.99999652 0.01920535] [ 0. 0. 0. 1. ]] SLAMing on 12.851966746 meters Centerline goodness [0,1] 0.48502011896431074 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.02 [[ 0.99999626 0.00182775 0.00203588 0.03288136] [-0.00182392 0.99999657 -0.00188134 -0.18113299] [-0.00203931 0.00187762 0.99999616 0.01933034] [ 0. 0. 0. 1. ]] SLAMing on 12.881966746 meters Centerline goodness [0,1] 0.4639484040227372 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.02 [[ 0.99999568 0.00196961 0.00218412 0.0315499 ] [-0.00196573 0.99999649 -0.00177598 -0.18153859] [-0.00218761 0.00177168 0.99999604 0.02103505] [ 0. 0. 0. 1. ]] SLAMing on 12.911966746000001 meters Centerline goodness [0,1] 0.47904504661496905 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.02 [[ 0.9999958 0.0018409 0.0022381 0.03115718] [-0.00183704 0.99999682 -0.00172567 -0.18454383] [-0.00224127 0.00172155 0.99999601 0.02141489] [ 0. 0. 0. 1. ]] SLAMing on 12.941966746 meters Centerline goodness [0,1] 0.4808811033400876 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.19, Z:0.02 [[ 0.99999635 0.00172669 0.0020788 0.03150473] [-0.00172346 0.9999973 -0.00155584 -0.18726498] [-0.00208148 0.00155225 0.99999663 0.02140261] [ 0. 0. 0. 1. ]] SLAMing on 12.971966746 meters Centerline goodness [0,1] 0.49772196910767863 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.19, Z:0.02 [[ 9.99998342e-01 1.64147652e-03 7.88378036e-04 -1.51809371e-02] [-1.64206999e-03 9.99998369e-01 7.52720880e-04 -1.86408777e-01] [-7.87141176e-04 -7.54014204e-04 9.99999406e-01 2.15534840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.001966746 meters Centerline goodness [0,1] 0.4855121514509684 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.02 [[ 9.99993706e-01 2.86990087e-03 2.08595148e-03 2.92891444e-02] [-2.86926962e-03 9.99995837e-01 -3.05548992e-04 -1.84898966e-01] [-2.08681969e-03 2.99561911e-04 9.99997778e-01 2.23287456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.031966746 meters Centerline goodness [0,1] 0.48467134035118564 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.02 [[ 9.99992714e-01 3.09372288e-03 2.23630367e-03 2.89591084e-02] [-3.09321330e-03 9.99995189e-01 -2.31292532e-04 -1.82974519e-01] [-2.23700846e-03 2.24373482e-04 9.99997473e-01 2.21001917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.061966746 meters Centerline goodness [0,1] 0.4745476106816585 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.02 [[ 9.99993011e-01 3.09038076e-03 2.10418615e-03 2.94105406e-02] [-3.08971225e-03 9.99995175e-01 -3.20881312e-04 -1.81633851e-01] [-2.10516765e-03 3.14377739e-04 9.99997735e-01 2.19781802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.091966746 meters Centerline goodness [0,1] 0.47676539563971165 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.02 [[ 9.99994278e-01 2.83818107e-03 1.84076838e-03 3.04460112e-02] [-2.83749631e-03 9.99995904e-01 -3.74504333e-04 -1.83294349e-01] [-1.84182375e-03 3.69279016e-04 9.99998236e-01 2.17600893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.121966746 meters Centerline goodness [0,1] 0.4805520976653781 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.19, Z:0.02 [[ 9.99994845e-01 2.53460478e-03 1.97102611e-03 2.99092568e-02] [-2.53353332e-03 9.99996642e-01 -5.45909713e-04 -1.85083484e-01] [-1.97240316e-03 5.40913238e-04 9.99997909e-01 2.17770037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.151966746 meters Centerline goodness [0,1] 0.4793904462492359 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.19, Z:0.02 [[ 9.99995849e-01 2.40336011e-03 1.58938311e-03 3.10317461e-02] [-2.40238619e-03 9.99996926e-01 -6.14390150e-04 -1.87028888e-01] [-1.59085482e-03 6.10569288e-04 9.99998548e-01 2.17493056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.181966746 meters Centerline goodness [0,1] 0.48144700381018357 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.19, Z:0.02 [[ 9.99995545e-01 2.50664624e-03 1.62056989e-03 3.08009310e-02] [-2.50579111e-03 9.99996720e-01 -5.29490233e-04 -1.87960766e-01] [-1.62189182e-03 5.25427064e-04 9.99998547e-01 2.20319819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.211966746 meters Centerline goodness [0,1] 0.47952845457329074 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.19, Z:0.02 [[ 0.99999087 -0.00385791 0.00183775 0.00696997] [ 0.0038512 0.99998597 0.00363839 -0.18582449] [-0.00185176 -0.00363128 0.99999169 0.02223367] [ 0. 0. 0. 1. ]] SLAMing on 13.241966746 meters Centerline goodness [0,1] 0.48632285519994733 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.18, Z:0.02 [[ 0.99999137 -0.00367802 0.00193193 0.00701366] [ 0.0036708 0.99998632 0.0037266 -0.18498768] [-0.00194561 -0.00371948 0.99999119 0.02170415] [ 0. 0. 0. 1. ]] SLAMing on 13.271966746 meters Centerline goodness [0,1] 0.48338972623808063 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.18, Z:0.02 [[ 0.99999174 -0.00347214 0.00211463 0.00646924] [ 0.00346414 0.99998688 0.00377398 -0.18287859] [-0.00212771 -0.00376663 0.99999064 0.02153486] [ 0. 0. 0. 1. ]] SLAMing on 13.301966746 meters Centerline goodness [0,1] 0.48155990061575027 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.02 [[ 0.99998871 -0.00282078 0.00382371 0.04948671] [ 0.00281237 0.99999362 0.00220387 -0.1820971 ] [-0.0038299 -0.00219309 0.99999026 0.02327391] [ 0. 0. 0. 1. ]] SLAMing on 13.331966746 meters Centerline goodness [0,1] 0.48656899997803593 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.18, Z:0.03 [[ 9.99998738e-01 1.58688600e-03 7.77012465e-05 2.26597342e-02] [-1.58676983e-03 9.99997656e-01 -1.47303736e-03 -1.82201143e-01] [-8.00386067e-05 1.47291221e-03 9.99998912e-01 2.75685720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.361966746 meters Centerline goodness [0,1] 0.4849421185481765 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.18, Z:0.03 [[ 9.99999055e-01 1.35352543e-03 -2.41596837e-04 2.42798490e-02] [-1.35389599e-03 9.99997897e-01 -1.54029233e-03 -1.83942840e-01] [ 2.39511504e-04 1.54061797e-03 9.99998785e-01 2.66250332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.391966746 meters Centerline goodness [0,1] 0.49325150645943117 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.19, Z:0.03 [[ 9.99999264e-01 -7.43493049e-05 -1.21138312e-03 -2.40859456e-02] [ 7.38145522e-05 9.99999900e-01 -4.41478500e-04 -1.85105480e-01] [ 1.21141582e-03 4.41388757e-04 9.99999169e-01 2.77321954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.421966746 meters Centerline goodness [0,1] 0.4821194655488603 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.19, Z:0.03 [[ 9.99999155e-01 1.19264978e-03 -5.17164101e-04 2.25803093e-02] [-1.19334522e-03 9.99998381e-01 -1.34648416e-03 -1.85581148e-01] [ 5.15557380e-04 1.34710017e-03 9.99998960e-01 2.72101235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.451966746 meters Centerline goodness [0,1] 0.48600263273365507 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.18, Z:0.03 [[ 9.99998920e-01 1.38303953e-03 -4.96982488e-04 2.22359273e-02] [-1.38369266e-03 9.99998176e-01 -1.31626007e-03 -1.84361614e-01] [ 4.95161142e-04 1.31694632e-03 9.99999010e-01 2.76724785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.481966746 meters Centerline goodness [0,1] 0.4868106042302708 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.19, Z:0.03 [[ 9.99999124e-01 1.24219861e-03 -4.57911502e-04 2.18553150e-02] [-1.24277270e-03 9.99998440e-01 -1.25555159e-03 -1.86087912e-01] [ 4.56351143e-04 1.25611957e-03 9.99999107e-01 2.80710645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.511966746 meters Centerline goodness [0,1] 0.4886518884139086 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.19, Z:0.03 [[ 9.99999195e-01 1.24087072e-03 -2.64822201e-04 2.12218400e-02] [-1.24115383e-03 9.99998656e-01 -1.07158063e-03 -1.87212986e-01] [ 2.63492152e-04 1.07190845e-03 9.99999391e-01 2.81123922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.541966746 meters Centerline goodness [0,1] 0.4875753920386007 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.19, Z:0.03 [[ 9.99999265e-01 1.14989793e-03 -3.83305866e-04 2.21660271e-02] [-1.15031281e-03 9.99998751e-01 -1.08391762e-03 -1.87324648e-01] [ 3.82058993e-04 1.08435774e-03 9.99999339e-01 2.71629460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.571966746 meters Centerline goodness [0,1] 0.42770392615819464 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.19, Z:0.03 [[ 9.99999094e-01 1.31269094e-03 -2.98681463e-04 2.14466084e-02] [-1.31297326e-03 9.99998690e-01 -9.47004996e-04 -1.86502790e-01] [ 2.97437947e-04 9.47396298e-04 9.99999507e-01 2.78716936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.601966746 meters Centerline goodness [0,1] 0.4962345527274352 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.19, Z:0.03 [[ 9.99998714e-01 6.42993155e-04 -1.46894367e-03 -2.43135870e-02] [-6.41998667e-04 9.99999564e-01 6.77379806e-04 -1.85739586e-01] [ 1.46937858e-03 -6.76435875e-04 9.99998692e-01 2.65095201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.631966746 meters Centerline goodness [0,1] 0.49159148637995975 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.19, Z:0.03 [[ 9.99999459e-01 6.76927399e-04 -7.89258797e-04 2.26314643e-02] [-6.78234281e-04 9.99998398e-01 -1.65674371e-03 -1.85328715e-01] [ 7.88136037e-04 1.65727812e-03 9.99998316e-01 2.62341244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.661966746000001 meters Centerline goodness [0,1] 0.4953883495145631 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.19, Z:0.03 [[ 9.99999694e-01 6.12916746e-04 -4.86882902e-04 2.15738267e-02] [-6.13644812e-04 9.99998692e-01 -1.49662131e-03 -1.86582280e-01] [ 4.85964961e-04 1.49691962e-03 9.99998762e-01 2.65542858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.691966746 meters Centerline goodness [0,1] 0.4823539733719374 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.19, Z:0.03 [[ 9.99999478e-01 4.32927338e-04 -9.25584329e-04 2.35431971e-02] [-4.34358593e-04 9.99998710e-01 -1.54668486e-03 -1.87813894e-01] [ 9.24913533e-04 1.54708609e-03 9.99998376e-01 2.56040294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.721966746 meters Centerline goodness [0,1] 0.48615115771079076 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.19, Z:0.03 [[ 9.99999183e-01 9.63868844e-05 -1.27445515e-03 2.47810107e-02] [-9.84466134e-05 9.99998689e-01 -1.61620043e-03 -1.90759426e-01] [ 1.27429770e-03 1.61632457e-03 9.99997882e-01 2.53640465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.751966746 meters Centerline goodness [0,1] 0.4940628689821106 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.19, Z:0.03 [[ 9.99997768e-01 -6.39635093e-04 -2.01349174e-03 -2.45060126e-02] [ 6.39596067e-04 9.99999795e-01 -2.00260642e-05 -1.92144042e-01] [ 2.01350413e-03 1.87381981e-05 9.99997973e-01 2.66895823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.781966746 meters Centerline goodness [0,1] 0.4884894770338183 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.19, Z:0.03 [[ 9.99998292e-01 8.62875695e-04 -1.63458074e-03 2.13001363e-02] [-8.64986298e-04 9.99998793e-01 -1.29095335e-03 -1.92579147e-01] [ 1.63346484e-03 1.29236504e-03 9.99997831e-01 2.76157868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.811966746 meters Centerline goodness [0,1] 0.49194944029442045 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.19, Z:0.03 [[ 0.99999819 0.00114022 -0.00152147 0.02072008] [-0.00114208 0.9999986 -0.00122063 -0.19082532] [ 0.00152008 0.00122236 0.9999981 0.02789337] [ 0. 0. 0. 1. ]] SLAMing on 13.841966746 meters Centerline goodness [0,1] 0.4887178359357819 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.19, Z:0.03 [[ 9.99998339e-01 1.52244882e-03 -1.00191083e-03 1.87621717e-02] [-1.52343542e-03 9.99998355e-01 -9.84693277e-04 -1.88356082e-01] [ 1.00041004e-03 9.86217988e-04 9.99999013e-01 2.83486200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.871966746 meters Centerline goodness [0,1] 0.4879940893978574 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.19, Z:0.03 [[ 9.99993153e-01 -3.60058365e-03 8.54500709e-04 4.44819672e-02] [ 3.59871513e-03 9.99991152e-01 2.17823624e-03 -1.86770251e-01] [-8.62336070e-04 -2.17514622e-03 9.99997263e-01 2.61188447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.901966746 meters Centerline goodness [0,1] 0.4899011034999229 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.19, Z:0.03 [[ 9.99998900e-01 1.20933991e-03 -8.58507818e-04 1.66448158e-02] [-1.21016661e-03 9.99998804e-01 -9.63082692e-04 -1.88652777e-01] [ 8.57342096e-04 9.64120570e-04 9.99999168e-01 2.97886180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.931966746 meters Centerline goodness [0,1] 0.48656446852561563 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.19, Z:0.03 [[ 9.99999022e-01 1.22784104e-03 -6.69477843e-04 1.59672311e-02] [-1.22842400e-03 9.99998866e-01 -8.71054478e-04 -1.90102089e-01] [ 6.68407568e-04 8.71876029e-04 9.99999397e-01 2.99887366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.961966746 meters Centerline goodness [0,1] 0.48481675392670154 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.19, Z:0.03 [[ 9.99993476e-01 -3.59496127e-03 -3.53841319e-04 4.02546778e-02] [ 3.59580389e-03 9.99990630e-01 2.41023813e-03 -1.90635360e-01] [ 3.45173291e-04 -2.41149475e-03 9.99997033e-01 3.03687847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.991966746 meters Centerline goodness [0,1] 0.4901599420785888 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.19, Z:0.03 [[ 9.99993893e-01 -3.45757114e-03 -5.09443121e-04 4.08806199e-02] [ 3.45883355e-03 9.99990897e-01 2.49834100e-03 -1.91162684e-01] [ 5.00800292e-04 -2.50008782e-03 9.99996749e-01 3.01535183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.021966746 meters Centerline goodness [0,1] 0.4915320649571161 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.19, Z:0.03 [[ 9.99993543e-01 -3.53415954e-03 -6.51511903e-04 4.14534819e-02] [ 3.53579368e-03 9.99990563e-01 2.52436964e-03 -1.92553133e-01] [ 6.42584229e-04 -2.52665695e-03 9.99996602e-01 2.98872702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.051966746 meters Centerline goodness [0,1] 0.47843572018607883 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.19, Z:0.03 [[ 9.99993706e-01 -3.48466245e-03 -6.67339629e-04 4.17247710e-02] [ 3.48632346e-03 9.99990787e-01 2.50422589e-03 -1.92074958e-01] [ 6.58607099e-04 -2.50653669e-03 9.99996642e-01 2.92493016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.081966746 meters Centerline goodness [0,1] 0.48081051478641845 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.19, Z:0.03 [[ 9.99994488e-01 -3.27191272e-03 -5.64027506e-04 4.14295259e-02] [ 3.27339616e-03 9.99991132e-01 2.64953190e-03 -1.91215813e-01] [ 5.55353468e-04 -2.65136358e-03 9.99996331e-01 2.93205868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.111966746 meters Centerline goodness [0,1] 0.4630163515922445 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.19, Z:0.03 [[ 9.99994913e-01 -3.17797369e-03 -2.74114365e-04 4.05883451e-02] [ 3.17871384e-03 9.99991185e-01 2.74334549e-03 -1.90944980e-01] [ 2.65393669e-04 -2.74420286e-03 9.99996199e-01 2.90663758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.141966746 meters Centerline goodness [0,1] 0.486201156474505 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.19, Z:0.03 [[ 9.99994982e-01 -3.14203876e-03 -4.05534073e-04 4.11151540e-02] [ 3.14313456e-03 9.99991333e-01 2.73038298e-03 -1.90449374e-01] [ 3.96951589e-04 -2.73164393e-03 9.99996190e-01 2.89617848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.171966746 meters Centerline goodness [0,1] 0.4902103452837677 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.19, Z:0.03 [[ 9.99994924e-01 -3.14467842e-03 -5.12437025e-04 4.13896918e-02] [ 3.14613496e-03 9.99990942e-01 2.86681740e-03 -1.91195606e-01] [ 5.03417165e-04 -2.86841504e-03 9.99995759e-01 2.90578554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.201966746 meters Centerline goodness [0,1] 0.491914745238199 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.19, Z:0.03 [[ 9.99997499e-01 2.04494082e-03 9.05448584e-04 6.38353477e-02] [-2.04280676e-03 9.99995148e-01 -2.35159808e-03 -1.92739343e-01] [-9.10253070e-04 2.34974255e-03 9.99996825e-01 2.83573386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.231966746 meters Centerline goodness [0,1] 0.48772052707612834 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.20, Z:0.03 [[ 0.99999755 0.00189081 0.00114872 0.06264667] [-0.00188826 0.99999575 -0.00222235 -0.19518034] [-0.00115291 0.00222017 0.99999687 0.0290089 ] [ 0. 0. 0. 1. ]] SLAMing on 14.261966746 meters Centerline goodness [0,1] 0.4752551132133316 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.20, Z:0.03 [[ 0.99999774 0.00171908 0.00125294 0.06234448] [-0.00171624 0.99999596 -0.00226449 -0.19619281] [-0.00125683 0.00226234 0.99999665 0.02901238] [ 0. 0. 0. 1. ]] SLAMing on 14.291966746 meters Centerline goodness [0,1] 0.49049271034603903 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.20, Z:0.03 [[ 0.99999785 0.00168497 0.00120483 0.06269766] [-0.00168232 0.99999617 -0.00219682 -0.19703433] [-0.00120853 0.00219478 0.99999686 0.02856106] [ 0. 0. 0. 1. ]] SLAMing on 14.321966746 meters Centerline goodness [0,1] 0.49049271034603903 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.20, Z:0.03 [[ 0.99999785 0.00168497 0.00120483 0.06269766] [-0.00168232 0.99999617 -0.00219682 -0.19703433] [-0.00120853 0.00219478 0.99999686 0.02856106] [ 0. 0. 0. 1. ]] SLAMing on 14.351966746 meters Centerline goodness [0,1] 0.49135920849042214 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.20, Z:0.03 [[ 9.99998430e-01 1.55114765e-03 8.56740752e-04 6.32871426e-02] [-1.54928939e-03 9.99996455e-01 -2.16540481e-03 -1.98320784e-01] [-8.60096578e-04 2.16407407e-03 9.99997289e-01 2.94793483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.381966746 meters Centerline goodness [0,1] 0.49072918718942227 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.20, Z:0.03 [[ 0.9999982 0.00156504 0.0010716 0.06292476] [-0.00156287 0.99999673 -0.00202577 -0.19821459] [-0.00107477 0.00202409 0.99999737 0.02877067] [ 0. 0. 0. 1. ]] SLAMing on 14.411966746 meters Centerline goodness [0,1] 0.48934676233734886 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.20, Z:0.03 [[ 0.99999815 0.00163244 0.00102117 0.0629127 ] [-0.00163042 0.99999671 -0.00198009 -0.19654292] [-0.0010244 0.00197842 0.99999752 0.02891547] [ 0. 0. 0. 1. ]] SLAMing on 14.441966746 meters Centerline goodness [0,1] 0.4825677678026671 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.20, Z:0.03 [[ 0.99999813 0.00154097 0.00116519 0.06268539] [-0.00153875 0.999997 -0.00190678 -0.19651894] [-0.00116812 0.00190499 0.9999975 0.02877343] [ 0. 0. 0. 1. ]] SLAMing on 14.471966746 meters Centerline goodness [0,1] 0.48634513545450564 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.20, Z:0.03 [[ 0.99999804 0.00140043 0.00139633 0.06155521] [-0.00139788 0.99999735 -0.00183177 -0.19792056] [-0.00139889 0.00182981 0.99999735 0.02916924] [ 0. 0. 0. 1. ]] SLAMing on 14.501966746 meters Centerline goodness [0,1] 0.4674498604530408 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.20, Z:0.03 [[ 9.99986168e-01 -4.07063272e-03 3.33080692e-03 8.78589926e-02] [ 4.06751115e-03 9.99991283e-01 9.43419415e-04 -1.99179969e-01] [-3.33461820e-03 -9.29858272e-04 9.99994008e-01 2.67849627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.531966746 meters Centerline goodness [0,1] 0.48989579009459727 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.20, Z:0.03 [[ 0.99999712 0.00161007 0.00177738 0.06268301] [-0.00160669 0.99999691 -0.00189865 -0.20098305] [-0.00178043 0.00189578 0.99999662 0.02860268] [ 0. 0. 0. 1. ]] SLAMing on 14.561966746 meters Centerline goodness [0,1] 0.48958242334236046 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.20, Z:0.03 [[ 0.99999703 0.00169231 0.00175195 0.06244328] [-0.00168924 0.99999704 -0.00175306 -0.20267549] [-0.00175491 0.00175009 0.99999693 0.02908766] [ 0. 0. 0. 1. ]] SLAMing on 14.591966746 meters Centerline goodness [0,1] 0.4960583236346867 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.20, Z:0.03 [[ 0.99999691 0.00177725 0.0017354 0.0627726 ] [-0.00177452 0.99999718 -0.00157839 -0.20398261] [-0.0017382 0.00157531 0.99999725 0.02842606] [ 0. 0. 0. 1. ]] SLAMing on 14.621966746 meters Centerline goodness [0,1] 0.49312073496610054 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.20, Z:0.03 [[ 0.9999964 0.0019528 0.00183956 0.06208327] [-0.00195026 0.99999714 -0.00138268 -0.20405266] [-0.00184225 0.00137908 0.99999735 0.02891271] [ 0. 0. 0. 1. ]] SLAMing on 14.651966746 meters Centerline goodness [0,1] 0.4929806803679092 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.20, Z:0.03 [[ 0.99999629 0.00194966 0.00190296 0.0619098 ] [-0.00194692 0.99999707 -0.00143918 -0.2035681 ] [-0.00190576 0.00143547 0.99999715 0.02892261] [ 0. 0. 0. 1. ]] SLAMing on 14.681966746 meters Centerline goodness [0,1] 0.48609707884911046 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.20, Z:0.03 [[ 0.99999613 0.00192462 0.0020086 0.06162822] [-0.00192175 0.99999713 -0.00142813 -0.2036034 ] [-0.00201134 0.00142427 0.99999696 0.02907108] [ 0. 0. 0. 1. ]] SLAMing on 14.711966746 meters Centerline goodness [0,1] 0.4972434407173696 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.21, Z:0.03 [[ 0.99999594 0.00199159 0.00203629 0.06106513] [-0.00198906 0.99999725 -0.00123959 -0.2053435 ] [-0.00203876 0.00123553 0.99999716 0.02973813] [ 0. 0. 0. 1. ]] SLAMing on 14.741966746 meters Centerline goodness [0,1] 0.4862173568979161 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.21, Z:0.03 [[ 0.99999664 0.00183999 0.0018278 0.06158738] [-0.00183751 0.99999739 -0.00135772 -0.20576819] [-0.00183029 0.00135436 0.99999741 0.03003838] [ 0. 0. 0. 1. ]] SLAMing on 14.771966746 meters Centerline goodness [0,1] 0.48439584472389285 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.21, Z:0.03 [[ 0.99999643 0.00194858 0.00182678 0.06194784] [-0.00194612 0.99999719 -0.00135045 -0.20517913] [-0.00182941 0.00134689 0.99999742 0.02936217] [ 0. 0. 0. 1. ]] SLAMing on 14.801966746 meters Centerline goodness [0,1] 0.48897258931876075 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.21, Z:0.03 [[ 0.99999632 0.00198646 0.00184897 0.06194733] [-0.00198427 0.99999733 -0.00118467 -0.20594306] [-0.00185131 0.001181 0.99999759 0.02923321] [ 0. 0. 0. 1. ]] SLAMing on 14.831966746 meters Centerline goodness [0,1] 0.49544019642230797 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.21, Z:0.03 [[ 0.99999679 0.00183509 0.00174611 0.06215826] [-0.00183298 0.99999759 -0.0012077 -0.20718651] [-0.00174832 0.0012045 0.99999775 0.029238 ] [ 0. 0. 0. 1. ]] SLAMing on 14.861966746 meters Centerline goodness [0,1] 0.49404341687257325 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.21, Z:0.03 [[ 0.99999749 0.00169915 0.00146349 0.06289073] [-0.00169752 0.99999794 -0.00111663 -0.20882864] [-0.00146539 0.00111414 0.99999831 0.02922782] [ 0. 0. 0. 1. ]] SLAMing on 14.891966746 meters Centerline goodness [0,1] 0.49066818013140945 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:0.03 [[ 0.99999272 -0.00346734 0.00159313 0.08710721] [ 0.00346427 0.99999214 0.00192863 -0.20880986] [-0.00159981 -0.0019231 0.99999687 0.02954436] [ 0. 0. 0. 1. ]] SLAMing on 14.921966746 meters Centerline goodness [0,1] 0.49159810957465433 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:0.03 [[ 0.99999368 -0.00325535 0.00142806 0.08763239] [ 0.0032524 0.99999258 0.00206462 -0.2087093 ] [-0.00143477 -0.00205996 0.99999685 0.02957353] [ 0. 0. 0. 1. ]] SLAMing on 14.951966746 meters Centerline goodness [0,1] 0.5004956711387218 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:0.03 [[ 0.99999441 -0.00295779 0.00156089 0.08740044] [ 0.00295428 0.99999311 0.00224952 -0.20829603] [-0.00156754 -0.0022449 0.99999625 0.02917811] [ 0. 0. 0. 1. ]] SLAMing on 14.981966746 meters Centerline goodness [0,1] 0.4983489572945061 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:0.03 [[ 0.9999946 -0.00282297 0.00168115 0.0866899 ] [ 0.00281898 0.99999321 0.00237151 -0.20777892] [-0.00168784 -0.00236676 0.99999577 0.0295656 ] [ 0. 0. 0. 1. ]] SLAMing on 15.011966746 meters Centerline goodness [0,1] 0.47754178272980496 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.21, Z:0.03 [[ 9.99993967e-01 -2.35652632e-03 2.55199297e-03 1.31963679e-01] [ 2.35562324e-03 9.99997162e-01 3.56817596e-04 -2.07761293e-01] [-2.55282658e-03 -3.50803910e-04 9.99996680e-01 3.00389588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.041966746 meters Centerline goodness [0,1] 0.4784070564604166 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.21, Z:0.03 [[ 9.99993298e-01 -2.75938812e-03 2.40637273e-03 1.31986068e-01] [ 2.75851678e-03 9.99996129e-01 3.65338667e-04 -2.10781373e-01] [-2.40737153e-03 -3.58698198e-04 9.99997038e-01 3.07850277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.071966746 meters Centerline goodness [0,1] 0.4932577853911363 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.21, Z:0.03 [[ 9.99993236e-01 -2.71543776e-03 2.48064682e-03 1.31720006e-01] [ 2.71403610e-03 9.99996156e-01 5.68230333e-04 -2.12324059e-01] [-2.48218028e-03 -5.61493924e-04 9.99996762e-01 3.07227202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.101966746 meters Centerline goodness [0,1] 0.4945391964344814 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.21, Z:0.03 [[ 9.99993962e-01 -2.59739608e-03 2.30843345e-03 1.31896091e-01] [ 2.59570252e-03 9.99996360e-01 7.36335221e-04 -2.13352507e-01] [-2.31033760e-03 -7.30338769e-04 9.99997064e-01 3.12110822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.131966746 meters Centerline goodness [0,1] 0.4978623914495658 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.21, Z:0.03 [[ 9.99993394e-01 -2.54131493e-03 2.59894221e-03 1.30814655e-01] [ 2.53882292e-03 9.99996315e-01 9.61709345e-04 -2.14830570e-01] [-2.60137664e-03 -9.55104738e-04 9.99996160e-01 3.13761188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.161966746 meters Centerline goodness [0,1] 0.49531346715005753 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.21, Z:0.03 [[ 0.9999939 -0.0022565 0.00266653 0.1304063 ] [ 0.00225348 0.99999682 0.00113377 -0.21356624] [-0.00266908 -0.00112775 0.9999958 0.03188294] [ 0. 0. 0. 1. ]] SLAMing on 15.191966746 meters Centerline goodness [0,1] 0.4906306227234827 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.21, Z:0.03 [[ 0.999993 -0.00228074 0.00296559 0.12971415] [ 0.00227733 0.99999674 0.00115328 -0.21218353] [-0.00296821 -0.00114651 0.99999494 0.03195468] [ 0. 0. 0. 1. ]] SLAMing on 15.221966746 meters Centerline goodness [0,1] 0.49359469053866334 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.21, Z:0.03 [[ 0.99999316 -0.00212806 0.00302536 0.12899185] [ 0.00212381 0.99999676 0.00140648 -0.21317127] [-0.00302834 -0.00140005 0.99999443 0.03283808] [ 0. 0. 0. 1. ]] SLAMing on 15.251966746 meters Centerline goodness [0,1] 0.4958928846704398 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.21, Z:0.03 [[ 0.99999311 -0.00220371 0.00298859 0.12905839] [ 0.00219962 0.99999664 0.00137203 -0.21347491] [-0.0029916 -0.00136545 0.99999459 0.03281875] [ 0. 0. 0. 1. ]] SLAMing on 15.281966746 meters Centerline goodness [0,1] 0.4932523911429445 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.22, Z:0.03 [[ 0.99999361 -0.00234163 0.00270078 0.12976449] [ 0.00233784 0.99999628 0.00140744 -0.21531538] [-0.00270407 -0.00140112 0.99999536 0.03300355] [ 0. 0. 0. 1. ]] SLAMing on 15.311966746 meters Centerline goodness [0,1] 0.492066994726041 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.22, Z:0.04 [[ 9.99996526e-01 2.62634729e-03 2.22429808e-04 1.03303841e-01] [-2.62591345e-03 9.99994692e-01 -1.92881430e-03 -2.16861730e-01] [-2.27494363e-04 1.92822352e-03 9.99998115e-01 3.57477131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.341966746 meters Centerline goodness [0,1] 0.4884130372587425 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.22, Z:0.04 [[ 9.99996333e-01 2.70784605e-03 4.20782037e-05 1.03812606e-01] [-2.70776472e-03 9.99994668e-01 -1.82563564e-03 -2.17650410e-01] [-4.70215196e-05 1.82551501e-03 9.99998333e-01 3.58465718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.371966746 meters Centerline goodness [0,1] 0.4872243612180609 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.22, Z:0.04 [[ 9.99996198e-01 2.75485185e-03 -1.18484793e-04 1.04653665e-01] [-2.75506440e-03 9.99994525e-01 -1.83280329e-03 -2.17786691e-01] [ 1.13435043e-04 1.83312276e-03 9.99998313e-01 3.53150928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.401966746 meters Centerline goodness [0,1] 0.4981224308410177 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.03 [[ 9.99997967e-01 1.79377998e-03 -9.21407140e-04 5.87603463e-02] [-1.79384140e-03 9.99998389e-01 -6.58327703e-05 -2.18309702e-01] [ 9.21287566e-04 6.74854947e-05 9.99999573e-01 3.38378801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.431966746 meters Centerline goodness [0,1] 0.4893602989668059 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.03 [[ 0.99999382 -0.0031947 0.00146889 0.08377077] [ 0.00319015 0.99999015 0.00308622 -0.21664013] [-0.00147874 -0.00308152 0.99999416 0.03181026] [ 0. 0. 0. 1. ]] SLAMing on 15.461966746 meters Centerline goodness [0,1] 0.48619150722460347 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.03 [[ 0.99999395 -0.0031452 0.00148419 0.08421781] [ 0.0031405 0.99999008 0.00315888 -0.21548373] [-0.00149411 -0.0031542 0.99999391 0.03106907] [ 0. 0. 0. 1. ]] SLAMing on 15.491966746 meters Centerline goodness [0,1] 0.49749053447213176 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:0.03 [[ 0.99999447 -0.00307416 0.00127075 0.0850956 ] [ 0.00307009 0.99999021 0.00318808 -0.2150915 ] [-0.00128054 -0.00318416 0.99999411 0.03075153] [ 0. 0. 0. 1. ]] SLAMing on 15.521966746 meters Centerline goodness [0,1] 0.49336195942689387 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:0.03 [[ 0.99999392 -0.00320389 0.00137342 0.08496167] [ 0.00319975 0.99999036 0.00300688 -0.21483171] [-0.00138304 -0.00300246 0.99999454 0.03071972] [ 0. 0. 0. 1. ]] SLAMing on 15.551966746 meters Centerline goodness [0,1] 0.48285310427313255 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.03 [[ 0.9999937 -0.00325856 0.00140657 0.08436193] [ 0.00325421 0.99998994 0.00308674 -0.21618807] [-0.00141662 -0.00308215 0.99999425 0.0315736 ] [ 0. 0. 0. 1. ]] SLAMing on 15.581966746 meters Centerline goodness [0,1] 0.4920512764132896 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.03 [[ 9.99998801e-01 1.52598492e-03 2.65081629e-04 6.09830516e-02] [-1.52578210e-03 9.99998544e-01 -7.63632127e-04 -2.16763718e-01] [-2.66246534e-04 7.63226754e-04 9.99999673e-01 3.10874526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.611966746 meters Centerline goodness [0,1] 0.4939628482972136 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.03 [[ 9.99998729e-01 1.48653854e-03 5.76511489e-04 5.95709556e-02] [-1.48611349e-03 9.99998624e-01 -7.37010553e-04 -2.17337371e-01] [-5.77606290e-04 7.36152855e-04 9.99999562e-01 3.17740516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.641966746 meters Centerline goodness [0,1] 0.4930190629053891 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.03 [[ 9.99998961e-01 1.40593533e-03 3.16820684e-04 6.06022694e-02] [-1.40566987e-03 9.99998662e-01 -8.36550910e-04 -2.17970984e-01] [-3.17996397e-04 8.36104696e-04 9.99999600e-01 3.12330581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.671966746 meters Centerline goodness [0,1] 0.48901496068166384 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.03 [[ 9.99999218e-01 1.23663122e-03 1.89020687e-04 6.11977332e-02] [-1.23642464e-03 9.99998643e-01 -1.08910194e-03 -2.16751906e-01] [-1.90367248e-04 1.08886738e-03 9.99999389e-01 3.11620899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.701966746 meters Centerline goodness [0,1] 0.4885988466786988 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.03 [[ 9.99998993e-01 1.35802843e-03 4.11948373e-04 6.05625469e-02] [-1.35763228e-03 9.99998617e-01 -9.60411033e-04 -2.16601374e-01] [-4.13252068e-04 9.59850791e-04 9.99999454e-01 3.10451630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.731966746 meters Centerline goodness [0,1] 0.47272197047871145 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.22, Z:0.03 [[ 9.99999902e-01 4.31896325e-04 1.01764741e-04 1.22104672e-02] [-4.31975218e-04 9.99999605e-01 7.76504367e-04 -2.16049346e-01] [-1.01429331e-04 -7.76548251e-04 9.99999693e-01 3.14789071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.761966746 meters Centerline goodness [0,1] 0.48840550876494904 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.04 [[ 9.99998313e-01 1.48926517e-03 -1.07476115e-03 5.86148747e-02] [-1.48893440e-03 9.99998844e-01 3.08494102e-04 -2.21952777e-01] [ 1.07521934e-03 -3.06893333e-04 9.99999375e-01 3.81802185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.791966746 meters Centerline goodness [0,1] 0.48364316356836434 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.04 [[ 9.99998654e-01 9.87345741e-04 -1.31023702e-03 5.90665642e-02] [-9.87183942e-04 9.99999505e-01 1.24129327e-04 -2.23707092e-01] [ 1.31035893e-03 -1.22835715e-04 9.99999134e-01 3.87628192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.821966746 meters Centerline goodness [0,1] 0.4920434116785405 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.23, Z:0.04 [[ 0.99999483 -0.00294824 -0.00128339 0.05890931] [ 0.00294369 0.99998942 -0.00353573 -0.22577678] [ 0.0012938 0.00353194 0.99999293 0.03884516] [ 0. 0. 0. 1. ]] SLAMing on 15.851966746 meters Centerline goodness [0,1] 0.4664966986990913 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.23, Z:0.04 [[ 9.99999206e-01 -1.14574555e-03 -5.24565592e-04 1.03639524e-01] [ 1.14372541e-03 9.99991991e-01 -3.83529429e-03 -2.27930063e-01] [ 5.28955662e-04 3.83469129e-03 9.99992508e-01 4.10597957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.881966746 meters Centerline goodness [0,1] 0.48814415998241956 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.23, Z:0.04 [[ 9.99998978e-01 1.42406042e-03 1.24320012e-04 9.92149647e-02] [-1.42390773e-03 9.99998242e-01 -1.21977565e-03 -2.27011656e-01] [-1.26056827e-04 1.21959738e-03 9.99999248e-01 4.39871981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.911966746 meters Centerline goodness [0,1] 0.4843148046230049 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.23, Z:0.04 [[ 9.99998587e-01 1.63508966e-03 3.89949908e-04 9.80241543e-02] [-1.63464150e-03 9.99998006e-01 -1.14682109e-03 -2.25826666e-01] [-3.91824286e-04 1.14618204e-03 9.99999266e-01 4.47940664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.941966746 meters Centerline goodness [0,1] 0.4828119818724439 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.23, Z:0.04 [[ 9.99998822e-01 1.46213350e-03 4.67649467e-04 9.76487923e-02] [-1.46157711e-03 9.99998226e-01 -1.18788043e-03 -2.26477001e-01] [-4.69385478e-04 1.18719553e-03 9.99999185e-01 4.49204735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.971966746 meters Centerline goodness [0,1] 0.4787234042553191 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.23, Z:0.05 [[ 9.99999304e-01 1.07012204e-03 4.96296237e-04 9.73824154e-02] [-1.06961848e-03 9.99998914e-01 -1.01379020e-03 -2.29980794e-01] [-4.97380578e-04 1.01325864e-03 9.99999363e-01 4.50310761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.001966746 meters Centerline goodness [0,1] 0.4702282787952434 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.23, Z:0.05 [[ 9.99998598e-01 1.54401622e-03 6.47461164e-04 1.44795540e-01] [-1.54202397e-03 9.99994110e-01 -3.06630677e-03 -2.30227863e-01] [-6.52191778e-04 3.06530407e-03 9.99995089e-01 4.51164331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.031966746 meters Centerline goodness [0,1] 0.48211340999538266 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.23, Z:0.05 [[ 0.99999329 -0.00306604 -0.00200357 0.11551059] [ 0.00307126 0.99999188 0.0026098 -0.23173535] [ 0.00199555 -0.00261594 0.99999459 0.05261289] [ 0. 0. 0. 1. ]] SLAMing on 16.061966746 meters Centerline goodness [0,1] 0.484375345555875 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.23, Z:0.05 [[ 0.99999371 -0.00294735 -0.0019745 0.11520169] [ 0.00295265 0.99999203 0.00268766 -0.23202731] [ 0.00196656 -0.00269348 0.99999444 0.05318292] [ 0. 0. 0. 1. ]] SLAMing on 16.091966745999997 meters Centerline goodness [0,1] 0.4806057152875175 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.23, Z:0.05 [[ 0.99999485 0.00296156 -0.00123716 0.13659286] [-0.00296423 0.99999326 -0.00216526 -0.23487901] [ 0.00123074 0.00216891 0.99999689 0.05393953] [ 0. 0. 0. 1. ]] SLAMing on 16.121966746 meters Centerline goodness [0,1] 0.472307862925585 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.24, Z:0.06 [[ 0.9999897 -0.00290109 -0.00349156 0.10968341] [ 0.0029099 0.99999259 0.00252068 -0.2361097 ] [ 0.00348422 -0.00253082 0.99999073 0.05898685] [ 0. 0. 0. 1. ]] SLAMing on 16.151966746 meters Centerline goodness [0,1] 0.46663335795281746 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.24, Z:0.06 [[ 0.99999473 -0.00123811 -0.00300051 0.15655971] [ 0.00124201 0.99999839 0.00129872 -0.23577502] [ 0.00299889 -0.00130244 0.99999466 0.0588522 ] [ 0. 0. 0. 1. ]] SLAMing on 16.181966745999997 meters Centerline goodness [0,1] 0.4771659051658177 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.23, Z:0.06 [[ 9.99995650e-01 -5.77460171e-04 -2.89240930e-03 1.56076935e-01] [ 5.82247152e-04 9.99998462e-01 1.65444656e-03 -2.33519158e-01] [ 2.89144948e-03 -1.65612346e-03 9.99994448e-01 5.90906410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.211966745999998 meters Centerline goodness [0,1] 0.4771659051658177 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.23, Z:0.06 [[ 9.99995650e-01 -5.77460171e-04 -2.89240930e-03 1.56076935e-01] [ 5.82247152e-04 9.99998462e-01 1.65444656e-03 -2.33519158e-01] [ 2.89144948e-03 -1.65612346e-03 9.99994448e-01 5.90906410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.241966746 meters Centerline goodness [0,1] 0.4850883330418051 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.23, Z:0.06 [[ 9.99996556e-01 -4.68565978e-04 -2.58225303e-03 1.54900265e-01] [ 4.73020408e-04 9.99998401e-01 1.72467625e-03 -2.33307515e-01] [ 2.58144078e-03 -1.72589177e-03 9.99995179e-01 5.94038377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.271966745999997 meters Centerline goodness [0,1] 0.4945646108172057 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:0.06 [[ 0.99999174 -0.0024692 -0.00322757 0.10667963] [ 0.00247711 0.99999393 0.00244961 -0.23345474] [ 0.0032215 -0.00245758 0.99999179 0.06015607] [ 0. 0. 0. 1. ]] SLAMing on 16.301966745999998 meters Centerline goodness [0,1] 0.48340886481706646 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.24, Z:0.06 [[ 0.99999016 0.00342031 -0.0028241 0.13116083] [-0.00342624 0.99999193 -0.00209733 -0.23739182] [ 0.0028169 0.00210699 0.99999381 0.05891626] [ 0. 0. 0. 1. ]] SLAMing on 16.331966746 meters Centerline goodness [0,1] 0.4925207263674958 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.24, Z:0.06 [[ 0.99998998 0.00352215 -0.0027644 0.13098919] [-0.00352762 0.99999182 -0.00197689 -0.2384458 ] [ 0.00275742 0.00198662 0.99999422 0.05882594] [ 0. 0. 0. 1. ]] SLAMing on 16.361966745999997 meters Centerline goodness [0,1] 0.48272617875505963 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.24, Z:0.06 [[ 9.99999539e-01 -8.06962232e-04 5.20807258e-04 1.56463010e-01] [ 8.06284228e-04 9.99998829e-01 1.30073274e-03 -2.38828136e-01] [-5.21856291e-04 -1.30031222e-03 9.99999018e-01 5.58964300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.391966745999998 meters Centerline goodness [0,1] 0.4699163379426936 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.24, Z:0.06 [[ 9.99999581e-01 -6.23080780e-04 6.71166326e-04 1.56000745e-01] [ 6.22126362e-04 9.99998796e-01 1.42130046e-03 -2.39073503e-01] [-6.72051103e-04 -1.42088231e-03 9.99998765e-01 5.60582750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.421966746 meters Centerline goodness [0,1] 0.46735943994749507 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.24, Z:0.06 [[ 0.99998919 0.00397665 0.00240776 0.12982575] [-0.00397256 0.99999066 -0.00170166 -0.23970634] [-0.00241451 0.00169208 0.99999565 0.05534041] [ 0. 0. 0. 1. ]] SLAMing on 16.451966745999997 meters Centerline goodness [0,1] 0.4820617920578254 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.24, Z:0.06 [[ 0.99998935 0.00395005 0.00238704 0.12984685] [-0.00394615 0.99999088 -0.00163447 -0.2403239 ] [-0.00239348 0.00162503 0.99999582 0.05541398] [ 0. 0. 0. 1. ]] SLAMing on 16.481966745999998 meters Centerline goodness [0,1] 0.48145547118465526 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.24, Z:0.05 [[ 0.99998987 0.00383988 0.00234703 0.13025036] [-0.003836 0.99999127 -0.00165592 -0.24062971] [-0.00235337 0.0016469 0.99999587 0.05490716] [ 0. 0. 0. 1. ]] SLAMing on 16.511966746 meters Centerline goodness [0,1] 0.4879256694569838 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.24, Z:0.06 [[ 0.99999045 0.00372494 0.00228475 0.13025662] [-0.00372101 0.99999159 -0.0017231 -0.24109972] [-0.00229115 0.00171458 0.99999591 0.05529641] [ 0. 0. 0. 1. ]] SLAMing on 16.541966746 meters Centerline goodness [0,1] 0.467952502788165 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.24, Z:0.06 [[ 0.99999196 0.00335129 0.00220154 0.13066301] [-0.00334734 0.99999279 -0.0017954 -0.24378946] [-0.00220754 0.00178802 0.99999596 0.0551488 ] [ 0. 0. 0. 1. ]] SLAMing on 16.571966745999998 meters Centerline goodness [0,1] 0.47721261666921677 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.24, Z:0.06 [[ 0.99999275 0.00317617 0.00210002 0.13041488] [-0.00317231 0.99999328 -0.0018386 -0.24496357] [-0.00210584 0.00183193 0.9999961 0.05588912] [ 0. 0. 0. 1. ]] SLAMing on 16.601966746 meters Centerline goodness [0,1] 0.47690184653801504 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.24, Z:0.06 [[ 0.99999235 0.00328237 0.00212719 0.13043339] [-0.00327838 0.99999286 -0.00187781 -0.24402456] [-0.00213334 0.00187082 0.99999597 0.05569343] [ 0. 0. 0. 1. ]] SLAMing on 16.631966746 meters Centerline goodness [0,1] 0.4656468645430446 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.24, Z:0.06 [[ 9.99999501e-01 -4.30180834e-04 9.01617840e-04 1.54889255e-01] [ 4.28091122e-04 9.99997225e-01 2.31664862e-03 -2.41735958e-01] [-9.02611916e-04 -2.31626149e-03 9.99996910e-01 5.70812699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.661966745999997 meters Centerline goodness [0,1] 0.49257140322866777 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.24, Z:0.06 [[ 9.99998127e-01 -1.93366644e-03 8.65506561e-05 1.07150211e-01] [ 1.93331355e-03 9.99990499e-01 3.90687866e-03 -2.40825783e-01] [-9.41044340e-05 -3.90670401e-03 9.99992364e-01 5.73511189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.691966746 meters Centerline goodness [0,1] 0.472763954270343 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.24, Z:0.06 [[ 9.99997044e-01 -2.30789681e-03 7.64755607e-04 1.54071603e-01] [ 2.30715606e-03 9.99996870e-01 9.68084413e-04 -2.42270070e-01] [-7.66987452e-04 -9.66317141e-04 9.99999239e-01 5.67757243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.721966746 meters Centerline goodness [0,1] 0.47329637939377944 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.25, Z:0.06 [[ 9.99998654e-01 1.63983446e-03 4.78668977e-05 1.27136712e-01] [-1.63969204e-03 9.99994630e-01 -2.83763600e-03 -2.46773452e-01] [-5.25198940e-05 2.83755369e-03 9.99995973e-01 5.86343577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.751966745999997 meters Centerline goodness [0,1] 0.46752282357052377 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.25, Z:0.06 [[ 9.99999388e-01 1.09951001e-03 -1.23585281e-04 1.27808944e-01] [-1.09987872e-03 9.99994822e-01 -3.02412399e-03 -2.49654685e-01] [ 1.20259587e-04 3.02425807e-03 9.99995420e-01 5.83937842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.781966746 meters Centerline goodness [0,1] 0.4892284788510377 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.25, Z:0.06 [[ 9.99998973e-01 1.42678540e-03 -1.33385151e-04 1.27989552e-01] [-1.42716285e-03 9.99994852e-01 -2.87385444e-03 -2.48509673e-01] [ 1.29284090e-04 2.87404185e-03 9.99995862e-01 5.80136824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.811966746 meters Centerline goodness [0,1] 0.48197178191952617 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.25, Z:0.06 [[ 9.99997381e-01 2.26690961e-03 -3.14036607e-04 1.29239326e-01] [-2.26758884e-03 9.99995053e-01 -2.17970230e-03 -2.47078294e-01] [ 3.09093865e-04 2.18040870e-03 9.99997575e-01 5.69187746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.841966745999997 meters Centerline goodness [0,1] 0.480214371650443 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.25, Z:0.06 [[ 9.99997334e-01 2.28390136e-03 -3.38839520e-04 1.29570000e-01] [-2.28460877e-03 9.99995181e-01 -2.10225241e-03 -2.47780399e-01] [ 3.34036550e-04 2.10302092e-03 9.99997733e-01 5.62828507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.871966746 meters Centerline goodness [0,1] 0.5015960276644795 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.25, Z:0.06 [[ 0.99998732 -0.00335847 -0.00375312 0.10295528] [ 0.0033681 0.99999104 0.00256337 -0.25105237] [ 0.00374448 -0.00257598 0.99998967 0.06217224] [ 0. 0. 0. 1. ]] SLAMing on 16.901966746 meters Centerline goodness [0,1] 0.4765770561618312 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.25, Z:0.06 [[ 0.99998713 -0.00355265 -0.00362195 0.10220956] [ 0.00356193 0.99999038 0.00255946 -0.25281155] [ 0.00361282 -0.00257233 0.99999017 0.06279728] [ 0. 0. 0. 1. ]] SLAMing on 16.931966745999997 meters Centerline goodness [0,1] 0.4702174529433576 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.25, Z:0.06 [[ 9.99997406e-01 2.14977634e-03 -7.52405726e-04 1.29721443e-01] [-2.15118410e-03 9.99995928e-01 -1.87522419e-03 -2.52872618e-01] [ 7.48371350e-04 1.87683789e-03 9.99997959e-01 5.61692772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.961966745999998 meters Centerline goodness [0,1] 0.48756043179761144 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.25, Z:0.06 [[ 0.9999904 -0.00304316 -0.00315293 0.10354722] [ 0.00305407 0.99998935 0.00346071 -0.25184742] [ 0.00314236 -0.0034703 0.99998904 0.06055548] [ 0. 0. 0. 1. ]] SLAMing on 16.991966746 meters Centerline goodness [0,1] 0.483823497111731 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.25, Z:0.06 [[ 0.99999073 -0.00293131 -0.00315526 0.1036139 ] [ 0.00294238 0.99998951 0.00350953 -0.25242536] [ 0.00314494 -0.00351879 0.99998886 0.06056336] [ 0. 0. 0. 1. ]] SLAMing on 17.021966745999997 meters Centerline goodness [0,1] 0.4882436135419429 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.25, Z:0.06 [[ 0.9999905 -0.00303535 -0.00312915 0.10301621] [ 0.00304648 0.99998903 0.00355689 -0.25456116] [ 0.00311832 -0.00356639 0.99998878 0.06139364] [ 0. 0. 0. 1. ]] SLAMing on 17.051966745999998 meters Centerline goodness [0,1] 0.48780060065326525 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.26, Z:0.06 [[ 9.99991570e-01 3.43142186e-03 -2.25508321e-03 1.27105411e-01] [-3.43312391e-03 9.99993825e-01 -7.51324735e-04 -2.55608288e-01] [ 2.25249117e-03 7.59060381e-04 9.99997175e-01 5.93709220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.081966746 meters Centerline goodness [0,1] 0.46882097203296347 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.25, Z:0.06 [[ 9.99999307e-01 -1.04593336e-03 -5.40300618e-04 1.53443329e-01] [ 1.04724078e-03 9.99996511e-01 2.42519786e-03 -2.54418407e-01] [ 5.37762137e-04 -2.42576200e-03 9.99996913e-01 5.64859333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.111966745999997 meters Centerline goodness [0,1] 0.48930949877322116 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.25, Z:0.06 [[ 9.99986069e-01 3.96958064e-03 -3.47918741e-03 1.26117238e-01] [-3.96982065e-03 9.99992118e-01 -6.20830933e-05 -2.54781603e-01] [ 3.47891354e-03 7.58939785e-05 9.99993946e-01 6.02348288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.141966745999998 meters Centerline goodness [0,1] 0.49620542210481544 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.25, Z:0.06 [[ 9.99989697e-01 1.70237737e-03 -4.20802884e-03 7.91366527e-02] [-1.69950980e-03 9.99998321e-01 6.84934288e-04 -2.54905406e-01] [ 4.20918779e-03 -6.77775645e-04 9.99990912e-01 5.99146664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.171966746 meters Centerline goodness [0,1] 0.4837404596846502 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.26, Z:0.06 [[ 0.99999335 0.00160969 -0.00327321 0.12482096] [-0.00161611 0.99999677 -0.00196029 -0.25632829] [ 0.00327005 0.00196557 0.99999272 0.05970742] [ 0. 0. 0. 1. ]] SLAMing on 17.201966745999997 meters Centerline goodness [0,1] 0.4932945762040034 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.26, Z:0.06 [[ 0.99999341 0.00167867 -0.00321926 0.12472543] [-0.00168459 0.9999969 -0.00183521 -0.25696751] [ 0.00321617 0.00184062 0.99999313 0.05949643] [ 0. 0. 0. 1. ]] SLAMing on 17.231966745999998 meters Centerline goodness [0,1] 0.48911112573195603 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.26, Z:0.06 [[ 0.99999318 0.00168485 -0.00328682 0.12538104] [-0.00169073 0.99999697 -0.00178673 -0.25694085] [ 0.0032838 0.00179228 0.999993 0.05891655] [ 0. 0. 0. 1. ]] SLAMing on 17.261966746 meters Centerline goodness [0,1] 0.4914104387788598 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.26, Z:0.06 [[ 0.99999282 0.00194807 -0.00324964 0.12563428] [-0.00195333 0.99999678 -0.00161706 -0.25617766] [ 0.00324648 0.0016234 0.99999341 0.05844648] [ 0. 0. 0. 1. ]] SLAMing on 17.291966746 meters Centerline goodness [0,1] 0.4952866635759543 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.26, Z:0.06 [[ 0.99999286 0.00205557 -0.0031719 0.12547218] [-0.00206044 0.9999967 -0.00153136 -0.25630367] [ 0.00316875 0.00153789 0.9999938 0.05835123] [ 0. 0. 0. 1. ]] SLAMing on 17.321966745999998 meters Centerline goodness [0,1] 0.4903848257454768 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.26, Z:0.06 [[ 9.99991247e-01 -4.17780150e-03 -2.29244042e-04 1.48930138e-01] [ 4.17786949e-03 9.99991229e-01 2.96883524e-04 -2.58823617e-01] [ 2.28001710e-04 -2.97838677e-04 9.99999930e-01 5.64452382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.351966746 meters Centerline goodness [0,1] 0.49322433020837964 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.26, Z:0.06 [[ 9.99995751e-01 9.10672017e-04 -2.76935840e-03 1.21712902e-01] [-9.17315176e-04 9.99996703e-01 -2.39848483e-03 -2.60501872e-01] [ 2.76716504e-03 2.40101502e-03 9.99993289e-01 6.02101163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.381966746 meters Centerline goodness [0,1] 0.4942835702304229 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.26, Z:0.06 [[ 9.99995758e-01 9.18473738e-04 -2.76397112e-03 1.21833487e-01] [-9.25146709e-04 9.99996658e-01 -2.41396042e-03 -2.60700108e-01] [ 2.76174473e-03 2.41650726e-03 9.99993267e-01 6.00517167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.411966745999997 meters Centerline goodness [0,1] 0.4982995843428394 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.26, Z:0.06 [[ 0.99999547 0.00130732 -0.00271266 0.12162843] [-0.00131306 0.9999969 -0.00211724 -0.26044835] [ 0.00270988 0.00212079 0.99999408 0.05989984] [ 0. 0. 0. 1. ]] SLAMing on 17.441966746 meters Centerline goodness [0,1] 0.5006473214285714 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.26, Z:0.06 [[ 0.99999533 0.00151735 -0.00265236 0.12126394] [-0.00152238 0.99999705 -0.00189445 -0.26089654] [ 0.00264948 0.00189848 0.99999469 0.06011142] [ 0. 0. 0. 1. ]] SLAMing on 17.471966746 meters Centerline goodness [0,1] 0.49589083238111975 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.26, Z:0.06 [[ 9.99996212e-01 -2.67297261e-03 6.56377529e-04 1.48182463e-01] [ 2.67201183e-03 9.99995364e-01 1.46030345e-03 -2.62151424e-01] [-6.60277837e-04 -1.45854407e-03 9.99998718e-01 5.56372369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.501966745999997 meters Centerline goodness [0,1] 0.49689813888333 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.26, Z:0.06 [[ 9.99994683e-01 2.61783487e-03 -1.94432320e-03 1.21026286e-01] [-2.61978087e-03 9.99996069e-01 -9.98987011e-04 -2.63718961e-01] [ 1.94170037e-03 1.00407540e-03 9.99997611e-01 5.93890950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.531966746 meters Centerline goodness [0,1] 0.4961900093578717 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.26, Z:0.06 [[ 0.99999487 0.00254882 -0.00194094 0.12114506] [-0.00255077 0.99999624 -0.00100422 -0.26433371] [ 0.00193837 0.00100917 0.99999761 0.05903026] [ 0. 0. 0. 1. ]] SLAMing on 17.561966746 meters Centerline goodness [0,1] 0.4872117956540001 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.26, Z:0.06 [[ 0.99999543 0.00232037 -0.00194043 0.12128484] [-0.00232263 0.99999663 -0.00116131 -0.26468428] [ 0.00193773 0.00116581 0.99999744 0.05912852] [ 0. 0. 0. 1. ]] SLAMing on 17.591966745999997 meters Centerline goodness [0,1] 0.4954347583435651 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.27, Z:0.06 [[ 9.99995527e-01 2.20494331e-03 -2.02095317e-03 1.21345859e-01] [-2.20690674e-03 9.99997095e-01 -9.69820542e-04 -2.67325591e-01] [ 2.01880890e-03 9.74276259e-04 9.99997488e-01 5.92671665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.621966746 meters Centerline goodness [0,1] 0.4926677822793729 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.27, Z:0.06 [[ 9.99994563e-01 -3.26122653e-03 4.87885923e-04 1.47268969e-01] [ 3.26044611e-03 9.99993418e-01 1.59194416e-03 -2.68775848e-01] [-4.93074402e-04 -1.59034478e-03 9.99998614e-01 5.63886304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.651966746 meters Centerline goodness [0,1] 0.4902241717547997 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.27, Z:0.06 [[ 9.99994843e-01 -3.17255559e-03 4.99584818e-04 1.47308048e-01] [ 3.17168896e-03 9.99993481e-01 1.72603981e-03 -2.69095408e-01] [-5.05057519e-04 -1.72444638e-03 9.99998386e-01 5.62696254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.681966745999997 meters Centerline goodness [0,1] 0.4857706643279982 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.27, Z:0.06 [[ 9.99994272e-01 -3.35298170e-03 4.62350501e-04 1.47655732e-01] [ 3.35216808e-03 9.99992851e-01 1.74942121e-03 -2.70282799e-01] [-4.68212973e-04 -1.74786131e-03 9.99998363e-01 5.59558923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.711966745999998 meters Centerline goodness [0,1] 0.49905704333163237 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.27, Z:0.06 [[ 9.99996018e-01 2.03260530e-03 -1.95744907e-03 1.21351489e-01] [-2.03406632e-03 9.99997654e-01 -7.44689086e-04 -2.71305918e-01] [ 1.95593082e-03 7.48667702e-04 9.99997807e-01 5.87306068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.741966746 meters Centerline goodness [0,1] 0.495631630560756 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.27, Z:0.06 [[ 9.99996280e-01 1.98026748e-03 -1.87587730e-03 1.21059609e-01] [-1.98184041e-03 9.99997686e-01 -8.37016850e-04 -2.71234691e-01] [ 1.87421544e-03 8.40731425e-04 9.99997890e-01 5.87402713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.771966745999997 meters Centerline goodness [0,1] 0.12916371367824242 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.27, Z:0.06 [[ 9.99996109e-01 1.98564302e-03 -1.95941018e-03 1.21367944e-01] [-1.98710594e-03 9.99997748e-01 -7.44952391e-04 -2.71468913e-01] [ 1.95792656e-03 7.48843048e-04 9.99997803e-01 5.87494190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.801966745999998 meters Centerline goodness [0,1] 0.4892149929278642 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.27, Z:0.06 [[ 9.99996351e-01 1.74869955e-03 -2.05926987e-03 1.21947721e-01] [-1.75030289e-03 9.99998166e-01 -7.77053349e-04 -2.72859129e-01] [ 2.05790726e-03 7.80654860e-04 9.99997578e-01 5.84417800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.831966746 meters Centerline goodness [0,1] 0.49412761026052465 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.27, Z:0.06 [[ 9.99996197e-01 1.88684546e-03 -2.01127695e-03 1.21547912e-01] [-1.88805575e-03 9.99998038e-01 -6.00024535e-04 -2.73621638e-01] [ 2.01014085e-03 6.03819656e-04 9.99997797e-01 5.86687487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.861966745999997 meters Centerline goodness [0,1] 0.4895609456555112 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.28, Z:0.05 [[ 0.99999694 -0.00220489 0.0011252 0.1489703 ] [ 0.00220202 0.99999434 0.00254242 -0.27501237] [-0.0011308 -0.00253993 0.99999614 0.05389862] [ 0. 0. 0. 1. ]] SLAMing on 17.891966745999998 meters Centerline goodness [0,1] 0.49249994509476647 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.28, Z:0.05 [[ 0.99999721 -0.00209812 0.00108692 0.14890109] [ 0.00209535 0.99999457 0.00254504 -0.27509053] [-0.00109225 -0.00254276 0.99999617 0.0542189 ] [ 0. 0. 0. 1. ]] SLAMing on 17.921966746 meters Centerline goodness [0,1] 0.5029937463964164 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.28, Z:0.05 [[ 9.99993899e-01 2.81665737e-03 2.06593034e-03 1.23300393e-01] [-2.81576784e-03 9.99995942e-01 -4.33350473e-04 -2.75160351e-01] [-2.06714255e-03 4.27530649e-04 9.99997772e-01 5.36258147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.951966745999997 meters Centerline goodness [0,1] 0.4961317198968459 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.28, Z:0.05 [[ 9.99993512e-01 2.95594286e-03 2.05881306e-03 1.23241018e-01] [-2.95536847e-03 9.99995593e-01 -2.81977237e-04 -2.75886076e-01] [-2.05963750e-03 2.75890856e-04 9.99997841e-01 5.40176943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.981966745999998 meters Centerline goodness [0,1] 0.49341498748847623 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.28, Z:0.05 [[ 9.99994429e-01 2.67905846e-03 1.99118582e-03 1.23581788e-01] [-2.67804275e-03 9.99996283e-01 -5.12594311e-04 -2.76420216e-01] [-1.99255169e-03 5.07258975e-04 9.99997886e-01 5.38098039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.011966746 meters Centerline goodness [0,1] 0.4955282403736012 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.28, Z:0.05 [[ 9.99994155e-01 2.75010369e-03 2.03136018e-03 1.23386572e-01] [-2.74932538e-03 9.99996146e-01 -3.85840055e-04 -2.77291671e-01] [-2.03241345e-03 3.80252930e-04 9.99997862e-01 5.36844294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.041966745999996 meters Centerline goodness [0,1] 0.5019520732364028 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.28, Z:0.05 [[ 0.99999739 0.00194995 0.00118761 0.0771515 ] [-0.00195174 0.99999695 0.0015143 -0.27619497] [-0.00118465 -0.00151661 0.99999815 0.05332661] [ 0. 0. 0. 1. ]] SLAMing on 18.071966745999998 meters Centerline goodness [0,1] 0.4933846153846154 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.28, Z:0.05 [[ 0.99999507 0.00257037 0.0018053 0.12352896] [-0.00256834 0.99999607 -0.00112629 -0.27549116] [-0.00180819 0.00112165 0.99999774 0.05258449] [ 0. 0. 0. 1. ]] SLAMing on 18.101966746 meters Centerline goodness [0,1] 0.4899794786709165 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.28, Z:0.05 [[ 0.99999601 0.00223208 0.00172865 0.12391651] [-0.00222981 0.99999665 -0.00131761 -0.27686946] [-0.00173159 0.00131375 0.99999764 0.05237073] [ 0. 0. 0. 1. ]] SLAMing on 18.131966746 meters Centerline goodness [0,1] 0.4899794786709165 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.28, Z:0.05 [[ 0.99999601 0.00223208 0.00172865 0.12391651] [-0.00222981 0.99999665 -0.00131761 -0.27686946] [-0.00173159 0.00131375 0.99999764 0.05237073] [ 0. 0. 0. 1. ]] SLAMing on 18.161966745999997 meters Centerline goodness [0,1] 0.4972628339012861 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.28, Z:0.05 [[ 0.99999637 0.00214779 0.00162744 0.12386161] [-0.00214591 0.99999703 -0.00115194 -0.27952044] [-0.00162991 0.00114844 0.99999801 0.05276997] [ 0. 0. 0. 1. ]] SLAMing on 18.191966746 meters Centerline goodness [0,1] 0.46795908554443333 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.28, Z:0.05 [[ 0.99999623 0.0022548 0.00156755 0.12451706] [-0.00225285 0.99999669 -0.00124416 -0.27840236] [-0.00157035 0.00124063 0.999998 0.05226578] [ 0. 0. 0. 1. ]] SLAMing on 18.221966746 meters Centerline goodness [0,1] 0.49106786648344336 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.28, Z:0.05 [[ 9.99997918e-01 1.87098092e-03 8.14891590e-04 7.84387564e-02] [-1.87208896e-03 9.99997321e-01 1.36110710e-03 -2.77609364e-01] [-8.12342802e-04 -1.36262982e-03 9.99998742e-01 5.13994656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.251966745999997 meters Centerline goodness [0,1] 0.49303213207882124 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.28, Z:0.05 [[ 9.99998159e-01 1.80754873e-03 6.43735393e-04 7.89891649e-02] [-1.80837860e-03 9.99997532e-01 1.29090039e-03 -2.77699860e-01] [-6.41400439e-04 -1.29206213e-03 9.99998960e-01 5.12817986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.281966746 meters Centerline goodness [0,1] 0.4972842352628195 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.28, Z:0.05 [[ 9.99998487e-01 1.68452779e-03 4.33509294e-04 7.97210825e-02] [-1.68501862e-03 9.99997937e-01 1.13433965e-03 -2.78237630e-01] [-4.31597573e-04 -1.13506841e-03 9.99999263e-01 5.09684029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.311966746 meters Centerline goodness [0,1] 0.49061854549407546 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.28, Z:0.05 [[ 0.99999578 0.00271547 0.00103288 0.12628853] [-0.00271417 0.99999553 -0.0012554 -0.27764667] [-0.00103628 0.00125259 0.99999868 0.05006323] [ 0. 0. 0. 1. ]] SLAMing on 18.341966745999997 meters Centerline goodness [0,1] 0.49396058486967576 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.28, Z:0.05 [[ 0.99999545 0.00279373 0.00114027 0.12580378] [-0.00279234 0.99999535 -0.00122295 -0.27722275] [-0.00114368 0.00121976 0.9999986 0.05009662] [ 0. 0. 0. 1. ]] SLAMing on 18.371966746 meters Centerline goodness [0,1] 0.49660370743678517 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.28, Z:0.05 [[ 0.99999545 0.00276637 0.00120029 0.12577366] [-0.00276488 0.99999541 -0.00123523 -0.27665295] [-0.0012037 0.00123191 0.99999852 0.05001974] [ 0. 0. 0. 1. ]] SLAMing on 18.401966746 meters Centerline goodness [0,1] 0.49414892457887516 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.28, Z:0.05 [[ 0.99999668 0.002295 0.00116854 0.12624225] [-0.00229353 0.99999659 -0.00125273 -0.27900879] [-0.00117141 0.00125004 0.99999853 0.0495288 ] [ 0. 0. 0. 1. ]] SLAMing on 18.431966745999997 meters Centerline goodness [0,1] 0.5044124477473293 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.28, Z:0.05 [[ 9.99999996e-01 7.44404303e-05 4.56576201e-05 7.98830013e-02] [-7.44341037e-05 9.99999988e-01 -1.38552272e-04 -2.80199091e-01] [-4.56679335e-05 1.38548873e-04 9.99999989e-01 5.03789608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.461966745999998 meters Centerline goodness [0,1] 0.4972443624706322 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.28, Z:0.05 [[ 9.99999997e-01 7.23630564e-05 -3.87324737e-06 8.09290257e-02] [-7.23632522e-05 9.99999996e-01 -5.05691774e-05 -2.80326065e-01] [ 3.86958801e-06 5.05694575e-05 9.99999999e-01 4.90512271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.491966746 meters Centerline goodness [0,1] 0.501277749383347 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.28, Z:0.05 [[ 0.99998511 0.00491396 -0.00237278 0.05325986] [-0.00492003 0.99998462 -0.0025609 -0.27902389] [ 0.00236016 0.00257254 0.99999391 0.05310537] [ 0. 0. 0. 1. ]] SLAMing on 18.521966745999997 meters Centerline goodness [0,1] 0.4941583634600123 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.28, Z:0.05 [[ 9.99998711e-01 -1.04768835e-03 -1.21650763e-03 7.54677134e-02] [ 1.04727715e-03 9.99999394e-01 -3.38606575e-04 -2.78875062e-01] [ 1.21686165e-03 3.37332118e-04 9.99999203e-01 5.43754945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.551966745999998 meters Centerline goodness [0,1] 0.4933010136624063 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.28, Z:0.05 [[ 9.99998450e-01 -1.17511050e-03 -1.31135659e-03 7.56774039e-02] [ 1.17477994e-03 9.99999278e-01 -2.52816907e-04 -2.81047329e-01] [ 1.31165273e-03 2.51275959e-04 9.99999108e-01 5.44808149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.581966746 meters Centerline goodness [0,1] 0.4862302977232925 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.29, Z:0.05 [[ 9.99996957e-01 -1.95657421e-03 -1.50233181e-03 7.63530192e-02] [ 1.95585889e-03 9.99997973e-01 -4.77458982e-04 -2.85891715e-01] [ 1.50326295e-03 4.74519181e-04 9.99998758e-01 5.46080632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.611966745999997 meters Centerline goodness [0,1] 0.4757101733871868 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.29, Z:0.06 [[ 9.99990838e-01 -3.81219345e-03 -1.94718493e-03 2.81981667e-02] [ 3.81377684e-03 9.99992399e-01 8.10105387e-04 -2.87272179e-01] [ 1.94408186e-03 -8.17524094e-04 9.99997776e-01 5.53031627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.641966745999998 meters Centerline goodness [0,1] 0.492114255673355 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.29, Z:0.06 [[ 9.99996322e-01 -1.92155401e-03 -1.91431602e-03 7.52279092e-02] [ 1.92050298e-03 9.99998004e-01 -5.50723625e-04 -2.87405841e-01] [ 1.91537044e-03 5.47045150e-04 9.99998016e-01 5.50131086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.671966746 meters Centerline goodness [0,1] 0.5003694498555786 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.29, Z:0.06 [[ 0.99999404 -0.00227405 -0.00259922 0.02801566] [ 0.00228033 0.99999448 0.00241508 -0.28794551] [ 0.00259372 -0.00242099 0.99999371 0.05523148] [ 0. 0. 0. 1. ]] SLAMing on 18.701966745999997 meters Centerline goodness [0,1] 0.49122845441205454 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.29, Z:0.06 [[ 9.99997278e-01 -1.80344719e-03 -1.48071513e-03 7.28811024e-02] [ 1.80310027e-03 9.99998347e-01 -2.35594491e-04 -2.88811672e-01] [ 1.48113756e-03 2.32923972e-04 9.99998876e-01 5.51938988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.731966745999998 meters Centerline goodness [0,1] 0.4767021135771963 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.29, Z:0.06 [[ 9.99997987e-01 -1.49918764e-03 -1.33347429e-03 7.21975839e-02] [ 1.49942082e-03 9.99998861e-01 1.73885529e-04 -2.89621931e-01] [ 1.33321209e-03 -1.75884618e-04 9.99999096e-01 5.54798142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.761966746 meters Centerline goodness [0,1] 0.4786490597649964 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.29, Z:0.05 [[ 9.99998324e-01 -1.21474569e-03 -1.36956361e-03 7.28056888e-02] [ 1.21531325e-03 9.99999176e-01 4.13651758e-04 -2.89564622e-01] [ 1.36906000e-03 -4.15315514e-04 9.99998977e-01 5.46852305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.791966745999996 meters Centerline goodness [0,1] 0.4925557219628227 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.29, Z:0.06 [[ 9.99998429e-01 -1.16098170e-03 -1.33917427e-03 7.26745046e-02] [ 1.16162161e-03 9.99999211e-01 4.77164886e-04 -2.89272481e-01] [ 1.33861923e-03 -4.78719750e-04 9.99998989e-01 5.50285089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.821966745999998 meters Centerline goodness [0,1] 0.4813053717618033 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.29, Z:0.05 [[ 0.99999583 -0.00232915 -0.00170747 0.02560028] [ 0.00233337 0.99999422 0.00247405 -0.28915877] [ 0.0017017 -0.00247803 0.99999548 0.05480275] [ 0. 0. 0. 1. ]] SLAMing on 18.851966746 meters Centerline goodness [0,1] 0.49902839729717796 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.29, Z:0.05 [[ 9.99998791e-01 -1.03724631e-03 -1.15817922e-03 7.10273049e-02] [ 1.03795890e-03 9.99999272e-01 6.14837784e-04 -2.90045745e-01] [ 1.15754064e-03 -6.16039184e-04 9.99999140e-01 5.44682252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.881966746 meters Centerline goodness [0,1] 0.4969622529774308 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.29, Z:0.05 [[ 9.99998315e-01 -1.15509243e-03 -1.42700390e-03 7.20970182e-02] [ 1.15588419e-03 9.99999178e-01 5.54139180e-04 -2.90826839e-01] [ 1.42636265e-03 -5.55787697e-04 9.99998828e-01 5.42021313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.911966745999997 meters Centerline goodness [0,1] 0.48822759973839114 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.29, Z:0.05 [[ 9.99997926e-01 -1.16165152e-03 -1.67304281e-03 7.33880365e-02] [ 1.16261484e-03 9.99999159e-01 5.74930479e-04 -2.91663528e-01] [ 1.67237353e-03 -5.76874391e-04 9.99998435e-01 5.32596262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.941966746 meters Centerline goodness [0,1] 0.49283996381368456 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.29, Z:0.05 [[ 9.99998073e-01 -1.07939052e-03 -1.63959586e-03 7.30089651e-02] [ 1.08076573e-03 9.99999065e-01 8.38095809e-04 -2.93400883e-01] [ 1.63868969e-03 -8.39866213e-04 9.99998305e-01 5.37279994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.971966746 meters Centerline goodness [0,1] 0.49684724689165183 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.30, Z:0.05 [[ 9.99998041e-01 -1.10600165e-03 -1.64170043e-03 7.25167357e-02] [ 1.10762178e-03 9.99998900e-01 9.86278716e-04 -2.95542628e-01] [ 1.64060780e-03 -9.88095167e-04 9.99998166e-01 5.43661492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.001966745999997 meters Centerline goodness [0,1] 0.5025955639452572 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.30, Z:0.06 [[ 0.99998701 0.00418891 -0.00290432 0.04688048] [-0.0041949 0.99998908 -0.00205827 -0.29676053] [ 0.00289567 0.00207043 0.99999366 0.0553324 ] [ 0. 0. 0. 1. ]] SLAMing on 19.031966746 meters Centerline goodness [0,1] 0.4934990650093499 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.30, Z:0.05 [[ 9.99999098e-01 9.47385854e-04 9.52004926e-04 7.32609655e-02] [-9.48980917e-04 9.99998145e-01 1.67642472e-03 -2.98044758e-01] [-9.50414939e-04 -1.67732665e-03 9.99998142e-01 5.02781997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.061966746 meters Centerline goodness [0,1] 0.4968976666957966 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.30, Z:0.05 [[ 9.99998805e-01 1.22048222e-03 9.49177279e-04 7.34649055e-02] [-1.22218295e-03 9.99997645e-01 1.79328032e-03 -2.96934984e-01] [-9.46986377e-04 -1.79443825e-03 9.99997942e-01 5.00080126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.091966745999997 meters Centerline goodness [0,1] 0.489758036338225 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.29, Z:0.05 [[ 0.99999821 0.00154324 0.00109882 0.07322059] [-0.00154524 0.99999715 0.00181908 -0.2948222 ] [-0.001096 -0.00182077 0.99999774 0.04964699] [ 0. 0. 0. 1. ]] SLAMing on 19.121966746 meters Centerline goodness [0,1] 0.4944951311518554 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.29, Z:0.05 [[ 9.99998692e-01 1.31821534e-03 9.37525696e-04 7.37233377e-02] [-1.31977131e-03 9.99997750e-01 1.66097776e-03 -2.94627596e-01] [-9.35334060e-04 -1.66221291e-03 9.99998181e-01 4.95815997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.151966746 meters Centerline goodness [0,1] 0.49476308136356684 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.30, Z:0.05 [[ 9.99999317e-01 8.71325827e-04 7.79370342e-04 7.41342439e-02] [-8.72494893e-04 9.99998493e-01 1.50093410e-03 -2.97248163e-01] [-7.78061364e-04 -1.50161308e-03 9.99998570e-01 4.96742445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.181966745999997 meters Centerline goodness [0,1] 0.4869090348578601 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.30, Z:0.05 [[ 9.99999461e-01 7.11305040e-04 7.56364903e-04 7.40260621e-02] [-7.12466307e-04 9.99998566e-01 1.53616693e-03 -2.99636689e-01] [-7.55271135e-04 -1.53670499e-03 9.99998534e-01 4.97290657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.211966745999998 meters Centerline goodness [0,1] 0.4949843260188088 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.30, Z:0.05 [[ 9.99975996e-01 6.06223759e-03 -3.35511434e-03 4.74953633e-02] [-6.06455575e-03 9.99981378e-01 -6.81191622e-04 -2.97696443e-01] [ 3.35092232e-03 7.01522548e-04 9.99994140e-01 5.48788497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.241966746 meters Centerline goodness [0,1] 0.4901048245905636 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.30, Z:0.05 [[ 9.99973446e-01 6.34974906e-03 -3.57602437e-03 4.83115192e-02] [-6.35175769e-03 9.99979676e-01 -5.50616896e-04 -2.96964056e-01] [ 3.57245541e-03 5.73316315e-04 9.99993454e-01 5.46667065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.271966745999997 meters Centerline goodness [0,1] 0.49531958624695605 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.30, Z:0.05 [[ 9.99976002e-01 6.04152906e-03 -3.39050506e-03 4.76257177e-02] [-6.04420368e-03 9.99981430e-01 -7.79166416e-04 -2.97658996e-01] [ 3.38573474e-03 7.99640621e-04 9.99993949e-01 5.47772457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.301966745999998 meters Centerline goodness [0,1] 0.503792432621478 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.30, Z:0.05 [[ 9.99999671e-01 7.77374029e-04 -2.30946840e-04 7.47816739e-02] [-7.77068549e-04 9.99998827e-01 1.31988705e-03 -2.99163900e-01] [ 2.31972615e-04 -1.31970715e-03 9.99999102e-01 5.02816219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.331966746 meters Centerline goodness [0,1] 0.5040529939858799 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.30, Z:0.05 [[ 9.99999596e-01 8.33092579e-04 -3.38731191e-04 7.55162145e-02] [-8.32706528e-04 9.99999005e-01 1.13824661e-03 -2.97358044e-01] [ 3.39679119e-04 -1.13796409e-03 9.99999295e-01 4.97348504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.361966745999997 meters Centerline goodness [0,1] 0.49423181768618474 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.30, Z:0.05 [[ 9.99999329e-01 1.15698351e-03 -5.13663212e-05 7.42722328e-02] [-1.15691783e-03 9.99998536e-01 1.26089406e-03 -2.96930830e-01] [ 5.28250796e-05 -1.26083379e-03 9.99999204e-01 5.01702107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.391966745999998 meters Centerline goodness [0,1] 0.5043135375364908 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.30, Z:0.05 [[ 9.99999550e-01 9.48719881e-04 1.77217092e-05 7.39541301e-02] [-9.48736441e-04 9.99999090e-01 9.59039393e-04 -2.96807389e-01] [-1.68118333e-05 -9.59055775e-04 9.99999540e-01 5.05407037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.421966746 meters Centerline goodness [0,1] 0.4969884136057998 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.30, Z:0.05 [[ 9.99999210e-01 1.25171798e-03 1.15841861e-04 7.28283370e-02] [-1.25185426e-03 9.99998516e-01 1.18398679e-03 -2.96985650e-01] [-1.14359672e-04 -1.18413087e-03 9.99999292e-01 5.16111520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.451966745999997 meters Centerline goodness [0,1] 0.5026412116695527 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.30, Z:0.05 [[ 9.99999235e-01 1.23679816e-03 -1.27880796e-05 7.36976602e-02] [-1.23678555e-03 9.99998791e-01 9.43037125e-04 -2.95925583e-01] [ 1.39544108e-05 -9.43020587e-04 9.99999555e-01 5.07885139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.481966745999998 meters Centerline goodness [0,1] 0.49006622516556286 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.30, Z:0.05 [[ 9.99998713e-01 4.06449090e-04 -1.55195828e-03 2.92339541e-02] [-4.01562661e-04 9.99994966e-01 3.14757175e-03 -2.96093160e-01] [ 1.55322980e-03 -3.14694450e-03 9.99993842e-01 4.99691076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.511966746 meters Centerline goodness [0,1] 0.49585113283084703 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.29, Z:0.05 [[ 9.99998844e-01 3.83313356e-04 -1.47151487e-03 2.89202553e-02] [-3.78960051e-04 9.99995555e-01 2.95752301e-03 -2.94556826e-01] [ 1.47264199e-03 -2.95696194e-03 9.99994544e-01 4.99872350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.541966745999996 meters Centerline goodness [0,1] 0.48652101136463743 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.29, Z:0.04 [[ 0.99998825 0.00387131 0.00291713 0.0572785 ] [-0.00386349 0.99998894 -0.0026839 -0.29096304] [-0.00292749 0.0026726 0.99999214 0.04156428] [ 0. 0. 0. 1. ]] SLAMing on 19.571966745999998 meters Centerline goodness [0,1] 0.4864132847882071 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.29, Z:0.04 [[ 0.9999877 0.00389602 0.00307031 0.05696799] [-0.00388809 0.9999891 -0.00258443 -0.29039737] [-0.00308034 0.00257246 0.99999195 0.04148999] [ 0. 0. 0. 1. ]] SLAMing on 19.601966746 meters Centerline goodness [0,1] 0.4905412037656717 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.29, Z:0.04 [[ 9.99990500e-01 -3.91277653e-03 1.92101896e-03 3.39011007e-02] [ 3.91087652e-03 9.99991861e-01 9.91825876e-04 -2.90048981e-01] [-1.92488412e-03 -9.84303586e-04 9.99997663e-01 4.27322348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.631966746 meters Centerline goodness [0,1] 0.4901301973960521 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.29, Z:0.04 [[ 9.99988891e-01 -4.43591244e-03 1.59360784e-03 3.51622823e-02] [ 4.43472427e-03 9.99989887e-01 7.48349091e-04 -2.91745079e-01] [-1.59691134e-03 -7.41273567e-04 9.99998450e-01 4.23408355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.661966745999997 meters Centerline goodness [0,1] 0.49982497593419095 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.29, Z:0.04 [[ 9.99997636e-01 2.04623151e-03 7.35513070e-04 5.90006780e-02] [-2.04367907e-03 9.99991945e-01 -3.45445450e-03 -2.94434016e-01] [-7.42575759e-04 3.45294318e-03 9.99993763e-01 4.24901888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.691966746 meters Centerline goodness [0,1] 0.48650015390704016 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.29, Z:0.04 [[ 9.99997358e-01 2.15671946e-03 7.95645861e-04 5.85637648e-02] [-2.15404129e-03 9.99992063e-01 -3.35167407e-03 -2.94838132e-01] [-8.02868167e-04 3.34995136e-03 9.99994067e-01 4.28169755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.721966746 meters Centerline goodness [0,1] 0.48867670731438395 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.30, Z:0.04 [[ 0.99999676 0.00231682 0.00105316 0.05755772] [-0.00231343 0.99999219 -0.00320409 -0.29506236] [-0.00106058 0.00320164 0.99999431 0.04310986] [ 0. 0. 0. 1. ]] SLAMing on 19.751966745999997 meters Centerline goodness [0,1] 0.5010247241965726 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.29, Z:0.04 [[ 0.99999673 0.0023447 0.00101671 0.05803528] [-0.00234134 0.99999181 -0.00330034 -0.29366815] [-0.00102444 0.00329795 0.99999404 0.04246377] [ 0. 0. 0. 1. ]] SLAMing on 19.781966746 meters Centerline goodness [0,1] 0.5000109225156738 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.29, Z:0.04 [[ 0.99999638 0.00244768 0.00111464 0.05768111] [-0.00244417 0.99999209 -0.00313683 -0.2930247 ] [-0.00112231 0.00313409 0.99999446 0.04245866] [ 0. 0. 0. 1. ]] SLAMing on 19.811966746 meters Centerline goodness [0,1] 0.49565766275602374 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.29, Z:0.04 [[ 9.99997241e-01 2.17238271e-03 8.93401245e-04 5.83297402e-02] [-2.16955065e-03 9.99992657e-01 -3.15881903e-03 -2.94339663e-01] [-9.00256849e-04 3.15687203e-03 9.99994612e-01 4.23893809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.841966745999997 meters Centerline goodness [0,1] 0.48588219698643453 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.30, Z:0.05 [[ 0.99998749 -0.00439191 -0.00239267 0.03092522] [ 0.00439453 0.99998975 0.00109072 -0.29702564] [ 0.00238786 -0.00110122 0.99999654 0.0494823 ] [ 0. 0. 0. 1. ]] SLAMing on 19.871966746 meters Centerline goodness [0,1] 0.4890905538307896 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.30, Z:0.05 [[ 9.99993050e-01 -3.69604750e-03 -4.89453966e-04 7.31760672e-02] [ 3.69549039e-03 9.99992528e-01 -1.13429390e-03 -2.97439791e-01] [ 4.93642713e-04 1.13247724e-03 9.99999237e-01 5.07656782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.901966746 meters Centerline goodness [0,1] 0.5048139757776422 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.30, Z:0.05 [[ 9.99993829e-01 -3.50273028e-03 -2.70634575e-04 7.19603899e-02] [ 3.50247400e-03 9.99993423e-01 -9.41694395e-04 -2.97760202e-01] [ 2.73931296e-04 9.40740693e-04 9.99999520e-01 5.17472409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.931966745999997 meters Centerline goodness [0,1] 0.49922720247295205 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.30, Z:0.05 [[ 9.99994494e-01 -3.27890322e-03 -5.10306940e-04 7.25896873e-02] [ 3.27843516e-03 9.99994207e-01 -9.15361929e-04 -2.96813938e-01] [ 5.13305367e-04 9.13683881e-04 9.99999451e-01 5.16574976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.961966745999998 meters Centerline goodness [0,1] 0.4839139747344494 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.30, Z:0.05 [[ 9.99995562e-01 -2.94401416e-03 -4.57417375e-04 7.25967355e-02] [ 2.94376306e-03 9.99995517e-01 -5.48667306e-04 -2.96817440e-01] [ 4.59030608e-04 5.47318342e-04 9.99999745e-01 5.14765050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.991966746 meters Centerline goodness [0,1] 0.4981490000219053 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.30, Z:0.05 [[ 9.99995382e-01 -2.99590815e-03 -5.10748318e-04 7.28115668e-02] [ 2.99569012e-03 9.99995422e-01 -4.27111113e-04 -2.98026503e-01] [ 5.12025565e-04 4.25579097e-04 9.99999778e-01 5.10773798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.021966745999997 meters Centerline goodness [0,1] 0.4981490000219053 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.30, Z:0.05 [[ 9.99995382e-01 -2.99590815e-03 -5.10748318e-04 7.28115668e-02] [ 2.99569012e-03 9.99995422e-01 -4.27111113e-04 -2.98026503e-01] [ 5.12025565e-04 4.25579097e-04 9.99999778e-01 5.10773798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.051966745999998 meters Centerline goodness [0,1] 0.4867238969854263 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.30, Z:0.05 [[ 0.99999633 0.00165381 -0.00214502 0.04564326] [-0.00166139 0.99999236 -0.00353749 -0.29987221] [ 0.00213915 0.00354104 0.99999144 0.05415931] [ 0. 0. 0. 1. ]] SLAMing on 20.081966746 meters Centerline goodness [0,1] 0.4813326051338067 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.30, Z:0.05 [[ 9.99993553e-01 -2.82191857e-03 2.22043476e-03 7.04400064e-02] [ 2.82275979e-03 9.99995945e-01 -3.75811122e-04 -3.01162700e-01] [-2.21936525e-03 3.82076453e-04 9.99997464e-01 5.04250932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.111966745999997 meters Centerline goodness [0,1] 0.48474658226735245 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.30, Z:0.05 [[ 9.99993843e-01 -2.78224002e-03 2.13855220e-03 7.11132992e-02] [ 2.78324200e-03 9.99996018e-01 -4.65698301e-04 -3.00261584e-01] [-2.13724800e-03 4.71647542e-04 9.99997605e-01 4.96873559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.141966745999998 meters Centerline goodness [0,1] 0.47898273817367243 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.30, Z:0.05 [[ 9.99995081e-01 -2.52674237e-03 1.85853886e-03 7.21616103e-02] [ 2.52699269e-03 9.99996798e-01 -1.32347681e-04 -3.00881260e-01] [-1.85819850e-03 1.37043544e-04 9.99998264e-01 4.92485231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.171966746 meters Centerline goodness [0,1] 0.48534989464345124 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.30, Z:0.05 [[ 9.99993568e-01 3.56569632e-03 3.85909725e-04 4.70935339e-02] [-3.56490010e-03 9.99991555e-01 -2.04460909e-03 -3.00731337e-01] [-3.93196921e-04 2.04322021e-03 9.99997835e-01 5.01177496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.201966745999997 meters Centerline goodness [0,1] 0.49752535140010123 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.30, Z:0.05 [[ 9.99994567e-01 3.27773856e-03 3.50760249e-04 4.74994590e-02] [-3.27695037e-03 9.99992156e-01 -2.22455650e-03 -3.01198654e-01] [-3.58049012e-04 2.22339499e-03 9.99997464e-01 5.00401338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.231966745999998 meters Centerline goodness [0,1] 0.4955514850189716 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.30, Z:0.05 [[ 9.99995751e-01 2.87093331e-03 5.05276131e-04 4.68144380e-02] [-2.86979779e-03 9.99993387e-01 -2.23388389e-03 -3.03930249e-01] [-5.11686122e-04 2.23242436e-03 9.99997377e-01 5.04834996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.261966746 meters Centerline goodness [0,1] 0.477620794972644 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.31, Z:0.05 [[ 9.99996058e-01 2.79091722e-03 3.09017121e-04 4.70501477e-02] [-2.79023880e-03 9.99993743e-01 -2.17449216e-03 -3.05467463e-01] [-3.15084015e-04 2.17362136e-03 9.99997588e-01 5.08820408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.291966745999996 meters Centerline goodness [0,1] 0.39529278936969403 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.31, Z:0.05 [[ 9.99996895e-01 -1.84641902e-03 1.67339294e-03 7.39416272e-02] [ 1.84557585e-03 9.99998169e-01 5.05273149e-04 -3.05521322e-01] [-1.67432282e-03 -5.02183206e-04 9.99998472e-01 4.78837560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.321966745999998 meters Centerline goodness [0,1] 0.49934409025318116 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.30, Z:0.05 [[ 9.99997554e-01 -1.53030842e-03 1.59704528e-03 7.43453152e-02] [ 1.52927293e-03 9.99998620e-01 6.49400425e-04 -3.04610834e-01] [-1.59803686e-03 -6.46956518e-04 9.99998514e-01 4.74464045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.351966746 meters Centerline goodness [0,1] 0.5001873113113995 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.31, Z:0.05 [[ 9.99997741e-01 -1.39195854e-03 1.60611771e-03 7.43945470e-02] [ 1.39054473e-03 9.99998645e-01 8.81042096e-04 -3.05064398e-01] [-1.60734191e-03 -8.78806728e-04 9.99998322e-01 4.72710563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.381966746 meters Centerline goodness [0,1] 0.4979695209816165 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.31, Z:0.05 [[ 9.99997100e-01 -1.91198784e-03 1.46460272e-03 7.50683997e-02] [ 1.91102138e-03 9.99997956e-01 6.60992822e-04 -3.06717376e-01] [-1.46586354e-03 -6.58192018e-04 9.99998709e-01 4.69203966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.411966745999997 meters Centerline goodness [0,1] 0.13230128788864315 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.31, Z:0.05 [[ 9.99996269e-01 -2.44135374e-03 1.22553301e-03 7.58585847e-02] [ 2.44088350e-03 9.99996947e-01 3.85049565e-04 -3.08734662e-01] [-1.22646931e-03 -3.82056745e-04 9.99999175e-01 4.70692939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.441966746 meters Centerline goodness [0,1] 0.4765576668139637 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.31, Z:0.05 [[ 9.99993582e-01 -3.52552599e-03 -6.38112488e-04 3.08765509e-02] [ 3.52705068e-03 9.99990890e-01 2.40424259e-03 -3.10068929e-01] [ 6.29630455e-04 -2.40647781e-03 9.99996906e-01 4.73832288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.471966746 meters Centerline goodness [0,1] 0.47737342120924897 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.31, Z:0.05 [[ 9.99994454e-01 -3.22168077e-03 -8.43989579e-04 3.20628738e-02] [ 3.22376078e-03 9.99991741e-01 2.47483460e-03 -3.08936099e-01] [ 8.36009482e-04 -2.47754170e-03 9.99996581e-01 4.64271824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.501966745999997 meters Centerline goodness [0,1] 0.5056836848675997 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.31, Z:0.05 [[ 9.99995236e-01 -3.01177853e-03 -6.76618752e-04 3.19176461e-02] [ 3.01340589e-03 9.99992538e-01 2.41713674e-03 -3.06593700e-01] [ 6.69333823e-04 -2.41916415e-03 9.99996850e-01 4.57657535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.531966746 meters Centerline goodness [0,1] 0.49953791312766804 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.31, Z:0.05 [[ 9.99995837e-01 -2.83934832e-03 -5.14540505e-04 3.14876476e-02] [ 2.84065618e-03 9.99992691e-01 2.55916682e-03 -3.06647312e-01] [ 5.07270378e-04 -2.56061780e-03 9.99996593e-01 4.56474286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.561966746 meters Centerline goodness [0,1] 0.4793629233667791 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.31, Z:0.05 [[ 9.99994584e-01 -3.19377601e-03 -7.94994325e-04 3.25547993e-02] [ 3.19567997e-03 9.99992001e-01 2.40529998e-03 -3.08138868e-01] [ 7.87305976e-04 -2.40782750e-03 9.99996791e-01 4.54034683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.591966745999997 meters Centerline goodness [0,1] 0.4991000482900918 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.31, Z:0.05 [[ 9.99994931e-01 -3.10716311e-03 -6.95621132e-04 3.21174931e-02] [ 3.10893263e-03 9.99991897e-01 2.55734037e-03 -3.08436332e-01] [ 6.87669422e-04 -2.55949004e-03 9.99996488e-01 4.55515687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.621966746 meters Centerline goodness [0,1] 0.47832287507130633 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.31, Z:0.05 [[ 9.99995748e-01 -2.87194604e-03 -5.06272562e-04 3.12236616e-02] [ 2.87320748e-03 9.99992725e-01 2.50875992e-03 -3.06710290e-01] [ 4.99063856e-04 -2.51020387e-03 9.99996725e-01 4.59785530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.651966746 meters Centerline goodness [0,1] 0.4796138282899367 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.31, Z:0.05 [[ 9.99996430e-01 -2.66048662e-03 -2.49773688e-04 2.99576710e-02] [ 2.66114243e-03 9.99992913e-01 2.66303900e-03 -3.06370151e-01] [ 2.42686938e-04 -2.66369418e-03 9.99996423e-01 4.68101241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.681966745999997 meters Centerline goodness [0,1] 0.12970894152609036 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.31, Z:0.05 [[ 9.99995833e-01 -2.88141870e-03 -1.74935154e-04 2.97461228e-02] [ 2.88184936e-03 9.99992688e-01 2.51363558e-03 -3.06953797e-01] [ 1.67691038e-04 -2.51412925e-03 9.99996826e-01 4.68428779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.711966745999998 meters Centerline goodness [0,1] 0.49776215531733725 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.31, Z:0.05 [[ 9.99995600e-01 -2.95555663e-03 -2.52607207e-04 2.98863402e-02] [ 2.95619093e-03 9.99992383e-01 2.54863564e-03 -3.08069919e-01] [ 2.45072646e-04 -2.54937119e-03 9.99996720e-01 4.71214351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.741966746 meters Centerline goodness [0,1] 0.5037715635043838 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.31, Z:0.05 [[ 9.99995674e-01 -2.94082159e-03 -6.28238060e-05 2.92509124e-02] [ 2.94097404e-03 9.99992340e-01 2.58259935e-03 -3.07928724e-01] [ 5.52283609e-05 -2.58277294e-03 9.99996663e-01 4.72832391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.771966745999997 meters Centerline goodness [0,1] 0.47231928968594095 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.31, Z:0.05 [[ 9.99996513e-01 -2.62162968e-03 3.17337156e-04 2.73061071e-02] [ 2.62070895e-03 9.99992454e-01 2.86786959e-03 -3.08077035e-01] [-3.24853254e-04 -2.86702794e-03 9.99995837e-01 4.84326587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.801966745999998 meters Centerline goodness [0,1] 0.4795212765957447 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.31, Z:0.05 [[ 9.99996572e-01 -2.58055916e-03 4.42623969e-04 2.61082570e-02] [ 2.57925590e-03 9.99992410e-01 2.92011649e-03 -3.08485869e-01] [-4.50156143e-04 -2.91896484e-03 9.99995638e-01 4.99263922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.831966746 meters Centerline goodness [0,1] 0.474357013307694 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.31, Z:0.05 [[ 0.99999236 0.00276823 0.00276165 0.05218825] [-0.00276117 0.99999293 -0.00255408 -0.30815575] [-0.0027687 0.00254643 0.99999292 0.04519549] [ 0. 0. 0. 1. ]] SLAMing on 20.861966745999997 meters Centerline goodness [0,1] 0.5005380712889553 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.31, Z:0.04 [[ 0.99999242 0.00286458 0.00263655 0.05263224] [-0.00285783 0.99999263 -0.00256195 -0.30832976] [-0.00264387 0.0025544 0.99999324 0.04497484] [ 0. 0. 0. 1. ]] SLAMing on 20.891966745999998 meters Centerline goodness [0,1] 0.4793501534114738 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.31, Z:0.04 [[ 0.99999359 0.00282012 0.00220563 0.05433224] [-0.0028143 0.99999257 -0.00263603 -0.30866121] [-0.00221304 0.0026298 0.99999409 0.04391306] [ 0. 0. 0. 1. ]] SLAMing on 20.921966746 meters Centerline goodness [0,1] 0.5004284301878501 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.31, Z:0.04 [[ 0.99999434 0.0028153 0.00184451 0.05630686] [-0.00281023 0.99999229 -0.0027442 -0.30847207] [-0.00185222 0.00273901 0.99999453 0.04227186] [ 0. 0. 0. 1. ]] SLAMing on 20.951966745999997 meters Centerline goodness [0,1] 0.4783824857388278 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.31, Z:0.04 [[ 0.99999398 0.00299226 0.00175452 0.056862 ] [-0.00298755 0.99999194 -0.00268396 -0.30749447] [-0.00176254 0.00267871 0.99999486 0.04171246] [ 0. 0. 0. 1. ]] SLAMing on 20.981966745999998 meters Centerline goodness [0,1] 0.4742486945594002 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.31, Z:0.04 [[ 9.99982940e-01 -1.24309826e-03 5.70740721e-03 8.10891818e-02] [ 1.23893813e-03 9.99998964e-01 7.32379243e-04 -3.06036548e-01] [-5.70831172e-03 -7.25295624e-04 9.99983444e-01 3.81920643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.011966746 meters Centerline goodness [0,1] 0.47270036776706637 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.31, Z:0.04 [[ 9.99980794e-01 -1.16838714e-03 6.08660883e-03 7.94430436e-02] [ 1.16348978e-03 9.99998997e-01 8.08089521e-04 -3.05440977e-01] [-6.08754689e-03 -8.00992293e-04 9.99981150e-01 3.87523690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.041966745999996 meters Centerline goodness [0,1] 0.49849075726529624 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.30, Z:0.04 [[ 0.99998914 0.00359114 0.00297196 0.05199489] [-0.00358506 0.99999148 -0.00204656 -0.30493846] [-0.00297928 0.00203588 0.99999349 0.04335012] [ 0. 0. 0. 1. ]] SLAMing on 21.071966745999998 meters Centerline goodness [0,1] 0.4764893710086606 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.31, Z:0.04 [[ 0.99998895 0.00351661 0.00312102 0.05119986] [-0.0035101 0.99999166 -0.00208985 -0.30537575] [-0.00312834 0.00207887 0.99999295 0.04393687] [ 0. 0. 0. 1. ]] SLAMing on 21.101966746 meters Centerline goodness [0,1] 0.47514212340042583 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.31, Z:0.05 [[ 0.99998863 0.00351774 0.00321805 0.05005728] [-0.00351097 0.99999162 -0.00210673 -0.30567884] [-0.00322544 0.0020954 0.9999926 0.04530691] [ 0. 0. 0. 1. ]] SLAMing on 21.131966745999996 meters Centerline goodness [0,1] 0.5050071842208386 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.31, Z:0.05 [[ 0.99998888 0.00336437 0.00330405 0.04979443] [-0.00335712 0.99999195 -0.00219737 -0.30672493] [-0.00331142 0.00218626 0.99999213 0.04530848] [ 0. 0. 0. 1. ]] SLAMing on 21.161966745999997 meters Centerline goodness [0,1] 0.47114754098360656 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.31, Z:0.05 [[ 0.99998862 0.0034089 0.00333767 0.04912584] [-0.00340148 0.99999173 -0.00222868 -0.30643832] [-0.00334524 0.0022173 0.99999195 0.04606044] [ 0. 0. 0. 1. ]] SLAMing on 21.191966746 meters Centerline goodness [0,1] 0.4984102620326718 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.30, Z:0.05 [[ 0.99998727 0.00374676 0.00338086 0.04863987] [-0.00373914 0.99999046 -0.0022562 -0.30457921] [-0.00338928 0.00224353 0.99999174 0.04648614] [ 0. 0. 0. 1. ]] SLAMing on 21.221966746 meters Centerline goodness [0,1] 0.4787637219027705 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.30, Z:0.05 [[ 0.99998856 0.00355996 0.00319567 0.04945118] [-0.00355197 0.99999056 -0.00250136 -0.30413609] [-0.00320455 0.00248998 0.99999177 0.04602299] [ 0. 0. 0. 1. ]] SLAMing on 21.251966745999997 meters Centerline goodness [0,1] 0.47402102696937376 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.31, Z:0.05 [[ 0.99998982 0.00342566 0.00293749 0.05028623] [-0.00341817 0.9999909 -0.00255148 -0.30507325] [-0.00294621 0.00254141 0.99999243 0.04571839] [ 0. 0. 0. 1. ]] SLAMing on 21.281966746 meters Centerline goodness [0,1] 0.470923752704386 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.31, Z:0.05 [[ 0.99998975 0.00338761 0.00300272 0.05006708] [-0.00338032 0.99999134 -0.00242937 -0.30656138] [-0.00301092 0.00241919 0.99999254 0.04560872] [ 0. 0. 0. 1. ]] SLAMing on 21.311966746 meters Centerline goodness [0,1] 0.46793745607870696 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.31, Z:0.05 [[ 0.99998914 0.00345824 0.00312464 0.04959877] [-0.00345038 0.99999088 -0.00251672 -0.30519727] [-0.00313332 0.00250591 0.99999195 0.04573451] [ 0. 0. 0. 1. ]] SLAMing on 21.341966745999997 meters Centerline goodness [0,1] 0.47123676454535535 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.30, Z:0.05 [[ 0.99998836 0.00370294 0.00309428 0.05002407] [-0.00369506 0.99998993 -0.00254707 -0.30255775] [-0.00310368 0.00253561 0.99999197 0.04519626] [ 0. 0. 0. 1. ]] SLAMing on 21.371966746 meters Centerline goodness [0,1] 0.47008770211747297 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.30, Z:0.04 [[ 0.99998909 0.00354064 0.00304623 0.05051534] [-0.0035327 0.99999036 -0.00260843 -0.30251925] [-0.00305543 0.00259764 0.99999196 0.04468405] [ 0. 0. 0. 1. ]] SLAMing on 21.401966746 meters Centerline goodness [0,1] 0.49968161956832 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.30, Z:0.05 [[ 9.99994277e-01 -3.31935818e-03 -6.54809244e-04 2.56254942e-02] [ 3.32028830e-03 9.99993473e-01 1.42450103e-03 -3.04841188e-01] [ 6.50076541e-04 -1.42666703e-03 9.99998771e-01 5.04994200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.431966745999997 meters Centerline goodness [0,1] 0.4720232375294837 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.31, Z:0.05 [[ 9.99990954e-01 -4.15677861e-03 -9.02045992e-04 2.66354622e-02] [ 4.15781609e-03 9.99990693e-01 1.15133436e-03 -3.08403380e-01] [ 8.97251755e-04 -1.15507449e-03 9.99998930e-01 5.01383683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.461966745999998 meters Centerline goodness [0,1] 0.4980700841356579 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.31, Z:0.05 [[ 9.99991214e-01 -4.08635215e-03 -9.34729056e-04 2.70226136e-02] [ 4.08746926e-03 9.99990931e-01 1.19634055e-03 -3.07846543e-01] [ 9.29831910e-04 -1.20015072e-03 9.99998848e-01 4.97659541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.491966746 meters Centerline goodness [0,1] 0.46725891648840967 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.31, Z:0.05 [[ 9.99992377e-01 -3.82049818e-03 -8.05893523e-04 2.66557237e-02] [ 3.82161100e-03 9.99991740e-01 1.38385887e-03 -3.06485974e-01] [ 8.00599836e-04 -1.38692814e-03 9.99998718e-01 4.94820308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.521966745999997 meters Centerline goodness [0,1] 0.48320304714662177 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.31, Z:0.05 [[ 9.99993353e-01 1.29276073e-03 -3.40933268e-03 8.03457859e-05] [-1.29661808e-03 9.99998522e-01 -1.12944001e-03 -3.07474039e-01] [ 3.40786754e-03 1.13385311e-03 9.99993550e-01 5.25919082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.551966745999998 meters Centerline goodness [0,1] 0.4685176327347045 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.31, Z:0.05 [[ 9.99991066e-01 -4.20135146e-03 4.65930067e-04 2.64835746e-02] [ 4.20087971e-03 9.99990667e-01 1.00889253e-03 -3.10543021e-01] [-4.70164430e-04 -1.00692620e-03 9.99999383e-01 4.81694380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.581966746 meters Centerline goodness [0,1] 0.4629432816397354 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.31, Z:0.05 [[ 9.99990305e-01 -4.38801232e-03 3.68947268e-04 2.64694614e-02] [ 4.38758822e-03 9.99989722e-01 1.14254502e-03 -3.12642312e-01] [-3.73956978e-04 -1.14091515e-03 9.99999279e-01 4.86643824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.611966745999997 meters Centerline goodness [0,1] 0.4778796070416035 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.31, Z:0.05 [[ 9.99997184e-01 1.48723456e-03 -1.84924406e-03 -1.69607747e-03] [-1.48882630e-03 9.99998522e-01 -8.59674685e-04 -3.13778623e-01] [ 1.84796279e-03 8.62425468e-04 9.99997921e-01 5.32618620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.641966745999998 meters Centerline goodness [0,1] 0.5023165938385191 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.31, Z:0.05 [[ 9.99997652e-01 1.53458063e-03 -1.53009653e-03 -2.19131876e-03] [-1.53583170e-03 9.99998487e-01 -8.16800072e-04 -3.13654614e-01] [ 1.52884077e-03 8.19148125e-04 9.99998496e-01 5.24823398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.671966746 meters Centerline goodness [0,1] 0.46865411815906866 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.31, Z:0.05 [[ 9.99996917e-01 1.63777778e-03 -1.86622879e-03 -6.39428729e-04] [-1.63944206e-03 9.99998260e-01 -8.90605669e-04 -3.12417397e-01] [ 1.86476693e-03 8.93662497e-04 9.99997862e-01 5.16523586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.701966745999997 meters Centerline goodness [0,1] 0.47536827381212576 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.31, Z:0.05 [[ 9.99996818e-01 1.53941813e-03 -1.99866333e-03 -3.50671567e-04] [-1.54104609e-03 9.99998482e-01 -8.13240098e-04 -3.13942999e-01] [ 1.99740838e-03 8.16317542e-04 9.99997672e-01 5.17743527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.731966745999998 meters Centerline goodness [0,1] 0.4787364906422986 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.32, Z:0.05 [[ 9.99997212e-01 1.45198074e-03 -1.86212981e-03 -1.19256514e-03] [-1.45318691e-03 9.99998735e-01 -6.46547323e-04 -3.16623518e-01] [ 1.86118868e-03 6.49251543e-04 9.99998057e-01 5.23240308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.761966746 meters Centerline goodness [0,1] 0.47535211267605637 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.32, Z:0.05 [[ 9.99997181e-01 1.41915692e-03 -1.90382889e-03 -1.01939877e-03] [-1.42048229e-03 9.99998750e-01 -6.94986944e-04 -3.17023502e-01] [ 1.90284021e-03 6.97689340e-04 9.99997946e-01 5.20919239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.791966745999996 meters Centerline goodness [0,1] 0.4821101018807046 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.32, Z:0.05 [[ 9.99996953e-01 1.82448251e-03 -1.66313602e-03 -1.85097038e-03] [-1.82520356e-03 9.99998241e-01 -4.32134592e-04 -3.16222355e-01] [ 1.66234467e-03 4.35168837e-04 9.99998524e-01 5.22716748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.821966745999998 meters Centerline goodness [0,1] 0.4726431437907064 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.31, Z:0.05 [[ 9.99996046e-01 2.21470180e-03 -1.73265439e-03 -1.72575891e-03] [-2.21533404e-03 9.99997480e-01 -3.63060704e-04 -3.13183230e-01] [ 1.73184595e-03 3.66897677e-04 9.99998433e-01 5.24530504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.851966746 meters Centerline goodness [0,1] 0.4765545361875637 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.31, Z:0.05 [[ 0.99998818 -0.00418894 -0.00246845 -0.02639463] [ 0.00419979 0.99998146 0.00440932 -0.31149969] [ 0.00244993 -0.00441963 0.99998723 0.05425976] [ 0. 0. 0. 1. ]] SLAMing on 21.881966745999996 meters Centerline goodness [0,1] 0.4788466187556317 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.31, Z:0.06 [[ 9.99994468e-01 1.31553900e-03 -3.05494169e-03 -6.43818876e-03] [-1.31708148e-03 9.99999006e-01 -5.02957035e-04 -3.12732890e-01] [ 3.05427699e-03 5.06977860e-04 9.99995207e-01 5.59395378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.911966745999997 meters Centerline goodness [0,1] 0.4950577326801959 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.31, Z:0.06 [[ 9.99994401e-01 9.02460505e-04 -3.22246944e-03 -6.35678305e-03] [-9.04759083e-04 9.99999337e-01 -7.11910550e-04 -3.14417742e-01] [ 3.22182483e-03 7.14822122e-04 9.99994554e-01 5.68438981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.941966746 meters Centerline goodness [0,1] 0.4950577326801959 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.31, Z:0.06 [[ 9.99994401e-01 9.02460505e-04 -3.22246944e-03 -6.35678305e-03] [-9.04759083e-04 9.99999337e-01 -7.11910550e-04 -3.14417742e-01] [ 3.22182483e-03 7.14822122e-04 9.99994554e-01 5.68438981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.971966746 meters Centerline goodness [0,1] 0.47322435798181783 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.32, Z:0.06 [[ 0.9999799 0.00573283 -0.00270667 -0.03486287] [-0.00574326 0.99997605 -0.0038614 -0.31768893] [ 0.00268447 0.00387686 0.99998888 0.05830723] [ 0. 0. 0. 1. ]] SLAMing on 22.001966745999997 meters Centerline goodness [0,1] 0.5011934742143873 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.32, Z:0.06 [[ 9.99998942e-01 8.66911958e-04 -1.16773770e-03 -9.63339339e-03] [-8.68066407e-04 9.99999135e-01 -9.88475966e-04 -3.16180483e-01] [ 1.16687977e-03 9.89488594e-04 9.99998830e-01 5.69585600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.031966746 meters Centerline goodness [0,1] 0.47561729758381555 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.31, Z:0.06 [[ 9.99998500e-01 1.39837228e-03 -1.02191526e-03 -1.03935018e-02] [-1.39906304e-03 9.99998793e-01 -6.75540297e-04 -3.14390694e-01] [ 1.02096937e-03 6.76969008e-04 9.99999250e-01 5.73638187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.061966746 meters Centerline goodness [0,1] 0.49883970401506195 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.31, Z:0.06 [[ 9.99998403e-01 1.43717746e-03 -1.06228444e-03 -9.59842926e-03] [-1.43796145e-03 9.99998694e-01 -7.37624224e-04 -3.12935517e-01] [ 1.06122295e-03 7.39150570e-04 9.99999164e-01 5.64187695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.091966745999997 meters Centerline goodness [0,1] 0.47551284016025575 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.31, Z:0.06 [[ 9.99998628e-01 1.20196030e-03 -1.14019614e-03 -9.60781434e-03] [-1.20277877e-03 9.99999019e-01 -7.17415377e-04 -3.14625882e-01] [ 1.13933272e-03 7.18785796e-04 9.99999093e-01 5.68134467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.121966746 meters Centerline goodness [0,1] 0.48090327403856725 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.32, Z:0.06 [[ 9.99998956e-01 1.01634527e-03 -1.02736248e-03 -1.02928576e-02] [-1.01706752e-03 9.99999236e-01 -7.02728351e-04 -3.16366325e-01] [ 1.02664749e-03 7.03772515e-04 9.99999225e-01 5.74148264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.151966746 meters Centerline goodness [0,1] 0.48877537303401 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.32, Z:0.06 [[ 9.99997455e-01 -1.04621097e-03 -1.99897496e-03 -5.64683636e-02] [ 1.04726255e-03 9.99999314e-01 5.25084254e-04 -3.19088235e-01] [ 1.99842424e-03 -5.27176369e-04 9.99997864e-01 5.76056692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.181966745999997 meters Centerline goodness [0,1] 0.47123903557103186 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.32, Z:0.06 [[ 9.99998724e-01 4.29037459e-04 -1.53903640e-03 -1.16585245e-02] [-4.31191671e-04 9.99998928e-01 -1.39965591e-03 -3.17910225e-01] [ 1.53843424e-03 1.40031774e-03 9.99997836e-01 5.85761532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.211966745999998 meters Centerline goodness [0,1] 0.47481744578525886 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.32, Z:0.06 [[ 0.99999879 0.00110959 -0.0010925 -0.013063 ] [-0.0011107 0.99999886 -0.00102491 -0.31539184] [ 0.00109136 0.00102612 0.99999888 0.05864197] [ 0. 0. 0. 1. ]] SLAMing on 22.241966746 meters Centerline goodness [0,1] 0.47235424933501935 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.31, Z:0.06 [[ 9.99995105e-01 -3.10122947e-03 4.15816682e-04 1.20320183e-02] [ 3.10009980e-03 9.99991576e-01 2.69040305e-03 -3.13573110e-01] [-4.24156736e-04 -2.68910081e-03 9.99996294e-01 5.75722949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.271966745999997 meters Centerline goodness [0,1] 0.4780208862296602 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.31, Z:0.06 [[ 9.99996920e-01 1.74337792e-03 -1.76635637e-03 -1.47479988e-02] [-1.74373485e-03 9.99998460e-01 -2.00556787e-04 -3.14854545e-01] [ 1.76600400e-03 2.03636226e-04 9.99998420e-01 6.03192953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.301966745999998 meters Centerline goodness [0,1] 0.473915357998403 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.32, Z:0.06 [[ 9.99997389e-01 1.39344615e-03 -1.81135227e-03 -1.48459057e-02] [-1.39399449e-03 9.99998983e-01 -3.01496078e-04 -3.16912397e-01] [ 1.81093031e-03 3.04020306e-04 9.99998314e-01 6.07369847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.331966746 meters Centerline goodness [0,1] 0.4734438094397493 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.32, Z:0.06 [[ 9.99997364e-01 1.19941736e-03 -1.95794788e-03 -1.42345242e-02] [-1.20022140e-03 9.99999196e-01 -4.09529956e-04 -3.17597742e-01] [ 1.95745510e-03 4.11878847e-04 9.99997999e-01 6.05034876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.361966745999997 meters Centerline goodness [0,1] 0.47485971811072325 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.32, Z:0.06 [[ 9.99997335e-01 1.43195735e-03 -1.81101166e-03 -1.44789855e-02] [-1.43269070e-03 9.99998892e-01 -4.03705932e-04 -3.16057027e-01] [ 1.81043157e-03 4.06299476e-04 9.99998279e-01 6.00548371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.391966745999998 meters Centerline goodness [0,1] 0.47132044102205106 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.31, Z:0.06 [[ 9.99996578e-01 1.55146266e-03 -2.10657042e-03 -1.31528861e-02] [-1.55249987e-03 9.99998674e-01 -4.90826812e-04 -3.14147097e-01] [ 2.10580613e-03 4.94095582e-04 9.99997661e-01 5.93762743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.421966746 meters Centerline goodness [0,1] 0.4792431268268026 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.31, Z:0.06 [[ 9.99996655e-01 1.55199142e-03 -2.06931186e-03 -1.29347896e-02] [-1.55310987e-03 9.99998649e-01 -5.38997557e-04 -3.13638919e-01] [ 2.06847254e-03 5.42209623e-04 9.99997714e-01 5.87299727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.451966745999997 meters Centerline goodness [0,1] 0.4739601614601615 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.31, Z:0.06 [[ 9.99996903e-01 1.38515053e-03 -2.06792568e-03 -1.30833209e-02] [-1.38640206e-03 9.99998857e-01 -6.03900320e-04 -3.14527305e-01] [ 2.06708683e-03 6.06765426e-04 9.99997679e-01 5.90539195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.481966745999998 meters Centerline goodness [0,1] 0.46996333760325104 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.32, Z:0.06 [[ 9.99997202e-01 1.28074342e-03 -1.98904409e-03 -1.36557368e-02] [-1.28192836e-03 9.99999002e-01 -5.94572811e-04 -3.15639302e-01] [ 1.98828061e-03 5.97120960e-04 9.99997845e-01 5.94917606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.511966746 meters Centerline goodness [0,1] 0.4962361461648195 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.32, Z:0.06 [[ 9.99997057e-01 1.09523820e-03 -2.16467028e-03 -1.32585141e-02] [-1.09673798e-03 9.99999159e-01 -6.91777476e-04 -3.16823519e-01] [ 2.16391080e-03 6.94149516e-04 9.99997418e-01 5.98721203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.541966745999996 meters Centerline goodness [0,1] 0.47501864280387773 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.32, Z:0.06 [[ 9.99997322e-01 1.09860988e-03 -2.03695673e-03 -1.39291588e-02] [-1.09999242e-03 9.99999165e-01 -6.77728870e-04 -3.17208775e-01] [ 2.03621047e-03 6.79967692e-04 9.99997696e-01 6.03121982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.571966745999998 meters Centerline goodness [0,1] 0.4978837012437325 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.32, Z:0.06 [[ 9.99997341e-01 1.20065627e-03 -1.96873349e-03 -1.41779624e-02] [-1.20218976e-03 9.99998975e-01 -7.77921320e-04 -3.15544336e-01] [ 1.96779746e-03 7.80286043e-04 9.99997759e-01 6.03855633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.601966746 meters Centerline goodness [0,1] 0.4803139191393677 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.32, Z:0.06 [[ 9.99996848e-01 -3.24544806e-05 -2.51039468e-03 -6.12764664e-02] [ 3.64546735e-05 9.99998730e-01 1.59342245e-03 -3.15744208e-01] [ 2.51033978e-03 -1.59350894e-03 9.99995579e-01 6.10276951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.631966745999996 meters Centerline goodness [0,1] 0.47992849734071896 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.32, Z:0.06 [[ 9.99997256e-01 -1.38028640e-04 -2.33845907e-03 -6.18527794e-02] [ 1.42101559e-04 9.99998473e-01 1.74163382e-03 -3.17209521e-01] [ 2.33821510e-03 -1.74196134e-03 9.99995749e-01 6.10554489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.661966745999997 meters Centerline goodness [0,1] 0.4727753303964758 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.32, Z:0.06 [[ 9.99996791e-01 -6.10569238e-04 -2.45887272e-03 -6.15351005e-02] [ 6.14237993e-04 9.99998699e-01 1.49156869e-03 -3.18950971e-01] [ 2.45795881e-03 -1.49307424e-03 9.99995865e-01 6.09982799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.691966746 meters Centerline goodness [0,1] 0.4750651530544635 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.32, Z:0.06 [[ 9.99996413e-01 -5.59665865e-04 -2.61917059e-03 -6.10059595e-02] [ 5.63529383e-04 9.99998754e-01 1.47458669e-03 -3.18216619e-01] [ 2.61834205e-03 -1.47605738e-03 9.99995483e-01 6.07383478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.721966746 meters Centerline goodness [0,1] 0.4759136029005372 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.32, Z:0.06 [[ 9.99997298e-01 -5.90214469e-05 -2.32378999e-03 -6.22404061e-02] [ 6.31505599e-05 9.99998419e-01 1.77685405e-03 -3.16247023e-01] [ 2.32368144e-03 -1.77699600e-03 9.99995721e-01 6.14977352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.751966745999997 meters Centerline goodness [0,1] 0.46804155821041626 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.32, Z:0.06 [[ 9.99997873e-01 9.03569727e-05 -2.06071253e-03 -6.34611528e-02] [-8.64983569e-05 9.99998243e-01 1.87247908e-03 -3.15423576e-01] [ 2.06087810e-03 -1.87229685e-03 9.99996124e-01 6.21065279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.781966746 meters Centerline goodness [0,1] 0.4766493208678779 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.32, Z:0.06 [[ 9.99997397e-01 -4.27068391e-04 -2.24113644e-03 -6.29366676e-02] [ 4.30990330e-04 9.99998376e-01 1.74978673e-03 -3.17930602e-01] [ 2.24038552e-03 -1.75074808e-03 9.99995958e-01 6.21758955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.811966746 meters Centerline goodness [0,1] 0.5009536336731338 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.32, Z:0.06 [[ 9.99996688e-01 -9.81372559e-04 -2.37918250e-03 -6.29829561e-02] [ 9.84925940e-04 9.99998401e-01 1.49281863e-03 -3.20759011e-01] [ 2.37771368e-03 -1.49515700e-03 9.99996055e-01 6.30178337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.841966745999997 meters Centerline goodness [0,1] 0.478617106314948 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.32, Z:0.06 [[ 0.99999601 -0.00144181 -0.00243116 -0.06339641] [ 0.00144503 0.99999808 0.00132515 -0.32338761] [ 0.00242924 -0.00132866 0.99999617 0.06391024] [ 0. 0. 0. 1. ]] SLAMing on 22.871966746 meters Centerline goodness [0,1] 0.4747519686790942 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.32, Z:0.06 [[ 0.99999615 -0.00126055 -0.00247309 -0.06362722] [ 0.00126419 0.99999812 0.00147117 -0.32302894] [ 0.00247123 -0.00147429 0.99999586 0.06431907] [ 0. 0. 0. 1. ]] SLAMing on 22.901966746 meters Centerline goodness [0,1] 0.49523391170656705 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.32, Z:0.06 [[ 0.99999416 0.00159607 -0.00302115 -0.06026841] [-0.00158253 0.99998872 0.00447892 -0.32192904] [ 0.00302827 -0.00447412 0.99998541 0.06226401] [ 0. 0. 0. 1. ]] SLAMing on 22.931966745999997 meters Centerline goodness [0,1] 0.49199547570365854 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.32, Z:0.06 [[ 0.99999415 0.0016524 -0.00299458 -0.05998748] [-0.0016389 0.99998851 0.00450471 -0.32047873] [ 0.00300199 -0.00449977 0.99998537 0.06164275] [ 0. 0. 0. 1. ]] SLAMing on 22.961966745999998 meters Centerline goodness [0,1] 0.49724071478626486 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.32, Z:0.06 [[ 0.9999949 0.0012205 -0.00294968 -0.06034909] [-0.00120784 0.99999006 0.00429185 -0.32108636] [ 0.00295489 -0.00428826 0.99998644 0.06226303] [ 0. 0. 0. 1. ]] SLAMing on 22.991966746 meters Centerline goodness [0,1] 0.49684058098205275 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.32, Z:0.06 [[ 9.99995505e-01 8.49504055e-04 -2.87555308e-03 -6.06751016e-02] [-8.37524795e-04 9.99990978e-01 4.16454131e-03 -3.22685181e-01] [ 2.87906493e-03 -4.16211424e-03 9.99987194e-01 6.24559951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.021966745999997 meters Centerline goodness [0,1] 0.49594132880677244 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.32, Z:0.06 [[ 9.99994246e-01 3.17110540e-04 -3.37747659e-03 -5.88153264e-02] [-3.03796956e-04 9.99992185e-01 3.94165698e-03 -3.24834914e-01] [ 3.37870014e-03 -3.94060823e-03 9.99986528e-01 6.19003201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.051966745999998 meters Centerline goodness [0,1] 0.4977930034916661 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.33, Z:0.06 [[ 9.99994422e-01 1.45334674e-04 -3.33685371e-03 -5.91932323e-02] [-1.32214838e-04 9.99992262e-01 3.93168240e-03 -3.26484619e-01] [ 3.33739930e-03 -3.93121929e-03 9.99986704e-01 6.22015985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.081966746 meters Centerline goodness [0,1] 0.4664960853781218 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.33, Z:0.06 [[ 9.99994101e-01 2.59764315e-04 -3.42485700e-03 -5.88139818e-02] [-2.46347683e-04 9.99992297e-01 3.91726851e-03 -3.25602892e-01] [ 3.42584818e-03 -3.91640170e-03 9.99986463e-01 6.18794378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.111966745999997 meters Centerline goodness [0,1] 0.5032737568571934 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.32, Z:0.06 [[ 0.99996714 0.00495689 -0.00641423 -0.08534616] [-0.00495016 0.99998718 0.00106604 -0.32367597] [ 0.00641943 -0.00103425 0.99997886 0.06493516] [ 0. 0. 0. 1. ]] SLAMing on 23.141966745999998 meters Centerline goodness [0,1] 0.4930434782608696 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.32, Z:0.06 [[ 0.99999431 -0.00101451 -0.00321625 -0.05800999] [ 0.00102327 0.99999577 0.00272338 -0.32470351] [ 0.00321348 -0.00272665 0.99999112 0.06066751] [ 0. 0. 0. 1. ]] SLAMing on 23.171966746 meters Centerline goodness [0,1] 0.5022214363077739 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.33, Z:0.07 [[ 0.99997934 0.00116526 -0.00632098 -0.08715913] [-0.00117843 0.99999714 -0.00207972 -0.32608736] [ 0.00631854 0.00208712 0.99997786 0.066628 ] [ 0. 0. 0. 1. ]] SLAMing on 23.201966745999997 meters Centerline goodness [0,1] 0.4692774407060122 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.33, Z:0.07 [[ 0.99997932 0.00110838 -0.00633475 -0.08713574] [-0.00112015 0.99999765 -0.00185398 -0.32787448] [ 0.00633268 0.00186104 0.99997822 0.06673356] [ 0. 0. 0. 1. ]] SLAMing on 23.231966745999998 meters Centerline goodness [0,1] 0.49715653338603083 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.33, Z:0.07 [[ 0.99997951 0.00115071 -0.00629791 -0.08707079] [-0.00116213 0.99999768 -0.00181104 -0.32757232] [ 0.00629582 0.00181832 0.99997853 0.06653315] [ 0. 0. 0. 1. ]] SLAMing on 23.261966746 meters Centerline goodness [0,1] 0.4975581855778961 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.33, Z:0.07 [[ 0.99997949 0.00142227 -0.00624413 -0.08754181] [-0.00143197 0.99999778 -0.00154835 -0.32720036] [ 0.00624192 0.00155726 0.99997931 0.06688604] [ 0. 0. 0. 1. ]] SLAMing on 23.291966745999996 meters Centerline goodness [0,1] 0.48755762382294465 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.33, Z:0.07 [[ 0.99998004 0.00138199 -0.00616535 -0.08726938] [-0.00139162 0.99999782 -0.00155789 -0.32685619] [ 0.00616318 0.00156644 0.99997978 0.06629993] [ 0. 0. 0. 1. ]] SLAMing on 23.321966745999998 meters Centerline goodness [0,1] 0.4967833698030635 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.33, Z:0.07 [[ 0.99998064 0.00148892 -0.00604229 -0.08790571] [-0.00149772 0.99999782 -0.00145199 -0.32704475] [ 0.00604011 0.00146101 0.99998069 0.06676415] [ 0. 0. 0. 1. ]] SLAMing on 23.351966746 meters Centerline goodness [0,1] 0.4573650202606505 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.33, Z:0.07 [[ 0.99998158 0.00146855 -0.00588927 -0.08878709] [-0.00147632 0.99999805 -0.00131495 -0.32885034] [ 0.00588733 0.00132362 0.99998179 0.06722636] [ 0. 0. 0. 1. ]] SLAMing on 23.381966745999996 meters Centerline goodness [0,1] 0.4689450549450549 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.33, Z:0.07 [[ 0.99998083 0.00165024 -0.00596847 -0.08913718] [-0.00165747 0.9999979 -0.00120786 -0.3304222 ] [ 0.00596647 0.00121773 0.99998146 0.06808622] [ 0. 0. 0. 1. ]] SLAMing on 23.411966745999997 meters Centerline goodness [0,1] 0.49857755602240894 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.33, Z:0.07 [[ 0.99998044 0.00186783 -0.00596975 -0.08906781] [-0.0018747 0.99999759 -0.00114572 -0.33040972] [ 0.0059676 0.00115689 0.99998152 0.06802414] [ 0. 0. 0. 1. ]] SLAMing on 23.441966746 meters Centerline goodness [0,1] 0.4945434663750683 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.33, Z:0.07 [[ 0.9999799 0.00236967 -0.00588038 -0.0892398 ] [-0.00237617 0.99999657 -0.00109735 -0.32804155] [ 0.00587776 0.0011113 0.99998211 0.06775205] [ 0. 0. 0. 1. ]] SLAMing on 23.471966746 meters Centerline goodness [0,1] 0.4982967944798672 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.33, Z:0.07 [[ 0.99997835 0.00275423 -0.00597541 -0.08894176] [-0.00276054 0.99999564 -0.00104749 -0.32611462] [ 0.0059725 0.00106396 0.9999816 0.06767958] [ 0. 0. 0. 1. ]] SLAMing on 23.501966745999997 meters Centerline goodness [0,1] 0.47505641071468463 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.33, Z:0.07 [[ 9.99975738e-01 1.51953476e-03 -6.79811050e-03 -1.35808190e-01] [-1.51338885e-03 9.99998442e-01 9.09114485e-04 -3.27230772e-01] [ 6.79948134e-03 -8.98804243e-04 9.99976479e-01 6.72274787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.531966746 meters Centerline goodness [0,1] 0.5023757149142103 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.33, Z:0.06 [[ 0.99999297 -0.00271385 -0.00258812 -0.11099261] [ 0.00272341 0.99998945 0.00369842 -0.32872614] [ 0.00257806 -0.00370545 0.99998981 0.06372507] [ 0. 0. 0. 1. ]] SLAMing on 23.561966746 meters Centerline goodness [0,1] 0.49376607524303584 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.33, Z:0.06 [[ 0.99999291 -0.0026018 -0.00272384 -0.11029543] [ 0.00261189 0.99998973 0.00370429 -0.32891848] [ 0.00271418 -0.00371138 0.99998943 0.06324683] [ 0. 0. 0. 1. ]] SLAMing on 23.591966745999997 meters Centerline goodness [0,1] 0.4978682467149135 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.33, Z:0.06 [[ 0.99999364 -0.00250961 -0.00253427 -0.1110243 ] [ 0.0025189 0.9999901 0.00366752 -0.32813229] [ 0.00252504 -0.00367388 0.99999006 0.0633873 ] [ 0. 0. 0. 1. ]] SLAMing on 23.621966746 meters Centerline goodness [0,1] 0.466789667896679 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.33, Z:0.07 [[ 0.99997999 0.00289402 -0.00562471 -0.1382073 ] [-0.00288609 0.99999483 0.00141669 -0.32709493] [ 0.00562878 -0.00140043 0.99998318 0.06750385] [ 0. 0. 0. 1. ]] SLAMing on 23.651966746 meters Centerline goodness [0,1] 0.5010571290137867 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.33, Z:0.07 [[ 0.99998089 0.00240572 -0.00569457 -0.13794858] [-0.00239949 0.99999652 0.00110088 -0.32823016] [ 0.0056972 -0.00108719 0.99998318 0.06757473] [ 0. 0. 0. 1. ]] SLAMing on 23.681966745999997 meters Centerline goodness [0,1] 0.4961660294920809 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.33, Z:0.07 [[ 0.99997951 0.00217487 -0.00602142 -0.13654925] [-0.00216862 0.9999971 0.00104308 -0.32964025] [ 0.00602367 -0.00103 0.99998133 0.06707377] [ 0. 0. 0. 1. ]] SLAMing on 23.711966745999998 meters Centerline goodness [0,1] 0.5012936326960182 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.33, Z:0.07 [[ 9.99979675e-01 2.06694873e-03 -6.03130766e-03 -1.36450288e-01] [-2.06143392e-03 9.99997452e-01 9.20437053e-04 -3.29534430e-01] [ 6.03319479e-03 -9.07985203e-04 9.99981388e-01 6.66731868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.741966746 meters Centerline goodness [0,1] 0.4972044816689134 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.33, Z:0.07 [[ 9.99979041e-01 1.79927616e-03 -6.21941013e-03 -1.35755882e-01] [-1.79405224e-03 9.99998033e-01 8.45416049e-04 -3.30935020e-01] [ 6.22091904e-03 -8.34240383e-04 9.99980302e-01 6.63642195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.771966745999997 meters Centerline goodness [0,1] 0.47008907745962636 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.33, Z:0.07 [[ 9.99980282e-01 1.91276927e-03 -5.98138358e-03 -1.36561494e-01] [-1.90686345e-03 9.99997689e-01 9.92913781e-04 -3.30442889e-01] [ 5.98326897e-03 -9.81488521e-04 9.99981618e-01 6.63721291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.801966745999998 meters Centerline goodness [0,1] 0.4764054990499609 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.33, Z:0.07 [[ 9.99980619e-01 1.94459734e-03 -5.91447023e-03 -1.36307672e-01] [-1.93941843e-03 9.99997731e-01 8.81242515e-04 -3.28516078e-01] [ 5.91617047e-03 -8.69754802e-04 9.99982121e-01 6.55003476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.831966746 meters Centerline goodness [0,1] 0.4764054990499609 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.33, Z:0.07 [[ 9.99980619e-01 1.94459734e-03 -5.91447023e-03 -1.36307672e-01] [-1.93941843e-03 9.99997731e-01 8.81242515e-04 -3.28516078e-01] [ 5.91617047e-03 -8.69754802e-04 9.99982121e-01 6.55003476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.861966745999997 meters Centerline goodness [0,1] 0.47582859276505085 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.33, Z:0.06 [[ 0.99998945 -0.00357942 -0.00287727 -0.1096874 ] [ 0.00358803 0.99998908 0.00299376 -0.32902077] [ 0.00286653 -0.00300405 0.99999138 0.06178837] [ 0. 0. 0. 1. ]] SLAMing on 23.891966745999998 meters Centerline goodness [0,1] 0.4959824053306622 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.33, Z:0.06 [[ 0.99999634 0.0022149 -0.00155106 -0.08660345] [-0.00221774 0.99999587 -0.00182996 -0.33078639] [ 0.001547 0.00183339 0.99999712 0.05976198] [ 0. 0. 0. 1. ]] SLAMing on 23.921966746 meters Centerline goodness [0,1] 0.4955031467084776 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.33, Z:0.06 [[ 0.99999659 0.00199115 -0.00169094 -0.08633163] [-0.00199412 0.99999647 -0.0017562 -0.33346738] [ 0.00168744 0.00175956 0.99999703 0.05976107] [ 0. 0. 0. 1. ]] SLAMing on 23.951966745999997 meters Centerline goodness [0,1] 0.4842476611516735 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.33, Z:0.06 [[ 9.99994491e-01 7.37410870e-04 -3.23626236e-03 -1.32110426e-01] [-7.36232154e-04 9.99999662e-01 3.65397519e-04 -3.33656606e-01] [ 3.23653072e-03 -3.63012866e-04 9.99994697e-01 5.95062426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.981966745999998 meters Centerline goodness [0,1] 0.484381913105035 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.33, Z:0.06 [[ 9.99993114e-01 8.74262811e-04 -3.60650539e-03 -1.30261753e-01] [-8.72492810e-04 9.99999498e-01 4.92324084e-04 -3.33447784e-01] [ 3.60693400e-03 -4.89174044e-04 9.99993375e-01 5.82337291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.011966746 meters Centerline goodness [0,1] 0.5000547753116715 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.33, Z:0.06 [[ 9.99992807e-01 9.14621995e-04 -3.68100487e-03 -1.29408631e-01] [-9.13255012e-04 9.99999513e-01 3.73025030e-04 -3.30827891e-01] [ 3.68134426e-03 -3.69660651e-04 9.99993156e-01 5.72073110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.041966745999996 meters Centerline goodness [0,1] 0.49673530889000506 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.33, Z:0.06 [[ 9.99992625e-01 6.04748197e-04 -3.79270809e-03 -1.28690409e-01] [-6.03909997e-04 9.99999793e-01 2.22144368e-04 -3.31274146e-01] [ 3.79284165e-03 -2.19852275e-04 9.99992783e-01 5.67834257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.071966745999998 meters Centerline goodness [0,1] 0.5016430793497788 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.33, Z:0.06 [[ 9.99992784e-01 3.55842255e-04 -3.78235106e-03 -1.29131308e-01] [-3.54679740e-04 9.99999890e-01 3.08018810e-04 -3.33807691e-01] [ 3.78246024e-03 -3.06675064e-04 9.99992799e-01 5.75370983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.101966746 meters Centerline goodness [0,1] 0.501306228183794 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.34, Z:0.06 [[ 9.99993792e-01 1.89701331e-04 -3.51847597e-03 -1.30382612e-01] [-1.89007008e-04 9.99999963e-01 1.97667663e-04 -3.35076077e-01] [ 3.51851333e-03 -1.97001420e-04 9.99993791e-01 5.81431433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.131966745999996 meters Centerline goodness [0,1] 0.49589257157878597 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.34, Z:0.06 [[ 9.99994356e-01 2.62053287e-04 -3.34946359e-03 -1.31183297e-01] [-2.61176263e-04 9.99999931e-01 2.62275096e-04 -3.35507271e-01] [ 3.34953209e-03 -2.61398815e-04 9.99994356e-01 5.86355112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.161966745999997 meters Centerline goodness [0,1] 0.48230883900385835 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.34, Z:0.06 [[ 9.99995180e-01 5.08306566e-04 -3.06306951e-03 -1.32759843e-01] [-5.07025296e-04 9.99999784e-01 4.19058371e-04 -3.35026983e-01] [ 3.06328186e-03 -4.17503297e-04 9.99995221e-01 5.97043046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.191966746 meters Centerline goodness [0,1] 0.4827760224679656 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.33, Z:0.06 [[ 9.99996002e-01 4.96147707e-04 -2.78396494e-03 -1.33805878e-01] [-4.94952209e-04 9.99999785e-01 4.30095393e-04 -3.34761565e-01] [ 2.78417773e-03 -4.28715744e-04 9.99996032e-01 6.01415293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.221966746 meters Centerline goodness [0,1] 0.504877447132958 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.34, Z:0.06 [[ 0.99999301 -0.0011267 -0.00356582 -0.18160837] [ 0.00113501 0.99999664 0.00232909 -0.33567344] [ 0.00356318 -0.00233312 0.99999093 0.06163688] [ 0. 0. 0. 1. ]] SLAMing on 24.251966745999997 meters Centerline goodness [0,1] 0.49959501762220615 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.34, Z:0.06 [[ 9.99995435e-01 -2.09378477e-04 -3.01427454e-03 -1.34994790e-01] [ 2.08819915e-04 9.99999961e-01 -1.85619219e-04 -3.35389167e-01] [ 3.01431329e-03 1.84988931e-04 9.99995440e-01 6.05696655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.281966746 meters Centerline goodness [0,1] 0.48792385228033064 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.34, Z:0.06 [[ 9.99988019e-01 -4.85706568e-03 6.08943914e-04 -1.09192995e-01] [ 4.85541453e-03 9.99984610e-01 2.68427069e-03 -3.36889111e-01] [-6.21972221e-04 -2.68128186e-03 9.99996212e-01 5.69172419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.311966746 meters Centerline goodness [0,1] 0.503199431212229 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.34, Z:0.06 [[ 9.99997111e-01 -2.40222266e-03 8.65691061e-05 -1.77906138e-01] [ 2.40193167e-03 9.99991938e-01 3.21779986e-03 -3.38489114e-01] [-9.42982799e-05 -3.21758263e-03 9.99994819e-01 5.85181311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.341966745999997 meters Centerline goodness [0,1] 0.4968531391855442 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99998726 0.003846 0.00326869 -0.15314482] [-0.00384224 0.99999195 -0.00115355 -0.33650501] [-0.0032731 0.00114098 0.99999399 0.05317849] [ 0. 0. 0. 1. ]] SLAMing on 24.371966746 meters Centerline goodness [0,1] 0.4956466711763807 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99998733 0.00386439 0.00322466 -0.15247017] [-0.00386066 0.99999188 -0.00115981 -0.33628869] [-0.00322911 0.00114734 0.99999413 0.05250113] [ 0. 0. 0. 1. ]] SLAMing on 24.401966746 meters Centerline goodness [0,1] 0.4982176052487698 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99998884 0.00369666 0.00294195 -0.15195371] [-0.00369298 0.99999239 -0.00125616 -0.33749109] [-0.00294657 0.00124528 0.99999488 0.05289948] [ 0. 0. 0. 1. ]] SLAMing on 24.431966745999997 meters Centerline goodness [0,1] 0.49582013375571987 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99998744 0.00392123 0.00312258 -0.15254774] [-0.00391743 0.99999158 -0.00122173 -0.3366724 ] [-0.00312734 0.00120948 0.99999438 0.05298089] [ 0. 0. 0. 1. ]] SLAMing on 24.461966745999998 meters Centerline goodness [0,1] 0.481410510550196 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99998799 0.00382446 0.00306551 -0.15230175] [-0.00382021 0.99999173 -0.0013919 -0.33628228] [-0.0030708 0.00138017 0.99999433 0.05272769] [ 0. 0. 0. 1. ]] SLAMing on 24.491966746 meters Centerline goodness [0,1] 0.4989715085999388 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99998906 0.00380236 0.00272291 -0.15086179] [-0.00379856 0.99999181 -0.00139917 -0.33606004] [-0.0027282 0.00138881 0.99999531 0.05200575] [ 0. 0. 0. 1. ]] SLAMing on 24.521966745999997 meters Centerline goodness [0,1] 0.4991327258755077 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99999004 0.00372911 0.00245395 -0.14965042] [-0.00372531 0.99999186 -0.0015523 -0.33556612] [-0.00245972 0.00154314 0.99999578 0.05144228] [ 0. 0. 0. 1. ]] SLAMing on 24.551966745999998 meters Centerline goodness [0,1] 0.49569981664192786 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99999137 0.00351814 0.00221142 -0.14884424] [-0.00351438 0.99999237 -0.00170528 -0.33613778] [-0.0022174 0.00169749 0.9999961 0.05121936] [ 0. 0. 0. 1. ]] SLAMing on 24.581966746 meters Centerline goodness [0,1] 0.49684552988503217 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.33, Z:0.05 [[ 0.99999257 -0.00279792 0.00265187 -0.17093724] [ 0.00278975 0.99999137 0.00307899 -0.33327326] [-0.00266047 -0.00307157 0.99999174 0.05023137] [ 0. 0. 0. 1. ]] SLAMing on 24.611966745999997 meters Centerline goodness [0,1] 0.48711328831810763 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.33, Z:0.05 [[ 0.99999332 -0.0026558 0.00250987 -0.17043655] [ 0.00264767 0.99999125 0.00323884 -0.33437401] [-0.00251845 -0.00323217 0.99999161 0.05008202] [ 0. 0. 0. 1. ]] SLAMing on 24.641966745999998 meters Centerline goodness [0,1] 0.49436924624434186 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99999264 0.00301312 0.00237499 -0.14952639] [-0.00300789 0.99999305 -0.00220312 -0.33708874] [-0.00238161 0.00219596 0.99999475 0.05156284] [ 0. 0. 0. 1. ]] SLAMing on 24.671966746 meters Centerline goodness [0,1] 0.5031084554381494 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99999164 0.00329822 0.00241707 -0.14992234] [-0.00329329 0.99999249 -0.00204157 -0.3365611 ] [-0.00242378 0.00203359 0.99999499 0.05194058] [ 0. 0. 0. 1. ]] SLAMing on 24.701966745999997 meters Centerline goodness [0,1] 0.5012862514016843 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99999112 0.0033786 0.00252091 -0.15028612] [-0.00337341 0.9999922 -0.00205637 -0.3360268 ] [-0.00252783 0.00204785 0.99999471 0.05197786] [ 0. 0. 0. 1. ]] SLAMing on 24.731966745999998 meters Centerline goodness [0,1] 0.49363706056291756 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.33, Z:0.05 [[ 0.99999086 0.00339279 0.00260276 -0.15042777] [-0.0033872 0.99999196 -0.00214735 -0.33468912] [-0.00261002 0.00213852 0.99999431 0.0518409 ] [ 0. 0. 0. 1. ]] SLAMing on 24.761966746 meters Centerline goodness [0,1] 0.5016167704186005 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.33, Z:0.05 [[ 0.9999913 0.00332614 0.00251625 -0.15039362] [-0.00332066 0.99999212 -0.00217663 -0.33451163] [-0.00252347 0.00216826 0.99999447 0.05210565] [ 0. 0. 0. 1. ]] SLAMing on 24.791966745999996 meters Centerline goodness [0,1] 0.4973554224767234 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.33, Z:0.05 [[ 0.99999138 0.00330051 0.00251899 -0.15026468] [-0.00329494 0.99999213 -0.00221021 -0.33453371] [-0.00252627 0.00220189 0.99999438 0.05193112] [ 0. 0. 0. 1. ]] SLAMing on 24.821966745999998 meters Centerline goodness [0,1] 0.48383632498301443 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.33, Z:0.05 [[ 0.99999148 0.00327939 0.00250704 -0.15029127] [-0.00327382 0.99999217 -0.00222273 -0.33425275] [-0.0025143 0.0022145 0.99999439 0.05189503] [ 0. 0. 0. 1. ]] SLAMing on 24.851966746 meters Centerline goodness [0,1] 0.4811312532682587 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99999363 0.00273715 0.00229015 -0.14975362] [-0.00273134 0.99999306 -0.00253419 -0.33580504] [-0.00229707 0.00252792 0.99999417 0.05216803] [ 0. 0. 0. 1. ]] SLAMing on 24.881966745999996 meters Centerline goodness [0,1] 0.49735934703854046 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99999314 0.00289831 0.00230845 -0.14992661] [-0.00289297 0.99999315 -0.00231043 -0.33598954] [-0.00231513 0.00230374 0.99999467 0.05226391] [ 0. 0. 0. 1. ]] SLAMing on 24.911966745999997 meters Centerline goodness [0,1] 0.48122507996319497 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99999314 0.00284334 0.00237557 -0.15045684] [-0.00283789 0.99999334 -0.00229448 -0.33637869] [-0.00238208 0.00228772 0.99999455 0.05279656] [ 0. 0. 0. 1. ]] SLAMing on 24.941966746 meters Centerline goodness [0,1] 0.49854527158576334 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99999358 0.00272398 0.00233008 -0.15065376] [-0.00271877 0.9999938 -0.00223661 -0.33784046] [-0.00233616 0.00223026 0.99999478 0.0531829 ] [ 0. 0. 0. 1. ]] SLAMing on 24.971966746 meters Centerline goodness [0,1] 0.4821172170734891 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99999461 0.00248436 0.00214638 -0.14988283] [-0.00247926 0.9999941 -0.00237598 -0.33778388] [-0.00215227 0.00237064 0.99999487 0.0527732 ] [ 0. 0. 0. 1. ]] SLAMing on 25.001966745999997 meters Centerline goodness [0,1] 0.4976751293413958 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99999537 0.00229228 0.00200342 -0.149599 ] [-0.00228782 0.99999491 -0.00222555 -0.34068537] [-0.00200852 0.00222096 0.99999552 0.05293311] [ 0. 0. 0. 1. ]] SLAMing on 25.031966746 meters Centerline goodness [0,1] 0.4804499781564002 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99999602 0.00205701 0.00193094 -0.1497982 ] [-0.00205279 0.99999551 -0.00218229 -0.34262091] [-0.00193542 0.00217832 0.99999575 0.05347895] [ 0. 0. 0. 1. ]] SLAMing on 25.061966746 meters Centerline goodness [0,1] 0.4808339525328904 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99999565 0.00230015 0.00184691 -0.14930361] [-0.00229625 0.99999514 -0.00210744 -0.34180292] [-0.00185175 0.00210319 0.99999607 0.05299987] [ 0. 0. 0. 1. ]] SLAMing on 25.091966745999997 meters Centerline goodness [0,1] 0.48026039942623855 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.34, Z:0.05 [[ 9.99993172e-01 -3.60163927e-03 8.27480343e-04 -1.73037943e-01] [ 3.59891294e-03 9.99988168e-01 3.27294055e-03 -3.39024165e-01] [-8.39258503e-04 -3.26994017e-03 9.99994302e-01 5.47997677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.121966746 meters Centerline goodness [0,1] 0.498760276654052 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99999436 0.00191849 0.00275672 -0.14598956] [-0.00191282 0.99999605 -0.00205843 -0.33864068] [-0.00276066 0.00205315 0.99999408 0.04948196] [ 0. 0. 0. 1. ]] SLAMing on 25.151966746 meters Centerline goodness [0,1] 0.49926562465747415 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99999488 0.00183998 0.0026185 -0.14574334] [-0.00183497 0.99999648 -0.00191448 -0.34075508] [-0.00262201 0.00190967 0.99999474 0.0494744 ] [ 0. 0. 0. 1. ]] SLAMing on 25.181966745999997 meters Centerline goodness [0,1] 0.49749083609705014 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99999513 0.00170264 0.00261426 -0.14556302] [-0.00169734 0.99999651 -0.00202693 -0.34111432] [-0.0026177 0.00202248 0.99999453 0.04920983] [ 0. 0. 0. 1. ]] SLAMing on 25.211966745999998 meters Centerline goodness [0,1] 0.4823198470430521 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99999541 0.00156269 0.00259664 -0.14610798] [-0.00155774 0.99999697 -0.00190469 -0.34340572] [-0.00259961 0.00190064 0.99999481 0.05006688] [ 0. 0. 0. 1. ]] SLAMing on 25.241966746 meters Centerline goodness [0,1] 0.48041210053153094 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99999515 0.00171096 0.00260393 -0.14611263] [-0.00170606 0.99999677 -0.00188563 -0.34225811] [-0.00260714 0.00188118 0.99999483 0.04989559] [ 0. 0. 0. 1. ]] SLAMing on 25.271966745999997 meters Centerline goodness [0,1] 0.5070625860613868 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.34, Z:0.05 [[ 9.99999573e-01 7.14778480e-04 5.86502695e-04 -1.88625303e-01] [-7.15084664e-04 9.99999608e-01 5.22005988e-04 -3.43307768e-01] [-5.86129347e-04 -5.22425163e-04 9.99999692e-01 4.85870597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.301966745999998 meters Centerline goodness [0,1] 0.5015266837773253 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.34, Z:0.05 [[ 9.99999907e-01 4.27224034e-04 -6.67570613e-05 -1.85562019e-01] [-4.27210354e-04 9.99999888e-01 2.04792325e-04 -3.43063260e-01] [ 6.68445460e-05 -2.04763786e-04 9.99999977e-01 4.66769523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.331966746 meters Centerline goodness [0,1] 0.4847887940468374 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.34, Z:0.04 [[ 9.99999809e-01 5.72545633e-04 -2.34694387e-04 -1.83936531e-01] [-5.72479268e-04 9.99999796e-01 2.82742947e-04 -3.42039351e-01] [ 2.34856223e-04 -2.82608535e-04 9.99999932e-01 4.48610420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.361966745999997 meters Centerline goodness [0,1] 0.48830177018496446 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.34, Z:0.05 [[ 9.99999857e-01 4.88012633e-04 -2.17704402e-04 -1.84382365e-01] [-4.87946401e-04 9.99999835e-01 3.04174996e-04 -3.42686606e-01] [ 2.17852808e-04 -3.04068724e-04 9.99999930e-01 4.53983905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.391966745999998 meters Centerline goodness [0,1] 0.5013817001491359 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.34, Z:0.05 [[ 9.99999887e-01 4.55168862e-04 -1.38746039e-04 -1.84893852e-01] [-4.55117308e-04 9.99999827e-01 3.71375332e-04 -3.43147739e-01] [ 1.38915054e-04 -3.71312144e-04 9.99999921e-01 4.58792377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.421966746 meters Centerline goodness [0,1] 0.48620111978133407 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.34, Z:0.05 [[ 9.99999873e-01 4.68134540e-04 1.86453419e-04 -1.86393819e-01] [-4.68234087e-04 9.99999748e-01 5.34211190e-04 -3.44158114e-01] [-1.86203290e-04 -5.34298426e-04 9.99999840e-01 4.68340265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.451966745999997 meters Centerline goodness [0,1] 0.5022234879186839 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.34, Z:0.05 [[ 9.99999878e-01 4.43355610e-04 2.19091636e-04 -1.86630367e-01] [-4.43470271e-04 9.99999765e-01 5.23577702e-04 -3.44137877e-01] [-2.18859454e-04 -5.23674799e-04 9.99999839e-01 4.70642837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.481966745999998 meters Centerline goodness [0,1] 0.4855389234777233 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.34, Z:0.05 [[ 9.99999777e-01 5.74590997e-04 3.39315228e-04 -1.87838697e-01] [-5.74801441e-04 9.99999642e-01 6.20432585e-04 -3.44434700e-01] [-3.38958612e-04 -6.20627486e-04 9.99999750e-01 4.84067261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.511966746 meters Centerline goodness [0,1] 0.4986689941086625 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.34, Z:0.05 [[ 9.99999802e-01 6.20498146e-04 1.09010029e-04 -1.87146233e-01] [-6.20566209e-04 9.99999612e-01 6.25453318e-04 -3.44361824e-01] [-1.08621895e-04 -6.25520842e-04 9.99999798e-01 4.82747218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.541966745999996 meters Centerline goodness [0,1] 0.4898004533131861 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.35, Z:0.05 [[ 9.99999323e-01 -1.16322880e-03 -2.57839427e-05 -2.35960716e-01] [ 1.16328636e-03 9.99996544e-01 2.35768427e-03 -3.45047492e-01] [ 2.30413274e-05 -2.35771267e-03 9.99997220e-01 4.94324228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.571966745999998 meters Centerline goodness [0,1] 0.4808728859792689 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.34, Z:0.05 [[ 9.99999366e-01 4.23318786e-04 1.04346905e-03 -1.92002928e-01] [-4.23610925e-04 9.99999871e-01 2.79763515e-04 -3.43125652e-01] [-1.04335049e-03 -2.80205363e-04 9.99999416e-01 4.99853230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.601966746 meters Centerline goodness [0,1] 0.4837870340002186 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.34, Z:0.05 [[ 9.99999187e-01 4.44696875e-04 1.19542940e-03 -1.92895014e-01] [-4.45075707e-04 9.99999851e-01 3.16653344e-04 -3.43059365e-01] [-1.19528841e-03 -3.17185143e-04 9.99999235e-01 5.05831779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.631966745999996 meters Centerline goodness [0,1] 0.5051730603781077 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.34, Z:0.05 [[ 9.99998964e-01 4.49129855e-04 1.36757856e-03 -1.93931364e-01] [-4.49654200e-04 9.99999826e-01 3.83127824e-04 -3.43608515e-01] [-1.36740625e-03 -3.83742365e-04 9.99998991e-01 5.15036894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.661966745999997 meters Centerline goodness [0,1] 0.48602858865065013 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 0.99999478 0.00187168 0.0026349 -0.14980484] [-0.00186684 0.99999657 -0.0018357 -0.34338522] [-0.00263833 0.00183077 0.99999484 0.05154281] [ 0. 0. 0. 1. ]] SLAMing on 25.691966746 meters Centerline goodness [0,1] 0.480871767528659 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.34, Z:0.06 [[ 9.99989379e-01 4.53388530e-03 8.27787658e-04 -2.22107595e-01] [-4.53254071e-03 9.99988417e-01 -1.61903392e-03 -3.43529221e-01] [-8.35118584e-04 1.61526475e-03 9.99998347e-01 5.65345158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.721966745999996 meters Centerline goodness [0,1] 0.5034673761339846 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.34, Z:0.05 [[ 9.99988589e-01 7.86181083e-04 4.71200925e-03 -1.96903563e-01] [-7.92711148e-04 9.99998728e-01 1.38412723e-03 -3.44074040e-01] [-4.71091508e-03 -1.38784669e-03 9.99987941e-01 5.26198123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.751966745999997 meters Centerline goodness [0,1] 0.5034673761339846 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.34, Z:0.05 [[ 9.99988589e-01 7.86181083e-04 4.71200925e-03 -1.96903563e-01] [-7.92711148e-04 9.99998728e-01 1.38412723e-03 -3.44074040e-01] [-4.71091508e-03 -1.38784669e-03 9.99987941e-01 5.26198123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.781966746 meters Centerline goodness [0,1] 0.48405474428655626 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.34, Z:0.05 [[ 9.99990252e-01 7.89088049e-04 4.34429782e-03 -1.95797553e-01] [-7.94710564e-04 9.99998849e-01 1.29265467e-03 -3.44229130e-01] [-4.34327280e-03 -1.29609453e-03 9.99989728e-01 5.24343327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.811966746 meters Centerline goodness [0,1] 0.4785414720006954 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.34, Z:0.05 [[ 9.99991241e-01 7.01359240e-04 4.12626343e-03 -1.94859218e-01] [-7.06176853e-04 9.99999071e-01 1.16620745e-03 -3.44358557e-01] [-4.12544167e-03 -1.16911111e-03 9.99990807e-01 5.19859888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.841966745999997 meters Centerline goodness [0,1] 0.5054583716953833 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.34, Z:0.05 [[ 9.99990955e-01 7.70058883e-04 4.18291739e-03 -1.94997604e-01] [-7.75038694e-04 9.99998993e-01 1.18902084e-03 -3.44309328e-01] [-4.18199756e-03 -1.19225201e-03 9.99990545e-01 5.18087091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.871966746 meters Centerline goodness [0,1] 0.4748264651612336 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.34, Z:0.05 [[ 9.99991499e-01 8.11079588e-04 4.04289556e-03 -1.94967373e-01] [-8.16199786e-04 9.99998867e-01 1.26497912e-03 -3.44803692e-01] [-4.04186498e-03 -1.26826817e-03 9.99991027e-01 5.23271239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.901966746 meters Centerline goodness [0,1] 0.4798893805309734 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99991247e-01 7.61735277e-04 4.11419303e-03 -1.95412822e-01] [-7.67053854e-04 9.99998872e-01 1.29131561e-03 -3.45308965e-01] [-4.11320475e-03 -1.29446011e-03 9.99990703e-01 5.27034677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.931966745999997 meters Centerline goodness [0,1] 0.4822778356571277 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99991443e-01 5.59188327e-04 4.09896630e-03 -1.95236563e-01] [-5.64500545e-04 9.99999002e-01 1.29494744e-03 -3.47008106e-01] [-4.09823809e-03 -1.29725022e-03 9.99990761e-01 5.23241783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.961966745999998 meters Centerline goodness [0,1] 0.4983143745785936 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.35, Z:0.05 [[ 9.99986823e-01 8.55218180e-04 5.06191074e-03 -1.50762674e-01] [-8.47651783e-04 9.99998521e-01 -1.49672759e-03 -3.46315498e-01] [-5.06318328e-03 1.49241713e-03 9.99986068e-01 5.24980050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.991966746 meters Centerline goodness [0,1] 0.5036651947882453 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.35, Z:0.05 [[ 9.99986831e-01 7.80643590e-04 5.07238184e-03 -1.51200967e-01] [-7.72708870e-04 9.99998475e-01 -1.56607020e-03 -3.45764632e-01] [-5.07359665e-03 1.56213011e-03 9.99985909e-01 5.32085202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.021966745999997 meters Centerline goodness [0,1] 0.4993265261785792 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 9.99985881e-01 9.97527938e-04 5.21948122e-03 -1.51595132e-01] [-9.89597333e-04 9.99998352e-01 -1.52178596e-03 -3.43871751e-01] [-5.22099065e-03 1.51659928e-03 9.99985220e-01 5.31194215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.051966745999998 meters Centerline goodness [0,1] 0.5000539037064189 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 9.99985333e-01 8.87765198e-04 5.34283982e-03 -1.52423476e-01] [-8.79602151e-04 9.99998443e-01 -1.53000396e-03 -3.44523762e-01] [-5.34418978e-03 1.52528195e-03 9.99984556e-01 5.40402183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.081966746 meters Centerline goodness [0,1] 0.48062185722755324 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99991299e-01 -3.03825189e-04 4.16049727e-03 -1.98743237e-01] [ 3.00325341e-04 9.99999601e-01 8.41807787e-04 -3.46246725e-01] [-4.16075137e-03 -8.40550960e-04 9.99990991e-01 5.48209571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.111966745999997 meters Centerline goodness [0,1] 0.501425938925939 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99991882e-01 -2.76834695e-04 4.01989872e-03 -1.98162060e-01] [ 2.73675318e-04 9.99999653e-01 7.86463224e-04 -3.46277659e-01] [-4.02011505e-03 -7.85356692e-04 9.99991611e-01 5.45715695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.141966745999998 meters Centerline goodness [0,1] 0.49975966790474113 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99992219e-01 -1.70283082e-04 3.94113679e-03 -1.97955942e-01] [ 1.67804330e-04 9.99999788e-01 6.29265566e-04 -3.45069491e-01] [-3.94124311e-03 -6.28599330e-04 9.99992036e-01 5.45293755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.171966746 meters Centerline goodness [0,1] 0.48642841482131116 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.34, Z:0.05 [[ 9.99992067e-01 1.94576870e-05 3.98323626e-03 -1.98176008e-01] [-2.17013534e-05 9.99999841e-01 5.63234813e-04 -3.43268468e-01] [-3.98322467e-03 -5.63316786e-04 9.99991908e-01 5.46216862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.201966745999997 meters Centerline goodness [0,1] 0.48555029480078615 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.34, Z:0.05 [[ 0.9999961 -0.00132608 0.00245722 -0.24238983] [ 0.00131989 0.99999595 0.00251963 -0.3440593 ] [-0.00246056 -0.00251638 0.99999381 0.05434712] [ 0. 0. 0. 1. ]] SLAMing on 26.231966745999998 meters Centerline goodness [0,1] 0.49179976417622473 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.34, Z:0.05 [[ 9.99994750e-01 -3.44322110e-04 3.22217019e-03 -1.95763257e-01] [ 3.44636676e-04 9.99999936e-01 -9.70706581e-05 -3.43833866e-01] [-3.22213656e-03 9.81806265e-05 9.99994804e-01 5.31557937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.261966746 meters Centerline goodness [0,1] 0.4804592244114029 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99994329e-01 -7.16486367e-04 3.29082439e-03 -1.96620444e-01] [ 7.16877159e-04 9.99999736e-01 -1.17573873e-04 -3.46882088e-01] [-3.29073928e-03 1.19932323e-04 9.99994578e-01 5.41092267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.291966745999996 meters Centerline goodness [0,1] 0.4811259143155695 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99994256e-01 -6.39686982e-04 3.32860217e-03 -1.96837105e-01] [ 6.40073848e-04 9.99999789e-01 -1.15160803e-04 -3.46754613e-01] [-3.32852780e-03 1.17290693e-04 9.99994454e-01 5.41549090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.321966745999998 meters Centerline goodness [0,1] 0.4851689843528977 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99994523e-01 -3.69644335e-04 3.28911349e-03 -1.96630842e-01] [ 3.69597534e-04 9.99999932e-01 1.48368486e-05 -3.45539200e-01] [-3.28911875e-03 -1.36211190e-05 9.99994591e-01 5.38046194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.351966746 meters Centerline goodness [0,1] 0.48560283998772846 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99994144e-01 -2.93944905e-04 3.40965363e-03 -1.96995757e-01] [ 2.93701524e-04 9.99999954e-01 7.18806674e-05 -3.45277382e-01] [-3.40967461e-03 -7.08788260e-05 9.99994185e-01 5.36579291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.381966745999996 meters Centerline goodness [0,1] 0.48566109658259826 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99994585e-01 -2.72065136e-04 3.27974454e-03 -1.96872063e-01] [ 2.71418642e-04 9.99999944e-01 1.97560486e-04 -3.46088595e-01] [-3.27979810e-03 -1.96669233e-04 9.99994602e-01 5.40480361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.411966745999997 meters Centerline goodness [0,1] 0.48582276258613877 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99994038e-01 -4.43034677e-04 3.42453328e-03 -1.97319167e-01] [ 4.42456488e-04 9.99999888e-01 1.69593328e-04 -3.46683466e-01] [-3.42460803e-03 -1.68077110e-04 9.99994122e-01 5.39425530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.441966746 meters Centerline goodness [0,1] 0.48555795348026076 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99994089e-01 -6.50254403e-04 3.37636911e-03 -1.97174712e-01] [ 6.50062535e-04 9.99999787e-01 5.79238959e-05 -3.46226051e-01] [-3.37640605e-03 -5.57287024e-05 9.99994298e-01 5.42585193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.471966745999996 meters Centerline goodness [0,1] 0.48320217917675545 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99994295e-01 -7.73010535e-04 3.28831319e-03 -1.96343411e-01] [ 7.72872697e-04 9.99999700e-01 4.31880344e-05 -3.46402988e-01] [-3.28834559e-03 -4.06463405e-05 9.99994593e-01 5.33469301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.501966745999997 meters Centerline goodness [0,1] 0.5010132264179723 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99994055e-01 -7.93712834e-04 3.35547197e-03 -1.96441494e-01] [ 7.93412369e-04 9.99999681e-01 9.08750847e-05 -3.46148949e-01] [-3.35554303e-03 -8.82122715e-05 9.99994366e-01 5.30085815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.531966746 meters Centerline goodness [0,1] 0.5015133369624387 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99993340e-01 -7.87179297e-04 3.56384018e-03 -1.97775857e-01] [ 7.86251847e-04 9.99999657e-01 2.61632342e-04 -3.47686346e-01] [-3.56404491e-03 -2.58828523e-04 9.99993615e-01 5.40765616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.561966746 meters Centerline goodness [0,1] 0.48791900815603617 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99993042e-01 -8.61044519e-04 3.62977911e-03 -1.98079174e-01] [ 8.59939369e-04 9.99999583e-01 3.06017317e-04 -3.48704170e-01] [-3.63004110e-03 -3.02893798e-04 9.99993366e-01 5.43360490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.591966745999997 meters Centerline goodness [0,1] 0.48420496100806276 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99993105e-01 -6.19120138e-04 3.66155275e-03 -1.98400325e-01] [ 6.17494786e-04 9.99999710e-01 4.45010654e-04 -3.48759364e-01] [-3.66182721e-03 -4.42746595e-04 9.99993197e-01 5.44051750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.621966746 meters Centerline goodness [0,1] 0.4801830264734721 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99993723e-01 -6.85195160e-04 3.47633465e-03 -1.97656887e-01] [ 6.83584441e-04 9.99999658e-01 4.64505365e-04 -3.49408096e-01] [-3.47665174e-03 -4.62126081e-04 9.99993850e-01 5.41496780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.651966746 meters Centerline goodness [0,1] 0.5029628182587744 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99994062e-01 -7.10403389e-04 3.37209205e-03 -1.97524847e-01] [ 7.08823073e-04 9.99999638e-01 4.69817702e-04 -3.49840876e-01] [-3.37242459e-03 -4.67424696e-04 9.99994204e-01 5.44068572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.681966745999997 meters Centerline goodness [0,1] 0.48423114593535754 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99993598e-01 -6.60283870e-04 3.51677287e-03 -1.97942309e-01] [ 6.58569673e-04 9.99999664e-01 4.88570599e-04 -3.49563190e-01] [-3.51709428e-03 -4.86251432e-04 9.99993697e-01 5.43093988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.711966745999998 meters Centerline goodness [0,1] 0.4811850880069968 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99993636e-01 -6.62298537e-04 3.50562375e-03 -1.98036742e-01] [ 6.60233263e-04 9.99999608e-01 5.90256276e-04 -3.50222306e-01] [-3.50601330e-03 -5.87937990e-04 9.99993681e-01 5.43325607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.741966746 meters Centerline goodness [0,1] 0.489757748485928 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.35, Z:0.05 [[ 0.99999567 -0.00177645 0.00234713 -0.24312149] [ 0.0017691 0.99999353 0.00313083 -0.34993291] [-0.00235268 -0.00312666 0.99999234 0.05371258] [ 0. 0. 0. 1. ]] SLAMing on 26.771966745999997 meters Centerline goodness [0,1] 0.4836755958841662 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99995276e-01 -1.26436253e-03 2.80182319e-03 -1.97075198e-01] [ 1.26461878e-03 9.99999196e-01 -8.96899845e-05 -3.48583595e-01] [-2.80170754e-03 9.32327990e-05 9.99996071e-01 5.32955503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.801966745999998 meters Centerline goodness [0,1] 0.483092103826926 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99995411e-01 -1.23193200e-03 2.76771054e-03 -1.97061666e-01] [ 1.23178369e-03 9.99999240e-01 5.52899965e-05 -3.49576443e-01] [-2.76777655e-03 -5.18805221e-05 9.99996168e-01 5.31183023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.831966746 meters Centerline goodness [0,1] 0.48564830089079514 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99995621e-01 -1.02725426e-03 2.77540154e-03 -1.97401266e-01] [ 1.02652358e-03 9.99999438e-01 2.64679934e-04 -3.50100275e-01] [-2.77567187e-03 -2.61829760e-04 9.99996114e-01 5.34937518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.861966745999997 meters Centerline goodness [0,1] 0.48090006384993067 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99995620e-01 -8.57302014e-04 2.83268316e-03 -1.97386892e-01] [ 8.56785099e-04 9.99999616e-01 1.83690931e-04 -3.48235687e-01] [-2.83283955e-03 -1.81263126e-04 9.99995971e-01 5.30879867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.891966745999998 meters Centerline goodness [0,1] 0.48164460789711294 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99995177e-01 -8.29965993e-04 2.99291856e-03 -1.98140032e-01] [ 8.29332547e-04 9.99999633e-01 2.12883117e-04 -3.48853791e-01] [-2.99309415e-03 -2.10399966e-04 9.99995499e-01 5.34570593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.921966746 meters Centerline goodness [0,1] 0.47889578354200013 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99995424e-01 -9.23536373e-04 2.88084051e-03 -1.97638393e-01] [ 9.23019998e-04 9.99999558e-01 1.80568849e-04 -3.49024933e-01] [-2.88100600e-03 -1.77908949e-04 9.99995834e-01 5.31165790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.951966745999997 meters Centerline goodness [0,1] 0.48399720169647154 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99996581e-01 -7.96314129e-04 2.49056288e-03 -1.96344594e-01] [ 7.95723450e-04 9.99999655e-01 2.38148910e-04 -3.49203596e-01] [-2.49075166e-03 -2.36166297e-04 9.99996870e-01 5.29498301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.981966745999998 meters Centerline goodness [0,1] 0.47994404004634184 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99997213e-01 -8.31618207e-04 2.20964003e-03 -1.95536517e-01] [ 8.31285266e-04 9.99999643e-01 1.51590771e-04 -3.49564742e-01] [-2.20976531e-03 -1.49753508e-04 9.99997547e-01 5.28126729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.011966746 meters Centerline goodness [0,1] 0.47496801890678864 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99997247e-01 -8.11470124e-04 2.20170410e-03 -1.95037842e-01] [ 8.11441888e-04 9.99999671e-01 1.37176091e-05 -3.48605876e-01] [-2.20171450e-03 -1.19310165e-05 9.99997576e-01 5.19659424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.041966745999996 meters Centerline goodness [0,1] 0.4768175762737775 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:0.05 [[ 9.99997094e-01 -6.83343984e-04 2.31191087e-03 -1.95610860e-01] [ 6.83049182e-04 9.99999758e-01 1.28301644e-04 -3.48259619e-01] [-2.31199798e-03 -1.26722122e-04 9.99997319e-01 5.22165588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.071966745999998 meters Centerline goodness [0,1] 0.48341453647467125 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.35, Z:0.05 [[ 9.99997678e-01 -1.91359865e-03 9.90775907e-04 -2.40993631e-01] [ 1.91112208e-03 9.99995062e-01 2.49457382e-03 -3.48984771e-01] [-9.95544628e-04 -2.49267453e-03 9.99996398e-01 5.24290391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.101966746 meters Centerline goodness [0,1] 0.4817603160667252 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.35, Z:0.05 [[ 0.99998898 0.00339647 0.00324155 -0.21529658] [-0.0033866 0.99998962 -0.00304675 -0.34875988] [-0.00325187 0.00303574 0.9999901 0.04754672] [ 0. 0. 0. 1. ]] SLAMing on 27.131966745999996 meters Centerline goodness [0,1] 0.4888992495892722 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.35, Z:0.05 [[ 9.99995804e-01 -2.78810977e-03 7.86937158e-04 -2.39898557e-01] [ 2.78662187e-03 9.99994340e-01 1.88555508e-03 -3.48612474e-01] [-7.92189838e-04 -1.88335427e-03 9.99997913e-01 5.20774369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.161966745999997 meters Centerline goodness [0,1] 0.4750620429139305 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.35, Z:0.05 [[ 0.99998679 0.00411011 0.00308713 -0.21781773] [-0.004103 0.99998892 -0.00230578 -0.34922664] [-0.00309657 0.00229308 0.99999258 0.04990069] [ 0. 0. 0. 1. ]] SLAMing on 27.191966746 meters Centerline goodness [0,1] 0.47864757046628736 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.35, Z:0.05 [[ 0.99998792 0.00400879 0.0028427 -0.21711553] [-0.00400202 0.99998915 -0.00238473 -0.34977988] [-0.00285223 0.00237332 0.99999312 0.04997115] [ 0. 0. 0. 1. ]] SLAMing on 27.221966745999996 meters Centerline goodness [0,1] 0.4772413490828603 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.35, Z:0.05 [[ 0.99998747 0.00405379 0.00293694 -0.21746111] [-0.00404671 0.9999889 -0.00241349 -0.34889066] [-0.00294669 0.00240157 0.99999277 0.04999396] [ 0. 0. 0. 1. ]] SLAMing on 27.251966745999997 meters Centerline goodness [0,1] 0.48370339521732464 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.35, Z:0.05 [[ 0.99998883 0.0039221 0.00263688 -0.21651544] [-0.00391575 0.99998943 -0.00240983 -0.34957806] [-0.00264631 0.00239947 0.99999362 0.0498977 ] [ 0. 0. 0. 1. ]] SLAMing on 27.281966746 meters Centerline goodness [0,1] 0.4827563454009589 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.35, Z:0.05 [[ 0.9999896 0.00367142 0.00270515 -0.21663867] [-0.00366473 0.99999022 -0.00247736 -0.35012657] [-0.00271422 0.00246742 0.99999327 0.04957665] [ 0. 0. 0. 1. ]] SLAMing on 27.311966746 meters Centerline goodness [0,1] 0.4870246085011186 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.35, Z:0.05 [[ 9.99995340e-01 2.56145896e-03 1.66104535e-03 -2.61678635e-01] [-2.56209575e-03 9.99996645e-01 3.81354537e-04 -3.51482533e-01] [-1.66006295e-03 -3.85608517e-04 9.99998548e-01 4.97280338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.341966745999997 meters Centerline goodness [0,1] 0.48749256165561017 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.35, Z:0.05 [[ 0.99998856 -0.00328838 0.0034736 -0.23685571] [ 0.00328049 0.99999203 0.00227622 -0.34972431] [-0.00348106 -0.00226479 0.99999138 0.04762764] [ 0. 0. 0. 1. ]] SLAMing on 27.371966746 meters Centerline goodness [0,1] 0.4850345189198637 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.35, Z:0.05 [[ 0.99998863 -0.00344364 0.00329843 -0.23617544] [ 0.00343667 0.99999185 0.00211655 -0.34931177] [-0.00330569 -0.00210519 0.99999232 0.04741162] [ 0. 0. 0. 1. ]] SLAMing on 27.401966746 meters Centerline goodness [0,1] 0.4844843523042387 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.35, Z:0.05 [[ 0.9999886 -0.00333698 0.00341511 -0.23639566] [ 0.00332948 0.99999204 0.00219938 -0.34943321] [-0.00342242 -0.00218798 0.99999175 0.04709802] [ 0. 0. 0. 1. ]] SLAMing on 27.431966745999997 meters Centerline goodness [0,1] 0.4790460855563775 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.35, Z:0.05 [[ 0.99999589 0.00248684 0.00142414 -0.21540685] [-0.00248335 0.99999393 -0.00244314 -0.34924888] [-0.00143021 0.00243959 0.999996 0.04964569] [ 0. 0. 0. 1. ]] SLAMing on 27.461966745999998 meters Centerline goodness [0,1] 0.48873211402790984 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.35, Z:0.06 [[ 0.99999336 -0.00306162 -0.00197587 -0.24304318] [ 0.00306693 0.99999168 0.00268869 -0.35173311] [ 0.00196762 -0.00269474 0.99999443 0.05660483] [ 0. 0. 0. 1. ]] SLAMing on 27.491966746 meters Centerline goodness [0,1] 0.5049286385592202 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.35, Z:0.06 [[ 9.99995221e-01 3.02493170e-03 -6.38845995e-04 -2.20832429e-01] [-3.02627485e-03 9.99993190e-01 -2.11205942e-03 -3.53192014e-01] [ 6.32452809e-04 2.11398265e-03 9.99997566e-01 5.55196150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.521966745999997 meters Centerline goodness [0,1] 0.48246629814940245 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.35, Z:0.06 [[ 9.99995189e-01 3.04563890e-03 -5.88233543e-04 -2.20798967e-01] [-3.04691636e-03 9.99992975e-01 -2.18313651e-03 -3.52534311e-01] [ 5.81580365e-04 2.18491831e-03 9.99997444e-01 5.51865116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.551966745999998 meters Centerline goodness [0,1] 0.4816783459527477 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.35, Z:0.06 [[ 9.99995407e-01 2.92282079e-03 -8.02491460e-04 -2.20305173e-01] [-2.92464142e-03 9.99993131e-01 -2.27699298e-03 -3.52472619e-01] [ 7.95830705e-04 2.27932952e-03 9.99997086e-01 5.55353508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.581966746 meters Centerline goodness [0,1] 0.48732765159966085 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.35, Z:0.06 [[ 9.99998121e-01 1.61893307e-03 -1.06598389e-03 -2.69706038e-01] [-1.61857858e-03 9.99998635e-01 3.33321397e-04 -3.53871232e-01] [ 1.06652206e-03 -3.31595392e-04 9.99999376e-01 5.72710517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.611966745999997 meters Centerline goodness [0,1] 0.48586281778499196 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.35, Z:0.06 [[ 9.99997367e-01 2.27192334e-03 3.24246926e-04 -2.27275809e-01] [-2.27107740e-03 9.99994078e-01 -2.58587633e-03 -3.52785235e-01] [-3.30119918e-04 2.58513313e-03 9.99996604e-01 5.87970488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.641966745999998 meters Centerline goodness [0,1] 0.48586281778499196 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.35, Z:0.06 [[ 9.99997367e-01 2.27192334e-03 3.24246926e-04 -2.27275809e-01] [-2.27107740e-03 9.99994078e-01 -2.58587633e-03 -3.52785235e-01] [-3.30119918e-04 2.58513313e-03 9.99996604e-01 5.87970488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.671966746 meters Centerline goodness [0,1] 0.47919415852907543 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.35, Z:0.06 [[ 9.99997117e-01 2.38078279e-03 3.11563411e-04 -2.27800220e-01] [-2.37999144e-03 9.99994002e-01 -2.51612751e-03 -3.53318588e-01] [-3.17551896e-04 2.51537874e-03 9.99996786e-01 5.96892542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.701966745999997 meters Centerline goodness [0,1] 0.48228781480427985 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.35, Z:0.06 [[ 9.99996676e-01 2.55713820e-03 3.31451941e-04 -2.28090135e-01] [-2.55628840e-03 9.99993508e-01 -2.53943117e-03 -3.53235591e-01] [-3.37943466e-04 2.53857544e-03 9.99996721e-01 5.99628855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.731966745999998 meters Centerline goodness [0,1] 0.48401806462928043 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.35, Z:0.06 [[ 9.99996213e-01 2.72138441e-03 4.09049997e-04 -2.28404998e-01] [-2.72034664e-03 9.99993133e-01 -2.51652798e-03 -3.52793767e-01] [-4.15895628e-04 2.51540570e-03 9.99996750e-01 6.00390721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.761966746 meters Centerline goodness [0,1] 0.48174312331670277 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.35, Z:0.06 [[ 9.99995861e-01 2.85181222e-03 3.81436961e-04 -2.28194615e-01] [-2.85083684e-03 9.99992727e-01 -2.53369891e-03 -3.51948135e-01] [-3.88659820e-04 2.53260101e-03 9.99996717e-01 5.97021695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.791966745999996 meters Centerline goodness [0,1] 0.480896733707342 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.35, Z:0.06 [[ 9.99995438e-01 2.98928733e-03 4.33434229e-04 -2.28666389e-01] [-2.98821472e-03 9.99992523e-01 -2.45454078e-03 -3.51841265e-01] [-4.40768316e-04 2.45323439e-03 9.99996894e-01 5.98679556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.821966745999998 meters Centerline goodness [0,1] 0.4795714505258074 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.35, Z:0.06 [[ 9.99995365e-01 3.03391727e-03 2.56175768e-04 -2.27773517e-01] [-3.03327698e-03 9.99992364e-01 -2.46386734e-03 -3.51147369e-01] [-2.63648982e-04 2.46307887e-03 9.99996932e-01 5.94485572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.851966746 meters Centerline goodness [0,1] 0.4861530268063199 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.35, Z:0.06 [[ 9.99995922e-01 2.83308763e-03 3.60686646e-04 -2.28477022e-01] [-2.83218766e-03 9.99992935e-01 -2.47168894e-03 -3.52335587e-01] [-3.67686609e-04 2.47065732e-03 9.99996880e-01 5.99429327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.881966745999996 meters Centerline goodness [0,1] 0.48374146928944195 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.35, Z:0.06 [[ 9.99995752e-01 2.88403191e-03 4.23069859e-04 -2.28631642e-01] [-2.88299133e-03 9.99992868e-01 -2.43991702e-03 -3.52015005e-01] [-4.30103640e-04 2.43868695e-03 9.99996934e-01 5.97688741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.911966745999997 meters Centerline goodness [0,1] 0.4834102298063975 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.35, Z:0.06 [[ 9.99995901e-01 2.86309525e-03 4.03132530e-05 -2.27218593e-01] [-2.86297990e-03 9.99992475e-01 -2.61793425e-03 -3.51434101e-01] [-4.78083447e-05 2.61780810e-03 9.99996572e-01 5.94942811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.941966746 meters Centerline goodness [0,1] 0.48564995956195767 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.35, Z:0.06 [[ 9.99996079e-01 2.80001377e-03 3.54218240e-05 -2.27022582e-01] [-2.79990954e-03 9.99992536e-01 -2.66251632e-03 -3.51626833e-01] [-4.28766420e-05 2.66240671e-03 9.99996455e-01 5.91704735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.971966745999996 meters Centerline goodness [0,1] 0.4826278524299086 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.35, Z:0.06 [[ 9.99996032e-01 2.81643746e-03 5.26996753e-05 -2.27647506e-01] [-2.81628999e-03 9.99992614e-01 -2.61556185e-03 -3.52045967e-01] [-6.00658525e-05 2.61540306e-03 9.99996578e-01 6.00774007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.001966745999997 meters Centerline goodness [0,1] 0.47880526643537047 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.35, Z:0.07 [[ 0.99999158 -0.00267664 -0.00311203 -0.25502668] [ 0.00268458 0.99999315 0.00254917 -0.3544836 ] [ 0.00310519 -0.0025575 0.99999191 0.06666745] [ 0. 0. 0. 1. ]] SLAMing on 28.031966746 meters Centerline goodness [0,1] 0.4870139986201678 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.35, Z:0.07 [[ 0.99999189 -0.00266195 -0.00302181 -0.25542677] [ 0.0026696 0.99999324 0.00252823 -0.35423298] [ 0.00301506 -0.00253627 0.99999224 0.06681005] [ 0. 0. 0. 1. ]] SLAMing on 28.061966746 meters Centerline goodness [0,1] 0.4838084632516704 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.35, Z:0.07 [[ 0.99999217 -0.00261361 -0.00297055 -0.25556291] [ 0.00262092 0.99999354 0.00246001 -0.3538662 ] [ 0.0029641 -0.00246778 0.99999256 0.06663529] [ 0. 0. 0. 1. ]] SLAMing on 28.091966745999997 meters Centerline goodness [0,1] 0.5029291983361283 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.35, Z:0.07 [[ 9.99995462e-01 -6.60204089e-04 -2.93924757e-03 -2.08266381e-01] [ 6.61864065e-04 9.99999622e-01 5.63825424e-04 -3.51879044e-01] [ 2.93887421e-03 -5.65768248e-04 9.99995521e-01 6.61760652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.121966746 meters Centerline goodness [0,1] 0.4802829354553493 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.35, Z:0.07 [[ 0.99998788 -0.00262041 -0.00416816 -0.25364544] [ 0.00262993 0.99999394 0.00228037 -0.35324571] [ 0.00416216 -0.0022913 0.99998871 0.06600875] [ 0. 0. 0. 1. ]] SLAMing on 28.151966746 meters Centerline goodness [0,1] 0.48130215538399745 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.35, Z:0.07 [[ 0.99998916 -0.0023883 -0.00399588 -0.25410402] [ 0.00239808 0.99999414 0.00244462 -0.35307512] [ 0.00399002 -0.00245418 0.99998903 0.06571436] [ 0. 0. 0. 1. ]] SLAMing on 28.181966745999997 meters Centerline goodness [0,1] 0.47937998035149 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.35, Z:0.07 [[ 9.99994568e-01 -1.23946895e-03 -3.05402138e-03 -2.09037256e-01] [ 1.23890773e-03 9.99999215e-01 -1.85649352e-04 -3.50694289e-01] [ 3.05424909e-03 1.81864693e-04 9.99995319e-01 6.55047535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.211966745999998 meters Centerline goodness [0,1] 0.4790819672131148 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.35, Z:0.07 [[ 9.99994618e-01 -1.23301477e-03 -3.04036962e-03 -2.09399769e-01] [ 1.23269886e-03 9.99999235e-01 -1.05777575e-04 -3.50992676e-01] [ 3.04049772e-03 1.02029146e-04 9.99995372e-01 6.59933766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.241966746 meters Centerline goodness [0,1] 0.4839837833021474 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.35, Z:0.07 [[ 0.99999075 -0.00267643 -0.00336751 -0.2570296 ] [ 0.00268503 0.99999313 0.00255394 -0.35353617] [ 0.00336066 -0.00256296 0.99999107 0.06646394] [ 0. 0. 0. 1. ]] SLAMing on 28.271966745999997 meters Centerline goodness [0,1] 0.481934334660128 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.35, Z:0.06 [[ 9.99996485e-01 2.65123367e-03 -7.63862743e-06 -2.32083500e-01] [-2.65124456e-03 9.99993128e-01 -2.59119933e-03 -3.51137963e-01] [ 7.68700030e-07 2.59121047e-03 9.99996643e-01 6.13029935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.301966745999998 meters Centerline goodness [0,1] 0.4857340134084682 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.35, Z:0.07 [[ 0.99999291 -0.00328199 -0.00184786 -0.25975934] [ 0.00328682 0.99999117 0.0026176 -0.35252621] [ 0.00183925 -0.00262366 0.99999487 0.06670579] [ 0. 0. 0. 1. ]] SLAMing on 28.331966746 meters Centerline goodness [0,1] 0.48318487942646104 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.35, Z:0.07 [[ 9.99997840e-01 -1.90100222e-03 -8.40005097e-04 -2.15482502e-01] [ 1.90148546e-03 9.99998027e-01 5.74855729e-04 -3.50297707e-01] [ 8.38910637e-04 -5.76451745e-04 9.99999482e-01 6.73686527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.361966745999997 meters Centerline goodness [0,1] 0.48296597568442223 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.35, Z:0.07 [[ 9.99998302e-01 -1.73679106e-03 -6.16852295e-04 -2.16363722e-01] [ 1.73714068e-03 9.99998331e-01 5.66687953e-04 -3.48980435e-01] [ 6.15867047e-04 -5.67758550e-04 9.99999649e-01 6.75059829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.391966745999998 meters Centerline goodness [0,1] 0.12936495924236202 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.35, Z:0.07 [[ 9.99998118e-01 -1.81419493e-03 -6.87111822e-04 -2.16146427e-01] [ 1.81456820e-03 9.99998206e-01 5.43001409e-04 -3.49333803e-01] [ 6.86125479e-04 -5.44247199e-04 9.99999617e-01 6.78765502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.421966746 meters Centerline goodness [0,1] 0.47443744962641865 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.35, Z:0.07 [[ 9.99998432e-01 -1.58663510e-03 -7.87133977e-04 -2.15995204e-01] [ 1.58713695e-03 9.99998537e-01 6.37352497e-04 -3.48827584e-01] [ 7.86121580e-04 -6.38600787e-04 9.99999487e-01 6.79660023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.451966745999997 meters Centerline goodness [0,1] 0.47577254005563585 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.35, Z:0.07 [[ 9.99998356e-01 -1.62712196e-03 -7.99690061e-04 -2.15963293e-01] [ 1.62760804e-03 9.99998491e-01 6.07569158e-04 -3.49430898e-01] [ 7.98700265e-04 -6.08869741e-04 9.99999496e-01 6.80755829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.481966745999998 meters Centerline goodness [0,1] 0.47783370865898356 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.35, Z:0.07 [[ 0.99999358 -0.00325144 -0.00150437 -0.26427885] [ 0.00325519 0.99999157 0.00250187 -0.35015991] [ 0.00149622 -0.00250675 0.99999574 0.06976016] [ 0. 0. 0. 1. ]] SLAMing on 28.511966746 meters Centerline goodness [0,1] 0.47433961438294703 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.35, Z:0.07 [[ 9.99991589e-01 4.09513392e-03 2.28974300e-04 -2.43325017e-01] [-4.09479490e-03 9.99990548e-01 -1.46196639e-03 -3.49875917e-01] [-2.34959084e-04 1.46101649e-03 9.99998905e-01 6.94525813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.541966745999996 meters Centerline goodness [0,1] 0.46913311412581926 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.35, Z:0.07 [[ 9.99991194e-01 4.18937915e-03 2.48370923e-04 -2.43447962e-01] [-4.18901534e-03 9.99990178e-01 -1.44764850e-03 -3.49783649e-01] [-2.54433232e-04 1.44659532e-03 9.99998921e-01 6.95532353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.571966745999998 meters Centerline goodness [0,1] 0.4766426378029923 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.35, Z:0.07 [[ 9.99991523e-01 4.11529686e-03 1.35877118e-04 -2.42953127e-01] [-4.11507485e-03 9.99990260e-01 -1.59561869e-03 -3.49437544e-01] [-1.42442239e-04 1.59504602e-03 9.99998718e-01 6.91940950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.601966746 meters Centerline goodness [0,1] 0.4764013416051034 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.35, Z:0.07 [[ 9.99991344e-01 4.15539514e-03 2.09628319e-04 -2.43328875e-01] [-4.15503269e-03 9.99989922e-01 -1.70076305e-03 -3.48457544e-01] [-2.16693548e-04 1.69987731e-03 9.99998532e-01 6.91966902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.631966745999996 meters Centerline goodness [0,1] 0.47477878964025055 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.35, Z:0.07 [[ 9.99995670e-01 -8.32180661e-04 2.82280388e-03 -2.17207308e-01] [ 8.29258305e-04 9.99999119e-01 1.03627958e-03 -3.48020258e-01] [-2.82366376e-03 -1.03393426e-03 9.99995479e-01 6.62375918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.661966745999997 meters Centerline goodness [0,1] 0.48236129920298376 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.35, Z:0.07 [[ 9.99998965e-01 1.26179259e-03 6.90924180e-04 -2.86502548e-01] [-1.26228165e-03 9.99998953e-01 7.07848129e-04 -3.50432606e-01] [-6.90030299e-04 -7.08719537e-04 9.99999511e-01 6.81880122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.691966746 meters Centerline goodness [0,1] 0.4735597968832078 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.35, Z:0.07 [[ 0.9999895 -0.00388926 0.00242422 -0.2600622 ] [ 0.00388169 0.99998761 0.00311665 -0.34859047] [-0.00243631 -0.00310721 0.9999922 0.06560675] [ 0. 0. 0. 1. ]] SLAMing on 28.721966745999996 meters Centerline goodness [0,1] 0.47845320890923493 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.35, Z:0.07 [[ 0.99998948 -0.0038806 0.00244372 -0.26027199] [ 0.00387262 0.99998719 0.00326031 -0.34980922] [-0.00245634 -0.00325082 0.9999917 0.06575647] [ 0. 0. 0. 1. ]] SLAMing on 28.751966745999997 meters Centerline goodness [0,1] 0.4795458080572407 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.35, Z:0.06 [[ 9.99998229e-01 1.51413764e-03 1.11784581e-03 -2.81659944e-01] [-1.51485336e-03 9.99998648e-01 6.39704062e-04 -3.50965034e-01] [-1.11687570e-03 -6.41396302e-04 9.99999171e-01 6.42458813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.781966746 meters Centerline goodness [0,1] 0.482904484285276 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.35, Z:0.06 [[ 0.99998528 -0.00436896 0.00321725 -0.25492359] [ 0.00436068 0.99998718 0.00257491 -0.35126971] [-0.00322846 -0.00256084 0.99999151 0.06082263] [ 0. 0. 0. 1. ]] SLAMing on 28.811966745999996 meters Centerline goodness [0,1] 0.4780290056146892 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.35, Z:0.06 [[ 0.99999688 0.00158283 0.00193225 -0.233252 ] [-0.00157834 0.99999605 -0.00232392 -0.35258818] [-0.00193592 0.00232086 0.99999543 0.06283042] [ 0. 0. 0. 1. ]] SLAMing on 28.841966745999997 meters Centerline goodness [0,1] 0.48027572278444886 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.35, Z:0.07 [[ 0.99998985 -0.00429932 -0.00135027 -0.26061651] [ 0.00430264 0.99998771 0.00246405 -0.35486036] [ 0.00133966 -0.00246984 0.99999605 0.06972971] [ 0. 0. 0. 1. ]] SLAMing on 28.871966746 meters Centerline goodness [0,1] 0.4736040719552781 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.36, Z:0.07 [[ 9.99995196e-01 3.02018501e-03 -6.97793355e-04 -2.38320029e-01] [-3.02114042e-03 9.99994495e-01 -1.37220829e-03 -3.55005395e-01] [ 6.93645191e-04 1.37430983e-03 9.99998815e-01 6.88524479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.901966746 meters Centerline goodness [0,1] 0.47858677070091615 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.35, Z:0.07 [[ 9.99992354e-01 -3.87884243e-03 -4.97284546e-04 -2.61107675e-01] [ 3.88037629e-03 9.99987599e-01 3.12154479e-03 -3.52671165e-01] [ 4.85170399e-04 -3.12345057e-03 9.99995004e-01 6.86212589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.931966745999997 meters Centerline goodness [0,1] 0.4801694431641097 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.35, Z:0.07 [[ 9.99992619e-01 -3.81753269e-03 -4.34572122e-04 -2.61523441e-01] [ 3.81889488e-03 9.99987658e-01 3.17812569e-03 -3.52540992e-01] [ 4.22434160e-04 -3.17976182e-03 9.99994855e-01 6.89541633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.961966745999998 meters Centerline goodness [0,1] 0.4963014382090718 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.35, Z:0.06 [[ 0.9999955 0.00215424 0.00208993 -0.23546434] [-0.00215125 0.99999666 -0.00143172 -0.35020913] [-0.00209301 0.00142722 0.99999679 0.06335013] [ 0. 0. 0. 1. ]] SLAMing on 28.991966746 meters Centerline goodness [0,1] 0.48138810943528587 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.35, Z:0.07 [[ 9.99992382e-01 -3.90009198e-03 1.60462175e-04 -2.60638782e-01] [ 3.89948971e-03 9.99985929e-01 3.59649593e-03 -3.49385313e-01] [-1.74486583e-04 -3.59584281e-03 9.99993520e-01 6.69472239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.021966745999997 meters Centerline goodness [0,1] 0.48282346766963324 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.35, Z:0.07 [[ 9.99992273e-01 -3.93093714e-03 -4.63244482e-05 -2.60028009e-01] [ 3.93107752e-03 9.99985895e-01 3.57157475e-03 -3.49065423e-01] [ 3.22841590e-05 -3.57172926e-03 9.99993621e-01 6.70281991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.051966745999998 meters Centerline goodness [0,1] 0.4807780771505553 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.35, Z:0.07 [[ 9.99991512e-01 -4.11896570e-03 1.04131973e-04 -2.60866231e-01] [ 4.11857113e-03 9.99985248e-01 3.54135350e-03 -3.50258109e-01] [-1.18717150e-04 -3.54089457e-03 9.99993724e-01 6.77096569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.081966746 meters Centerline goodness [0,1] 0.47828687907121015 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.35, Z:0.07 [[ 9.99997264e-01 8.89522901e-04 -2.16344733e-03 -2.86596799e-01] [-8.88085468e-04 9.99999384e-01 6.65287513e-04 -3.51894790e-01] [ 2.16403779e-03 -6.63364366e-04 9.99997438e-01 6.98925736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.111966745999997 meters Centerline goodness [0,1] 0.48044729702904787 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.35, Z:0.07 [[ 9.99996818e-01 5.79064673e-04 -2.45536780e-03 -2.85600371e-01] [-5.77824538e-04 9.99999705e-01 5.05750212e-04 -3.52578659e-01] [ 2.45565994e-03 -5.04329831e-04 9.99996858e-01 6.97446768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.141966745999998 meters Centerline goodness [0,1] 0.47783776578017734 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.35, Z:0.07 [[ 9.99997003e-01 4.50514230e-04 -2.40637391e-03 -2.86246768e-01] [-4.49001605e-04 9.99999701e-01 6.29094072e-04 -3.54503457e-01] [ 2.40665660e-03 -6.28011721e-04 9.99996907e-01 7.03657895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.171966746 meters Centerline goodness [0,1] 0.48042008218999366 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.35, Z:0.07 [[ 9.99997558e-01 9.78182194e-04 -1.98193045e-03 -2.39484628e-01] [-9.82713169e-04 9.99996903e-01 -2.28645978e-03 -3.53840097e-01] [ 1.97968774e-03 2.28840186e-03 9.99995422e-01 6.89681640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.201966745999997 meters Centerline goodness [0,1] 0.4825618969090545 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.36, Z:0.07 [[ 9.99994656e-01 -7.74567832e-04 -3.17625141e-03 -2.84447762e-01] [ 7.73804683e-04 9.99999671e-01 -2.41489084e-04 -3.55335015e-01] [ 3.17643741e-03 2.39029995e-04 9.99994927e-01 6.82331428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.231966745999998 meters Centerline goodness [0,1] 0.4999891221581638 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.36, Z:0.07 [[ 9.99996160e-01 3.01455623e-04 -2.75468890e-03 -2.37065126e-01] [-3.08358540e-04 9.99996813e-01 -2.50579790e-03 -3.55413692e-01] [ 2.75392473e-03 2.50663771e-03 9.99993066e-01 6.70019418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.261966746 meters Centerline goodness [0,1] 0.49997824005570546 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.36, Z:0.07 [[ 9.99996566e-01 4.50378737e-04 -2.58162848e-03 -2.37588733e-01] [-4.56388471e-04 9.99997187e-01 -2.32776867e-03 -3.55097760e-01] [ 2.58057284e-03 2.32893891e-03 9.99993958e-01 6.69480166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.291966745999996 meters Centerline goodness [0,1] 0.49855638771301425 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.36, Z:0.07 [[ 9.99996635e-01 5.23005558e-04 -2.54108235e-03 -2.37702212e-01] [-5.28396773e-04 9.99997610e-01 -2.12141361e-03 -3.55737255e-01] [ 2.53996677e-03 2.12274917e-03 9.99994521e-01 6.69297280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.321966745999998 meters Centerline goodness [0,1] 0.49782087600784486 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.36, Z:0.07 [[ 9.99996951e-01 6.15651790e-04 -2.39152688e-03 -2.38534507e-01] [-6.20497430e-04 9.99997755e-01 -2.02595680e-03 -3.55354100e-01] [ 2.39027423e-03 2.02743456e-03 9.99995088e-01 6.75120604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.351966746 meters Centerline goodness [0,1] 0.5001093996149133 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.35, Z:0.07 [[ 0.99999708 0.00100507 -0.0021959 -0.23955595] [-0.00100903 0.99999787 -0.00180205 -0.35483598] [ 0.00219409 0.00180426 0.99999597 0.06804599] [ 0. 0. 0. 1. ]] SLAMing on 29.381966745999996 meters Centerline goodness [0,1] 0.47891407485503423 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.35, Z:0.07 [[ 0.99999698 0.00121179 -0.00213735 -0.23982731] [-0.00121549 0.99999776 -0.00173109 -0.35403026] [ 0.00213525 0.00173368 0.99999622 0.06814867] [ 0. 0. 0. 1. ]] SLAMing on 29.411966745999997 meters Centerline goodness [0,1] 0.48556418760991027 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.35, Z:0.07 [[ 9.99995101e-01 -9.18973028e-05 -3.12896584e-03 -2.85211687e-01] [ 9.36965569e-05 9.99999830e-01 5.74889823e-04 -3.54959239e-01] [ 3.12891248e-03 -5.75180179e-04 9.99994940e-01 6.78358477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.441966746 meters Centerline goodness [0,1] 0.4752475247524752 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.35, Z:0.07 [[ 9.99998277e-01 7.06528051e-04 -1.71643483e-03 -2.41947207e-01] [-7.09889491e-04 9.99997830e-01 -1.95856610e-03 -3.54854526e-01] [ 1.71504732e-03 1.95978121e-03 9.99996609e-01 6.88923234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.471966745999996 meters Centerline goodness [0,1] 0.4836449116270818 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.36, Z:0.07 [[ 9.99996755e-01 -1.11666520e-03 -2.28990929e-03 -2.88802025e-01] [ 1.11673160e-03 9.99999376e-01 2.77211447e-05 -3.56206595e-01] [ 2.28987691e-03 -3.02782688e-05 9.99997378e-01 6.92403108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.501966745999997 meters Centerline goodness [0,1] 0.4752253232899377 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.36, Z:0.07 [[ 9.99999449e-01 5.95232236e-05 -1.04777598e-03 -2.45274211e-01] [-6.17839559e-05 9.99997670e-01 -2.15774847e-03 -3.57192262e-01] [ 1.04764510e-03 2.15781202e-03 9.99997123e-01 7.06905597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.531966746 meters Centerline goodness [0,1] 0.47865479115479115 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.36, Z:0.07 [[ 9.99999556e-01 2.81706662e-04 -8.99765766e-04 -2.46206401e-01] [-2.83477041e-04 9.99998023e-01 -1.96807921e-03 -3.57284564e-01] [ 8.99209566e-04 1.96833339e-03 9.99997659e-01 7.13041467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.561966745999996 meters Centerline goodness [0,1] 0.47865479115479115 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.36, Z:0.07 [[ 9.99999556e-01 2.81706662e-04 -8.99765766e-04 -2.46206401e-01] [-2.83477041e-04 9.99998023e-01 -1.96807921e-03 -3.57284564e-01] [ 8.99209566e-04 1.96833339e-03 9.99997659e-01 7.13041467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.591966745999997 meters Centerline goodness [0,1] 0.4809312197386748 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.36, Z:0.07 [[ 9.99999531e-01 6.13229097e-04 -7.50264828e-04 -2.47230368e-01] [-6.14551054e-04 9.99998257e-01 -1.76302699e-03 -3.56763068e-01] [ 7.49182381e-04 1.76348724e-03 9.99998164e-01 7.22875065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.621966746 meters Centerline goodness [0,1] 0.4781782437745741 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.36, Z:0.07 [[ 0.9999905 -0.00413508 0.00138138 -0.22283425] [ 0.00413334 0.99999066 0.00126118 -0.35727422] [-0.00138659 -0.00125546 0.99999825 0.07105797] [ 0. 0. 0. 1. ]] SLAMing on 29.651966746 meters Centerline goodness [0,1] 0.4931220160885963 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.36, Z:0.07 [[ 0.99999047 -0.00416115 0.00131759 -0.22276405] [ 0.00415928 0.99999035 0.00141405 -0.35873175] [-0.00132346 -0.00140856 0.99999813 0.07128867] [ 0. 0. 0. 1. ]] SLAMing on 29.681966745999997 meters Centerline goodness [0,1] 0.4763910102552913 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.36, Z:0.07 [[ 0.99999079 -0.00407587 0.00134583 -0.22278205] [ 0.00407377 0.99999048 0.00156042 -0.3592614 ] [-0.00135218 -0.00155492 0.99999788 0.0712863 ] [ 0. 0. 0. 1. ]] SLAMing on 29.711966745999998 meters Centerline goodness [0,1] 0.4773685812426627 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.36, Z:0.07 [[ 0.99999026 -0.00427793 0.00108901 -0.22188684] [ 0.00427621 0.99998961 0.00157793 -0.36082043] [-0.00109575 -0.00157326 0.99999816 0.07107074] [ 0. 0. 0. 1. ]] SLAMing on 29.741966746 meters Centerline goodness [0,1] 0.49219121782392383 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.36, Z:0.07 [[ 9.99989972e-01 -4.39901993e-03 8.39840451e-04 -2.21005409e-01] [ 4.39765678e-03 9.99989021e-01 1.61811801e-03 -3.61469524e-01] [-8.46949363e-04 -1.61440845e-03 9.99998338e-01 7.08420963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.771966745999997 meters Centerline goodness [0,1] 0.47924062355301744 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.36, Z:0.08 [[ 9.99995539e-01 8.07817891e-04 -2.87555824e-03 -2.48310165e-01] [-8.08730335e-04 9.99999623e-01 -3.16161718e-04 -3.61360178e-01] [ 2.87530176e-03 3.18485859e-04 9.99995816e-01 7.57589057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.801966745999998 meters Centerline goodness [0,1] 0.4792065272371402 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.36, Z:0.07 [[ 9.99995290e-01 8.43437043e-04 -2.95094922e-03 -2.47521535e-01] [-8.44529021e-04 9.99999575e-01 -3.68816622e-04 -3.60384333e-01] [ 2.95063690e-03 3.71307047e-04 9.99995578e-01 7.48481314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.831966746 meters Centerline goodness [0,1] 0.472798678984246 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.36, Z:0.07 [[ 0.99998996 -0.0011333 -0.00433485 -0.2911431 ] [ 0.00113913 0.99999845 0.00134329 -0.36131879] [ 0.00433332 -0.00134822 0.9999897 0.07317523] [ 0. 0. 0. 1. ]] SLAMing on 29.861966745999997 meters Centerline goodness [0,1] 0.4791510556706484 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.36, Z:0.07 [[ 0.9999888 -0.00144903 -0.0045062 -0.29078919] [ 0.00145433 0.99999826 0.00117197 -0.36173122] [ 0.00450449 -0.00117852 0.99998916 0.07340505] [ 0. 0. 0. 1. ]] SLAMing on 29.891966745999998 meters Centerline goodness [0,1] 0.4741665212078897 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.36, Z:0.07 [[ 9.99986763e-01 -1.83322390e-03 -4.80755651e-03 -2.89713138e-01] [ 1.83792623e-03 9.99997837e-01 9.73876328e-04 -3.63402577e-01] [ 4.80576078e-03 -9.82699371e-04 9.99987969e-01 7.32281530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.921966746 meters Centerline goodness [0,1] 0.4673149648838466 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.36, Z:0.07 [[ 9.99986503e-01 -1.84342962e-03 -4.85753280e-03 -2.89417425e-01] [ 1.84818727e-03 9.99997817e-01 9.75131646e-04 -3.63519504e-01] [ 4.85572461e-03 -9.84096115e-04 9.99987727e-01 7.30008369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.951966745999997 meters Centerline goodness [0,1] 0.47598607126431747 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.36, Z:0.07 [[ 0.99998698 -0.0016643 -0.00482426 -0.289812 ] [ 0.00166965 0.999998 0.00110525 -0.3633323 ] [ 0.00482241 -0.00111329 0.99998775 0.07332922] [ 0. 0. 0. 1. ]] SLAMing on 29.981966745999998 meters Centerline goodness [0,1] 0.4761706601252792 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.36, Z:0.07 [[ 0.99998721 -0.00151087 -0.00482585 -0.28968924] [ 0.00151659 0.99999815 0.00118173 -0.36283101] [ 0.00482405 -0.00118904 0.99998766 0.0729765 ] [ 0. 0. 0. 1. ]] SLAMing on 30.011966746 meters Centerline goodness [0,1] 0.4802829118569427 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.36, Z:0.08 [[ 9.99961984e-01 3.90708137e-03 -7.79524464e-03 -3.17927521e-01] [-3.91303316e-03 9.99992064e-01 -7.48409290e-04 -3.62154968e-01] [ 7.79225868e-03 7.78883889e-04 9.99969337e-01 7.76522033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.041966745999996 meters Centerline goodness [0,1] 0.5014964500273075 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.36, Z:0.07 [[ 9.99984877e-01 -9.85941774e-04 -5.41045942e-03 -2.91227818e-01] [ 9.95627253e-04 9.99997906e-01 1.78773853e-03 -3.62553519e-01] [ 5.40868549e-03 -1.79309829e-03 9.99983765e-01 7.43401549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.071966745999998 meters Centerline goodness [0,1] 0.46818181818181814 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.36, Z:0.07 [[ 0.9999844 -0.00109242 -0.00547702 -0.29094963] [ 0.00110227 0.99999778 0.00179582 -0.36301355] [ 0.00547505 -0.00180183 0.99998339 0.07418577] [ 0. 0. 0. 1. ]] SLAMing on 30.101966746 meters Centerline goodness [0,1] 0.49996700032999675 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.36, Z:0.07 [[ 0.99998314 -0.00104861 -0.00571193 -0.29005871] [ 0.00105931 0.99999769 0.00187066 -0.36363339] [ 0.00570995 -0.00187668 0.99998194 0.07372977] [ 0. 0. 0. 1. ]] SLAMing on 30.131966745999996 meters Centerline goodness [0,1] 0.5030215449290594 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.36, Z:0.07 [[ 0.99998301 -0.00107282 -0.0057303 -0.28977028] [ 0.00108352 0.99999768 0.00186439 -0.36354018] [ 0.00572829 -0.00187057 0.99998184 0.07347515] [ 0. 0. 0. 1. ]] SLAMing on 30.161966745999997 meters Centerline goodness [0,1] 0.4796108742004265 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.36, Z:0.07 [[ 9.99968565e-01 4.20096246e-03 -6.72465970e-03 -3.14555940e-01] [-4.20652081e-03 9.99990822e-01 -8.12632251e-04 -3.64823787e-01] [ 6.72118415e-03 8.40894127e-04 9.99977059e-01 7.36676863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.191966746 meters Centerline goodness [0,1] 0.4709352956544457 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.37, Z:0.07 [[ 9.99993442e-01 -7.48192636e-04 -3.54340683e-03 -2.88199977e-01] [ 7.53594554e-04 9.99998556e-01 1.52340860e-03 -3.65676407e-01] [ 3.54226191e-03 -1.52606890e-03 9.99992562e-01 7.00000833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.221966745999996 meters Centerline goodness [0,1] 0.4729041425292382 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.37, Z:0.07 [[ 9.99993464e-01 -6.80502847e-04 -3.55097777e-03 -2.88161835e-01] [ 6.86053946e-04 9.99998544e-01 1.56227545e-03 -3.65927970e-01] [ 3.54990946e-03 -1.56470140e-03 9.99992475e-01 6.97729436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.251966745999997 meters Centerline goodness [0,1] 0.4779447406689288 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.37, Z:0.07 [[ 9.99993596e-01 -6.92724239e-04 -3.51102498e-03 -2.88482934e-01] [ 6.98461545e-04 9.99998423e-01 1.63312037e-03 -3.66791810e-01] [ 3.50988814e-03 -1.63556223e-03 9.99992503e-01 6.99811958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.281966746 meters Centerline goodness [0,1] 0.48289473684210527 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.37, Z:0.07 [[ 9.99993710e-01 -6.48501503e-04 -3.48702687e-03 -2.88672287e-01] [ 6.54706956e-04 9.99998204e-01 1.77873593e-03 -3.67474397e-01] [ 3.48586710e-03 -1.78100773e-03 9.99992338e-01 7.02695749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.311966745999996 meters Centerline goodness [0,1] 0.4743353917575439 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.37, Z:0.07 [[ 9.99997710e-01 2.58402353e-04 -2.12435407e-03 -2.45128376e-01] [-2.60099130e-04 9.99999647e-01 -7.98488241e-04 -3.65959868e-01] [ 2.12414699e-03 7.99038955e-04 9.99997425e-01 7.06170973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.341966745999997 meters Centerline goodness [0,1] 0.47790784667517494 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.36, Z:0.07 [[ 9.99997647e-01 4.53689655e-04 -2.12148783e-03 -2.45200046e-01] [-4.55359586e-04 9.99999587e-01 -7.86734469e-04 -3.64792932e-01] [ 2.12113002e-03 7.87698658e-04 9.99997440e-01 7.06469876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.371966746 meters Centerline goodness [0,1] 0.4717170834061899 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.36, Z:0.07 [[ 9.99997583e-01 6.65517586e-04 -2.09550758e-03 -2.45071552e-01] [-6.67113753e-04 9.99999488e-01 -7.61102002e-04 -3.63997774e-01] [ 2.09499998e-03 7.62498105e-04 9.99997515e-01 7.02099469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.401966746 meters Centerline goodness [0,1] 0.47966970259807107 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.37, Z:0.07 [[ 0.99999581 -0.0010663 -0.00268944 -0.29279185] [ 0.0010693 0.99999881 0.00111412 -0.36534701] [ 0.00268825 -0.00111699 0.99999576 0.07120078] [ 0. 0. 0. 1. ]] SLAMing on 30.431966745999997 meters Centerline goodness [0,1] 0.4962666260313038 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.37, Z:0.07 [[ 9.99998154e-01 -2.64524115e-05 -1.92138089e-03 -2.47689082e-01] [ 2.33929179e-05 9.99998732e-01 -1.59234602e-03 -3.65078250e-01] [ 1.92142057e-03 1.59229813e-03 9.99996886e-01 7.16151880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.461966745999998 meters Centerline goodness [0,1] 0.49615668562991266 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.37, Z:0.07 [[ 9.99997960e-01 -4.01019926e-07 -2.01969462e-03 -2.47557465e-01] [-2.58936858e-06 9.99998904e-01 -1.48061136e-03 -3.65843347e-01] [ 2.01969300e-03 1.48061357e-03 9.99996864e-01 7.19685701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.491966746 meters Centerline goodness [0,1] 0.47586651548500414 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.37, Z:0.07 [[ 0.99999666 -0.0010205 -0.00237471 -0.29610175] [ 0.00102423 0.99999824 0.00157342 -0.3676284 ] [ 0.0023731 -0.00157585 0.99999594 0.07364067] [ 0. 0. 0. 1. ]] SLAMing on 30.521966745999997 meters Centerline goodness [0,1] 0.4732189628077528 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.37, Z:0.07 [[ 9.99998109e-01 3.14044292e-04 -1.91909956e-03 -2.50523434e-01] [-3.15861011e-04 9.99999502e-01 -9.46421991e-04 -3.65720978e-01] [ 1.91880139e-03 9.47026370e-04 9.99997711e-01 7.33201539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.551966745999998 meters Centerline goodness [0,1] 0.49313063800974166 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.37, Z:0.07 [[ 9.99998367e-01 4.35105488e-04 -1.75419868e-03 -2.51311565e-01] [-4.36841098e-04 9.99999415e-01 -9.89141807e-04 -3.65054661e-01] [ 1.75376728e-03 9.89906497e-04 9.99997972e-01 7.34949830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.581966746 meters Centerline goodness [0,1] 0.47678346691395646 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.37, Z:0.07 [[ 9.99998026e-01 5.05384003e-04 -1.92170912e-03 -2.50575671e-01] [-5.07119911e-04 9.99999464e-01 -9.02934614e-04 -3.65662902e-01] [ 1.92125176e-03 9.03907368e-04 9.99997746e-01 7.30645840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.611966745999997 meters Centerline goodness [0,1] 0.4725096457383374 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.37, Z:0.07 [[ 9.99997715e-01 1.86488289e-04 -2.12974270e-03 -2.50255843e-01] [-1.88440011e-04 9.99999562e-01 -9.16248133e-04 -3.67708502e-01] [ 2.12957090e-03 9.16647368e-04 9.99997312e-01 7.36677604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.641966745999998 meters Centerline goodness [0,1] 0.4965514221278273 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.37, Z:0.07 [[ 9.99997672e-01 -1.08890276e-05 -2.15782513e-03 -2.50356061e-01] [ 9.06691173e-06 9.99999643e-01 -8.44430380e-04 -3.69422692e-01] [ 2.15783355e-03 8.44408850e-04 9.99997315e-01 7.40475254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.671966746 meters Centerline goodness [0,1] 0.49781916517642955 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.37, Z:0.07 [[ 9.99998257e-01 1.48043874e-04 -1.86138111e-03 -2.51508767e-01] [-1.49519247e-04 9.99999675e-01 -7.92508464e-04 -3.69068485e-01] [ 1.86126318e-03 7.92785395e-04 9.99997954e-01 7.45543336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.701966745999997 meters Centerline goodness [0,1] 0.4747734944039794 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.37, Z:0.07 [[ 9.99997393e-01 -1.32408428e-04 -2.27947871e-03 -2.98323771e-01] [ 1.38312223e-04 9.99996636e-01 2.59001319e-03 -3.68347882e-01] [ 2.27912810e-03 -2.59032172e-03 9.99994048e-01 7.44336991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.731966745999998 meters Centerline goodness [0,1] 0.4971325541990702 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.37, Z:0.07 [[ 9.99997701e-01 1.41902569e-03 -1.60777701e-03 -2.52923604e-01] [-1.41855648e-03 9.99998951e-01 2.92938118e-04 -3.66913901e-01] [ 1.60819101e-03 -2.90656722e-04 9.99998665e-01 7.43769770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.761966746 meters Centerline goodness [0,1] 0.47617136103119917 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.37, Z:0.08 [[ 0.99999666 -0.00164027 -0.0019951 -0.3009932 ] [ 0.00164263 0.99999795 0.00118322 -0.36941953] [ 0.00199315 -0.00118649 0.99999731 0.07547709] [ 0. 0. 0. 1. ]] SLAMing on 30.791966745999996 meters Centerline goodness [0,1] 0.4694215957934239 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.37, Z:0.08 [[ 0.99999831 -0.00127221 -0.00132851 -0.25571595] [ 0.00126995 0.99999774 -0.00170313 -0.36907965] [ 0.00133068 0.00170144 0.99999767 0.07606044] [ 0. 0. 0. 1. ]] SLAMing on 30.821966745999998 meters Centerline goodness [0,1] 0.4965503817289184 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.37, Z:0.08 [[ 0.9999981 -0.00132778 -0.00143059 -0.25510598] [ 0.0013254 0.99999773 -0.00166741 -0.36975815] [ 0.0014328 0.00166552 0.99999759 0.07545989] [ 0. 0. 0. 1. ]] SLAMing on 30.851966746 meters Centerline goodness [0,1] 0.46995965543561224 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.37, Z:0.08 [[ 0.99999846 -0.00126154 -0.00121848 -0.25596294] [ 0.00125964 0.99999799 -0.00155732 -0.36956551] [ 0.00122045 0.00155578 0.99999805 0.07580601] [ 0. 0. 0. 1. ]] SLAMing on 30.881966745999996 meters Centerline goodness [0,1] 0.4753992901508429 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.37, Z:0.08 [[ 0.99999626 -0.00212449 -0.00172107 -0.30271249] [ 0.00212744 0.99999627 0.00171261 -0.37184768] [ 0.00171743 -0.00171626 0.99999705 0.07660101] [ 0. 0. 0. 1. ]] SLAMing on 30.911966745999997 meters Centerline goodness [0,1] 0.4668858723423164 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.37, Z:0.08 [[ 0.99999593 -0.00220512 -0.00181029 -0.30202888] [ 0.00220829 0.99999603 0.00175244 -0.37188789] [ 0.00180642 -0.00175643 0.99999683 0.075922 ] [ 0. 0. 0. 1. ]] SLAMing on 30.941966746 meters Centerline goodness [0,1] 0.47799034586599354 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.37, Z:0.08 [[ 0.99999491 -0.00236898 -0.00213797 -0.30054907] [ 0.00237254 0.9999958 0.00166641 -0.37230881] [ 0.00213402 -0.00167147 0.99999633 0.07512367] [ 0. 0. 0. 1. ]] SLAMing on 30.971966745999996 meters Centerline goodness [0,1] 0.47729902964479654 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.37, Z:0.08 [[ 0.99999515 -0.00225323 -0.00214838 -0.30075896] [ 0.00225711 0.99999582 0.00180572 -0.37302617] [ 0.0021443 -0.00181056 0.99999606 0.07526115] [ 0. 0. 0. 1. ]] SLAMing on 31.001966745999997 meters Centerline goodness [0,1] 0.4726729477449184 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.37, Z:0.08 [[ 9.99998374e-01 -7.88217745e-04 -1.62220620e-03 -2.55405835e-01] [ 7.87364240e-04 9.99999551e-01 -5.26709585e-04 -3.73288775e-01] [ 1.62262063e-03 5.25431461e-04 9.99998546e-01 7.53873157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.031966746 meters Centerline goodness [0,1] 0.4654633656010314 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.37, Z:0.08 [[ 9.99998998e-01 -6.22305830e-04 -1.27129268e-03 -2.57314019e-01] [ 6.21789555e-04 9.99999724e-01 -4.06456930e-04 -3.73702025e-01] [ 1.27154527e-03 4.05666046e-04 9.99999109e-01 7.66395539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.061966745999996 meters Centerline goodness [0,1] 0.49930483142161974 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.37, Z:0.08 [[ 9.99999004e-01 -4.76555510e-04 -1.32883756e-03 -2.56935592e-01] [ 4.76026223e-04 9.99999807e-01 -3.98596140e-04 -3.72714461e-01] [ 1.32902726e-03 3.97963182e-04 9.99999038e-01 7.63669076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.091966745999997 meters Centerline goodness [0,1] 0.5002402061405424 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.37, Z:0.08 [[ 9.99999028e-01 -3.84342154e-04 -1.34003188e-03 -2.57157611e-01] [ 3.84023303e-04 9.99999898e-01 -2.38191717e-04 -3.73730408e-01] [ 1.34012329e-03 2.37676882e-04 9.99999074e-01 7.66718909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.121966746 meters Centerline goodness [0,1] 0.4811547179874661 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.37, Z:0.08 [[ 0.99999649 -0.00131207 -0.00229991 -0.30270068] [ 0.00131781 0.99999602 0.00249597 -0.37445188] [ 0.00229663 -0.002499 0.99999424 0.07671206] [ 0. 0. 0. 1. ]] SLAMing on 31.151966746 meters Centerline goodness [0,1] 0.5004053195451658 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.37, Z:0.07 [[ 0.99999331 0.00337264 0.00141657 -0.27802012] [-0.00336784 0.99998865 -0.00337087 -0.37392305] [-0.00142793 0.00336608 0.99999332 0.0715459 ] [ 0. 0. 0. 1. ]] SLAMing on 31.181966745999997 meters Centerline goodness [0,1] 0.4735771913330564 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.37, Z:0.07 [[ 0.9999928 0.00346805 0.00153731 -0.27838447] [-0.0034627 0.99998799 -0.00346718 -0.37298056] [-0.00154932 0.00346183 0.99999281 0.07141981] [ 0. 0. 0. 1. ]] SLAMing on 31.211966745999998 meters Centerline goodness [0,1] 0.4698116138194244 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.37, Z:0.08 [[ 0.99999722 -0.00177243 -0.00155312 -0.30536139] [ 0.00177576 0.99999612 0.00214536 -0.37462241] [ 0.00154931 -0.00214812 0.99999649 0.07812211] [ 0. 0. 0. 1. ]] SLAMing on 31.241966746 meters Centerline goodness [0,1] 0.47449727577077083 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.37, Z:0.07 [[ 9.99994444e-01 3.20527093e-03 9.16028539e-04 -2.79271676e-01] [-3.20199629e-03 9.99988557e-01 -3.55420836e-03 -3.73513608e-01] [-9.27410258e-04 3.55125549e-03 9.99993264e-01 7.28528001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.271966745999997 meters Centerline goodness [0,1] 0.4757148841413674 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.37, Z:0.07 [[ 0.99999398 0.00324447 0.00123314 -0.28050973] [-0.00324001 0.99998826 -0.00360217 -0.37280684] [-0.00124481 0.00359816 0.99999275 0.07338057] [ 0. 0. 0. 1. ]] SLAMing on 31.301966745999998 meters Centerline goodness [0,1] 0.46612595419847325 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.37, Z:0.07 [[ 9.99988812e-01 -1.38284185e-03 4.52364764e-03 -2.55719241e-01] [ 1.38700819e-03 9.99998617e-01 -9.18006412e-04 -3.73375408e-01] [-4.52237193e-03 9.24270478e-04 9.99989347e-01 7.05702106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.331966746 meters Centerline goodness [0,1] 0.4716956205826013 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.37, Z:0.07 [[ 0.99999306 0.00352747 0.00119696 -0.28213055] [-0.0035232 0.99998749 -0.00355131 -0.37379065] [-0.00120947 0.00354707 0.99999298 0.0743968 ] [ 0. 0. 0. 1. ]] SLAMing on 31.361966745999997 meters Centerline goodness [0,1] 0.49312707372775455 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.37, Z:0.07 [[ 9.99994227e-01 -1.33380615e-03 3.12526024e-03 -2.55289975e-01] [ 1.33650588e-03 9.99998735e-01 -8.61911387e-04 -3.73312090e-01] [-3.12410666e-03 8.66083340e-04 9.99994745e-01 7.10586058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.391966745999998 meters Centerline goodness [0,1] 0.4745189865029048 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.37, Z:0.07 [[ 0.99999455 -0.00238624 0.00228277 -0.30200439] [ 0.00238104 0.99999457 0.00227661 -0.37414002] [-0.00228819 -0.00227116 0.9999948 0.07217036] [ 0. 0. 0. 1. ]] SLAMing on 31.421966746 meters Centerline goodness [0,1] 0.5021836980257588 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.37, Z:0.07 [[ 0.99999433 -0.00242254 0.00233873 -0.30220495] [ 0.00241686 0.99999413 0.00243041 -0.37495868] [-0.00234461 -0.00242474 0.99999431 0.0721981 ] [ 0. 0. 0. 1. ]] SLAMing on 31.451966745999997 meters Centerline goodness [0,1] 0.5021836980257588 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.37, Z:0.07 [[ 0.99999433 -0.00242254 0.00233873 -0.30220495] [ 0.00241686 0.99999413 0.00243041 -0.37495868] [-0.00234461 -0.00242474 0.99999431 0.0721981 ] [ 0. 0. 0. 1. ]] SLAMing on 31.481966745999998 meters Centerline goodness [0,1] 0.49890696047569083 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.37, Z:0.07 [[ 9.99995473e-01 -1.60257861e-03 2.54683614e-03 -2.56787424e-01] [ 1.60388860e-03 9.99998582e-01 -5.12400800e-04 -3.73821912e-01] [-2.54601136e-03 5.16483322e-04 9.99996626e-01 7.21137920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.511966746 meters Centerline goodness [0,1] 0.4955899880810488 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.37, Z:0.07 [[ 9.99995093e-01 -1.59264351e-03 2.69780164e-03 -2.57216804e-01] [ 1.59398641e-03 9.99998607e-01 -4.95696311e-04 -3.73484018e-01] [-2.69700842e-03 4.99994137e-04 9.99996238e-01 7.21668469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.541966745999996 meters Centerline goodness [0,1] 0.47378696148109156 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.37, Z:0.08 [[ 9.99992679e-01 3.82489497e-03 -1.12128312e-04 -2.83277947e-01] [-3.82518396e-03 9.99989034e-01 -2.70167024e-03 -3.73595581e-01] [ 1.01793478e-04 2.70207938e-03 9.99996344e-01 7.54556638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.571966745999998 meters Centerline goodness [0,1] 0.4987559474442359 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.37, Z:0.07 [[ 9.99992772e-01 3.79969004e-03 -1.35020394e-04 -2.82792381e-01] [-3.80005891e-03 9.99988731e-01 -2.84572101e-03 -3.72290846e-01] [ 1.24206015e-04 2.84621353e-03 9.99995942e-01 7.47568137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.601966746 meters Centerline goodness [0,1] 0.47364833666805917 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.37, Z:0.08 [[ 0.99999123 -0.00351252 -0.00228294 -0.30593437] [ 0.00351505 0.99999321 0.00110642 -0.37210679] [ 0.00227904 -0.00111444 0.99999678 0.07737263] [ 0. 0. 0. 1. ]] SLAMing on 31.631966745999996 meters Centerline goodness [0,1] 0.474408800474277 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.37, Z:0.08 [[ 0.9999917 -0.00345985 -0.00215212 -0.3062056 ] [ 0.00346247 0.99999327 0.00121444 -0.37267579] [ 0.0021479 -0.00122188 0.99999695 0.07708165] [ 0. 0. 0. 1. ]] SLAMing on 31.661966745999997 meters Centerline goodness [0,1] 0.4738665195808053 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.37, Z:0.08 [[ 0.99999101 -0.00350905 -0.00238018 -0.30534374] [ 0.00351227 0.99999292 0.00134935 -0.37383561] [ 0.00237543 -0.00135769 0.99999626 0.07673366] [ 0. 0. 0. 1. ]] SLAMing on 31.691966746 meters Centerline goodness [0,1] 0.47758113389837953 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.38, Z:0.08 [[ 0.99999002 -0.00357338 -0.00268002 -0.30409842] [ 0.0035773 0.99999254 0.00145835 -0.3750654 ] [ 0.00267479 -0.00146792 0.99999535 0.07613767] [ 0. 0. 0. 1. ]] SLAMing on 31.721966745999996 meters Centerline goodness [0,1] 0.4677988242978446 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.37, Z:0.08 [[ 0.99998943 -0.00365834 -0.00278537 -0.30325426] [ 0.00366215 0.99999237 0.00136189 -0.37459855] [ 0.00278037 -0.00137208 0.99999519 0.0752843 ] [ 0. 0. 0. 1. ]] SLAMing on 31.751966745999997 meters Centerline goodness [0,1] 0.47276404201187294 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.38, Z:0.08 [[ 0.99998988 -0.00353718 -0.00277899 -0.30332703] [ 0.00354135 0.99999261 0.00149584 -0.37551479] [ 0.00277368 -0.00150567 0.99999502 0.07531901] [ 0. 0. 0. 1. ]] SLAMing on 31.781966746 meters Centerline goodness [0,1] 0.4815532251241289 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.38, Z:0.08 [[ 0.99998212 -0.00453674 -0.00389677 -0.34903403] [ 0.00455353 0.99998034 0.00431189 -0.37765313] [ 0.00387713 -0.00432956 0.99998311 0.07558318] [ 0. 0. 0. 1. ]] SLAMing on 31.811966745999996 meters Centerline goodness [0,1] 0.4761444087770986 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.37, Z:0.07 [[ 9.99997190e-01 2.11873209e-03 -1.06315770e-03 -3.22930633e-01] [-2.11831716e-03 9.99997680e-01 3.91256308e-04 -3.74733385e-01] [ 1.06398421e-03 -3.89003103e-04 9.99999358e-01 6.92947901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.841966745999997 meters Centerline goodness [0,1] 0.4784124727934971 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.38, Z:0.07 [[ 9.99996794e-01 2.29655561e-03 -1.06674468e-03 -3.23181114e-01] [-2.29594023e-03 9.99997197e-01 5.77738911e-04 -3.75316053e-01] [ 1.06806850e-03 -5.75287877e-04 9.99999264e-01 6.96504244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.871966746 meters Centerline goodness [0,1] 0.5000218188165474 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.38, Z:0.07 [[ 9.99995990e-01 2.78703494e-03 -5.01961656e-04 -2.78393829e-01] [-2.78826300e-03 9.99993080e-01 -2.46265289e-03 -3.75136296e-01] [ 4.95094683e-04 2.46404261e-03 9.99996842e-01 6.97568007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.901966746 meters Centerline goodness [0,1] 0.48151810829817154 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.38, Z:0.07 [[ 9.99995899e-01 2.82437178e-03 -4.74516194e-04 -2.78525103e-01] [-2.82551100e-03 9.99993086e-01 -2.41753437e-03 -3.75281333e-01] [ 4.67684898e-04 2.41886521e-03 9.99996965e-01 6.97791857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.931966745999997 meters Centerline goodness [0,1] 0.4801038252568135 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.38, Z:0.07 [[ 9.99995841e-01 2.86531428e-03 -3.27439670e-04 -2.79255059e-01] [-2.86603826e-03 9.99993401e-01 -2.23238760e-03 -3.76253786e-01] [ 3.21041017e-04 2.23331677e-03 9.99997455e-01 7.02993713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.961966745999998 meters Centerline goodness [0,1] 0.4779267640769779 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.38, Z:0.07 [[ 0.99999124 -0.00336519 -0.00249021 -0.30369545] [ 0.00337195 0.99999064 0.00271223 -0.37644214] [ 0.00248106 -0.0027206 0.99999322 0.07385664] [ 0. 0. 0. 1. ]] SLAMing on 31.991966746 meters Centerline goodness [0,1] 0.47467788702609603 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.37, Z:0.07 [[ 9.99996670e-01 -2.20625190e-03 -1.33849274e-03 -2.59731987e-01] [ 2.20652251e-03 9.99997545e-01 2.00736895e-04 -3.74941648e-01] [ 1.33804658e-03 -2.03689641e-04 9.99999084e-01 7.42423466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.021966746 meters Centerline goodness [0,1] 0.5005797038041695 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.38, Z:0.07 [[ 9.99997376e-01 -2.00940248e-03 -1.10023976e-03 -2.60558741e-01] [ 2.00993404e-03 9.99997864e-01 4.82237469e-04 -3.75779026e-01] [ 1.09926840e-03 -4.84447613e-04 9.99999278e-01 7.43472669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.051966746 meters Centerline goodness [0,1] 0.5025674642193816 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.38, Z:0.07 [[ 9.99997212e-01 -2.09183282e-03 -1.09514811e-03 -2.60796788e-01] [ 2.09247642e-03 9.99997639e-01 5.86870349e-04 -3.77060247e-01] [ 1.09391789e-03 -5.89160285e-04 9.99999228e-01 7.47614791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.081966746 meters Centerline goodness [0,1] 0.48269508269508266 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.38, Z:0.08 [[ 0.99998567 0.00250124 -0.00473383 -0.28647769] [-0.0025116 0.99999446 -0.00218267 -0.37827131] [ 0.00472834 0.00219453 0.99998641 0.0782002 ] [ 0. 0. 0. 1. ]] SLAMing on 32.111966746 meters Centerline goodness [0,1] 0.47825705576632094 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.38, Z:0.08 [[ 9.99992371e-01 -2.44750932e-03 -3.04420198e-03 -2.60875138e-01] [ 2.44936529e-03 9.99996817e-01 6.06094733e-04 -3.78033175e-01] [ 3.04270887e-03 -6.13546472e-04 9.99995183e-01 7.61870652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.141966745999994 meters Centerline goodness [0,1] 0.4750283027083515 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.38, Z:0.08 [[ 9.99991867e-01 -2.40478903e-03 -3.23773658e-03 -2.59987960e-01] [ 2.40709758e-03 9.99996851e-01 7.09304055e-04 -3.78023214e-01] [ 3.23602066e-03 -7.17091834e-04 9.99994507e-01 7.58411524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.171966745999995 meters Centerline goodness [0,1] 0.49596642675422387 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.38, Z:0.08 [[ 9.99992349e-01 -2.28548626e-03 -3.17465875e-03 -2.59774985e-01] [ 2.28815708e-03 9.99997031e-01 8.37918013e-04 -3.77842883e-01] [ 3.17273427e-03 -8.45175720e-04 9.99994610e-01 7.50504338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.201966746 meters Centerline goodness [0,1] 0.4802851414568946 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.38, Z:0.08 [[ 0.99998489 -0.00347921 -0.00425662 -0.3058493 ] [ 0.00349434 0.99998759 0.00355233 -0.37908434] [ 0.00424421 -0.00356715 0.99998463 0.07540074] [ 0. 0. 0. 1. ]] SLAMing on 32.231966746 meters Centerline goodness [0,1] 0.47846217989510875 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.38, Z:0.07 [[ 0.99999812 0.00163214 -0.00105056 -0.27930467] [-0.00163391 0.99999724 -0.00168722 -0.37794938] [ 0.00104781 0.00168894 0.99999802 0.06866513] [ 0. 0. 0. 1. ]] SLAMing on 32.261966746 meters Centerline goodness [0,1] 0.49996732809130706 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.38, Z:0.07 [[ 0.99999859 0.00127042 -0.00110145 -0.27935599] [-0.00127228 0.99999776 -0.00168955 -0.3799408 ] [ 0.0010993 0.00169095 0.99999797 0.06913327] [ 0. 0. 0. 1. ]] SLAMing on 32.291966746 meters Centerline goodness [0,1] 0.48498331479421575 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.07 [[ 9.99998654e-01 -2.84218898e-04 -1.61575125e-03 -3.27075067e-01] [ 2.85505585e-04 9.99999642e-01 7.96165179e-04 -3.82165172e-01] [ 1.61552438e-03 -7.96625414e-04 9.99998378e-01 7.05052872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.321966746 meters Centerline goodness [0,1] 0.4719459602182714 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.07 [[ 9.99998302e-01 -3.88187108e-04 -1.80124652e-03 -3.26413672e-01] [ 3.89496312e-04 9.99999660e-01 7.26538651e-04 -3.82496167e-01] [ 1.80096387e-03 -7.27238996e-04 9.99998114e-01 7.03179588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.351966745999995 meters Centerline goodness [0,1] 0.47047179866443345 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.07 [[ 9.99998151e-01 -4.69662127e-04 -1.86496525e-03 -3.26129851e-01] [ 4.71025306e-04 9.99999622e-01 7.30568756e-04 -3.83365711e-01] [ 1.86462143e-03 -7.31445851e-04 9.99997994e-01 7.04913049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.381966745999996 meters Centerline goodness [0,1] 0.47550697919410057 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:0.07 [[ 9.99998477e-01 -4.93803439e-04 -1.67388280e-03 -3.27179075e-01] [ 4.95336773e-04 9.99999458e-01 9.15743812e-04 -3.85015809e-01] [ 1.67342969e-03 -9.16571553e-04 9.99998180e-01 7.11163990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.411966746 meters Centerline goodness [0,1] 0.4775564409030545 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:0.07 [[ 9.99998619e-01 -3.54533138e-04 -1.62388334e-03 -3.27739492e-01] [ 3.56329990e-04 9.99999324e-01 1.10635974e-03 -3.85765278e-01] [ 1.62349001e-03 -1.10693685e-03 9.99998069e-01 7.17241212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.441966746 meters Centerline goodness [0,1] 0.4755888556864124 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:0.07 [[ 9.99998525e-01 -4.23942970e-04 -1.66448869e-03 -3.27426759e-01] [ 4.25697672e-04 9.99999354e-01 1.05398625e-03 -3.85486529e-01] [ 1.66404078e-03 -1.05469326e-03 9.99998059e-01 7.15268486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.471966746 meters Centerline goodness [0,1] 0.47437538624525466 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:0.07 [[ 9.99998826e-01 -2.74576044e-04 -1.50776412e-03 -3.28039548e-01] [ 2.76420330e-04 9.99999214e-01 1.22312076e-03 -3.85674808e-01] [ 1.50742710e-03 -1.22353610e-03 9.99998115e-01 7.16654579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.501966746 meters Centerline goodness [0,1] 0.46930904495238923 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.38, Z:0.07 [[ 9.99981193e-01 -6.12477212e-03 3.16785817e-04 -3.03851298e-01] [ 6.12372649e-03 9.99976121e-01 3.20260665e-03 -3.84434671e-01] [-3.36393488e-04 -3.20060651e-03 9.99994821e-01 7.01954341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.531966745999995 meters Centerline goodness [0,1] 0.48018258739701625 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:0.07 [[ 9.99997617e-01 -9.64011503e-04 -1.95866158e-03 -3.31127281e-01] [ 9.65755889e-04 9.99999138e-01 8.89850576e-04 -3.85707726e-01] [ 1.95780207e-03 -8.91740045e-04 9.99997686e-01 7.38094685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.561966745999996 meters Centerline goodness [0,1] 0.49160712748558144 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.39, Z:0.07 [[ 9.99999340e-01 -6.07130273e-05 -1.14728991e-03 -2.85481120e-01] [ 5.88437411e-05 9.99998671e-01 -1.62926941e-03 -3.86058534e-01] [ 1.14738730e-03 1.62920082e-03 9.99998015e-01 7.36851919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.591966746 meters Centerline goodness [0,1] 0.49972708019475554 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:0.07 [[ 9.99996674e-01 -1.40166536e-03 -2.16520391e-03 -3.31347153e-01] [ 1.40318684e-03 9.99998770e-01 7.01335922e-04 -3.87565683e-01] [ 2.16421821e-03 -7.04371774e-04 9.99997410e-01 7.41550613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.621966746 meters Centerline goodness [0,1] 0.4792158084471939 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.39, Z:0.07 [[ 0.9999931 -0.00183663 -0.00322961 -0.3774861 ] [ 0.00184858 0.99999144 0.00370136 -0.38839561] [ 0.00322278 -0.00370731 0.99998793 0.07447869] [ 0. 0. 0. 1. ]] SLAMing on 32.651966746 meters Centerline goodness [0,1] 0.5030565016155795 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:0.07 [[ 9.99996693e-01 -2.22082549e-04 -2.56202005e-03 -3.32511649e-01] [ 2.25348444e-04 9.99999162e-01 1.27451602e-03 -3.87683983e-01] [ 2.56173486e-03 -1.27508915e-03 9.99995906e-01 7.43455901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.681966746 meters Centerline goodness [0,1] 0.4728999076882501 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:0.07 [[ 9.99996726e-01 6.48185726e-05 -2.55806418e-03 -3.32641654e-01] [-6.13247480e-05 9.99999065e-01 1.36586283e-03 -3.87131326e-01] [ 2.55815033e-03 -1.36570148e-03 9.99995795e-01 7.43867469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.711966745999995 meters Centerline goodness [0,1] 0.4961272265735176 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:0.07 [[ 9.99996500e-01 2.26101075e-04 -2.63615349e-03 -3.32166709e-01] [-2.22573187e-04 9.99999079e-01 1.33848778e-03 -3.86315180e-01] [ 2.63645369e-03 -1.33789636e-03 9.99995630e-01 7.39966248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.741966745999996 meters Centerline goodness [0,1] 0.46975673898750825 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:0.07 [[ 9.99996776e-01 2.33114163e-04 -2.52840462e-03 -3.32756026e-01] [-2.29695393e-04 9.99999059e-01 1.35235156e-03 -3.86588390e-01] [ 2.52871749e-03 -1.35176643e-03 9.99995889e-01 7.44500584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.771966746 meters Centerline goodness [0,1] 0.47387529252236293 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:0.07 [[ 9.99996185e-01 1.74795734e-04 -2.75668218e-03 -3.32029225e-01] [-1.71132743e-04 9.99999102e-01 1.32894793e-03 -3.87281058e-01] [ 2.75691200e-03 -1.32847110e-03 9.99995317e-01 7.44389343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.801966746 meters Centerline goodness [0,1] 0.47433798327766497 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:0.07 [[ 9.99996133e-01 1.69501279e-04 -2.77588175e-03 -3.32045081e-01] [-1.65943728e-04 9.99999165e-01 1.28177304e-03 -3.87625165e-01] [ 2.77609669e-03 -1.28130744e-03 9.99995326e-01 7.45109173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.831966746 meters Centerline goodness [0,1] 0.49877612910213365 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:0.07 [[ 9.99995892e-01 1.54040598e-04 -2.86211120e-03 -3.32015624e-01] [-1.50575374e-04 9.99999256e-01 1.21089908e-03 -3.87942289e-01] [ 2.86229560e-03 -1.21046314e-03 9.99995171e-01 7.48726617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.861966746 meters Centerline goodness [0,1] 0.49640599289858833 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:0.07 [[ 9.99995722e-01 2.31923943e-04 -2.91574444e-03 -3.31793444e-01] [-2.28639439e-04 9.99999339e-01 1.12675466e-03 -3.87367494e-01] [ 2.91600384e-03 -1.12608318e-03 9.99995114e-01 7.48158179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.891966745999994 meters Centerline goodness [0,1] 0.47372134038800706 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.39, Z:0.07 [[ 9.99991218e-01 -6.98266273e-04 -4.13227173e-03 -3.77248003e-01] [ 7.13442616e-04 9.99993003e-01 3.67230547e-03 -3.87308762e-01] [ 4.12967857e-03 -3.67522136e-03 9.99984719e-01 7.43473895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.921966745999995 meters Centerline goodness [0,1] 0.4754214729370009 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.39, Z:0.07 [[ 9.99991727e-01 -4.91470817e-04 -4.03794683e-03 -3.77444562e-01] [ 5.05742323e-04 9.99993627e-01 3.53408649e-03 -3.85124675e-01] [ 4.03618420e-03 -3.53609941e-03 9.99985603e-01 7.40266057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.951966746 meters Centerline goodness [0,1] 0.4750890462160855 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.38, Z:0.07 [[ 9.99991236e-01 -4.52123667e-04 -4.16217171e-03 -3.76813701e-01] [ 4.66273539e-04 9.99994114e-01 3.39929416e-03 -3.84378637e-01] [ 4.16061031e-03 -3.40120508e-03 9.99985560e-01 7.36216190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.981966746 meters Centerline goodness [0,1] 0.471181302991697 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.38, Z:0.07 [[ 9.99990576e-01 -3.93575559e-04 -4.32350472e-03 -3.76155745e-01] [ 4.07680988e-04 9.99994596e-01 3.26210198e-03 -3.83710348e-01] [ 4.32219748e-03 -3.26383385e-03 9.99985333e-01 7.30691792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.011966746 meters Centerline goodness [0,1] 0.474962361720233 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.38, Z:0.07 [[ 9.99989598e-01 -4.22976822e-04 -4.54158297e-03 -3.75163513e-01] [ 4.37434312e-04 9.99994839e-01 3.18283788e-03 -3.83235440e-01] [ 4.54021327e-03 -3.18479141e-03 9.99984622e-01 7.26711624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.041966746 meters Centerline goodness [0,1] 0.47802846531996657 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.07 [[ 9.99994421e-01 1.19159456e-03 -3.12049010e-03 -3.31356693e-01] [-1.18922086e-03 9.99999002e-01 7.62426983e-04 -3.80948630e-01] [ 3.12139549e-03 -7.58711777e-04 9.99994841e-01 7.23223000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.071966746 meters Centerline goodness [0,1] 0.47025191675794087 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.38, Z:0.07 [[ 0.99999213 -0.00106877 -0.00382076 -0.37949327] [ 0.00107872 0.99999603 0.00260203 -0.38258621] [ 0.00381796 -0.00260613 0.99998932 0.07413584] [ 0. 0. 0. 1. ]] SLAMing on 33.101966745999995 meters Centerline goodness [0,1] 0.46831451755159637 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.38, Z:0.07 [[ 0.99999251 -0.00113818 -0.00369992 -0.38010898] [ 0.00114763 0.99999609 0.00255172 -0.38277818] [ 0.003697 -0.00255595 0.9999899 0.0742897 ] [ 0. 0. 0. 1. ]] SLAMing on 33.131966745999996 meters Centerline goodness [0,1] 0.4741042055659287 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.38, Z:0.07 [[ 9.99993410e-01 -9.93966807e-04 -3.49171236e-03 -3.80707370e-01] [ 1.00300633e-03 9.99996148e-01 2.58805326e-03 -3.81907945e-01] [ 3.48912647e-03 -2.59153841e-03 9.99990555e-01 7.42145930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.161966746 meters Centerline goodness [0,1] 0.4964241994716835 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.07 [[ 9.99995818e-01 2.77452997e-04 -2.87884329e-03 -3.34034915e-01] [-2.77030890e-04 9.99999951e-01 1.47021767e-04 -3.80824076e-01] [ 2.87888394e-03 -1.46223623e-04 9.99995845e-01 7.34678549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.191966746 meters Centerline goodness [0,1] 0.4835140566683598 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.38, Z:0.07 [[ 0.99998884 -0.00277718 -0.00382238 -0.38075232] [ 0.00278232 0.99999523 0.00133982 -0.38300525] [ 0.00381864 -0.00135044 0.9999918 0.0740063 ] [ 0. 0. 0. 1. ]] SLAMing on 33.221966746 meters Centerline goodness [0,1] 0.47790834573605523 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.38, Z:0.07 [[ 0.99998888 -0.00281172 -0.00378708 -0.38109619] [ 0.00281734 0.99999494 0.00147928 -0.38422887] [ 0.00378291 -0.00148994 0.99999173 0.07434319] [ 0. 0. 0. 1. ]] SLAMing on 33.251966746 meters Centerline goodness [0,1] 0.48187913580787944 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.38, Z:0.07 [[ 0.999995 0.00246516 -0.00197995 -0.35400093] [-0.00247296 0.99998917 -0.00394364 -0.38376269] [ 0.00197021 0.00394852 0.99999026 0.06875961] [ 0. 0. 0. 1. ]] SLAMing on 33.281966745999995 meters Centerline goodness [0,1] 0.4777543304317242 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.38, Z:0.07 [[ 0.99999451 0.00262813 -0.0020163 -0.35371527] [-0.00263577 0.99998933 -0.00379291 -0.38376818] [ 0.00200631 0.00379821 0.99999077 0.06842651] [ 0. 0. 0. 1. ]] SLAMing on 33.311966745999996 meters Centerline goodness [0,1] 0.4810816826174048 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.38, Z:0.07 [[ 0.99998395 -0.00321595 -0.00466359 -0.38058595] [ 0.00322312 0.99999364 0.00152979 -0.3847437 ] [ 0.00465864 -0.00154479 0.99998796 0.07400568] [ 0. 0. 0. 1. ]] SLAMing on 33.341966746 meters Centerline goodness [0,1] 0.4804606795903117 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.38, Z:0.07 [[ 0.99999574 0.00260045 -0.00132907 -0.35607605] [-0.00260475 0.99999135 -0.00324209 -0.38387639] [ 0.00132063 0.00324554 0.99999386 0.0689341 ] [ 0. 0. 0. 1. ]] SLAMing on 33.371966746 meters Centerline goodness [0,1] 0.4804606795903117 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.38, Z:0.07 [[ 0.99999574 0.00260045 -0.00132907 -0.35607605] [-0.00260475 0.99999135 -0.00324209 -0.38387639] [ 0.00132063 0.00324554 0.99999386 0.0689341 ] [ 0. 0. 0. 1. ]] SLAMing on 33.401966746 meters Centerline goodness [0,1] 0.4831733421604325 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.38, Z:0.07 [[ 0.99999564 0.00265805 -0.00128701 -0.35618479] [-0.00266203 0.99999163 -0.00310619 -0.38428139] [ 0.00127874 0.0031096 0.99999435 0.06873456] [ 0. 0. 0. 1. ]] SLAMing on 33.431966746 meters Centerline goodness [0,1] 0.48519546358411814 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.07 [[ 9.99997126e-01 -2.17996502e-03 -9.97790049e-04 -3.33426372e-01] [ 2.17972084e-03 9.99997594e-01 -2.45745013e-04 -3.83478809e-01] [ 9.98323364e-04 2.43569403e-04 9.99999472e-01 6.97660006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.461966745999995 meters Centerline goodness [0,1] 0.48605551255114454 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.39, Z:0.07 [[ 9.99990504e-01 4.31533485e-03 -6.08433202e-04 -3.56979007e-01] [-4.31613897e-03 9.99989806e-01 -1.32657571e-03 -3.86517528e-01] [ 6.02702381e-04 1.32918920e-03 9.99998935e-01 6.87402703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.491966745999996 meters Centerline goodness [0,1] 0.4867258601553829 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.39, Z:0.07 [[ 9.99990726e-01 4.27091087e-03 -5.54739400e-04 -3.56913711e-01] [-4.27167433e-03 9.99989921e-01 -1.38243666e-03 -3.86421548e-01] [ 5.48829545e-04 1.38479351e-03 9.99998891e-01 6.82393279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.521966746 meters Centerline goodness [0,1] 0.48607500928332714 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.07 [[ 9.99999393e-01 -6.57257182e-04 8.84576978e-04 -3.30311022e-01] [ 6.56358401e-04 9.99999269e-01 1.01596425e-03 -3.84662979e-01] [-8.85244081e-04 -1.01538303e-03 9.99999093e-01 6.54608872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.551966746 meters Centerline goodness [0,1] 0.48722571566773665 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.07 [[ 9.99999558e-01 -4.33872749e-04 8.34703832e-04 -3.30009263e-01] [ 4.32968375e-04 9.99999319e-01 1.08334325e-03 -3.83234162e-01] [-8.35173297e-04 -1.08298137e-03 9.99999065e-01 6.50070271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.581966746 meters Centerline goodness [0,1] 0.4883989204248651 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.06 [[ 9.99999768e-01 -4.86931805e-04 4.76917091e-04 -3.28318311e-01] [ 4.86538859e-04 9.99999542e-01 8.23699616e-04 -3.81982905e-01] [-4.77317959e-04 -8.23467386e-04 9.99999547e-01 6.39241693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.611966746 meters Centerline goodness [0,1] 0.4861759345690536 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.38, Z:0.06 [[ 9.99998119e-01 -1.90785724e-03 -3.50619171e-04 -3.75221696e-01] [ 1.90896607e-03 9.99993090e-01 3.18983626e-03 -3.83704180e-01] [ 3.44530996e-04 -3.19049958e-03 9.99994851e-01 6.46969435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.641966745999994 meters Centerline goodness [0,1] 0.4786468330134357 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.06 [[ 9.99999740e-01 -7.15455052e-04 8.86515965e-05 -3.29423073e-01] [ 7.15427169e-04 9.99999695e-01 3.14159785e-04 -3.83159074e-01] [-8.88763366e-05 -3.14096279e-04 9.99999947e-01 6.45086053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.671966745999995 meters Centerline goodness [0,1] 0.4853728070175438 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.07 [[ 9.99999821e-01 -5.62873756e-04 2.02458065e-04 -3.30113852e-01] [ 5.62807370e-04 9.99999788e-01 3.27808669e-04 -3.82996242e-01] [-2.02642537e-04 -3.27694666e-04 9.99999926e-01 6.51549088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.701966746 meters Centerline goodness [0,1] 0.47367272568573116 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.06 [[ 9.99999769e-01 -6.77643341e-04 -4.29930171e-05 -3.29137120e-01] [ 6.77648485e-04 9.99999763e-01 1.19760680e-04 -3.83357193e-01] [ 4.29118519e-05 -1.19789787e-04 9.99999992e-01 6.45947450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.731966746 meters Centerline goodness [0,1] 0.48514675099095894 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.38, Z:0.06 [[ 0.99999569 -0.00267775 -0.00120012 -0.37507259] [ 0.00268003 0.99999459 0.0019065 -0.38497245] [ 0.00119501 -0.0019097 0.99999746 0.06483391] [ 0. 0. 0. 1. ]] SLAMing on 33.761966746 meters Centerline goodness [0,1] 0.4791160172591279 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.07 [[ 9.99998927e-01 -1.43646162e-03 -2.87775889e-04 -3.31256543e-01] [ 1.43624471e-03 9.99998685e-01 -7.52544035e-04 -3.84141172e-01] [ 2.88856512e-04 7.52129910e-04 9.99999675e-01 6.54855608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.791966746 meters Centerline goodness [0,1] 0.4823220153340635 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:0.07 [[ 9.99998919e-01 -1.45436925e-03 -2.18389071e-04 -3.31782371e-01] [ 1.45424220e-03 9.99998774e-01 -5.80819297e-04 -3.85917002e-01] [ 2.19233528e-04 5.80501079e-04 9.99999807e-01 6.59341160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.821966746 meters Centerline goodness [0,1] 0.4869955356151301 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.39, Z:0.07 [[ 0.9999888 0.00373785 -0.00290179 -0.35841673] [-0.00374635 0.99998869 -0.00292929 -0.38728042] [ 0.00289081 0.00294012 0.9999915 0.06957671] [ 0. 0. 0. 1. ]] SLAMing on 33.851966745999995 meters Centerline goodness [0,1] 0.4820888888888889 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.39, Z:0.07 [[ 0.99998875 0.00382986 -0.00279758 -0.35811587] [-0.00383799 0.99998842 -0.00290471 -0.38624679] [ 0.00278643 0.00291542 0.99999187 0.06845772] [ 0. 0. 0. 1. ]] SLAMing on 33.881966745999996 meters Centerline goodness [0,1] 0.49149720273510344 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.38, Z:0.07 [[ 0.99998866 0.00390638 -0.00272281 -0.35809077] [-0.00391451 0.99998788 -0.00298551 -0.38451372] [ 0.00271111 0.00299613 0.99999184 0.06809326] [ 0. 0. 0. 1. ]] SLAMing on 33.911966746 meters Centerline goodness [0,1] 0.484192432385387 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.07 [[ 9.99999907e-01 -1.71699695e-04 -3.94721274e-04 -3.32844289e-01] [ 1.71924598e-04 9.99999823e-01 5.69813474e-04 -3.83423516e-01] [ 3.94623367e-04 -5.69881283e-04 9.99999760e-01 6.56082757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.941966746 meters Centerline goodness [0,1] 0.48966161234381256 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.38, Z:0.07 [[ 0.99999815 -0.00135106 -0.00137219 -0.37919475] [ 0.00135561 0.99999357 0.00331857 -0.38376982] [ 0.0013677 -0.00332042 0.99999355 0.06600287] [ 0. 0. 0. 1. ]] SLAMing on 33.971966746 meters Centerline goodness [0,1] 0.48276919706430055 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.38, Z:0.06 [[ 0.99999316 0.00322641 0.00180806 -0.35213877] [-0.00322189 0.99999169 -0.0024962 -0.38074979] [-0.0018161 0.00249035 0.99999525 0.05923038] [ 0. 0. 0. 1. ]] SLAMing on 34.001966746 meters Centerline goodness [0,1] 0.48512380410272127 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.38, Z:0.06 [[ 0.99999397 0.00312199 0.00151938 -0.35135804] [-0.00311819 0.99999202 -0.00249686 -0.38178098] [-0.00152716 0.0024921 0.99999573 0.05925472] [ 0. 0. 0. 1. ]] SLAMing on 34.031966745999995 meters Centerline goodness [0,1] 0.48274354658914564 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.38, Z:0.06 [[ 0.99999392 0.00316925 0.00145755 -0.35118905] [-0.00316551 0.99999171 -0.00256261 -0.38077957] [-0.00146566 0.00255798 0.99999565 0.05913556] [ 0. 0. 0. 1. ]] SLAMing on 34.061966745999996 meters Centerline goodness [0,1] 0.4815531844681553 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.38, Z:0.06 [[ 0.99999358 0.00321581 0.00158193 -0.35149332] [-0.00321182 0.99999167 -0.00251855 -0.38065783] [-0.00159002 0.00251345 0.99999558 0.05895355] [ 0. 0. 0. 1. ]] SLAMing on 34.091966746 meters Centerline goodness [0,1] 0.4842442309815612 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.38, Z:0.06 [[ 0.99999305 0.0032656 0.0017962 -0.35276926] [-0.00326135 0.99999188 -0.00236697 -0.38114745] [-0.00180392 0.0023611 0.99999559 0.06005347] [ 0. 0. 0. 1. ]] SLAMing on 34.121966746 meters Centerline goodness [0,1] 0.4838262476894639 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.38, Z:0.06 [[ 0.99999423 0.00290237 0.00176663 -0.35293006] [-0.00289808 0.99999287 -0.0024229 -0.38279258] [-0.00177365 0.00241777 0.9999955 0.06062482] [ 0. 0. 0. 1. ]] SLAMing on 34.151966746 meters Centerline goodness [0,1] 0.5020662954585 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.06 [[ 9.99989876e-01 -2.52704581e-03 3.72314588e-03 -3.28354320e-01] [ 2.52682458e-03 9.99996806e-01 6.41231473e-05 -3.83574900e-01] [-3.72329603e-03 -5.47147616e-05 9.99993067e-01 5.95428941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.181966746 meters Centerline goodness [0,1] 0.48342129289420355 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.39, Z:0.06 [[ 0.99998151 -0.00529521 0.00298905 -0.3755745 ] [ 0.00529049 0.99998475 0.00158445 -0.38703436] [-0.0029974 -0.00156861 0.99999428 0.06087994] [ 0. 0. 0. 1. ]] SLAMing on 34.211966745999995 meters Centerline goodness [0,1] 0.48052581410299045 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.39, Z:0.06 [[ 0.99998166 -0.00524984 0.00302006 -0.37574727] [ 0.00524498 0.99998494 0.00161396 -0.38715206] [-0.00302849 -0.00159809 0.99999414 0.06102036] [ 0. 0. 0. 1. ]] SLAMing on 34.241966745999996 meters Centerline goodness [0,1] 0.48499877677201253 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.39, Z:0.06 [[ 0.99998248 -0.00510984 0.00298658 -0.37569366] [ 0.00510492 0.9999856 0.00165436 -0.38649811] [-0.00299499 -0.00163909 0.99999417 0.06098813] [ 0. 0. 0. 1. ]] SLAMing on 34.271966746 meters Centerline goodness [0,1] 0.4836614130316308 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:0.06 [[ 9.99990097e-01 -2.95592566e-03 3.32693772e-03 -3.30330793e-01] [ 2.95690509e-03 9.99995586e-01 -2.89515122e-04 -3.86394470e-01] [-3.32606725e-03 2.99349694e-04 9.99994424e-01 6.15521979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.301966746 meters Centerline goodness [0,1] 0.4838032327916184 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:0.06 [[ 9.99990489e-01 -2.78680961e-03 3.35499934e-03 -3.30761459e-01] [ 2.78747778e-03 9.99996096e-01 -1.94495314e-04 -3.86344566e-01] [-3.35444422e-03 2.03845450e-04 9.99994353e-01 6.19095068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.331966746 meters Centerline goodness [0,1] 0.4837257087896474 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.06 [[ 9.99991907e-01 -2.14685152e-03 3.40246005e-03 -3.30993623e-01] [ 2.14717054e-03 9.99997691e-01 -9.01129906e-05 -3.84575513e-01] [-3.40225873e-03 9.74179233e-05 9.99994208e-01 6.16861033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.361966746 meters Centerline goodness [0,1] 0.47717979158422374 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.06 [[ 9.99992395e-01 -1.84997390e-03 3.43323197e-03 -3.31169378e-01] [ 1.85007680e-03 9.99998288e-01 -2.67968988e-05 -3.83563863e-01] [-3.43317652e-03 3.31484378e-05 9.99994106e-01 6.15783561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.391966745999994 meters Centerline goodness [0,1] 0.4632399502150796 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.06 [[ 9.99993565e-01 -1.64587042e-03 3.18771391e-03 -3.30170520e-01] [ 1.64621926e-03 9.99998639e-01 -1.06814608e-04 -3.82333291e-01] [-3.18753377e-03 1.12061597e-04 9.99994914e-01 6.10687933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.421966745999995 meters Centerline goodness [0,1] 0.4701451806571335 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.06 [[ 9.99993840e-01 -1.55549518e-03 3.14648730e-03 -3.29977691e-01] [ 1.55598343e-03 9.99998778e-01 -1.52732027e-04 -3.81613419e-01] [-3.14624588e-03 1.57626968e-04 9.99995038e-01 6.07950760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.451966746 meters Centerline goodness [0,1] 0.4761539304900778 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.06 [[ 9.99993583e-01 -1.48677796e-03 3.25946326e-03 -3.30511886e-01] [ 1.48658900e-03 9.99998893e-01 6.03947029e-05 -3.82700097e-01] [-3.25954945e-03 -5.55488331e-05 9.99994686e-01 6.11527600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.481966746 meters Centerline goodness [0,1] 0.5036911719470931 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.06 [[ 9.99994224e-01 -1.37047752e-03 3.11019156e-03 -3.30329489e-01] [ 1.37038841e-03 9.99999061e-01 3.07833323e-05 -3.81745941e-01] [-3.11023082e-03 -2.65209840e-05 9.99995163e-01 6.12993095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.511966746 meters Centerline goodness [0,1] 0.4769203741929817 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.06 [[ 9.99994145e-01 -1.23875434e-03 3.18982967e-03 -3.30643086e-01] [ 1.23838969e-03 9.99999226e-01 1.16287624e-04 -3.81403390e-01] [-3.18997126e-03 -1.12336691e-04 9.99994906e-01 6.14470341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.541966746 meters Centerline goodness [0,1] 0.4793064141347714 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.06 [[ 9.99994550e-01 -1.33643682e-03 3.01878132e-03 -3.30032311e-01] [ 1.33623770e-03 9.99999105e-01 6.79783463e-05 -3.81711739e-01] [-3.01886947e-03 -6.39441664e-05 9.99995441e-01 6.12246820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.571966746 meters Centerline goodness [0,1] 0.47145831525982473 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.06 [[ 9.99994996e-01 -1.41643478e-03 2.82886820e-03 -3.29419713e-01] [ 1.41642137e-03 9.99998997e-01 6.74382373e-06 -3.81755681e-01] [-2.82887492e-03 -2.73692061e-06 9.99995999e-01 6.11322979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.601966745999995 meters Centerline goodness [0,1] 0.47557354332094226 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.38, Z:0.06 [[ 9.99995926e-01 2.82001030e-03 4.41428670e-04 -3.55601695e-01] [-2.81852972e-03 9.99990518e-01 -3.31950764e-03 -3.83734492e-01] [-4.50785530e-04 3.31824994e-03 9.99994393e-01 6.38870481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.631966745999996 meters Centerline goodness [0,1] 0.4788917627460436 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.39, Z:0.06 [[ 9.99996749e-01 2.52369568e-03 3.65278431e-04 -3.55407690e-01] [-2.52247164e-03 9.99991329e-01 -3.31350728e-03 -3.85173498e-01] [-3.73637548e-04 3.31257510e-03 9.99994444e-01 6.39786639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.661966746 meters Centerline goodness [0,1] 0.5057325398214598 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.39, Z:0.06 [[ 9.99997159e-01 2.36342235e-03 3.10422116e-04 -3.55375248e-01] [-2.36237092e-03 9.99991615e-01 -3.34487082e-03 -3.85794318e-01] [-3.18324856e-04 3.34412799e-03 9.99994358e-01 6.43669099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.691966746 meters Centerline goodness [0,1] 0.47771593847232574 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.39, Z:0.06 [[ 9.99997684e-01 2.14354881e-03 1.94840257e-04 -3.55154896e-01] [-2.14289921e-03 9.99992340e-01 -3.27520623e-03 -3.87410550e-01] [-2.01859329e-04 3.27478112e-03 9.99994618e-01 6.45180956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.721966746 meters Centerline goodness [0,1] 0.49850233459607085 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.39, Z:0.06 [[ 9.99997384e-01 2.25561418e-03 3.80952799e-04 -3.55780369e-01] [-2.25441104e-03 9.99992561e-01 -3.12969643e-03 -3.87095974e-01] [-3.88009353e-04 3.12882942e-03 9.99995030e-01 6.45716198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.751966746 meters Centerline goodness [0,1] 0.5019994726665495 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.39, Z:0.06 [[ 9.99997379e-01 2.28181445e-03 1.90308162e-04 -3.55088498e-01] [-2.28121944e-03 9.99992685e-01 -3.07026409e-03 -3.87415511e-01] [-1.97312543e-04 3.06982191e-03 9.99995269e-01 6.42991036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.781966745999995 meters Centerline goodness [0,1] 0.47775263123200984 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.39, Z:0.06 [[ 9.99997669e-01 2.15373947e-03 1.55318844e-04 -3.55009819e-01] [-2.15326939e-03 9.99993284e-01 -2.96576686e-03 -3.88558672e-01] [-1.61705290e-04 2.96542551e-03 9.99995590e-01 6.43342912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.811966745999996 meters Centerline goodness [0,1] 0.48262055614220345 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.39, Z:0.06 [[ 9.99997556e-01 2.20691703e-03 1.28980066e-04 -3.55048887e-01] [-2.20653231e-03 9.99993330e-01 -2.91042716e-03 -3.88690173e-01] [-1.35402277e-04 2.91013545e-03 9.99995756e-01 6.44002932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.841966746 meters Centerline goodness [0,1] 0.4841455014110171 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.39, Z:0.07 [[ 0.99999045 -0.00391217 -0.00194605 -0.3793106 ] [ 0.00391683 0.99998946 0.00239682 -0.38915045] [ 0.00193666 -0.00240442 0.99999523 0.06802743] [ 0. 0. 0. 1. ]] SLAMing on 34.871966746 meters Centerline goodness [0,1] 0.47400121327671374 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:0.07 [[ 9.99997368e-01 -1.83061240e-03 -1.38305377e-03 -3.31823294e-01] [ 1.83154656e-03 9.99998095e-01 6.74465319e-04 -3.88232376e-01] [ 1.38181645e-03 -6.76996671e-04 9.99998816e-01 6.61714779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.901966746 meters Centerline goodness [0,1] 0.47566605117383276 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.39, Z:0.07 [[ 0.99998583 0.00314738 -0.00429278 -0.35797829] [-0.00315637 0.99999284 -0.00208878 -0.38868567] [ 0.00428618 0.0021023 0.9999886 0.06920912] [ 0. 0. 0. 1. ]] SLAMing on 34.931966746 meters Centerline goodness [0,1] 0.4813116055480826 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.39, Z:0.07 [[ 0.99998507 0.00321042 -0.00442229 -0.35779941] [-0.0032193 0.99999281 -0.00200282 -0.38926205] [ 0.00441583 0.00201703 0.99998822 0.06935719] [ 0. 0. 0. 1. ]] SLAMing on 34.961966745999995 meters Centerline goodness [0,1] 0.48199279711884757 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.39, Z:0.07 [[ 0.99998526 0.00329849 -0.00431315 -0.35810855] [-0.00330657 0.99999279 -0.00186757 -0.38974974] [ 0.00430696 0.0018818 0.99998895 0.06920052] [ 0. 0. 0. 1. ]] SLAMing on 34.991966745999996 meters Centerline goodness [0,1] 0.48863382609084005 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.39, Z:0.07 [[ 0.99998456 0.00326475 -0.00449686 -0.35755156] [-0.00327314 0.99999292 -0.00185841 -0.39002665] [ 0.00449076 0.0018731 0.99998816 0.06904045] [ 0. 0. 0. 1. ]] SLAMing on 35.021966746 meters Centerline goodness [0,1] 0.4859005025346178 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.39, Z:0.06 [[ 9.99996891e-01 -2.23263882e-03 -1.11071582e-03 -3.31144414e-01] [ 2.23265252e-03 9.99997508e-01 1.10878377e-05 -3.90630828e-01] [ 1.11068830e-03 -1.35676457e-05 9.99999383e-01 6.45917901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.051966746 meters Centerline goodness [0,1] 0.48690107243985636 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.39, Z:0.06 [[ 0.99998976 -0.00397558 -0.00216051 -0.37663613] [ 0.0039807 0.99998926 0.00237374 -0.39200574] [ 0.00215105 -0.00238231 0.99999485 0.0647253 ] [ 0. 0. 0. 1. ]] SLAMing on 35.081966746 meters Centerline goodness [0,1] 0.48509039158568856 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.39, Z:0.06 [[ 0.99998986 -0.00399238 -0.0020847 -0.3768362 ] [ 0.00399774 0.9999887 0.0025722 -0.39321566] [ 0.00207441 -0.00258051 0.99999452 0.06477418] [ 0. 0. 0. 1. ]] SLAMing on 35.111966746 meters Centerline goodness [0,1] 0.4843444011705943 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.39, Z:0.06 [[ 0.99999453 0.00306337 -0.00124566 -0.35318015] [-0.00306518 0.99999425 -0.00144879 -0.39285517] [ 0.00124121 0.0014526 0.99999817 0.06201596] [ 0. 0. 0. 1. ]] SLAMing on 35.141966745999994 meters Centerline goodness [0,1] 0.4824881228593526 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.39, Z:0.06 [[ 0.99999355 0.00328042 -0.00146528 -0.35215895] [-0.0032825 0.9999936 -0.00142335 -0.3917055 ] [ 0.0014606 0.00142816 0.99999791 0.06115654] [ 0. 0. 0. 1. ]] SLAMing on 35.171966745999995 meters Centerline goodness [0,1] 0.4834132562569796 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.39, Z:0.06 [[ 0.99999245 0.00341049 -0.00186031 -0.34999304] [-0.00341322 0.99999309 -0.00146981 -0.39093503] [ 0.00185528 0.00147614 0.99999719 0.05942066] [ 0. 0. 0. 1. ]] SLAMing on 35.201966746 meters Centerline goodness [0,1] 0.4819799019284473 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.39, Z:0.06 [[ 0.99999156 0.00363251 -0.00191841 -0.3496072 ] [-0.00363538 0.99999228 -0.00149121 -0.38997737] [ 0.00191298 0.00149817 0.99999705 0.0589085 ] [ 0. 0. 0. 1. ]] SLAMing on 35.231966746 meters Centerline goodness [0,1] 0.4830255057167986 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.39, Z:0.06 [[ 0.99999078 0.00376586 -0.00206262 -0.34898402] [-0.00376939 0.99999143 -0.00171257 -0.3885426 ] [ 0.00205615 0.00172033 0.99999641 0.05849159] [ 0. 0. 0. 1. ]] SLAMing on 35.261966746 meters Centerline goodness [0,1] 0.4830255057167986 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.39, Z:0.06 [[ 0.99999078 0.00376586 -0.00206262 -0.34898402] [-0.00376939 0.99999143 -0.00171257 -0.3885426 ] [ 0.00205615 0.00172033 0.99999641 0.05849159] [ 0. 0. 0. 1. ]] SLAMing on 35.291966746 meters Centerline goodness [0,1] 0.4884133102928796 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.39, Z:0.06 [[ 0.9999905 0.003778 -0.00217467 -0.34824757] [-0.00378181 0.99999132 -0.0017513 -0.38856789] [ 0.00216803 0.0017595 0.9999961 0.05772155] [ 0. 0. 0. 1. ]] SLAMing on 35.321966745999994 meters Centerline goodness [0,1] 0.4803726897815793 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.39, Z:0.05 [[ 9.99998889e-01 -1.44938351e-03 3.48081909e-04 -3.20488436e-01] [ 1.44936297e-03 9.99998948e-01 5.92583761e-05 -3.88444030e-01] [-3.48167431e-04 -5.87538132e-05 9.99999938e-01 5.28168157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.351966745999995 meters Centerline goodness [0,1] 0.4803492484526968 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.39, Z:0.06 [[ 0.99999052 0.00354183 -0.00253202 -0.34682162] [-0.0035484 0.99999033 -0.00259598 -0.39002332] [ 0.0025228 0.00260494 0.99999342 0.05623561] [ 0. 0. 0. 1. ]] SLAMing on 35.381966745999996 meters Centerline goodness [0,1] 0.4831453290986748 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.39, Z:0.06 [[ 0.99999047 0.00340822 -0.00272814 -0.34598842] [-0.00341579 0.99999032 -0.00277415 -0.38980833] [ 0.00271866 0.00278344 0.99999243 0.05579364] [ 0. 0. 0. 1. ]] SLAMing on 35.411966746 meters Centerline goodness [0,1] 0.48171378091872796 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.39, Z:0.06 [[ 0.99999015 0.00345127 -0.00279158 -0.34551785] [-0.00345895 0.99999024 -0.00274889 -0.38963719] [ 0.00278207 0.00275851 0.99999233 0.05528133] [ 0. 0. 0. 1. ]] SLAMing on 35.441966746 meters Centerline goodness [0,1] 0.48448719085187486 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.39, Z:0.05 [[ 0.99998969 0.00342949 -0.00297696 -0.34437325] [-0.00343765 0.99999033 -0.00274207 -0.38964277] [ 0.00296753 0.00275228 0.99999181 0.05400571] [ 0. 0. 0. 1. ]] SLAMing on 35.471966746 meters Centerline goodness [0,1] 0.47597571170854047 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.39, Z:0.05 [[ 0.99998955 0.00336857 -0.00309202 -0.34339687] [-0.00337738 0.99999025 -0.0028463 -0.38890011] [ 0.0030824 0.00285671 0.99999117 0.05301236] [ 0. 0. 0. 1. ]] SLAMing on 35.501966746 meters Centerline goodness [0,1] 0.4838631826060247 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.39, Z:0.05 [[ 0.99998897 0.00338928 -0.00325166 -0.34230133] [-0.00339876 0.99998997 -0.00291619 -0.38849647] [ 0.00324174 0.00292721 0.99999046 0.05191843] [ 0. 0. 0. 1. ]] SLAMing on 35.531966745999995 meters Centerline goodness [0,1] 0.4860836974119004 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.39, Z:0.05 [[ 0.99998386 -0.00354182 -0.00444155 -0.3641901 ] [ 0.00354834 0.99999264 0.00146033 -0.3858783 ] [ 0.00443635 -0.00147606 0.99998907 0.05253606] [ 0. 0. 0. 1. ]] SLAMing on 35.561966745999996 meters Centerline goodness [0,1] 0.48211266352229243 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.38, Z:0.05 [[ 0.999985 -0.00323516 -0.00442034 -0.36404401] [ 0.00324195 0.99999357 0.00152979 -0.38485762] [ 0.00441536 -0.0015441 0.99998906 0.05200239] [ 0. 0. 0. 1. ]] SLAMing on 35.591966746 meters Centerline goodness [0,1] 0.4844521494875903 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.38, Z:0.05 [[ 0.9999959 0.00217169 -0.0018653 -0.33672052] [-0.00217864 0.99999068 -0.00372821 -0.38304154] [ 0.00185718 0.00373226 0.99999131 0.04505743] [ 0. 0. 0. 1. ]] SLAMing on 35.621966746 meters Centerline goodness [0,1] 0.48311217016811314 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.38, Z:0.04 [[ 0.9999954 0.00221446 -0.00207047 -0.33555094] [-0.00222203 0.99999083 -0.00366218 -0.38329699] [ 0.00206234 0.00366676 0.99999115 0.04412512] [ 0. 0. 0. 1. ]] SLAMing on 35.651966746 meters Centerline goodness [0,1] 0.4845630215195432 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.04 [[ 0.99999579 0.00187332 -0.00221429 -0.3349912 ] [-0.00188141 0.99999155 -0.00365433 -0.38498407] [ 0.00220742 0.00365848 0.99999087 0.04379003] [ 0. 0. 0. 1. ]] SLAMing on 35.681966746 meters Centerline goodness [0,1] 0.48964908408739793 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.39, Z:0.04 [[ 0.99999604 0.00173901 -0.00221182 -0.33501489] [-0.00174705 0.99999184 -0.00364131 -0.38546057] [ 0.00220547 0.00364516 0.99999092 0.04383484] [ 0. 0. 0. 1. ]] SLAMing on 35.711966745999995 meters Centerline goodness [0,1] 0.48741478762454116 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.39, Z:0.04 [[ 9.99993292e-01 -2.72071149e-03 -2.45246008e-03 -3.10855895e-01] [ 2.71962325e-03 9.99996202e-01 -4.46959131e-04 -3.85244848e-01] [ 2.45366681e-03 4.40286365e-04 9.99996893e-01 4.40032475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.741966745999996 meters Centerline goodness [0,1] 0.4880387042115355 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.39, Z:0.05 [[ 0.9999905 -0.00301728 -0.00314708 -0.35888808] [ 0.0030274 0.99999025 0.00321532 -0.3870003 ] [ 0.00313734 -0.00322481 0.99998988 0.04557977] [ 0. 0. 0. 1. ]] SLAMing on 35.771966746 meters Centerline goodness [0,1] 0.4813975490088227 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:0.04 [[ 9.99996509e-01 2.59743163e-03 4.84743565e-04 -3.34203102e-01] [-2.59643359e-03 9.99994531e-01 -2.04829608e-03 -3.84266901e-01] [-4.90061223e-04 2.04703032e-03 9.99997785e-01 4.00293557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.801966746 meters Centerline goodness [0,1] 0.48462290564863786 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.38, Z:0.04 [[ 9.99995336e-01 2.92458179e-03 8.79800122e-04 -3.36080216e-01] [-2.92286055e-03 9.99993825e-01 -1.95136154e-03 -3.83075138e-01] [-8.85501605e-04 1.94878091e-03 9.99997709e-01 4.11126988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.831966746 meters Centerline goodness [0,1] 0.47902245765541185 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.38, Z:0.04 [[ 0.99999511 0.00291732 0.00112417 -0.33720699] [-0.00291508 0.99999378 -0.00198764 -0.38305842] [-0.00112996 0.00198436 0.99999739 0.0417285 ] [ 0. 0. 0. 1. ]] SLAMing on 35.861966746 meters Centerline goodness [0,1] 0.4896491852907132 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.38, Z:0.04 [[ 0.99999553 0.00274224 0.00119005 -0.33761708] [-0.00273994 0.99999438 -0.00193444 -0.38440502] [-0.00119534 0.00193117 0.99999742 0.04205645] [ 0. 0. 0. 1. ]] SLAMing on 35.891966745999994 meters Centerline goodness [0,1] 0.4821498712521276 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.38, Z:0.04 [[ 9.99988013e-01 -2.15606442e-03 4.39605343e-03 -3.11155782e-01] [ 2.15390593e-03 9.99997557e-01 4.95682298e-04 -3.84455458e-01] [-4.39711142e-03 -4.86207671e-04 9.99990214e-01 3.77732655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.921966745999995 meters Centerline goodness [0,1] 0.4770899528870385 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.39, Z:0.04 [[ 9.99987487e-01 -2.10999838e-03 4.53581777e-03 -3.11945017e-01] [ 2.10688048e-03 9.99997541e-01 6.92063861e-04 -3.85091714e-01] [-4.53726687e-03 -6.82498775e-04 9.99989474e-01 3.82849350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.951966746 meters Centerline goodness [0,1] 0.48758129314363086 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.39, Z:0.04 [[ 0.99999437 0.00286263 0.00175118 -0.33929777] [-0.00285921 0.999994 -0.0019567 -0.38636431] [-0.00175677 0.00195168 0.99999655 0.04256657] [ 0. 0. 0. 1. ]] SLAMing on 35.981966746 meters Centerline goodness [0,1] 0.4828940727248787 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.39, Z:0.04 [[ 0.99999452 0.0028198 0.00173329 -0.33951146] [-0.00281613 0.99999379 -0.00211832 -0.38603101] [-0.00173925 0.00211343 0.99999625 0.0428771 ] [ 0. 0. 0. 1. ]] SLAMing on 36.011966746 meters Centerline goodness [0,1] 0.4832734008935382 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.39, Z:0.04 [[ 0.99999428 0.00293137 0.00168761 -0.33914836] [-0.00292764 0.99999328 -0.00220753 -0.38523616] [-0.00169407 0.00220258 0.99999614 0.04251157] [ 0. 0. 0. 1. ]] SLAMing on 36.041966746 meters Centerline goodness [0,1] 0.47512563365445803 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.38, Z:0.04 [[ 0.9999926 0.00338563 0.00182593 -0.33967307] [-0.00338184 0.99999214 -0.00207069 -0.38399097] [-0.00183292 0.0020645 0.99999619 0.04246765] [ 0. 0. 0. 1. ]] SLAMing on 36.071966745999994 meters Centerline goodness [0,1] 0.4813371706885101 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.38, Z:0.04 [[ 9.99994556e-01 -3.29860521e-03 8.13088409e-05 -3.62620640e-01] [ 3.29838528e-03 9.99991255e-01 2.57098779e-03 -3.81960373e-01] [-8.97888036e-05 -2.57070561e-03 9.99996692e-01 4.49287894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.101966745999995 meters Centerline goodness [0,1] 0.48209252015820636 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.38, Z:0.04 [[ 0.9999958 0.00252597 0.00141821 -0.33605238] [-0.00252209 0.99999308 -0.00273534 -0.3808968 ] [-0.00142511 0.00273175 0.99999525 0.03975848] [ 0. 0. 0. 1. ]] SLAMing on 36.131966745999996 meters Centerline goodness [0,1] 0.4730931732265955 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.38, Z:0.04 [[ 9.99999993e-01 -4.33970213e-05 1.06387436e-04 -3.81657698e-01] [ 4.35367511e-05 9.99999136e-01 -1.31375430e-03 -3.82395940e-01] [-1.06330331e-04 1.31375892e-03 9.99999131e-01 4.00640816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.161966746 meters Centerline goodness [0,1] 0.48561016837529913 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.38, Z:0.04 [[ 9.99986707e-01 -5.06043588e-03 9.88800111e-04 -3.54805979e-01] [ 5.05957299e-03 9.99986819e-01 8.73228672e-04 -3.79734989e-01] [-9.93205996e-04 -8.68214158e-04 9.99999130e-01 3.69113468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.191966746 meters Centerline goodness [0,1] 0.4818401937046005 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.38, Z:0.04 [[ 9.99992745e-01 7.42478809e-05 -3.80851433e-03 -3.78232845e-01] [-7.91144222e-05 9.99999181e-01 -1.27767095e-03 -3.78801356e-01] [ 3.80841634e-03 1.27796299e-03 9.99991931e-01 4.00743050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.221966746 meters Centerline goodness [0,1] 0.48234797484947456 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.38, Z:0.04 [[ 9.99992164e-01 -1.33045775e-05 -3.95879028e-03 -3.77092096e-01] [ 7.40933090e-06 9.99998891e-01 -1.48916448e-03 -3.77296783e-01] [ 3.95880570e-03 1.48912348e-03 9.99991055e-01 3.87538931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.251966746 meters Centerline goodness [0,1] 0.4843447420526992 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.37, Z:0.04 [[ 0.99999218 0.00193355 -0.00345034 -0.32885181] [-0.00194464 0.99999295 -0.00321369 -0.37482252] [ 0.0034441 0.00322038 0.99998888 0.03590153] [ 0. 0. 0. 1. ]] SLAMing on 36.281966745999995 meters Centerline goodness [0,1] 0.4818400349650349 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.37, Z:0.04 [[ 0.99999221 0.00207189 -0.00336037 -0.32875094] [-0.00208282 0.99999255 -0.00325086 -0.37284785] [ 0.00335361 0.00325784 0.99998907 0.03524703] [ 0. 0. 0. 1. ]] SLAMing on 36.311966745999996 meters Centerline goodness [0,1] 0.48674995060047865 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.37, Z:0.03 [[ 0.99999256 0.00210058 -0.00323463 -0.32883426] [-0.00211124 0.99999234 -0.0032958 -0.3716479 ] [ 0.00322769 0.00330261 0.99998934 0.03457219] [ 0. 0. 0. 1. ]] SLAMing on 36.341966746 meters Centerline goodness [0,1] 0.48814437516466147 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.37, Z:0.03 [[ 0.99999281 0.00210479 -0.00315479 -0.32903905] [-0.00211564 0.99999185 -0.00344 -0.36933479] [ 0.00314752 0.00344665 0.99998911 0.03462333] [ 0. 0. 0. 1. ]] SLAMing on 36.371966746 meters Centerline goodness [0,1] 0.4952556609853115 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.37, Z:0.04 [[ 0.99998349 -0.00390629 -0.00421368 -0.35588405] [ 0.00391497 0.99999023 0.00205394 -0.36844741] [ 0.00420561 -0.0020704 0.99998901 0.03844561] [ 0. 0. 0. 1. ]] SLAMing on 36.401966746 meters Centerline goodness [0,1] 0.4871083336975047 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.37, Z:0.04 [[ 9.99993169e-01 -2.24273408e-03 -2.93812603e-03 -3.11188579e-01] [ 2.24332832e-03 9.99997464e-01 1.98972043e-04 -3.65138445e-01] [ 2.93767234e-03 -2.05561865e-04 9.99995664e-01 3.76445297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.431966746 meters Centerline goodness [0,1] 0.4899710323033708 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.36, Z:0.04 [[ 9.99993315e-01 -2.25855859e-03 -2.87560253e-03 -3.11335701e-01] [ 2.25916945e-03 9.99997426e-01 2.09199448e-04 -3.64453483e-01] [ 2.87512264e-03 -2.15694523e-04 9.99995844e-01 3.74863005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.461966745999995 meters Centerline goodness [0,1] 0.49426539230940214 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.36, Z:0.04 [[ 9.99993643e-01 -2.26037992e-03 -2.75764246e-03 -3.12202101e-01] [ 2.26097316e-03 9.99997422e-01 2.12027157e-04 -3.63742551e-01] [ 2.75715609e-03 -2.18260764e-04 9.99996175e-01 3.82261746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.491966745999996 meters Centerline goodness [0,1] 0.49602022038445337 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.36, Z:0.04 [[ 9.99993922e-01 -2.15936864e-03 -2.73740248e-03 -3.11904319e-01] [ 2.16009448e-03 9.99997633e-01 2.62227825e-04 -3.63404045e-01] [ 2.73682976e-03 -2.68139279e-04 9.99996219e-01 3.75824280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.521966746 meters Centerline goodness [0,1] 0.4980871035188398 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.36, Z:0.04 [[ 9.99994122e-01 -2.18928082e-03 -2.63867853e-03 -3.12242945e-01] [ 2.18970745e-03 9.99997590e-01 1.58808017e-04 -3.62246750e-01] [ 2.63832449e-03 -1.64585018e-04 9.99996506e-01 3.76378647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.551966746 meters Centerline goodness [0,1] 0.49438652766639934 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.36, Z:0.04 [[ 9.99995093e-01 -1.84100300e-03 -2.53482564e-03 -3.12507613e-01] [ 1.84168557e-03 9.99998268e-01 2.66970287e-04 -3.60561336e-01] [ 2.53432975e-03 -2.71637329e-04 9.99996752e-01 3.73691314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.581966746 meters Centerline goodness [0,1] 0.49193354201781847 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.36, Z:0.04 [[ 9.99998317e-01 1.53571013e-04 -1.82844738e-03 -2.66154039e-01] [-1.56971953e-04 9.99998258e-01 -1.86001743e-03 -3.58052283e-01] [ 1.82815855e-03 1.86030131e-03 9.99996599e-01 3.59499687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.611966746 meters Centerline goodness [0,1] 0.5096899224806202 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.36, Z:0.04 [[ 9.99998135e-01 2.95615008e-04 -1.90851986e-03 -2.66128417e-01] [-2.99410316e-04 9.99997978e-01 -1.98863399e-03 -3.56929927e-01] [ 1.90792813e-03 1.98920171e-03 9.99996201e-01 3.60482633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.641966745999994 meters Centerline goodness [0,1] 0.49341194336504535 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.36, Z:0.04 [[ 9.99994822e-01 -5.04888305e-04 -3.17831944e-03 -3.11718145e-01] [ 5.06139737e-04 9.99999795e-01 3.92948132e-04 -3.57663553e-01] [ 3.17812039e-03 -3.94554771e-04 9.99994872e-01 3.65818009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.671966745999995 meters Centerline goodness [0,1] 0.49357441387479606 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.36, Z:0.04 [[ 9.99994721e-01 -5.20791159e-04 -3.20726865e-03 -3.11571232e-01] [ 5.20962823e-04 9.99999863e-01 5.26884051e-05 -3.56138180e-01] [ 3.20724077e-03 -5.43589947e-05 9.99994855e-01 3.63164931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.701966746 meters Centerline goodness [0,1] 0.49018271366064947 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.36, Z:0.03 [[ 9.99986314e-01 -5.22802407e-03 -2.00793926e-04 -2.85585412e-01] [ 5.22857509e-03 9.99982271e-01 2.84945789e-03 -3.55717907e-01] [ 1.85893332e-04 -2.85046876e-03 9.99995920e-01 3.24050080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.731966746 meters Centerline goodness [0,1] 0.4866781969043501 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.35, Z:0.03 [[ 9.99985609e-01 -5.36087058e-03 -2.06673023e-04 -2.85547782e-01] [ 5.36138571e-03 9.99982304e-01 2.57815998e-03 -3.54570036e-01] [ 1.92848184e-04 -2.57923093e-03 9.99996655e-01 3.22988562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.761966746 meters Centerline goodness [0,1] 0.4958419726662654 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.35, Z:0.04 [[ 9.99998703e-01 -8.91833071e-04 -1.34091343e-03 -3.13835224e-01] [ 8.91333523e-04 9.99999533e-01 -3.73094797e-04 -3.53728987e-01] [ 1.34124555e-03 3.71899112e-04 9.99999031e-01 3.61522261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.791966746 meters Centerline goodness [0,1] 0.49197837553896995 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.35, Z:0.04 [[ 9.99999856e-01 -1.47468351e-05 -5.36093033e-04 -2.69169764e-01] [ 1.32161251e-05 9.99995924e-01 -2.85519807e-03 -3.52948207e-01] [ 5.36132953e-04 2.85519057e-03 9.99995780e-01 3.64483871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.821966745999994 meters Centerline goodness [0,1] 0.4948518360663092 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.35, Z:0.04 [[ 0.99999722 -0.00198345 -0.00127293 -0.31691651] [ 0.00198203 0.99999741 -0.00111547 -0.35311465] [ 0.00127514 0.00111295 0.99999857 0.03749908] [ 0. 0. 0. 1. ]] SLAMing on 36.851966745999995 meters Centerline goodness [0,1] 0.48955099899444765 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.35, Z:0.04 [[ 9.99999872e-01 3.66635885e-04 -3.49305364e-04 -2.71282129e-01] [-3.67534233e-04 9.99996617e-01 -2.57523116e-03 -3.51389528e-01] [ 3.48360010e-04 2.57535921e-03 9.99996623e-01 3.71757373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.881966745999996 meters Centerline goodness [0,1] 0.4869783081690512 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.35, Z:0.04 [[ 9.99999006e-01 1.36398871e-03 3.57068924e-04 -2.75793638e-01] [-1.36331560e-03 9.99997306e-01 -1.87859768e-03 -3.52141130e-01] [-3.59630348e-04 1.87810902e-03 9.99998172e-01 4.04783267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.911966746 meters Centerline goodness [0,1] 0.48362048046590633 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.35, Z:0.04 [[ 9.99998069e-01 1.82599354e-03 7.25838154e-04 -2.77873181e-01] [-1.82476639e-03 9.99996911e-01 -1.68774737e-03 -3.52598038e-01] [-7.28917727e-04 1.68641963e-03 9.99998312e-01 4.19468589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.941966746 meters Centerline goodness [0,1] 0.4726204003146578 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.35, Z:0.04 [[ 9.99998264e-01 1.78595217e-03 5.30833825e-04 -2.78003208e-01] [-1.78498414e-03 9.99996753e-01 -1.81850200e-03 -3.53795668e-01] [-5.34079859e-04 1.81755132e-03 9.99998206e-01 4.30226703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.971966746 meters Centerline goodness [0,1] 0.4720400827796536 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.36, Z:0.04 [[ 9.99998454e-01 1.67343038e-03 5.39639725e-04 -2.78424664e-01] [-1.67243901e-03 9.99996923e-01 -1.83233681e-03 -3.55056861e-01] [-5.42704352e-04 1.83143147e-03 9.99998176e-01 4.36178309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.001966746 meters Centerline goodness [0,1] 0.476226364905903 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.36, Z:0.05 [[ 9.99999733e-01 -7.00768330e-04 -2.07088998e-04 -3.26270142e-01] [ 7.00712353e-04 9.99999718e-01 -2.70254165e-04 -3.58169308e-01] [ 2.07278325e-04 2.70108983e-04 9.99999942e-01 4.53756723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.031966745999995 meters Centerline goodness [0,1] 0.4840751774292473 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.36, Z:0.05 [[ 9.99999371e-01 -1.04869084e-03 -3.97285246e-04 -3.25827903e-01] [ 1.04857110e-03 9.99999405e-01 -3.01497814e-04 -3.59789088e-01] [ 3.97601188e-04 3.01081043e-04 9.99999876e-01 4.55337200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.061966745999996 meters Centerline goodness [0,1] 0.48832186672010336 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.36, Z:0.05 [[ 9.99995457e-01 -2.87237978e-03 -9.13714040e-04 -3.72493051e-01] [ 2.87469871e-03 9.99992625e-01 2.54680781e-03 -3.63756890e-01] [ 9.06391902e-04 -2.54942289e-03 9.99996339e-01 4.61745167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.091966746 meters Centerline goodness [0,1] 0.48832946891906814 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.37, Z:0.05 [[ 9.99993066e-01 -3.62801873e-03 -8.39352507e-04 -3.72814168e-01] [ 3.63000858e-03 9.99990576e-01 2.38145636e-03 -3.66205737e-01] [ 8.30704629e-04 -2.38448671e-03 9.99996812e-01 4.67058533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.121966746 meters Centerline goodness [0,1] 0.4866837080247318 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.37, Z:0.05 [[ 9.99997363e-01 2.09667723e-03 -9.36912268e-04 -3.50796991e-01] [-2.09888927e-03 9.99994998e-01 -2.36628185e-03 -3.68660710e-01] [ 9.31946252e-04 2.36824209e-03 9.99996761e-01 4.65755403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.151966746 meters Centerline goodness [0,1] 0.4927866196720594 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.37, Z:0.05 [[ 9.99997478e-01 2.10616672e-03 -7.80003575e-04 -3.51524045e-01] [-2.10768759e-03 9.99995869e-01 -1.95415815e-03 -3.70771194e-01] [ 7.75884570e-04 1.95579723e-03 9.99997786e-01 4.68805466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.181966746 meters Centerline goodness [0,1] 0.4927866196720594 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.37, Z:0.05 [[ 9.99997478e-01 2.10616672e-03 -7.80003575e-04 -3.51524045e-01] [-2.10768759e-03 9.99995869e-01 -1.95415815e-03 -3.70771194e-01] [ 7.75884570e-04 1.95579723e-03 9.99997786e-01 4.68805466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.211966745999995 meters Centerline goodness [0,1] 0.49543192124764956 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.37, Z:0.05 [[ 0.9999849 -0.00522369 -0.00170634 -0.3741836 ] [ 0.00522735 0.99998403 0.0021481 -0.36987751] [ 0.00169509 -0.00215698 0.99999624 0.04784579] [ 0. 0. 0. 1. ]] SLAMing on 37.241966745999996 meters Centerline goodness [0,1] 0.49230973216653406 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.37, Z:0.05 [[ 0.99998515 -0.00515038 -0.0017787 -0.37433791] [ 0.00515509 0.99998319 0.00265319 -0.37268538] [ 0.00176501 -0.00266232 0.9999949 0.04851635] [ 0. 0. 0. 1. ]] SLAMing on 37.271966746 meters Centerline goodness [0,1] 0.4975823782234957 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.37, Z:0.05 [[ 9.99994819e-01 3.55194075e-04 -3.19930137e-03 -4.01071254e-01] [-3.53808710e-04 9.99999843e-01 4.33576588e-04 -3.74139666e-01] [ 3.19945488e-03 -4.32442401e-04 9.99994788e-01 5.07531039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.301966746 meters Centerline goodness [0,1] 0.49417306661903915 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.37, Z:0.05 [[ 9.99994878e-01 3.78720597e-04 -3.17820214e-03 -4.01052693e-01] [-3.77227649e-04 9.99999818e-01 4.70332391e-04 -3.74242020e-01] [ 3.17837968e-03 -4.69131076e-04 9.99994839e-01 5.04069427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.331966746 meters Centerline goodness [0,1] 0.4955877162019061 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.37, Z:0.05 [[ 9.99994421e-01 4.66212234e-04 -3.30776562e-03 -4.00180788e-01] [-4.65028011e-04 9.99999828e-01 3.58773251e-04 -3.72705569e-01] [ 3.30793232e-03 -3.57233046e-04 9.99994465e-01 4.97920320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.361966746 meters Centerline goodness [0,1] 0.4956664838178826 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.37, Z:0.05 [[ 9.99993092e-01 3.68748114e-04 -3.69865814e-03 -3.98448887e-01] [-3.68084941e-04 9.99999916e-01 1.79980215e-04 -3.71612097e-01] [ 3.69872420e-03 -1.78617552e-04 9.99993144e-01 4.87467715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.391966745999994 meters Centerline goodness [0,1] 0.49135585783238267 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.37, Z:0.05 [[ 9.99993273e-01 2.07646922e-04 -3.66203328e-03 -3.98449366e-01] [-2.07025428e-04 9.99999964e-01 1.70090874e-04 -3.72730997e-01] [ 3.66206847e-03 -1.69331596e-04 9.99993280e-01 4.85865667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.421966745999995 meters Centerline goodness [0,1] 0.49704510108864697 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.37, Z:0.05 [[ 0.99997293 0.00501695 -0.00538161 -0.42508192] [-0.00503184 0.99998354 -0.00275584 -0.37448177] [ 0.0053677 0.00278285 0.99998172 0.05080479] [ 0. 0. 0. 1. ]] SLAMing on 37.451966746 meters Centerline goodness [0,1] 0.4937672826230084 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.37, Z:0.05 [[ 9.99992956e-01 2.19969148e-04 -3.74684065e-03 -3.98960397e-01] [-2.19871809e-04 9.99999975e-01 2.63907975e-05 -3.73151490e-01] [ 3.74684636e-03 -2.55667870e-05 9.99992980e-01 4.79849668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.481966746 meters Centerline goodness [0,1] 0.4921265861489069 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.37, Z:0.05 [[ 9.99992323e-01 1.69337044e-04 -3.91487130e-03 -3.98164391e-01] [-1.69233103e-04 9.99999985e-01 2.68815427e-05 -3.72825155e-01] [ 3.91487579e-03 -2.62188105e-05 9.99992337e-01 4.77021409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.511966746 meters Centerline goodness [0,1] 0.4947226041066123 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.37, Z:0.05 [[ 0.99998857 -0.0019025 -0.00438723 -0.44555446] [ 0.00191147 0.99999609 0.00204046 -0.3743605 ] [ 0.00438333 -0.00204882 0.99998829 0.04835527] [ 0. 0. 0. 1. ]] SLAMing on 37.541966746 meters Centerline goodness [0,1] 0.495845904936814 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.37, Z:0.04 [[ 9.99995732e-01 2.83728009e-03 -6.97321312e-04 -4.18432498e-01] [-2.83953705e-03 9.99990664e-01 -3.25722240e-03 -3.72236100e-01] [ 6.88073150e-04 3.25918856e-03 9.99994452e-01 4.08619025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.571966745999994 meters Centerline goodness [0,1] 0.48838574970638127 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.37, Z:0.04 [[ 9.99995279e-01 3.01421454e-03 -5.96708282e-04 -4.18739076e-01] [-3.01618816e-03 9.99989891e-01 -3.33470917e-03 -3.70716169e-01] [ 5.86650721e-04 3.33649321e-03 9.99994262e-01 4.08765782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.601966745999995 meters Centerline goodness [0,1] 0.4906488008205486 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.37, Z:0.04 [[ 9.99994443e-01 3.33279728e-03 -7.80391829e-05 -4.20787992e-01] [-3.33303024e-03 9.99989311e-01 -3.20442879e-03 -3.69240973e-01] [ 6.73586372e-05 3.20467109e-03 9.99994863e-01 4.13879474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.631966745999996 meters Centerline goodness [0,1] 0.49324887115865157 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.37, Z:0.04 [[ 9.99993578e-01 3.58000430e-03 1.64965629e-04 -4.22247741e-01] [-3.57946872e-03 9.99988664e-01 -3.13992565e-03 -3.67245752e-01] [-1.76204706e-04 3.13931499e-03 9.99995057e-01 4.26610323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.661966746 meters Centerline goodness [0,1] 0.49613707303035004 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.37, Z:0.05 [[ 9.99996097e-01 -2.76224695e-03 -4.18675352e-04 -4.48135805e-01] [ 2.76316530e-03 9.99993743e-01 2.20897759e-03 -3.67253200e-01] [ 4.12570991e-04 -2.21012583e-03 9.99997473e-01 4.57069733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.691966746 meters Centerline goodness [0,1] 0.48975955298413887 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.37, Z:0.05 [[ 9.99995608e-01 -2.92853011e-03 -4.54824700e-04 -4.47846001e-01] [ 2.92952889e-03 9.99993265e-01 2.21103745e-03 -3.67437243e-01] [ 4.48346547e-04 -2.21236016e-03 9.99997452e-01 4.54849143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.721966746 meters Centerline goodness [0,1] 0.4839909514073172 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.37, Z:0.04 [[ 0.9999948 0.00303948 0.0010791 -0.42627221] [-0.00303674 0.9999922 -0.00252476 -0.36957396] [-0.00108677 0.00252147 0.99999623 0.04438303] [ 0. 0. 0. 1. ]] SLAMing on 37.751966746 meters Centerline goodness [0,1] 0.48553054662379425 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.37, Z:0.05 [[ 0.99999525 0.00279159 0.00130769 -0.42762307] [-0.00278845 0.99999325 -0.0023946 -0.37170779] [-0.00131437 0.00239094 0.99999628 0.04549058] [ 0. 0. 0. 1. ]] SLAMing on 37.781966745999995 meters Centerline goodness [0,1] 0.4935417780153216 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.37, Z:0.05 [[ 9.99999116e-01 5.34189810e-04 1.21731235e-03 -4.76625417e-01] [-5.33400011e-04 9.99999647e-01 -6.49037850e-04 -3.73628510e-01] [-1.21765863e-03 6.48387962e-04 9.99999048e-01 4.76425484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.811966745999996 meters Centerline goodness [0,1] 0.4855638476099302 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.37, Z:0.05 [[ 0.99999552 0.00182132 0.00237639 -0.43262354] [-0.00181421 0.99999388 -0.00299227 -0.37424734] [-0.00238182 0.00298795 0.9999927 0.04851512] [ 0. 0. 0. 1. ]] SLAMing on 37.841966746 meters Centerline goodness [0,1] 0.47958208436508976 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.38, Z:0.05 [[ 0.99999523 0.00195313 0.0023938 -0.43329576] [-0.00194657 0.99999435 -0.00274143 -0.37657521] [-0.00239914 0.00273676 0.99999338 0.04954164] [ 0. 0. 0. 1. ]] SLAMing on 37.871966746 meters Centerline goodness [0,1] 0.4833405452185201 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.38, Z:0.05 [[ 0.99999509 0.0019071 0.00248539 -0.43439078] [-0.00190069 0.99999487 -0.00257683 -0.37917898] [-0.00249029 0.00257209 0.99999359 0.0510525 ] [ 0. 0. 0. 1. ]] SLAMing on 37.901966746 meters Centerline goodness [0,1] 0.4836147186147186 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.38, Z:0.05 [[ 0.99999499 0.0019767 0.00247299 -0.4351564 ] [-0.00197066 0.99999508 -0.00244138 -0.38119514] [-0.0024778 0.0024365 0.99999396 0.05225164] [ 0. 0. 0. 1. ]] SLAMing on 37.931966746 meters Centerline goodness [0,1] 0.4930464386640262 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.38, Z:0.05 [[ 9.99997653e-01 1.54272240e-03 1.52112446e-03 -4.82908929e-01] [-1.54403323e-03 9.99998437e-01 8.60952165e-04 -3.83850504e-01] [-1.51979388e-03 -8.63298811e-04 9.99998472e-01 5.42593121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.961966745999995 meters Centerline goodness [0,1] 0.48637662052296193 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.38, Z:0.05 [[ 0.99999773 0.00177954 0.00117351 -0.48154356] [-0.00178075 0.99999788 0.00103329 -0.38459577] [-0.00117166 -0.00103538 0.99999878 0.05384144] [ 0. 0. 0. 1. ]] SLAMing on 37.991966745999996 meters Centerline goodness [0,1] 0.4897344588059439 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.39, Z:0.05 [[ 9.99997727e-01 1.89955242e-03 9.68617880e-04 -4.81043527e-01] [-1.90052352e-03 9.99997691e-01 1.00262886e-03 -3.85063127e-01] [-9.66711098e-04 -1.00446746e-03 9.99999028e-01 5.36945063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.021966746 meters Centerline goodness [0,1] 0.48664714366886663 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.39, Z:0.05 [[ 9.99997553e-01 1.99649235e-03 9.53032293e-04 -4.80844010e-01] [-1.99752232e-03 9.99997421e-01 1.08101016e-03 -3.85597178e-01] [-9.50871607e-04 -1.08291122e-03 9.99998962e-01 5.34631552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.051966746 meters Centerline goodness [0,1] 0.48795904740707763 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.39, Z:0.05 [[ 9.99999176e-01 8.37695610e-04 -9.73197003e-04 -5.24718408e-01] [-8.35208436e-04 9.99996392e-01 2.55327451e-03 -3.86277495e-01] [ 9.75332358e-04 -2.55245958e-03 9.99996267e-01 5.34973331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.081966746 meters Centerline goodness [0,1] 0.4842733908427339 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.39, Z:0.05 [[ 0.99999884 0.00113889 -0.00101633 -0.52420226] [-0.00113608 0.99999557 0.00275293 -0.38647077] [ 0.00101946 -0.00275177 0.99999569 0.05280369] [ 0. 0. 0. 1. ]] SLAMing on 38.111966746 meters Centerline goodness [0,1] 0.48354197671364796 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.39, Z:0.05 [[ 0.99999884 0.00111866 -0.00103809 -0.52404799] [-0.00111593 0.99999591 0.00263289 -0.38605439] [ 0.00104103 -0.00263173 0.999996 0.05282802] [ 0. 0. 0. 1. ]] SLAMing on 38.141966745999994 meters Centerline goodness [0,1] 0.48784745238410887 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.39, Z:0.05 [[ 0.99999897 0.00102807 -0.00100608 -0.52414375] [-0.00102534 0.99999581 0.00270829 -0.38690127] [ 0.00100887 -0.00270726 0.99999583 0.05262041] [ 0. 0. 0. 1. ]] SLAMing on 38.171966745999995 meters Centerline goodness [0,1] 0.4883942414174972 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.39, Z:0.05 [[ 9.99999312e-01 5.40125392e-04 -1.04113566e-03 -5.24198967e-01] [-5.37335718e-04 9.99996270e-01 2.67787249e-03 -3.89009514e-01] [ 1.04257816e-03 -2.67731121e-03 9.99995873e-01 5.29602949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.201966746 meters Centerline goodness [0,1] 0.4839885278071292 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.39, Z:0.05 [[ 9.99999713e-01 6.50643126e-04 3.87675630e-04 -4.78932553e-01] [-6.50573565e-04 9.99999772e-01 -1.79530511e-04 -3.88111265e-01] [-3.87792352e-04 1.79278248e-04 9.99999909e-01 5.14717204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.231966746 meters Centerline goodness [0,1] 0.4864425162689805 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.39, Z:0.05 [[ 9.99999780e-01 3.33092869e-04 5.74421689e-04 -4.79532501e-01] [-3.32955924e-04 9.99999916e-01 -2.38485459e-04 -3.88565335e-01] [-5.74501078e-04 2.38294149e-04 9.99999807e-01 5.14826942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.261966746 meters Centerline goodness [0,1] 0.4867854282560229 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.39, Z:0.05 [[ 9.99999855e-01 9.65829200e-05 5.30581572e-04 -4.79243035e-01] [-9.64588265e-05 9.99999968e-01 -2.33902541e-04 -3.89027718e-01] [-5.30604146e-04 2.33851327e-04 9.99999832e-01 5.13104315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.291966746 meters Centerline goodness [0,1] 0.49391839876828325 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.39, Z:0.05 [[ 9.99996966e-01 -2.38587028e-03 -6.12386621e-04 -5.24854542e-01] [ 2.38674973e-03 9.99996116e-01 1.43941801e-03 -3.90569881e-01] [ 6.08949978e-04 -1.44087526e-03 9.99998777e-01 5.13573842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.321966745999994 meters Centerline goodness [0,1] 0.487291561946806 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.39, Z:0.05 [[ 9.99996732e-01 -2.51477003e-03 -4.60364158e-04 -5.25473705e-01] [ 2.51542160e-03 9.99995828e-01 1.42027214e-03 -3.90502418e-01] [ 4.56790580e-04 -1.42142551e-03 9.99998885e-01 5.16227068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.351966745999995 meters Centerline goodness [0,1] 0.4872936457208349 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.39, Z:0.05 [[ 9.99996825e-01 -2.48751115e-03 -4.03279782e-04 -5.25485249e-01] [ 2.48812000e-03 9.99995755e-01 1.51635576e-03 -3.90695144e-01] [ 3.99506118e-04 -1.51735435e-03 9.99998769e-01 5.14646876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.381966745999996 meters Centerline goodness [0,1] 0.48572309182572704 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.39, Z:0.05 [[ 9.99996378e-01 -2.59797682e-03 -7.03427395e-04 -5.24094012e-01] [ 2.59911450e-03 9.99995308e-01 1.62127941e-03 -3.91662289e-01] [ 6.99212048e-04 -1.62310182e-03 9.99998438e-01 5.05496224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.411966746 meters Centerline goodness [0,1] 0.4942084942084942 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.39, Z:0.05 [[ 9.99985026e-01 2.02590373e-03 -5.08368205e-03 -5.48730673e-01] [-2.03070063e-03 9.99997498e-01 -9.38602508e-04 -3.92237688e-01] [ 5.08176781e-03 9.48911889e-04 9.99986638e-01 5.36838025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.441966746 meters Centerline goodness [0,1] 0.4883854189624014 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.39, Z:0.05 [[ 0.99999309 -0.0030207 -0.00216535 -0.52199519] [ 0.00302384 0.99999438 0.00144812 -0.39253711] [ 0.00216096 -0.00145466 0.99999661 0.04964827] [ 0. 0. 0. 1. ]] SLAMing on 38.471966746 meters Centerline goodness [0,1] 0.49554069119286515 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.39, Z:0.05 [[ 9.99982396e-01 2.87604511e-03 -5.18994644e-03 -5.45505564e-01] [-2.87905056e-03 9.99995692e-01 -5.71713280e-04 -3.93283948e-01] [ 5.18827981e-03 5.86645334e-04 9.99986369e-01 5.07287883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.501966746 meters Centerline goodness [0,1] 0.4953882311205712 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.39, Z:0.05 [[ 9.99980793e-01 3.11337639e-03 -5.35913511e-03 -5.44575218e-01] [-3.11673471e-03 9.99994952e-01 -6.18415587e-04 -3.92320006e-01] [ 5.35718270e-03 6.35106712e-04 9.99985449e-01 5.01020224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.531966745999995 meters Centerline goodness [0,1] 0.498008588656743 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.39, Z:0.05 [[ 9.99980175e-01 3.36086823e-03 -5.32482031e-03 -5.44687371e-01] [-3.36355610e-03 9.99994220e-01 -4.95905724e-04 -3.92832530e-01] [ 5.32312286e-03 5.13806225e-04 9.99985700e-01 4.98023260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.561966745999996 meters Centerline goodness [0,1] 0.48849826388888884 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.39, Z:0.05 [[ 0.99997754 0.00434713 -0.00510159 -0.49792557] [-0.00436743 0.99998256 -0.00397595 -0.39260655] [ 0.00508421 0.00399815 0.99997908 0.04891369] [ 0. 0. 0. 1. ]] SLAMing on 38.591966746 meters Centerline goodness [0,1] 0.4917628575792621 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.39, Z:0.05 [[ 0.99997687 0.0045025 -0.00509838 -0.49823183] [-0.00452195 0.99998252 -0.00380892 -0.39420455] [ 0.00508115 0.00383189 0.99997975 0.04947699] [ 0. 0. 0. 1. ]] SLAMing on 38.621966746 meters Centerline goodness [0,1] 0.4900589425530043 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.39, Z:0.05 [[ 0.99997597 0.00473544 -0.00506366 -0.49851037] [-0.00475439 0.99998172 -0.00373538 -0.39427839] [ 0.00504588 0.00375936 0.9999802 0.04958245] [ 0. 0. 0. 1. ]] SLAMing on 38.651966746 meters Centerline goodness [0,1] 0.4905755711775044 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.39, Z:0.05 [[ 0.99997267 0.00510612 -0.00534713 -0.49695804] [-0.00512697 0.99997928 -0.00389352 -0.39227711] [ 0.00532714 0.00392083 0.99997812 0.04830494] [ 0. 0. 0. 1. ]] SLAMing on 38.681966746 meters Centerline goodness [0,1] 0.4882949025124744 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.39, Z:0.05 [[ 0.99997017 0.00548466 -0.00543773 -0.49604164] [-0.00550532 0.99997765 -0.00379303 -0.39136648] [ 0.0054168 0.00382285 0.99997802 0.04703445] [ 0. 0. 0. 1. ]] SLAMing on 38.711966745999995 meters Centerline goodness [0,1] 0.4923277040433881 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.39, Z:0.05 [[ 0.99996779 0.00573622 -0.00561442 -0.49487517] [-0.00575775 0.9999761 -0.00382602 -0.39062037] [ 0.00559234 0.00385822 0.99997692 0.04592278] [ 0. 0. 0. 1. ]] SLAMing on 38.741966745999996 meters Centerline goodness [0,1] 0.4942693726122386 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.39, Z:0.04 [[ 0.99996636 0.00576556 -0.00583469 -0.49373011] [-0.00578851 0.99997555 -0.00392438 -0.39039254] [ 0.00581192 0.00395802 0.99997528 0.04485113] [ 0. 0. 0. 1. ]] SLAMing on 38.771966746 meters Centerline goodness [0,1] 0.4873420498420499 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.39, Z:0.04 [[ 0.99996492 0.0056504 -0.00618386 -0.49191231] [-0.00567577 0.99997552 -0.00409161 -0.38998377] [ 0.00616059 0.00412656 0.99997251 0.04369954] [ 0. 0. 0. 1. ]] SLAMing on 38.801966746 meters Centerline goodness [0,1] 0.4925854715021326 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.39, Z:0.04 [[ 9.99963347e-01 -2.18314937e-03 -8.27874844e-03 -5.13350406e-01] [ 2.17792868e-03 9.99997424e-01 -6.39575801e-04 -3.88537136e-01] [ 8.28012340e-03 6.21521836e-04 9.99965526e-01 4.47756025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.831966746 meters Centerline goodness [0,1] 0.49013680494263023 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.39, Z:0.04 [[ 9.99962279e-01 -2.16197513e-03 -8.41232934e-03 -5.12234335e-01] [ 2.15760184e-03 9.99997533e-01 -5.28908069e-04 -3.88280361e-01] [ 8.41345207e-03 5.10737661e-04 9.99964476e-01 4.34900304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.861966746 meters Centerline goodness [0,1] 0.49267748079070073 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.39, Z:0.04 [[ 9.99961626e-01 -2.08377542e-03 -8.50911441e-03 -5.11200222e-01] [ 2.08053072e-03 9.99997760e-01 -3.90154543e-04 -3.88255596e-01] [ 8.50990834e-03 3.72436097e-04 9.99963721e-01 4.22619830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.891966745999994 meters Centerline goodness [0,1] 0.4937249548637104 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.39, Z:0.04 [[ 9.99961344e-01 -2.00186266e-03 -8.56170437e-03 -5.10477930e-01] [ 1.99932470e-03 9.99997955e-01 -3.04980857e-04 -3.87618508e-01] [ 8.56229739e-03 2.87851441e-04 9.99963301e-01 4.12084772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.921966745999995 meters Centerline goodness [0,1] 0.4954351526405376 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.39, Z:0.04 [[ 9.99960369e-01 -1.98343423e-03 -8.67908874e-03 -5.09338997e-01] [ 1.98036996e-03 9.99997974e-01 -3.61643361e-04 -3.86489271e-01] [ 8.67978845e-03 3.44441222e-04 9.99962271e-01 3.99102491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.951966746 meters Centerline goodness [0,1] 0.49395823300205766 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.39, Z:0.04 [[ 9.99960044e-01 -2.00475930e-03 -8.71161621e-03 -5.08566917e-01] [ 2.00061001e-03 9.99997881e-01 -4.84982175e-04 -3.85880942e-01] [ 8.71257002e-03 4.67534251e-04 9.99961936e-01 3.88037096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.981966746 meters Centerline goodness [0,1] 0.4985452103849597 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.39, Z:0.04 [[ 0.99995012 -0.00395195 -0.00917231 -0.55663269] [ 0.00396708 0.9999908 0.00163223 -0.38779904] [ 0.00916578 -0.00166853 0.9999566 0.03964212] [ 0. 0. 0. 1. ]] SLAMing on 39.011966746 meters Centerline goodness [0,1] 0.4935136444728322 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.39, Z:0.03 [[ 9.99982473e-01 2.05118154e-04 -5.91712307e-03 -5.27437770e-01] [-2.30338409e-04 9.99990892e-01 -4.26188308e-03 -3.85653425e-01] [ 5.91619499e-03 4.26317132e-03 9.99973412e-01 3.16464485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.041966746 meters Centerline goodness [0,1] 0.495120925807094 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.38, Z:0.03 [[ 9.99983778e-01 2.00057798e-04 -5.69234152e-03 -5.27791736e-01] [-2.24936393e-04 9.99990425e-01 -4.37023366e-03 -3.84627605e-01] [ 5.69141272e-03 4.37144318e-03 9.99974249e-01 3.10645549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.071966745999994 meters Centerline goodness [0,1] 0.495120925807094 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.38, Z:0.03 [[ 9.99983778e-01 2.00057798e-04 -5.69234152e-03 -5.27791736e-01] [-2.24936393e-04 9.99990425e-01 -4.37023366e-03 -3.84627605e-01] [ 5.69141272e-03 4.37144318e-03 9.99974249e-01 3.10645549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.101966745999995 meters Centerline goodness [0,1] 0.5002915975057198 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.39, Z:0.03 [[ 0.99997506 -0.00106113 -0.00698256 -0.57149285] [ 0.00104816 0.99999772 -0.00185982 -0.38507405] [ 0.00698452 0.00185246 0.99997389 0.02893157] [ 0. 0. 0. 1. ]] SLAMing on 39.131966745999996 meters Centerline goodness [0,1] 0.5009939469746041 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.38, Z:0.03 [[ 9.99974981e-01 -9.19606002e-04 -7.01371573e-03 -5.70934982e-01] [ 9.05795850e-04 9.99997645e-01 -1.97194315e-03 -3.83214136e-01] [ 7.01551263e-03 1.96554082e-03 9.99973459e-01 2.80984400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.161966746 meters Centerline goodness [0,1] 0.49966775936918584 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.38, Z:0.03 [[ 9.99973421e-01 -8.46944237e-04 -7.24160638e-03 -5.69687428e-01] [ 8.30740685e-04 9.99997146e-01 -2.24027846e-03 -3.80809263e-01] [ 7.24348310e-03 2.23420302e-03 9.99971270e-01 2.69724080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.191966746 meters Centerline goodness [0,1] 0.49891540130151846 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.38, Z:0.03 [[ 9.99970177e-01 -9.64394271e-04 -7.66261779e-03 -5.67405848e-01] [ 9.43992909e-04 9.99996002e-01 -2.66562418e-03 -3.78966137e-01] [ 7.66515787e-03 2.65831123e-03 9.99967089e-01 2.53581024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.221966746 meters Centerline goodness [0,1] 0.4989512728236152 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.38, Z:0.02 [[ 9.99970642e-01 -8.61047957e-04 -7.61404005e-03 -5.66989189e-01] [ 8.39023948e-04 9.99995457e-01 -2.89527349e-03 -3.76351919e-01] [ 7.61649842e-03 2.88880013e-03 9.99966821e-01 2.42997261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.251966746 meters Centerline goodness [0,1] 0.5011145786892555 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.37, Z:0.02 [[ 9.99970172e-01 -1.01698576e-03 -7.65644809e-03 -5.66292064e-01] [ 9.92010265e-04 9.99994177e-01 -3.26511219e-03 -3.74654416e-01] [ 7.65972408e-03 3.25741952e-03 9.99965358e-01 2.33180574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.281966745999995 meters Centerline goodness [0,1] 0.5054109194127823 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.37, Z:0.02 [[ 0.99996805 -0.00115648 -0.00790968 -0.56486376] [ 0.00112757 0.99999267 -0.00365796 -0.37255236] [ 0.00791385 0.00364892 0.99996203 0.02226235] [ 0. 0. 0. 1. ]] SLAMing on 39.311966745999996 meters Centerline goodness [0,1] 0.49995635474860334 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.37, Z:0.02 [[ 9.99982905e-01 -4.60116416e-03 -3.60805563e-03 -5.39374635e-01] [ 4.59988452e-03 9.99989355e-01 -3.62882040e-04 -3.70976867e-01] [ 3.60968690e-03 3.46279198e-04 9.99993425e-01 1.72580904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.341966746 meters Centerline goodness [0,1] 0.49890566863646313 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.37, Z:0.02 [[ 9.99984989e-01 -4.37740040e-03 -3.29545968e-03 -5.40870333e-01] [ 4.37515696e-03 9.99990193e-01 -6.87668575e-04 -3.67042760e-01] [ 3.29843756e-03 6.73240099e-04 9.99994334e-01 1.80635684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.371966746 meters Centerline goodness [0,1] 0.5050999865789827 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.36, Z:0.02 [[ 0.9999862 -0.00363374 -0.00379386 -0.59057635] [ 0.0036466 0.9999876 0.00339034 -0.36485998] [ 0.00378149 -0.00340413 0.99998706 0.02023598] [ 0. 0. 0. 1. ]] SLAMing on 39.401966746 meters Centerline goodness [0,1] 0.5041498429789143 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.36, Z:0.02 [[ 0.99998673 -0.00353523 -0.00374838 -0.59104818] [ 0.00354613 0.99998949 0.00290594 -0.36088596] [ 0.00373807 -0.0029192 0.99998875 0.02079962] [ 0. 0. 0. 1. ]] SLAMing on 39.431966746 meters Centerline goodness [0,1] 0.5026136786159533 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.36, Z:0.02 [[ 9.99993371e-01 -2.09092015e-03 -2.98084405e-03 -5.44727200e-01] [ 2.09055914e-03 9.99997807e-01 -1.24222086e-04 -3.55596789e-01] [ 2.98109725e-03 1.17989632e-04 9.99995550e-01 1.95189373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.461966745999995 meters Centerline goodness [0,1] 0.502749340605302 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.35, Z:0.02 [[ 0.99998977 -0.00257052 -0.00372256 -0.59324478] [ 0.0025805 0.99999308 0.00267945 -0.35336668] [ 0.00371565 -0.00268903 0.99998948 0.0210526 ] [ 0. 0. 0. 1. ]] SLAMing on 39.491966745999996 meters Centerline goodness [0,1] 0.4909462426363498 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.35, Z:0.02 [[ 9.99994954e-01 2.20396983e-04 -3.16915333e-03 -5.46042355e-01] [-2.16888568e-04 9.99999363e-01 1.10735232e-03 -3.46238471e-01] [ 3.16939537e-03 -1.10665938e-03 9.99994365e-01 1.91007995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.521966746 meters Centerline goodness [0,1] 0.5018755861206627 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.34, Z:0.02 [[ 0.99999046 -0.00108955 -0.00423072 -0.59472932] [ 0.00110283 0.99999446 0.0031399 -0.34498562] [ 0.00422728 -0.00314454 0.99998612 0.02123008] [ 0. 0. 0. 1. ]] SLAMing on 39.551966746 meters Centerline goodness [0,1] 0.4951983575071197 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.34, Z:0.02 [[ 9.99987079e-01 5.07683445e-03 -2.58212226e-04 -5.69980952e-01] [-5.07729542e-03 9.99985460e-01 -1.81705568e-03 -3.36880601e-01] [ 2.48983581e-04 1.81834322e-03 9.99998316e-01 1.53694387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.581966746 meters Centerline goodness [0,1] 0.497389746838208 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.33, Z:0.01 [[ 9.99999905e-01 -1.05869150e-04 4.23074276e-04 -5.45887994e-01] [ 1.05814766e-04 9.99999986e-01 1.28564654e-04 -3.32498993e-01] [-4.23087881e-04 -1.28519874e-04 9.99999902e-01 1.47794393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.611966746 meters Centerline goodness [0,1] 0.47637281158008893 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.33, Z:0.02 [[ 0.99998224 0.00537845 -0.00256792 -0.57472408] [-0.00538485 0.99998239 -0.0024936 -0.32762504] [ 0.00255446 0.00250739 0.99999359 0.0202092 ] [ 0. 0. 0. 1. ]] SLAMing on 39.641966745999994 meters Centerline goodness [0,1] 0.49633699633699635 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.32, Z:0.02 [[ 0.99998129 0.00565269 -0.00233792 -0.57609575] [-0.0056597 0.99997949 -0.00299946 -0.32242138] [ 0.00232092 0.00301264 0.99999277 0.02117874] [ 0. 0. 0. 1. ]] SLAMing on 39.671966745999995 meters Centerline goodness [0,1] 0.45962513000951555 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.32, Z:0.02 [[ 0.99997991 0.00595009 -0.00218649 -0.57663834] [-0.00595775 0.99997608 -0.00351376 -0.31646208] [ 0.00216553 0.00352672 0.99999144 0.02132466] [ 0. 0. 0. 1. ]] SLAMing on 39.701966746 meters Centerline goodness [0,1] 0.48600480348364794 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.31, Z:0.03 [[ 9.99989289e-01 6.69599174e-04 -4.57967599e-03 -6.03899791e-01] [-6.62893735e-04 9.99998706e-01 1.46553439e-03 -3.11536842e-01] [ 4.58065138e-03 -1.46248286e-03 9.99988439e-01 2.69829027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.731966746 meters Centerline goodness [0,1] 0.49399076191757474 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.31, Z:0.03 [[ 9.99990110e-01 8.08140751e-04 -4.37347095e-03 -6.04271663e-01] [-8.05044608e-04 9.99999424e-01 7.09651271e-04 -3.05100790e-01] [ 4.37404193e-03 -7.06123414e-04 9.99990185e-01 2.64585417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.761966746 meters Centerline goodness [0,1] 0.4384654482773861 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.30, Z:0.02 [[ 0.99999249 -0.00323105 -0.00213872 -0.57927821] [ 0.00323839 0.99998884 0.00344062 -0.29841489] [ 0.00212758 -0.00344752 0.99999179 0.02428811] [ 0. 0. 0. 1. ]] SLAMing on 39.791966746 meters Centerline goodness [0,1] 0.42964757121905695 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.29, Z:0.02 [[ 0.99999274 -0.00327846 -0.00193969 -0.58021786] [ 0.00328346 0.99999128 0.00258101 -0.29280731] [ 0.00193122 -0.00258736 0.99999479 0.02461422] [ 0. 0. 0. 1. ]] SLAMing on 39.821966745999994 meters Centerline goodness [0,1] 0.4391818684355998 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.29, Z:0.02 [[ 0.99999303 -0.0032042 -0.00191475 -0.58033204] [ 0.00320776 0.99999313 0.00185924 -0.2870118 ] [ 0.00190878 -0.00186537 0.99999644 0.02469432] [ 0. 0. 0. 1. ]] SLAMing on 39.851966745999995 meters Centerline goodness [0,1] 0.4265748250194423 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.28, Z:0.03 [[ 9.99998403e-01 3.42626724e-04 -1.75415115e-03 -5.81383873e-01] [-3.33771107e-04 9.99987212e-01 5.04618348e-03 -2.82740124e-01] [ 1.75585767e-03 -5.04558993e-03 9.99985729e-01 2.54538197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.881966745999996 meters Centerline goodness [0,1] 0.42692957252209773 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.27, Z:0.03 [[ 0.99999379 0.00337144 -0.00102342 -0.53550302] [-0.00336761 0.99998743 0.00371593 -0.27353827] [ 0.00103594 -0.00371246 0.99999257 0.02505027] [ 0. 0. 0. 1. ]] SLAMing on 39.911966746 meters Centerline goodness [0,1] 0.41091464359218355 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.27, Z:0.02 [[ 0.99999393 0.00332192 -0.00105015 -0.53539447] [-0.00331904 0.99999076 0.0027309 -0.26735881] [ 0.00105921 -0.0027274 0.99999572 0.02470687] [ 0. 0. 0. 1. ]] SLAMing on 39.941966746 meters Centerline goodness [0,1] 0.4028940845447846 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.26, Z:0.03 [[ 9.99994214e-01 3.32423505e-03 -7.22392052e-04 -5.36791930e-01] [-3.32297687e-03 9.99992972e-01 1.73596557e-03 -2.59942132e-01] [ 7.28157732e-04 -1.73355503e-03 9.99998232e-01 2.51604419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.971966746 meters Centerline goodness [0,1] 0.3970957895681838 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.25, Z:0.03 [[ 9.99992588e-01 3.81491406e-03 -5.20597748e-04 -5.37583462e-01] [-3.81439738e-03 9.99992235e-01 9.89886335e-04 -2.50609905e-01] [ 5.24370037e-04 -9.87893231e-04 9.99999375e-01 2.50967836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.001966746 meters Centerline goodness [0,1] 0.37320318245637496 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.24, Z:0.02 [[ 9.99991097e-01 4.20245058e-03 -3.80965686e-04 -5.37475729e-01] [-4.20243433e-03 9.99991169e-01 4.34479785e-05 -2.41401443e-01] [ 3.81144910e-04 -4.18466084e-05 9.99999926e-01 2.43127792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.031966745999995 meters Centerline goodness [0,1] 0.38384666518945265 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.23, Z:0.02 [[ 9.99990734e-01 4.29441575e-03 -2.98997354e-04 -5.37622686e-01] [-4.29481382e-03 9.99989874e-01 -1.34369197e-03 -2.31917837e-01] [ 2.93223955e-04 1.34496366e-03 9.99999053e-01 2.39993548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.061966745999996 meters Centerline goodness [0,1] 0.37082127754284444 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.23, Z:0.02 [[ 9.99989802e-01 4.51465849e-03 -1.20489640e-04 -5.38096287e-01] [-4.51487008e-03 9.99988156e-01 -1.81772129e-03 -2.27776896e-01] [ 1.12281822e-04 1.81824675e-03 9.99998341e-01 2.36838218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.091966746 meters Centerline goodness [0,1] 0.5038880248833593 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.22, Z:0.02 [[ 9.99966360e-01 8.20201484e-03 -7.83094907e-05 -5.38380842e-01] [-8.20194488e-03 9.99965998e-01 8.55424952e-04 -2.20460070e-01] [ 8.53230362e-05 -8.54753885e-04 9.99999631e-01 2.38816039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.121966746 meters Centerline goodness [0,1] 0.5031240237425805 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.21, Z:0.02 [[ 9.99928649e-01 1.19454347e-02 -5.16639138e-05 -5.38103783e-01] [-1.19451810e-02 9.99922538e-01 3.49724047e-03 -2.12227500e-01] [ 9.34359696e-05 -3.49637380e-03 9.99993883e-01 2.34786364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.151966746 meters Centerline goodness [0,1] 0.3407103100980652 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.20, Z:0.02 [[ 9.99880677e-01 1.54477185e-02 -1.24732372e-05 -5.38018191e-01] [-1.54473729e-02 9.99863092e-01 5.93090317e-03 -2.04726133e-01] [ 1.04090452e-04 -5.93000279e-03 9.99982412e-01 2.32604904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.181966746 meters Centerline goodness [0,1] 0.31848793305217604 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.20, Z:0.02 [[ 9.99822081e-01 1.88611595e-02 2.51986450e-04 -5.39232107e-01] [-1.88626038e-02 9.99787429e-01 8.32465965e-03 -1.97308448e-01] [-9.49201516e-05 -8.32793165e-03 9.99965318e-01 2.40276960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.211966745999995 meters Centerline goodness [0,1] 0.484357406221712 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.19, Z:0.02 [[ 9.99744591e-01 2.25966131e-02 3.82860663e-04 -5.39554112e-01] [-2.25994509e-02 9.99684661e-01 1.09473352e-02 -1.89626747e-01] [-1.35367235e-04 -1.09531916e-02 9.99940003e-01 2.42028552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.241966745999996 meters Centerline goodness [0,1] 0.4360125927393611 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.18, Z:0.02 [[ 9.99659408e-01 2.60933257e-02 4.53522603e-04 -5.39618531e-01] [-2.60970591e-02 9.99569814e-01 1.33839548e-02 -1.81833716e-01] [-1.04095612e-04 -1.33912319e-02 9.99910328e-01 2.43081381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.271966746 meters Centerline goodness [0,1] 0.48237895202299363 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.17, Z:0.02 [[ 9.99559870e-01 2.96591433e-02 6.34319631e-04 -5.39530727e-01] [-2.96654537e-02 9.99436052e-01 1.57333669e-02 -1.73075236e-01] [-1.67323723e-04 -1.57452596e-02 9.99876022e-01 2.35039388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.301966746 meters Centerline goodness [0,1] 0.2919831408877376 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.16, Z:0.02 [[ 9.99452808e-01 3.30659404e-02 8.53713867e-04 -5.39337073e-01] [-3.30759650e-02 9.99289950e-01 1.80437568e-02 -1.64941482e-01] [-2.56473902e-04 -1.80621208e-02 9.99836834e-01 2.26920561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.331966746 meters Centerline goodness [0,1] 0.31691893710057184 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.16, Z:0.02 [[ 9.99444893e-01 3.33107142e-02 5.50578421e-04 -5.88888516e-01] [-3.33151638e-02 9.99264854e-01 1.89697538e-02 -1.55768534e-01] [ 8.17223806e-05 -1.89775661e-02 9.99819906e-01 2.31715671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.361966746 meters Centerline goodness [0,1] 0.47510040160642575 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.15, Z:0.02 [[ 9.99323329e-01 3.67727520e-02 8.05981675e-04 -5.89624148e-01] [-3.67815797e-02 9.99093489e-01 2.14316552e-02 -1.48051677e-01] [-1.71501017e-05 -2.14467983e-02 9.99769991e-01 2.36091691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.391966745999994 meters Centerline goodness [0,1] 0.41071389478753917 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.14, Z:0.02 [[ 9.99282871e-01 3.78570290e-02 7.67744885e-04 -5.89137905e-01] [-3.78647971e-02 9.99058327e-01 2.11829211e-02 -1.36460659e-01] [ 3.49005372e-05 -2.11968007e-02 9.99775322e-01 2.30140817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.421966745999995 meters Centerline goodness [0,1] 0.44418214711203285 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.13, Z:0.02 [[ 9.99482753e-01 3.21429042e-02 1.02955531e-03 -6.13655922e-01] [-3.21585416e-02 9.99176475e-01 2.47426742e-02 -1.26099692e-01] [-2.33406042e-04 -2.47629851e-02 9.99693323e-01 2.20309431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.451966746 meters Centerline goodness [0,1] 0.4181606116894898 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.12, Z:0.02 [[ 9.99381641e-01 3.51475975e-02 9.90868864e-04 -6.12278955e-01] [-3.51615236e-02 9.99025255e-01 2.66872014e-02 -1.16712100e-01] [-5.19120047e-05 -2.67055396e-02 9.99643342e-01 2.06340166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.481966746 meters Centerline goodness [0,1] 0.43569710212099144 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.11, Z:0.02 [[ 9.99383471e-01 3.51088228e-02 2.21743189e-04 -6.61182050e-01] [-3.51018172e-02 9.99011881e-01 2.72603019e-02 -1.08659342e-01] [ 7.35553029e-04 -2.72512787e-02 9.99628344e-01 2.03558147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.511966746 meters Centerline goodness [0,1] 0.4166957584220632 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.10, Z:0.02 [[ 9.99376800e-01 3.52949317e-02 5.28920063e-04 -6.61871293e-01] [-3.52967030e-02 9.99035593e-01 2.61156562e-02 -9.75782480e-02] [ 3.93340332e-04 -2.61180500e-02 9.99658788e-01 1.97630096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.541966746 meters Centerline goodness [0,1] 0.41799531720370164 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.09, Z:0.02 [[ 9.99421175e-01 3.40171778e-02 -3.82754111e-04 -7.09986919e-01] [-3.39956208e-02 9.99081389e-01 2.60897641e-02 -9.46051466e-02] [ 1.26990265e-03 -2.60616507e-02 9.99659531e-01 1.93137166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.571966745999994 meters Centerline goodness [0,1] 0.4151754231311706 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.08, Z:0.02 [[ 9.99401156e-01 3.46020705e-02 1.61831558e-04 -7.11368153e-01] [-3.45950272e-02 9.99079012e-01 2.53832890e-02 -8.28392108e-02] [ 7.16631840e-04 -2.53736869e-02 9.99677779e-01 1.88983948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.601966745999995 meters Centerline goodness [0,1] 0.3848673363962103 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.07, Z:0.02 [[ 9.99321120e-01 3.68414067e-02 1.02733924e-04 -7.10946411e-01] [-3.68316668e-02 9.98984572e-01 2.59471378e-02 -6.74841410e-02] [ 8.53299452e-04 -2.59333067e-02 9.99663311e-01 1.85968349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.631966745999996 meters Centerline goodness [0,1] 0.43995863768371024 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.06, Z:0.02 [[ 9.99318441e-01 3.69084932e-02 6.45753781e-04 -7.12206280e-01] [-3.69132075e-02 9.99015765e-01 2.45950580e-02 -5.50583608e-02] [ 2.62648324e-04 -2.46021318e-02 9.99697287e-01 1.77304631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.661966746 meters Centerline goodness [0,1] 0.3823250479698286 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.05, Z:0.02 [[ 9.99528412e-01 3.06999876e-02 6.80951172e-04 -7.37611036e-01] [-3.07069518e-02 9.99126420e-01 2.83457232e-02 -5.02427045e-02] [ 1.89857044e-04 -2.83532656e-02 9.99597947e-01 1.78118487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.691966746 meters Centerline goodness [0,1] 0.43505761107548047 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.04, Z:0.02 [[ 9.99536831e-01 3.04187241e-02 9.07836149e-04 -7.38101779e-01] [-3.04321132e-02 9.99182095e-01 2.66275573e-02 -3.84112356e-02] [-9.71173054e-05 -2.66428516e-02 9.99645012e-01 1.71968073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.721966746 meters Centerline goodness [0,1] 0.3591736286509941 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.02, Z:0.01 [[ 9.99488115e-01 3.19703071e-02 1.18627586e-03 -6.91031318e-01] [-3.19895864e-02 9.99199466e-01 2.40227684e-02 -2.06521175e-02] [-4.17310925e-04 -2.40484199e-02 9.99710708e-01 1.44031878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.751966746 meters Centerline goodness [0,1] 0.4033221718862845 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.01, Z:0.01 [[ 0.99965577 0.02607516 0.00290415 -0.71854702] [-0.02614391 0.99929653 0.02688772 -0.00842285] [-0.002201 -0.02695439 0.99963424 0.01363495] [ 0. 0. 0. 1. ]] SLAMing on 40.781966745999995 meters Centerline goodness [0,1] 0.34737409684028897 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.00, Z:0.02 [[ 0.9995978 0.02814313 0.00349289 -0.72183876] [-0.02823009 0.99920863 0.02802082 0.00145676] [-0.00270153 -0.02810816 0.99960124 0.01568329] [ 0. 0. 0. 1. ]] SLAMing on 40.811966745999996 meters Centerline goodness [0,1] 0.3557706852216004 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.01, Z:0.02 [[ 0.99960087 0.02798438 0.00387042 -0.72304932] [-0.0280774 0.99925347 0.02653607 0.01352916] [-0.00312493 -0.02663415 0.99964036 0.0153009 ] [ 0. 0. 0. 1. ]] SLAMing on 40.841966746 meters Centerline goodness [0,1] 0.3849815724815725 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.02, Z:0.01 [[ 0.99960514 0.02797947 0.00259288 -0.76978055] [-0.02803772 0.9992655 0.02612195 0.0233869 ] [-0.0018601 -0.02618433 0.9996554 0.01334882] [ 0. 0. 0. 1. ]] SLAMing on 40.871966746 meters Centerline goodness [0,1] 0.3594640381949792 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.04, Z:0.01 [[ 0.99960996 0.02781138 0.00254224 -0.76908625] [-0.02786544 0.99931068 0.02452921 0.0356776 ] [-0.0018583 -0.02459049 0.99969588 0.01198949] [ 0. 0. 0. 1. ]] SLAMing on 40.901966746 meters Centerline goodness [0,1] 0.34600661779017716 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.05, Z:0.01 [[ 0.99954997 0.02987445 0.00271548 -0.76862989] [-0.02993437 0.99922247 0.02565903 0.04590022] [-0.00194682 -0.02572877 0.99966706 0.01082195] [ 0. 0. 0. 1. ]] SLAMing on 40.931966746 meters Centerline goodness [0,1] 0.3836731991525424 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.06, Z:0.01 [[ 0.9995591 0.02961642 0.00211327 -0.81853882] [-0.02965986 0.99925069 0.02486686 0.05552868] [-0.00137522 -0.02491857 0.99968854 0.01110025] [ 0. 0. 0. 1. ]] SLAMing on 40.961966745999995 meters Centerline goodness [0,1] 0.4243778903325258 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.07, Z:0.01 [[ 0.99955745 0.02963174 0.00261818 -0.82029252] [-0.02968518 0.99928279 0.02350947 0.0675971 ] [-0.00191967 -0.02357679 0.99972019 0.01117104] [ 0. 0. 0. 1. ]] SLAMing on 40.991966745999996 meters Centerline goodness [0,1] 0.4243778903325258 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.07, Z:0.01 [[ 0.99955745 0.02963174 0.00261818 -0.82029252] [-0.02968518 0.99928279 0.02350947 0.0675971 ] [-0.00191967 -0.02357679 0.99972019 0.01117104] [ 0. 0. 0. 1. ]] SLAMing on 41.021966746 meters Centerline goodness [0,1] 0.3602837799839941 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.07, Z:0.01 [[ 0.9995619 0.02948758 0.00254891 -0.81998341] [-0.02953778 0.99930744 0.02263082 0.07387178] [-0.00187982 -0.02269619 0.99974064 0.01088939] [ 0. 0. 0. 1. ]] SLAMing on 41.051966746 meters Centerline goodness [0,1] 0.4386269920873732 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.08, Z:0.01 [[ 9.99703952e-01 2.42994552e-02 1.24253314e-03 -8.91137617e-01] [-2.43226978e-02 9.99400671e-01 2.46314014e-02 8.02687170e-02] [-6.43258819e-04 -2.46543311e-02 9.99695829e-01 1.25894585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.081966746 meters Centerline goodness [0,1] 0.3905908574425312 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.09, Z:0.01 [[ 9.99708398e-01 2.41231352e-02 1.09275245e-03 -8.90138740e-01] [-2.41421345e-02 9.99433425e-01 2.34517765e-02 9.49707171e-02] [-5.26402944e-04 -2.34713193e-02 9.99724372e-01 1.13936194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.111966746 meters Centerline goodness [0,1] 0.39306874618802823 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.10, Z:0.01 [[ 9.99719887e-01 2.36427217e-02 1.08114756e-03 -8.89940109e-01] [-2.36611584e-02 9.99463124e-01 2.26630315e-02 9.89683756e-02] [-5.44751376e-04 -2.26822645e-02 9.99742576e-01 1.11670134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.141966745999994 meters Centerline goodness [0,1] 0.40646691854845796 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.11, Z:0.01 [[ 0.9999018 0.013854 0.00211097 -0.91680304] [-0.01389733 0.99965875 0.02211913 0.10737763] [-0.00180381 -0.02214629 0.99975311 0.01051431] [ 0. 0. 0. 1. ]] SLAMing on 41.171966745999995 meters Centerline goodness [0,1] 0.3850983675177899 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.12, Z:0.01 [[ 0.99995161 0.00954231 0.00239247 -0.91858831] [-0.00958223 0.9998049 0.01727256 0.11609452] [-0.00222718 -0.01729465 0.99984796 0.01133662] [ 0. 0. 0. 1. ]] SLAMing on 41.201966746 meters Centerline goodness [0,1] 0.392482555843244 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.12, Z:0.01 [[ 0.99998575 0.00479899 0.00233983 -0.91820389] [-0.00482703 0.99991481 0.01212697 0.12420147] [-0.00228144 -0.01213809 0.99992373 0.01054573] [ 0. 0. 0. 1. ]] SLAMing on 41.231966746 meters Centerline goodness [0,1] 0.41833502002024026 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.13, Z:0.01 [[ 0.99999534 -0.00146742 0.00267733 -0.92016053] [ 0.00145054 0.99997915 0.00629282 0.1327014 ] [-0.0026865 -0.00628891 0.99997662 0.01123191] [ 0. 0. 0. 1. ]] SLAMing on 41.261966746 meters Centerline goodness [0,1] 0.41848211122918877 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.13, Z:0.01 [[ 0.99999364 -0.00235863 0.00267547 -0.92031531] [ 0.00234373 0.9999818 0.00556026 0.13412267] [-0.00268854 -0.00555395 0.99998096 0.011489 ] [ 0. 0. 0. 1. ]] SLAMing on 41.291966746 meters Centerline goodness [0,1] 0.45734290292135815 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.14, Z:0.01 [[ 0.99998431 -0.00504107 0.00244295 -0.91878426] [ 0.00503262 0.99998138 0.00345228 0.13818232] [-0.0024603 -0.00343993 0.99999106 0.01065783] [ 0. 0. 0. 1. ]] SLAMing on 41.321966745999994 meters Centerline goodness [0,1] 0.4629425267061005 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.14, Z:0.01 [[ 0.99997267 -0.00695 0.00252281 -0.91900427] [ 0.0069442 0.99997324 0.00229969 0.14033164] [-0.00253873 -0.00228211 0.99999417 0.01045787] [ 0. 0. 0. 1. ]] SLAMing on 41.351966745999995 meters Centerline goodness [0,1] 0.4882841349058926 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.14, Z:0.01 [[ 0.99991798 -0.01272151 0.00148025 -0.96553945] [ 0.01272414 0.99991745 -0.00178653 0.14226634] [-0.0014574 0.00180522 0.99999731 0.01073853] [ 0. 0. 0. 1. ]] SLAMing on 41.381966745999996 meters Centerline goodness [0,1] 0.4802786281556414 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.15, Z:0.01 [[ 0.99984144 -0.01770614 0.00189332 -0.96693888] [ 0.01771786 0.9998228 -0.00635896 0.1467922 ] [-0.0017804 0.0063915 0.99997799 0.01107269] [ 0. 0. 0. 1. ]] SLAMing on 41.411966746 meters Centerline goodness [0,1] 0.4867798251986879 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.15, Z:0.01 [[ 0.99979856 -0.01998451 0.00185933 -0.96640437] [ 0.0199981 0.99977112 -0.00760149 0.14829414] [-0.00170699 0.00763714 0.99996938 0.01033503] [ 0. 0. 0. 1. ]] SLAMing on 41.441966746 meters Centerline goodness [0,1] 0.48446653648144866 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.15, Z:0.01 [[ 0.99968074 -0.02517781 0.00211969 -0.96677935] [ 0.02520179 0.99960827 -0.01217271 0.15020713] [-0.00181238 0.01222224 0.99992366 0.00971691] [ 0. 0. 0. 1. ]] SLAMing on 41.471966746 meters Centerline goodness [0,1] 0.45567217264177706 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.15, Z:0.01 [[ 0.99930302 -0.0370186 0.00480666 -0.94487794] [ 0.03707975 0.99922348 -0.01332439 0.15482569] [-0.00430968 0.01349334 0.99989967 0.00836539] [ 0. 0. 0. 1. ]] SLAMing on 41.501966746 meters Centerline goodness [0,1] 0.429265825012097 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.16, Z:0.01 [[ 0.99907907 -0.04255866 0.0054565 -0.94674095] [ 0.04265017 0.99892926 -0.01792482 0.15713662] [-0.0046878 0.01814103 0.99982445 0.00867216] [ 0. 0. 0. 1. ]] SLAMing on 41.531966745999995 meters Centerline goodness [0,1] 0.4072409000086873 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.16, Z:0.01 [[ 0.99882867 -0.04802531 0.00590317 -0.94733819] [ 0.0481455 0.99859229 -0.02225887 0.15873018] [-0.00482587 0.02251701 0.99973481 0.00804127] [ 0. 0. 0. 1. ]] SLAMing on 41.561966745999996 meters Centerline goodness [0,1] 0.3926942632072795 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.16, Z:0.01 [[ 0.99854376 -0.05352665 0.0067279 -0.94894951] [ 0.0536886 0.99819848 -0.02678306 0.16032478] [-0.00528217 0.02710527 0.99961863 0.0070709 ] [ 0. 0. 0. 1. ]] SLAMing on 41.591966746 meters Centerline goodness [0,1] 0.3752994238114763 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.16, Z:0.01 [[ 0.998202 -0.05944517 0.00768398 -0.95122617] [ 0.05965855 0.99772438 -0.03141537 0.16064681] [-0.005799 0.0318173 0.99947688 0.00697129] [ 0. 0. 0. 1. ]] SLAMing on 41.621966746 meters Centerline goodness [0,1] 0.3762226413439186 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.16, Z:0.01 [[ 0.99737284 -0.07214178 0.00655603 -0.97781063] [ 0.07232036 0.99683112 -0.03312824 0.16343714] [-0.00414532 0.03351535 0.99942961 0.0089312 ] [ 0. 0. 0. 1. ]] SLAMing on 41.651966746 meters Centerline goodness [0,1] 0.3611386302093653 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.16, Z:0.00 [[ 9.96614693e-01 -8.13902683e-02 1.16093829e-02 -9.95848519e-01] [ 8.17471568e-02 9.96053252e-01 -3.45734302e-02 1.61960466e-01] [-8.74962280e-03 3.54054226e-02 9.99334729e-01 9.14041241e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.681966746 meters Centerline goodness [0,1] 0.35853815012277945 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.17, Z:-0.00 [[ 9.95329070e-01 -9.58113033e-02 1.18421383e-02 -1.02088917e+00] [ 9.61970882e-02 9.94635179e-01 -3.80392084e-02 1.65399724e-01] [-8.13402116e-03 3.90007091e-02 9.99206076e-01 -1.97944296e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.711966745999995 meters Centerline goodness [0,1] 0.11827433628318584 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.17, Z:-0.00 [[ 9.93863304e-01 -1.10001321e-01 1.16380028e-02 -1.04540627e+00] [ 1.10391575e-01 9.93036138e-01 -4.11452094e-02 1.68026682e-01] [-7.03092993e-03 4.21774512e-02 9.99085396e-01 -7.85338634e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.741966745999996 meters Centerline goodness [0,1] 0.36480322003577814 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.17, Z:0.00 [[ 9.92156304e-01 -1.24531741e-01 1.08496416e-02 -1.07076894e+00] [ 1.24897395e-01 9.91148318e-01 -4.50072374e-02 1.70419000e-01] [-5.14877441e-03 4.60093063e-02 9.98927742e-01 2.46506089e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.771966746 meters Centerline goodness [0,1] 0.3649200220628792 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.17, Z:-0.00 [[ 9.90184385e-01 -1.39314673e-01 1.12385814e-02 -1.09573544e+00] [ 1.39699658e-01 9.89001200e-01 -4.85863277e-02 1.72991064e-01] [-4.34618212e-03 4.96794490e-02 9.98755757e-01 -4.75254706e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.801966746 meters Centerline goodness [0,1] 0.37960333658709733 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.17, Z:-0.00 [[ 0.98770944 -0.15551281 0.01567912 -1.14104801] [ 0.15610708 0.98650483 -0.04938416 0.17265371] [-0.00778766 0.05122482 0.99865678 -0.00306621] [ 0. 0. 0. 1. ]] SLAMing on 41.831966746 meters Centerline goodness [0,1] 0.36335485571221504 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.17, Z:-0.00 [[ 0.98524528 -0.17038587 0.01613692 -1.16653497] [ 0.1710105 0.9838493 -0.0528768 0.1737453 ] [-0.00686684 0.0548562 0.99847065 -0.0033182 ] [ 0. 0. 0. 1. ]] SLAMing on 41.861966746 meters Centerline goodness [0,1] 0.4003076031473597 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.17, Z:-0.00 [[ 0.98244727 -0.18562141 0.01849482 -1.24898194] [ 0.18635261 0.98107089 -0.05265569 0.17186223] [-0.0083707 0.05517799 0.99844145 -0.00496087] [ 0. 0. 0. 1. ]] SLAMing on 41.891966745999994 meters Centerline goodness [0,1] 0.3664406038066069 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.17, Z:-0.01 [[ 0.97916961 -0.20180113 0.02243183 -1.28476143] [ 0.20275476 0.97768441 -0.05498821 0.17076313] [-0.01083457 0.05839094 0.998235 -0.00928627] [ 0. 0. 0. 1. ]] SLAMing on 41.921966745999995 meters Centerline goodness [0,1] 0.37818687504138804 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.17, Z:-0.00 [[ 0.97531437 -0.2197667 0.02155172 -1.37871549] [ 0.22064074 0.97380801 -0.05491476 0.17098663] [-0.0089188 0.05831435 0.99825843 -0.00353815] [ 0. 0. 0. 1. ]] SLAMing on 41.951966746 meters Centerline goodness [0,1] 0.38914498470812464 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.17, Z:0.00 [[ 9.73495270e-01 -2.27849770e-01 1.97848808e-02 -1.45138923e+00] [ 2.28605032e-01 9.71997596e-01 -5.44096713e-02 1.70641718e-01] [-6.83362547e-03 5.74904809e-02 9.98322666e-01 1.36168745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.981966746 meters Centerline goodness [0,1] 0.4406590959697172 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.17, Z:0.00 [[ 0.96696351 -0.25401179 0.02143796 -1.56094708] [ 0.25482471 0.96543343 -0.0547965 0.16790465] [-0.00677797 0.05844914 0.99826738 0.00274229] [ 0. 0. 0. 1. ]] SLAMing on 42.011966746 meters Centerline goodness [0,1] 0.41457531093701594 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.17, Z:0.01 [[ 0.96228931 -0.27135006 0.0191947 -1.65983201] [ 0.27200402 0.96074473 -0.05462023 0.16651829] [-0.00362 0.0577815 0.99832269 0.01028075] [ 0. 0. 0. 1. ]] SLAMing on 42.041966746 meters Centerline goodness [0,1] 0.39217899349356 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.17, Z:0.02 [[ 9.57828188e-01 -2.86832385e-01 1.70980906e-02 -1.80287229e+00] [ 2.87340040e-01 9.56318414e-01 -5.37660920e-02 1.66132615e-01] [-9.29362490e-04 5.64116445e-02 9.98407163e-01 1.76791849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.071966745999994 meters Centerline goodness [0,1] 0.34211617804361594 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.17, Z:0.02 [[ 9.53074253e-01 -3.02323431e-01 1.58117213e-02 -1.94640806e+00] [ 3.02733917e-01 9.51543741e-01 -5.40063464e-02 1.67080806e-01] [ 1.28183955e-03 5.62588026e-02 9.98415397e-01 2.41967485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.101966745999995 meters Centerline goodness [0,1] 0.3392674264048984 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.17, Z:0.03 [[ 9.51983729e-01 -3.05752020e-01 1.55782504e-02 -2.11069674e+00] [ 3.06145698e-01 9.50518951e-01 -5.28065877e-02 1.69120067e-01] [ 1.33829858e-03 5.50402266e-02 9.98483241e-01 2.92842966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.131966745999996 meters Centerline goodness [0,1] 0.3670376768494019 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.18, Z:0.04 [[ 0.94705718 -0.32086467 0.01133843 -2.30986451] [ 0.32099661 0.94553644 -0.05405571 0.17539022] [ 0.00662366 0.05483344 0.99847355 0.04264056] [ 0. 0. 0. 1. ]] SLAMing on 42.161966746 meters Centerline goodness [0,1] 0.3565058864874363 Centerline is valid? [False, False] Translation: X:-2.55, Y:0.19, Z:0.05 [[ 0.94218364 -0.33494 0.01025592 -2.54595948] [ 0.33499724 0.94071524 -0.05321362 0.18542207] [ 0.00817547 0.05357271 0.99853048 0.05239503] [ 0. 0. 0. 1. ]] SLAMing on 42.191966746 meters Centerline goodness [0,1] 0.3601711652402897 Centerline is valid? [False, False] Translation: X:-2.79, Y:0.20, Z:0.06 [[ 0.93757614 -0.34770463 0.00724413 -2.78774688] [ 0.34758899 0.93616727 -0.05265683 0.19811592] [ 0.01152731 0.05188777 0.99858639 0.06308601] [ 0. 0. 0. 1. ]] SLAMing on 42.221966746 meters Centerline goodness [0,1] 0.36922033304886326 Centerline is valid? [False, False] Translation: X:-3.06, Y:0.21, Z:0.07 [[ 0.93310992 -0.35953411 0.0064112 -3.0590454 ] [ 0.35935307 0.93169476 -0.05301171 0.21485647] [ 0.01308623 0.05176963 0.99857331 0.07113639] [ 0. 0. 0. 1. ]] SLAMing on 42.251966745999994 meters Centerline goodness [0,1] 0.3509448008583127 Centerline is valid? [False, False] Translation: X:-3.35, Y:0.24, Z:0.08 [[ 0.92799506 -0.37256861 0.00421935 -3.34836194] [ 0.37224102 0.92656844 -0.05392164 0.23718045] [ 0.01617999 0.05160963 0.99853626 0.08202374] [ 0. 0. 0. 1. ]] SLAMing on 42.281966745999995 meters Centerline goodness [0,1] 0.34189775266132216 Centerline is valid? [False, False] Translation: X:-3.68, Y:0.27, Z:0.09 [[ 9.23625594e-01 -3.83280763e-01 3.40856688e-03 -3.67910461e+00] [ 3.82908411e-01 9.22255559e-01 -5.31585573e-02 2.67914399e-01] [ 1.72310826e-02 5.04037730e-02 9.98580267e-01 9.18942565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.311966745999996 meters Centerline goodness [0,1] 0.32433963908987884 Centerline is valid? [False, False] Translation: X:-4.02, Y:0.30, Z:0.10 [[ 9.19644888e-01 -3.92747053e-01 1.74148808e-03 -4.01661033e+00] [ 3.92296129e-01 9.18357635e-01 -5.21823756e-02 3.04704159e-01] [ 1.88951654e-02 4.86724340e-02 9.98636053e-01 1.02916467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.341966746 meters Centerline goodness [0,1] 0.3009215474959861 Centerline is valid? [False, False] Translation: X:-4.40, Y:0.35, Z:0.12 [[ 9.14487408e-01 -4.04614341e-01 -1.25325161e-04 -4.39865362e+00] [ 4.04064489e-01 9.13260717e-01 -5.18338894e-02 3.54833556e-01] [ 2.10871895e-02 4.73507997e-02 9.98655713e-01 1.15401707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.371966746 meters Centerline goodness [0,1] 0.28756425246530914 Centerline is valid? [False, False] Translation: X:-4.79, Y:0.41, Z:0.12 [[ 9.08410123e-01 -4.18065599e-01 -3.49336315e-03 -4.78613164e+00] [ 4.17343024e-01 9.07272711e-01 -5.17786473e-02 4.09184269e-01] [ 2.48163042e-02 4.55783166e-02 9.98652476e-01 1.23862035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.401966746 meters Centerline goodness [0,1] 0.25829786295569324 Centerline is valid? [False, False] Translation: X:-5.21, Y:0.47, Z:0.13 [[ 9.00612119e-01 -4.34613009e-01 -3.05657909e-03 -5.20534008e+00] [ 4.33736593e-01 8.99200660e-01 -5.75390363e-02 4.74238285e-01] [ 2.77556916e-02 5.04946032e-02 9.98338578e-01 1.33136482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.431966746 meters Centerline goodness [0,1] 0.2345481954420502 Centerline is valid? [False, False] Translation: X:-5.65, Y:0.55, Z:0.14 [[ 8.95237615e-01 -4.45585616e-01 -1.75274032e-03 -5.64672211e+00] [ 4.44544200e-01 8.93400679e-01 -6.49282763e-02 5.47861699e-01] [ 3.04970054e-02 5.73470646e-02 9.97888394e-01 1.42304357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.461966745999995 meters Centerline goodness [0,1] 0.21004273031195342 Centerline is valid? [False, False] Translation: X:-6.08, Y:0.63, Z:0.16 [[ 8.97388682e-01 -4.41237474e-01 -1.74528759e-03 -6.07625741e+00] [ 4.40213182e-01 8.95561280e-01 -6.46710713e-02 6.32528505e-01] [ 3.00983121e-02 5.72667888e-02 9.97905109e-01 1.55465153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.491966745999996 meters Centerline goodness [0,1] 0.20615391411910233 Centerline is valid? [False, False] Translation: X:-6.47, Y:0.71, Z:0.17 [[ 9.03925691e-01 -4.27684314e-01 -2.11479837e-03 -6.46981804e+00] [ 4.26925617e-01 9.02595506e-01 -5.52799240e-02 7.06733479e-01] [ 2.55511639e-02 4.90660819e-02 9.98468656e-01 1.67955531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.521966746 meters Centerline goodness [0,1] 0.2653824986241057 Centerline is valid? [False, False] Translation: X:-6.82, Y:0.78, Z:0.18 [[ 9.18374963e-01 -3.95686984e-01 -4.38612661e-03 -6.82361300e+00] [ 3.94994815e-01 9.17322536e-01 -4.99846103e-02 7.82336314e-01] [ 2.38017525e-02 4.41721174e-02 9.98740357e-01 1.79956560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.551966746 meters Centerline goodness [0,1] 0.27695224657171835 Centerline is valid? [False, False] Translation: X:-7.11, Y:0.84, Z:0.19 [[ 9.38137146e-01 -3.46242818e-01 -3.82174657e-03 -7.11109870e+00] [ 3.45614566e-01 9.36996454e-01 -5.08745231e-02 8.43530504e-01] [ 2.11959012e-02 4.64064286e-02 9.98697741e-01 1.89590156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.581966746 meters Centerline goodness [0,1] 0.3402509652509652 Centerline is valid? [False, False] Translation: X:-7.31, Y:0.89, Z:0.20 [[ 9.58856624e-01 -2.83846420e-01 -5.01844281e-03 -7.31258128e+00] [ 2.83301688e-01 9.57855629e-01 -4.74631133e-02 8.86388532e-01] [ 1.82791785e-02 4.40885873e-02 9.98860385e-01 1.95111561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.611966746 meters Centerline goodness [0,1] 0.3843780092795238 Centerline is valid? [False, False] Translation: X:-7.45, Y:0.92, Z:0.20 [[ 9.76330805e-01 -2.16239766e-01 -4.30374208e-03 -7.45359498e+00] [ 2.15928989e-01 9.75678992e-01 -3.77515163e-02 9.18020028e-01] [ 1.23624498e-02 3.59286656e-02 9.99277890e-01 1.98436791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.641966745999994 meters Centerline goodness [0,1] 0.35690103313456956 Centerline is valid? [False, False] Translation: X:-7.54, Y:0.94, Z:0.20 [[ 9.88825339e-01 -1.49015561e-01 -4.33714636e-03 -7.54013954e+00] [ 1.48797978e-01 9.88330240e-01 -3.25959763e-02 9.35908174e-01] [ 9.14384059e-03 3.15863687e-02 9.99459200e-01 2.04967420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.671966745999995 meters Centerline goodness [0,1] 0.3755328684170256 Centerline is valid? [False, False] Translation: X:-7.59, Y:0.94, Z:0.21 [[ 9.93337010e-01 -1.15166411e-01 -4.27589427e-03 -7.58729892e+00] [ 1.14968302e-01 9.92836224e-01 -3.25349295e-02 9.44472973e-01] [ 7.99219379e-03 3.18265573e-02 9.99461453e-01 2.05951256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.701966746 meters Centerline goodness [0,1] 0.3957675721335526 Centerline is valid? [False, False] Translation: X:-7.66, Y:0.95, Z:0.21 [[ 9.99281242e-01 -3.75402892e-02 -5.26546217e-03 -7.66148702e+00] [ 3.73396602e-02 9.98721237e-01 -3.40828574e-02 9.52547001e-01] [ 6.53820921e-03 3.38617496e-02 9.99405140e-01 2.07608490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.731966746 meters Centerline goodness [0,1] 0.3882542698689764 Centerline is valid? [False, False] Translation: X:-7.66, Y:0.94, Z:0.21 [[ 9.99989674e-01 6.42291821e-04 -4.49870855e-03 -7.66462163e+00] [-7.84240799e-04 9.99499563e-01 -3.16229215e-02 9.43743153e-01] [ 4.47614609e-03 3.16261231e-02 9.99489746e-01 2.07597828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.761966746 meters Centerline goodness [0,1] 0.373651874115983 Centerline is valid? [False, False] Translation: X:-7.69, Y:0.94, Z:0.21 [[ 9.99586458e-01 2.86639805e-02 -2.29964498e-03 -7.69269550e+00] [-2.87206682e-02 9.99125537e-01 -3.03856068e-02 9.37530315e-01] [ 1.42666158e-03 3.04390884e-02 9.99535605e-01 2.07658104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.791966746 meters Centerline goodness [0,1] 0.3807750443602269 Centerline is valid? [False, False] Translation: X:-7.69, Y:0.93, Z:0.21 [[ 9.99504805e-01 3.13122723e-02 -3.11223354e-03 -7.69127198e+00] [-3.13878554e-02 9.99107327e-01 -2.82728060e-02 9.30567616e-01] [ 2.22416953e-03 2.83564918e-02 9.99595399e-01 2.08857403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.821966745999994 meters Centerline goodness [0,1] 0.38611969154870107 Centerline is valid? [False, False] Translation: X:-7.72, Y:0.92, Z:0.21 [[ 9.99016259e-01 4.39869935e-02 -5.62657542e-03 -7.71898741e+00] [-4.41200465e-02 9.98681558e-01 -2.62405773e-02 9.21632917e-01] [ 4.46491300e-03 2.64630081e-02 9.99639822e-01 2.12464488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.851966745999995 meters Centerline goodness [0,1] 0.36807085573279286 Centerline is valid? [False, False] Translation: X:-7.72, Y:0.91, Z:0.21 [[ 9.98771391e-01 4.92922602e-02 -5.09718988e-03 -7.72259248e+00] [-4.93919204e-02 9.98542895e-01 -2.17376256e-02 9.06815457e-01] [ 4.01826604e-03 2.19626786e-02 9.99750716e-01 2.12769145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.881966745999996 meters Centerline goodness [0,1] 0.36807085573279286 Centerline is valid? [False, False] Translation: X:-7.72, Y:0.91, Z:0.21 [[ 9.98771391e-01 4.92922602e-02 -5.09718988e-03 -7.72259248e+00] [-4.93919204e-02 9.98542895e-01 -2.17376256e-02 9.06815457e-01] [ 4.01826604e-03 2.19626786e-02 9.99750716e-01 2.12769145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.911966746 meters Centerline goodness [0,1] 0.3772294107361427 Centerline is valid? [False, False] Translation: X:-7.72, Y:0.89, Z:0.21 [[ 9.98565919e-01 5.32922134e-02 -5.10341950e-03 -7.72286266e+00] [-5.33721348e-02 9.98428782e-01 -1.70699545e-02 8.91810526e-01] [ 4.18570525e-03 1.73178552e-02 9.99841273e-01 2.12101146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.941966746 meters Centerline goodness [0,1] 0.394011606098718 Centerline is valid? [False, False] Translation: X:-7.73, Y:0.88, Z:0.22 [[ 9.98417920e-01 5.61202576e-02 -3.48905843e-03 -7.73176441e+00] [-5.61642100e-02 9.98321603e-01 -1.41265142e-02 8.78027506e-01] [ 2.69041880e-03 1.43001251e-02 9.99894128e-01 2.15224965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.971966746 meters Centerline goodness [0,1] 0.3786427013810877 Centerline is valid? [False, False] Translation: X:-7.74, Y:0.86, Z:0.22 [[ 9.98447515e-01 5.56032408e-02 -3.29240466e-03 -7.73573962e+00] [-5.56447881e-02 9.98348663e-01 -1.42689993e-02 8.63526327e-01] [ 2.49356519e-03 1.44300521e-02 9.99892772e-01 2.17537099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.001966745999994 meters Centerline goodness [0,1] 0.362175552926998 Centerline is valid? [False, False] Translation: X:-7.78, Y:0.86, Z:0.22 [[ 9.98438443e-01 5.56355619e-02 -5.03578111e-03 -7.78136320e+00] [-5.56949021e-02 9.98369205e-01 -1.25302591e-02 8.55371925e-01] [ 4.33044078e-03 1.27911597e-02 9.99908813e-01 2.18533835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.031966745999995 meters Centerline goodness [0,1] 0.3549729229956413 Centerline is valid? [False, False] Translation: X:-7.78, Y:0.84, Z:0.22 [[ 9.98487675e-01 5.46641009e-02 -5.84793580e-03 -7.77888782e+00] [-5.47307894e-02 9.98429918e-01 -1.19264095e-02 8.39612253e-01] [ 5.18680761e-03 1.22284350e-02 9.99911777e-01 2.16794611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.061966745999996 meters Centerline goodness [0,1] 0.3594865109701938 Centerline is valid? [False, False] Translation: X:-7.81, Y:0.83, Z:0.22 [[ 9.98572658e-01 5.25257015e-02 -9.67974741e-03 -7.81399502e+00] [-5.25867950e-02 9.98597304e-01 -6.16872847e-03 8.26204272e-01] [ 9.34215288e-03 6.66895048e-03 9.99934122e-01 2.24195416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.091966746 meters Centerline goodness [0,1] 0.3829599964793381 Centerline is valid? [False, False] Translation: X:-7.82, Y:0.81, Z:0.23 [[ 9.98710664e-01 4.99003086e-02 -9.32575833e-03 -7.81821815e+00] [-4.99688430e-02 9.98724344e-01 -7.26625918e-03 8.11119573e-01] [ 8.95127330e-03 7.72288788e-03 9.99930113e-01 2.26506789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.121966746 meters Centerline goodness [0,1] 0.386547685443391 Centerline is valid? [False, False] Translation: X:-7.87, Y:0.80, Z:0.23 [[ 9.98824275e-01 4.75990964e-02 -9.18660190e-03 -7.86866267e+00] [-4.76520659e-02 9.98848096e-01 -5.63574021e-03 8.00577219e-01] [ 8.90776367e-03 6.06687469e-03 9.99941921e-01 2.28318408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.151966746 meters Centerline goodness [0,1] 0.3738054206485978 Centerline is valid? [False, False] Translation: X:-7.90, Y:0.79, Z:0.24 [[ 9.99002627e-01 4.25098758e-02 -1.36624550e-02 -7.89613009e+00] [-4.25169009e-02 9.99095723e-01 -2.24014321e-04 7.87113738e-01] [ 1.36405776e-02 8.04676143e-04 9.99906639e-01 2.35854228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.181966746 meters Centerline goodness [0,1] 0.36027811097783113 Centerline is valid? [False, False] Translation: X:-7.90, Y:0.77, Z:0.24 [[ 9.99101040e-01 4.00294239e-02 -1.39555376e-02 -7.89630013e+00] [-4.00480504e-02 9.99197195e-01 -1.05769529e-03 7.71150608e-01] [ 1.39019951e-02 1.61563653e-03 9.99902057e-01 2.35546585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.211966745999995 meters Centerline goodness [0,1] 0.3296146269119242 Centerline is valid? [False, False] Translation: X:-7.90, Y:0.75, Z:0.24 [[ 9.99224138e-01 3.67158889e-02 -1.42501101e-02 -7.89791213e+00] [-3.67637171e-02 9.99319150e-01 -3.10893416e-03 7.54122962e-01] [ 1.41262606e-02 3.63040907e-03 9.99893629e-01 2.36973577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.241966745999996 meters Centerline goodness [0,1] 0.3725015545882562 Centerline is valid? [False, False] Translation: X:-7.90, Y:0.74, Z:0.24 [[ 9.99292887e-01 3.50050680e-02 -1.37248491e-02 -7.90257486e+00] [-3.50590078e-02 9.99378360e-01 -3.70930562e-03 7.41953637e-01] [ 1.35864727e-02 4.18786231e-03 9.99898930e-01 2.39745369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.271966746 meters Centerline goodness [0,1] 0.3306768510751027 Centerline is valid? [False, False] Translation: X:-7.90, Y:0.73, Z:0.24 [[ 9.99248255e-01 3.61777357e-02 -1.39318293e-02 -7.90320535e+00] [-3.61938471e-02 9.99344377e-01 -9.05967636e-04 7.27806998e-01] [ 1.38899194e-02 1.40953308e-03 9.99902537e-01 2.40692542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.301966746 meters Centerline goodness [0,1] 0.337219730941704 Centerline is valid? [False, False] Translation: X:-7.91, Y:0.71, Z:0.24 [[ 9.99315437e-01 3.43656609e-02 -1.36988382e-02 -7.90618419e+00] [-3.44023242e-02 9.99405063e-01 -2.44971491e-03 7.06350391e-01] [ 1.36065022e-02 2.91930980e-03 9.99903166e-01 2.39779767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.331966746 meters Centerline goodness [0,1] 0.37013402813045115 Centerline is valid? [False, False] Translation: X:-7.93, Y:0.70, Z:0.25 [[ 9.99401469e-01 2.96936939e-02 -1.77479305e-02 -7.93358790e+00] [-2.96531036e-02 9.99557008e-01 2.54590782e-03 7.01116644e-01] [ 1.78156657e-02 -2.01810280e-03 9.99839252e-01 2.48140252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.361966746 meters Centerline goodness [0,1] 0.34081453908473835 Centerline is valid? [False, False] Translation: X:-7.93, Y:0.69, Z:0.25 [[ 9.99364309e-01 3.08443006e-02 -1.78775381e-02 -7.93484566e+00] [-3.07682712e-02 9.99516359e-01 4.51241809e-03 6.91059412e-01] [ 1.80080742e-02 -3.95948865e-03 9.99830001e-01 2.49991184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.391966745999994 meters Centerline goodness [0,1] 0.3464603533005711 Centerline is valid? [False, False] Translation: X:-7.96, Y:0.68, Z:0.26 [[ 0.99930497 0.03065821 -0.021205 -7.96306101] [-0.03035365 0.99943348 0.01453848 0.68252436] [ 0.02163871 -0.01388473 0.99966944 0.25810022] [ 0. 0. 0. 1. ]] SLAMing on 43.421966745999995 meters Centerline goodness [0,1] 0.37216096296621715 Centerline is valid? [False, False] Translation: X:-7.96, Y:0.67, Z:0.26 [[ 0.99931655 0.02955851 -0.02219732 -7.96098023] [-0.02926828 0.99948327 0.01328797 0.67228644] [ 0.02257862 -0.01262921 0.9996653 0.25830937] [ 0. 0. 0. 1. ]] SLAMing on 43.451966746 meters Centerline goodness [0,1] 0.3908463977648181 Centerline is valid? [False, False] Translation: X:-7.98, Y:0.66, Z:0.26 [[ 0.99926491 0.03380487 -0.01807928 -7.97788892] [-0.03355594 0.99934018 0.01389941 0.6593504 ] [ 0.01853722 -0.01328253 0.99973994 0.25510269] [ 0. 0. 0. 1. ]] SLAMing on 43.481966746 meters Centerline goodness [0,1] 0.39634434227388204 Centerline is valid? [False, False] Translation: X:-8.02, Y:0.66, Z:0.26 [[ 0.99911594 0.03712696 -0.01972123 -8.02254961] [-0.03673033 0.99912291 0.02010697 0.65587583] [ 0.02045044 -0.01936483 0.99960331 0.25569717] [ 0. 0. 0. 1. ]] SLAMing on 43.511966746 meters Centerline goodness [0,1] 0.38744169673501716 Centerline is valid? [False, False] Translation: X:-8.00, Y:0.64, Z:0.25 [[ 0.99916844 0.0387082 -0.01280997 -8.00123936] [-0.03836448 0.99892366 0.02607079 0.64260281] [ 0.01380534 -0.02555766 0.99957802 0.25067221] [ 0. 0. 0. 1. ]] SLAMing on 43.541966746 meters Centerline goodness [0,1] 0.3860816281868913 Centerline is valid? [False, False] Translation: X:-8.00, Y:0.64, Z:0.25 [[ 0.99909647 0.0405202 -0.01282033 -8.00383375] [-0.04015535 0.99881385 0.02753983 0.63561405] [ 0.01392104 -0.02700014 0.99953849 0.25393683] [ 0. 0. 0. 1. ]] SLAMing on 43.571966745999994 meters Centerline goodness [0,1] 0.40517642884073723 Centerline is valid? [False, False] Translation: X:-8.05, Y:0.64, Z:0.26 [[ 0.99908709 0.04016818 -0.01454286 -8.0485302 ] [-0.03972717 0.99877677 0.02944 0.63690925] [ 0.01570762 -0.02883538 0.99946075 0.25509524] [ 0. 0. 0. 1. ]] SLAMing on 43.601966745999995 meters Centerline goodness [0,1] 0.43070807788182985 Centerline is valid? [False, False] Translation: X:-8.07, Y:0.63, Z:0.26 [[ 0.99850179 0.05194191 -0.01721081 -8.07419891] [-0.05137657 0.99817274 0.03180605 0.62907903] [ 0.01883143 -0.03087416 0.99934587 0.25913646] [ 0. 0. 0. 1. ]] SLAMing on 43.631966745999996 meters Centerline goodness [0,1] 0.4371362688042165 Centerline is valid? [False, False] Translation: X:-8.03, Y:0.62, Z:0.26 [[ 0.9982049 0.05754016 -0.01661648 -8.03304502] [-0.0569912 0.99786777 0.03181078 0.62092591] [ 0.01841145 -0.03080668 0.99935578 0.25989177] [ 0. 0. 0. 1. ]] SLAMing on 43.661966746 meters Centerline goodness [0,1] 0.45247189548157474 Centerline is valid? [False, False] Translation: X:-8.03, Y:0.62, Z:0.26 [[ 0.99787515 0.06299795 -0.01662629 -8.03291094] [-0.06235285 0.99737472 0.03682107 0.61739273] [ 0.01890229 -0.03570613 0.99918355 0.26079834] [ 0. 0. 0. 1. ]] SLAMing on 43.691966746 meters Centerline goodness [0,1] 0.47230568256041805 Centerline is valid? [False, False] Translation: X:-8.03, Y:0.61, Z:0.26 [[ 0.99748989 0.06881577 -0.01668234 -8.03297198] [-0.06806756 0.99680068 0.04189527 0.61483258] [ 0.01951202 -0.04065459 0.99898273 0.2623888 ] [ 0. 0. 0. 1. ]] SLAMing on 43.721966746 meters Centerline goodness [0,1] 0.4797180091624783 Centerline is valid? [False, False] Translation: X:-8.07, Y:0.61, Z:0.26 [[ 0.9965883 0.08109568 -0.0153378 -8.0748645 ] [-0.08041634 0.99593139 0.04066782 0.6119086 ] [ 0.01857338 -0.03929566 0.99905499 0.25816714] [ 0. 0. 0. 1. ]] SLAMing on 43.751966745999994 meters Centerline goodness [0,1] 0.44912611979624095 Centerline is valid? [False, False] Translation: X:-8.07, Y:0.61, Z:0.26 [[ 0.99634496 0.0838753 -0.01617553 -8.07313985] [-0.08314025 0.99566328 0.04174126 0.61077497] [ 0.01960644 -0.04024386 0.99899751 0.25890807] [ 0. 0. 0. 1. ]] SLAMing on 43.781966745999995 meters Centerline goodness [0,1] 0.35337731976962283 Centerline is valid? [False, False] Translation: X:-8.09, Y:0.61, Z:0.25 [[ 0.99567729 0.09216951 -0.01146791 -8.0896542 ] [-0.09157019 0.99478685 0.04487784 0.61153888] [ 0.01554449 -0.04363373 0.99892666 0.25345406] [ 0. 0. 0. 1. ]] SLAMing on 43.811966745999996 meters Centerline goodness [0,1] 0.2871384750219106 Centerline is valid? [False, False] Translation: X:-8.09, Y:0.61, Z:0.25 [[ 0.99505815 0.09865243 -0.01126796 -8.08991189] [-0.09797687 0.99393895 0.04985885 0.61190146] [ 0.01611836 -0.04850846 0.99869271 0.25433819] [ 0. 0. 0. 1. ]] SLAMing on 43.841966746 meters Centerline goodness [0,1] 0.2773854670676954 Centerline is valid? [False, False] Translation: X:-8.11, Y:0.61, Z:0.26 [[ 0.99369199 0.11127848 -0.01390457 -8.11301139] [-0.11041745 0.99251715 0.05213141 0.60961996] [ 0.01960163 -0.05026726 0.99854343 0.25829264] [ 0. 0. 0. 1. ]] SLAMing on 43.871966746 meters Centerline goodness [0,1] 0.4715846754728573 Centerline is valid? [False, False] Translation: X:-8.16, Y:0.61, Z:0.26 [[ 0.9916915 0.12809937 -0.01176973 -8.15524126] [-0.12727319 0.99034437 0.0549505 0.60941521] [ 0.01869521 -0.05299597 0.99841971 0.25692827] [ 0. 0. 0. 1. ]] SLAMing on 43.901966746 meters Centerline goodness [0,1] 0.46400994053430367 Centerline is valid? [False, False] Translation: X:-8.20, Y:0.61, Z:0.26 [[ 0.98915959 0.1465634 -0.00908122 -8.19907413] [-0.14576743 0.98750149 0.05993881 0.61193198] [ 0.01775256 -0.0579653 0.99816074 0.25576575] [ 0. 0. 0. 1. ]] SLAMing on 43.931966746 meters Centerline goodness [0,1] 0.401136664023262 Centerline is valid? [False, False] Translation: X:-8.22, Y:0.61, Z:0.26 [[ 0.9869669 0.16044562 -0.01239119 -8.21999038] [-0.15936701 0.98520274 0.0630691 0.61051961] [ 0.02232699 -0.06027237 0.99793224 0.25945482] [ 0. 0. 0. 1. ]] SLAMing on 43.961966745999995 meters Centerline goodness [0,1] 0.25776107405878645 Centerline is valid? [False, False] Translation: X:-8.24, Y:0.61, Z:0.27 [[ 0.98489537 0.17228743 -0.01726718 -8.23812273] [-0.17088776 0.98324844 0.06340251 0.61083122] [ 0.02790139 -0.05949409 0.99783865 0.26522136] [ 0. 0. 0. 1. ]] SLAMing on 43.991966745999996 meters Centerline goodness [0,1] 0.2942693978347629 Centerline is valid? [False, False] Translation: X:-8.32, Y:0.61, Z:0.27 [[ 0.98210286 0.18756607 -0.01711551 -8.32233586] [-0.18604356 0.98025028 0.06706103 0.61183318] [ 0.02935585 -0.0626766 0.99760206 0.26632744] [ 0. 0. 0. 1. ]] SLAMing on 44.021966746 meters Centerline goodness [0,1] 0.27037708954256834 Centerline is valid? [False, False] Translation: X:-8.37, Y:0.61, Z:0.26 [[ 0.97907172 0.20303695 -0.0139483 -8.36589973] [-0.20158508 0.97692196 0.07061822 0.61381807] [ 0.02796451 -0.06632853 0.99740589 0.26345982] [ 0. 0. 0. 1. ]] SLAMing on 44.051966746 meters Centerline goodness [0,1] 0.2657560035901141 Centerline is valid? [False, False] Translation: X:-8.47, Y:0.61, Z:0.27 [[ 0.97574251 0.21831623 -0.01626584 -8.47196287] [-0.2167141 0.97375906 0.06948587 0.61286852] [ 0.0310089 -0.06427528 0.99745032 0.26538708] [ 0. 0. 0. 1. ]] SLAMing on 44.081966746 meters Centerline goodness [0,1] 0.34874780316344467 Centerline is valid? [False, False] Translation: X:-8.58, Y:0.61, Z:0.27 [[ 0.97280185 0.23087528 -0.01879273 -8.58304449] [-0.22916715 0.97106919 0.0671346 0.61331829] [ 0.03374876 -0.06100199 0.99756693 0.26851097] [ 0. 0. 0. 1. ]] SLAMing on 44.111966746 meters Centerline goodness [0,1] 0.2544958183472722 Centerline is valid? [False, False] Translation: X:-8.68, Y:0.61, Z:0.27 [[ 0.97004691 0.24198749 -0.02123771 -8.68214292] [-0.23995038 0.9681519 0.07145424 0.61497456] [ 0.03785236 -0.06421797 0.99721776 0.27281131] [ 0. 0. 0. 1. ]] SLAMing on 44.141966745999994 meters Centerline goodness [0,1] 0.24774971598357076 Centerline is valid? [False, False] Translation: X:-8.84, Y:0.61, Z:0.28 [[ 0.96735693 0.25235369 -0.02319892 -8.8352785 ] [-0.25012466 0.96548724 0.07260881 0.61130102] [ 0.04072136 -0.06443601 0.99709065 0.27515185] [ 0. 0. 0. 1. ]] SLAMing on 44.171966745999995 meters Centerline goodness [0,1] 0.2419700677914708 Centerline is valid? [False, False] Translation: X:-8.99, Y:0.61, Z:0.28 [[ 0.96546366 0.25926237 -0.02574757 -8.98966733] [-0.25697805 0.96389147 0.06982498 0.60797459] [ 0.04292085 -0.06079692 0.99722692 0.277001 ] [ 0. 0. 0. 1. ]] SLAMing on 44.201966746 meters Centerline goodness [0,1] 0.2648938498577369 Centerline is valid? [False, False] Translation: X:-9.16, Y:0.61, Z:0.28 [[ 0.96254153 0.26940154 -0.03060424 -9.16255033] [-0.26680854 0.96121383 0.06986545 0.60618027] [ 0.04823907 -0.05908293 0.99708686 0.28097429] [ 0. 0. 0. 1. ]] SLAMing on 44.231966746 meters Centerline goodness [0,1] 0.10752470344610254 Centerline is valid? [False, False] Translation: X:-9.38, Y:0.60, Z:0.28 [[ 0.95933572 0.28016336 -0.03440161 -9.38442772] [-0.27719272 0.95807165 0.07254591 0.59973737] [ 0.05328391 -0.06006001 0.9967716 0.2847678 ] [ 0. 0. 0. 1. ]] SLAMing on 44.261966746 meters Centerline goodness [0,1] 0.2623546037612784 Centerline is valid? [False, False] Translation: X:-9.54, Y:0.60, Z:0.28 [[ 0.95866173 0.28246798 -0.03434433 -9.54216916] [-0.27976784 0.95769664 0.0674322 0.60143101] [ 0.05193889 -0.05503623 0.99713257 0.28162832] [ 0. 0. 0. 1. ]] SLAMing on 44.291966746 meters Centerline goodness [0,1] 0.25645367897696436 Centerline is valid? [False, False] Translation: X:-9.76, Y:0.59, Z:0.28 [[ 0.95656104 0.28907724 -0.03775356 -9.75832576] [-0.28622253 0.95583426 0.06676475 0.59457514] [ 0.05538631 -0.05305864 0.99705423 0.28219987] [ 0. 0. 0. 1. ]] SLAMing on 44.321966745999994 meters Centerline goodness [0,1] 0.2705009034111936 Centerline is valid? [False, False] Translation: X:-9.98, Y:0.59, Z:0.28 [[ 0.95422601 0.2962603 -0.04101889 -9.97937305] [-0.29313045 0.95362012 0.06843399 0.58767005] [ 0.05939071 -0.05327761 0.99681204 0.28241478] [ 0. 0. 0. 1. ]] SLAMing on 44.351966745999995 meters Centerline goodness [0,1] 0.27405234857574545 Centerline is valid? [False, False] Translation: X:-10.23, Y:0.57, Z:0.28 [[ 0.95135098 0.30480919 -0.04497421 -10.22731606] [ -0.30164905 0.95116191 0.06556586 0.57491518] [ 0.06276283 -0.04880971 0.99683421 0.2837686 ] [ 0. 0. 0. 1. ]] SLAMing on 44.381966745999996 meters Centerline goodness [0,1] 0.2674353205849269 Centerline is valid? [False, False] Translation: X:-10.44, Y:0.57, Z:0.28 [[ 0.95038027 0.30792944 -0.04423573 -10.43804245] [ -0.30503313 0.95032967 0.06187329 0.56751516] [ 0.06109113 -0.04530979 0.99710325 0.27982408] [ 0. 0. 0. 1. ]] SLAMing on 44.411966746 meters Centerline goodness [0,1] 0.2877041306436119 Centerline is valid? [False, False] Translation: X:-10.72, Y:0.55, Z:0.28 [[ 0.94757395 0.31645722 -0.04425415 -10.72109524] [ -0.31347488 0.94748809 0.06324417 0.55122039] [ 0.06194435 -0.04605597 0.99701642 0.27813997] [ 0. 0. 0. 1. ]] SLAMing on 44.441966746 meters Centerline goodness [0,1] 0.2833789284046173 Centerline is valid? [False, False] Translation: X:-11.00, Y:0.53, Z:0.28 [[ 0.94457509 0.32478257 -0.04789761 -11.00319208] [ -0.32155509 0.94469443 0.0644574 0.53381509] [ 0.06618324 -0.04548313 0.99677032 0.27521388] [ 0. 0. 0. 1. ]] SLAMing on 44.471966746 meters Centerline goodness [0,1] 0.2916880165749549 Centerline is valid? [False, False] Translation: X:-11.25, Y:0.52, Z:0.27 [[ 0.94148657 0.33253135 -0.0550086 -11.25124369] [ -0.32916529 0.9422284 0.06209549 0.51786227] [ 0.07247936 -0.04035515 0.99655316 0.27121557] [ 0. 0. 0. 1. ]] SLAMing on 44.501966745999994 meters Centerline goodness [0,1] 0.26993333333333336 Centerline is valid? [False, False] Translation: X:-11.54, Y:0.50, Z:0.26 [[ 0.93861028 0.33953945 -0.06102211 -11.54353546] [ -0.33578931 0.93975632 0.06405933 0.49736765] [ 0.07909658 -0.03963617 0.99607866 0.2638642 ] [ 0. 0. 0. 1. ]] SLAMing on 44.531966745999995 meters Centerline goodness [0,1] 0.28520334712974627 Centerline is valid? [False, False] Translation: X:-11.80, Y:0.47, Z:0.26 [[ 0.93660833 0.34445237 -0.06416694 -11.8026189 ] [ -0.34046515 0.93797169 0.06551782 0.47453626] [ 0.08275454 -0.03951793 0.99578613 0.25709806] [ 0. 0. 0. 1. ]] SLAMing on 44.561966745999996 meters Centerline goodness [0,1] 0.29957194599934145 Centerline is valid? [False, False] Translation: X:-12.07, Y:0.45, Z:0.25 [[ 0.93949347 0.33575537 -0.0679732 -12.06641864] [ -0.33232078 0.94143786 0.05707582 0.44756943] [ 0.08315606 -0.03103345 0.99605321 0.24928043] [ 0. 0. 0. 1. ]] SLAMing on 44.591966746 meters Centerline goodness [0,1] 0.28121507002432766 Centerline is valid? [False, False] Translation: X:-12.31, Y:0.42, Z:0.24 [[ 0.94512575 0.31844485 -0.07300821 -12.3127448 ] [ -0.31550053 0.94765239 0.04913617 0.41725502] [ 0.08483357 -0.02340573 0.99612019 0.24458966] [ 0. 0. 0. 1. ]] SLAMing on 44.621966746 meters Centerline goodness [0,1] 0.2553766958949527 Centerline is valid? [False, False] Translation: X:-12.53, Y:0.39, Z:0.24 [[ 0.95120711 0.29944345 -0.07442216 -12.52509244] [ -0.29710193 0.95396422 0.0410209 0.39107016] [ 0.08327952 -0.01690841 0.99638277 0.24126884] [ 0. 0. 0. 1. ]] SLAMing on 44.651966746 meters Centerline goodness [0,1] 0.2596420247152469 Centerline is valid? [False, False] Translation: X:-12.72, Y:0.37, Z:0.24 [[ 0.9586901 0.27477593 -0.07356279 -12.71806714] [ -0.27192417 0.96119376 0.04651668 0.36533286] [ 0.08348975 -0.02459158 0.99620516 0.23846172] [ 0. 0. 0. 1. ]] SLAMing on 44.681966746 meters Centerline goodness [0,1] 0.26144177287259673 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.35, Z:0.23 [[ 0.96609129 0.24763809 -0.07309587 -12.87188081] [ -0.24462308 0.96843917 0.04780289 0.34802748] [ 0.08262672 -0.02830102 0.99617864 0.23400549] [ 0. 0. 0. 1. ]] SLAMing on 44.711966745999995 meters Centerline goodness [0,1] 0.2638764347202296 Centerline is valid? [False, False] Translation: X:-13.02, Y:0.33, Z:0.23 [[ 0.97257547 0.22001838 -0.07542455 -13.01722004] [ -0.21700932 0.97508005 0.04610696 0.33009822] [ 0.08368935 -0.02847466 0.99608498 0.22972644] [ 0. 0. 0. 1. ]] SLAMing on 44.741966745999996 meters Centerline goodness [0,1] 0.2613951644867222 Centerline is valid? [False, False] Translation: X:-13.07, Y:0.33, Z:0.23 [[ 0.97928626 0.18734507 -0.07681306 -13.07043552] [ -0.18469912 0.98196943 0.04027738 0.32821048] [ 0.08297384 -0.02525578 0.99623164 0.2300417 ] [ 0. 0. 0. 1. ]] SLAMing on 44.771966746 meters Centerline goodness [0,1] 0.2633004659226351 Centerline is valid? [False, False] Translation: X:-13.10, Y:0.33, Z:0.23 [[ 0.98483399 0.15620357 -0.0755146 -13.10035499] [ -0.15354688 0.98733838 0.03982803 0.33016067] [ 0.08077974 -0.02762897 0.99634897 0.23094691] [ 0. 0. 0. 1. ]] SLAMing on 44.801966746 meters Centerline goodness [0,1] 0.2633004659226351 Centerline is valid? [False, False] Translation: X:-13.14, Y:0.32, Z:0.23 [[ 0.98512362 0.15329128 -0.07767392 -13.14419783] [ -0.15036731 0.9877281 0.04222414 0.32337298] [ 0.0831933 -0.02991638 0.99608428 0.22928477] [ 0. 0. 0. 1. ]] SLAMing on 44.831966746 meters Centerline goodness [0,1] 0.43489548363994446 Centerline is valid? [False, False] Translation: X:-13.26, Y:0.31, Z:0.22 [[ 0.988719 0.12917286 -0.07582291 -13.26108261] [ -0.12602927 0.99101012 0.0448951 0.31298425] [ 0.0809405 -0.03483273 0.99611009 0.22281812] [ 0. 0. 0. 1. ]] SLAMing on 44.861966746 meters Centerline goodness [0,1] 0.285032367749951 Centerline is valid? [False, False] Translation: X:-13.26, Y:0.32, Z:0.22 [[ 0.99103468 0.10961555 -0.07638514 -13.25967382] [ -0.10633307 0.99327509 0.04580256 0.31880161] [ 0.08089213 -0.03726966 0.99602582 0.22178906] [ 0. 0. 0. 1. ]] SLAMing on 44.891966745999994 meters Centerline goodness [0,1] 0.28908677197742094 Centerline is valid? [False, False] Translation: X:-13.31, Y:0.32, Z:0.22 [[ 0.99323472 0.08923816 -0.07430569 -13.30564715] [ -0.08572925 0.99510542 0.04914979 0.31943652] [ 0.07832803 -0.04244711 0.99602358 0.21638797] [ 0. 0. 0. 1. ]] SLAMing on 44.921966745999995 meters Centerline goodness [0,1] 0.435024368630926 Centerline is valid? [False, False] Translation: X:-13.33, Y:0.32, Z:0.21 [[ 0.99450551 0.07237531 -0.07563472 -13.32823886] [ -0.06902178 0.99655162 0.04605283 0.32079475] [ 0.078707 -0.04057935 0.99607155 0.21433906] [ 0. 0. 0. 1. ]] SLAMing on 44.951966746 meters Centerline goodness [0,1] 0.26054686659639004 Centerline is valid? [False, False] Translation: X:-13.29, Y:0.33, Z:0.22 [[ 0.99551872 0.05412006 -0.07754669 -13.2885485 ] [ -0.05111227 0.99788102 0.04026168 0.33085233] [ 0.07956134 -0.03611767 0.99617544 0.21725903] [ 0. 0. 0. 1. ]] SLAMing on 44.981966746 meters Centerline goodness [0,1] 0.4307527399208103 Centerline is valid? [False, False] Translation: X:-13.31, Y:0.33, Z:0.21 [[ 0.99613006 0.03706446 -0.07969391 -13.30901082] [ -0.03421653 0.99873634 0.03680981 0.33299387] [ 0.08095754 -0.03394051 0.99613951 0.21474636] [ 0. 0. 0. 1. ]] SLAMing on 45.011966746 meters Centerline goodness [0,1] 0.41740123709562704 Centerline is valid? [False, False] Translation: X:-13.30, Y:0.34, Z:0.21 [[ 0.99713242 0.02008225 -0.07296327 -13.30113171] [ -0.01754627 0.99922507 0.03523332 0.33948831] [ 0.07361429 -0.03385205 0.99671208 0.20627207] [ 0. 0. 0. 1. ]] SLAMing on 45.041966746 meters Centerline goodness [0,1] 0.4631146631146631 Centerline is valid? [False, False] Translation: X:-13.33, Y:0.34, Z:0.20 [[ 9.97382434e-01 5.19603146e-03 -7.21199162e-02 -1.33287776e+01] [-2.70688239e-03 9.99398649e-01 3.45689514e-02 3.40990710e-01] [ 7.22561682e-02 -3.42832447e-02 9.96796722e-01 2.03072205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.071966745999994 meters Centerline goodness [0,1] 0.4762594739188587 Centerline is valid? [False, False] Translation: X:-13.35, Y:0.34, Z:0.20 [[ 9.97306328e-01 -9.84979792e-03 -7.26847332e-02 -1.33481194e+01] [ 1.22582057e-02 9.99387953e-01 3.27636440e-02 3.43417303e-01] [ 7.23175314e-02 -3.35663739e-02 9.96816670e-01 1.98762786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.101966745999995 meters Centerline goodness [0,1] 0.48574326857344474 Centerline is valid? [False, False] Translation: X:-13.33, Y:0.35, Z:0.20 [[ 0.99731413 -0.02390527 -0.069232 -13.32830297] [ 0.02594737 0.99924983 0.028749 0.35025725] [ 0.06849281 -0.03046817 0.99718625 0.19686906] [ 0. 0. 0. 1. ]] SLAMing on 45.131966745999996 meters Centerline goodness [0,1] 0.2761474132443644 Centerline is valid? [False, False] Translation: X:-13.31, Y:0.36, Z:0.20 [[ 0.99707847 -0.03785322 -0.06634504 -13.30583919] [ 0.03954464 0.99892061 0.02436878 0.35724399] [ 0.06535099 -0.02692118 0.99749912 0.19535004] [ 0. 0. 0. 1. ]] SLAMing on 45.161966746 meters Centerline goodness [0,1] 0.2818702247566436 Centerline is valid? [False, False] Translation: X:-13.31, Y:0.36, Z:0.19 [[ 0.99685567 -0.04420486 -0.0657625 -13.30526467] [ 0.04556516 0.99877433 0.01933022 0.35829168] [ 0.06482741 -0.02226592 0.99764805 0.19321589] [ 0. 0. 0. 1. ]] SLAMing on 45.191966746 meters Centerline goodness [0,1] 0.2993604246432301 Centerline is valid? [False, False] Translation: X:-13.28, Y:0.36, Z:0.19 [[ 0.99644762 -0.05529162 -0.06352145 -13.27983837] [ 0.05650297 0.99825022 0.01743318 0.36495911] [ 0.06244639 -0.0209604 0.9978282 0.19100472] [ 0. 0. 0. 1. ]] SLAMing on 45.221966746 meters Centerline goodness [0,1] 0.34733597335973365 Centerline is valid? [False, False] Translation: X:-13.33, Y:0.36, Z:0.19 [[ 0.99604577 -0.06182671 -0.06379884 -13.32543048] [ 0.06303872 0.99786353 0.01716073 0.3592088 ] [ 0.06260154 -0.02111467 0.99781522 0.1891724 ] [ 0. 0. 0. 1. ]] SLAMing on 45.251966745999994 meters Centerline goodness [0,1] 0.40605928982517103 Centerline is valid? [False, False] Translation: X:-13.26, Y:0.37, Z:0.19 [[ 0.99563585 -0.07132265 -0.06018589 -13.26470355] [ 0.07229637 0.99728273 0.01415624 0.36959358] [ 0.05901269 -0.01844568 0.9980868 0.18809108] [ 0. 0. 0. 1. ]] SLAMing on 45.281966745999995 meters Centerline goodness [0,1] 0.4570368255780759 Centerline is valid? [False, False] Translation: X:-13.26, Y:0.37, Z:0.19 [[ 9.95296335e-01 -7.64226055e-02 -5.95381438e-02 -1.32647649e+01] [ 7.71443417e-02 9.96970622e-01 9.91613079e-03 3.71241588e-01] [ 5.85999637e-02 -1.44625195e-02 9.98176778e-01 1.86595073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.311966745999996 meters Centerline goodness [0,1] 0.4950830935715206 Centerline is valid? [False, False] Translation: X:-13.24, Y:0.38, Z:0.18 [[ 9.94564256e-01 -8.75200462e-02 -5.64108254e-02 -1.32403722e+01] [ 8.81071317e-02 9.96078872e-01 8.00085904e-03 3.75984271e-01] [ 5.54893958e-02 -1.29275644e-02 9.98375583e-01 1.84447598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.341966746 meters Centerline goodness [0,1] 0.48186112844282025 Centerline is valid? [False, False] Translation: X:-13.28, Y:0.37, Z:0.18 [[ 9.94004499e-01 -9.30594087e-02 -5.74021116e-02 -1.32849346e+01] [ 9.36612255e-02 9.95572952e-01 7.87861776e-03 3.72041700e-01] [ 5.64148102e-02 -1.32077336e-02 9.98320051e-01 1.82415723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.371966746 meters Centerline goodness [0,1] 0.4785117129669947 Centerline is valid? [False, False] Translation: X:-13.26, Y:0.38, Z:0.18 [[ 9.93309800e-01 -1.01518037e-01 -5.50429820e-02 -1.32612514e+01] [ 1.02122606e-01 9.94737384e-01 8.27714228e-03 3.78763160e-01] [ 5.39130326e-02 -1.38428993e-02 9.98449678e-01 1.80693053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.401966746 meters Centerline goodness [0,1] 0.47609963601280536 Centerline is valid? [False, False] Translation: X:-13.26, Y:0.38, Z:0.18 [[ 9.93220455e-01 -1.02609596e-01 -5.46296575e-02 -1.32617221e+01] [ 1.03187485e-01 9.94630888e-01 7.85741764e-03 3.79740913e-01] [ 5.35300984e-02 -1.34412449e-02 9.98475769e-01 1.79670767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.431966746 meters Centerline goodness [0,1] 0.4466617339832869 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.39, Z:0.18 [[ 9.93049424e-01 -1.05995429e-01 -5.11645431e-02 -1.32211546e+01] [ 1.06293800e-01 9.94329813e-01 3.13853628e-03 3.85496077e-01] [ 5.05417601e-02 -8.55519535e-03 9.98685305e-01 1.79702249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.461966745999995 meters Centerline goodness [0,1] 0.42980500789923604 Centerline is valid? [False, False] Translation: X:-13.20, Y:0.39, Z:0.18 [[ 9.93141493e-01 -1.05448177e-01 -5.05040349e-02 -1.32012415e+01] [ 1.05280558e-01 9.94424608e-01 -5.97521100e-03 3.85133826e-01] [ 5.08525302e-02 6.17137022e-04 9.98705982e-01 1.81051215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.491966745999996 meters Centerline goodness [0,1] 0.4240326666084374 Centerline is valid? [False, False] Translation: X:-13.20, Y:0.38, Z:0.18 [[ 9.93072335e-01 -1.06188249e-01 -5.03129440e-02 -1.32014937e+01] [ 1.06010325e-01 9.94345704e-01 -6.19935540e-03 3.84537749e-01] [ 5.06867584e-02 8.22716787e-04 9.98714261e-01 1.80779536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.521966746 meters Centerline goodness [0,1] 0.4373886711791949 Centerline is valid? [False, False] Translation: X:-13.20, Y:0.39, Z:0.18 [[ 9.93423557e-01 -1.02771292e-01 -5.04747177e-02 -1.32020096e+01] [ 1.02771803e-01 9.94701582e-01 -2.59213551e-03 3.85360916e-01] [ 5.04736787e-02 -2.61228926e-03 9.98721975e-01 1.80615642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.551966746 meters Centerline goodness [0,1] 0.4151514491649064 Centerline is valid? [False, False] Translation: X:-13.16, Y:0.39, Z:0.18 [[ 9.93733356e-01 -1.00633458e-01 -4.86510509e-02 -1.31593227e+01] [ 1.00598990e-01 9.94922027e-01 -3.16275859e-03 3.88976426e-01] [ 4.87222815e-02 -1.75130789e-03 9.98810829e-01 1.82309856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.581966746 meters Centerline goodness [0,1] 0.4127436994769377 Centerline is valid? [False, False] Translation: X:-13.14, Y:0.39, Z:0.18 [[ 9.94325466e-01 -9.52599995e-02 -4.73539963e-02 -1.31366172e+01] [ 9.49615696e-02 9.95444500e-01 -8.51745892e-03 3.86954325e-01] [ 4.79496484e-02 3.97231649e-03 9.98841855e-01 1.82234185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.611966746 meters Centerline goodness [0,1] 0.433902298084189 Centerline is valid? [False, False] Translation: X:-13.16, Y:0.38, Z:0.18 [[ 9.94699443e-01 -9.06299772e-02 -4.85718641e-02 -1.31631980e+01] [ 9.01536358e-02 9.95856604e-01 -1.19140995e-02 3.83116638e-01] [ 4.94503862e-02 7.47201799e-03 9.98748631e-01 1.83200350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.641966745999994 meters Centerline goodness [0,1] 0.4042667123610427 Centerline is valid? [False, False] Translation: X:-13.12, Y:0.39, Z:0.18 [[ 9.95167296e-01 -8.57021519e-02 -4.79290589e-02 -1.31174393e+01] [ 8.52852795e-02 9.96299333e-01 -1.06798629e-02 3.87429653e-01] [ 4.86669766e-02 6.54060706e-03 9.98793645e-01 1.84651877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.671966745999995 meters Centerline goodness [0,1] 0.43387547593371045 Centerline is valid? [False, False] Translation: X:-13.14, Y:0.38, Z:0.18 [[ 9.95826801e-01 -7.68067671e-02 -4.92920142e-02 -1.31433083e+01] [ 7.63999034e-02 9.97026215e-01 -1.00886303e-02 3.83280391e-01] [ 4.99203055e-02 6.28062329e-03 9.98733456e-01 1.84910926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.701966746 meters Centerline goodness [0,1] 0.4341979906461112 Centerline is valid? [False, False] Translation: X:-13.12, Y:0.38, Z:0.19 [[ 9.96390172e-01 -6.97521938e-02 -4.83865295e-02 -1.31195334e+01] [ 6.91308936e-02 9.97503676e-01 -1.43991866e-02 3.80753754e-01] [ 4.92701159e-02 1.10022040e-02 9.98724891e-01 1.85179643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.731966746 meters Centerline goodness [0,1] 0.4840693602118391 Centerline is valid? [False, False] Translation: X:-13.10, Y:0.38, Z:0.19 [[ 0.99699088 -0.061649 -0.04699553 -13.0966226 ] [ 0.0608703 0.99798649 -0.01782596 0.37761357] [ 0.04799986 0.01491168 0.99873603 0.1854949 ] [ 0. 0. 0. 1. ]] SLAMing on 45.761966746 meters Centerline goodness [0,1] 0.45792866351525574 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.38, Z:0.19 [[ 0.99772004 -0.04975632 -0.04559641 -13.07623158] [ 0.04898602 0.99863979 -0.01785905 0.37661482] [ 0.04642299 0.01558475 0.99880029 0.18665235] [ 0. 0. 0. 1. ]] SLAMing on 45.791966746 meters Centerline goodness [0,1] 0.4708576097005138 Centerline is valid? [False, False] Translation: X:-13.06, Y:0.38, Z:0.19 [[ 0.99836865 -0.03608693 -0.04424675 -13.05704438] [ 0.03540313 0.99924274 -0.01614192 0.37508457] [ 0.04479575 0.01454912 0.99889022 0.18913231] [ 0. 0. 0. 1. ]] SLAMing on 45.821966745999994 meters Centerline goodness [0,1] 0.48181578600606145 Centerline is valid? [False, False] Translation: X:-13.10, Y:0.37, Z:0.18 [[ 0.99878329 -0.02537521 -0.04228531 -13.09561857] [ 0.02468219 0.99955364 -0.01683156 0.3696842 ] [ 0.04269354 0.01576739 0.99896379 0.18456244] [ 0. 0. 0. 1. ]] SLAMing on 45.851966745999995 meters Centerline goodness [0,1] 0.482350102016191 Centerline is valid? [False, False] Translation: X:-13.07, Y:0.37, Z:0.19 [[ 0.99897262 -0.01673483 -0.04211478 -13.07310591] [ 0.01589994 0.9996719 -0.02008189 0.36634997] [ 0.04243703 0.01939164 0.99891094 0.18597587] [ 0. 0. 0. 1. ]] SLAMing on 45.881966745999996 meters Centerline goodness [0,1] 0.46872436865961575 Centerline is valid? [False, False] Translation: X:-13.05, Y:0.37, Z:0.18 [[ 9.99166969e-01 -7.51841739e-03 -4.01103625e-02 -1.30493265e+01] [ 6.62037512e-03 9.99725478e-01 -2.24753209e-02 3.65167191e-01] [ 4.02683302e-02 2.21910527e-02 9.98942450e-01 1.84308675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.911966746 meters Centerline goodness [0,1] 0.46839778047511704 Centerline is valid? [False, False] Translation: X:-13.05, Y:0.36, Z:0.19 [[ 9.99195370e-01 -2.78322972e-03 -4.00108146e-02 -1.30506273e+01] [ 2.06842043e-03 9.99837719e-01 -1.78957103e-02 3.63440259e-01] [ 4.00541295e-02 1.77985517e-02 9.99038977e-01 1.85597463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.941966746 meters Centerline goodness [0,1] 0.4461263487720383 Centerline is valid? [False, False] Translation: X:-13.05, Y:0.36, Z:0.19 [[ 9.99201609e-01 1.71204634e-03 -3.99150766e-02 -1.30518780e+01] [-2.25320687e-03 9.99906106e-01 -1.35167557e-02 3.61824811e-01] [ 3.98881875e-02 1.35959010e-02 9.99111647e-01 1.86897114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.971966746 meters Centerline goodness [0,1] 0.443936966968267 Centerline is valid? [False, False] Translation: X:-13.01, Y:0.36, Z:0.19 [[ 9.99242794e-01 5.19201749e-03 -3.85601122e-02 -1.30096478e+01] [-5.76436289e-03 9.99874647e-01 -1.47466225e-02 3.62227613e-01] [ 3.84787139e-02 1.49577307e-02 9.99147464e-01 1.89524489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.001966745999994 meters Centerline goodness [0,1] 0.40065160729800176 Centerline is valid? [False, False] Translation: X:-13.01, Y:0.36, Z:0.19 [[ 9.99249142e-01 5.72635127e-03 -3.83191990e-02 -1.30112652e+01] [-6.28060872e-03 9.99877172e-01 -1.43595111e-02 3.60761431e-01] [ 3.82322647e-02 1.45893970e-02 9.99162371e-01 1.90339917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.031966745999995 meters Centerline goodness [0,1] 0.40333827246578924 Centerline is valid? [False, False] Translation: X:-13.01, Y:0.36, Z:0.19 [[ 9.99212664e-01 9.92724192e-03 -3.84122598e-02 -1.30109084e+01] [-1.03290876e-02 9.99893840e-01 -1.02771125e-02 3.60065312e-01] [ 3.83061585e-02 1.06657845e-02 9.99209127e-01 1.90524838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.061966745999996 meters Centerline goodness [0,1] 0.3897265804002008 Centerline is valid? [False, False] Translation: X:-13.01, Y:0.36, Z:0.19 [[ 9.99211295e-01 1.06464360e-02 -3.82549630e-02 -1.30117652e+01] [-1.10295939e-02 9.99890963e-01 -9.81884651e-03 3.59797689e-01] [ 3.81462561e-02 1.02330390e-02 9.99219770e-01 1.90787063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.091966746 meters Centerline goodness [0,1] 0.5000431424996764 Centerline is valid? [False, False] Translation: X:-12.97, Y:0.36, Z:0.19 [[ 9.99242528e-01 1.18684974e-02 -3.70608949e-02 -1.29692542e+01] [-1.23736728e-02 9.99833230e-01 -1.34314634e-02 3.60787358e-01] [ 3.68953030e-02 1.38798689e-02 9.99222741e-01 1.93209656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.121966746 meters Centerline goodness [0,1] 0.48878488547642673 Centerline is valid? [False, False] Translation: X:-12.97, Y:0.36, Z:0.19 [[ 9.99242276e-01 1.24903860e-02 -3.68627739e-02 -1.29701520e+01] [-1.29794128e-02 9.99830513e-01 -1.30567726e-02 3.61067351e-01] [ 3.66934421e-02 1.35253363e-02 9.99235036e-01 1.93316256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.151966746 meters Centerline goodness [0,1] 0.34510988529901054 Centerline is valid? [False, False] Translation: X:-12.99, Y:0.36, Z:0.20 [[ 9.99108757e-01 1.17303019e-02 -4.05474021e-02 -1.29917696e+01] [-1.18573499e-02 9.99925511e-01 -2.89424087e-03 3.62729434e-01] [ 4.05104314e-02 3.37244613e-03 9.99173424e-01 1.95727377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.181966746 meters Centerline goodness [0,1] 0.37342660409631157 Centerline is valid? [False, False] Translation: X:-12.99, Y:0.36, Z:0.20 [[ 9.99153204e-01 7.86015559e-03 -4.03867886e-02 -1.29923223e+01] [-8.13942461e-03 9.99944058e-01 -6.75508769e-03 3.62668363e-01] [ 4.03314332e-02 7.07809273e-03 9.99161286e-01 1.95683281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.211966745999995 meters Centerline goodness [0,1] 0.41403336385359213 Centerline is valid? [False, False] Translation: X:-12.99, Y:0.36, Z:0.20 [[ 9.99181656e-01 3.82199702e-03 -4.02667467e-02 -1.29932143e+01] [-4.25336332e-03 9.99934427e-01 -1.06325004e-02 3.61533153e-01] [ 4.02234689e-02 1.07950684e-02 9.99132393e-01 1.96091245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.241966745999996 meters Centerline goodness [0,1] 0.35022195009949486 Centerline is valid? [False, False] Translation: X:-12.97, Y:0.36, Z:0.20 [[ 9.99263018e-01 -4.02331557e-03 -3.81737234e-02 -1.29683906e+01] [ 3.59891197e-03 9.99931026e-01 -1.11799005e-02 3.62488686e-01] [ 3.82160707e-02 1.10342772e-02 9.99208575e-01 1.95238826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.271966746 meters Centerline goodness [0,1] 0.33839841969305573 Centerline is valid? [False, False] Translation: X:-12.94, Y:0.37, Z:0.19 [[ 9.99343082e-01 -4.79457089e-03 -3.59223607e-02 -1.29443034e+01] [ 4.63760084e-03 9.99979337e-01 -4.45175382e-03 3.66348667e-01] [ 3.59429626e-02 4.28223581e-03 9.99344668e-01 1.94235385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.301966746 meters Centerline goodness [0,1] 0.38841533866713174 Centerline is valid? [False, False] Translation: X:-12.94, Y:0.37, Z:0.19 [[ 9.99362283e-01 -9.04276332e-04 -3.56960762e-02 -1.29446005e+01] [ 8.86456499e-04 9.99999474e-01 -5.15033264e-04 3.67466833e-01] [ 3.56965232e-02 4.83061800e-04 9.99362559e-01 1.93904542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.331966746 meters Centerline goodness [0,1] 0.3742234995025976 Centerline is valid? [False, False] Translation: X:-12.94, Y:0.36, Z:0.19 [[ 9.99355323e-01 -1.31818076e-03 -3.58775750e-02 -1.29442607e+01] [ 1.29663179e-03 9.99998965e-01 -6.23885716e-04 3.64850777e-01] [ 3.58783603e-02 5.76963507e-04 9.99355998e-01 1.94294489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.361966746 meters Centerline goodness [0,1] 0.41153353843389995 Centerline is valid? [False, False] Translation: X:-12.94, Y:0.36, Z:0.19 [[ 9.99339501e-01 -5.79792721e-03 -3.58740301e-02 -1.29444636e+01] [ 5.62295786e-03 9.99971809e-01 -4.97629799e-03 3.64882687e-01] [ 3.59018710e-02 4.77129299e-03 9.99343930e-01 1.94503537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.391966745999994 meters Centerline goodness [0,1] 0.4293762665063353 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.37, Z:0.19 [[ 9.99370143e-01 -9.44479141e-03 -3.42069100e-02 -1.29193656e+01] [ 9.41786758e-03 9.99955201e-01 -9.48130690e-04 3.68713676e-01] [ 3.42143325e-02 6.25377355e-04 9.99414323e-01 1.93247167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.421966745999995 meters Centerline goodness [0,1] 0.36852689793866267 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.37, Z:0.20 [[ 9.99440501e-01 -7.69772258e-03 -3.25488812e-02 -1.28767983e+01] [ 7.61260626e-03 9.99967275e-01 -2.73814797e-03 3.70957941e-01] [ 3.25688935e-02 2.48883417e-03 9.99466394e-01 1.95198494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.451966746 meters Centerline goodness [0,1] 0.41718111468567953 Centerline is valid? [False, False] Translation: X:-12.83, Y:0.37, Z:0.20 [[ 9.99485048e-01 -9.41295797e-03 -3.06762897e-02 -1.28345763e+01] [ 9.17040644e-03 9.99925645e-01 -8.03793249e-03 3.73242209e-01] [ 3.07496695e-02 7.75247929e-03 9.99497052e-01 1.96992448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.481966746 meters Centerline goodness [0,1] 0.45081095164687235 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.37, Z:0.20 [[ 9.99447920e-01 -1.36045157e-02 -3.03112500e-02 -1.28358735e+01] [ 1.32462641e-02 9.99840391e-01 -1.19887240e-02 3.72222447e-01] [ 3.04695128e-02 1.15805945e-02 9.99468608e-01 1.97498186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.511966746 meters Centerline goodness [0,1] 0.4508028087123753 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.37, Z:0.20 [[ 9.99442909e-01 -1.44609107e-02 -3.00791336e-02 -1.28863102e+01] [ 1.42337794e-02 9.99868648e-01 -7.75159541e-03 3.69022092e-01] [ 3.01872778e-02 7.31913731e-03 9.99517463e-01 1.99190150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.541966746 meters Centerline goodness [0,1] 0.46741462542463796 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.37, Z:0.20 [[ 9.99508623e-01 -1.72022095e-02 -2.62029690e-02 -1.28669731e+01] [ 1.71491824e-02 9.99850417e-01 -2.24709872e-03 3.72341069e-01] [ 2.62377046e-02 1.79663505e-03 9.99654118e-01 2.00515583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.571966745999994 meters Centerline goodness [0,1] 0.4645417278646119 Centerline is valid? [False, False] Translation: X:-12.83, Y:0.38, Z:0.20 [[ 9.99603300e-01 -1.66587745e-02 -2.27096316e-02 -1.28307573e+01] [ 1.65608924e-02 9.99852771e-01 -4.49144601e-03 3.75386086e-01] [ 2.27811101e-02 4.11357249e-03 9.99732014e-01 2.04527954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.601966745999995 meters Centerline goodness [0,1] 0.46522936187219677 Centerline is valid? [False, False] Translation: X:-12.83, Y:0.37, Z:0.21 [[ 9.99592872e-01 -1.77673681e-02 -2.23251296e-02 -1.28328399e+01] [ 1.76555692e-02 9.99830632e-01 -5.19494410e-03 3.74478070e-01] [ 2.24136490e-02 4.79866622e-03 9.99737266e-01 2.06306389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.631966745999996 meters Centerline goodness [0,1] 0.47500547645125957 Centerline is valid? [False, False] Translation: X:-12.81, Y:0.38, Z:0.20 [[ 9.99712555e-01 -1.52699352e-02 -1.84834303e-02 -1.28082293e+01] [ 1.50356757e-02 9.99805698e-01 -1.27473358e-02 3.78169844e-01] [ 1.86744899e-02 1.24657608e-02 9.99747902e-01 2.00599687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.661966746 meters Centerline goodness [0,1] 0.4725809266207137 Centerline is valid? [False, False] Translation: X:-12.81, Y:0.38, Z:0.20 [[ 9.99710213e-01 -1.53585557e-02 -1.85365889e-02 -1.28078803e+01] [ 1.51233619e-02 9.99804185e-01 -1.27622664e-02 3.78749841e-01] [ 1.87289691e-02 1.24782325e-02 9.99746728e-01 2.00291612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.691966746 meters Centerline goodness [0,1] 0.4725809266207137 Centerline is valid? [False, False] Translation: X:-12.81, Y:0.38, Z:0.20 [[ 9.99710213e-01 -1.53585557e-02 -1.85365889e-02 -1.28078803e+01] [ 1.51233619e-02 9.99804185e-01 -1.27622664e-02 3.78749841e-01] [ 1.87289691e-02 1.24782325e-02 9.99746728e-01 2.00291612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.721966746 meters Centerline goodness [0,1] 0.48053767678094483 Centerline is valid? [False, False] Translation: X:-12.81, Y:0.38, Z:0.20 [[ 9.99701830e-01 -1.54496346e-02 -1.89092734e-02 -1.28057175e+01] [ 1.52074112e-02 9.99801307e-01 -1.28872265e-02 3.80951413e-01] [ 1.91046192e-02 1.25958228e-02 9.99738145e-01 1.98664103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.751966745999994 meters Centerline goodness [0,1] 0.4744755321724965 Centerline is valid? [False, False] Translation: X:-12.81, Y:0.38, Z:0.20 [[ 9.99741421e-01 -1.24591335e-02 -1.90226376e-02 -1.28054968e+01] [ 1.22787633e-02 9.99878822e-01 -9.56941286e-03 3.79952824e-01] [ 1.91395590e-02 9.33336394e-03 9.99773257e-01 1.98766943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.781966745999995 meters Centerline goodness [0,1] 0.47652408511378963 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.38, Z:0.20 [[ 9.99770735e-01 -1.18267500e-02 -1.78495147e-02 -1.27625205e+01] [ 1.16040472e-02 9.99854173e-01 -1.25291056e-02 3.79213719e-01] [ 1.79950904e-02 1.23191065e-02 9.99762180e-01 2.01258715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.811966745999996 meters Centerline goodness [0,1] 0.4746732557383445 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.38, Z:0.20 [[ 9.99770493e-01 -1.18897532e-02 -1.78212105e-02 -1.27630093e+01] [ 1.16650078e-02 9.99851784e-01 -1.26624584e-02 3.79368649e-01] [ 1.79691226e-02 1.24516677e-02 9.99761005e-01 2.01820281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.841966746 meters Centerline goodness [0,1] 0.46862766302584624 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.38, Z:0.20 [[ 9.99807075e-01 -7.94381892e-03 -1.79640723e-02 -1.27631450e+01] [ 7.79119514e-03 9.99933094e-01 -8.55014418e-03 3.78051576e-01] [ 1.80307912e-02 8.40853306e-03 9.99802074e-01 2.02521437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.871966746 meters Centerline goodness [0,1] 0.5011655514785236 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.37, Z:0.20 [[ 9.99826030e-01 -4.68915237e-03 -1.80532802e-02 -1.27638645e+01] [ 4.59848816e-03 9.99976623e-01 -5.06027653e-03 3.74800850e-01] [ 1.80765866e-02 4.97637840e-03 9.99824221e-01 2.04060561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.901966746 meters Centerline goodness [0,1] 0.4736301981081563 Centerline is valid? [False, False] Translation: X:-12.83, Y:0.37, Z:0.21 [[ 9.99811454e-01 -1.77490577e-03 -1.93366446e-02 -1.28331716e+01] [ 1.70355709e-03 9.99991683e-01 -3.70566430e-03 3.70965432e-01] [ 1.93430610e-02 3.67202453e-03 9.99806162e-01 2.05003175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.931966746 meters Centerline goodness [0,1] 0.4758522727272727 Centerline is valid? [False, False] Translation: X:-12.79, Y:0.37, Z:0.21 [[ 9.99854331e-01 1.26337354e-03 -1.70211984e-02 -1.27937799e+01] [-1.34005987e-03 9.99989001e-01 -4.49469084e-03 3.72074202e-01] [ 1.70153327e-02 4.51684552e-03 9.99845026e-01 2.08081288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.961966745999995 meters Centerline goodness [0,1] 0.4654326396495071 Centerline is valid? [False, False] Translation: X:-12.80, Y:0.37, Z:0.21 [[ 9.99870704e-01 -1.66895588e-03 -1.59934286e-02 -1.28000362e+01] [ 1.55193114e-03 9.99971955e-01 -7.32667123e-03 3.70018092e-01] [ 1.60052079e-02 7.30090322e-03 9.99845253e-01 2.12446288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.991966745999996 meters Centerline goodness [0,1] 0.47205185088520596 Centerline is valid? [False, False] Translation: X:-12.78, Y:0.37, Z:0.21 [[ 9.99927713e-01 -5.94451906e-03 -1.04513846e-02 -1.27802192e+01] [ 5.89874538e-03 9.99972900e-01 -4.40506086e-03 3.68589435e-01] [ 1.04772873e-02 4.34309237e-03 9.99935680e-01 2.12479060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.021966746 meters Centerline goodness [0,1] 0.5004131871955463 Centerline is valid? [False, False] Translation: X:-12.78, Y:0.37, Z:0.21 [[ 9.99947077e-01 -2.24008395e-03 -1.00411642e-02 -1.27821951e+01] [ 2.23448294e-03 9.99997342e-01 -5.68989117e-04 3.68825127e-01] [ 1.00424121e-02 5.46522194e-04 9.99949424e-01 2.13685567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.051966746 meters Centerline goodness [0,1] 0.49623880337420645 Centerline is valid? [False, False] Translation: X:-12.78, Y:0.37, Z:0.21 [[ 9.99945181e-01 -1.80678851e-03 -1.03136189e-02 -1.27803531e+01] [ 1.80147974e-03 9.99998240e-01 -5.24000168e-04 3.72013492e-01] [ 1.03145475e-02 5.05391668e-04 9.99946676e-01 2.11845414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.081966746 meters Centerline goodness [0,1] 0.4626531189486739 Centerline is valid? [False, False] Translation: X:-12.78, Y:0.37, Z:0.21 [[ 9.99941211e-01 -1.80856548e-03 -1.06912830e-02 -1.27786300e+01] [ 1.80130582e-03 9.99998141e-01 -6.88617147e-04 3.72901202e-01] [ 1.06925086e-02 6.69318394e-04 9.99942609e-01 2.10712981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.111966746 meters Centerline goodness [0,1] 0.5003582828480229 Centerline is valid? [False, False] Translation: X:-12.78, Y:0.37, Z:0.21 [[ 9.99937804e-01 -1.78208161e-03 -1.10096112e-02 -1.27769560e+01] [ 1.77338511e-03 9.99998108e-01 -7.99613017e-04 3.73285438e-01] [ 1.10110154e-02 7.80039004e-04 9.99939073e-01 2.09523352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.141966745999994 meters Centerline goodness [0,1] 0.4650811137753008 Centerline is valid? [False, False] Translation: X:-12.78, Y:0.37, Z:0.21 [[ 9.99933844e-01 -1.61931017e-03 -1.13879560e-02 -1.27757894e+01] [ 1.61090940e-03 9.99998424e-01 -7.46822527e-04 3.73482797e-01] [ 1.13891474e-02 7.28428155e-04 9.99934876e-01 2.09372836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.171966745999995 meters Centerline goodness [0,1] 0.46853287460065685 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.37, Z:0.21 [[ 9.99909219e-01 6.41885455e-04 -1.34588913e-02 -1.28448343e+01] [-6.48912382e-04 9.99999655e-01 -5.17742489e-04 3.70932595e-01] [ 1.34585543e-02 5.26429129e-04 9.99909291e-01 2.10573019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.201966746 meters Centerline goodness [0,1] 0.49754022642806506 Centerline is valid? [False, False] Translation: X:-12.80, Y:0.37, Z:0.21 [[ 9.99911432e-01 2.58472665e-03 -1.30555527e-02 -1.27975018e+01] [-2.61919525e-03 9.99993128e-01 -2.62374078e-03 3.71986787e-01] [ 1.30486813e-02 2.65770344e-03 9.99911330e-01 2.09894524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.231966746 meters Centerline goodness [0,1] 0.4690727423437955 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.37, Z:0.21 [[ 9.99895288e-01 3.55154848e-03 -1.40284948e-02 -1.28712858e+01] [-3.60429417e-03 9.99986524e-01 -3.73640513e-03 3.70111876e-01] [ 1.40150357e-02 3.78657671e-03 9.99894615e-01 2.12191230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.261966746 meters Centerline goodness [0,1] 0.46087463295452 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.37, Z:0.21 [[ 9.99896521e-01 3.59275261e-03 -1.39298133e-02 -1.28718046e+01] [-3.64171541e-03 9.99987275e-01 -3.49119400e-03 3.68364331e-01] [ 1.39170931e-02 3.54156115e-03 9.99896881e-01 2.12501134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.291966746 meters Centerline goodness [0,1] 0.47296022465500975 Centerline is valid? [False, False] Translation: X:-12.83, Y:0.37, Z:0.22 [[ 9.99927490e-01 3.78685099e-03 -1.14313219e-02 -1.28342209e+01] [-3.86779336e-03 9.99967549e-01 -7.06697016e-03 3.68409930e-01] [ 1.14041894e-02 7.11067172e-03 9.99909687e-01 2.17468476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.321966745999994 meters Centerline goodness [0,1] 0.4588646601376034 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.37, Z:0.22 [[ 9.99931242e-01 2.97481745e-03 -1.13428851e-02 -1.28833554e+01] [-3.01115956e-03 9.99990384e-01 -3.18822591e-03 3.65722837e-01] [ 1.13332916e-02 3.22216193e-03 9.99930585e-01 2.19673666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.351966745999995 meters Centerline goodness [0,1] 0.44796211440222755 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.37, Z:0.22 [[ 9.99974180e-01 5.95091858e-04 -7.16136640e-03 -1.28626573e+01] [-5.81317838e-04 9.99997978e-01 1.92530664e-03 3.69993853e-01] [ 7.16249766e-03 -1.92109390e-03 9.99972504e-01 2.18928653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.381966745999996 meters Centerline goodness [0,1] 0.45294817699880996 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.37, Z:0.22 [[ 9.99953496e-01 -3.73875610e-03 -8.88979942e-03 -1.28351022e+01] [ 3.77955613e-03 9.99982382e-01 4.57717208e-03 3.73913132e-01] [ 8.87252987e-03 -4.61055872e-03 9.99950009e-01 2.17866705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.411966746 meters Centerline goodness [0,1] 0.42672479233088256 Centerline is valid? [False, False] Translation: X:-12.83, Y:0.37, Z:0.22 [[ 9.99948041e-01 -4.02548815e-03 -9.36541019e-03 -1.28328301e+01] [ 4.06643782e-03 9.99982238e-01 4.35751173e-03 3.74248111e-01] [ 9.34770273e-03 -4.39536918e-03 9.99946649e-01 2.16203025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.441966746 meters Centerline goodness [0,1] 0.4428561930722691 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.37, Z:0.21 [[ 9.99914662e-01 -6.21241737e-03 -1.14923370e-02 -1.28751125e+01] [ 6.28261179e-03 9.99961769e-01 6.08194720e-03 3.72754613e-01] [ 1.14541140e-02 -6.15363008e-03 9.99915464e-01 2.13988716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.471966746 meters Centerline goodness [0,1] 0.4501890461272551 Centerline is valid? [False, False] Translation: X:-12.83, Y:0.38, Z:0.21 [[ 9.99931592e-01 -4.96314266e-03 -1.05914295e-02 -1.28290171e+01] [ 4.99644636e-03 9.99982650e-01 3.12026049e-03 3.75491079e-01] [ 1.05757594e-02 -3.17296655e-03 9.99939041e-01 2.12178396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.501966745999994 meters Centerline goodness [0,1] 0.4767418422879667 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.37, Z:0.21 [[ 9.99914115e-01 -2.98473014e-03 -1.27613912e-02 -1.28981347e+01] [ 3.02952341e-03 9.99989313e-01 3.49217266e-03 3.72399778e-01] [ 1.27508316e-02 -3.53053367e-03 9.99912472e-01 2.14031000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.531966745999995 meters Centerline goodness [0,1] 0.45132219444809896 Centerline is valid? [False, False] Translation: X:-12.85, Y:0.37, Z:0.21 [[ 9.99929803e-01 -2.13056314e-03 -1.16554433e-02 -1.28541030e+01] [ 2.13780507e-03 9.99997530e-01 6.08911065e-04 3.73973775e-01] [ 1.16541172e-02 -6.33785387e-04 9.99931888e-01 2.14293523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.561966745999996 meters Centerline goodness [0,1] 0.4610930936160025 Centerline is valid? [False, False] Translation: X:-12.81, Y:0.38, Z:0.22 [[ 9.99949349e-01 -7.63780651e-04 -1.00356964e-02 -1.28125249e+01] [ 7.43500571e-04 9.99997675e-01 -2.02437004e-03 3.75034198e-01] [ 1.00372192e-02 2.01680596e-03 9.99947592e-01 2.16779795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.591966746 meters Centerline goodness [0,1] 0.4723139863046665 Centerline is valid? [False, False] Translation: X:-12.81, Y:0.37, Z:0.22 [[ 9.99951982e-01 -1.28155272e-03 -9.71555166e-03 -1.28149947e+01] [ 1.25916787e-03 9.99996540e-01 -2.30978978e-03 3.71516616e-01] [ 9.71847816e-03 2.29744536e-03 9.99950135e-01 2.19078988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.621966746 meters Centerline goodness [0,1] 0.47250550339188646 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.37, Z:0.22 [[ 9.99949402e-01 -3.52803052e-03 -9.42050048e-03 -1.28657767e+01] [ 3.52416978e-03 9.99993699e-01 -4.26392367e-04 3.68732171e-01] [ 9.42194545e-03 3.93171349e-04 9.99955535e-01 2.21700456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.651966746 meters Centerline goodness [0,1] 0.43689748737067347 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.37, Z:0.22 [[ 9.99974445e-01 3.84198743e-03 -6.02891527e-03 -1.28401322e+01] [-3.86635378e-03 9.99984384e-01 -4.03514431e-03 3.72543986e-01] [ 6.01331815e-03 4.05835112e-03 9.99973685e-01 2.15364082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.681966746 meters Centerline goodness [0,1] 0.43011714404136037 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.37, Z:0.21 [[ 9.99954654e-01 6.55449018e-03 -6.90852452e-03 -1.28350046e+01] [-6.56456610e-03 9.99977421e-01 -1.43681097e-03 3.74382588e-01] [ 6.89895097e-03 1.48209729e-03 9.99975104e-01 2.12068398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.711966745999995 meters Centerline goodness [0,1] 0.4236760821881015 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.37, Z:0.21 [[ 9.99948046e-01 5.47829573e-03 -8.59616840e-03 -1.28786074e+01] [-5.46739898e-03 9.99984221e-01 1.29061759e-03 3.74495572e-01] [ 8.60310314e-03 -1.24355186e-03 9.99962219e-01 2.10004627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.741966745999996 meters Centerline goodness [0,1] 0.4376056212754603 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.38, Z:0.21 [[ 9.99947908e-01 5.47633264e-03 -8.61342176e-03 -1.28779384e+01] [-5.46780803e-03 9.99984538e-01 1.01292710e-03 3.76982398e-01] [ 8.61883571e-03 -9.65777798e-04 9.99962391e-01 2.08859914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.771966746 meters Centerline goodness [0,1] 0.4271143127795034 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.38, Z:0.21 [[ 9.99947777e-01 5.35146243e-03 -8.70666481e-03 -1.28772595e+01] [-5.34455992e-03 9.99985385e-01 8.15858002e-04 3.77906363e-01] [ 8.71090359e-03 -7.69282103e-04 9.99961763e-01 2.08357698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.801966746 meters Centerline goodness [0,1] 0.44830655569896305 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.38, Z:0.21 [[ 9.99947436e-01 4.98530448e-03 -8.95949311e-03 -1.28760815e+01] [-4.97924448e-03 9.99987359e-01 6.98556121e-04 3.77100354e-01] [ 8.96286237e-03 -6.53907895e-04 9.99959619e-01 2.07566901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.831966746 meters Centerline goodness [0,1] 0.4572922719349216 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.38, Z:0.21 [[ 9.99949877e-01 4.55626851e-03 -8.91541490e-03 -1.28765871e+01] [-4.55171477e-03 9.99989500e-01 5.30995907e-04 3.76036856e-01] [ 8.91774065e-03 -4.90388866e-04 9.99960116e-01 2.08164858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.861966746 meters Centerline goodness [0,1] 0.45663582992350116 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.38, Z:0.21 [[ 9.99953611e-01 4.36349752e-03 -8.58697675e-03 -1.28775572e+01] [-4.36018702e-03 9.99990413e-01 4.04208905e-04 3.77027664e-01] [ 8.58865819e-03 -3.66749329e-04 9.99963050e-01 2.08256678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.891966745999994 meters Centerline goodness [0,1] 0.45879796294670294 Centerline is valid? [False, False] Translation: X:-12.85, Y:0.38, Z:0.21 [[ 9.99983616e-01 -1.21049129e-03 -5.59490979e-03 -1.28540642e+01] [ 1.22425352e-03 9.99996232e-01 2.45700707e-03 3.79901156e-01] [ 5.59191452e-03 -2.46381641e-03 9.99981330e-01 2.06099691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.921966745999995 meters Centerline goodness [0,1] 0.4673874115856388 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.38, Z:0.21 [[ 9.99970681e-01 -4.02535568e-03 -6.51407275e-03 -1.29002757e+01] [ 4.05123708e-03 9.99983934e-01 3.96484536e-03 3.77506945e-01] [ 6.49800818e-03 -3.99111917e-03 9.99970923e-01 2.06598422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.951966746 meters Centerline goodness [0,1] 0.4668216776962977 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.37, Z:0.21 [[ 9.99968983e-01 -4.33050032e-03 -6.57875186e-03 -1.29004509e+01] [ 4.35573495e-03 9.99983193e-01 3.82630428e-03 3.74796777e-01] [ 6.56207148e-03 -3.85484090e-03 9.99971039e-01 2.07185812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.981966746 meters Centerline goodness [0,1] 0.4652946013824373 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.37, Z:0.21 [[ 9.99975302e-01 2.25313769e-03 -6.65716553e-03 -1.28778518e+01] [-2.26225342e-03 9.99996513e-01 -1.36209831e-03 3.72677420e-01] [ 6.65407333e-03 1.37712487e-03 9.99976913e-01 2.07959367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.011966746 meters Centerline goodness [0,1] 0.4602149596129851 Centerline is valid? [False, False] Translation: X:-12.85, Y:0.37, Z:0.20 [[ 9.99990150e-01 -1.76004220e-03 -4.07468982e-03 -1.28517697e+01] [ 1.76572159e-03 9.99997474e-01 1.39064593e-03 3.72785539e-01] [ 4.07223193e-03 -1.39782700e-03 9.99990731e-01 2.04112680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.041966746 meters Centerline goodness [0,1] 0.44882874433353426 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.37, Z:0.20 [[ 9.99986455e-01 -2.17446374e-03 -4.72884996e-03 -1.28986357e+01] [ 2.19737345e-03 9.99985849e-01 4.84488099e-03 3.71993402e-01] [ 4.71824802e-03 -4.85520641e-03 9.99977082e-01 2.04125424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.071966745999994 meters Centerline goodness [0,1] 0.4393453648694092 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.38, Z:0.20 [[ 9.99989308e-01 -1.58694977e-03 -4.34344544e-03 -1.28999130e+01] [ 1.60840503e-03 9.99986501e-01 4.94066062e-03 3.75004362e-01] [ 4.33554623e-03 -4.94759381e-03 9.99978362e-01 2.04129058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.101966745999995 meters Centerline goodness [0,1] 0.4243206826858298 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.38, Z:0.20 [[ 9.99992550e-01 -9.95218259e-04 -3.72948688e-03 -1.29018591e+01] [ 1.01403467e-03 9.99986751e-01 5.04681900e-03 3.78211009e-01] [ 3.72441478e-03 -5.05056323e-03 9.99980310e-01 2.04094493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.131966745999996 meters Centerline goodness [0,1] 0.4417129970750441 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.38, Z:0.20 [[ 9.99992736e-01 -1.07306645e-03 -3.65751676e-03 -1.29016603e+01] [ 1.09056656e-03 9.99987952e-01 4.78606749e-03 3.79913356e-01] [ 3.65233693e-03 -4.79002149e-03 9.99981858e-01 2.03510867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.161966746 meters Centerline goodness [0,1] 0.43110865968008827 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.38, Z:0.20 [[ 9.99990470e-01 4.28082837e-03 -8.57356945e-04 -1.28766739e+01] [-4.28145009e-03 9.99990572e-01 -7.24642085e-04 3.82552425e-01] [ 8.54246794e-04 7.28305910e-04 9.99999370e-01 1.98061169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.191966746 meters Centerline goodness [0,1] 0.4427600044588117 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.38, Z:0.20 [[ 9.99984999e-01 -3.64564549e-03 -4.08792965e-03 -1.29000733e+01] [ 3.65504468e-03 9.99990689e-01 2.29414550e-03 3.82334640e-01] [ 4.07952794e-03 -2.30905265e-03 9.99989013e-01 2.02122936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.221966746 meters Centerline goodness [0,1] 0.44513480776995196 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.38, Z:0.20 [[ 9.99984203e-01 -3.67886882e-03 -4.24961673e-03 -1.28992530e+01] [ 3.68903685e-03 9.99990346e-01 2.38733812e-03 3.81993598e-01] [ 4.24079300e-03 -2.40297740e-03 9.99988121e-01 2.01284893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.251966745999994 meters Centerline goodness [0,1] 0.42948122595197025 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.38, Z:0.20 [[ 9.99995036e-01 2.37550516e-03 -2.06992114e-03 -1.28743308e+01] [-2.38017000e-03 9.99994627e-01 -2.25409093e-03 3.84619074e-01] [ 2.06455542e-03 2.25900650e-03 9.99995317e-01 1.95832228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.281966745999995 meters Centerline goodness [0,1] 0.45457165022719714 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.38, Z:0.20 [[ 9.99995373e-01 2.30858883e-03 -1.98110948e-03 -1.28745169e+01] [-2.31307670e-03 9.99994757e-01 -2.26603718e-03 3.84551240e-01] [ 1.97586775e-03 2.27060915e-03 9.99995470e-01 1.95654577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.311966745999996 meters Centerline goodness [0,1] 0.46111294765840216 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.38, Z:0.20 [[ 9.99995865e-01 1.74975091e-03 -2.28221048e-03 -1.28735277e+01] [-1.75569644e-03 9.99995064e-01 -2.60576530e-03 3.83217739e-01] [ 2.27763978e-03 2.60976139e-03 9.99994001e-01 1.95587253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.341966746 meters Centerline goodness [0,1] 0.460843505271908 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.38, Z:0.20 [[ 9.99995790e-01 1.36300038e-03 -2.56186138e-03 -1.28725215e+01] [-1.37021306e-03 9.99995097e-01 -2.81575967e-03 3.82211922e-01] [ 2.55801094e-03 2.81925811e-03 9.99992754e-01 1.95213411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.371966746 meters Centerline goodness [0,1] 0.4395061185930531 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.38, Z:0.19 [[ 9.99995753e-01 1.54591741e-03 -2.47059456e-03 -1.28726570e+01] [-1.55259180e-03 9.99995145e-01 -2.70189878e-03 3.82900761e-01] [ 2.46640565e-03 2.70572313e-03 9.99993298e-01 1.94793763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.401966746 meters Centerline goodness [0,1] 0.4702712292918765 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.38, Z:0.19 [[ 9.99995626e-01 1.58716147e-03 -2.49574844e-03 -1.28723332e+01] [-1.59381918e-03 9.99995171e-01 -2.66789638e-03 3.82798878e-01] [ 2.49150200e-03 2.67186248e-03 9.99993327e-01 1.94303006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.431966746 meters Centerline goodness [0,1] 0.4694577441264892 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.38, Z:0.19 [[ 9.99995575e-01 1.58853077e-03 -2.51541847e-03 -1.28724957e+01] [-1.59533346e-03 9.99995070e-01 -2.70470334e-03 3.82723858e-01] [ 2.51110957e-03 2.70870430e-03 9.99993179e-01 1.94490290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.461966745999995 meters Centerline goodness [0,1] 0.47523080634196624 Centerline is valid? [False, False] Translation: X:-12.85, Y:0.38, Z:0.19 [[ 9.99996900e-01 -2.47497709e-03 2.71133189e-04 -1.28462703e+01] [ 2.47492895e-03 9.99996922e-01 1.77774842e-04 3.83376278e-01] [-2.71572343e-04 -1.77103255e-04 9.99999947e-01 1.90490854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.491966745999996 meters Centerline goodness [0,1] 0.46432156320403295 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.38, Z:0.19 [[ 9.99993767e-01 -3.34216717e-03 -1.13838102e-03 -1.28905553e+01] [ 3.34571460e-03 9.99989509e-01 3.12868148e-03 3.82170796e-01] [ 1.12791250e-03 -3.13247068e-03 9.99994458e-01 1.90222119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.521966746 meters Centerline goodness [0,1] 0.4660159794613018 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.38, Z:0.19 [[ 9.99985054e-01 4.30258316e-03 -3.37339736e-03 -1.28721595e+01] [-4.30230660e-03 9.99990741e-01 8.92323720e-05 3.83413095e-01] [ 3.37375005e-03 -7.47176486e-05 9.99994306e-01 1.94726022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.551966746 meters Centerline goodness [0,1] 0.46140312293820096 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.38, Z:0.20 [[ 9.99986283e-01 4.18093824e-03 -3.15499020e-03 -1.28730348e+01] [-4.18136226e-03 9.99991250e-01 -1.27811164e-04 3.84191297e-01] [ 3.15442822e-03 1.41001568e-04 9.99995015e-01 1.95179482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.581966746 meters Centerline goodness [0,1] 0.4656851793932353 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.38, Z:0.20 [[ 9.99993302e-01 2.23119029e-03 -2.90145932e-03 -1.29219705e+01] [-2.22618711e-03 9.99996032e-01 1.72645343e-03 3.83679503e-01] [ 2.90529985e-03 -1.71998267e-03 9.99994300e-01 1.96510318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.611966746 meters Centerline goodness [0,1] 0.4656851793932353 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.38, Z:0.20 [[ 9.99993302e-01 2.23119029e-03 -2.90145932e-03 -1.29219705e+01] [-2.22618711e-03 9.99996032e-01 1.72645343e-03 3.83679503e-01] [ 2.90529985e-03 -1.71998267e-03 9.99994300e-01 1.96510318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.641966745999994 meters Centerline goodness [0,1] 0.44723618090452266 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.39, Z:0.20 [[ 9.99993017e-01 2.40302829e-03 -2.86222333e-03 -1.29217340e+01] [-2.39847562e-03 9.99995855e-01 1.59297853e-03 3.85858214e-01] [ 2.86603944e-03 -1.58610243e-03 9.99994635e-01 1.95665307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.671966745999995 meters Centerline goodness [0,1] 0.4526214633710276 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.39, Z:0.19 [[ 9.99993078e-01 2.53520703e-03 -2.72318026e-03 -1.29216310e+01] [-2.53157342e-03 9.99995902e-01 1.33694706e-03 3.88838153e-01] [ 2.72655854e-03 -1.33004388e-03 9.99995398e-01 1.94904268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.701966746 meters Centerline goodness [0,1] 0.44667892184004787 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.39, Z:0.19 [[ 9.99993432e-01 2.24842296e-03 -2.84247905e-03 -1.29211226e+01] [-2.24544270e-03 9.99996926e-01 1.05122820e-03 3.89331712e-01] [ 2.84483392e-03 -1.04483867e-03 9.99995408e-01 1.94604718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.731966746 meters Centerline goodness [0,1] 0.4544584853608614 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.39, Z:0.19 [[ 9.99994595e-01 1.60148561e-03 -2.87148985e-03 -1.29212391e+01] [-1.59971936e-03 9.99998530e-01 6.17287585e-04 3.88247861e-01] [ 2.87247420e-03 -6.12690671e-04 9.99995687e-01 1.94983500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.761966746 meters Centerline goodness [0,1] 0.47213049795271433 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.39, Z:0.20 [[ 9.99995560e-01 1.31830856e-03 -2.67234674e-03 -1.29219421e+01] [-1.31716437e-03 9.99999040e-01 4.29873338e-04 3.88178892e-01] [ 2.67291088e-03 -4.26351510e-04 9.99996337e-01 1.95296782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.791966746 meters Centerline goodness [0,1] 0.45559752822237265 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.39, Z:0.20 [[ 9.99996211e-01 1.28698479e-03 -2.43353338e-03 -1.29227631e+01] [-1.28645399e-03 9.99999148e-01 2.19674819e-04 3.90107468e-01] [ 2.43381402e-03 -2.16543358e-04 9.99997015e-01 1.95563195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.821966745999994 meters Centerline goodness [0,1] 0.4635245991774616 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.39, Z:0.20 [[ 9.99996695e-01 1.27850399e-03 -2.23067048e-03 -1.29237046e+01] [-1.27774937e-03 9.99999126e-01 3.39685351e-04 3.89255722e-01] [ 2.23110282e-03 -3.36833991e-04 9.99997454e-01 1.96097023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.851966745999995 meters Centerline goodness [0,1] 0.4638024431431892 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.39, Z:0.20 [[ 9.99996817e-01 9.19623624e-04 -2.34954096e-03 -1.29227436e+01] [-9.19546917e-04 9.99999577e-01 3.37278212e-05 3.89526238e-01] [ 2.34957098e-03 -3.15672007e-05 9.99997239e-01 1.95084885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.881966745999996 meters Centerline goodness [0,1] 0.4765804054204401 Centerline is valid? [False, False] Translation: X:-12.97, Y:0.39, Z:0.20 [[ 9.99995231e-01 -9.13198973e-04 -2.95021915e-03 -1.29694387e+01] [ 9.20006333e-04 9.99996916e-01 2.30687545e-03 3.87582932e-01] [ 2.94810342e-03 -2.30957867e-03 9.99992987e-01 1.95669692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.911966746 meters Centerline goodness [0,1] 0.45198304900575903 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.39, Z:0.19 [[ 9.99997683e-01 1.33730926e-04 -2.14830424e-03 -1.29240262e+01] [-1.35661045e-04 9.99999587e-01 -8.98317972e-04 3.91248852e-01] [ 2.14818322e-03 8.98607333e-04 9.99997289e-01 1.94674619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.941966746 meters Centerline goodness [0,1] 0.47473214089279037 Centerline is valid? [False, False] Translation: X:-12.97, Y:0.39, Z:0.19 [[ 9.99991641e-01 -9.19843566e-04 -3.98406066e-03 -1.29668707e+01] [ 9.26187951e-04 9.99998306e-01 1.59088977e-03 3.90772891e-01] [ 3.98259054e-03 -1.59456646e-03 9.99990798e-01 1.92915121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.971966746 meters Centerline goodness [0,1] 0.454291619030868 Centerline is valid? [False, False] Translation: X:-12.97, Y:0.39, Z:0.19 [[ 9.99991753e-01 -6.82514995e-04 -4.00342188e-03 -1.29657028e+01] [ 6.88130341e-04 9.99998781e-01 1.40142683e-03 3.94483217e-01] [ 4.00246050e-03 -1.40417015e-03 9.99991004e-01 1.90874104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.001966745999994 meters Centerline goodness [0,1] 0.4802637460885114 Centerline is valid? [False, False] Translation: X:-13.01, Y:0.39, Z:0.19 [[ 9.99987718e-01 -1.76155735e-03 -4.63259098e-03 -1.30115873e+01] [ 1.78147254e-03 9.99989175e-01 4.29832373e-03 3.94710686e-01] [ 4.62496909e-03 -4.30652377e-03 9.99980032e-01 1.90336588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.031966745999995 meters Centerline goodness [0,1] 0.47013517071886246 Centerline is valid? [False, False] Translation: X:-12.98, Y:0.40, Z:0.18 [[ 9.99999910e-01 -2.92711720e-04 -3.06038834e-04 -1.29802644e+01] [ 2.92034481e-04 9.99997514e-01 -2.21062700e-03 3.97641173e-01] [ 3.06685150e-04 2.21053743e-03 9.99997510e-01 1.83776073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.061966745999996 meters Centerline goodness [0,1] 0.4820487630615343 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.39, Z:0.18 [[ 9.99990038e-01 -4.30257305e-03 -1.18786403e-03 -1.30268466e+01] [ 4.30013042e-03 9.99988651e-01 -2.05126765e-03 3.93878769e-01] [ 1.19667628e-03 2.04613925e-03 9.99997191e-01 1.84929174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.091966746 meters Centerline goodness [0,1] 0.4726522413153126 Centerline is valid? [False, False] Translation: X:-12.98, Y:0.39, Z:0.18 [[ 9.99997096e-01 -2.38711249e-03 -3.30008640e-04 -1.29813568e+01] [ 2.38588883e-03 9.99990456e-01 -3.65991107e-03 3.94804246e-01] [ 3.38742110e-04 3.65911308e-03 9.99993248e-01 1.84014018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.121966746 meters Centerline goodness [0,1] 0.48008966244725737 Centerline is valid? [False, False] Translation: X:-12.98, Y:0.40, Z:0.18 [[ 9.99997574e-01 -2.20202551e-03 -5.71945724e-05 -1.29820101e+01] [ 2.20180612e-03 9.99991139e-01 -3.58810034e-03 3.96523505e-01] [ 6.50951541e-05 3.58796570e-03 9.99993561e-01 1.83662761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.151966746 meters Centerline goodness [0,1] 0.47629851006740687 Centerline is valid? [False, False] Translation: X:-12.98, Y:0.40, Z:0.18 [[ 9.99997328e-01 -2.30523449e-03 -1.73025044e-04 -1.29816866e+01] [ 2.30458244e-03 9.99990578e-01 -3.67860485e-03 3.97084411e-01] [ 1.81503461e-04 3.67819627e-03 9.99993219e-01 1.83771092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.181966746 meters Centerline goodness [0,1] 0.47903057224980405 Centerline is valid? [False, False] Translation: X:-12.98, Y:0.40, Z:0.18 [[ 9.99997099e-01 -2.40860834e-03 3.19234112e-05 -1.29827608e+01] [ 2.40870939e-03 9.99990347e-01 -3.67482021e-03 3.96095296e-01] [-2.30719004e-05 3.67488644e-03 9.99993247e-01 1.84588652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.211966745999995 meters Centerline goodness [0,1] 0.47788017424424845 Centerline is valid? [False, False] Translation: X:-12.98, Y:0.40, Z:0.18 [[ 9.99996715e-01 -2.56261511e-03 4.89682303e-05 -1.29829621e+01] [ 2.56277794e-03 9.99989947e-01 -3.67938904e-03 3.95122460e-01] [-3.95388801e-05 3.67950245e-03 9.99993230e-01 1.84711815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.241966745999996 meters Centerline goodness [0,1] 0.4849088264906589 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.39, Z:0.18 [[ 9.99996170e-01 -2.56712090e-03 -1.03482293e-03 -1.30285978e+01] [ 2.56750311e-03 9.99996636e-01 3.68181790e-04 3.93376094e-01] [ 1.03387428e-03 -3.70837291e-04 9.99999397e-01 1.84480121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.271966746 meters Centerline goodness [0,1] 0.48057599138704465 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.39, Z:0.18 [[ 9.99996218e-01 -2.55674637e-03 -1.01376086e-03 -1.30281539e+01] [ 2.55700021e-03 9.99996700e-01 2.49181956e-04 3.94947138e-01] [ 1.01312042e-03 -2.51773200e-04 9.99999455e-01 1.83590153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.301966746 meters Centerline goodness [0,1] 0.4787695165642001 Centerline is valid? [False, False] Translation: X:-13.00, Y:0.40, Z:0.18 [[ 9.99995207e-01 2.96995294e-03 8.74822939e-04 -1.30015886e+01] [-2.96550409e-03 9.99982884e-01 -5.04357307e-03 3.95287782e-01] [-8.89787140e-04 5.04095461e-03 9.99986898e-01 1.78103387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.331966746 meters Centerline goodness [0,1] 0.4918425888575142 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.39, Z:0.18 [[ 9.99990471e-01 -3.55972672e-03 -2.52705932e-03 -1.30281193e+01] [ 3.55804859e-03 9.99993447e-01 -6.68250587e-04 3.92542277e-01] [ 2.52942155e-03 6.59252820e-04 9.99996584e-01 1.84861724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.361966746 meters Centerline goodness [0,1] 0.4825432806631553 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.39, Z:0.18 [[ 9.99991234e-01 -3.49204329e-03 -2.31027639e-03 -1.30288453e+01] [ 3.49069129e-03 9.99993734e-01 -5.88989001e-04 3.93001091e-01] [ 2.31231869e-03 5.80919377e-04 9.99997158e-01 1.84986174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.391966745999994 meters Centerline goodness [0,1] 0.48197000087206765 Centerline is valid? [False, False] Translation: X:-12.98, Y:0.40, Z:0.18 [[ 9.99998085e-01 -2.91688806e-04 -1.93528909e-03 -1.29825855e+01] [ 2.88370840e-04 9.99998489e-01 -1.71451258e-03 3.97210811e-01] [ 1.93578627e-03 1.71395122e-03 9.99996658e-01 1.83638236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.421966745999995 meters Centerline goodness [0,1] 0.48094441755049955 Centerline is valid? [False, False] Translation: X:-12.98, Y:0.40, Z:0.18 [[ 9.99998276e-01 7.63971985e-05 -1.85524186e-03 -1.29827380e+01] [-7.94690090e-05 9.99998626e-01 -1.65572939e-03 3.98671174e-01] [ 1.85511282e-03 1.65587397e-03 9.99996908e-01 1.83438494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.451966746 meters Centerline goodness [0,1] 0.48119869361814815 Centerline is valid? [False, False] Translation: X:-12.98, Y:0.40, Z:0.18 [[ 9.99998467e-01 -1.25301572e-04 -1.74649530e-03 -1.29837078e+01] [ 1.22496668e-04 9.99998703e-01 -1.60603329e-03 3.95961700e-01] [ 1.74669428e-03 1.60581688e-03 9.99997185e-01 1.84568331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.481966746 meters Centerline goodness [0,1] 0.4772612927923001 Centerline is valid? [False, False] Translation: X:-12.98, Y:0.39, Z:0.18 [[ 9.99998248e-01 -6.46273106e-04 -1.75707679e-03 -1.29836676e+01] [ 6.42823754e-04 9.99997867e-01 -1.96297659e-03 3.94551123e-01] [ 1.75834166e-03 1.96184366e-03 9.99996530e-01 1.84528334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.511966746 meters Centerline goodness [0,1] 0.4747869783701114 Centerline is valid? [False, False] Translation: X:-12.98, Y:0.40, Z:0.18 [[ 9.99998781e-01 -1.59397215e-05 -1.56150940e-03 -1.29839703e+01] [ 1.32001188e-05 9.99998461e-01 -1.75445259e-03 3.98337865e-01] [ 1.56153496e-03 1.75442984e-03 9.99997242e-01 1.83910625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.541966746 meters Centerline goodness [0,1] 0.5094652205606238 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.40, Z:0.18 [[ 9.99997312e-01 -2.03882240e-04 -2.30950151e-03 -1.30300775e+01] [ 2.07877334e-04 9.99998482e-01 1.72974326e-03 3.98685418e-01] [ 2.30914534e-03 -1.73021870e-03 9.99995837e-01 1.83753264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.571966745999994 meters Centerline goodness [0,1] 0.47469528351881296 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.40, Z:0.18 [[ 9.99998109e-01 -4.52460412e-04 -1.89161240e-03 -1.30316393e+01] [ 4.55623837e-04 9.99998498e-01 1.67224693e-03 3.97515382e-01] [ 1.89085293e-03 -1.67310563e-03 9.99996813e-01 1.84572136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.601966745999995 meters Centerline goodness [0,1] 0.4751439266247839 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.40, Z:0.18 [[ 9.99997751e-01 -1.14842467e-03 -1.78304987e-03 -1.30321000e+01] [ 1.15070889e-03 9.99998518e-01 1.28057465e-03 3.95270515e-01] [ 1.78157658e-03 -1.28262354e-03 9.99997590e-01 1.84977182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.631966745999996 meters Centerline goodness [0,1] 0.48131751372410125 Centerline is valid? [False, False] Translation: X:-13.06, Y:0.39, Z:0.19 [[ 9.99986279e-01 2.95648723e-03 -4.32446583e-03 -1.30567955e+01] [-2.96662699e-03 9.99992861e-01 -2.34020990e-03 3.92643874e-01] [ 4.31751616e-03 2.35300686e-03 9.99987911e-01 1.86268533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.661966746 meters Centerline goodness [0,1] 0.475207783425318 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.39, Z:0.18 [[ 9.99997674e-01 -1.88027172e-03 -1.05665701e-03 -1.30332577e+01] [ 1.88097551e-03 9.99998010e-01 6.65451881e-04 3.94442184e-01] [ 1.05540368e-03 -6.67437879e-04 9.99999220e-01 1.84230351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.691966746 meters Centerline goodness [0,1] 0.47163890381515317 Centerline is valid? [False, False] Translation: X:-12.99, Y:0.40, Z:0.18 [[ 9.99999806e-01 2.41444224e-04 5.74898003e-04 -1.29895000e+01] [-2.40964965e-04 9.99999624e-01 -8.33565425e-04 3.98682401e-01] [-5.75099046e-04 8.33426733e-04 9.99999487e-01 1.82588131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.721966746 meters Centerline goodness [0,1] 0.4722573333914484 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.40, Z:0.18 [[ 9.99999141e-01 -1.07772526e-03 -7.46043622e-04 -1.30341657e+01] [ 1.07904904e-03 9.99997840e-01 1.77626743e-03 3.98113931e-01] [ 7.44127682e-04 -1.77707092e-03 9.99998144e-01 1.82230322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.751966745999994 meters Centerline goodness [0,1] 0.47495276178758183 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.40, Z:0.18 [[ 9.99998946e-01 -1.29894319e-03 -6.48855433e-04 -1.30343528e+01] [ 1.29997100e-03 9.99997897e-01 1.58613227e-03 3.98245215e-01] [ 6.46793773e-04 -1.58697409e-03 9.99998532e-01 1.81993990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.781966745999995 meters Centerline goodness [0,1] 0.47690760857686176 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.40, Z:0.18 [[ 9.99998485e-01 -1.63068815e-03 -6.09556711e-04 -1.30342444e+01] [ 1.63158323e-03 9.99997587e-01 1.47081925e-03 3.97610284e-01] [ 6.07156793e-04 -1.47181156e-03 9.99998733e-01 1.81650594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.811966745999996 meters Centerline goodness [0,1] 0.4799273268540408 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.40, Z:0.18 [[ 9.99997891e-01 -1.98692411e-03 -5.20087049e-04 -1.30347519e+01] [ 1.98765403e-03 9.99997035e-01 1.40671928e-03 3.96432906e-01] [ 5.17290462e-04 -1.40775007e-03 9.99998875e-01 1.82112686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.841966746 meters Centerline goodness [0,1] 0.4796472924896872 Centerline is valid? [False, False] Translation: X:-13.04, Y:0.40, Z:0.18 [[ 9.99997647e-01 -2.16318853e-03 -1.63577064e-04 -1.30360468e+01] [ 2.16339255e-03 9.99996869e-01 1.25752340e-03 3.96633392e-01] [ 1.60856292e-04 -1.25787432e-03 9.99999196e-01 1.82643183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.871966746 meters Centerline goodness [0,1] 0.5011172450052577 Centerline is valid? [False, False] Translation: X:-13.04, Y:0.40, Z:0.19 [[ 9.99997587e-01 -2.15696519e-03 4.16377049e-04 -1.30392607e+01] [ 2.15634110e-03 9.99996560e-01 1.49354592e-03 3.95123014e-01] [-4.19597144e-04 -1.49264447e-03 9.99998798e-01 1.85051427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.901966746 meters Centerline goodness [0,1] 0.4799076626549228 Centerline is valid? [False, False] Translation: X:-13.09, Y:0.39, Z:0.19 [[ 9.99993353e-01 -3.63905775e-03 2.28075590e-04 -1.30885082e+01] [ 3.63805400e-03 9.99984322e-01 4.25684368e-03 3.92595703e-01] [-2.43562915e-04 -4.25598563e-03 9.99990914e-01 1.87378095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.931966746 meters Centerline goodness [0,1] 0.48489747110146597 Centerline is valid? [False, False] Translation: X:-13.06, Y:0.39, Z:0.19 [[ 9.99999299e-01 9.42179887e-04 7.17154215e-04 -1.30648460e+01] [-9.40464196e-04 9.99996704e-01 -2.38894947e-03 3.90085909e-01] [-7.19402672e-04 2.38827333e-03 9.99996889e-01 1.86215743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.961966745999995 meters Centerline goodness [0,1] 0.4791469507229791 Centerline is valid? [False, False] Translation: X:-13.07, Y:0.39, Z:0.19 [[ 9.99999420e-01 8.02973564e-04 7.18267963e-04 -1.30650291e+01] [-8.01166452e-04 9.99996522e-01 -2.51269023e-03 3.90105911e-01] [-7.20283089e-04 2.51211332e-03 9.99996585e-01 1.86531789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.991966745999996 meters Centerline goodness [0,1] 0.4846667115993799 Centerline is valid? [False, False] Translation: X:-13.11, Y:0.39, Z:0.19 [[ 9.99997591e-01 2.18571728e-03 -2.01213993e-04 -1.31113547e+01] [-2.18526090e-03 9.99995101e-01 2.24107337e-03 3.91365305e-01] [ 2.06111360e-04 -2.24062826e-03 9.99997469e-01 1.86827608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.021966746 meters Centerline goodness [0,1] 0.4732812739243607 Centerline is valid? [False, False] Translation: X:-13.07, Y:0.40, Z:0.19 [[ 9.99990223e-01 4.39927511e-03 4.48431089e-04 -1.30659353e+01] [-4.39924632e-03 9.99990321e-01 -6.51706677e-05 3.95398579e-01] [-4.48713452e-04 6.31972717e-05 9.99999897e-01 1.85746081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.051966746 meters Centerline goodness [0,1] 0.47222955725728366 Centerline is valid? [False, False] Translation: X:-13.07, Y:0.40, Z:0.19 [[ 9.99989833e-01 4.47695349e-03 5.39279758e-04 -1.30661906e+01] [-4.47687518e-03 9.99989968e-01 -1.46319736e-04 3.95670542e-01] [-5.39929414e-04 1.43903961e-04 9.99999844e-01 1.85475948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.081966746 meters Centerline goodness [0,1] 0.47341121184580937 Centerline is valid? [False, False] Translation: X:-13.07, Y:0.40, Z:0.18 [[ 9.99989773e-01 4.48772080e-03 5.60914974e-04 -1.30657971e+01] [-4.48747245e-03 9.99989833e-01 -4.43228547e-04 3.97621197e-01] [-5.62898357e-04 4.40706923e-04 9.99999744e-01 1.84597488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.111966746 meters Centerline goodness [0,1] 0.46712734452122406 Centerline is valid? [False, False] Translation: X:-13.07, Y:0.40, Z:0.18 [[ 9.99989185e-01 4.60204842e-03 6.71631513e-04 -1.30659206e+01] [-4.60164389e-03 9.99989231e-01 -6.02626455e-04 3.99802075e-01] [-6.74397596e-04 5.99529328e-04 9.99999593e-01 1.84282536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.141966745999994 meters Centerline goodness [0,1] 0.4737496945055434 Centerline is valid? [False, False] Translation: X:-13.09, Y:0.40, Z:0.19 [[ 9.99996297e-01 -1.86813833e-03 -1.97872631e-03 -1.30934562e+01] [ 1.87535701e-03 9.99991571e-01 3.65259358e-03 3.97578888e-01] [ 1.97188608e-03 -3.65629087e-03 9.99991372e-01 1.90887977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.171966745999995 meters Centerline goodness [0,1] 0.47547296540915707 Centerline is valid? [False, False] Translation: X:-13.09, Y:0.40, Z:0.19 [[ 9.99995618e-01 -2.21299814e-03 -1.96639368e-03 -1.30937510e+01] [ 2.21993555e-03 9.99991295e-01 3.53283279e-03 3.95459313e-01] [ 1.95855841e-03 -3.53718258e-03 9.99991826e-01 1.91341963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.201966746 meters Centerline goodness [0,1] 0.4682017297540155 Centerline is valid? [False, False] Translation: X:-13.09, Y:0.40, Z:0.19 [[ 9.99996145e-01 -2.14754995e-03 -1.75990538e-03 -1.30939471e+01] [ 2.15368106e-03 9.99991593e-01 3.48931216e-03 3.96504262e-01] [ 1.75239711e-03 -3.49308898e-03 9.99992364e-01 1.90538869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.231966746 meters Centerline goodness [0,1] 0.4606460623535772 Centerline is valid? [False, False] Translation: X:-13.09, Y:0.40, Z:0.19 [[ 9.99996635e-01 -2.06066020e-03 -1.57574669e-03 -1.30943050e+01] [ 2.06599522e-03 9.99992114e-01 3.39160917e-03 3.98284351e-01] [ 1.56874531e-03 -3.39485325e-03 9.99993007e-01 1.90211840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.261966746 meters Centerline goodness [0,1] 0.4653877860214335 Centerline is valid? [False, False] Translation: X:-13.07, Y:0.40, Z:0.18 [[ 9.99989705e-01 3.73639814e-03 2.57476969e-03 -1.30715273e+01] [-3.73288497e-03 9.99992097e-01 -1.36791665e-03 4.01577190e-01] [-2.57986042e-03 1.35829125e-03 9.99995750e-01 1.84843199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.291966746 meters Centerline goodness [0,1] 0.46453869505917555 Centerline is valid? [False, False] Translation: X:-13.07, Y:0.40, Z:0.19 [[ 9.99991551e-01 3.30751195e-03 2.44104426e-03 -1.30711525e+01] [-3.30362503e-03 9.99993272e-01 -1.59463746e-03 3.99582298e-01] [-2.44630212e-03 1.58655969e-03 9.99995749e-01 1.85047186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.321966745999994 meters Centerline goodness [0,1] 0.46180078834315075 Centerline is valid? [False, False] Translation: X:-13.07, Y:0.40, Z:0.19 [[ 9.99991338e-01 3.15593704e-03 2.71360806e-03 -1.30728122e+01] [-3.15109042e-03 9.99993436e-01 -1.78846725e-03 3.99343715e-01] [-2.71923453e-03 1.77990093e-03 9.99994719e-01 1.86318692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.351966745999995 meters Centerline goodness [0,1] 0.4522781564356002 Centerline is valid? [False, False] Translation: X:-13.07, Y:0.40, Z:0.19 [[ 9.99988689e-01 3.67469569e-03 3.01956489e-03 -1.30734212e+01] [-3.66948873e-03 9.99991774e-01 -1.72814192e-03 4.02461643e-01] [-3.02589045e-03 1.71704211e-03 9.99993948e-01 1.85581166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.381966745999996 meters Centerline goodness [0,1] 0.45414345095958253 Centerline is valid? [False, False] Translation: X:-13.10, Y:0.40, Z:0.19 [[ 9.99994795e-01 -3.17646457e-03 5.66350609e-04 -1.30955957e+01] [ 3.17505211e-03 9.99991890e-01 2.47766946e-03 4.04197200e-01] [-5.74216245e-04 -2.47585837e-03 9.99996770e-01 1.87563762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.411966746 meters Centerline goodness [0,1] 0.4617507178750897 Centerline is valid? [False, False] Translation: X:-13.12, Y:0.40, Z:0.19 [[ 9.99992187e-01 1.39259237e-03 -3.69945674e-03 -1.31207474e+01] [-1.39338721e-03 9.99999007e-01 -2.12283346e-04 4.03608009e-01] [ 3.69915744e-03 2.17436463e-04 9.99993134e-01 1.90884383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.441966746 meters Centerline goodness [0,1] 0.4643082185615267 Centerline is valid? [False, False] Translation: X:-13.12, Y:0.40, Z:0.19 [[ 9.99993278e-01 1.09510256e-03 -3.49927014e-03 -1.31217281e+01] [-1.09619399e-03 9.99999351e-01 -3.09999587e-04 4.02991455e-01] [ 3.49892839e-03 3.13833382e-04 9.99993829e-01 1.91379866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.471966746 meters Centerline goodness [0,1] 0.468969747420535 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.41, Z:0.19 [[ 9.99995798e-01 1.52556766e-03 -2.46520315e-03 -1.30758478e+01] [-1.53319290e-03 9.99994038e-01 -3.09422379e-03 4.07016139e-01] [ 2.46046801e-03 3.09799042e-03 9.99992174e-01 1.89130572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.501966745999994 meters Centerline goodness [0,1] 0.468969747420535 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.41, Z:0.19 [[ 9.99995798e-01 1.52556766e-03 -2.46520315e-03 -1.30758478e+01] [-1.53319290e-03 9.99994038e-01 -3.09422379e-03 4.07016139e-01] [ 2.46046801e-03 3.09799042e-03 9.99992174e-01 1.89130572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.531966745999995 meters Centerline goodness [0,1] 0.4669809252356939 Centerline is valid? [False, False] Translation: X:-13.07, Y:0.41, Z:0.19 [[ 9.99995679e-01 1.30322181e-03 -2.63498794e-03 -1.30744037e+01] [-1.31110620e-03 9.99994662e-01 -2.99268205e-03 4.06309587e-01] [ 2.63107375e-03 2.99612387e-03 9.99992050e-01 1.87582984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.561966745999996 meters Centerline goodness [0,1] 0.47596477829192685 Centerline is valid? [False, False] Translation: X:-13.12, Y:0.40, Z:0.19 [[ 9.99992092e-01 -1.74920301e-03 -3.57164636e-03 -1.31217256e+01] [ 1.74091576e-03 9.99995789e-01 -2.32207959e-03 4.04748351e-01] [ 3.57569311e-03 2.31584329e-03 9.99990926e-01 1.88868107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.591966746 meters Centerline goodness [0,1] 0.4334026941189355 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.41, Z:0.19 [[ 9.99998030e-01 1.42989046e-03 -1.37675541e-03 -1.30793864e+01] [-1.43246270e-03 9.99997227e-01 -1.86916432e-03 4.10092390e-01] [ 1.37407889e-03 1.87113279e-03 9.99997305e-01 1.87462605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.621966746 meters Centerline goodness [0,1] 0.42460094739914245 Centerline is valid? [False, False] Translation: X:-13.13, Y:0.41, Z:0.19 [[ 9.99998370e-01 -8.85013535e-04 -1.57406463e-03 -1.31279417e+01] [ 8.85416074e-04 9.99999575e-01 2.55054089e-04 4.07521000e-01] [ 1.57383824e-03 -2.56447375e-04 9.99998729e-01 1.89154304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.651966746 meters Centerline goodness [0,1] 0.4592618691094865 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.41, Z:0.19 [[ 9.99999030e-01 -1.38362864e-03 -1.60296352e-04 -1.30848527e+01] [ 1.38305784e-03 9.99992891e-01 -3.50794067e-03 4.08622349e-01] [ 1.65148900e-04 3.50771557e-03 9.99993834e-01 1.90252493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.68196674599999 meters Centerline goodness [0,1] 0.467723298960082 Centerline is valid? [False, False] Translation: X:-13.09, Y:0.41, Z:0.19 [[ 9.99998009e-01 -1.99499112e-03 4.11849782e-05 -1.30855758e+01] [ 1.99512673e-03 9.99991501e-01 -3.60793829e-03 4.06305712e-01] [-3.39868233e-05 3.60801328e-03 9.99993491e-01 1.90535347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.711966745999995 meters Centerline goodness [0,1] 0.45898262582840765 Centerline is valid? [False, False] Translation: X:-13.13, Y:0.41, Z:0.19 [[ 9.99997857e-01 -1.81580851e-03 -9.94488968e-04 -1.31324032e+01] [ 1.81635928e-03 9.99998197e-01 5.53195657e-04 4.06206802e-01] [ 9.93482678e-04 -5.55000821e-04 9.99999352e-01 1.90536658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.741966745999996 meters Centerline goodness [0,1] 0.4657022865142324 Centerline is valid? [False, False] Translation: X:-13.13, Y:0.41, Z:0.19 [[ 9.99997746e-01 -1.91041757e-03 -9.25943273e-04 -1.31322506e+01] [ 1.91075705e-03 9.99998108e-01 3.65891750e-04 4.07699269e-01] [ 9.25242515e-04 -3.67660178e-04 9.99999504e-01 1.90294840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.771966746 meters Centerline goodness [0,1] 0.46158606666077273 Centerline is valid? [False, False] Translation: X:-13.13, Y:0.40, Z:0.19 [[ 9.99996284e-01 -2.50848039e-03 -1.06703220e-03 -1.31323795e+01] [ 2.50853961e-03 9.99996852e-01 5.41595297e-05 4.04765663e-01] [ 1.06689298e-03 -5.68360210e-05 9.99999429e-01 1.91303486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.801966746 meters Centerline goodness [0,1] 0.4601899676092095 Centerline is valid? [False, False] Translation: X:-13.13, Y:0.40, Z:0.19 [[ 9.99996254e-01 -2.57916177e-03 -9.16525611e-04 -1.31328147e+01] [ 2.57932670e-03 9.99996658e-01 1.78814915e-04 4.04862425e-01] [ 9.16061355e-04 -1.81178264e-04 9.99999564e-01 1.91167397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.831966746 meters Centerline goodness [0,1] 0.46820272421722975 Centerline is valid? [False, False] Translation: X:-13.13, Y:0.40, Z:0.19 [[ 9.99996708e-01 -2.43993131e-03 -7.94768003e-04 -1.31334496e+01] [ 2.44029770e-03 9.99996917e-01 4.60350492e-04 4.04506355e-01] [ 7.93642329e-04 -4.62288447e-04 9.99999578e-01 1.91551060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.861966746 meters Centerline goodness [0,1] 0.4678428263072112 Centerline is valid? [False, False] Translation: X:-13.13, Y:0.40, Z:0.19 [[ 9.99996779e-01 -2.49392586e-03 -4.71292796e-04 -1.31349652e+01] [ 2.49418905e-03 9.99996733e-01 5.58686428e-04 4.04465527e-01] [ 4.69897934e-04 -5.59860122e-04 9.99999733e-01 1.92583793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.891966745999994 meters Centerline goodness [0,1] 0.4674543072242333 Centerline is valid? [False, False] Translation: X:-13.14, Y:0.40, Z:0.19 [[ 9.99993358e-01 -3.62487681e-03 -3.80751879e-04 -1.31356263e+01] [ 3.62479607e-03 9.99993408e-01 -2.12514630e-04 4.01331217e-01] [ 3.81519709e-04 2.11133070e-04 9.99999905e-01 1.93375182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.921966745999995 meters Centerline goodness [0,1] 0.4682027446747582 Centerline is valid? [False, False] Translation: X:-13.14, Y:0.40, Z:0.19 [[ 9.99992715e-01 -3.80646000e-03 -2.83955497e-04 -1.31362135e+01] [ 3.80640056e-03 9.99992734e-01 -2.09544277e-04 3.99698716e-01] [ 2.84751056e-04 2.08461902e-04 9.99999938e-01 1.93928954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.951966746 meters Centerline goodness [0,1] 0.4720534493195525 Centerline is valid? [False, False] Translation: X:-13.17, Y:0.40, Z:0.20 [[ 9.99995975e-01 2.29715587e-03 -1.66531053e-03 -1.31660752e+01] [-2.29961078e-03 9.99996270e-01 -1.47373731e-03 3.99613316e-01] [ 1.66191891e-03 1.47756094e-03 9.99997527e-01 1.98905885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.981966746 meters Centerline goodness [0,1] 0.44790070827505046 Centerline is valid? [False, False] Translation: X:-13.17, Y:0.40, Z:0.20 [[ 9.99995674e-01 2.57274506e-03 -1.42571327e-03 -1.31665929e+01] [-2.57474011e-03 9.99995706e-01 -1.39927044e-03 4.02159073e-01] [ 1.42210718e-03 1.40293523e-03 9.99998005e-01 1.98562902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.011966746 meters Centerline goodness [0,1] 0.4449558375523265 Centerline is valid? [False, False] Translation: X:-13.14, Y:0.40, Z:0.20 [[ 9.99994683e-01 -1.03485887e-03 -3.09255878e-03 -1.31393559e+01] [ 1.04192036e-03 9.99996852e-01 2.28264397e-03 4.04874270e-01] [ 3.09018683e-03 -2.28585403e-03 9.99992613e-01 1.96894976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.041966746 meters Centerline goodness [0,1] 0.4622018267269664 Centerline is valid? [False, False] Translation: X:-13.16, Y:0.40, Z:0.20 [[ 9.99979883e-01 2.54277143e-03 -5.81093802e-03 -1.31626658e+01] [-2.55402674e-03 9.99994875e-01 -1.93032021e-03 4.01277556e-01] [ 5.80599988e-03 1.94512267e-03 9.99981253e-01 1.97732081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.071966745999994 meters Centerline goodness [0,1] 0.458894070619587 Centerline is valid? [False, False] Translation: X:-13.16, Y:0.40, Z:0.20 [[ 9.99979628e-01 2.03288493e-03 -6.05077340e-03 -1.31619043e+01] [-2.04622944e-03 9.99995486e-01 -2.20004928e-03 3.99506069e-01] [ 6.04627364e-03 2.21238573e-03 9.99979274e-01 1.97602845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.101966745999995 meters Centerline goodness [0,1] 0.4536784741144414 Centerline is valid? [False, False] Translation: X:-13.14, Y:0.40, Z:0.20 [[ 9.99988954e-01 -3.26813802e-03 -3.37791396e-03 -1.31386595e+01] [ 3.27025844e-03 9.99994459e-01 6.22399572e-04 3.99873812e-01] [ 3.37586116e-03 -6.33439349e-04 9.99994101e-01 1.96230379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.131966745999996 meters Centerline goodness [0,1] 0.45130444519090807 Centerline is valid? [False, False] Translation: X:-13.19, Y:0.40, Z:0.20 [[ 9.99984767e-01 -4.21155826e-03 -3.56772438e-03 -1.31863802e+01] [ 4.22549324e-03 9.99983439e-01 3.90735216e-03 3.97968466e-01] [ 3.55120925e-03 -3.92236803e-03 9.99986002e-01 1.96209719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.161966746 meters Centerline goodness [0,1] 0.46223211923450036 Centerline is valid? [False, False] Translation: X:-13.16, Y:0.40, Z:0.19 [[ 9.99999963e-01 -4.23101602e-05 2.67294221e-04 -1.31616677e+01] [ 4.28401489e-05 9.99998033e-01 -1.98309715e-03 3.98974981e-01] [-2.67209790e-04 1.98310853e-03 9.99997998e-01 1.90337824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.191966746 meters Centerline goodness [0,1] 0.44394145826923925 Centerline is valid? [False, False] Translation: X:-13.16, Y:0.40, Z:0.19 [[ 9.99999914e-01 1.61880531e-04 3.81863940e-04 -1.31619211e+01] [-1.61175101e-04 9.99998282e-01 -1.84664127e-03 4.00051400e-01] [-3.82162219e-04 1.84657956e-03 9.99998222e-01 1.89862797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.221966746 meters Centerline goodness [0,1] 0.4604994502905607 Centerline is valid? [False, False] Translation: X:-13.21, Y:0.40, Z:0.19 [[ 9.99999595e-01 -1.72902930e-04 -8.83179043e-04 -1.32067629e+01] [ 1.74474474e-04 9.99998401e-01 1.77964954e-03 3.98589438e-01] [ 8.82869925e-04 -1.77980291e-03 9.99998026e-01 1.89051677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.251966745999994 meters Centerline goodness [0,1] 0.4585695546810734 Centerline is valid? [False, False] Translation: X:-13.21, Y:0.40, Z:0.19 [[ 9.99999190e-01 -3.87549483e-04 -1.21196148e-03 -1.32051679e+01] [ 3.89502660e-04 9.99998625e-01 1.61176238e-03 3.97764256e-01] [ 1.21133517e-03 -1.61223313e-03 9.99997967e-01 1.87989277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.281966745999995 meters Centerline goodness [0,1] 0.46330059730207374 Centerline is valid? [False, False] Translation: X:-13.20, Y:0.40, Z:0.19 [[ 9.99998551e-01 -4.17648306e-04 -1.65047090e-03 -1.32034607e+01] [ 4.20227762e-04 9.99998690e-01 1.56282290e-03 3.97471740e-01] [ 1.64981603e-03 -1.56351421e-03 9.99997417e-01 1.87078021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.311966745999996 meters Centerline goodness [0,1] 0.4746331054304751 Centerline is valid? [False, False] Translation: X:-13.15, Y:0.40, Z:0.18 [[ 9.99983058e-01 2.16887852e-03 -5.40187013e-03 -1.31478421e+01] [-2.16232646e-03 9.99996920e-01 1.21846912e-03 3.97843319e-01] [ 5.40449621e-03 -1.20676787e-03 9.99984667e-01 1.82473114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.341966746 meters Centerline goodness [0,1] 0.4802600814981407 Centerline is valid? [False, False] Translation: X:-13.20, Y:0.39, Z:0.19 [[ 9.99997549e-01 -6.36420673e-04 -2.12071009e-03 -1.32032474e+01] [ 6.40650124e-04 9.99997806e-01 1.99427389e-03 3.93063253e-01] [ 2.11943624e-03 -1.99562764e-03 9.99995763e-01 1.87154260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.371966746 meters Centerline goodness [0,1] 0.45910260713886086 Centerline is valid? [False, False] Translation: X:-13.21, Y:0.39, Z:0.19 [[ 9.99996345e-01 -2.70096962e-03 1.22774454e-04 -1.32149348e+01] [ 2.70100524e-03 9.99996310e-01 -2.90908814e-04 3.89360350e-01] [-1.21988265e-04 2.91239365e-04 9.99999950e-01 1.94562829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.401966746 meters Centerline goodness [0,1] 0.45221377459749557 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.39, Z:0.19 [[ 9.99997406e-01 -2.26372307e-03 2.51676131e-04 -1.32152895e+01] [ 2.26376159e-03 9.99997426e-01 -1.52884265e-04 3.89906656e-01] [-2.51329395e-04 1.53453603e-04 9.99999957e-01 1.94448352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43196674599999 meters Centerline goodness [0,1] 0.4303477580230348 Centerline is valid? [False, False] Translation: X:-13.21, Y:0.39, Z:0.19 [[ 9.99997980e-01 2.00284158e-03 -1.68779559e-04 -1.32132969e+01] [-2.00218398e-03 9.99990736e-01 3.81028647e-03 3.90728475e-01] [ 1.76409396e-04 -3.80994085e-03 9.99992727e-01 1.93090749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.461966745999995 meters Centerline goodness [0,1] 0.4143021557257315 Centerline is valid? [False, False] Translation: X:-13.21, Y:0.39, Z:0.19 [[ 9.99980171e-01 6.22681299e-03 -9.40679068e-04 -1.32099360e+01] [-6.21961195e-03 9.99952732e-01 7.47336049e-03 3.92968551e-01] [ 9.87169821e-04 -7.46736164e-03 9.99971632e-01 1.91259070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.491966745999996 meters Centerline goodness [0,1] 0.3998029125150553 Centerline is valid? [False, False] Translation: X:-13.21, Y:0.40, Z:0.19 [[ 9.99972009e-01 7.33776967e-03 -1.46198489e-03 -1.32075065e+01] [-7.32659522e-03 9.99944978e-01 7.50745092e-03 3.96900212e-01] [ 1.51699240e-03 -7.49652941e-03 9.99970750e-01 1.89262230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.521966746 meters Centerline goodness [0,1] 0.36885319454414933 Centerline is valid? [False, False] Translation: X:-13.25, Y:0.40, Z:0.19 [[ 9.99968851e-01 5.88457656e-03 -5.26011325e-03 -1.32452333e+01] [-5.84393241e-03 9.99953208e-01 7.70911747e-03 3.97877057e-01] [ 5.30523202e-03 -7.67813760e-03 9.99956449e-01 1.86984616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.551966746 meters Centerline goodness [0,1] 0.3462117636482144 Centerline is valid? [False, False] Translation: X:-13.25, Y:0.40, Z:0.19 [[ 9.99984571e-01 2.71359018e-03 -4.84708533e-03 -1.32472411e+01] [-2.69488975e-03 9.99988917e-01 3.86045042e-03 3.99069271e-01] [ 4.85750729e-03 -3.84732849e-03 9.99980801e-01 1.87685551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.581966746 meters Centerline goodness [0,1] 0.3337165598054389 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.40, Z:0.18 [[ 9.99968314e-01 7.86623975e-03 1.22234657e-03 -1.32221411e+01] [-7.86723192e-03 9.99968726e-01 8.09014469e-04 4.03842709e-01] [-1.21594444e-03 -8.18605318e-04 9.99998926e-01 1.83483563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.611966746 meters Centerline goodness [0,1] 0.3160707869205893 Centerline is valid? [False, False] Translation: X:-13.25, Y:0.41, Z:0.19 [[ 9.99993975e-01 3.27325400e-03 1.15563521e-03 -1.32491028e+01] [-3.28201218e-03 9.99965276e-01 7.65990904e-03 4.06305484e-01] [-1.13052225e-03 -7.66365570e-03 9.99969995e-01 1.86333787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.641966745999994 meters Centerline goodness [0,1] 0.31101997618732635 Centerline is valid? [False, False] Translation: X:-13.20, Y:0.41, Z:0.18 [[ 9.99989833e-01 4.35668902e-03 1.16312843e-03 -1.32018229e+01] [-4.36125090e-03 9.99982693e-01 3.94878655e-03 4.11044157e-01] [-1.14590466e-03 -3.95381910e-03 9.99991527e-01 1.84680654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.671966745999995 meters Centerline goodness [0,1] 0.31946273373716094 Centerline is valid? [False, False] Translation: X:-13.20, Y:0.41, Z:0.18 [[ 9.99998518e-01 1.71304244e-03 1.73753103e-04 -1.31966141e+01] [-1.71322712e-03 9.99997962e-01 1.06837599e-03 4.10649181e-01] [-1.71922576e-04 -1.06867209e-03 9.99999414e-01 1.81510405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.701966746 meters Centerline goodness [0,1] 0.334208396228479 Centerline is valid? [False, False] Translation: X:-13.20, Y:0.41, Z:0.18 [[ 9.99998805e-01 1.49355647e-03 3.98396742e-04 -1.31975835e+01] [-1.49398532e-03 9.99998303e-01 1.07834338e-03 4.10375666e-01] [-3.96785499e-04 -1.07893729e-03 9.99999339e-01 1.82051715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.731966746 meters Centerline goodness [0,1] 0.3317946534609093 Centerline is valid? [False, False] Translation: X:-13.25, Y:0.41, Z:0.18 [[ 9.99999971e-01 2.35631738e-04 4.55044132e-05 -1.32452121e+01] [-2.35841092e-04 9.99989129e-01 4.65688445e-03 4.08200507e-01] [-4.44066087e-05 -4.65689505e-03 9.99989156e-01 1.82582736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.761966746 meters Centerline goodness [0,1] 0.34684211702151424 Centerline is valid? [False, False] Translation: X:-13.24, Y:0.41, Z:0.18 [[ 9.99999848e-01 -5.26901723e-04 -1.61044118e-04 -1.32446345e+01] [ 5.27573426e-04 9.99991042e-01 4.19973732e-03 4.06732011e-01] [ 1.58829826e-04 -4.19982164e-03 9.99991168e-01 1.82901719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.791966746 meters Centerline goodness [0,1] 0.3956264176705059 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.41, Z:0.18 [[ 9.99995368e-01 1.81830080e-03 2.44087686e-03 -1.32204053e+01] [-1.80752599e-03 9.99988645e-01 -4.40928890e-03 4.05725778e-01] [-2.44886656e-03 4.40485652e-03 9.99987300e-01 1.79464293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.821966745999994 meters Centerline goodness [0,1] 0.42194550119437313 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.41, Z:0.18 [[ 9.99994912e-01 1.97023459e-03 2.50878328e-03 -1.32198709e+01] [-1.95985894e-03 9.99989545e-01 -4.13149475e-03 4.06844594e-01] [-2.51689707e-03 4.12655687e-03 9.99988318e-01 1.77942246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.851966745999995 meters Centerline goodness [0,1] 0.45955487336914813 Centerline is valid? [False, False] Translation: X:-13.21, Y:0.41, Z:0.17 [[ 9.99991128e-01 3.96104086e-03 1.43298635e-03 -1.32128882e+01] [-3.95851448e-03 9.99990613e-01 -1.76157982e-03 4.07329608e-01] [-1.43995058e-03 1.75589170e-03 9.99997422e-01 1.73052271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.881966745999996 meters Centerline goodness [0,1] 0.4744577246569278 Centerline is valid? [False, False] Translation: X:-13.23, Y:0.41, Z:0.18 [[ 9.99985631e-01 -3.96854811e-03 -3.60394980e-03 -1.32344385e+01] [ 3.97274784e-03 9.99991437e-01 1.15890435e-03 4.05230092e-01] [ 3.59931977e-03 -1.17320528e-03 9.99992834e-01 1.77079788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.911966746 meters Centerline goodness [0,1] 0.4713972627247518 Centerline is valid? [False, False] Translation: X:-13.23, Y:0.40, Z:0.18 [[ 9.99982831e-01 -4.50025690e-03 -3.75306424e-03 -1.32341718e+01] [ 4.50327499e-03 9.99989543e-01 7.96103555e-04 4.03863762e-01] [ 3.74944233e-03 -8.12990967e-04 9.99992640e-01 1.77285599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.941966746 meters Centerline goodness [0,1] 0.48919811216237175 Centerline is valid? [False, False] Translation: X:-13.21, Y:0.41, Z:0.17 [[ 9.99993572e-01 3.17073493e-03 -1.67397131e-03 -1.32121258e+01] [-3.17462569e-03 9.99992254e-01 -2.32675217e-03 4.05249017e-01] [ 1.66658082e-03 2.33205145e-03 9.99995892e-01 1.74699176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.971966746 meters Centerline goodness [0,1] 0.4937272807873039 Centerline is valid? [False, False] Translation: X:-13.21, Y:0.41, Z:0.17 [[ 9.99994016e-01 3.21535236e-03 -1.27626710e-03 -1.32127846e+01] [-3.21847987e-03 9.99991805e-01 -2.45607405e-03 4.07839419e-01] [ 1.26835949e-03 2.46016699e-03 9.99996169e-01 1.73851449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.001966745999994 meters Centerline goodness [0,1] 0.4921652892561984 Centerline is valid? [False, False] Translation: X:-13.21, Y:0.41, Z:0.17 [[ 9.99995393e-01 2.65447098e-03 -1.47264234e-03 -1.32120639e+01] [-2.65864461e-03 9.99992435e-01 -2.83942532e-03 4.06202282e-01] [ 1.46509403e-03 2.84332747e-03 9.99994884e-01 1.73803501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.031966745999995 meters Centerline goodness [0,1] 0.4985540131696031 Centerline is valid? [False, False] Translation: X:-13.21, Y:0.40, Z:0.17 [[ 9.99996109e-01 2.44755479e-03 -1.33811493e-03 -1.32125652e+01] [-2.45135627e-03 9.99992944e-01 -2.84670378e-03 4.04580694e-01] [ 1.33113803e-03 2.84997290e-03 9.99995053e-01 1.73729852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.061966745999996 meters Centerline goodness [0,1] 0.5026724757455983 Centerline is valid? [False, False] Translation: X:-13.24, Y:0.41, Z:0.18 [[ 9.99994211e-01 -3.15167448e-03 -1.28289130e-03 -1.32386732e+01] [ 3.15563090e-03 9.99990235e-01 3.09372829e-03 4.07065435e-01] [ 1.27312835e-03 -3.09775871e-03 9.99994392e-01 1.75676991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.091966746 meters Centerline goodness [0,1] 0.49650145772594756 Centerline is valid? [False, False] Translation: X:-13.24, Y:0.41, Z:0.18 [[ 9.99996935e-01 -2.34218514e-03 -8.02944689e-04 -1.32402885e+01] [ 2.34484103e-03 9.99991730e-01 3.32286165e-03 4.12157584e-01] [ 7.95155292e-04 -3.32473424e-03 9.99994157e-01 1.75806616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.121966746 meters Centerline goodness [0,1] 0.49510994420741716 Centerline is valid? [False, False] Translation: X:-13.20, Y:0.42, Z:0.18 [[ 9.99999664e-01 -7.72003320e-04 -2.76255739e-04 -1.31954287e+01] [ 7.72018754e-04 9.99999700e-01 5.57651133e-05 4.16004151e-01] [ 2.76212605e-04 -5.59783692e-05 9.99999960e-01 1.76284196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.151966746 meters Centerline goodness [0,1] 0.49290516940272444 Centerline is valid? [False, False] Translation: X:-13.20, Y:0.42, Z:0.18 [[ 9.99999576e-01 -8.48567460e-04 -3.58609350e-04 -1.31958884e+01] [ 8.48432302e-04 9.99999569e-01 -3.76879539e-04 4.16066318e-01] [ 3.58929003e-04 3.76575123e-04 9.99999865e-01 1.77138234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.18196674599999 meters Centerline goodness [0,1] 0.49475392344284885 Centerline is valid? [False, False] Translation: X:-13.24, Y:0.42, Z:0.18 [[ 9.99995403e-01 -1.60776452e-03 -2.57086908e-03 -1.32386007e+01] [ 1.61268833e-03 9.99996867e-01 1.91430673e-03 4.16368529e-01] [ 2.56778327e-03 -1.91844394e-03 9.99994863e-01 1.75651902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.211966745999995 meters Centerline goodness [0,1] 0.4940648905302031 Centerline is valid? [False, False] Translation: X:-13.23, Y:0.42, Z:0.17 [[ 9.99992488e-01 1.00111966e-03 -3.74444714e-03 -1.32319723e+01] [-9.83902280e-04 9.99988949e-01 4.59712973e-03 4.18370022e-01] [ 3.74900804e-03 -4.59341103e-03 9.99982423e-01 1.71430694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.241966745999996 meters Centerline goodness [0,1] 0.48024726291273967 Centerline is valid? [False, False] Translation: X:-13.23, Y:0.42, Z:0.17 [[ 9.99992101e-01 1.15483105e-03 -3.80332675e-03 -1.32310714e+01] [-1.13778756e-03 9.99989316e-01 4.48032489e-03 4.20439350e-01] [ 3.80846013e-03 -4.47596212e-03 9.99982731e-01 1.70249248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.271966746 meters Centerline goodness [0,1] 0.483152233563824 Centerline is valid? [False, False] Translation: X:-13.23, Y:0.42, Z:0.17 [[ 9.99991106e-01 -2.50960104e-03 -3.38967786e-03 -1.32333898e+01] [ 2.51128335e-03 9.99996726e-01 4.92140075e-04 4.19939053e-01] [ 3.38843169e-03 -5.00648139e-04 9.99994134e-01 1.71653062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.301966746 meters Centerline goodness [0,1] 0.4876747528417752 Centerline is valid? [False, False] Translation: X:-13.23, Y:0.42, Z:0.17 [[ 9.99990225e-01 -2.78802782e-03 -3.43164607e-03 -1.32334421e+01] [ 2.78909616e-03 9.99996063e-01 3.06574879e-04 4.18834344e-01] [ 3.43077782e-03 -3.16143073e-04 9.99994065e-01 1.71734446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.331966746 meters Centerline goodness [0,1] 0.490893034551275 Centerline is valid? [False, False] Translation: X:-13.28, Y:0.42, Z:0.17 [[ 9.99988725e-01 3.33308127e-04 -4.73693396e-03 -1.32778328e+01] [-2.96529874e-04 9.99969826e-01 7.76272990e-03 4.19676424e-01] [ 4.73937840e-03 -7.76123774e-03 9.99958650e-01 1.70514069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.361966746 meters Centerline goodness [0,1] 0.4821693573773441 Centerline is valid? [False, False] Translation: X:-13.31, Y:0.42, Z:0.18 [[ 9.99950398e-01 6.76798491e-03 -7.30718349e-03 -1.33069583e+01] [-6.72044537e-03 9.99956221e-01 6.51093392e-03 4.21536848e-01] [ 7.35092949e-03 -6.46150344e-03 9.99952105e-01 1.75825340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.391966745999994 meters Centerline goodness [0,1] 0.4939497923063031 Centerline is valid? [False, False] Translation: X:-13.31, Y:0.42, Z:0.18 [[ 9.99973763e-01 3.29401184e-03 -6.45152084e-03 -1.33107746e+01] [-3.27773387e-03 9.99991422e-01 2.53207216e-03 4.22491810e-01] [ 6.45980618e-03 -2.51085936e-03 9.99975983e-01 1.77552515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.421966745999995 meters Centerline goodness [0,1] 0.4939497923063031 Centerline is valid? [False, False] Translation: X:-13.31, Y:0.42, Z:0.18 [[ 9.99973763e-01 3.29401184e-03 -6.45152084e-03 -1.33107746e+01] [-3.27773387e-03 9.99991422e-01 2.53207216e-03 4.22491810e-01] [ 6.45980618e-03 -2.51085936e-03 9.99975983e-01 1.77552515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.451966746 meters Centerline goodness [0,1] 0.4949199473014313 Centerline is valid? [False, False] Translation: X:-13.31, Y:0.43, Z:0.18 [[ 9.99979913e-01 -5.79996884e-04 -6.31166647e-03 -1.33113226e+01] [ 5.67268433e-04 9.99997802e-01 -2.01825795e-03 4.25153481e-01] [ 6.31282318e-03 2.01463700e-03 9.99978045e-01 1.77281874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.481966746 meters Centerline goodness [0,1] 0.5002459969585831 Centerline is valid? [False, False] Translation: X:-13.31, Y:0.43, Z:0.18 [[ 9.99980841e-01 -2.49732563e-04 -6.18509760e-03 -1.33111594e+01] [ 2.36692253e-04 9.99997748e-01 -2.10898581e-03 4.28709353e-01] [ 6.18561036e-03 2.10748144e-03 9.99978648e-01 1.75828645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.511966746 meters Centerline goodness [0,1] 0.49611283873833856 Centerline is valid? [False, False] Translation: X:-13.31, Y:0.43, Z:0.17 [[ 9.99981330e-01 3.07958951e-04 -6.10287211e-03 -1.33104884e+01] [-3.18448497e-04 9.99998474e-01 -1.71789125e-03 4.31708369e-01] [ 6.10233376e-03 1.71980262e-03 9.99979902e-01 1.74371157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.541966746 meters Centerline goodness [0,1] 0.48994787788533134 Centerline is valid? [False, False] Translation: X:-13.28, Y:0.43, Z:0.17 [[ 9.99984986e-01 -4.88072115e-03 -2.49114305e-03 -1.32849396e+01] [ 4.88046278e-03 9.99988084e-01 -1.09783395e-04 4.32028094e-01] [ 2.49164919e-03 9.76238161e-05 9.99996891e-01 1.70205564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.571966745999994 meters Centerline goodness [0,1] 0.5005326986285844 Centerline is valid? [False, False] Translation: X:-13.36, Y:0.43, Z:0.17 [[ 9.99989918e-01 -9.53282077e-04 -4.38799546e-03 -1.33556376e+01] [ 9.59216836e-04 9.99998628e-01 1.35059302e-03 4.29358698e-01] [ 4.38670194e-03 -1.35478844e-03 9.99989461e-01 1.72767986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.601966745999995 meters Centerline goodness [0,1] 0.49827091291277714 Centerline is valid? [False, False] Translation: X:-13.35, Y:0.43, Z:0.17 [[ 9.99989974e-01 -8.29615352e-04 -4.40030454e-03 -1.33549612e+01] [ 8.34037748e-04 9.99999149e-01 1.00328072e-03 4.32235058e-01] [ 4.39946846e-03 -1.00694068e-03 9.99989815e-01 1.71541418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.631966745999996 meters Centerline goodness [0,1] 0.4927049994481846 Centerline is valid? [False, False] Translation: X:-13.31, Y:0.44, Z:0.17 [[ 9.99992206e-01 2.71251968e-04 -3.93886067e-03 -1.33078866e+01] [-2.80029110e-04 9.99997479e-01 -2.22796499e-03 4.37081305e-01] [ 3.93824640e-03 2.22905062e-03 9.99989761e-01 1.69587541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.661966746 meters Centerline goodness [0,1] 0.5025484428677279 Centerline is valid? [False, False] Translation: X:-13.36, Y:0.43, Z:0.17 [[ 9.99988899e-01 -2.47120084e-03 -4.01183394e-03 -1.33567704e+01] [ 2.46746510e-03 9.99996518e-01 -9.35862286e-04 4.34579771e-01] [ 4.01413268e-03 9.25952837e-04 9.99991515e-01 1.70971677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.691966746 meters Centerline goodness [0,1] 0.4949083950997427 Centerline is valid? [False, False] Translation: X:-13.32, Y:0.44, Z:0.17 [[ 9.99997826e-01 -7.24680976e-04 -1.95536747e-03 -1.33167411e+01] [ 7.19827219e-04 9.99996661e-01 -2.48183622e-03 4.36685298e-01] [ 1.95715948e-03 2.48042330e-03 9.99995009e-01 1.74184741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.721966746 meters Centerline goodness [0,1] 0.4969526282206429 Centerline is valid? [False, False] Translation: X:-13.32, Y:0.44, Z:0.17 [[ 9.99998608e-01 -1.81097494e-04 -1.65864309e-03 -1.33174489e+01] [ 1.77253830e-04 9.99997300e-01 -2.31720811e-03 4.40641513e-01] [ 1.65905825e-03 2.31691089e-03 9.99995940e-01 1.73843422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.751966745999994 meters Centerline goodness [0,1] 0.5066730545479433 Centerline is valid? [False, False] Translation: X:-13.39, Y:0.44, Z:0.18 [[ 9.99987658e-01 3.31111323e-03 -3.70414663e-03 -1.33872216e+01] [-3.31787599e-03 9.99992838e-01 -1.82107320e-03 4.38101003e-01] [ 3.69809032e-03 1.83334062e-03 9.99991481e-01 1.75308950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.781966745999995 meters Centerline goodness [0,1] 0.5061214272710723 Centerline is valid? [False, False] Translation: X:-13.39, Y:0.44, Z:0.17 [[ 9.99988654e-01 3.35055483e-03 -3.38601390e-03 -1.33877875e+01] [-3.35805388e-03 9.99991916e-01 -2.21145903e-03 4.40553843e-01] [ 3.37857691e-03 2.22280435e-03 9.99991822e-01 1.74556903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.811966745999996 meters Centerline goodness [0,1] 0.502671738441335 Centerline is valid? [False, False] Translation: X:-13.39, Y:0.44, Z:0.17 [[ 9.99988983e-01 3.27252695e-03 -3.36511051e-03 -1.33874904e+01] [-3.28113473e-03 9.99991351e-01 -2.55561534e-03 4.43554777e-01] [ 3.35671808e-03 2.56662857e-03 9.99991072e-01 1.74022201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.841966746 meters Centerline goodness [0,1] 0.5104741159568058 Centerline is valid? [False, False] Translation: X:-13.43, Y:0.44, Z:0.17 [[ 9.99990238e-01 1.75909039e-03 -4.05341657e-03 -1.34339330e+01] [-1.76146369e-03 9.99998279e-01 -5.82008278e-04 4.42827443e-01] [ 4.05238579e-03 5.89142542e-04 9.99991616e-01 1.73481173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.871966746 meters Centerline goodness [0,1] 0.5036049517072507 Centerline is valid? [False, False] Translation: X:-13.39, Y:0.45, Z:0.17 [[ 9.99992935e-01 2.32136669e-03 -2.95667272e-03 -1.33903502e+01] [-2.33361367e-03 9.99988685e-01 -4.14545802e-03 4.48554780e-01] [ 2.94701614e-03 4.15232847e-03 9.99987037e-01 1.73046370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.901966746 meters Centerline goodness [0,1] 0.5053815483186983 Centerline is valid? [False, False] Translation: X:-13.42, Y:0.45, Z:0.18 [[ 9.99978540e-01 -3.26029486e-03 -5.68238730e-03 -1.34178267e+01] [ 3.26477416e-03 9.99994367e-01 7.79180536e-04 4.48065959e-01] [ 5.67981493e-03 -7.97715527e-04 9.99983552e-01 1.79055054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93196674599999 meters Centerline goodness [0,1] 0.5162248900511114 Centerline is valid? [False, False] Translation: X:-13.46, Y:0.45, Z:0.18 [[ 9.99966323e-01 -5.31836002e-03 -6.25036764e-03 -1.34644046e+01] [ 5.33397345e-03 9.99982689e-01 2.48399239e-03 4.46021675e-01] [ 6.23704867e-03 -2.51724804e-03 9.99977381e-01 1.78727852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.961966745999995 meters Centerline goodness [0,1] 0.5063382411090178 Centerline is valid? [False, False] Translation: X:-13.44, Y:0.45, Z:0.17 [[ 9.99999381e-01 -6.37248513e-04 -9.11573406e-04 -1.34406669e+01] [ 6.35313642e-04 9.99997548e-01 -2.12127886e-03 4.51791849e-01] [ 9.12922953e-04 2.12069841e-03 9.99997335e-01 1.72007683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.991966745999996 meters Centerline goodness [0,1] 0.49441270852773167 Centerline is valid? [False, False] Translation: X:-13.40, Y:0.45, Z:0.17 [[ 9.99998237e-01 1.63579133e-03 9.21543983e-04 -1.33997292e+01] [-1.63294507e-03 9.99993921e-01 -3.08090960e-03 4.54513935e-01] [-9.26578106e-04 3.07939934e-03 9.99994829e-01 1.73756730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.021966746 meters Centerline goodness [0,1] 0.4989555356609967 Centerline is valid? [False, False] Translation: X:-13.42, Y:0.46, Z:0.18 [[ 9.99985178e-01 -5.15560979e-03 -1.75023201e-03 -1.34244477e+01] [ 5.15738613e-03 9.99986189e-01 1.01192674e-03 4.55094379e-01] [ 1.74499074e-03 -1.02093836e-03 9.99997956e-01 1.77708736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.051966746 meters Centerline goodness [0,1] 0.49362580528082756 Centerline is valid? [False, False] Translation: X:-13.40, Y:0.46, Z:0.18 [[ 9.99997611e-01 2.13961807e-03 -4.47976977e-04 -1.34021909e+01] [-2.14065282e-03 9.99995012e-01 -2.32221358e-03 4.58154797e-01] [ 4.43006092e-04 2.32316700e-03 9.99997203e-01 1.75026199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.081966746 meters Centerline goodness [0,1] 0.5217349327798025 Centerline is valid? [False, False] Translation: X:-13.50, Y:0.46, Z:0.18 [[ 9.99984627e-01 5.62412524e-04 -5.51635002e-03 -1.34987396e+01] [-5.52542552e-04 9.99998244e-01 1.79058241e-03 4.55472809e-01] [ 5.51734738e-03 -1.78750687e-03 9.99983182e-01 1.83942034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.111966746 meters Centerline goodness [0,1] 0.5212418300653594 Centerline is valid? [False, False] Translation: X:-13.50, Y:0.45, Z:0.18 [[ 9.99985070e-01 -5.77673219e-05 -5.46419423e-03 -1.34987944e+01] [ 6.43558436e-05 9.99999271e-01 1.20559459e-03 4.54245621e-01] [ 5.46412060e-03 -1.20592824e-03 9.99984344e-01 1.84215795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.141966745999994 meters Centerline goodness [0,1] 0.5017825919113472 Centerline is valid? [False, False] Translation: X:-13.45, Y:0.46, Z:0.18 [[ 9.99984783e-01 2.47627383e-04 -5.51113120e-03 -1.34510936e+01] [-2.61019440e-04 9.99997015e-01 -2.42941491e-03 4.58028272e-01] [ 5.51051316e-03 2.43081645e-03 9.99981863e-01 1.82843431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.171966745999995 meters Centerline goodness [0,1] 0.5163353623739775 Centerline is valid? [False, False] Translation: X:-13.54, Y:0.46, Z:0.19 [[ 9.99945781e-01 -1.00185604e-03 -1.03648984e-02 -1.35431573e+01] [ 1.02979800e-03 9.99995849e-01 2.69084027e-03 4.57423152e-01] [ 1.03621596e-02 -2.70136813e-03 9.99942662e-01 1.87732695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.201966746 meters Centerline goodness [0,1] 0.48156094944347594 Centerline is valid? [False, False] Translation: X:-13.49, Y:0.46, Z:0.18 [[ 9.99941050e-01 3.88308385e-03 -1.01399195e-02 -1.34943054e+01] [-3.83659314e-03 9.99982058e-01 4.60035249e-03 4.61436593e-01] [ 1.01576011e-02 -4.56117856e-03 9.99938007e-01 1.83909085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.231966746 meters Centerline goodness [0,1] 0.5085192792456353 Centerline is valid? [False, False] Translation: X:-13.57, Y:0.46, Z:0.19 [[ 9.99931122e-01 6.31675075e-03 -9.89187918e-03 -1.35666194e+01] [-6.27255634e-03 9.99970236e-01 4.49241681e-03 4.61703494e-01] [ 9.91996223e-03 -4.43006002e-03 9.99940983e-01 1.85886375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.261966746 meters Centerline goodness [0,1] 0.4735689285311053 Centerline is valid? [False, False] Translation: X:-13.53, Y:0.47, Z:0.19 [[ 9.99961477e-01 3.89446996e-03 -7.86628369e-03 -1.35282758e+01] [-3.91148094e-03 9.99990043e-01 -2.14829308e-03 4.65495676e-01] [ 7.85783890e-03 2.17897914e-03 9.99966753e-01 1.90340085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.291966746 meters Centerline goodness [0,1] 0.45491672370522473 Centerline is valid? [False, False] Translation: X:-13.53, Y:0.47, Z:0.19 [[ 9.99961897e-01 3.27819708e-03 -8.09061407e-03 -1.35279430e+01] [-3.30086611e-03 9.99990660e-01 -2.79013220e-03 4.65578022e-01] [ 8.08139190e-03 2.81673192e-03 9.99963378e-01 1.90526018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.321966745999994 meters Centerline goodness [0,1] 0.4574504560104231 Centerline is valid? [False, False] Translation: X:-13.53, Y:0.47, Z:0.19 [[ 9.99961988e-01 3.44538746e-03 -8.00951490e-03 -1.35275076e+01] [-3.46838930e-03 9.99989896e-01 -2.85969999e-03 4.67989725e-01] [ 7.99958120e-03 2.88737140e-03 9.99963834e-01 1.89061256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.351966745999995 meters Centerline goodness [0,1] 0.4564892859603592 Centerline is valid? [False, False] Translation: X:-13.53, Y:0.47, Z:0.19 [[ 9.99940394e-01 7.53016725e-03 -7.90601296e-03 -1.35270668e+01] [-7.52086904e-03 9.99970992e-01 1.20516545e-03 4.69438806e-01] [ 7.91485871e-03 -1.14563352e-03 9.99968021e-01 1.87833507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.381966745999996 meters Centerline goodness [0,1] 0.4419420682063161 Centerline is valid? [False, False] Translation: X:-13.53, Y:0.47, Z:0.19 [[ 9.99941214e-01 8.00611306e-03 -7.31235466e-03 -1.35288022e+01] [-7.99820915e-03 9.99967398e-01 1.10950255e-03 4.73890131e-01] [ 7.32099907e-03 -1.05095158e-03 9.99972649e-01 1.87587645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.411966746 meters Centerline goodness [0,1] 0.46841759992502696 Centerline is valid? [False, False] Translation: X:-13.58, Y:0.47, Z:0.19 [[ 9.99961287e-01 4.02912222e-03 -7.82240562e-03 -1.35759938e+01] [-4.02776551e-03 9.99991871e-01 1.89184973e-04 4.72613477e-01] [ 7.82310427e-03 -1.57670833e-04 9.99969387e-01 1.87243886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.441966746 meters Centerline goodness [0,1] 0.517094861660079 Centerline is valid? [False, False] Translation: X:-13.63, Y:0.47, Z:0.19 [[ 9.99973530e-01 8.26355375e-04 -7.22889756e-03 -1.36275819e+01] [-8.24780558e-04 9.99999635e-01 2.20828633e-04 4.69764057e-01] [ 7.22907741e-03 -2.14860534e-04 9.99973847e-01 1.90298839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.471966746 meters Centerline goodness [0,1] 0.46384395813510937 Centerline is valid? [False, False] Translation: X:-13.61, Y:0.48, Z:0.19 [[ 9.99993224e-01 -2.23079800e-03 -2.92855241e-03 -1.36063598e+01] [ 2.24376897e-03 9.99987655e-01 4.43335228e-03 4.75152862e-01] [ 2.91862634e-03 -4.43989323e-03 9.99985884e-01 1.87873932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.501966745999994 meters Centerline goodness [0,1] 0.47904423323417733 Centerline is valid? [False, False] Translation: X:-13.61, Y:0.48, Z:0.19 [[ 9.99993554e-01 -2.15346932e-03 -2.87321235e-03 -1.36060900e+01] [ 2.16499025e-03 9.99989605e-01 4.01270651e-03 4.78403201e-01] [ 2.86454124e-03 -4.01890111e-03 9.99987821e-01 1.86817744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.531966745999995 meters Centerline goodness [0,1] 0.4679306269146345 Centerline is valid? [False, False] Translation: X:-13.61, Y:0.48, Z:0.18 [[ 9.99977555e-01 -6.09545560e-03 -2.78132340e-03 -1.36057604e+01] [ 6.09431768e-03 9.99981342e-01 -4.17421828e-04 4.80720484e-01] [ 2.78381588e-03 4.00462190e-04 9.99996045e-01 1.84890401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.561966745999996 meters Centerline goodness [0,1] 0.4621650537372951 Centerline is valid? [False, False] Translation: X:-13.61, Y:0.48, Z:0.18 [[ 9.99979886e-01 -5.90160023e-03 -2.32330036e-03 -1.36073544e+01] [ 5.90023048e-03 9.99982416e-01 -5.95985062e-04 4.83761613e-01] [ 2.32677677e-03 5.82265067e-04 9.99997124e-01 1.84923802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.591966746 meters Centerline goodness [0,1] 0.4930156121610517 Centerline is valid? [False, False] Translation: X:-13.64, Y:0.49, Z:0.19 [[ 9.99978186e-01 3.84749522e-03 -5.36873734e-03 -1.36381763e+01] [-3.83549349e-03 9.99990127e-01 2.24399279e-03 4.88658703e-01] [ 5.37731808e-03 -2.22335209e-03 9.99983070e-01 1.92326575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.621966746 meters Centerline goodness [0,1] 0.4038698456409885 Centerline is valid? [False, False] Translation: X:-13.63, Y:0.49, Z:0.18 [[ 9.99988154e-01 -8.57956309e-04 4.79118957e-03 -1.36339144e+01] [ 8.67294602e-04 9.99997728e-01 -1.94731767e-03 4.92767264e-01] [-4.78950797e-03 1.95144998e-03 9.99986626e-01 1.80781349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.651966746 meters Centerline goodness [0,1] 0.39509202453987735 Centerline is valid? [False, False] Translation: X:-13.66, Y:0.49, Z:0.18 [[ 9.99995940e-01 -7.68934129e-04 2.74386156e-03 -1.36597702e+01] [ 7.96892031e-04 9.99947633e-01 -1.02027500e-02 4.88162295e-01] [-2.73587263e-03 1.02048951e-02 9.99944186e-01 1.82446172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.68196674599999 meters Centerline goodness [0,1] 0.31629651419326377 Centerline is valid? [False, False] Translation: X:-13.66, Y:0.49, Z:0.18 [[ 9.99988949e-01 3.14348664e-03 3.49565080e-03 -1.36621167e+01] [-3.12143013e-03 9.99975300e-01 -6.29735423e-03 4.89800480e-01] [-3.51536011e-03 6.28637321e-03 9.99974062e-01 1.82517509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.711966745999995 meters Centerline goodness [0,1] 0.3058122058787296 Centerline is valid? [False, False] Translation: X:-13.69, Y:0.49, Z:0.18 [[ 9.99991135e-01 -2.17641167e-04 4.20495116e-03 -1.36896920e+01] [ 2.10003770e-04 9.99998328e-01 1.81664290e-03 4.94341233e-01] [-4.20533950e-03 -1.81574374e-03 9.99989509e-01 1.84206774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.741966745999996 meters Centerline goodness [0,1] 0.29956832390592436 Centerline is valid? [False, False] Translation: X:-13.69, Y:0.49, Z:0.18 [[ 9.99988762e-01 -4.21694028e-04 4.72203018e-03 -1.36913788e+01] [ 4.14135224e-04 9.99998632e-01 1.60161642e-03 4.94202521e-01] [-4.72269911e-03 -1.59964286e-03 9.99987569e-01 1.84689898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.771966746 meters Centerline goodness [0,1] 0.2546721413462735 Centerline is valid? [False, False] Translation: X:-13.69, Y:0.49, Z:0.18 [[ 9.99973747e-01 -4.53491327e-03 5.65153976e-03 -1.36941342e+01] [ 4.55058076e-03 9.99985830e-01 -2.76248355e-03 4.93833727e-01] [-5.63893206e-03 2.78812882e-03 9.99980214e-01 1.84134794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.801966746 meters Centerline goodness [0,1] 0.14482259232440264 Centerline is valid? [False, False] Translation: X:-13.70, Y:0.50, Z:0.18 [[ 9.99970663e-01 -4.33039689e-03 6.31828494e-03 -1.36958017e+01] [ 4.34880850e-03 9.99986330e-01 -2.90319726e-03 4.96112035e-01] [-6.30562657e-03 2.93058910e-03 9.99975825e-01 1.82756781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.831966746 meters Centerline goodness [0,1] 0.3603714085494043 Centerline is valid? [False, False] Translation: X:-13.70, Y:0.50, Z:0.19 [[ 9.99966086e-01 -1.79381878e-03 8.03800247e-03 -1.37024178e+01] [ 1.79626262e-03 9.99998343e-01 -2.96827342e-04 4.98178462e-01] [-8.03745670e-03 3.11255639e-04 9.99967651e-01 1.85760812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.861966746 meters Centerline goodness [0,1] 0.1319152153640648 Centerline is valid? [False, False] Translation: X:-13.71, Y:0.50, Z:0.19 [[ 9.99956027e-01 -1.53078370e-03 9.25209015e-03 -1.37059720e+01] [ 1.53316166e-03 9.99998793e-01 -2.49931172e-04 4.99492775e-01] [-9.25169640e-03 2.64105132e-04 9.99957167e-01 1.86090894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.891966745999994 meters Centerline goodness [0,1] 0.1135798125015709 Centerline is valid? [False, False] Translation: X:-13.71, Y:0.50, Z:0.19 [[ 9.99947163e-01 -1.73778347e-03 1.01316653e-02 -1.37093070e+01] [ 1.74194744e-03 9.99998402e-01 -4.02174813e-04 4.99195260e-01] [-1.01309502e-02 4.19802392e-04 9.99948592e-01 1.88172322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.921966745999995 meters Centerline goodness [0,1] 0.11767250152656217 Centerline is valid? [False, False] Translation: X:-13.74, Y:0.50, Z:0.19 [[ 9.99965508e-01 3.03809995e-03 7.72992764e-03 -1.37352663e+01] [-3.00882072e-03 9.99988266e-01 -3.79658874e-03 4.98892883e-01] [-7.74137136e-03 3.77319983e-03 9.99962916e-01 1.92215826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.951966746 meters Centerline goodness [0,1] 0.11968685831622172 Centerline is valid? [False, False] Translation: X:-13.76, Y:0.50, Z:0.20 [[ 9.99981382e-01 -4.00602799e-03 4.60303850e-03 -1.37588296e+01] [ 4.00597352e-03 9.99991976e-01 2.10537340e-05 4.98895684e-01] [-4.60308591e-03 -2.61369164e-06 9.99989406e-01 1.95705329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.981966746 meters Centerline goodness [0,1] 0.11968050621093851 Centerline is valid? [False, False] Translation: X:-13.78, Y:0.50, Z:0.20 [[ 9.99990671e-01 4.14982558e-03 1.19905456e-03 -1.37800753e+01] [-4.14962678e-03 9.99991376e-01 -1.68236074e-04 5.02771496e-01] [-1.19974237e-03 1.63258876e-04 9.99999267e-01 1.95242464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.011966746 meters Centerline goodness [0,1] 0.09531416400425985 Centerline is valid? [False, False] Translation: X:-14.72, Y:0.59, Z:0.20 [[ 9.93661323e-01 -3.50392319e-02 1.06814922e-01 -1.47152520e+01] [ 3.66866907e-02 9.99235665e-01 -1.34971345e-02 5.93877270e-01] [-1.06260351e-01 1.73302665e-02 9.94187306e-01 1.97965083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.041966746 meters Centerline goodness [0,1] 0.17205422314911367 Centerline is valid? [False, False] Translation: X:-14.74, Y:0.59, Z:0.20 [[ 9.94085886e-01 -2.62847653e-02 1.05367747e-01 -1.47399166e+01] [ 2.77926025e-02 9.99530892e-01 -1.28673055e-02 5.91876902e-01] [-1.04980104e-01 1.57196507e-02 9.94350074e-01 2.03595194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.071966745999994 meters Centerline goodness [0,1] 0.13550641682231723 Centerline is valid? [False, False] Translation: X:-14.76, Y:0.58, Z:0.21 [[ 9.93887984e-01 -3.74811604e-02 1.03835631e-01 -1.47621619e+01] [ 3.88905554e-02 9.99176358e-01 -1.15814418e-02 5.82399536e-01] [-1.03316022e-01 1.55488812e-02 9.94527039e-01 2.05876735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.101966745999995 meters Centerline goodness [0,1] 0.08987096383352522 Centerline is valid? [False, False] Translation: X:-14.78, Y:0.57, Z:0.21 [[ 9.93705099e-01 -4.79515993e-02 1.01246337e-01 -1.47829978e+01] [ 4.92374303e-02 9.98734629e-01 -1.02380280e-02 5.74978505e-01] [-1.00627293e-01 1.51586901e-02 9.94808706e-01 2.07655205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.131966745999996 meters Centerline goodness [0,1] 0.0880836963858379 Centerline is valid? [False, False] Translation: X:-14.80, Y:0.57, Z:0.21 [[ 9.93320480e-01 -5.85557877e-02 9.94265701e-02 -1.48045662e+01] [ 5.97548700e-02 9.98171395e-01 -9.12254926e-03 5.69833415e-01] [-9.87105802e-02 1.50028368e-02 9.95003084e-01 2.10470795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.161966746 meters Centerline goodness [0,1] 0.08608970079504763 Centerline is valid? [False, False] Translation: X:-14.80, Y:0.57, Z:0.22 [[ 9.94209110e-01 -6.41060161e-02 8.62476868e-02 -1.48017774e+01] [ 6.55331326e-02 9.97754750e-01 -1.38155062e-02 5.65780701e-01] [-8.51683821e-02 1.93875832e-02 9.96177930e-01 2.16944474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.191966746 meters Centerline goodness [0,1] 0.15475576847275707 Centerline is valid? [False, False] Translation: X:-14.80, Y:0.56, Z:0.22 [[ 9.94141527e-01 -6.49362106e-02 8.64055185e-02 -1.48020631e+01] [ 6.63779536e-02 9.97697511e-01 -1.39155977e-02 5.62179659e-01] [-8.53029445e-02 1.95694950e-02 9.96162859e-01 2.17905405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.221966746 meters Centerline goodness [0,1] 0.11123905336201934 Centerline is valid? [False, False] Translation: X:-14.80, Y:0.55, Z:0.22 [[ 9.93491088e-01 -8.12671672e-02 7.98192044e-02 -1.48019576e+01] [ 8.24748244e-02 9.96521548e-01 -1.19459938e-02 5.54836238e-01] [-7.85707401e-02 1.84513132e-02 9.96737773e-01 2.21642002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.251966745999994 meters Centerline goodness [0,1] 0.11654364667846029 Centerline is valid? [False, False] Translation: X:-14.79, Y:0.55, Z:0.23 [[ 9.94154138e-01 -8.83421167e-02 6.20743179e-02 -1.47902348e+01] [ 8.92050218e-02 9.95949583e-01 -1.12646793e-02 5.50961302e-01] [-6.08277454e-02 1.67361684e-02 9.98007959e-01 2.25022660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.281966745999995 meters Centerline goodness [0,1] 0.08609889778955615 Centerline is valid? [False, False] Translation: X:-14.79, Y:0.55, Z:0.22 [[ 9.94093473e-01 -8.89377039e-02 6.21952721e-02 -1.47902722e+01] [ 8.98000518e-02 9.95896786e-01 -1.12045810e-02 5.49812782e-01] [-6.09435619e-02 1.67235395e-02 9.98001105e-01 2.24030350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.311966745999996 meters Centerline goodness [0,1] 0.08609889778955615 Centerline is valid? [False, False] Translation: X:-14.79, Y:0.55, Z:0.22 [[ 9.94093473e-01 -8.89377039e-02 6.21952721e-02 -1.47902722e+01] [ 8.98000518e-02 9.95896786e-01 -1.12045810e-02 5.49812782e-01] [-6.09435619e-02 1.67235395e-02 9.98001105e-01 2.24030350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.341966746 meters Centerline goodness [0,1] 0.09008194745721865 Centerline is valid? [False, False] Translation: X:-14.79, Y:0.55, Z:0.22 [[ 9.94334484e-01 -8.61458294e-02 6.22722293e-02 -1.47909188e+01] [ 8.67789265e-02 9.96199139e-01 -7.52948857e-03 5.49026886e-01] [-6.13869071e-02 1.28907473e-02 9.98030799e-01 2.23932828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.371966746 meters Centerline goodness [0,1] 0.1594619693837812 Centerline is valid? [False, False] Translation: X:-14.79, Y:0.55, Z:0.22 [[ 9.94214747e-01 -8.71691042e-02 6.27581378e-02 -1.47919441e+01] [ 8.78502744e-02 9.96100167e-01 -8.17231204e-03 5.48074362e-01] [-6.18010184e-02 1.36383528e-02 9.97995305e-01 2.24479393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.401966746 meters Centerline goodness [0,1] 0.14407565917457277 Centerline is valid? [False, False] Translation: X:-14.79, Y:0.55, Z:0.22 [[ 9.94148725e-01 -8.74453148e-02 6.34163226e-02 -1.47938011e+01] [ 8.81604052e-02 9.96069497e-01 -8.56157744e-03 5.49693519e-01] [-6.24183947e-02 1.41022900e-02 9.97950434e-01 2.24991453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43196674599999 meters Centerline goodness [0,1] 0.14987707621274815 Centerline is valid? [False, False] Translation: X:-14.79, Y:0.55, Z:0.23 [[ 9.94134911e-01 -8.74490288e-02 6.36273972e-02 -1.47945466e+01] [ 8.81792804e-02 9.96066141e-01 -8.75541793e-03 5.51502861e-01] [-6.26114432e-02 1.43146847e-02 9.97935317e-01 2.25388023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.461966745999995 meters Centerline goodness [0,1] 0.15907441016333934 Centerline is valid? [False, False] Translation: X:-14.79, Y:0.56, Z:0.23 [[ 9.95080810e-01 -8.62032744e-02 4.88177874e-02 -1.47891691e+01] [ 8.66233598e-02 9.96219587e-01 -6.55196938e-03 5.56283977e-01] [-4.80684348e-02 1.07484998e-02 9.98786211e-01 2.31159216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.491966745999996 meters Centerline goodness [0,1] 0.14458377398398548 Centerline is valid? [False, False] Translation: X:-14.79, Y:0.56, Z:0.23 [[ 9.96011584e-01 -8.21726589e-02 3.47646226e-02 -1.47866553e+01] [ 8.23522552e-02 9.96596177e-01 -3.76366721e-03 5.60490810e-01] [-3.43370195e-02 6.61160122e-03 9.99388441e-01 2.34942710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.521966746 meters Centerline goodness [0,1] 0.13666355337290226 Centerline is valid? [False, False] Translation: X:-14.79, Y:0.57, Z:0.24 [[ 9.96962134e-01 -7.08117938e-02 3.24375394e-02 -1.47882361e+01] [ 7.11962790e-02 9.97403268e-01 -1.08540795e-02 5.65524524e-01] [-3.15847109e-02 1.31305384e-02 9.99414826e-01 2.36696124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.551966746 meters Centerline goodness [0,1] 0.14702977704623676 Centerline is valid? [False, False] Translation: X:-14.79, Y:0.57, Z:0.24 [[ 9.98060539e-01 -5.50445651e-02 2.90732987e-02 -1.47874993e+01] [ 5.54513561e-02 9.98371796e-01 -1.33754686e-02 5.72675449e-01] [-2.82897146e-02 1.49616813e-02 9.99487789e-01 2.36882862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.581966746 meters Centerline goodness [0,1] 0.14477679242447017 Centerline is valid? [False, False] Translation: X:-14.80, Y:0.58, Z:0.24 [[ 9.98611075e-01 -4.66003435e-02 2.45830831e-02 -1.48046916e+01] [ 4.69511138e-02 9.98800616e-01 -1.38896494e-02 5.78854596e-01] [-2.39063361e-02 1.50245609e-02 9.99601295e-01 2.36008241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.611966746 meters Centerline goodness [0,1] 0.13616753550242677 Centerline is valid? [False, False] Translation: X:-14.82, Y:0.59, Z:0.24 [[ 9.99175920e-01 -3.49292960e-02 2.06742477e-02 -1.48229350e+01] [ 3.51662441e-02 9.99318598e-01 -1.12105270e-02 5.85419498e-01] [-2.02685844e-02 1.19283243e-02 9.99723412e-01 2.35909016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.641966745999994 meters Centerline goodness [0,1] 0.08894547633313366 Centerline is valid? [False, False] Translation: X:-14.83, Y:0.59, Z:0.24 [[ 9.99546451e-01 -2.06223523e-02 2.19456418e-02 -1.48292884e+01] [ 2.05748675e-02 9.99785465e-01 2.38736782e-03 5.92484845e-01] [-2.19901668e-02 -1.93475636e-03 9.99756315e-01 2.41103952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.671966745999995 meters Centerline goodness [0,1] 0.09482888134370959 Centerline is valid? [False, False] Translation: X:-14.85, Y:0.60, Z:0.24 [[ 9.99797747e-01 -8.46865889e-03 1.82413420e-02 -1.48483768e+01] [ 8.37798072e-03 9.99952194e-01 5.04172259e-03 5.99213923e-01] [-1.82831665e-02 -4.88787728e-03 9.99820901e-01 2.41973897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.701966746 meters Centerline goodness [0,1] 0.11282519397535373 Centerline is valid? [False, False] Translation: X:-14.85, Y:0.60, Z:0.24 [[ 9.99939182e-01 4.32585563e-04 1.10202109e-02 -1.48465293e+01] [-3.86406893e-04 9.99991138e-01 -4.19214638e-03 6.00692211e-01] [-1.10219267e-02 4.18763314e-03 9.99930488e-01 2.44167992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.731966746 meters Centerline goodness [0,1] 0.08574989361055385 Centerline is valid? [False, False] Translation: X:-14.85, Y:0.60, Z:0.25 [[ 9.99921791e-01 -1.64042528e-03 1.23984488e-02 -1.48522680e+01] [ 1.73260436e-03 9.99970914e-01 -7.42764585e-03 5.97772247e-01] [-1.23859037e-02 7.44854654e-03 9.99895549e-01 2.46173395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.761966746 meters Centerline goodness [0,1] 0.10008815565770413 Centerline is valid? [False, False] Translation: X:-14.88, Y:0.60, Z:0.25 [[ 9.99868529e-01 1.24302499e-02 1.04122021e-02 -1.48767433e+01] [-1.24043985e-02 9.99919827e-01 -2.54370870e-03 6.01388799e-01] [-1.04429863e-02 2.41421717e-03 9.99942556e-01 2.46912409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.791966746 meters Centerline goodness [0,1] 0.08710768053074769 Centerline is valid? [False, False] Translation: X:-14.90, Y:0.60, Z:0.25 [[ 9.99612132e-01 2.63855601e-02 8.91001101e-03 -1.49007603e+01] [-2.64075912e-02 9.99648463e-01 2.36406974e-03 6.02544727e-01] [-8.84450151e-03 -2.59844472e-03 9.99957511e-01 2.47894846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.821966745999994 meters Centerline goodness [0,1] 0.08990628660679423 Centerline is valid? [False, False] Translation: X:-14.93, Y:0.60, Z:0.25 [[ 9.99314963e-01 3.62466161e-02 7.46908571e-03 -1.49251996e+01] [-3.62754559e-02 9.99334746e-01 3.76257744e-03 6.00846207e-01] [-7.32773617e-03 -4.03094442e-03 9.99965027e-01 2.49092589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.851966745999995 meters Centerline goodness [0,1] 0.07528255528255523 Centerline is valid? [False, False] Translation: X:-14.95, Y:0.60, Z:0.25 [[ 9.99328385e-01 3.60231785e-02 6.71637671e-03 -1.49468047e+01] [-3.61095706e-02 9.99260407e-01 1.32188586e-02 6.01438032e-01] [-6.23522402e-03 -1.34525061e-02 9.99890070e-01 2.50807436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.881966745999996 meters Centerline goodness [0,1] 0.07284235557420615 Centerline is valid? [False, False] Translation: X:-14.99, Y:0.60, Z:0.25 [[ 9.99118128e-01 4.12595237e-02 7.78572930e-03 -1.49915403e+01] [-4.13997093e-02 9.98965841e-01 1.87966035e-02 6.00047435e-01] [-7.00213871e-03 -1.91023542e-02 9.99793014e-01 2.51666537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.911966746 meters Centerline goodness [0,1] 0.07651743054326665 Centerline is valid? [False, False] Translation: X:-15.02, Y:0.59, Z:0.25 [[ 9.99049967e-01 4.29439082e-02 7.41518429e-03 -1.50199665e+01] [-4.30315237e-02 9.99000553e-01 1.20906367e-02 5.93554525e-01] [-6.88855401e-03 -1.23982368e-02 9.99899411e-01 2.53475718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.941966746 meters Centerline goodness [0,1] 0.08788947677836567 Centerline is valid? [False, False] Translation: X:-15.05, Y:0.59, Z:0.26 [[ 9.98778712e-01 4.89847207e-02 6.44844341e-03 -1.50481850e+01] [-4.90481965e-02 9.98745509e-01 1.00837773e-02 5.89540509e-01] [-5.94640288e-03 -1.03877466e-02 9.99928365e-01 2.55258406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.971966746 meters Centerline goodness [0,1] 0.08000916135435354 Centerline is valid? [False, False] Translation: X:-15.07, Y:0.59, Z:0.26 [[ 9.98850692e-01 4.78019196e-02 3.50311501e-03 -1.50679087e+01] [-4.78609677e-02 9.98666589e-01 1.93487122e-02 5.86141049e-01] [-2.57353833e-03 -1.94941370e-02 9.99806659e-01 2.55149879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.001966745999994 meters Centerline goodness [0,1] 0.08446654751728966 Centerline is valid? [False, False] Translation: X:-15.11, Y:0.59, Z:0.25 [[ 9.98493537e-01 5.47432750e-02 3.71901255e-03 -1.51115261e+01] [-5.48256272e-02 9.98110164e-01 2.77533830e-02 5.86291886e-01] [-2.19267315e-03 -2.79154707e-02 9.99607882e-01 2.51149857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.031966745999995 meters Centerline goodness [0,1] 0.08740856414892739 Centerline is valid? [False, False] Translation: X:-15.12, Y:0.58, Z:0.25 [[ 9.98537179e-01 5.36297178e-02 6.88149882e-03 -1.51248551e+01] [-5.37883179e-02 9.98228838e-01 2.54166178e-02 5.78920321e-01] [-5.50622452e-03 -2.57495821e-02 9.99653260e-01 2.54511591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.061966745999996 meters Centerline goodness [0,1] 0.07475567965477847 Centerline is valid? [False, False] Translation: X:-15.16, Y:0.57, Z:0.26 [[ 9.98139453e-01 6.04780945e-02 7.74802289e-03 -1.51590779e+01] [-6.06415616e-02 9.97895426e-01 2.29634302e-02 5.73385793e-01] [-6.34293210e-03 -2.33905579e-02 9.99706281e-01 2.58255654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.091966746 meters Centerline goodness [0,1] 0.08663005234703514 Centerline is valid? [False, False] Translation: X:-15.19, Y:0.58, Z:0.26 [[ 9.97491156e-01 7.02654492e-02 8.61167522e-03 -1.51887907e+01] [-7.04520357e-02 9.97233173e-01 2.37172967e-02 5.75856869e-01] [-6.92134169e-03 -2.42645038e-02 9.99681614e-01 2.59148293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.121966746 meters Centerline goodness [0,1] 0.06118211599686241 Centerline is valid? [False, False] Translation: X:-15.22, Y:0.57, Z:0.26 [[ 9.96778533e-01 7.97042381e-02 8.93257186e-03 -1.52174377e+01] [-7.99070419e-02 9.96481727e-01 2.52790726e-02 5.74085828e-01] [-6.88629543e-03 -2.59114122e-02 9.99640524e-01 2.61887065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.151966746 meters Centerline goodness [0,1] 0.08843438739000098 Centerline is valid? [False, False] Translation: X:-15.23, Y:0.57, Z:0.27 [[ 9.96377114e-01 8.41329571e-02 1.24214240e-02 -1.52329607e+01] [-8.44690809e-02 9.95986029e-01 2.96108760e-02 5.67221278e-01] [-9.88031423e-03 -3.05528255e-02 9.99484319e-01 2.70423431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.18196674599999 meters Centerline goodness [0,1] 0.08463796477495111 Centerline is valid? [False, False] Translation: X:-15.24, Y:0.56, Z:0.28 [[ 9.96169629e-01 8.62943501e-02 1.41192956e-02 -1.52420624e+01] [-8.67022818e-02 9.95738863e-01 3.14138817e-02 5.63232463e-01] [-1.13482909e-02 -3.25177300e-02 9.99406731e-01 2.75234850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.211966745999995 meters Centerline goodness [0,1] 0.09958998172207678 Centerline is valid? [False, False] Translation: X:-15.25, Y:0.56, Z:0.28 [[ 9.95931267e-01 8.88109376e-02 1.52816393e-02 -1.52499069e+01] [-8.92750945e-02 9.95460677e-01 3.29848030e-02 5.62221607e-01] [-1.22828597e-02 -3.42148665e-02 9.99339019e-01 2.78233867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.241966745999996 meters Centerline goodness [0,1] 0.09373056994818652 Centerline is valid? [False, False] Translation: X:-15.28, Y:0.56, Z:0.28 [[ 9.95431111e-01 9.41224773e-02 1.60581081e-02 -1.52761390e+01] [-9.45900931e-02 9.95021326e-01 3.13890793e-02 5.58751240e-01] [-1.30237421e-02 -3.27646040e-02 9.99378238e-01 2.81347209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.271966746 meters Centerline goodness [0,1] 0.10320246834769653 Centerline is valid? [False, False] Translation: X:-15.29, Y:0.56, Z:0.28 [[ 9.95207772e-01 9.61262660e-02 1.79229141e-02 -1.52850779e+01] [-9.66693335e-02 9.94789038e-01 3.24007796e-02 5.59611961e-01] [-1.47149525e-02 -3.39781039e-02 9.99314244e-01 2.84285476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.301966746 meters Centerline goodness [0,1] 0.1265373197625106 Centerline is valid? [False, False] Translation: X:-15.30, Y:0.56, Z:0.29 [[ 0.9948363 0.09937739 0.0206126 -15.29839415] [ -0.10004399 0.99439094 0.03431986 0.56105443] [ -0.01708636 -0.03620481 0.99919831 0.28905283] [ 0. 0. 0. 1. ]] SLAMing on 55.331966746 meters Centerline goodness [0,1] 0.04418503163866461 Centerline is valid? [False, False] Translation: X:-15.37, Y:0.55, Z:0.31 [[ 0.99367227 0.10318054 0.04437572 -15.37296644] [ -0.10492396 0.99371786 0.03893296 0.55280876] [ -0.04007982 -0.04334268 0.99825599 0.31401614] [ 0. 0. 0. 1. ]] SLAMing on 55.361966746 meters Total time of SLAM: 2745.32 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... 0%| | 0/1845 [00:00