+ python -m lidar_slam --no-model /working/4784edb8-b5dc-4772-baf2-329dba74f8a1 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/4784edb8-b5dc-4772-baf2-329dba74f8a1 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 0.003133365 Adjusted end_distance from 9.223372036854776e+18 to 372.893133365 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.003133365 meters Centerline goodness [0,1] 0.07586296001205883 Centerline is valid? [0, False] SLAMing on 0.033133365 meters Centerline goodness [0,1] 0.07586296001205883 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 1.00000000e+00 -4.05446771e-18 -2.87919342e-16 6.12844736e-14] [ 4.05416594e-17 1.00000000e+00 5.04886883e-16 -6.97636529e-14] [-5.60028165e-17 2.80053646e-16 1.00000000e+00 -3.18412018e-13] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.063133365 meters Centerline goodness [0,1] 0.26160346790436995 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999814e-01 -4.17906504e-05 -6.08142112e-04 4.51288540e-03] [ 4.18266169e-05 9.99999997e-01 5.91290305e-05 -3.75253420e-04] [ 6.08139639e-04 -5.91544560e-05 9.99999813e-01 -1.49310277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.093133365 meters Centerline goodness [0,1] 0.2799280902770257 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 9.99998051e-01 -3.59334498e-04 -1.94114723e-03 2.09110226e-02] [ 3.59328392e-04 9.99999935e-01 -3.49404359e-06 -1.50581383e-03] [ 1.94114836e-03 2.79652746e-06 9.99998116e-01 -1.10220099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.123133365 meters Centerline goodness [0,1] 0.2770464025026069 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.01 [[ 9.99996665e-01 -3.16210975e-04 -2.56301739e-03 2.57349824e-02] [ 3.16865721e-04 9.99999917e-01 2.55057108e-04 -3.24122592e-03] [ 2.56293652e-03 -2.55868390e-04 9.99996683e-01 -1.29825101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.153133365 meters Centerline goodness [0,1] 0.28885867806046484 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99994344e-01 -6.85070262e-04 -3.29284338e-03 3.24370077e-02] [ 6.85177494e-04 9.99999765e-01 3.14372340e-05 -3.58385188e-03] [ 3.29282107e-03 -3.36932383e-05 9.99994578e-01 -1.61778447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.183133365 meters Centerline goodness [0,1] 0.2948200251834484 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.02 [[ 9.99988928e-01 -8.17197305e-04 -4.63423511e-03 4.74339701e-02] [ 8.18765798e-04 9.99999608e-01 3.36570553e-04 -7.84397028e-03] [ 4.63395825e-03 -3.40361179e-04 9.99989205e-01 -2.39478947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.213133365 meters Centerline goodness [0,1] 0.29360124853687086 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.03 [[ 9.99986014e-01 -6.88261833e-04 -5.24378287e-03 5.23015869e-02] [ 6.91941541e-04 9.99999516e-01 6.99945929e-04 -1.05958226e-02] [ 5.24329858e-03 -7.03564531e-04 9.99986006e-01 -2.59157808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.243133365 meters Centerline goodness [0,1] 0.304387708301483 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.03 [[ 9.99983320e-01 -5.83944196e-04 -5.74622393e-03 5.64317860e-02] [ 5.89151166e-04 9.99999417e-01 9.04504129e-04 -1.21560632e-02] [ 5.74569241e-03 -9.07874436e-04 9.99983081e-01 -2.77970363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.273133365 meters Centerline goodness [0,1] 0.29257708247445047 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.04 [[ 9.99975348e-01 1.90914217e-04 -7.01910250e-03 7.14978236e-02] [-1.81276080e-04 9.99999040e-01 1.37374009e-03 -1.32402206e-02] [ 7.01935803e-03 -1.37243383e-03 9.99974422e-01 -3.68882862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.303133365 meters Centerline goodness [0,1] 0.1869094657275382 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.04 [[ 9.99968839e-01 7.98776082e-04 -7.85383079e-03 8.08186479e-02] [-7.85191847e-04 9.99998191e-01 1.73256307e-03 -1.33202944e-02] [ 7.85520051e-03 -1.72634232e-03 9.99967657e-01 -4.31104856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33313336499999996 meters Centerline goodness [0,1] 0.30923093611020713 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:-0.04 [[ 9.99964802e-01 7.83231742e-04 -8.35351964e-03 8.50940298e-02] [-7.71188870e-04 9.99998659e-01 1.44477622e-03 -1.15698444e-02] [ 8.35464003e-03 -1.43828323e-03 9.99964065e-01 -4.48877668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.363133365 meters Centerline goodness [0,1] 0.33345707859279805 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.01, Z:-0.05 [[ 0.99995338 0.00160888 -0.00952135 0.09874035] [-0.00159173 0.9999971 0.00180833 -0.01048727] [ 0.00952423 -0.00179309 0.99995304 -0.05122245] [ 0. 0. 0. 1. ]] SLAMing on 0.393133365 meters Centerline goodness [0,1] 0.18504758180159042 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.01, Z:-0.05 [[ 0.99994914 0.00140376 -0.00998728 0.1028829 ] [-0.00138904 0.99999794 0.00147993 -0.00843316] [ 0.00998933 -0.00146598 0.99994903 -0.05297916] [ 0. 0. 0. 1. ]] SLAMing on 0.423133365 meters Centerline goodness [0,1] 0.3612920145111237 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.06 [[ 0.99993747 0.00171453 -0.01105019 0.11639928] [-0.00169706 0.9999973 0.00159015 -0.00692374] [ 0.01105289 -0.0015713 0.99993768 -0.06025812] [ 0. 0. 0. 1. ]] SLAMing on 0.45313336499999995 meters Centerline goodness [0,1] 0.09270285540440693 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.06 [[ 0.99993254 0.00150865 -0.0115173 0.12040849] [-0.00149323 0.99999798 0.00134683 -0.00518243] [ 0.01151931 -0.00132954 0.99993277 -0.06212679] [ 0. 0. 0. 1. ]] SLAMing on 0.483133365 meters Centerline goodness [0,1] 0.04885819363667465 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:-0.06 [[ 0.99992809 0.0013199 -0.01191972 0.12452446] [-0.00130664 0.99999852 0.00112055 -0.00368672] [ 0.01192118 -0.0011049 0.99992833 -0.06396363] [ 0. 0. 0. 1. ]] SLAMing on 0.5131333650000001 meters Centerline goodness [0,1] 0.24350992093414048 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.00, Z:-0.08 [[ 9.99993150e-01 1.98219731e-03 3.12596032e-03 1.05758410e-01] [-1.98183391e-03 9.99998029e-01 -1.19348084e-04 -1.36442006e-03] [-3.12619073e-03 1.13152133e-04 9.99995107e-01 -8.17313291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5431333650000001 meters Centerline goodness [0,1] 0.23913277499084984 Centerline is valid? [False, False] Translation: X:0.12, Y:0.00, Z:-0.09 [[ 9.99995705e-01 2.19913113e-03 1.93734462e-03 1.19701207e-01] [-2.19842109e-03 9.99997516e-01 -3.68552398e-04 2.43997924e-03] [-1.93815030e-03 3.64291716e-04 9.99998055e-01 -8.90235088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.573133365 meters Centerline goodness [0,1] 0.23875537786276124 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.09 [[ 0.99999727 0.00183461 0.00144808 0.12381342] [-0.00183305 0.99999774 -0.00107481 0.0073756 ] [-0.00145005 0.00107216 0.99999837 -0.0910709 ] [ 0. 0. 0. 1. ]] SLAMing on 0.603133365 meters Centerline goodness [0,1] 0.23061565504220827 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:-0.09 [[ 9.99998550e-01 1.49084555e-03 8.22536808e-04 1.28918024e-01] [-1.48935819e-03 9.99997260e-01 -1.80592030e-03 1.23954717e-02] [-8.25226903e-04 1.80469263e-03 9.99998031e-01 -9.33867295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6331333650000001 meters Centerline goodness [0,1] 0.2147746658316958 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:-0.10 [[ 9.99998049e-01 1.97239102e-03 1.09803665e-04 1.42202493e-01] [-1.97216041e-03 9.99995929e-01 -2.06209761e-03 1.93759908e-02] [-1.13870481e-04 2.06187704e-03 9.99997868e-01 -1.00391584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.663133365 meters Centerline goodness [0,1] 0.3382537067545305 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:-0.10 [[ 9.99998789e-01 1.53971786e-03 -2.24813638e-04 1.45489380e-01] [-1.54034729e-03 9.99994818e-01 -2.82698024e-03 2.50066907e-02] [ 2.20459721e-04 2.82732311e-03 9.99995979e-01 -1.01296597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.693133365 meters Centerline goodness [0,1] 0.3298358473824312 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:-0.10 [[ 9.99999304e-01 1.02729435e-03 -5.80451654e-04 1.48711139e-01] [-1.02943559e-03 9.99992622e-01 -3.70073887e-03 3.13398762e-02] [ 5.76645624e-04 3.70133383e-03 9.99992984e-01 -1.02752155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.723133365 meters Centerline goodness [0,1] 0.25448092676502754 Centerline is valid? [False, False] Translation: X:0.15, Y:0.04, Z:-0.10 [[ 9.99999400e-01 5.26766685e-04 -9.60002159e-04 1.52062759e-01] [-5.31156947e-04 9.99989377e-01 -4.57867688e-03 3.76693009e-02] [ 9.57580066e-04 4.57918405e-03 9.99989057e-01 -1.04649065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.753133365 meters Centerline goodness [0,1] 0.28296276272217347 Centerline is valid? [False, False] Translation: X:0.16, Y:0.05, Z:-0.11 [[ 9.99997938e-01 5.40052393e-04 -1.95760601e-03 1.64439604e-01] [-5.50594968e-04 9.99985328e-01 -5.38891016e-03 4.66849743e-02] [ 1.95466699e-03 5.38997690e-03 9.99983564e-01 -1.11977080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7831333650000001 meters Centerline goodness [0,1] 0.29889025893958077 Centerline is valid? [False, False] Translation: X:0.17, Y:0.05, Z:-0.11 [[ 9.99997415e-01 1.57868847e-05 -2.27373196e-03 1.67122636e-01] [-3.00015084e-05 9.99980457e-01 -6.25177237e-03 5.26884667e-02] [ 2.27358883e-03 6.25182443e-03 9.99977872e-01 -1.13351935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.813133365 meters Centerline goodness [0,1] 0.32870804844259727 Centerline is valid? [False, False] Translation: X:0.17, Y:0.06, Z:-0.11 [[ 9.99996640e-01 -4.84590344e-04 -2.54640351e-03 1.69653930e-01] [ 4.66765218e-04 9.99975418e-01 -6.99605600e-03 5.82514375e-02] [ 2.54973114e-03 6.99484393e-03 9.99972285e-01 -1.14365859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.843133365 meters Centerline goodness [0,1] 0.36465783714266375 Centerline is valid? [False, False] Translation: X:0.17, Y:0.06, Z:-0.11 [[ 9.99995505e-01 -9.16767550e-04 -2.85460178e-03 1.71963329e-01] [ 8.95164291e-04 9.99971022e-01 -7.55997465e-03 6.25717688e-02] [ 2.86144980e-03 7.55738533e-03 9.99967348e-01 -1.14677645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.873133365 meters Centerline goodness [0,1] 0.3979621477889751 Centerline is valid? [False, False] Translation: X:0.18, Y:0.07, Z:-0.12 [[ 0.99999258 -0.00224804 -0.00312786 0.178471 ] [ 0.00222061 0.9999593 -0.00874414 0.06958486] [ 0.00314739 0.00873713 0.99995688 -0.11603537] [ 0. 0. 0. 1. ]] SLAMing on 0.903133365 meters Centerline goodness [0,1] 0.3938959992839882 Centerline is valid? [False, False] Translation: X:0.18, Y:0.07, Z:-0.12 [[ 0.99999063 -0.00249392 -0.00353821 0.18156743] [ 0.00246236 0.99995739 -0.00889727 0.07061068] [ 0.00356025 0.00888848 0.99995416 -0.11704228] [ 0. 0. 0. 1. ]] SLAMing on 0.933133365 meters Centerline goodness [0,1] 0.38645027531934817 Centerline is valid? [False, False] Translation: X:0.19, Y:0.07, Z:-0.12 [[ 0.99998817 -0.00276856 -0.00399988 0.18511568] [ 0.0027323 0.99995539 -0.00904173 0.0713337 ] [ 0.00402473 0.00903069 0.99995112 -0.11840647] [ 0. 0. 0. 1. ]] SLAMing on 0.963133365 meters Centerline goodness [0,1] 0.06011920767231338 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.12 [[ 0.99997986 -0.00407558 -0.00486612 0.19574212] [ 0.00402852 0.99994542 -0.00964038 0.07343998] [ 0.00490515 0.00962059 0.99994169 -0.12304914] [ 0. 0. 0. 1. ]] SLAMing on 0.993133365 meters Centerline goodness [0,1] 0.2377073358898142 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.12 [[ 0.99997694 -0.00422162 -0.0053193 0.19917202] [ 0.00417236 0.99994861 -0.00923914 0.07103162] [ 0.00535803 0.00921673 0.99994317 -0.12342549] [ 0. 0. 0. 1. ]] SLAMing on 1.023133365 meters Centerline goodness [0,1] 0.06253801617517851 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.12 [[ 0.99997366 -0.00443437 -0.00574572 0.20300738] [ 0.0043838 0.9999518 -0.00878506 0.06756413] [ 0.0057844 0.00875964 0.9999449 -0.1240259 ] [ 0. 0. 0. 1. ]] SLAMing on 1.053133365 meters Centerline goodness [0,1] 0.06368147981051209 Centerline is valid? [False, False] Translation: X:0.21, Y:0.06, Z:-0.13 [[ 0.99996378 -0.0058563 -0.00617631 0.21169763] [ 0.00580009 0.99994196 -0.00907938 0.06487344] [ 0.00622913 0.00904323 0.99993971 -0.12762572] [ 0. 0. 0. 1. ]] SLAMing on 1.0831333650000001 meters Centerline goodness [0,1] 0.06874730658440886 Centerline is valid? [False, False] Translation: X:0.21, Y:0.06, Z:-0.13 [[ 0.99996233 -0.00576451 -0.00648851 0.21449859] [ 0.00570732 0.999945 -0.00879936 0.06330099] [ 0.00653887 0.00876199 0.99994023 -0.12897207] [ 0. 0. 0. 1. ]] SLAMing on 1.113133365 meters Centerline goodness [0,1] 0.06397617812267364 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.13 [[ 0.99996076 -0.0057129 -0.00677079 0.21711024] [ 0.00565412 0.99994643 -0.00866985 0.06273461] [ 0.00681996 0.00863122 0.99993949 -0.13006992] [ 0. 0. 0. 1. ]] SLAMing on 1.143133365 meters Centerline goodness [0,1] 0.06397617812267364 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.13 [[ 0.99996076 -0.0057129 -0.00677079 0.21711024] [ 0.00565412 0.99994643 -0.00866985 0.06273461] [ 0.00681996 0.00863122 0.99993949 -0.13006992] [ 0. 0. 0. 1. ]] SLAMing on 1.173133365 meters Centerline goodness [0,1] 0.06981715637223684 Centerline is valid? [False, False] Translation: X:0.23, Y:0.06, Z:-0.13 [[ 0.99996954 -0.00261335 -0.00735438 0.22613426] [ 0.00257671 0.99998424 -0.00498788 0.05936868] [ 0.0073673 0.00496878 0.99996052 -0.13417765] [ 0. 0. 0. 1. ]] SLAMing on 1.203133365 meters Centerline goodness [0,1] 0.06437924898480629 Centerline is valid? [False, False] Translation: X:0.23, Y:0.06, Z:-0.14 [[ 0.99996781 -0.00256577 -0.00760287 0.22846946] [ 0.00252653 0.99998346 -0.00516669 0.06090645] [ 0.00761601 0.00514731 0.99995775 -0.13543968] [ 0. 0. 0. 1. ]] SLAMing on 1.233133365 meters Centerline goodness [0,1] 0.06260889766523403 Centerline is valid? [False, False] Translation: X:0.23, Y:0.06, Z:-0.14 [[ 0.999966 -0.00257017 -0.00783572 0.23055612] [ 0.00252783 0.99998218 -0.00540834 0.06287462] [ 0.00784948 0.00538835 0.99995467 -0.13646748] [ 0. 0. 0. 1. ]] SLAMing on 1.263133365 meters Centerline goodness [0,1] 0.06313929700576526 Centerline is valid? [False, False] Translation: X:0.23, Y:0.06, Z:-0.14 [[ 0.99996945 -0.00243791 -0.00742603 0.23303005] [ 0.00239824 0.99998284 -0.00534548 0.06387391] [ 0.00743894 0.00532751 0.99995814 -0.13681881] [ 0. 0. 0. 1. ]] SLAMing on 1.293133365 meters Centerline goodness [0,1] 0.06432494279176204 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:-0.14 [[ 0.99996823 -0.00241486 -0.00759654 0.23530136] [ 0.00237508 0.99998345 -0.00524097 0.06337238] [ 0.00760907 0.00522276 0.99995741 -0.13770364] [ 0. 0. 0. 1. ]] SLAMing on 1.323133365 meters Centerline goodness [0,1] 0.0626083339111142 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:-0.14 [[ 0.99996709 -0.0023133 -0.00777572 0.23721998] [ 0.00227478 0.99998512 -0.00495905 0.0618936 ] [ 0.00778707 0.00494119 0.99995747 -0.13835346] [ 0. 0. 0. 1. ]] SLAMing on 1.353133365 meters Centerline goodness [0,1] 0.06387953610175834 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:-0.14 [[ 0.99996633 -0.00240072 -0.00784672 0.2418304 ] [ 0.00236668 0.99998776 -0.00434488 0.05796634] [ 0.00785706 0.00432617 0.99995977 -0.13914854] [ 0. 0. 0. 1. ]] SLAMing on 1.383133365 meters Centerline goodness [0,1] 0.06403031020601468 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:-0.14 [[ 0.99996364 -0.00234014 -0.00820029 0.24468349] [ 0.00230779 0.99998952 -0.00395286 0.05538446] [ 0.00820945 0.00393379 0.99995856 -0.14053231] [ 0. 0. 0. 1. ]] SLAMing on 1.413133365 meters Centerline goodness [0,1] 0.064651992861392 Centerline is valid? [False, False] Translation: X:0.25, Y:0.05, Z:-0.14 [[ 0.99996066 -0.00226049 -0.00857748 0.24761386] [ 0.00223074 0.99999147 -0.00347652 0.05218789] [ 0.00858526 0.00345724 0.99995717 -0.14174318] [ 0. 0. 0. 1. ]] SLAMing on 1.443133365 meters Centerline goodness [0,1] 0.06388372093023253 Centerline is valid? [False, False] Translation: X:0.25, Y:0.05, Z:-0.15 [[ 0.99995265 -0.00322796 -0.00918055 0.25409238] [ 0.00319088 0.99998671 -0.0040505 0.05200276] [ 0.0091935 0.00402102 0.99994965 -0.14563996] [ 0. 0. 0. 1. ]] SLAMing on 1.473133365 meters Centerline goodness [0,1] 0.0641490765171504 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:-0.15 [[ 0.99995395 -0.00347369 -0.00894649 0.25722809] [ 0.00344518 0.99998894 -0.00320039 0.04624819] [ 0.00895751 0.00316942 0.99995486 -0.14573229] [ 0. 0. 0. 1. ]] SLAMing on 1.503133365 meters Centerline goodness [0,1] 0.06460069281902447 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:-0.15 [[ 0.99995319 -0.00338526 -0.00906402 0.25913508] [ 0.00336105 0.99999074 -0.00268581 0.04341128] [ 0.00907303 0.00265522 0.99995531 -0.14636079] [ 0. 0. 0. 1. ]] SLAMing on 1.533133365 meters Centerline goodness [0,1] 0.04991502339766718 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:-0.15 [[ 0.99995227 -0.00326862 -0.00920737 0.26110128] [ 0.00324926 0.99999248 -0.00211622 0.04031447] [ 0.00921422 0.0020862 0.99995537 -0.14684136] [ 0. 0. 0. 1. ]] SLAMing on 1.563133365 meters Centerline goodness [0,1] 0.059731767850324524 Centerline is valid? [False, False] Translation: X:0.26, Y:0.03, Z:-0.15 [[ 0.99995815 -0.00298945 -0.00864608 0.26312083] [ 0.00298038 0.99999499 -0.00106226 0.03435168] [ 0.00864921 0.00103645 0.99996206 -0.14704822] [ 0. 0. 0. 1. ]] SLAMing on 1.593133365 meters Centerline goodness [0,1] 0.09096050523140731 Centerline is valid? [False, False] Translation: X:0.27, Y:0.03, Z:-0.15 [[ 9.99957621e-01 -2.82824022e-03 -8.76111823e-03 2.65186284e-01] [ 2.82280244e-03 9.99995816e-01 -6.32975014e-04 3.19018276e-02] [ 8.76287177e-03 6.08217284e-04 9.99961420e-01 -1.48275775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.623133365 meters Centerline goodness [0,1] 0.07890693331442211 Centerline is valid? [False, False] Translation: X:0.27, Y:0.03, Z:-0.15 [[ 9.99957278e-01 -2.65068527e-03 -8.85530433e-03 2.66889905e-01] [ 2.64848513e-03 9.99996459e-01 -2.60171995e-04 3.00135372e-02] [ 8.85596261e-03 2.36707738e-04 9.99960757e-01 -1.49195655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.653133365 meters Centerline goodness [0,1] 0.19961308891877227 Centerline is valid? [False, False] Translation: X:0.27, Y:0.03, Z:-0.15 [[ 9.99967448e-01 -2.22096496e-03 -7.75698862e-03 2.68162590e-01] [ 2.22546505e-03 9.99997360e-01 5.71550754e-04 2.63482260e-02] [ 7.75569875e-03 -5.88795055e-04 9.99969751e-01 -1.49713653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.683133365 meters Centerline goodness [0,1] 0.2863824512990809 Centerline is valid? [False, False] Translation: X:0.27, Y:0.02, Z:-0.15 [[ 9.99967379e-01 -2.01959225e-03 -7.82059107e-03 2.70038858e-01] [ 2.02673829e-03 9.99997536e-01 9.05929650e-04 2.49343691e-02] [ 7.81874219e-03 -9.21750390e-04 9.99969008e-01 -1.50664368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.713133365 meters SLAMing on 1.743133365 meters Centerline goodness [0,1] 0.28813798621079134 Centerline is valid? [False, False] Translation: X:0.27, Y:0.02, Z:-0.15 [[ 0.99997509 -0.00156862 -0.0068816 0.27120336] [ 0.00158004 0.99999738 0.0016543 0.02147809] [ 0.00687899 -0.00166513 0.99997495 -0.15085397] [ 0. 0. 0. 1. ]] SLAMing on 1.773133365 meters Centerline goodness [0,1] 0.2112520683949255 Centerline is valid? [False, False] Translation: X:0.30, Y:0.02, Z:-0.15 [[ 9.99961210e-01 6.46850536e-03 -5.97802875e-03 2.98033993e-01] [-6.47229288e-03 9.99978866e-01 -6.14444122e-04 2.02143200e-02] [ 5.97392787e-03 6.53111841e-04 9.99981943e-01 -1.53193692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8031333649999999 meters Centerline goodness [0,1] 0.3032306777101542 Centerline is valid? [False, False] Translation: X:0.30, Y:0.02, Z:-0.16 [[ 9.99959222e-01 6.55720303e-03 -6.20947994e-03 3.00840757e-01] [-6.56197031e-03 9.99978191e-01 -7.47680136e-04 2.20362868e-02] [ 6.20444183e-03 7.88396070e-04 9.99980441e-01 -1.55051908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.833133365 meters Centerline goodness [0,1] 0.06854559712163844 Centerline is valid? [False, False] Translation: X:0.30, Y:0.02, Z:-0.16 [[ 9.99957921e-01 6.59688001e-03 -6.37473012e-03 3.03096433e-01] [-6.60271624e-03 9.99977801e-01 -8.94915265e-04 2.38550051e-02] [ 6.36868497e-03 9.36968142e-04 9.99979281e-01 -1.56519602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.863133365 meters Centerline goodness [0,1] 0.2925936935494935 Centerline is valid? [False, False] Translation: X:0.31, Y:0.03, Z:-0.16 [[ 9.99957476e-01 6.59144855e-03 -6.44966588e-03 3.05230564e-01] [-6.59800899e-03 9.99977736e-01 -9.96426200e-04 2.55082013e-02] [ 6.44295440e-03 1.03893878e-03 9.99978704e-01 -1.58065550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.893133365 meters Centerline goodness [0,1] 0.29356288812679576 Centerline is valid? [False, False] Translation: X:0.31, Y:0.03, Z:-0.16 [[ 9.99962565e-01 6.61789561e-03 -5.57427486e-03 3.06745508e-01] [-6.62185081e-03 9.99977836e-01 -6.91387049e-04 2.53360062e-02] [ 5.56957578e-03 7.28273183e-04 9.99984225e-01 -1.58258828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.923133365 meters Centerline goodness [0,1] 0.29310424889714415 Centerline is valid? [False, False] Translation: X:0.31, Y:0.02, Z:-0.16 [[ 9.99961717e-01 6.64068249e-03 -5.69792240e-03 3.08965402e-01] [-6.64344974e-03 9.99977823e-01 -4.66870804e-04 2.41426257e-02] [ 5.69469570e-03 5.04706792e-04 9.99983658e-01 -1.59329247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.953133365 meters Centerline goodness [0,1] 0.26886825385743207 Centerline is valid? [False, False] Translation: X:0.31, Y:0.02, Z:-0.16 [[ 9.99961042e-01 6.60898182e-03 -5.85118759e-03 3.11376475e-01] [-6.61117975e-03 9.99978082e-01 -3.56376139e-04 2.40059776e-02] [ 5.84870406e-03 3.95045508e-04 9.99982818e-01 -1.60681532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.983133365 meters Centerline goodness [0,1] 0.06771446375406776 Centerline is valid? [False, False] Translation: X:0.31, Y:0.03, Z:-0.16 [[ 9.99961854e-01 6.41767233e-03 -5.92488613e-03 3.13855611e-01] [-6.42134421e-03 9.99979202e-01 -6.00923228e-04 2.65553146e-02] [ 5.92090638e-03 6.38946039e-04 9.99982267e-01 -1.62480752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.013133365 meters Centerline goodness [0,1] 0.29775543605330834 Centerline is valid? [False, False] Translation: X:0.32, Y:0.03, Z:-0.16 [[ 0.9999687 0.00604591 -0.00510354 0.31644941] [-0.00605191 0.99998101 -0.00116101 0.03414815] [ 0.00509642 0.00119186 0.9999863 -0.16391541] [ 0. 0. 0. 1. ]] SLAMing on 2.043133365 meters Centerline goodness [0,1] 0.28737119356776486 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:-0.16 [[ 0.99997131 0.00586559 -0.00479379 0.31790907] [-0.00587247 0.99998175 -0.0014221 0.03706822] [ 0.00478536 0.00145021 0.9999875 -0.16499546] [ 0. 0. 0. 1. ]] SLAMing on 2.073133365 meters Centerline goodness [0,1] 0.15776128777129028 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:-0.17 [[ 0.99997244 0.00571144 -0.00474238 0.3195622 ] [-0.00571899 0.9999824 -0.00158072 0.03910849] [ 0.00473327 0.00160779 0.99998751 -0.16556512] [ 0. 0. 0. 1. ]] SLAMing on 2.103133365 meters Centerline goodness [0,1] 0.2955136540962289 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:-0.17 [[ 0.99997878 0.00514155 -0.00399984 0.32223236] [-0.00514938 0.99998484 -0.00194988 0.04376098] [ 0.00398975 0.00197044 0.9999901 -0.16694137] [ 0. 0. 0. 1. ]] SLAMing on 2.133133365 meters Centerline goodness [0,1] 0.2999836138486388 Centerline is valid? [False, False] Translation: X:0.32, Y:0.05, Z:-0.17 [[ 0.99997968 0.00487572 -0.00410764 0.32458253] [-0.00488424 0.99998594 -0.00206734 0.04501719] [ 0.0040975 0.00208736 0.99998943 -0.16809872] [ 0. 0. 0. 1. ]] SLAMing on 2.163133365 meters SLAMing on 2.193133365 meters Centerline goodness [0,1] 0.19121263715474834 Centerline is valid? [False, False] Translation: X:0.33, Y:0.05, Z:-0.17 [[ 0.99998515 0.002992 -0.00455527 0.33417928] [-0.0030067 0.99999029 -0.00322195 0.049299 ] [ 0.00454558 0.00323559 0.99998443 -0.17297499] [ 0. 0. 0. 1. ]] SLAMing on 2.223133365 meters Centerline goodness [0,1] 0.26019289268281176 Centerline is valid? [False, False] Translation: X:0.34, Y:0.05, Z:-0.17 [[ 0.99998603 0.00280775 -0.00447888 0.33657047] [-0.00282159 0.99999126 -0.00308473 0.04893351] [ 0.00447018 0.00309733 0.99998521 -0.17385884] [ 0. 0. 0. 1. ]] SLAMing on 2.253133365 meters Centerline goodness [0,1] 0.0362530752448591 Centerline is valid? [False, False] Translation: X:0.36, Y:0.05, Z:-0.18 [[ 9.99990970e-01 -4.22589151e-03 -4.48487411e-04 3.61078355e-01] [ 4.22589335e-03 9.99991071e-01 3.14377286e-06 5.46678218e-02] [ 4.48470121e-04 -5.03900444e-06 9.99999899e-01 -1.78846358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.283133365 meters Centerline goodness [0,1] 0.16730741848213015 Centerline is valid? [False, False] Translation: X:0.36, Y:0.06, Z:-0.18 [[ 9.99990020e-01 -4.44069775e-03 -4.90326740e-04 3.63476717e-01] [ 4.44065192e-03 9.99990136e-01 -9.45083214e-05 5.63215144e-02] [ 4.90741586e-04 9.23300079e-05 9.99999875e-01 -1.80080629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.313133365 meters Centerline goodness [0,1] 0.03373965529436729 Centerline is valid? [False, False] Translation: X:0.37, Y:0.06, Z:-0.18 [[ 9.99989091e-01 -4.64528683e-03 -4.89440251e-04 3.66131042e-01] [ 4.64516200e-03 9.99989178e-01 -2.55876286e-04 5.75419168e-02] [ 4.90623573e-04 2.53599965e-04 9.99999847e-01 -1.82479551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.343133365 meters Centerline goodness [0,1] 0.16833877741483905 Centerline is valid? [False, False] Translation: X:0.37, Y:0.06, Z:-0.19 [[ 9.99988114e-01 -4.84928668e-03 -5.05628102e-04 3.69076828e-01] [ 4.84908122e-03 9.99988160e-01 -4.06788293e-04 5.84384383e-02] [ 5.07594749e-04 4.04331626e-04 9.99999789e-01 -1.85430382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.373133365 meters Centerline goodness [0,1] 0.07827566647759499 Centerline is valid? [False, False] Translation: X:0.37, Y:0.06, Z:-0.19 [[ 9.99986750e-01 -5.14442225e-03 -1.85750261e-04 3.73595832e-01] [ 5.14433749e-03 9.99986665e-01 -4.53932728e-04 6.02917845e-02] [ 1.88083006e-04 4.52971152e-04 9.99999880e-01 -1.87405369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.403133365 meters Centerline goodness [0,1] 0.07406280713249402 Centerline is valid? [False, False] Translation: X:0.38, Y:0.06, Z:-0.19 [[ 9.99986390e-01 -5.21641327e-03 9.10988237e-05 3.75887385e-01] [ 5.21644344e-03 9.99986338e-01 -3.34092926e-04 6.07260626e-02] [-8.93548124e-05 3.34563591e-04 9.99999940e-01 -1.88631385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4331333649999998 meters SLAMing on 2.463133365 meters Centerline goodness [0,1] 0.08106088905491227 Centerline is valid? [False, False] Translation: X:0.38, Y:0.06, Z:-0.19 [[ 9.99985570e-01 -5.12395222e-03 1.61376185e-03 3.80290902e-01] [ 5.12302052e-03 9.99986708e-01 5.80951573e-04 5.78329621e-02] [-1.61671716e-03 -5.72675855e-04 9.99998529e-01 -1.91376179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.493133365 meters Centerline goodness [0,1] 0.3201677899797333 Centerline is valid? [False, False] Translation: X:0.39, Y:0.06, Z:-0.19 [[ 0.99998345 -0.00509005 0.00268009 0.38500373] [ 0.00508677 0.99998631 0.00122654 0.05537623] [-0.0026863 -0.00121289 0.99999566 -0.1937032 ] [ 0. 0. 0. 1. ]] SLAMing on 2.523133365 meters Centerline goodness [0,1] 0.38118610386190055 Centerline is valid? [False, False] Translation: X:0.39, Y:0.06, Z:-0.20 [[ 0.99998317 -0.00508256 0.00279735 0.38758912] [ 0.0050789 0.99998624 0.00131194 0.05535076] [-0.00280398 -0.00129771 0.99999523 -0.19547802] [ 0. 0. 0. 1. ]] SLAMing on 2.553133365 meters Centerline goodness [0,1] 0.2556529983408391 Centerline is valid? [False, False] Translation: X:0.39, Y:0.06, Z:-0.20 [[ 0.99998271 -0.00506344 0.00298906 0.39036857] [ 0.00505961 0.99998637 0.00128727 0.05582512] [-0.00299554 -0.00127212 0.9999947 -0.19742014] [ 0. 0. 0. 1. ]] SLAMing on 2.583133365 meters SLAMing on 2.613133365 meters Centerline goodness [0,1] 0.14453920871831316 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:-0.20 [[ 0.99996066 -0.0010839 0.00880393 0.43888123] [ 0.00105162 0.99999271 0.00367104 0.05581794] [-0.00880784 -0.00366164 0.99995451 -0.20167462] [ 0. 0. 0. 1. ]] SLAMing on 2.6431333649999997 meters Centerline goodness [0,1] 0.06562410739788627 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:-0.20 [[ 9.99959252e-01 -9.77383389e-04 8.97433732e-03 4.41784925e-01] [ 9.46916860e-04 9.99993777e-01 3.39847172e-03 5.81573722e-02] [-8.97760308e-03 -3.38983529e-03 9.99953955e-01 -2.03843326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.673133365 meters Centerline goodness [0,1] 0.06548718677466725 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:-0.21 [[ 9.99964719e-01 1.77909641e-06 8.40009626e-03 4.50693449e-01] [-3.46575627e-05 9.99992340e-01 3.91391434e-03 5.88320971e-02] [-8.40002495e-03 -3.91406737e-03 9.99957059e-01 -2.10469382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.703133365 meters Centerline goodness [0,1] 0.14889200019311544 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:-0.21 [[ 9.99962840e-01 9.38732173e-05 8.62030494e-03 4.53262407e-01] [-1.27045660e-04 9.99992589e-01 3.84770812e-03 5.94694731e-02] [-8.61987986e-03 -3.84866031e-03 9.99955442e-01 -2.11930611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.733133365 meters SLAMing on 2.763133365 meters SLAMing on 2.793133365 meters SLAMing on 2.823133365 meters SLAMing on 2.853133365 meters SLAMing on 2.883133365 meters SLAMing on 2.9131333649999998 meters SLAMing on 2.943133365 meters SLAMing on 2.973133365 meters SLAMing on 3.003133365 meters SLAMing on 3.033133365 meters SLAMing on 3.063133365 meters SLAMing on 3.093133365 meters SLAMing on 3.123133365 meters SLAMing on 3.153133365 meters SLAMing on 3.1831333649999998 meters Centerline goodness [0,1] 0.16747011183956806 Centerline is valid? [False, False] Translation: X:0.76, Y:0.10, Z:-0.21 [[ 0.99976224 -0.00407338 0.02142139 0.76351968] [ 0.00396108 0.9999782 0.00528201 0.10490367] [-0.02144243 -0.0051959 0.99975658 -0.20652095] [ 0. 0. 0. 1. ]] SLAMing on 3.213133365 meters Centerline goodness [0,1] 0.060608966674658316 Centerline is valid? [False, False] Translation: X:0.77, Y:0.11, Z:-0.21 [[ 0.99977539 -0.00553157 0.02045909 0.77172548] [ 0.00545111 0.9999772 0.00398644 0.10884907] [-0.02048068 -0.00387402 0.99978274 -0.21183055] [ 0. 0. 0. 1. ]] SLAMing on 3.243133365 meters Centerline goodness [0,1] 0.06089766606822267 Centerline is valid? [False, False] Translation: X:0.78, Y:0.11, Z:-0.22 [[ 0.99978057 -0.00634577 0.0199634 0.77759084] [ 0.00628198 0.99997497 0.00325644 0.11149879] [-0.01998357 -0.00313032 0.99979541 -0.21597964] [ 0. 0. 0. 1. ]] SLAMing on 3.273133365 meters Centerline goodness [0,1] 0.06131916734772369 Centerline is valid? [False, False] Translation: X:0.78, Y:0.11, Z:-0.22 [[ 0.99978223 -0.00699915 0.01965984 0.78263895] [ 0.00695089 0.99997266 0.00252182 0.11442995] [-0.01967696 -0.00238461 0.99980355 -0.2197227 ] [ 0. 0. 0. 1. ]] SLAMing on 3.303133365 meters Centerline goodness [0,1] 0.06114440639269403 Centerline is valid? [False, False] Translation: X:0.82, Y:0.11, Z:-0.22 [[ 0.99990041 -0.00381893 0.01358588 0.81910125] [ 0.00379595 0.99999132 0.00171718 0.11486936] [-0.01359232 -0.00166544 0.99990623 -0.223605 ] [ 0. 0. 0. 1. ]] SLAMing on 3.333133365 meters Centerline is valid? [False, False] Translation: X:0.85, Y:0.12, Z:-0.22 [[ 9.99920774e-01 3.10637147e-03 1.21982052e-02 8.51065659e-01] [-3.10165997e-03 9.99995108e-01 -4.05144696e-04 1.21573623e-01] [-1.21994041e-02 3.67277913e-04 9.99925517e-01 -2.23938170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.363133365 meters Centerline goodness [0,1] 0.05959410035139723 Centerline is valid? [False, False] Translation: X:0.86, Y:0.13, Z:-0.23 [[ 9.99928231e-01 4.71269937e-03 1.10147211e-02 8.61640462e-01] [-4.71573804e-03 9.99988850e-01 2.49917627e-04 1.26501247e-01] [-1.10134205e-02 -3.01842229e-04 9.99939305e-01 -2.30805690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3931333649999997 meters Centerline goodness [0,1] 0.05996578890307658 Centerline is valid? [False, False] Translation: X:0.87, Y:0.13, Z:-0.24 [[ 0.99993012 0.00651063 0.00986698 0.87130191] [-0.00652102 0.99997822 0.00102198 0.131451 ] [-0.00986011 -0.00108625 0.9999508 -0.23684701] [ 0. 0. 0. 1. ]] SLAMing on 3.423133365 meters Centerline goodness [0,1] 0.05890391254315308 Centerline is valid? [False, False] Translation: X:0.88, Y:0.14, Z:-0.24 [[ 0.99989625 0.00976751 0.01058698 0.87881342] [-0.00980315 0.99994644 0.0033196 0.13999395] [-0.01055399 -0.00342304 0.99993845 -0.23861733] [ 0. 0. 0. 1. ]] SLAMing on 3.453133365 meters Centerline goodness [0,1] 0.05799005348597164 Centerline is valid? [False, False] Translation: X:0.89, Y:0.15, Z:-0.25 [[ 0.99989795 0.01089903 0.00923536 0.89035488] [-0.01093236 0.99993388 0.00356594 0.14564224] [-0.00919588 -0.00366655 0.99995099 -0.24534614] [ 0. 0. 0. 1. ]] SLAMing on 3.483133365 meters Centerline goodness [0,1] 0.17732121125348987 Centerline is valid? [False, False] Translation: X:0.89, Y:0.15, Z:-0.25 [[ 0.99990367 0.01081137 0.00870432 0.89443117] [-0.01083549 0.99993757 0.00272853 0.15357878] [-0.00867428 -0.00282258 0.99995839 -0.24726179] [ 0. 0. 0. 1. ]] SLAMing on 3.513133365 meters Centerline goodness [0,1] 0.05805986296429855 Centerline is valid? [False, False] Translation: X:0.90, Y:0.16, Z:-0.25 [[ 0.99990974 0.01054082 0.00833072 0.89774199] [-0.01055723 0.99994241 0.0019286 0.1609989 ] [-0.00830991 -0.00201638 0.99996344 -0.24912173] [ 0. 0. 0. 1. ]] SLAMing on 3.543133365 meters Centerline goodness [0,1] 0.05740723029839323 Centerline is valid? [False, False] Translation: X:0.92, Y:0.18, Z:-0.25 [[ 0.9999678 0.00472562 0.00648568 0.92089501] [-0.00473851 0.99998683 0.00197312 0.175008 ] [-0.00647627 -0.00200379 0.99997702 -0.24583729] [ 0. 0. 0. 1. ]] SLAMing on 3.573133365 meters Centerline goodness [0,1] 0.13462869691833956 Centerline is valid? [False, False] Translation: X:0.92, Y:0.18, Z:-0.25 [[ 0.99997091 0.00434079 0.00627251 0.92393042] [-0.00435152 0.99998909 0.00169816 0.17740897] [-0.00626507 -0.0017254 0.99997889 -0.24646213] [ 0. 0. 0. 1. ]] SLAMing on 3.6031333649999997 meters Centerline goodness [0,1] 0.13142952971898136 Centerline is valid? [False, False] Translation: X:0.93, Y:0.18, Z:-0.25 [[ 0.99997297 0.00393759 0.00620869 0.9265484 ] [-0.00394743 0.99999097 0.00157305 0.17962227] [-0.00620244 -0.00159752 0.99997949 -0.24649601] [ 0. 0. 0. 1. ]] SLAMing on 3.633133365 meters Centerline goodness [0,1] 0.12680392534154317 Centerline is valid? [False, False] Translation: X:0.93, Y:0.18, Z:-0.25 [[ 0.99997474 0.00352649 0.00617114 0.92901012] [-0.00353524 0.99999276 0.00140686 0.1822249 ] [-0.00616614 -0.00142864 0.99997997 -0.24662689] [ 0. 0. 0. 1. ]] SLAMing on 3.6631333649999998 meters SLAMing on 3.693133365 meters Centerline goodness [0,1] 0.28637883413286813 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.25 [[ 0.99991993 -0.00389573 0.01203984 0.95718806] [ 0.0038565 0.99998718 0.00328008 0.19821131] [-0.01205247 -0.00323339 0.99992214 -0.25329649] [ 0. 0. 0. 1. ]] SLAMing on 3.723133365 meters SLAMing on 3.753133365 meters Centerline goodness [0,1] 0.17285518858706272 Centerline is valid? [False, False] Translation: X:0.96, Y:0.21, Z:-0.25 [[ 0.99989891 -0.00470026 0.01341921 0.95875848] [ 0.00467067 0.99998659 0.00223558 0.20705127] [-0.01342954 -0.00217268 0.99990746 -0.252953 ] [ 0. 0. 0. 1. ]] SLAMing on 3.783133365 meters Centerline goodness [0,1] 0.16723351906794992 Centerline is valid? [False, False] Translation: X:0.97, Y:0.21, Z:-0.26 [[ 0.99991282 -0.00391854 0.01260948 0.96551705] [ 0.00388453 0.99998875 0.0027206 0.21054759] [-0.01262 -0.00267139 0.9999168 -0.25693322] [ 0. 0. 0. 1. ]] SLAMing on 3.813133365 meters SLAMing on 3.843133365 meters SLAMing on 3.8731333649999997 meters SLAMing on 3.903133365 meters SLAMing on 3.9331333649999998 meters SLAMing on 3.963133365 meters SLAMing on 3.993133365 meters SLAMing on 4.023133365 meters SLAMing on 4.053133365 meters SLAMing on 4.083133365 meters SLAMing on 4.1131333649999995 meters Centerline goodness [0,1] 0.06675360464544067 Centerline is valid? [False, False] Translation: X:1.13, Y:0.25, Z:-0.26 [[ 0.99916454 0.00347731 0.04072019 1.12715618] [-0.00354562 0.99999243 0.0016055 0.253789 ] [-0.0407143 -0.00174854 0.9991693 -0.26050873] [ 0. 0. 0. 1. ]] SLAMing on 4.143133365 meters Centerline goodness [0,1] 0.19962394999023247 Centerline is valid? [False, False] Translation: X:1.13, Y:0.26, Z:-0.26 [[ 0.9990511 0.00493117 0.04327341 1.12986602] [-0.00507015 0.99998233 0.00310252 0.25534943] [-0.04325735 -0.00331898 0.99905845 -0.26345996] [ 0. 0. 0. 1. ]] SLAMing on 4.173133365 meters Centerline goodness [0,1] 0.09193351258860916 Centerline is valid? [False, False] Translation: X:1.13, Y:0.26, Z:-0.26 [[ 0.99905515 0.00501 0.04317058 1.13122638] [-0.00513624 0.99998285 0.00281366 0.25785877] [-0.04315575 -0.00303274 0.99906375 -0.26392131] [ 0. 0. 0. 1. ]] SLAMing on 4.203133365 meters Centerline goodness [0,1] 0.20932110091743117 Centerline is valid? [False, False] Translation: X:1.13, Y:0.26, Z:-0.26 [[ 0.99906403 0.00510817 0.04295308 1.13265257] [-0.00521774 0.99998341 0.00243919 0.26093072] [-0.04293991 -0.00266102 0.99907411 -0.264258 ] [ 0. 0. 0. 1. ]] SLAMing on 4.233133365 meters Centerline goodness [0,1] 0.20912851026775992 Centerline is valid? [False, False] Translation: X:1.17, Y:0.27, Z:-0.26 [[ 0.9988038 0.00771943 0.04828436 1.16983248] [-0.00793805 0.99995908 0.00433774 0.26975619] [-0.0482489 -0.00471584 0.99882421 -0.26484484] [ 0. 0. 0. 1. ]] SLAMing on 4.263133365 meters Centerline goodness [0,1] 0.20506169547404907 Centerline is valid? [False, False] Translation: X:1.17, Y:0.27, Z:-0.27 [[ 0.9988119 0.00776317 0.04810955 1.17108475] [-0.00795952 0.99996075 0.00389107 0.27365788] [-0.04807746 -0.00426937 0.99883449 -0.2655738 ] [ 0. 0. 0. 1. ]] SLAMing on 4.293133365 meters Centerline goodness [0,1] 0.20854241194689205 Centerline is valid? [False, False] Translation: X:1.20, Y:0.28, Z:-0.27 [[ 0.99901906 0.00348965 0.04414464 1.19754703] [-0.00373421 0.99997813 0.00545889 0.28253747] [-0.04412462 -0.00561838 0.99901024 -0.26865199] [ 0. 0. 0. 1. ]] SLAMing on 4.323133365 meters Centerline goodness [0,1] 0.20896099813816282 Centerline is valid? [False, False] Translation: X:1.20, Y:0.29, Z:-0.27 [[ 0.99902074 0.00336557 0.04411619 1.19834016] [-0.00359077 0.99998092 0.00502645 0.2850652 ] [-0.04409843 -0.00517994 0.99901376 -0.26916914] [ 0. 0. 0. 1. ]] SLAMing on 4.353133365 meters Centerline goodness [0,1] 0.21286363197061953 Centerline is valid? [False, False] Translation: X:1.20, Y:0.29, Z:-0.27 [[ 0.99890686 0.00299873 0.04664853 1.19710413] [-0.0032128 0.99998465 0.00451474 0.28868073] [-0.04663427 -0.00465968 0.99890116 -0.26896612] [ 0. 0. 0. 1. ]] SLAMing on 4.383133365 meters Centerline goodness [0,1] 0.22159077168629537 Centerline is valid? [False, False] Translation: X:1.20, Y:0.29, Z:-0.27 [[ 0.99891513 0.00282728 0.04648198 1.19822523] [-0.00302794 0.9999864 0.00424713 0.29038168] [-0.04646934 -0.00438327 0.9989101 -0.26918165] [ 0. 0. 0. 1. ]] SLAMing on 4.413133365 meters Centerline goodness [0,1] 0.22091357245197796 Centerline is valid? [False, False] Translation: X:1.20, Y:0.29, Z:-0.27 [[ 0.99892251 0.00267762 0.04633204 1.19934607] [-0.00287076 0.99998746 0.00410262 0.29143435] [-0.04632047 -0.00423121 0.99891767 -0.26941105] [ 0. 0. 0. 1. ]] SLAMing on 4.443133365 meters Centerline goodness [0,1] 0.22286018848269007 Centerline is valid? [False, False] Translation: X:1.20, Y:0.29, Z:-0.27 [[ 0.99893089 0.0024929 0.04616125 1.20055117] [-0.0026809 0.99998836 0.00401111 0.2917949 ] [-0.04615071 -0.00413058 0.99892595 -0.26969527] [ 0. 0. 0. 1. ]] SLAMing on 4.473133365 meters Centerline goodness [0,1] 0.2185201316298877 Centerline is valid? [False, False] Translation: X:1.20, Y:0.29, Z:-0.27 [[ 0.99879241 0.00156506 0.04910473 1.19789007] [-0.00175007 0.99999153 0.00372473 0.29162649] [-0.04909848 -0.00380616 0.99878669 -0.2696602 ] [ 0. 0. 0. 1. ]] SLAMing on 4.503133365 meters Centerline goodness [0,1] 0.22327956087154532 Centerline is valid? [False, False] Translation: X:1.20, Y:0.29, Z:-0.27 [[ 0.99880527 0.00142013 0.04884695 1.19929945] [-0.00160424 0.99999176 0.00373007 0.29124319] [-0.04884125 -0.00380397 0.99879931 -0.27015605] [ 0. 0. 0. 1. ]] SLAMing on 4.533133365 meters Centerline goodness [0,1] 0.22413049726933032 Centerline is valid? [False, False] Translation: X:1.20, Y:0.29, Z:-0.27 [[ 0.99881818 0.00131292 0.04858511 1.20058457] [-0.00149492 0.999992 0.00370998 0.29109307] [-0.04857985 -0.00377823 0.99881216 -0.27078715] [ 0. 0. 0. 1. ]] SLAMing on 4.563133365 meters Centerline goodness [0,1] 0.1972741015263081 Centerline is valid? [False, False] Translation: X:1.16, Y:0.29, Z:-0.27 [[ 9.98481301e-01 9.87977384e-04 5.50828086e-02 1.16021444e+00] [-1.21031193e-03 9.99991255e-01 4.00315619e-03 2.88457897e-01] [-5.50783718e-02 -4.06374398e-03 9.98473765e-01 -2.72642767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.593133365 meters Centerline goodness [0,1] 0.2029495397368548 Centerline is valid? [False, False] Translation: X:1.16, Y:0.29, Z:-0.27 [[ 9.98375356e-01 9.43286951e-04 5.69715596e-02 1.15943488e+00] [-1.16598302e-03 9.99991809e-01 3.87578457e-03 2.90028682e-01] [-5.69674370e-02 -3.93591567e-03 9.98368279e-01 -2.73425002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.623133365 meters Centerline goodness [0,1] 0.1965968012853283 Centerline is valid? [False, False] Translation: X:1.16, Y:0.29, Z:-0.27 [[ 9.98364962e-01 9.03308800e-04 5.71540603e-02 1.15961384e+00] [-1.11791795e-03 9.99992445e-01 3.72306248e-03 2.90763927e-01] [-5.71502654e-02 -3.78086868e-03 9.98358429e-01 -2.73499453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6531333649999995 meters Centerline goodness [0,1] 0.1983893335928566 Centerline is valid? [False, False] Translation: X:1.16, Y:0.29, Z:-0.27 [[ 9.98360711e-01 9.04378368e-04 5.72282433e-02 1.16000951e+00] [-1.11902388e-03 9.99992459e-01 3.71875695e-03 2.90864861e-01] [-5.72244486e-02 -3.77670061e-03 9.98354195e-01 -2.73230138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.683133365 meters Centerline goodness [0,1] 0.19961424839473618 Centerline is valid? [False, False] Translation: X:1.16, Y:0.29, Z:-0.27 [[ 9.98295362e-01 9.18026316e-04 5.83568938e-02 1.15944672e+00] [-1.14875280e-03 9.99991656e-01 3.92028978e-03 2.90444346e-01] [-5.83528079e-02 -3.98064475e-03 9.98288087e-01 -2.72899366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.713133365 meters Centerline goodness [0,1] 0.19800300518637004 Centerline is valid? [False, False] Translation: X:1.16, Y:0.29, Z:-0.27 [[ 9.98300627e-01 9.28942936e-04 5.82665885e-02 1.16006470e+00] [-1.16928976e-03 9.99990948e-01 4.09099243e-03 2.89577513e-01] [-5.82622608e-02 -4.15217083e-03 9.98292677e-01 -2.73089437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.743133365 meters Centerline goodness [0,1] 0.1998096818270545 Centerline is valid? [False, False] Translation: X:1.16, Y:0.29, Z:-0.27 [[ 9.98303974e-01 9.21563906e-04 5.82093337e-02 1.16053575e+00] [-1.17243718e-03 9.99990171e-01 4.27584087e-03 2.88370245e-01] [-5.82048211e-02 -4.33683572e-03 9.98295242e-01 -2.73394557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.773133365 meters Centerline goodness [0,1] 0.20092121212121217 Centerline is valid? [False, False] Translation: X:1.16, Y:0.29, Z:-0.27 [[ 9.98262352e-01 7.80944852e-04 5.89208441e-02 1.16061682e+00] [-1.05320572e-03 9.99988912e-01 4.58987708e-03 2.86058668e-01] [-5.89166063e-02 -4.64395726e-03 9.98252106e-01 -2.73434260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.803133365 meters Centerline goodness [0,1] 0.20040089839882147 Centerline is valid? [False, False] Translation: X:1.16, Y:0.29, Z:-0.27 [[ 9.98268376e-01 8.29527834e-04 5.88180349e-02 1.16105856e+00] [-1.11404259e-03 9.99987837e-01 4.80457646e-03 2.85074466e-01] [-5.88133340e-02 -4.86178254e-03 9.98257159e-01 -2.73247019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.833133365 meters Centerline goodness [0,1] 0.20338530930960064 Centerline is valid? [False, False] Translation: X:1.16, Y:0.28, Z:-0.27 [[ 9.98273061e-01 8.58232751e-04 5.87380611e-02 1.16134984e+00] [-1.15289216e-03 9.99986921e-01 4.98279394e-03 2.84301975e-01] [-5.87330165e-02 -5.04190761e-03 9.98260994e-01 -2.73044715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8631333649999995 meters Centerline goodness [0,1] 0.20192238375585725 Centerline is valid? [False, False] Translation: X:1.16, Y:0.28, Z:-0.27 [[ 9.98279271e-01 9.04441072e-04 5.86317283e-02 1.16181309e+00] [-1.20804187e-03 9.99986046e-01 5.14285883e-03 2.83591228e-01] [-5.86262587e-02 -5.20483894e-03 9.98266433e-01 -2.73163389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.893133365 meters Centerline goodness [0,1] 0.2059961315280464 Centerline is valid? [False, False] Translation: X:1.14, Y:0.28, Z:-0.27 [[ 0.99840445 -0.00647606 0.05609473 1.14444755] [ 0.00609953 0.99995772 0.00688088 0.28401364] [-0.05613692 -0.00652775 0.99840174 -0.2738524 ] [ 0. 0. 0. 1. ]] SLAMing on 4.923133365 meters Centerline goodness [0,1] 0.20745672436750995 Centerline is valid? [False, False] Translation: X:1.14, Y:0.28, Z:-0.27 [[ 0.99841078 -0.00643045 0.05598713 1.1448374 ] [ 0.00605094 0.99995757 0.00694527 0.2837543 ] [-0.05602942 -0.00659546 0.99840733 -0.27424007] [ 0. 0. 0. 1. ]] SLAMing on 4.953133365 meters Centerline goodness [0,1] 0.2048692732070041 Centerline is valid? [False, False] Translation: X:1.15, Y:0.28, Z:-0.27 [[ 0.99841495 -0.00640187 0.05591606 1.14518222] [ 0.00602302 0.99995777 0.0069412 0.28392471] [-0.05595813 -0.00659342 0.99841135 -0.27432261] [ 0. 0. 0. 1. ]] SLAMing on 4.983133365 meters Centerline goodness [0,1] 0.2048692732070041 Centerline is valid? [False, False] Translation: X:1.15, Y:0.28, Z:-0.27 [[ 0.99841495 -0.00640187 0.05591606 1.14518222] [ 0.00602302 0.99995777 0.0069412 0.28392471] [-0.05595813 -0.00659342 0.99841135 -0.27432261] [ 0. 0. 0. 1. ]] SLAMing on 5.013133365 meters Centerline goodness [0,1] 0.20596577252187287 Centerline is valid? [False, False] Translation: X:1.15, Y:0.28, Z:-0.27 [[ 0.99841406 -0.00640863 0.05593125 1.14525295] [ 0.0060343 0.99995827 0.00685902 0.28438631] [-0.05597287 -0.00651063 0.99841106 -0.27426921] [ 0. 0. 0. 1. ]] SLAMing on 5.043133365 meters Centerline goodness [0,1] 0.203764728195159 Centerline is valid? [False, False] Translation: X:1.16, Y:0.28, Z:-0.27 [[ 9.98217076e-01 8.19124567e-04 5.96824841e-02 1.16301588e+00] [-1.13037236e-03 9.99985937e-01 5.18148584e-03 2.83319223e-01] [-5.96774005e-02 -5.23971107e-03 9.98203964e-01 -2.74701667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0731333649999995 meters Centerline goodness [0,1] 0.21270877327702054 Centerline is valid? [False, False] Translation: X:1.15, Y:0.28, Z:-0.27 [[ 9.98847199e-01 6.25745025e-04 4.79987650e-02 1.15150985e+00] [-8.48916688e-04 9.99988924e-01 4.62928497e-03 2.81953025e-01] [-4.79953367e-02 -4.66469528e-03 9.98836667e-01 -2.70485297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.103133365 meters Centerline goodness [0,1] 0.2076385919908793 Centerline is valid? [False, False] Translation: X:1.15, Y:0.28, Z:-0.27 [[ 9.98852331e-01 6.38118578e-04 4.78916786e-02 1.15190935e+00] [-8.60909718e-04 9.99988904e-01 4.63149732e-03 2.81975625e-01] [-4.78881918e-02 -4.66741231e-03 9.98841797e-01 -2.70670510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.133133365 meters Centerline goodness [0,1] 0.21104620791185824 Centerline is valid? [False, False] Translation: X:1.15, Y:0.28, Z:-0.27 [[ 9.98859332e-01 6.59674915e-04 4.77451616e-02 1.15240891e+00] [-8.83582981e-04 9.99988711e-01 4.66869586e-03 2.81904333e-01] [-4.77415428e-02 -4.70555724e-03 9.98848639e-01 -2.71005366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.163133365 meters Centerline goodness [0,1] 0.21067302922208309 Centerline is valid? [False, False] Translation: X:1.15, Y:0.28, Z:-0.27 [[ 9.98855629e-01 6.04188897e-04 4.78232871e-02 1.15279329e+00] [-8.23187724e-04 9.99989265e-01 4.55977190e-03 2.82459151e-01] [-4.78200187e-02 -4.59392137e-03 9.98845404e-01 -2.71287889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.193133365 meters Centerline goodness [0,1] 0.2125324522067501 Centerline is valid? [False, False] Translation: X:1.15, Y:0.28, Z:-0.27 [[ 9.98863038e-01 5.39046779e-04 4.76690824e-02 1.15311435e+00] [-7.48412622e-04 9.99990153e-01 4.37432868e-03 2.83162832e-01] [-4.76662550e-02 -4.40503138e-03 9.98853605e-01 -2.71262295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.223133365 meters Centerline goodness [0,1] 0.21502327449729453 Centerline is valid? [False, False] Translation: X:1.15, Y:0.28, Z:-0.27 [[ 9.98867666e-01 5.06945651e-04 4.75723440e-02 1.15332423e+00] [-7.04760950e-04 9.99991176e-01 4.14151859e-03 2.84442355e-01] [-4.75698247e-02 -4.17035614e-03 9.98859209e-01 -2.71290744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.253133365 meters Centerline goodness [0,1] 0.2151239513620511 Centerline is valid? [False, False] Translation: X:1.15, Y:0.29, Z:-0.27 [[ 9.98875716e-01 5.50525327e-04 4.74025509e-02 1.15378331e+00] [-7.36655593e-04 9.99992088e-01 3.90920759e-03 2.86189220e-01] [-4.74000237e-02 -3.93973188e-03 9.98868218e-01 -2.71599816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.283133364999999 meters Centerline goodness [0,1] 0.2196274936182282 Centerline is valid? [False, False] Translation: X:1.15, Y:0.29, Z:-0.27 [[ 9.98873753e-01 8.22389179e-04 4.74399553e-02 1.15390106e+00] [-9.95359264e-04 9.99992943e-01 3.62257653e-03 2.89457465e-01] [-4.74366414e-02 -3.66571641e-03 9.98867523e-01 -2.71854549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.313133365 meters Centerline goodness [0,1] 0.2157796451914099 Centerline is valid? [False, False] Translation: X:1.15, Y:0.29, Z:-0.27 [[ 9.98877401e-01 7.75669256e-04 4.73638682e-02 1.15404724e+00] [-9.38010165e-04 9.99993762e-01 3.40539624e-03 2.90517131e-01] [-4.73609313e-02 -3.44600114e-03 9.98871897e-01 -2.71708715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.343133365 meters Centerline goodness [0,1] 0.21553086649312014 Centerline is valid? [False, False] Translation: X:1.15, Y:0.29, Z:-0.27 [[ 9.98880824e-01 7.21832515e-04 4.72924764e-02 1.15405128e+00] [-8.79494786e-04 9.99994125e-01 3.31304711e-03 2.90776048e-01] [-4.72898071e-02 -3.35093272e-03 9.98875591e-01 -2.71368111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.373133365 meters Centerline goodness [0,1] 0.21563573883161513 Centerline is valid? [False, False] Translation: X:1.15, Y:0.29, Z:-0.27 [[ 9.98884910e-01 6.92940621e-04 4.72065237e-02 1.15406031e+00] [-8.51919546e-04 9.99994034e-01 3.34769606e-03 2.90418226e-01] [-4.72039223e-02 -3.38417924e-03 9.98879541e-01 -2.70928758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4031333649999995 meters Centerline goodness [0,1] 0.2167457065242414 Centerline is valid? [False, False] Translation: X:1.15, Y:0.29, Z:-0.27 [[ 9.98890949e-01 6.50723191e-04 4.70791732e-02 1.15455710e+00] [-8.22470050e-04 9.99993078e-01 3.62876387e-03 2.89029690e-01] [-4.70764860e-02 -3.66346060e-03 9.98884570e-01 -2.70817141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.433133365 meters Centerline goodness [0,1] 0.22376908441226973 Centerline is valid? [False, False] Translation: X:1.13, Y:0.29, Z:-0.27 [[ 0.99898124 -0.00721563 0.04454685 1.13474697] [ 0.00699776 0.99996279 0.00504486 0.28942367] [-0.0445816 -0.00472799 0.99899456 -0.27046933] [ 0. 0. 0. 1. ]] SLAMing on 5.463133365 meters Centerline goodness [0,1] 0.21739632667205733 Centerline is valid? [False, False] Translation: X:1.14, Y:0.29, Z:-0.27 [[ 0.99898693 -0.00719475 0.04442249 1.13521127] [ 0.00696647 0.99996173 0.0052914 0.28794233] [-0.04445887 -0.00497657 0.99899882 -0.27076809] [ 0. 0. 0. 1. ]] SLAMing on 5.493133365 meters Centerline goodness [0,1] 0.22343825443174758 Centerline is valid? [False, False] Translation: X:1.14, Y:0.29, Z:-0.27 [[ 0.99899288 -0.0071623 0.04429373 1.13556716] [ 0.00692243 0.99996055 0.00556637 0.28634626] [-0.04433185 -0.00525415 0.99900304 -0.27078522] [ 0. 0. 0. 1. ]] SLAMing on 5.523133365 meters Centerline goodness [0,1] 0.22102753387285357 Centerline is valid? [False, False] Translation: X:1.14, Y:0.28, Z:-0.27 [[ 0.99899222 -0.00698973 0.04433597 1.13538036] [ 0.00672905 0.9999592 0.00602612 0.28426426] [-0.04437628 -0.00572171 0.9989985 -0.27029837] [ 0. 0. 0. 1. ]] SLAMing on 5.553133365 meters Centerline goodness [0,1] 0.20948099901382933 Centerline is valid? [False, False] Translation: X:1.12, Y:0.28, Z:-0.27 [[ 0.99905352 0.00138098 0.04347603 1.11548271] [-0.00160095 0.99998609 0.00502504 0.27868282] [-0.04346848 -0.00508989 0.99904183 -0.27023696] [ 0. 0. 0. 1. ]] SLAMing on 5.583133365 meters Centerline goodness [0,1] 0.20774575221847702 Centerline is valid? [False, False] Translation: X:1.12, Y:0.28, Z:-0.27 [[ 0.99905315 0.00148604 0.04348095 1.11552103] [-0.00171011 0.99998545 0.00511637 0.27843287] [-0.04347271 -0.00518588 0.99904116 -0.27042028] [ 0. 0. 0. 1. ]] SLAMing on 5.6131333649999995 meters Centerline goodness [0,1] 0.20437623807463745 Centerline is valid? [False, False] Translation: X:1.12, Y:0.28, Z:-0.27 [[ 0.99906126 0.00163656 0.0432889 1.11629273] [-0.00187016 0.99998391 0.00535643 0.27712738] [-0.04327944 -0.00543236 0.99904824 -0.27131308] [ 0. 0. 0. 1. ]] SLAMing on 5.643133365 meters Centerline goodness [0,1] 0.245009116296245 Centerline is valid? [False, False] Translation: X:1.07, Y:0.27, Z:-0.27 [[ 0.99918976 0.00171641 0.04021047 1.07375417] [-0.0019333 0.99998379 0.00535552 0.27268245] [-0.04020062 -0.00542892 0.99917688 -0.26905854] [ 0. 0. 0. 1. ]] SLAMing on 5.673133365 meters Centerline goodness [0,1] 0.21096671226630181 Centerline is valid? [False, False] Translation: X:1.07, Y:0.27, Z:-0.27 [[ 0.99919662 0.00184672 0.04003368 1.07416594] [-0.00207095 0.9999824 0.00556042 0.2719429 ] [-0.04002271 -0.00563886 0.99918286 -0.26917557] [ 0. 0. 0. 1. ]] SLAMing on 5.703133365 meters Centerline goodness [0,1] 0.21042270094134685 Centerline is valid? [False, False] Translation: X:1.07, Y:0.27, Z:-0.27 [[ 0.99919707 0.00201114 0.04001457 1.07447482] [-0.00225316 0.99997944 0.00600402 0.26976286] [-0.04000167 -0.00608936 0.99918106 -0.26968779] [ 0. 0. 0. 1. ]] SLAMing on 5.733133365 meters Centerline goodness [0,1] 0.2465690863836686 Centerline is valid? [False, False] Translation: X:1.05, Y:0.27, Z:-0.27 [[ 0.99926748 -0.00630116 0.03774641 1.05362783] [ 0.00603733 0.99995657 0.00709934 0.26965574] [-0.0377895 -0.00686625 0.99926213 -0.26894252] [ 0. 0. 0. 1. ]] SLAMing on 5.763133365 meters Centerline goodness [0,1] 0.22054318970798448 Centerline is valid? [False, False] Translation: X:1.05, Y:0.27, Z:-0.27 [[ 0.9992697 -0.00621598 0.03770188 1.05372772] [ 0.0059389 0.99995456 0.00745666 0.26787995] [-0.03774652 -0.0072273 0.99926121 -0.26881183] [ 0. 0. 0. 1. ]] SLAMing on 5.793133365 meters Centerline goodness [0,1] 0.2194780250819116 Centerline is valid? [False, False] Translation: X:1.05, Y:0.27, Z:-0.27 [[ 0.99926849 -0.0061342 0.03774718 1.05356638] [ 0.00584412 0.99995258 0.00779031 0.26622133] [-0.03779318 -0.00756402 0.99925695 -0.26856033] [ 0. 0. 0. 1. ]] SLAMing on 5.8231333649999995 meters Centerline goodness [0,1] 0.22069803004407662 Centerline is valid? [False, False] Translation: X:1.05, Y:0.26, Z:-0.27 [[ 0.99927785 -0.00606372 0.03751006 1.05433979] [ 0.00576267 0.99995036 0.00812863 0.2644037 ] [-0.03755749 -0.0079066 0.99926319 -0.26893444] [ 0. 0. 0. 1. ]] SLAMing on 5.853133365 meters Centerline goodness [0,1] 0.22563905872797418 Centerline is valid? [False, False] Translation: X:1.04, Y:0.26, Z:-0.27 [[ 0.99936638 0.00201984 0.03553524 1.03624721] [-0.00226327 0.99997424 0.00681151 0.25930029] [-0.03552057 -0.00688762 0.99934521 -0.26983134] [ 0. 0. 0. 1. ]] SLAMing on 5.883133365 meters Centerline goodness [0,1] 0.22541583200162052 Centerline is valid? [False, False] Translation: X:1.04, Y:0.26, Z:-0.27 [[ 0.99937797 0.00202878 0.03520747 1.03731923] [-0.00226696 0.99997481 0.00672633 0.25983551] [-0.03519294 -0.00680196 0.99935739 -0.27060292] [ 0. 0. 0. 1. ]] SLAMing on 5.913133365 meters Centerline goodness [0,1] 0.22515367703145328 Centerline is valid? [False, False] Translation: X:1.04, Y:0.26, Z:-0.27 [[ 0.99938475 0.00200546 0.03501568 1.0379303 ] [-0.00223908 0.99997549 0.00663397 0.2602675 ] [-0.03500152 -0.00670829 0.99936474 -0.27099568] [ 0. 0. 0. 1. ]] SLAMing on 5.943133365 meters Centerline goodness [0,1] 0.224552635101968 Centerline is valid? [False, False] Translation: X:1.04, Y:0.26, Z:-0.27 [[ 0.99938997 0.00200076 0.03486669 1.03773569] [-0.00223713 0.99997477 0.00674153 0.25956048] [-0.03485233 -0.00681542 0.99936923 -0.26987957] [ 0. 0. 0. 1. ]] SLAMing on 5.973133365 meters Centerline goodness [0,1] 0.22409225494779494 Centerline is valid? [False, False] Translation: X:1.04, Y:0.26, Z:-0.27 [[ 0.99938944 0.00201433 0.03488107 1.03735622] [-0.00225844 0.99997323 0.00696017 0.25842497] [-0.03486611 -0.0070347 0.99936723 -0.26908722] [ 0. 0. 0. 1. ]] SLAMing on 6.003133365 meters Centerline goodness [0,1] 0.23847330304529712 Centerline is valid? [False, False] Translation: X:1.02, Y:0.26, Z:-0.27 [[ 0.99939735 -0.00673422 0.03405266 1.01504999] [ 0.00647267 0.99994875 0.00778531 0.25976208] [-0.03410334 -0.00756021 0.99938972 -0.26801128] [ 0. 0. 0. 1. ]] SLAMing on 6.033133364999999 meters Centerline goodness [0,1] 0.23386177134807595 Centerline is valid? [False, False] Translation: X:1.02, Y:0.26, Z:-0.27 [[ 0.99939741 -0.00669798 0.03405797 1.01504269] [ 0.00642696 0.99994686 0.00806091 0.25825243] [-0.03411015 -0.00783717 0.99938735 -0.26786021] [ 0. 0. 0. 1. ]] SLAMing on 6.063133365 meters Centerline goodness [0,1] 0.23781154472633148 Centerline is valid? [False, False] Translation: X:1.02, Y:0.26, Z:-0.27 [[ 0.99940063 -0.00684628 0.03393398 1.01577167] [ 0.00656943 0.99994428 0.00826337 0.2560783 ] [-0.03398866 -0.00803549 0.99938991 -0.26846571] [ 0. 0. 0. 1. ]] SLAMing on 6.093133365 meters Centerline goodness [0,1] 0.2362935051615349 Centerline is valid? [False, False] Translation: X:1.02, Y:0.26, Z:-0.27 [[ 0.99940387 -0.00681127 0.03384549 1.01611732] [ 0.00653118 0.99994356 0.00837934 0.25546614] [-0.03390066 -0.00815329 0.99939195 -0.26871958] [ 0. 0. 0. 1. ]] SLAMing on 6.123133365 meters Centerline goodness [0,1] 0.2369150895254154 Centerline is valid? [False, False] Translation: X:1.02, Y:0.26, Z:-0.27 [[ 0.99940424 -0.00673115 0.03385036 1.01597841] [ 0.00644666 0.99994304 0.0085064 0.25511616] [-0.03390569 -0.00828311 0.99939071 -0.26848052] [ 0. 0. 0. 1. ]] SLAMing on 6.1531333649999995 meters Centerline goodness [0,1] 0.24821746880570406 Centerline is valid? [False, False] Translation: X:0.99, Y:0.25, Z:-0.27 [[ 0.9994219 0.00222149 0.03392535 0.99425828] [-0.00250154 0.99996313 0.00821471 0.24922859] [-0.03390585 -0.00829482 0.99939061 -0.26736749] [ 0. 0. 0. 1. ]] SLAMing on 6.183133365 meters Centerline goodness [0,1] 0.26248130872408326 Centerline is valid? [False, False] Translation: X:0.99, Y:0.25, Z:-0.27 [[ 0.99941986 0.00220908 0.03398613 0.99401911] [-0.0024832 0.99996471 0.00802553 0.25026035] [-0.0339672 -0.00810527 0.99939008 -0.26724898] [ 0. 0. 0. 1. ]] SLAMing on 6.213133365 meters Centerline goodness [0,1] 0.2377198969594223 Centerline is valid? [False, False] Translation: X:0.99, Y:0.25, Z:-0.27 [[ 0.99942242 0.00227045 0.03390682 0.99420448] [-0.0025372 0.99996616 0.00782611 0.25155005] [-0.03388791 -0.00790762 0.99939436 -0.26745002] [ 0. 0. 0. 1. ]] SLAMing on 6.243133365 meters Centerline goodness [0,1] 0.24455600325869165 Centerline is valid? [False, False] Translation: X:1.00, Y:0.25, Z:-0.27 [[ 0.99943692 0.00246908 0.03346251 0.99563257] [-0.00272302 0.99996783 0.00754542 0.25382855] [-0.0334428 -0.0076323 0.99941149 -0.26849901] [ 0. 0. 0. 1. ]] SLAMing on 6.273133365 meters Centerline goodness [0,1] 0.24469187520670266 Centerline is valid? [False, False] Translation: X:1.00, Y:0.25, Z:-0.27 [[ 0.99943886 0.00243171 0.03340722 0.99587786] [-0.00268173 0.99996872 0.00744138 0.25426745] [-0.03338808 -0.00752679 0.99941412 -0.26876747] [ 0. 0. 0. 1. ]] SLAMing on 6.303133365 meters Centerline goodness [0,1] 0.24795118082481493 Centerline is valid? [False, False] Translation: X:1.00, Y:0.25, Z:-0.27 [[ 0.99943968 0.00240381 0.03338499 0.99585309] [-0.00265398 0.99996872 0.0074514 0.25397691] [-0.03336603 -0.00753583 0.99941479 -0.26861638] [ 0. 0. 0. 1. ]] SLAMing on 6.333133365 meters Centerline goodness [0,1] 0.24841799964844435 Centerline is valid? [False, False] Translation: X:1.00, Y:0.25, Z:-0.27 [[ 0.99944044 0.00243002 0.03336017 0.99574851] [-0.00268769 0.99996689 0.00768126 0.25261066] [-0.0333404 -0.00776662 0.99941388 -0.26823401] [ 0. 0. 0. 1. ]] SLAMing on 6.3631333649999995 meters Centerline goodness [0,1] 0.25671654948978473 Centerline is valid? [False, False] Translation: X:1.00, Y:0.25, Z:-0.27 [[ 0.99944599 -0.00119199 0.03326096 0.99589606] [ 0.00105584 0.99999099 0.00411066 0.25168085] [-0.03326556 -0.00407326 0.99943825 -0.26816565] [ 0. 0. 0. 1. ]] SLAMing on 6.393133365 meters Centerline goodness [0,1] 0.25732461643443616 Centerline is valid? [False, False] Translation: X:1.00, Y:0.25, Z:-0.27 [[ 0.99945745 -0.001191 0.03291497 0.9969783 ] [ 0.00105045 0.99999026 0.00428699 0.25064674] [-0.03291976 -0.00425008 0.99944896 -0.26862628] [ 0. 0. 0. 1. ]] SLAMing on 6.423133365 meters Centerline goodness [0,1] 0.2629611607537822 Centerline is valid? [False, False] Translation: X:1.00, Y:0.25, Z:-0.27 [[ 0.99946797 -0.0011558 0.03259519 0.99791901] [ 0.00101109 0.99998956 0.00445571 0.24983921] [-0.0326 -0.00442038 0.9994587 -0.26896875] [ 0. 0. 0. 1. ]] SLAMing on 6.453133365 meters Centerline goodness [0,1] 0.26051879533963507 Centerline is valid? [False, False] Translation: X:1.00, Y:0.25, Z:-0.27 [[ 0.99948079 -0.00119603 0.03219799 0.99902559] [ 0.00104517 0.9999884 0.00470186 0.24833296] [-0.03220324 -0.00466576 0.99947045 -0.26923767] [ 0. 0. 0. 1. ]] SLAMing on 6.483133365 meters Centerline goodness [0,1] 0.28078839651183485 Centerline is valid? [False, False] Translation: X:0.98, Y:0.24, Z:-0.27 [[ 0.99949313 0.00486812 0.03146084 0.97605798] [-0.00492475 0.99998639 0.00172268 0.24419527] [-0.03145203 -0.00187674 0.9995035 -0.26740546] [ 0. 0. 0. 1. ]] SLAMing on 6.513133365 meters Centerline goodness [0,1] 0.2635537862625641 Centerline is valid? [False, False] Translation: X:0.98, Y:0.24, Z:-0.27 [[ 0.99949668 0.00488521 0.03134526 0.97629125] [-0.00494859 0.99998586 0.00194457 0.24296374] [-0.03133532 -0.00209871 0.99950672 -0.2672944 ] [ 0. 0. 0. 1. ]] SLAMing on 6.543133365 meters Centerline goodness [0,1] 0.26545750698862014 Centerline is valid? [False, False] Translation: X:0.98, Y:0.24, Z:-0.27 [[ 0.99950274 0.0049226 0.03114545 0.97691151] [-0.00499326 0.99998513 0.00219131 0.2416387 ] [-0.0311342 -0.00234573 0.99951246 -0.26750153] [ 0. 0. 0. 1. ]] SLAMing on 6.5731333649999995 meters Centerline goodness [0,1] 0.2750269224852201 Centerline is valid? [False, False] Translation: X:0.98, Y:0.24, Z:-0.27 [[ 0.99954347 0.00469346 0.02984671 0.98043229] [-0.00476957 0.99998555 0.00247939 0.23906015] [-0.02983464 -0.00262062 0.99955141 -0.26844807] [ 0. 0. 0. 1. ]] SLAMing on 6.603133365 meters Centerline goodness [0,1] 0.26285090114691423 Centerline is valid? [False, False] Translation: X:0.98, Y:0.24, Z:-0.27 [[ 0.99955228 0.00473959 0.02954277 0.98124302] [-0.00482467 0.99998442 0.00280927 0.23727255] [-0.02952899 -0.00295054 0.99955957 -0.26859025] [ 0. 0. 0. 1. ]] SLAMing on 6.633133365 meters Centerline goodness [0,1] 0.27787485346486474 Centerline is valid? [False, False] Translation: X:0.96, Y:0.24, Z:-0.27 [[ 0.99958062 -0.00426095 0.02864307 0.95897502] [ 0.00416035 0.99998497 0.00357089 0.23741654] [-0.02865786 -0.00345023 0.99958332 -0.26763848] [ 0. 0. 0. 1. ]] SLAMing on 6.663133365 meters Centerline goodness [0,1] 0.27938633441227334 Centerline is valid? [False, False] Translation: X:0.96, Y:0.23, Z:-0.27 [[ 0.9995746 -0.00421982 0.02885859 0.95825979] [ 0.00410575 0.99998353 0.00401101 0.23497221] [-0.02887504 -0.00389082 0.99957546 -0.26702457] [ 0. 0. 0. 1. ]] SLAMing on 6.693133365 meters Centerline goodness [0,1] 0.2664809860081583 Centerline is valid? [False, False] Translation: X:0.96, Y:0.23, Z:-0.27 [[ 0.99956277 -0.00430872 0.02925245 0.95702409] [ 0.00417292 0.99998024 0.00470173 0.23044471] [-0.02927213 -0.0045776 0.999561 -0.26619205] [ 0. 0. 0. 1. ]] SLAMing on 6.723133365 meters Centerline goodness [0,1] 0.28104357109494893 Centerline is valid? [False, False] Translation: X:0.93, Y:0.23, Z:-0.26 [[ 0.99961112 0.00192375 0.02781938 0.93447876] [-0.0019812 0.99999596 0.00203748 0.22535643] [-0.02781535 -0.0020918 0.99961089 -0.2645427 ] [ 0. 0. 0. 1. ]] SLAMing on 6.753133365 meters Centerline goodness [0,1] 0.27863960504662644 Centerline is valid? [False, False] Translation: X:0.94, Y:0.22, Z:-0.26 [[ 0.99961913 0.00199351 0.02752475 0.9353652 ] [-0.00206001 0.99999503 0.00238788 0.22344147] [-0.02751986 -0.00244367 0.99961827 -0.26487674] [ 0. 0. 0. 1. ]] SLAMing on 6.783133364999999 meters Centerline goodness [0,1] 0.2784611300384938 Centerline is valid? [False, False] Translation: X:0.91, Y:0.22, Z:-0.26 [[ 0.99965843 -0.00653096 0.02530548 0.91476197] [ 0.00643928 0.99997241 0.00370272 0.22032278] [-0.02532897 -0.0035385 0.99967291 -0.26420666] [ 0. 0. 0. 1. ]] SLAMing on 6.813133365 meters Centerline goodness [0,1] 0.27618607516943927 Centerline is valid? [False, False] Translation: X:0.91, Y:0.22, Z:-0.26 [[ 0.99966235 -0.00635813 0.02519461 0.91495775] [ 0.00625179 0.99997122 0.00429723 0.21736438] [-0.02522121 -0.00413827 0.99967333 -0.26400888] [ 0. 0. 0. 1. ]] SLAMing on 6.843133365 meters Centerline goodness [0,1] 0.27618607516943927 Centerline is valid? [False, False] Translation: X:0.91, Y:0.22, Z:-0.26 [[ 0.99966235 -0.00635813 0.02519461 0.91495775] [ 0.00625179 0.99997122 0.00429723 0.21736438] [-0.02522121 -0.00413827 0.99967333 -0.26400888] [ 0. 0. 0. 1. ]] SLAMing on 6.873133365 meters Centerline goodness [0,1] 0.28001970708111257 Centerline is valid? [False, False] Translation: X:0.89, Y:0.21, Z:-0.26 [[ 9.99694166e-01 -8.87566810e-05 2.47298888e-02 8.91395371e-01] [ 4.25654647e-05 9.99998254e-01 1.86834966e-03 2.10857423e-01] [-2.47300115e-02 -1.86672561e-03 9.99692424e-01 -2.62164889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9031333649999995 meters Centerline goodness [0,1] 0.2783245239622266 Centerline is valid? [False, False] Translation: X:0.89, Y:0.21, Z:-0.26 [[ 9.99693297e-01 7.77925040e-05 2.47650077e-02 8.91149946e-01] [-1.40957964e-04 9.99996742e-01 2.54885772e-03 2.07384548e-01] [-2.47647288e-02 -2.55156681e-03 9.99690051e-01 -2.61768530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.933133365 meters Centerline goodness [0,1] 0.278275181040158 Centerline is valid? [False, False] Translation: X:0.89, Y:0.20, Z:-0.26 [[ 0.99966511 -0.0022292 0.02578186 0.88700885] [ 0.00220057 0.99999693 0.00113864 0.19953502] [-0.02578432 -0.00108152 0.99966694 -0.25925598] [ 0. 0. 0. 1. ]] SLAMing on 6.963133365 meters Centerline goodness [0,1] 0.2796858154936085 Centerline is valid? [False, False] Translation: X:0.89, Y:0.20, Z:-0.26 [[ 0.99966358 -0.00198575 0.02586075 0.88675637] [ 0.00193645 0.99999626 0.00193156 0.19565763] [-0.02586449 -0.00188084 0.99966369 -0.25897206] [ 0. 0. 0. 1. ]] SLAMing on 6.993133364999999 meters Centerline goodness [0,1] 0.2803183983065797 Centerline is valid? [False, False] Translation: X:0.89, Y:0.19, Z:-0.26 [[ 0.9996635 -0.0017079 0.02588393 0.88665308] [ 0.001637 0.99999485 0.00275978 0.19178882] [-0.02588851 -0.00271648 0.99966115 -0.25877736] [ 0. 0. 0. 1. ]] SLAMing on 7.023133365 meters Centerline goodness [0,1] 0.2789585199100063 Centerline is valid? [False, False] Translation: X:0.89, Y:0.19, Z:-0.26 [[ 0.99966523 -0.00140521 0.02583507 0.88678677] [ 0.00131196 0.99999256 0.00362629 0.18773407] [-0.02583997 -0.00359118 0.99965964 -0.25869592] [ 0. 0. 0. 1. ]] SLAMing on 7.053133365 meters Centerline goodness [0,1] 0.27750136986301366 Centerline is valid? [False, False] Translation: X:0.89, Y:0.18, Z:-0.26 [[ 9.99677951e-01 -1.05901856e-03 2.53549454e-02 8.88430101e-01] [ 9.37631968e-04 9.99988046e-01 4.79890186e-03 1.78541030e-01] [-2.53597244e-02 -4.77358277e-03 9.99666993e-01 -2.59296568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.083133365 meters Centerline goodness [0,1] 0.28004592726710675 Centerline is valid? [False, False] Translation: X:0.89, Y:0.18, Z:-0.26 [[ 9.99685662e-01 -7.96225537e-04 2.50588040e-02 8.89305435e-01] [ 6.57632473e-04 9.99984446e-01 5.53846861e-03 1.75032234e-01] [-2.50628241e-02 -5.52024818e-03 9.99670637e-01 -2.59569095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1131333649999995 meters Centerline goodness [0,1] 0.281385857510425 Centerline is valid? [False, False] Translation: X:0.89, Y:0.17, Z:-0.26 [[ 9.99691537e-01 -5.69379861e-04 2.48295432e-02 8.89964042e-01] [ 4.16345471e-04 9.99980890e-01 6.16813347e-03 1.72084959e-01] [-2.48325807e-02 -6.15589316e-03 9.99672670e-01 -2.59752584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.143133365 meters Centerline goodness [0,1] 0.27819483049178173 Centerline is valid? [False, False] Translation: X:0.89, Y:0.17, Z:-0.26 [[ 9.99691949e-01 -3.39906924e-04 2.48171702e-02 8.89936947e-01] [ 1.73528181e-04 9.99977499e-01 6.70602447e-03 1.69594780e-01] [-2.48188913e-02 -6.69965219e-03 9.99669514e-01 -2.59588332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.173133365 meters Centerline goodness [0,1] 0.2765004024276174 Centerline is valid? [False, False] Translation: X:0.89, Y:0.17, Z:-0.26 [[ 9.99687000e-01 -1.82932724e-04 2.50173615e-02 8.89261633e-01] [ 6.71380831e-06 9.99975192e-01 7.04376756e-03 1.67961763e-01] [-2.50180294e-02 -7.04139490e-03 9.99662201e-01 -2.59167851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.203133364999999 meters Centerline goodness [0,1] 0.2790692593401791 Centerline is valid? [False, False] Translation: X:0.89, Y:0.17, Z:-0.26 [[ 9.99666402e-01 2.19791366e-04 2.58270542e-02 8.87123766e-01] [-4.15692961e-04 9.99971185e-01 7.58000713e-03 1.65724280e-01] [-2.58246439e-02 -7.58821458e-03 9.99637688e-01 -2.58686723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.233133365 meters Centerline goodness [0,1] 0.2756836981906279 Centerline is valid? [False, False] Translation: X:0.89, Y:0.17, Z:-0.26 [[ 9.99663420e-01 3.15215066e-04 2.59412241e-02 8.87024831e-01] [-5.15346119e-04 9.99970157e-01 7.70846452e-03 1.65240535e-01] [-2.59380201e-02 -7.71923871e-03 9.99633749e-01 -2.58989251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.263133365 meters Centerline goodness [0,1] 0.27622925830756495 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:-0.26 [[ 9.99663968e-01 4.39801218e-04 2.59182989e-02 8.87277481e-01] [-6.43191605e-04 9.99969063e-01 7.83955233e-03 1.64783667e-01] [-2.59140492e-02 -7.85358842e-03 9.99633324e-01 -2.59378382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.293133365 meters Centerline goodness [0,1] 0.27709948673146223 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:-0.26 [[ 9.99669134e-01 5.93085920e-04 2.57151847e-02 8.88254412e-01] [-8.01026483e-04 9.99967062e-01 8.07674798e-03 1.63525625e-01] [-2.57095475e-02 -8.09467420e-03 9.99636682e-01 -2.60296231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3231333649999995 meters Centerline goodness [0,1] 0.27986838037189166 Centerline is valid? [False, False] Translation: X:0.87, Y:0.16, Z:-0.26 [[ 0.99964521 0.00856599 0.02522046 0.86880381] [-0.00874558 0.99993712 0.00701909 0.15722322] [-0.02515875 -0.00723717 0.99965727 -0.26108943] [ 0. 0. 0. 1. ]] SLAMing on 7.353133365 meters Centerline goodness [0,1] 0.27461263408820025 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:-0.26 [[ 9.99686078e-01 8.84216641e-04 2.50392449e-02 8.88482774e-01] [-1.07841356e-03 9.99969439e-01 7.74326067e-03 1.62379683e-01] [-2.50316330e-02 -7.76783255e-03 9.99656480e-01 -2.61034752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.383133365 meters Centerline goodness [0,1] 0.2767878615623428 Centerline is valid? [False, False] Translation: X:0.87, Y:0.16, Z:-0.26 [[ 0.99966914 0.00907246 0.02406878 0.86862373] [-0.00923632 0.99993486 0.00670548 0.15700932] [-0.02400638 -0.00692557 0.99968782 -0.26204318] [ 0. 0. 0. 1. ]] SLAMing on 7.413133365 meters Centerline goodness [0,1] 0.27455613605324203 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:-0.26 [[ 0.99972897 0.00203385 0.02319163 0.88648784] [-0.00221799 0.9999662 0.00791699 0.16263379] [-0.02317474 -0.00796628 0.99969969 -0.26049792] [ 0. 0. 0. 1. ]] SLAMing on 7.443133365 meters Centerline goodness [0,1] 0.27737607805557973 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:-0.26 [[ 0.99973124 0.00210466 0.02308712 0.88671896] [-0.00229023 0.99996526 0.00801405 0.16240905] [-0.02306946 -0.00806477 0.99970134 -0.26050611] [ 0. 0. 0. 1. ]] SLAMing on 7.473133365 meters Centerline goodness [0,1] 0.275976579568295 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:-0.26 [[ 0.99973745 0.00222145 0.02280548 0.88750884] [-0.00241237 0.99996225 0.0083476 0.16065105] [-0.02278608 -0.00840043 0.99970507 -0.26066007] [ 0. 0. 0. 1. ]] SLAMing on 7.503133365 meters Centerline goodness [0,1] 0.27560683574616307 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:-0.26 [[ 0.99974229 0.00228171 0.02258645 0.88811398] [-0.00247617 0.99996008 0.00858534 0.15932422] [-0.02256596 -0.00863905 0.99970803 -0.26077915] [ 0. 0. 0. 1. ]] SLAMing on 7.533133364999999 meters Centerline goodness [0,1] 0.2759851948617461 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:-0.26 [[ 0.99974628 0.00235771 0.02240114 0.88879977] [-0.00255564 0.99995792 0.00881109 0.15826367] [-0.02237942 -0.0088661 0.99971023 -0.26117351] [ 0. 0. 0. 1. ]] SLAMing on 7.563133365 meters Centerline goodness [0,1] 0.2752011513050304 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:-0.26 [[ 0.99974925 0.00243516 0.02226002 0.88938886] [-0.0026359 0.99995609 0.00899318 0.15750417] [-0.02223715 -0.0090496 0.99971177 -0.26159619] [ 0. 0. 0. 1. ]] SLAMing on 7.593133365 meters Centerline goodness [0,1] 0.27330762359195593 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:-0.26 [[ 0.99975263 0.00249234 0.02210134 0.88986434] [-0.00269615 0.99995407 0.00919676 0.15624718] [-0.0220774 -0.00925407 0.99971343 -0.26172597] [ 0. 0. 0. 1. ]] SLAMing on 7.623133365 meters Centerline goodness [0,1] 0.2759241768620818 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:-0.26 [[ 0.99975083 0.00250119 0.02218162 0.88954646] [-0.00270673 0.99995364 0.00924098 0.15589922] [-0.02215748 -0.00929872 0.99971125 -0.26150256] [ 0. 0. 0. 1. ]] SLAMing on 7.6531333649999995 meters Centerline goodness [0,1] 0.277383645588526 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:-0.26 [[ 0.99974907 0.00253238 0.02225711 0.88920555] [-0.00274079 0.99995264 0.00933831 0.15545076] [-0.02223241 -0.00939697 0.99970867 -0.26120728] [ 0. 0. 0. 1. ]] SLAMing on 7.683133365 meters Centerline goodness [0,1] 0.27467087248910205 Centerline is valid? [False, False] Translation: X:0.89, Y:0.15, Z:-0.26 [[ 0.99974587 0.00267667 0.02238387 0.888672 ] [-0.00289258 0.99994955 0.0096188 0.15457937] [-0.02235699 -0.0096811 0.99970318 -0.26079616] [ 0. 0. 0. 1. ]] SLAMing on 7.713133365 meters Centerline goodness [0,1] 0.27712765957446805 Centerline is valid? [False, False] Translation: X:0.87, Y:0.15, Z:-0.26 [[ 0.99970338 0.01041139 0.02201731 0.86946644] [-0.01060038 0.99990782 0.00848469 0.14841731] [-0.02192695 -0.00871557 0.99972159 -0.26168597] [ 0. 0. 0. 1. ]] SLAMing on 7.743133364999999 meters Centerline goodness [0,1] 0.2718349836413667 Centerline is valid? [False, False] Translation: X:0.91, Y:0.15, Z:-0.26 [[ 0.99965498 0.01051503 0.02406998 0.91386166] [-0.01069616 0.99991535 0.00740877 0.15185362] [-0.02399004 -0.00766367 0.99968282 -0.26384381] [ 0. 0. 0. 1. ]] SLAMing on 7.773133365 meters Centerline goodness [0,1] 0.27400156958493194 Centerline is valid? [False, False] Translation: X:0.89, Y:0.15, Z:-0.26 [[ 0.99970808 0.00171198 0.02410032 0.89310848] [-0.0019177 0.9999619 0.00851564 0.1534915 ] [-0.02408482 -0.00855937 0.99967328 -0.26434602] [ 0. 0. 0. 1. ]] SLAMing on 7.803133365 meters Centerline goodness [0,1] 0.2741461503297852 Centerline is valid? [False, False] Translation: X:0.89, Y:0.15, Z:-0.26 [[ 0.99970933 0.00177055 0.02404406 0.89303462] [-0.00199059 0.99995633 0.0091307 0.15008815] [-0.02402684 -0.00917591 0.9996692 -0.26381385] [ 0. 0. 0. 1. ]] SLAMing on 7.833133365 meters Centerline goodness [0,1] 0.27438532190152065 Centerline is valid? [False, False] Translation: X:0.89, Y:0.15, Z:-0.26 [[ 0.9997137 0.00184349 0.0238561 0.89339932] [-0.00207331 0.99995165 0.00961228 0.14745795] [-0.02383723 -0.00965899 0.99966919 -0.26353732] [ 0. 0. 0. 1. ]] SLAMing on 7.8631333649999995 meters Centerline goodness [0,1] 0.2744774238407718 Centerline is valid? [False, False] Translation: X:0.89, Y:0.14, Z:-0.26 [[ 0.9997175 0.00190284 0.02369191 0.89371463] [-0.00214295 0.99994656 0.01011352 0.14457222] [-0.02367139 -0.01016143 0.99966815 -0.26320906] [ 0. 0. 0. 1. ]] SLAMing on 7.893133365 meters Centerline goodness [0,1] 0.27403543093142047 Centerline is valid? [False, False] Translation: X:0.89, Y:0.14, Z:-0.26 [[ 0.99972283 0.00198947 0.02345853 0.89424991] [-0.00223851 0.99994137 0.01059475 0.14186978] [-0.02343607 -0.01064433 0.99966867 -0.26309233] [ 0. 0. 0. 1. ]] SLAMing on 7.923133365 meters Centerline goodness [0,1] 0.27251928356647925 Centerline is valid? [False, False] Translation: X:0.89, Y:0.14, Z:-0.26 [[ 0.99972701 0.00215877 0.02326466 0.89486184] [-0.00241966 0.99993445 0.01119139 0.1388145 ] [-0.02323897 -0.01124462 0.9996667 -0.26323566] [ 0. 0. 0. 1. ]] SLAMing on 7.953133364999999 meters Centerline goodness [0,1] 0.26963180893869254 Centerline is valid? [False, False] Translation: X:0.90, Y:0.14, Z:-0.26 [[ 0.99973097 0.00219786 0.02309039 0.89553267] [-0.00245889 0.99993333 0.01128266 0.13834014] [-0.02306405 -0.0113364 0.99966971 -0.26368862] [ 0. 0. 0. 1. ]] SLAMing on 7.983133365 meters Centerline goodness [0,1] 0.25896191989009576 Centerline is valid? [False, False] Translation: X:0.90, Y:0.14, Z:-0.26 [[ 0.99973558 0.00218466 0.02289081 0.89619553] [-0.00244149 0.99993432 0.01119818 0.13872945] [-0.02286484 -0.0112511 0.99967525 -0.26403201] [ 0. 0. 0. 1. ]] SLAMing on 8.013133365 meters Centerline goodness [0,1] 0.27497309998023667 Centerline is valid? [False, False] Translation: X:0.85, Y:0.14, Z:-0.26 [[ 0.99980374 0.00143951 0.01975886 0.85122928] [-0.00166492 0.99993367 0.01139627 0.13524608] [-0.01974115 -0.01142693 0.99973982 -0.26160262] [ 0. 0. 0. 1. ]] SLAMing on 8.043133365 meters Centerline goodness [0,1] 0.2735301207459514 Centerline is valid? [False, False] Translation: X:0.85, Y:0.14, Z:-0.26 [[ 0.99980581 0.0014179 0.01965533 0.85151032] [-0.00163961 0.99993516 0.01126855 0.1359065 ] [-0.01963808 -0.01129859 0.99974331 -0.26172236] [ 0. 0. 0. 1. ]] SLAMing on 8.073133365 meters Centerline goodness [0,1] 0.27096409877722993 Centerline is valid? [False, False] Translation: X:0.85, Y:0.14, Z:-0.26 [[ 0.99980419 0.00131125 0.01974475 0.85112546] [-0.00152504 0.99994033 0.0108167 0.1382542 ] [-0.01972939 -0.0108447 0.99974654 -0.26154778] [ 0. 0. 0. 1. ]] SLAMing on 8.103133365 meters Centerline goodness [0,1] 0.26941548046553887 Centerline is valid? [False, False] Translation: X:0.85, Y:0.14, Z:-0.26 [[ 0.99980134 0.00116333 0.01989789 0.85058445] [-0.00137074 0.99994484 0.01041291 0.14013068] [-0.01988468 -0.01043812 0.99974779 -0.26129887] [ 0. 0. 0. 1. ]] SLAMing on 8.133133364999999 meters Centerline goodness [0,1] 0.2772196158272108 Centerline is valid? [False, False] Translation: X:0.80, Y:0.14, Z:-0.26 [[ 9.99843960e-01 3.20064723e-04 1.76621925e-02 8.03672875e-01] [-5.02494655e-04 9.99946566e-01 1.03253673e-02 1.38831013e-01] [-1.76579440e-02 -1.03326313e-02 9.99790695e-01 -2.58173698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.163133365 meters Centerline goodness [0,1] 0.2689701456993787 Centerline is valid? [False, False] Translation: X:0.85, Y:0.15, Z:-0.26 [[ 0.99980324 0.00118956 0.01980075 0.84650514] [-0.00138433 0.99995077 0.00982543 0.14548926] [-0.01978809 -0.00985091 0.99975567 -0.25935858] [ 0. 0. 0. 1. ]] SLAMing on 8.193133365 meters Centerline goodness [0,1] 0.2712166688416199 Centerline is valid? [False, False] Translation: X:0.85, Y:0.15, Z:-0.26 [[ 9.99804103e-01 9.61032254e-04 1.97694710e-02 8.46438242e-01] [-1.14580765e-03 9.99955750e-01 9.33729909e-03 1.47681350e-01] [-1.97596227e-02 -9.35812195e-03 9.99760963e-01 -2.59215903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.223133364999999 meters Centerline goodness [0,1] 0.259564551280668 Centerline is valid? [False, False] Translation: X:0.85, Y:0.15, Z:-0.26 [[ 9.99810063e-01 8.18762469e-04 1.94722352e-02 8.47101408e-01] [-9.98864208e-04 9.99956800e-01 9.24122912e-03 1.47796696e-01] [-1.94638277e-02 -9.25892398e-03 9.99767689e-01 -2.59122937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.253133365 meters Centerline goodness [0,1] 0.2730417754569191 Centerline is valid? [False, False] Translation: X:0.85, Y:0.15, Z:-0.26 [[ 9.99816589e-01 2.63974445e-04 1.91498788e-02 8.47657326e-01] [-4.39057327e-04 9.99958141e-01 9.13913899e-03 1.46698250e-01] [-1.91466647e-02 -9.14587067e-03 9.99774854e-01 -2.58607306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.283133365 meters Centerline goodness [0,1] 0.2591146395133106 Centerline is valid? [False, False] Translation: X:0.85, Y:0.14, Z:-0.26 [[ 9.99819437e-01 2.03084329e-04 1.90013850e-02 8.47750560e-01] [-3.82629227e-04 9.99955313e-01 9.44588430e-03 1.44835008e-01] [-1.89986175e-02 -9.45144921e-03 9.99774836e-01 -2.58050232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.313133365 meters Centerline goodness [0,1] 0.27347988061262285 Centerline is valid? [False, False] Translation: X:0.85, Y:0.14, Z:-0.26 [[ 9.99818054e-01 2.03028408e-04 1.90740090e-02 8.47270973e-01] [-3.91122870e-04 9.99951331e-01 9.85808387e-03 1.42495648e-01] [-1.90710792e-02 -9.86375051e-03 9.99769474e-01 -2.57338479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.343133365 meters Centerline goodness [0,1] 0.2722286311298783 Centerline is valid? [False, False] Translation: X:0.85, Y:0.14, Z:-0.26 [[ 9.99818138e-01 1.87844561e-04 1.90697478e-02 8.47007080e-01] [-3.83816408e-04 9.99947153e-01 1.02734433e-02 1.39974809e-01] [-1.90668102e-02 -1.02788942e-02 9.99765373e-01 -2.56728678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.373133365 meters Centerline goodness [0,1] 0.27493020415285285 Centerline is valid? [False, False] Translation: X:0.85, Y:0.14, Z:-0.26 [[ 9.99813246e-01 1.33421888e-04 1.93249860e-02 8.46335682e-01] [-3.44143212e-04 9.99940521e-01 1.09011716e-02 1.35823078e-01] [-1.93223821e-02 -1.09057864e-02 9.99753824e-01 -2.56379227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.403133365 meters Centerline goodness [0,1] 0.27386153678947944 Centerline is valid? [False, False] Translation: X:0.85, Y:0.13, Z:-0.26 [[ 9.99813010e-01 2.48438635e-04 1.93360406e-02 8.46415686e-01] [-4.66218616e-04 9.99936504e-01 1.12592119e-02 1.34072801e-01] [-1.93320156e-02 -1.12661213e-02 9.99749643e-01 -2.56492639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.433133365 meters Centerline goodness [0,1] 0.2722094685320743 Centerline is valid? [False, False] Translation: X:0.85, Y:0.13, Z:-0.26 [[ 9.99813173e-01 3.21505180e-04 1.93265778e-02 8.46424126e-01] [-5.43740135e-04 9.99933785e-01 1.14947747e-02 1.32803642e-01] [-1.93216025e-02 -1.15031358e-02 9.99747145e-01 -2.56418964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.463133365 meters Centerline goodness [0,1] 0.2630037106959182 Centerline is valid? [False, False] Translation: X:0.85, Y:0.13, Z:-0.26 [[ 9.99814052e-01 4.02753329e-04 1.92795040e-02 8.46498666e-01] [-6.29304958e-04 9.99930812e-01 1.17462812e-02 1.31475566e-01] [-1.92734393e-02 -1.17562297e-02 9.99745130e-01 -2.56301582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.493133365 meters Centerline goodness [0,1] 0.27571926287880444 Centerline is valid? [False, False] Translation: X:0.82, Y:0.12, Z:-0.26 [[ 0.99981087 0.00624153 0.01841896 0.82467889] [-0.00640947 0.9999383 0.00907293 0.12447401] [-0.0183612 -0.00918927 0.99978919 -0.25532834] [ 0. 0. 0. 1. ]] SLAMing on 8.523133365 meters Centerline goodness [0,1] 0.2741470811220622 Centerline is valid? [False, False] Translation: X:0.84, Y:0.13, Z:-0.25 [[ 0.99982871 -0.00159064 0.01843989 0.8446432 ] [ 0.00140493 0.99994821 0.01007973 0.12718984] [-0.01845496 -0.0100521 0.99977916 -0.25470938] [ 0. 0. 0. 1. ]] SLAMing on 8.553133364999999 meters Centerline goodness [0,1] 0.276685393258427 Centerline is valid? [False, False] Translation: X:0.83, Y:0.12, Z:-0.26 [[ 0.99981569 0.00610281 0.01820284 0.82537775] [-0.00627263 0.9999372 0.00928688 0.11898678] [-0.01814502 -0.00939935 0.99979118 -0.25543024] [ 0. 0. 0. 1. ]] SLAMing on 8.583133365 meters Centerline goodness [0,1] 0.2748672218215199 Centerline is valid? [False, False] Translation: X:0.82, Y:0.12, Z:-0.26 [[ 0.99982815 0.00250732 0.01836809 0.82481969] [-0.0026175 0.99997871 0.00597723 0.11603228] [-0.01835271 -0.00602428 0.99981343 -0.25516759] [ 0. 0. 0. 1. ]] SLAMing on 8.613133365 meters Centerline goodness [0,1] 0.26101709661982864 Centerline is valid? [False, False] Translation: X:0.82, Y:0.11, Z:-0.26 [[ 0.99982887 0.00261017 0.01831427 0.8249338 ] [-0.00272749 0.9999759 0.0063843 0.11373187] [-0.01829717 -0.00643316 0.9998119 -0.25508777] [ 0. 0. 0. 1. ]] SLAMing on 8.643133365 meters Centerline goodness [0,1] 0.275083172824374 Centerline is valid? [False, False] Translation: X:0.82, Y:0.11, Z:-0.25 [[ 0.99982642 0.00275119 0.01842729 0.82460739] [-0.00287675 0.99997281 0.00679053 0.11171136] [-0.0184081 -0.00684236 0.99980714 -0.25494612] [ 0. 0. 0. 1. ]] SLAMing on 8.673133365 meters Centerline goodness [0,1] 0.2755315440920181 Centerline is valid? [False, False] Translation: X:0.82, Y:0.11, Z:-0.25 [[ 0.99982315 0.00304219 0.01855855 0.82433398] [-0.00318255 0.99996652 0.00753822 0.10817301] [-0.01853499 -0.00759595 0.99979936 -0.25492703] [ 0. 0. 0. 1. ]] SLAMing on 8.703133365 meters Centerline goodness [0,1] 0.27382917716569644 Centerline is valid? [False, False] Translation: X:0.82, Y:0.11, Z:-0.26 [[ 0.99982589 0.00313078 0.01839512 0.82491257] [-0.00327487 0.99996415 0.00780837 0.10673324] [-0.01837002 -0.00786726 0.9998003 -0.25521432] [ 0. 0. 0. 1. ]] SLAMing on 8.733133365 meters Centerline goodness [0,1] 0.27575116750374484 Centerline is valid? [False, False] Translation: X:0.81, Y:0.10, Z:-0.26 [[ 0.99978743 0.01101469 0.01742879 0.80548792] [-0.01113833 0.99991338 0.00701269 0.09983466] [-0.01735004 -0.00720532 0.99982351 -0.25589845] [ 0. 0. 0. 1. ]] SLAMing on 8.763133365 meters Centerline goodness [0,1] 0.27575116750374484 Centerline is valid? [False, False] Translation: X:0.81, Y:0.10, Z:-0.26 [[ 0.99978743 0.01101469 0.01742879 0.80548792] [-0.01113833 0.99991338 0.00701269 0.09983466] [-0.01735004 -0.00720532 0.99982351 -0.25589845] [ 0. 0. 0. 1. ]] SLAMing on 8.793133365 meters Centerline goodness [0,1] 0.27383420254435153 Centerline is valid? [False, False] Translation: X:0.83, Y:0.10, Z:-0.26 [[ 0.99985785 0.00355968 0.01648061 0.82543414] [-0.0036882 0.99996298 0.00777446 0.10383891] [-0.01645232 -0.00783414 0.99983396 -0.2554047 ] [ 0. 0. 0. 1. ]] SLAMing on 8.823133365 meters Centerline goodness [0,1] 0.2582250005407627 Centerline is valid? [False, False] Translation: X:0.83, Y:0.10, Z:-0.26 [[ 0.99986167 0.00367066 0.01622244 0.82631249] [-0.00380023 0.99996107 0.00796365 0.10300535] [-0.01619257 -0.00802419 0.99983669 -0.25587575] [ 0. 0. 0. 1. ]] SLAMing on 8.853133365 meters Centerline goodness [0,1] 0.27457019900823554 Centerline is valid? [False, False] Translation: X:0.83, Y:0.10, Z:-0.26 [[ 0.99986121 0.00369897 0.01624444 0.82610633] [-0.00383034 0.99996016 0.00806324 0.10248859] [-0.01621397 -0.00812434 0.99983554 -0.25562845] [ 0. 0. 0. 1. ]] SLAMing on 8.883133364999999 meters Centerline goodness [0,1] 0.26035567122099323 Centerline is valid? [False, False] Translation: X:0.83, Y:0.10, Z:-0.26 [[ 0.99985958 0.00375332 0.01633192 0.8257513 ] [-0.00388756 0.99995886 0.00819539 0.10189831] [-0.01630049 -0.00825773 0.99983304 -0.25536597] [ 0. 0. 0. 1. ]] SLAMing on 8.913133365 meters Centerline goodness [0,1] 0.2757262001182059 Centerline is valid? [False, False] Translation: X:0.83, Y:0.10, Z:-0.26 [[ 0.99985693 0.0038473 0.01647166 0.82530923] [-0.00398689 0.99995635 0.00845032 0.1008294 ] [-0.01643843 -0.00851478 0.99982862 -0.2551232 ] [ 0. 0. 0. 1. ]] SLAMing on 8.943133365 meters Centerline goodness [0,1] 0.27393077577370173 Centerline is valid? [False, False] Translation: X:0.83, Y:0.10, Z:-0.25 [[ 0.99985561 0.00385801 0.01654938 0.82502338] [-0.00400096 0.9999549 0.00861326 0.09971945] [-0.0165154 -0.00867823 0.99982595 -0.2548799 ] [ 0. 0. 0. 1. ]] SLAMing on 8.973133364999999 meters Centerline goodness [0,1] 0.2746311072248333 Centerline is valid? [False, False] Translation: X:0.82, Y:0.10, Z:-0.25 [[ 9.99850945e-01 4.88098417e-04 1.72583243e-02 8.23076886e-01] [-5.76647432e-04 9.99986695e-01 5.12619620e-03 9.96869269e-02] [-1.72555926e-02 -5.13538409e-03 9.99837923e-01 -2.54516750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.003133365 meters Centerline goodness [0,1] 0.2744033998038574 Centerline is valid? [False, False] Translation: X:0.82, Y:0.10, Z:-0.25 [[ 9.99852533e-01 5.89582743e-04 1.71628932e-02 8.23028098e-01] [-6.85508655e-04 9.99984176e-01 5.58379935e-03 9.72083301e-02] [-1.71593295e-02 -5.59474123e-03 9.99837115e-01 -2.53987802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.033133365 meters Centerline goodness [0,1] 0.274036691286361 Centerline is valid? [False, False] Translation: X:0.82, Y:0.10, Z:-0.25 [[ 9.99856057e-01 6.64506371e-04 1.69536031e-02 8.23648105e-01] [-7.62819040e-04 9.99982929e-01 5.79311718e-03 9.62205085e-02] [-1.69494641e-02 -5.80521583e-03 9.99839495e-01 -2.54182848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.063133365 meters Centerline goodness [0,1] 0.2741278050490884 Centerline is valid? [False, False] Translation: X:0.80, Y:0.09, Z:-0.25 [[ 0.99983002 0.0084523 0.01638559 0.80415602] [-0.00853501 0.99995115 0.00498473 0.08971253] [-0.01634266 -0.00512374 0.99985332 -0.25480281] [ 0. 0. 0. 1. ]] SLAMing on 9.093133365 meters Centerline goodness [0,1] 0.27413548598232795 Centerline is valid? [False, False] Translation: X:0.80, Y:0.09, Z:-0.25 [[ 0.99982868 0.0085054 0.01644008 0.80393644] [-0.00859087 0.99994991 0.00513515 0.08891554] [-0.01639558 -0.0052755 0.99985167 -0.25462493] [ 0. 0. 0. 1. ]] SLAMing on 9.123133365 meters Centerline goodness [0,1] 0.27148751357220413 Centerline is valid? [False, False] Translation: X:0.80, Y:0.09, Z:-0.25 [[ 0.99982618 0.00853933 0.01657363 0.80348287] [-0.00862715 0.99994909 0.00523412 0.08822109] [-0.01652809 -0.00537619 0.99984895 -0.25438113] [ 0. 0. 0. 1. ]] SLAMing on 9.153133365 meters Centerline goodness [0,1] 0.26068765175164754 Centerline is valid? [False, False] Translation: X:0.80, Y:0.09, Z:-0.25 [[ 0.99982357 0.00864454 0.01667623 0.80337232] [-0.00873409 0.99994779 0.00530462 0.08798083] [-0.01662951 -0.00544933 0.99984687 -0.25462177] [ 0. 0. 0. 1. ]] SLAMing on 9.183133365 meters Centerline goodness [0,1] 0.2738636116606161 Centerline is valid? [False, False] Translation: X:0.80, Y:0.09, Z:-0.25 [[ 0.99982144 0.00869118 0.01677928 0.80330589] [-0.00878038 0.99994767 0.00524951 0.08856706] [-0.01673277 -0.0053959 0.99984544 -0.25493 ] [ 0. 0. 0. 1. ]] SLAMing on 9.213133365 meters Centerline goodness [0,1] 0.2755122121881355 Centerline is valid? [False, False] Translation: X:0.80, Y:0.09, Z:-0.26 [[ 0.99981676 0.00874657 0.01702776 0.80280825] [-0.00883658 0.99994734 0.00521826 0.08905708] [-0.01698122 -0.00536777 0.9998414 -0.25509827] [ 0. 0. 0. 1. ]] SLAMing on 9.243133365 meters Centerline goodness [0,1] 0.27347711593288215 Centerline is valid? [False, False] Translation: X:0.80, Y:0.09, Z:-0.25 [[ 0.99981182 0.00880995 0.017283 0.80202987] [-0.00890172 0.99994665 0.00524027 0.08919957] [-0.01723591 -0.00539313 0.99983691 -0.25482159] [ 0. 0. 0. 1. ]] SLAMing on 9.273133365 meters Centerline goodness [0,1] 0.2769213901984432 Centerline is valid? [False, False] Translation: X:0.78, Y:0.09, Z:-0.26 [[ 9.99843451e-01 8.55553016e-06 1.76938611e-02 7.81432302e-01] [-1.20553089e-04 9.99979966e-01 6.32868411e-03 9.14587730e-02] [-1.76934525e-02 -6.32982642e-03 9.99823422e-01 -2.55433373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.303133364999999 meters Centerline goodness [0,1] 0.27370483239007404 Centerline is valid? [False, False] Translation: X:0.78, Y:0.09, Z:-0.26 [[ 9.99847123e-01 3.13094972e-06 1.74851769e-02 7.82189269e-01] [-1.14606922e-04 9.99979676e-01 6.37445738e-03 9.10072618e-02] [-1.74848016e-02 -6.37548679e-03 9.99826802e-01 -2.55882717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.333133365 meters Centerline goodness [0,1] 0.27537979262117196 Centerline is valid? [False, False] Translation: X:0.78, Y:0.09, Z:-0.26 [[ 9.99848995e-01 8.33679283e-06 1.73777808e-02 7.82686745e-01] [-1.20349371e-04 9.99979225e-01 6.44469963e-03 9.03895058e-02] [-1.73773661e-02 -6.44581785e-03 9.99828225e-01 -2.56283311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.363133365 meters Centerline goodness [0,1] 0.2721938498315767 Centerline is valid? [False, False] Translation: X:0.78, Y:0.09, Z:-0.26 [[ 9.99850845e-01 3.44035166e-05 1.72709716e-02 7.83068060e-01] [-1.49912107e-04 9.99977632e-01 6.68676913e-03 8.87833579e-02] [-1.72703553e-02 -6.68836089e-03 9.99828486e-01 -2.56486156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.393133364999999 meters Centerline goodness [0,1] 0.2725095785440613 Centerline is valid? [False, False] Translation: X:0.78, Y:0.09, Z:-0.26 [[ 9.99851724e-01 9.12642777e-05 1.72198308e-02 7.83177857e-01] [-2.09562761e-04 9.99976392e-01 6.86821872e-03 8.79932730e-02] [-1.72187975e-02 -6.87080896e-03 9.99828138e-01 -2.56440588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.423133365 meters Centerline goodness [0,1] 0.2733550488599349 Centerline is valid? [False, False] Translation: X:0.78, Y:0.09, Z:-0.26 [[ 9.99852393e-01 1.86264901e-04 1.71801776e-02 7.83291223e-01] [-3.08192313e-04 9.99974785e-01 7.09460747e-03 8.70895135e-02] [-1.71784230e-02 -7.09885505e-03 9.99827239e-01 -2.56458447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.453133365 meters Centerline goodness [0,1] 0.27361329147043434 Centerline is valid? [False, False] Translation: X:0.78, Y:0.09, Z:-0.26 [[ 9.99854594e-01 2.33506248e-04 1.70509728e-02 7.83623784e-01] [-3.58027180e-04 9.99973289e-01 7.30017637e-03 8.59442224e-02] [-1.70488128e-02 -7.30521960e-03 9.99827971e-01 -2.56432956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.483133365 meters Centerline goodness [0,1] 0.2768964838194429 Centerline is valid? [False, False] Translation: X:0.78, Y:0.08, Z:-0.26 [[ 9.99857261e-01 1.66239746e-04 1.68946684e-02 7.83822402e-01] [-2.94921921e-04 9.99970966e-01 7.61452675e-03 8.28098984e-02] [-1.68929120e-02 -7.61842247e-03 9.99828280e-01 -2.56054618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.513133365 meters Centerline goodness [0,1] 0.2730309537754062 Centerline is valid? [False, False] Translation: X:0.78, Y:0.08, Z:-0.26 [[ 9.99861283e-01 1.75399596e-04 1.66548244e-02 7.84456330e-01] [-3.05452439e-04 9.99969482e-01 7.80649628e-03 8.14587934e-02] [-1.66529469e-02 -7.81050064e-03 9.99830823e-01 -2.56143834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.543133365 meters Centerline goodness [0,1] 0.27659761043516384 Centerline is valid? [False, False] Translation: X:0.77, Y:0.07, Z:-0.26 [[ 0.99984451 0.00779152 0.01581917 0.76552006] [-0.00790233 0.99994459 0.0069548 0.07430437] [-0.01576411 -0.00707873 0.99985068 -0.25707206] [ 0. 0. 0. 1. ]] SLAMing on 9.573133365 meters Centerline goodness [0,1] 0.27371303157391513 Centerline is valid? [False, False] Translation: X:0.79, Y:0.08, Z:-0.26 [[ 9.99883417e-01 4.41785319e-04 1.52629195e-02 7.85361671e-01] [-5.65365410e-04 9.99967088e-01 8.09338725e-03 7.72186412e-02] [-1.52588417e-02 -8.10107283e-03 9.99850759e-01 -2.56585133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.603133365 meters Centerline goodness [0,1] 0.2596998017558765 Centerline is valid? [False, False] Translation: X:0.79, Y:0.08, Z:-0.26 [[ 9.99884208e-01 4.97781347e-04 1.52092795e-02 7.85482575e-01] [-6.24016253e-04 9.99965391e-01 8.29624294e-03 7.60362947e-02] [-1.52046234e-02 -8.30477314e-03 9.99849914e-01 -2.56530094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.633133364999999 meters Centerline goodness [0,1] 0.27092207736328044 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.26 [[ 0.99984683 0.00135843 0.01744916 0.82986426] [-0.001493 0.99996923 0.00770161 0.07788716] [-0.01743816 -0.00772648 0.99981809 -0.25823427] [ 0. 0. 0. 1. ]] SLAMing on 9.663133365 meters Centerline goodness [0,1] 0.2715218896002769 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.26 [[ 0.99984648 0.00146 0.01746123 0.82970841] [-0.00160045 0.99996646 0.0080324 0.07617253] [-0.01744892 -0.00805912 0.99981528 -0.25796499] [ 0. 0. 0. 1. ]] SLAMing on 9.693133365 meters Centerline goodness [0,1] 0.2765114191245702 Centerline is valid? [False, False] Translation: X:0.81, Y:0.07, Z:-0.26 [[ 0.99981676 0.0068728 0.01786642 0.80658516] [-0.00696943 0.99996139 0.00535184 0.06991159] [-0.01782895 -0.00547538 0.99982606 -0.25705759] [ 0. 0. 0. 1. ]] SLAMing on 9.723133364999999 meters Centerline goodness [0,1] 0.2751918603387178 Centerline is valid? [False, False] Translation: X:0.81, Y:0.07, Z:-0.26 [[ 0.99981851 0.00690863 0.01775417 0.80676709] [-0.00700684 0.99996046 0.00547547 0.06908274] [-0.01771564 -0.00559888 0.99982739 -0.25689746] [ 0. 0. 0. 1. ]] SLAMing on 9.753133365 meters Centerline goodness [0,1] 0.2738282272846295 Centerline is valid? [False, False] Translation: X:0.81, Y:0.07, Z:-0.26 [[ 0.99981812 0.00693178 0.01776738 0.80661635] [-0.00703081 0.99996006 0.00551692 0.06886184] [-0.01772843 -0.00564083 0.99982693 -0.25670021] [ 0. 0. 0. 1. ]] SLAMing on 9.783133365 meters Centerline goodness [0,1] 0.2725242802636143 Centerline is valid? [False, False] Translation: X:0.81, Y:0.07, Z:-0.26 [[ 0.99981643 0.00700854 0.01783244 0.80626049] [-0.00710854 0.99995933 0.00555048 0.0691582 ] [-0.01779282 -0.00567622 0.99982558 -0.25633804] [ 0. 0. 0. 1. ]] SLAMing on 9.813133365 meters Centerline goodness [0,1] 0.27536357528338284 Centerline is valid? [False, False] Translation: X:0.80, Y:0.07, Z:-0.26 [[ 0.99980328 0.00722737 0.01847072 0.80442857] [-0.00733167 0.99995752 0.00558546 0.07006129] [-0.01842957 -0.00571978 0.9998138 -0.2558346 ] [ 0. 0. 0. 1. ]] SLAMing on 9.843133365 meters Centerline goodness [0,1] 0.2750648840810451 Centerline is valid? [False, False] Translation: X:0.80, Y:0.07, Z:-0.26 [[ 0.99980076 0.00719498 0.01861938 0.80396743] [-0.00729851 0.99995825 0.00549865 0.07042666] [-0.01857904 -0.00563345 0.99981152 -0.25563958] [ 0. 0. 0. 1. ]] SLAMing on 9.873133365 meters Centerline goodness [0,1] 0.2783711762503579 Centerline is valid? [False, False] Translation: X:0.78, Y:0.07, Z:-0.26 [[ 0.99983684 -0.00189748 0.01796386 0.78384486] [ 0.00178061 0.99997716 0.00651983 0.07297637] [-0.01797582 -0.00648678 0.99981738 -0.25610334] [ 0. 0. 0. 1. ]] SLAMing on 9.903133365 meters Centerline goodness [0,1] 0.27239428682892997 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.26 [[ 9.99801526e-01 -8.48580834e-04 1.99044720e-02 8.27882663e-01] [ 7.26838934e-04 9.99980992e-01 6.12274610e-03 7.69131491e-02] [-1.99092893e-02 -6.10706355e-03 9.99783138e-01 -2.57824090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.933133365 meters Centerline goodness [0,1] 0.2757967607105538 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.26 [[ 9.99801103e-01 -9.05570728e-04 1.99232199e-02 8.27821275e-01] [ 7.85091897e-04 9.99981365e-01 6.05414733e-03 7.70476920e-02] [-1.99283311e-02 -6.03730162e-03 9.99783183e-01 -2.57797109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.963133365 meters Centerline goodness [0,1] 0.2754540511147363 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.26 [[ 9.99801297e-01 -9.30589221e-04 1.99123222e-02 8.27794887e-01] [ 8.09461168e-04 9.99981127e-01 6.09026565e-03 7.67015467e-02] [-1.99176140e-02 -6.07293725e-03 9.99783181e-01 -2.57689693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.993133365 meters Centerline goodness [0,1] 0.2743028407610112 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.26 [[ 9.99799635e-01 -1.05122540e-03 1.99895993e-02 8.27314988e-01] [ 9.26800602e-04 9.99980147e-01 6.23272246e-03 7.53460461e-02] [-1.99957544e-02 -6.21294727e-03 9.99780761e-01 -2.57091117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.023133365 meters Centerline goodness [0,1] 0.2744342906875544 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:-0.26 [[ 9.99798952e-01 -1.03072364e-03 2.00248306e-02 8.27008571e-01] [ 9.03218439e-04 9.99979269e-01 6.37535623e-03 7.46112057e-02] [-2.00309867e-02 -6.35598768e-03 9.99779156e-01 -2.56676156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.053133364999999 meters Centerline goodness [0,1] 0.2771260676759071 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:-0.26 [[ 9.99799967e-01 -1.00937707e-03 1.99751746e-02 8.27052159e-01] [ 8.79311139e-04 9.99978364e-01 6.51909125e-03 7.38879964e-02] [-1.99813226e-02 -6.50022282e-03 9.99779223e-01 -2.56562114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.083133365 meters Centerline goodness [0,1] 0.2737648360709094 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:-0.26 [[ 9.99803128e-01 -1.01674498e-03 1.98159197e-02 8.27610335e-01] [ 8.85686459e-04 9.99977686e-01 6.62145380e-03 7.31871278e-02] [-1.98222099e-02 -6.60259953e-03 9.99781719e-01 -2.56864701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.113133365 meters Centerline goodness [0,1] 0.2741861731083288 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:-0.26 [[ 0.99981573 -0.00113219 0.01916295 0.82972026] [ 0.00100755 0.99997828 0.006513 0.07330246] [-0.01916991 -0.0064925 0.99979516 -0.25788639] [ 0. 0. 0. 1. ]] SLAMing on 10.143133364999999 meters Centerline goodness [0,1] 0.2706510648459718 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:-0.26 [[ 0.99982007 -0.00119746 0.01893151 0.83063348] [ 0.00107692 0.99997909 0.00637632 0.0738011 ] [-0.01893875 -0.00635479 0.99980045 -0.25848364] [ 0. 0. 0. 1. ]] SLAMing on 10.173133365 meters Centerline goodness [0,1] 0.272664043991393 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:-0.26 [[ 0.99982373 -0.00125531 0.01873296 0.83140821] [ 0.00113776 0.99997961 0.00628449 0.0740449 ] [-0.01874046 -0.00626207 0.99980477 -0.25905345] [ 0. 0. 0. 1. ]] SLAMing on 10.203133365 meters Centerline goodness [0,1] 0.2713454844219585 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:-0.26 [[ 0.99982631 -0.00133751 0.01858921 0.83194398] [ 0.00122307 0.99998024 0.00616608 0.07423416] [-0.01859709 -0.00614227 0.99980819 -0.25938679] [ 0. 0. 0. 1. ]] SLAMing on 10.233133365 meters Centerline goodness [0,1] 0.27395470383275267 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:-0.26 [[ 0.99983096 -0.00137733 0.01833426 0.83268921] [ 0.00126476 0.99998029 0.00615034 0.07397618] [-0.01834237 -0.00612611 0.999813 -0.25964282] [ 0. 0. 0. 1. ]] SLAMing on 10.263133365 meters Centerline goodness [0,1] 0.27011071706599776 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:-0.26 [[ 0.99983339 -0.00141835 0.01819853 0.83316303] [ 0.00130772 0.9999806 0.00608952 0.07414617] [-0.01820681 -0.00606471 0.99981585 -0.25989978] [ 0. 0. 0. 1. ]] SLAMing on 10.293133365 meters Centerline goodness [0,1] 0.27190528849281204 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:-0.26 [[ 0.99983417 -0.00144996 0.01815319 0.83335172] [ 0.00134069 0.99998092 0.00603005 0.07435038] [-0.01816159 -0.00600472 0.99981703 -0.26002358] [ 0. 0. 0. 1. ]] SLAMing on 10.323133365 meters Centerline goodness [0,1] 0.27490083495869033 Centerline is valid? [False, False] Translation: X:0.81, Y:0.07, Z:-0.26 [[ 0.999824 0.00437379 0.01824407 0.81034927] [-0.00443381 0.99998489 0.00325044 0.07111998] [-0.01822957 -0.00333075 0.99982828 -0.25870081] [ 0. 0. 0. 1. ]] SLAMing on 10.353133365 meters Centerline goodness [0,1] 0.2745609040339889 Centerline is valid? [False, False] Translation: X:0.81, Y:0.07, Z:-0.26 [[ 0.99982167 0.00436081 0.01837399 0.80989972] [-0.00442003 0.99998516 0.0031834 0.07152035] [-0.01835984 -0.00326404 0.99982612 -0.25849553] [ 0. 0. 0. 1. ]] SLAMing on 10.383133364999999 meters Centerline goodness [0,1] 0.27693803588791654 Centerline is valid? [False, False] Translation: X:0.79, Y:0.07, Z:-0.26 [[ 0.99983398 -0.0041852 0.01773406 0.78982414] [ 0.00410052 0.99998003 0.00480833 0.0745944 ] [-0.01775383 -0.00473481 0.99983118 -0.25881932] [ 0. 0. 0. 1. ]] SLAMing on 10.413133365 meters Centerline goodness [0,1] 0.27240704500978474 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.26 [[ 0.99979831 -0.00244434 0.01993378 0.83311174] [ 0.00234188 0.99998393 0.005162 0.07754148] [-0.01994608 -0.00511427 0.99978798 -0.26042751] [ 0. 0. 0. 1. ]] SLAMing on 10.443133365 meters Centerline goodness [0,1] 0.274686443450758 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.26 [[ 0.99979476 -0.00237474 0.02011979 0.832679 ] [ 0.00226793 0.99998322 0.00533005 0.07685109] [-0.02013211 -0.00528333 0.99978337 -0.26042206] [ 0. 0. 0. 1. ]] SLAMing on 10.473133364999999 meters Centerline goodness [0,1] 0.27164593779166935 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.26 [[ 0.99979628 -0.00238952 0.02004204 0.83288424] [ 0.00228273 0.99998308 0.00534996 0.07662975] [-0.02005449 -0.00530312 0.99978482 -0.26046606] [ 0. 0. 0. 1. ]] SLAMing on 10.503133365 meters Centerline goodness [0,1] 0.273841724107844 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.26 [[ 0.99979604 -0.00236652 0.02005666 0.83271948] [ 0.002258 0.9999827 0.00543137 0.07617146] [-0.02006917 -0.00538498 0.99978409 -0.26022038] [ 0. 0. 0. 1. ]] SLAMing on 10.533133365 meters Centerline goodness [0,1] 0.27425189082538637 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.26 [[ 0.99979409 -0.00232494 0.02015859 0.8321281 ] [ 0.00221338 0.99998212 0.00555456 0.07554379] [-0.02017115 -0.0055088 0.99978137 -0.25962133] [ 0. 0. 0. 1. ]] SLAMing on 10.563133364999999 meters Centerline goodness [0,1] 0.2734256325680309 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.26 [[ 0.99978633 -0.00227763 0.02054525 0.83064614] [ 0.00216419 0.9999823 0.00554229 0.07592967] [-0.02055751 -0.00549664 0.99977356 -0.25862531] [ 0. 0. 0. 1. ]] SLAMing on 10.593133365 meters Centerline goodness [0,1] 0.26298708323416775 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.26 [[ 0.9997829 -0.0022891 0.02070997 0.8303047 ] [ 0.0021771 0.99998289 0.00542878 0.07669774] [-0.02072205 -0.00538251 0.99977079 -0.25874043] [ 0. 0. 0. 1. ]] SLAMing on 10.623133365 meters Centerline goodness [0,1] 0.27358613500130313 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.26 [[ 0.99977964 -0.00232506 0.0208628 0.8300976 ] [ 0.00221561 0.99998367 0.0052676 0.077559 ] [-0.02087471 -0.00522022 0.99976847 -0.25906742] [ 0. 0. 0. 1. ]] SLAMing on 10.653133365 meters Centerline goodness [0,1] 0.27358613500130313 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.26 [[ 0.99977964 -0.00232506 0.0208628 0.8300976 ] [ 0.00221561 0.99998367 0.0052676 0.077559 ] [-0.02087471 -0.00522022 0.99976847 -0.25906742] [ 0. 0. 0. 1. ]] SLAMing on 10.683133365 meters Centerline goodness [0,1] 0.27670795220797406 Centerline is valid? [False, False] Translation: X:0.81, Y:0.07, Z:-0.26 [[ 0.99975658 0.0052871 0.02142015 0.80945057] [-0.00537342 0.99997767 0.00397425 0.07410773] [-0.02139866 -0.00408838 0.99976266 -0.26022533] [ 0. 0. 0. 1. ]] SLAMing on 10.713133365 meters Centerline goodness [0,1] 0.27211944173969493 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.26 [[ 0.99978711 -0.00163849 0.02056828 0.82768893] [ 0.00154156 0.99998764 0.00472764 0.0802221 ] [-0.02057577 -0.00469492 0.99977727 -0.25891347] [ 0. 0. 0. 1. ]] SLAMing on 10.743133365 meters Centerline goodness [0,1] 0.27627673505019645 Centerline is valid? [False, False] Translation: X:0.81, Y:0.08, Z:-0.26 [[ 0.99977494 0.00576654 0.02041604 0.80827127] [-0.00583775 0.99997708 0.0034305 0.07535715] [-0.02039579 -0.00354891 0.99978569 -0.26006744] [ 0. 0. 0. 1. ]] SLAMing on 10.773133365 meters Centerline goodness [0,1] 0.27428521655815163 Centerline is valid? [False, False] Translation: X:0.81, Y:0.08, Z:-0.26 [[ 0.99977681 0.00570166 0.02034237 0.80873854] [-0.00576968 0.99997795 0.00328676 0.07590852] [-0.02032318 -0.0034034 0.99978767 -0.26060919] [ 0. 0. 0. 1. ]] SLAMing on 10.803133364999999 meters Centerline goodness [0,1] 0.2752165164902458 Centerline is valid? [False, False] Translation: X:0.81, Y:0.08, Z:-0.26 [[ 0.99977934 0.00564753 0.02023322 0.80939025] [-0.00571239 0.99997873 0.00314918 0.07653084] [-0.020215 -0.00326407 0.99979033 -0.2613516 ] [ 0. 0. 0. 1. ]] SLAMing on 10.833133365 meters Centerline goodness [0,1] 0.27143539008938644 Centerline is valid? [False, False] Translation: X:0.81, Y:0.08, Z:-0.26 [[ 0.99978382 0.0055268 0.02004398 0.81056021] [-0.00558724 0.99998001 0.00296055 0.0770979 ] [-0.02002722 -0.0030719 0.99979472 -0.26267626] [ 0. 0. 0. 1. ]] SLAMing on 10.863133365 meters Centerline goodness [0,1] 0.2616203896473889 Centerline is valid? [False, False] Translation: X:0.79, Y:0.08, Z:-0.26 [[ 0.99982206 -0.00327064 0.0185782 0.79073829] [ 0.00319187 0.9999858 0.004268 0.07956334] [-0.0185919 -0.00420794 0.9998183 -0.26292518] [ 0. 0. 0. 1. ]] SLAMing on 10.893133364999999 meters Centerline goodness [0,1] 0.2734900795385019 Centerline is valid? [False, False] Translation: X:0.79, Y:0.08, Z:-0.26 [[ 0.99982286 -0.00330253 0.01852975 0.79089558] [ 0.00322494 0.99998591 0.00421577 0.07978078] [-0.01854341 -0.00415526 0.99981942 -0.26303041] [ 0. 0. 0. 1. ]] SLAMing on 10.923133365 meters Centerline goodness [0,1] 0.27146527342991 Centerline is valid? [False, False] Translation: X:0.81, Y:0.08, Z:-0.26 [[ 0.99980905 0.00501886 0.01888563 0.81056589] [-0.00507262 0.99998321 0.00279994 0.07751098] [-0.01887126 -0.00289521 0.99981773 -0.26240738] [ 0. 0. 0. 1. ]] SLAMing on 10.953133365 meters Centerline goodness [0,1] 0.2741748253279891 Centerline is valid? [False, False] Translation: X:0.79, Y:0.08, Z:-0.26 [[ 0.99985233 -0.00364438 0.01679369 0.79139688] [ 0.00357365 0.99998463 0.00423998 0.08002104] [-0.01680888 -0.00417934 0.99984999 -0.2633872 ] [ 0. 0. 0. 1. ]] SLAMing on 10.983133365 meters Centerline goodness [0,1] 0.27105440184015794 Centerline is valid? [False, False] Translation: X:0.79, Y:0.08, Z:-0.26 [[ 0.99985396 -0.00370726 0.01668265 0.79197281] [ 0.0036389 0.99998487 0.00412639 0.0803941 ] [-0.0166977 -0.00406508 0.99985232 -0.26398992] [ 0. 0. 0. 1. ]] SLAMing on 11.013133365 meters Centerline goodness [0,1] 0.27220649096057503 Centerline is valid? [False, False] Translation: X:0.79, Y:0.08, Z:-0.26 [[ 0.99985373 -0.00371418 0.01669511 0.79192794] [ 0.00364629 0.99998497 0.00409505 0.0805632 ] [-0.01671007 -0.00403357 0.99985224 -0.26399917] [ 0. 0. 0. 1. ]] SLAMing on 11.043133365 meters Centerline goodness [0,1] 0.2739642256535698 Centerline is valid? [False, False] Translation: X:0.79, Y:0.08, Z:-0.26 [[ 0.99985317 -0.00369787 0.01673186 0.79160848] [ 0.00362917 0.99998487 0.00413441 0.08044266] [-0.01674689 -0.00407308 0.99985146 -0.26363537] [ 0. 0. 0. 1. ]] SLAMing on 11.073133365 meters Centerline goodness [0,1] 0.2733890006120486 Centerline is valid? [False, False] Translation: X:0.79, Y:0.08, Z:-0.26 [[ 0.99985228 -0.0036781 0.0167898 0.79134954] [ 0.00360903 0.99998491 0.0041424 0.08065017] [-0.01680478 -0.00408119 0.99985046 -0.26344293] [ 0. 0. 0. 1. ]] SLAMing on 11.103133365 meters Centerline goodness [0,1] 0.27144622455394884 Centerline is valid? [False, False] Translation: X:0.79, Y:0.08, Z:-0.26 [[ 0.99985228 -0.00367661 0.01678984 0.79140218] [ 0.00360705 0.9999848 0.00417083 0.08052001] [-0.01680491 -0.00410965 0.99985034 -0.26353752] [ 0. 0. 0. 1. ]] SLAMing on 11.133133364999999 meters Centerline goodness [0,1] 0.27304170020230145 Centerline is valid? [False, False] Translation: X:0.79, Y:0.08, Z:-0.26 [[ 0.99985007 -0.00366894 0.01692242 0.79102454] [ 0.0035982 0.99998467 0.00420923 0.08025666] [-0.01693761 -0.00414771 0.99984795 -0.26347097] [ 0. 0. 0. 1. ]] SLAMing on 11.163133365 meters Centerline goodness [0,1] 0.27302674636764257 Centerline is valid? [False, False] Translation: X:0.79, Y:0.08, Z:-0.26 [[ 0.99984541 -0.00363541 0.01720264 0.79015834] [ 0.00356164 0.99998434 0.00431716 0.07976985] [-0.01721806 -0.00425522 0.9998427 -0.2631436 ] [ 0. 0. 0. 1. ]] SLAMing on 11.193133365 meters Centerline goodness [0,1] 0.27451881014873136 Centerline is valid? [False, False] Translation: X:0.79, Y:0.08, Z:-0.26 [[ 0.99984754 -0.00366157 0.01707287 0.79044092] [ 0.00358909 0.99998443 0.00427384 0.07992858] [-0.01708825 -0.00421191 0.99984511 -0.26311294] [ 0. 0. 0. 1. ]] SLAMing on 11.223133364999999 meters Centerline goodness [0,1] 0.2730022632311978 Centerline is valid? [False, False] Translation: X:0.79, Y:0.08, Z:-0.26 [[ 0.99984789 -0.0036906 0.01704637 0.79051445] [ 0.00361964 0.99998466 0.00419195 0.08030387] [-0.01706158 -0.00412961 0.99984591 -0.26315732] [ 0. 0. 0. 1. ]] SLAMing on 11.253133365 meters Centerline goodness [0,1] 0.27648000701892916 Centerline is valid? [False, False] Translation: X:0.77, Y:0.08, Z:-0.26 [[ 0.99983783 0.00375237 0.01761324 0.77060737] [-0.00380898 0.99998768 0.00318193 0.07506755] [-0.01760108 -0.00324851 0.99983981 -0.26407284] [ 0. 0. 0. 1. ]] SLAMing on 11.283133365 meters Centerline goodness [0,1] 0.2735156335112757 Centerline is valid? [False, False] Translation: X:0.77, Y:0.07, Z:-0.26 [[ 0.99982886 0.00382003 0.01810142 0.76893139] [-0.00388034 0.99998703 0.00329798 0.07479702] [-0.01808859 -0.00336766 0.99983072 -0.26313213] [ 0. 0. 0. 1. ]] SLAMing on 11.313133364999999 meters Centerline goodness [0,1] 0.2747998341950826 Centerline is valid? [False, False] Translation: X:0.77, Y:0.07, Z:-0.26 [[ 0.99982565 0.003857 0.01826993 0.76820665] [-0.00392171 0.99998616 0.00350723 0.07352014] [-0.01825615 -0.00357827 0.99982694 -0.26253889] [ 0. 0. 0. 1. ]] SLAMing on 11.343133365 meters Centerline goodness [0,1] 0.27268396205985534 Centerline is valid? [False, False] Translation: X:0.77, Y:0.07, Z:-0.26 [[ 0.99982343 0.00388469 0.01838546 0.76765008] [-0.00395534 0.99998493 0.0038077 0.07166166] [-0.0183704 -0.00387975 0.99982372 -0.26200605] [ 0. 0. 0. 1. ]] SLAMing on 11.373133365 meters Centerline goodness [0,1] 0.2772818762579855 Centerline is valid? [False, False] Translation: X:0.75, Y:0.07, Z:-0.26 [[ 0.99984754 -0.00511751 0.01669478 0.74724491] [ 0.00502735 0.99997258 0.00543803 0.06886348] [-0.01672216 -0.00535327 0.99984584 -0.26191832] [ 0. 0. 0. 1. ]] SLAMing on 11.403133365 meters Centerline goodness [0,1] 0.27804856531615973 Centerline is valid? [False, False] Translation: X:0.73, Y:0.06, Z:-0.26 [[ 0.99987349 0.00195879 0.0157852 0.73011154] [-0.00202409 0.99998946 0.0041221 0.06083192] [-0.01577696 -0.00415353 0.99986691 -0.26397864] [ 0. 0. 0. 1. ]] SLAMing on 11.433133365 meters Centerline goodness [0,1] 0.2747960404655716 Centerline is valid? [False, False] Translation: X:0.75, Y:0.06, Z:-0.26 [[ 0.99986652 -0.00572658 0.01530188 0.7511588 ] [ 0.00565268 0.99997217 0.00486892 0.0633969 ] [-0.01532934 -0.00478178 0.99987106 -0.2640675 ] [ 0. 0. 0. 1. ]] SLAMing on 11.463133365 meters Centerline goodness [0,1] 0.2749458767959063 Centerline is valid? [False, False] Translation: X:0.73, Y:0.06, Z:-0.27 [[ 0.99987563 0.00125123 0.01572156 0.73318699] [-0.00131128 0.99999188 0.00380974 0.05529683] [-0.01571666 -0.00382988 0.99986915 -0.26583022] [ 0. 0. 0. 1. ]] SLAMing on 11.493133365 meters Centerline goodness [0,1] 0.27309053792863813 Centerline is valid? [False, False] Translation: X:0.73, Y:0.05, Z:-0.27 [[ 0.99987279 0.00155034 0.01587468 0.73274764] [-0.00162014 0.99998907 0.00438522 0.05294573] [-0.01586771 -0.00441038 0.99986437 -0.26567029] [ 0. 0. 0. 1. ]] SLAMing on 11.523133365 meters Centerline goodness [0,1] 0.2757172086543903 Centerline is valid? [False, False] Translation: X:0.73, Y:0.05, Z:-0.27 [[ 0.99987304 0.0015812 0.01585602 0.73295774] [-0.00165099 0.999989 0.00438949 0.05295701] [-0.0158489 -0.00441511 0.99986465 -0.26597546] [ 0. 0. 0. 1. ]] SLAMing on 11.553133364999999 meters Centerline goodness [0,1] 0.274566347708306 Centerline is valid? [False, False] Translation: X:0.73, Y:0.05, Z:-0.27 [[ 0.99987534 0.0014967 0.01571812 0.73375928] [-0.00156228 0.99999012 0.00416067 0.05372756] [-0.01571174 -0.0041847 0.99986781 -0.26683989] [ 0. 0. 0. 1. ]] SLAMing on 11.583133365 meters Centerline goodness [0,1] 0.27362781543844306 Centerline is valid? [False, False] Translation: X:0.74, Y:0.06, Z:-0.27 [[ 0.9998807 0.00142237 0.01538079 0.73503971] [-0.00148095 0.99999169 0.00379793 0.05539016] [-0.01537526 -0.00382026 0.9998745 -0.26778541] [ 0. 0. 0. 1. ]] SLAMing on 11.613133365 meters Centerline goodness [0,1] 0.2725031359487867 Centerline is valid? [False, False] Translation: X:0.74, Y:0.06, Z:-0.27 [[ 0.99987255 0.00511426 0.01512403 0.73622541] [-0.00521906 0.99996259 0.00689807 0.05953295] [-0.01508818 -0.00697613 0.99986183 -0.26886978] [ 0. 0. 0. 1. ]] SLAMing on 11.643133364999999 meters Centerline goodness [0,1] 0.2724782013090087 Centerline is valid? [False, False] Translation: X:0.74, Y:0.06, Z:-0.27 [[ 0.99986407 0.00525707 0.01562687 0.7350128 ] [-0.00535918 0.99996452 0.0064996 0.0627589 ] [-0.01559215 -0.00658246 0.99985677 -0.26896388] [ 0. 0. 0. 1. ]] SLAMing on 11.673133365 meters Centerline goodness [0,1] 0.2705801075152745 Centerline is valid? [False, False] Translation: X:0.73, Y:0.07, Z:-0.27 [[ 0.99986204 0.00524877 0.01575901 0.7346861 ] [-0.00534202 0.99996844 0.00588134 0.0664509 ] [-0.01572765 -0.00596471 0.99985852 -0.2691432 ] [ 0. 0. 0. 1. ]] SLAMing on 11.703133365 meters Centerline goodness [0,1] 0.27038607939097337 Centerline is valid? [False, False] Translation: X:0.74, Y:0.08, Z:-0.27 [[ 0.99985978 0.00709032 0.01517077 0.73641909] [-0.00718884 0.99995336 0.00644901 0.07606681] [-0.01512434 -0.00655717 0.99986412 -0.27011369] [ 0. 0. 0. 1. ]] SLAMing on 11.733133365 meters Centerline goodness [0,1] 0.2708011572513106 Centerline is valid? [False, False] Translation: X:0.74, Y:0.08, Z:-0.27 [[ 0.99986223 0.00683586 0.01512579 0.73680392] [-0.00692022 0.99996076 0.00553163 0.08066331] [-0.01508738 -0.00563554 0.9998703 -0.27084076] [ 0. 0. 0. 1. ]] SLAMing on 11.763133365 meters Centerline goodness [0,1] 0.26924412045474266 Centerline is valid? [False, False] Translation: X:0.74, Y:0.08, Z:-0.27 [[ 0.99986518 0.00660223 0.01503414 0.73703941] [-0.0066737 0.99996664 0.00470867 0.08495524] [-0.01500255 -0.00480837 0.99987589 -0.27105389] [ 0. 0. 0. 1. ]] SLAMing on 11.793133365 meters Centerline goodness [0,1] 0.2711688086517414 Centerline is valid? [False, False] Translation: X:0.74, Y:0.09, Z:-0.27 [[ 0.99986981 0.00610641 0.01493558 0.73713704] [-0.00615681 0.9999755 0.00333127 0.09268826] [-0.01491487 -0.00342279 0.99988291 -0.27112323] [ 0. 0. 0. 1. ]] SLAMing on 11.823133365 meters Centerline goodness [0,1] 0.27198636572202683 Centerline is valid? [False, False] Translation: X:0.72, Y:0.10, Z:-0.27 [[ 0.99987758 -0.00269051 0.01541359 0.71675567] [ 0.00262614 0.99998775 0.00419446 0.09838795] [-0.01542469 -0.00415347 0.99987241 -0.27218141] [ 0. 0. 0. 1. ]] SLAMing on 11.853133365 meters Centerline goodness [0,1] 0.2580067720577135 Centerline is valid? [False, False] Translation: X:0.74, Y:0.10, Z:-0.27 [[ 0.99983804 0.00420208 0.01749944 0.7378159 ] [-0.00422871 0.99998996 0.00148454 0.10106263] [-0.01749302 -0.0015583 0.99984577 -0.27329313] [ 0. 0. 0. 1. ]] SLAMing on 11.883133364999999 meters Centerline goodness [0,1] 0.2715934434748717 Centerline is valid? [False, False] Translation: X:0.74, Y:0.10, Z:-0.27 [[ 0.99983583 0.00407716 0.01765475 0.73714275] [-0.00410095 0.99999073 0.00131145 0.1019228 ] [-0.01764924 -0.00138364 0.99984328 -0.27275686] [ 0. 0. 0. 1. ]] SLAMing on 11.913133365 meters Centerline goodness [0,1] 0.2703363252946902 Centerline is valid? [False, False] Translation: X:0.74, Y:0.10, Z:-0.27 [[ 9.99833688e-01 3.33687473e-03 1.79293235e-02 7.36086265e-01] [-3.35057745e-03 9.99994117e-01 7.34277703e-04 1.02984035e-01] [-1.79267678e-02 -7.94229171e-04 9.99838987e-01 -2.71908829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.943133365 meters Centerline goodness [0,1] 0.27428746552252525 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.27 [[ 0.99983552 -0.00621829 0.01703742 0.71455011] [ 0.00619715 0.99997996 0.00129322 0.10495378] [-0.01704512 -0.00118742 0.99985402 -0.2717554 ] [ 0. 0. 0. 1. ]] SLAMing on 11.973133364999999 meters Centerline goodness [0,1] 0.27161532487703854 Centerline is valid? [False, False] Translation: X:0.74, Y:0.10, Z:-0.27 [[ 9.99847649e-01 7.85314863e-04 1.74373481e-02 7.37060482e-01] [-7.69302787e-04 9.99999276e-01 -9.24952094e-04 1.03601122e-01] [-1.74380618e-02 9.11396577e-04 9.99847530e-01 -2.72733331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.003133365 meters Centerline goodness [0,1] 0.27176626364800627 Centerline is valid? [False, False] Translation: X:0.74, Y:0.10, Z:-0.27 [[ 9.99850722e-01 8.27219476e-04 1.72583246e-02 7.37556540e-01] [-8.14092164e-04 9.99999374e-01 -7.67648070e-04 1.03084130e-01] [-1.72589488e-02 7.53483611e-04 9.99850769e-01 -2.72827287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.033133365 meters Centerline goodness [0,1] 0.2738660624809377 Centerline is valid? [False, False] Translation: X:0.74, Y:0.10, Z:-0.27 [[ 9.99855621e-01 8.92787583e-04 1.69687862e-02 7.38218580e-01] [-8.84475550e-04 9.99999485e-01 -4.97341031e-04 1.02047265e-01] [-1.69692214e-02 4.82260750e-04 9.99855896e-01 -2.72765696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.063133364999999 meters Centerline goodness [0,1] 0.27376317746380296 Centerline is valid? [False, False] Translation: X:0.74, Y:0.10, Z:-0.27 [[ 9.99859305e-01 8.82835249e-04 1.67508668e-02 7.38581458e-01] [-8.76450742e-04 9.99999540e-01 -3.88482166e-04 1.01206481e-01] [-1.67512021e-02 3.73746199e-04 9.99859619e-01 -2.72466147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.093133365 meters Centerline goodness [0,1] 0.2785689092672604 Centerline is valid? [False, False] Translation: X:0.74, Y:0.10, Z:-0.27 [[ 9.99861577e-01 8.95516916e-04 1.66139796e-02 7.38805561e-01] [-8.91918516e-04 9.99999577e-01 -2.23997112e-04 1.00064558e-01] [-1.66141731e-02 2.09147790e-04 9.99861953e-01 -2.72278912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.123133365 meters Centerline goodness [0,1] 0.2710320808185692 Centerline is valid? [False, False] Translation: X:0.78, Y:0.10, Z:-0.27 [[ 9.99819344e-01 1.65647581e-03 1.89350363e-02 7.80770300e-01] [-1.64893879e-03 9.99998555e-01 -4.13651956e-04 1.00121314e-01] [-1.89356941e-02 3.82354511e-04 9.99820631e-01 -2.72443564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.153133365 meters Centerline goodness [0,1] 0.2721898597626753 Centerline is valid? [False, False] Translation: X:0.78, Y:0.10, Z:-0.27 [[ 9.99816123e-01 1.75441628e-03 1.90955974e-02 7.80329474e-01] [-1.75099528e-03 9.99998448e-01 -1.95869354e-04 9.92459887e-02] [-1.90959114e-02 1.62397037e-04 9.99817643e-01 -2.72334162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.183133365 meters Centerline goodness [0,1] 0.27714517650672454 Centerline is valid? [False, False] Translation: X:0.73, Y:0.09, Z:-0.27 [[ 9.99859087e-01 6.76867981e-04 1.67734465e-02 7.34407779e-01] [-6.80598149e-04 9.99999745e-01 2.16677927e-04 9.46154678e-02] [-1.67732956e-02 -2.28063371e-04 9.99859292e-01 -2.69899420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.213133365 meters Centerline goodness [0,1] 0.2743455269514504 Centerline is valid? [False, False] Translation: X:0.73, Y:0.09, Z:-0.27 [[ 9.99859828e-01 6.82394142e-04 1.67290065e-02 7.34524315e-01] [-6.88941990e-04 9.99999688e-01 3.85646907e-04 9.33814475e-02] [-1.67287382e-02 -3.97118165e-04 9.99859986e-01 -2.69858115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.243133365 meters Centerline goodness [0,1] 0.27392258709495143 Centerline is valid? [False, False] Translation: X:0.74, Y:0.09, Z:-0.27 [[ 9.99864305e-01 8.16084671e-04 1.64531609e-02 7.35117810e-01] [-8.30576060e-04 9.99999273e-01 8.73952211e-04 9.07933228e-02] [-1.64524357e-02 -8.87499221e-04 9.99864256e-01 -2.69757971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.273133365 meters Centerline goodness [0,1] 0.26456442732475893 Centerline is valid? [False, False] Translation: X:0.74, Y:0.09, Z:-0.27 [[ 9.99867291e-01 8.87929707e-04 1.62668883e-02 7.35733033e-01] [-9.06307089e-04 9.99998959e-01 1.12240461e-03 8.96600486e-02] [-1.62658747e-02 -1.13699845e-03 9.99867055e-01 -2.70076274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.303133364999999 meters Centerline goodness [0,1] 0.27109189189189187 Centerline is valid? [False, False] Translation: X:0.74, Y:0.09, Z:-0.27 [[ 9.99871510e-01 9.37595646e-04 1.60026368e-02 7.36655491e-01] [-9.58724628e-04 9.99998679e-01 1.31272328e-03 8.86946852e-02] [-1.60013848e-02 -1.32789673e-03 9.99871088e-01 -2.70566310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.333133365 meters Centerline goodness [0,1] 0.27554680664916886 Centerline is valid? [False, False] Translation: X:0.72, Y:0.09, Z:-0.27 [[ 0.99986952 -0.00785076 0.01411795 0.7166469 ] [ 0.00781501 0.99996612 0.00258578 0.08995565] [-0.01413778 -0.00247511 0.99989699 -0.27074245] [ 0. 0. 0. 1. ]] SLAMing on 12.363133365 meters Centerline goodness [0,1] 0.2722772277227723 Centerline is valid? [False, False] Translation: X:0.72, Y:0.09, Z:-0.27 [[ 0.99987244 -0.0078845 0.01389004 0.71730881] [ 0.00784604 0.99996524 0.00282133 0.08818019] [-0.01391181 -0.00271199 0.99989955 -0.2709188 ] [ 0. 0. 0. 1. ]] SLAMing on 12.393133364999999 meters Centerline goodness [0,1] 0.2717264603030696 Centerline is valid? [False, False] Translation: X:0.74, Y:0.08, Z:-0.27 [[ 9.99895128e-01 3.35486271e-04 1.44782591e-02 7.35648502e-01] [-3.57138052e-04 9.99998822e-01 1.49290897e-03 8.38250931e-02] [-1.44777412e-02 -1.49792314e-03 9.99894070e-01 -2.69620968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.423133365 meters Centerline goodness [0,1] 0.27568900429877585 Centerline is valid? [False, False] Translation: X:0.74, Y:0.08, Z:-0.27 [[ 9.99893213e-01 3.93135553e-04 1.46084958e-02 7.35127461e-01] [-4.19054535e-04 9.99998344e-01 1.77122165e-03 8.24041997e-02] [-1.46077753e-02 -1.77715426e-03 9.99891721e-01 -2.69226329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.453133365 meters Centerline goodness [0,1] 0.2768774703557312 Centerline is valid? [False, False] Translation: X:0.73, Y:0.08, Z:-0.27 [[ 9.99893285e-01 4.39711237e-04 1.46022200e-02 7.34961387e-01] [-4.70597461e-04 9.99997659e-01 2.11180445e-03 8.05697093e-02] [-1.46012573e-02 -2.11845086e-03 9.99891152e-01 -2.68870962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.483133365 meters Centerline goodness [0,1] 0.2735804280289955 Centerline is valid? [False, False] Translation: X:0.78, Y:0.08, Z:-0.27 [[ 9.99864153e-01 -1.25892272e-03 1.64344347e-02 7.78846502e-01] [ 1.25812526e-03 9.99999207e-01 5.88625178e-05 7.88924041e-02] [-1.64344958e-02 -3.81779441e-05 9.99864944e-01 -2.69955545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.513133365 meters Centerline goodness [0,1] 0.27617261606227783 Centerline is valid? [False, False] Translation: X:0.78, Y:0.08, Z:-0.27 [[ 9.99867579e-01 -1.22804231e-03 1.62270244e-02 7.79245988e-01] [ 1.21958118e-03 9.99999115e-01 5.31307302e-04 7.61593179e-02] [-1.62276625e-02 -5.11446772e-04 9.99868192e-01 -2.69729904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.543133365 meters Centerline goodness [0,1] 0.2799411066672527 Centerline is valid? [False, False] Translation: X:0.78, Y:0.07, Z:-0.27 [[ 0.99986634 -0.00111438 0.01631113 0.77884782] [ 0.00109619 0.99999877 0.00112379 0.07308539] [-0.01631237 -0.00110576 0.99986633 -0.26930024] [ 0. 0. 0. 1. ]] SLAMing on 12.573133365 meters Centerline goodness [0,1] 0.2799411066672527 Centerline is valid? [False, False] Translation: X:0.78, Y:0.07, Z:-0.27 [[ 0.99986634 -0.00111438 0.01631113 0.77884782] [ 0.00109619 0.99999877 0.00112379 0.07308539] [-0.01631237 -0.00110576 0.99986633 -0.26930024] [ 0. 0. 0. 1. ]] SLAMing on 12.603133365 meters Centerline goodness [0,1] 0.26071575840440997 Centerline is valid? [False, False] Translation: X:0.80, Y:0.07, Z:-0.27 [[ 0.99982646 0.00472008 0.01802118 0.79925607] [-0.0046866 0.99998721 -0.00189987 0.06607714] [-0.01802991 0.00181508 0.9998358 -0.26934459] [ 0. 0. 0. 1. ]] SLAMing on 12.633133364999999 meters Centerline goodness [0,1] 0.27778019776103147 Centerline is valid? [False, False] Translation: X:0.80, Y:0.06, Z:-0.27 [[ 0.9998266 0.00483898 0.01798219 0.79922378] [-0.00481335 0.99998734 -0.00146834 0.06384349] [-0.01798906 0.00138153 0.99983723 -0.26911202] [ 0. 0. 0. 1. ]] SLAMing on 12.663133365 meters Centerline goodness [0,1] 0.2759690931978991 Centerline is valid? [False, False] Translation: X:0.80, Y:0.06, Z:-0.27 [[ 0.99982798 0.00492642 0.01788155 0.79957085] [-0.00490626 0.99998728 -0.0011713 0.06231517] [-0.0178871 0.00108337 0.99983943 -0.26927223] [ 0. 0. 0. 1. ]] SLAMing on 12.693133365 meters Centerline goodness [0,1] 0.27374830561352925 Centerline is valid? [False, False] Translation: X:0.80, Y:0.06, Z:-0.27 [[ 9.99828987e-01 5.03768115e-03 1.77937858e-02 7.99874144e-01] [-5.02184978e-03 9.99986954e-01 -9.34284240e-04 6.12713736e-02] [-1.77982603e-02 8.44766746e-04 9.99841242e-01 -2.69400760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.723133364999999 meters Centerline goodness [0,1] 0.27709843654467636 Centerline is valid? [False, False] Translation: X:0.78, Y:0.06, Z:-0.27 [[ 9.99858226e-01 -3.41173381e-03 1.64890500e-02 7.80395417e-01] [ 3.40110272e-03 9.99993990e-01 6.72735724e-04 6.39085992e-02] [-1.64912461e-02 -6.16559395e-04 9.99863820e-01 -2.69689230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.753133365 meters Centerline goodness [0,1] 0.2772524183403462 Centerline is valid? [False, False] Translation: X:0.78, Y:0.06, Z:-0.27 [[ 9.99863737e-01 -3.01506805e-03 1.62301316e-02 7.81072239e-01] [ 3.00119579e-03 9.99995110e-01 8.79011761e-04 6.36714788e-02] [-1.62327026e-02 -8.30182182e-04 9.99867896e-01 -2.69878336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.783133365 meters Centerline goodness [0,1] 0.2777644151925306 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.27 [[ 9.99863940e-01 4.96195769e-03 1.57315133e-02 7.61081614e-01] [-4.96224022e-03 9.99987688e-01 -2.10748592e-05 5.85442068e-02] [-1.57314242e-02 -5.69915565e-05 9.99876252e-01 -2.70822888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.813133364999999 meters Centerline goodness [0,1] 0.2758321021986617 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.27 [[ 9.99864949e-01 5.08994445e-03 1.56261214e-02 7.61485177e-01] [-5.08966385e-03 9.99987046e-01 -5.77255740e-05 5.91618546e-02] [-1.56262128e-02 -2.18139270e-05 9.99877903e-01 -2.71157756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.843133365 meters Centerline goodness [0,1] 0.2738343318572545 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.27 [[ 9.99861827e-01 5.24771940e-03 1.57730448e-02 7.61275554e-01] [-5.24748412e-03 9.99986230e-01 -5.63037510e-05 5.97147573e-02] [-1.57731230e-02 -2.64728306e-05 9.99875596e-01 -2.71405382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.873133365 meters Centerline goodness [0,1] 0.27237614362161233 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.27 [[ 9.99848561e-01 5.88084645e-03 1.63789898e-02 7.59582597e-01] [-5.88345409e-03 9.99982686e-01 1.11024385e-04 6.09194258e-02] [-1.63780533e-02 -2.07372606e-04 9.99865849e-01 -2.71139889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.903133365 meters Centerline goodness [0,1] 0.2744601670344887 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.27 [[ 9.99843438e-01 5.96774574e-03 1.66579142e-02 7.58935948e-01] [-5.96728945e-03 9.99982193e-01 -7.70968072e-05 6.23671089e-02] [-1.66580777e-02 -2.23178591e-05 9.99861244e-01 -2.71222778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.933133365 meters Centerline goodness [0,1] 0.27479720766370175 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.27 [[ 9.99841185e-01 6.04469286e-03 1.67650539e-02 7.58777676e-01] [-6.04112993e-03 9.99981718e-01 -2.63156703e-04 6.38657018e-02] [-1.67663381e-02 1.61835041e-04 9.99859422e-01 -2.71446220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.963133365 meters Centerline goodness [0,1] 0.27366192924100396 Centerline is valid? [False, False] Translation: X:0.76, Y:0.07, Z:-0.27 [[ 9.99843140e-01 6.47834984e-03 1.64841131e-02 7.59946210e-01] [-6.47220971e-03 9.99978964e-01 -4.25808784e-04 6.65318707e-02] [-1.64865249e-02 3.19053355e-04 9.99864037e-01 -2.72523025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.993133365 meters Centerline goodness [0,1] 0.2770791341687845 Centerline is valid? [False, False] Translation: X:0.74, Y:0.07, Z:-0.27 [[ 9.99880831e-01 -2.15591793e-03 1.52864690e-02 7.40372811e-01] [ 2.14375756e-03 9.99997373e-01 8.11840780e-04 7.08223820e-02] [-1.52881791e-02 -7.78973550e-04 9.99882826e-01 -2.73398250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.023133365 meters Centerline goodness [0,1] 0.26902616902616905 Centerline is valid? [False, False] Translation: X:0.78, Y:0.08, Z:-0.27 [[ 9.99858972e-01 -5.45541900e-04 1.67850522e-02 7.84801821e-01] [ 5.39574939e-04 9.99999790e-01 3.60019208e-04 7.64140134e-02] [-1.67852450e-02 -3.50911642e-04 9.99859056e-01 -2.74930405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.053133364999999 meters Centerline goodness [0,1] 0.274608464571217 Centerline is valid? [False, False] Translation: X:0.74, Y:0.07, Z:-0.27 [[ 9.99900616e-01 -1.43448487e-03 1.40249632e-02 7.39905428e-01] [ 1.42147329e-03 9.99998550e-01 9.37669013e-04 7.35049067e-02] [-1.40262879e-02 -9.17639714e-04 9.99901206e-01 -2.72914292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.083133365 meters Centerline goodness [0,1] 0.2729200017306278 Centerline is valid? [False, False] Translation: X:0.74, Y:0.08, Z:-0.27 [[ 9.99902474e-01 -1.57473154e-03 1.38767316e-02 7.40280256e-01] [ 1.56770317e-03 9.99998637e-01 5.17349466e-04 7.56581231e-02] [-1.38775274e-02 -4.95544415e-04 9.99903580e-01 -2.73049791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.113133365 meters Centerline goodness [0,1] 0.2726664219549586 Centerline is valid? [False, False] Translation: X:0.74, Y:0.08, Z:-0.27 [[ 9.99903415e-01 -1.65064405e-03 1.37998784e-02 7.40614983e-01] [ 1.64628474e-03 9.99998591e-01 3.27248355e-04 7.65955897e-02] [-1.38003991e-02 -3.04498219e-04 9.99904724e-01 -2.73352550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.143133364999999 meters Centerline goodness [0,1] 0.26934367567335915 Centerline is valid? [False, False] Translation: X:0.74, Y:0.08, Z:-0.27 [[ 9.99904374e-01 -1.72886693e-03 1.37205553e-02 7.40799370e-01] [ 1.72661384e-03 9.99998494e-01 1.76056201e-04 7.72976497e-02] [-1.37208390e-02 -1.52349265e-04 9.99905853e-01 -2.73357410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.173133365 meters Centerline goodness [0,1] 0.27566199886576803 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.27 [[ 9.99926181e-01 -3.24489486e-03 1.17090751e-02 6.93694998e-01] [ 3.23991110e-03 9.99994653e-01 4.44576064e-04 7.41721443e-02] [-1.17104551e-02 -4.06606884e-04 9.99931348e-01 -2.70434601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.203133365 meters Centerline goodness [0,1] 0.27421041167501636 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.27 [[ 9.99925023e-01 -3.27157662e-03 1.18002418e-02 6.93312252e-01] [ 3.26630855e-03 9.99994557e-01 4.65682211e-04 7.40016507e-02] [-1.18017011e-02 -4.27104064e-04 9.99930266e-01 -2.70099640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.233133364999999 meters Centerline goodness [0,1] 0.2763418617310833 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.27 [[ 9.99926165e-01 -3.27246905e-03 1.17027591e-02 6.93334565e-01] [ 3.26645415e-03 9.99994523e-01 5.33049939e-04 7.36635619e-02] [-1.17044394e-02 -4.94784055e-04 9.99931378e-01 -2.69745745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.263133365 meters Centerline goodness [0,1] 0.2725241349387135 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.27 [[ 9.99927871e-01 -3.30946735e-03 1.15455357e-02 6.93652358e-01] [ 3.30334351e-03 9.99994393e-01 5.49437543e-04 7.33862631e-02] [-1.15472893e-02 -5.11259043e-04 9.99933197e-01 -2.69606003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.293133365 meters Centerline goodness [0,1] 0.27511888661053185 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.27 [[ 9.99932600e-01 -3.42064791e-03 1.10948335e-02 6.94855566e-01] [ 3.41500822e-03 9.99994030e-01 5.27221686e-04 7.29742666e-02] [-1.10965707e-02 -4.89297204e-04 9.99938311e-01 -2.69842894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.323133365 meters Centerline goodness [0,1] 0.27215025906735746 Centerline is valid? [False, False] Translation: X:0.70, Y:0.07, Z:-0.27 [[ 9.99934074e-01 -3.42228803e-03 1.09606516e-02 6.95314037e-01] [ 3.41638133e-03 9.99994009e-01 5.57578599e-04 7.29150799e-02] [-1.09624941e-02 -5.20096075e-04 9.99939775e-01 -2.70055661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.353133365 meters Centerline goodness [0,1] 0.2730085410493289 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.27 [[ 9.99933372e-01 -3.39110157e-03 1.10341571e-02 6.94955991e-01] [ 3.38454511e-03 9.99994085e-01 6.12816133e-04 7.28814303e-02] [-1.10361699e-02 -5.75429700e-04 9.99938934e-01 -2.69771527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.383133364999999 meters Centerline goodness [0,1] 0.2731624526741808 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.27 [[ 9.99931784e-01 -3.35692202e-03 1.11874451e-02 6.94278754e-01] [ 3.34955668e-03 9.99994161e-01 6.77029419e-04 7.27289642e-02] [-1.11896525e-02 -6.39510253e-04 9.99937189e-01 -2.69187523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.413133365 meters Centerline goodness [0,1] 0.27280806329251106 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.27 [[ 9.99929870e-01 -3.41239633e-03 1.13406343e-02 6.93376067e-01] [ 3.40406561e-03 9.99993922e-01 7.53811520e-04 7.18641336e-02] [-1.13431377e-02 -7.15154393e-04 9.99935409e-01 -2.68201795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.443133365 meters Centerline goodness [0,1] 0.25762624416879853 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.27 [[ 9.99932115e-01 -3.40538154e-03 1.11430624e-02 6.93810177e-01] [ 3.39680212e-03 9.99993920e-01 7.88769187e-04 7.16717843e-02] [-1.11456807e-02 -7.50864864e-04 9.99937603e-01 -2.68160189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.473133364999999 meters Centerline goodness [0,1] 0.27651133225198365 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:-0.27 [[ 0.99995885 -0.00381083 0.00823295 0.64894454] [ 0.00379517 0.99999096 0.00191747 0.0674717 ] [-0.00824018 -0.00188615 0.99996427 -0.26610666] [ 0. 0. 0. 1. ]] SLAMing on 13.503133365 meters Centerline goodness [0,1] 0.27281947261663286 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.27 [[ 0.99994066 -0.00245532 0.0106136 0.6929639 ] [ 0.00243435 0.99999506 0.00198849 0.06971874] [-0.01061843 -0.00196254 0.9999417 -0.26708851] [ 0. 0. 0. 1. ]] SLAMing on 13.533133365 meters Centerline goodness [0,1] 0.27373757067654514 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.27 [[ 0.99994006 -0.00239329 0.01068413 0.69269615] [ 0.00237065 0.99999492 0.00213132 0.06901482] [-0.01068918 -0.00210587 0.99994065 -0.26692115] [ 0. 0. 0. 1. ]] SLAMing on 13.563133364999999 meters Centerline goodness [0,1] 0.2742106976239558 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.27 [[ 0.9999392 -0.00232927 0.01077834 0.6924641 ] [ 0.00230467 0.99999471 0.0022949 0.06821006] [-0.01078363 -0.00226992 0.99993928 -0.26688735] [ 0. 0. 0. 1. ]] SLAMing on 13.593133365 meters Centerline goodness [0,1] 0.2719271819590291 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.27 [[ 0.99994211 -0.00230483 0.01051028 0.69323766] [ 0.00227967 0.99999451 0.00240529 0.0674213 ] [-0.01051577 -0.00238119 0.99994187 -0.26711046] [ 0. 0. 0. 1. ]] SLAMing on 13.623133365 meters Centerline goodness [0,1] 0.27386199973813996 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:-0.27 [[ 0.99994155 0.00532908 0.00940743 0.673844 ] [-0.00534212 0.9999848 0.0013609 0.06151705] [-0.00940004 -0.00141107 0.99995482 -0.26787104] [ 0. 0. 0. 1. ]] SLAMing on 13.653133365 meters Centerline goodness [0,1] 0.27230859045600986 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.27 [[ 0.99996933 -0.00132984 0.00771799 0.69239016] [ 0.00131277 0.99999668 0.0022159 0.06681909] [-0.00772091 -0.0022057 0.99996776 -0.26622808] [ 0. 0. 0. 1. ]] SLAMing on 13.683133365 meters Centerline goodness [0,1] 0.270223677972676 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.27 [[ 0.99997002 -0.00128235 0.00763704 0.69273566] [ 0.00126495 0.99999659 0.00228269 0.06670818] [-0.00763994 -0.00227297 0.99996823 -0.2664974 ] [ 0. 0. 0. 1. ]] SLAMing on 13.713133365 meters Centerline goodness [0,1] 0.2726838897203965 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.27 [[ 0.99996921 -0.00121936 0.00775147 0.69259369] [ 0.001201 0.99999647 0.00237187 0.06655656] [-0.00775434 -0.00236249 0.99996714 -0.26674875] [ 0. 0. 0. 1. ]] SLAMing on 13.743133365 meters Centerline goodness [0,1] 0.2718497147443545 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.27 [[ 0.99996846 -0.00125826 0.00784224 0.69233113] [ 0.00124037 0.99999662 0.00228597 0.06689052] [-0.00784509 -0.00227617 0.99996664 -0.26669086] [ 0. 0. 0. 1. ]] SLAMing on 13.773133365 meters Centerline goodness [0,1] 0.2721638723987214 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.27 [[ 0.99996885 -0.00129429 0.0077857 0.69247128] [ 0.00127718 0.99999676 0.00220212 0.06732421] [-0.00778853 -0.00219211 0.99996727 -0.26671853] [ 0. 0. 0. 1. ]] SLAMing on 13.803133364999999 meters Centerline goodness [0,1] 0.27439356624457856 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.27 [[ 0.99996925 -0.00137341 0.00772125 0.69279716] [ 0.0013579 0.99999705 0.00201331 0.06820623] [-0.00772399 -0.00200276 0.99996816 -0.26706007] [ 0. 0. 0. 1. ]] SLAMing on 13.833133365 meters Centerline goodness [0,1] 0.2718349619978284 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.27 [[ 0.99997045 -0.00156638 0.00752644 0.69368495] [ 0.001556 0.99999783 0.00138459 0.07145769] [-0.00752859 -0.00137284 0.99997072 -0.26785804] [ 0. 0. 0. 1. ]] SLAMing on 13.863133365 meters Centerline goodness [0,1] 0.27328221058805635 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.27 [[ 0.9999703 -0.00165282 0.00752723 0.69378343] [ 0.00164457 0.99999804 0.00110082 0.07298745] [-0.00752904 -0.0010884 0.99997106 -0.26807306] [ 0. 0. 0. 1. ]] SLAMing on 13.893133364999999 meters Centerline goodness [0,1] 0.2695253342564147 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.27 [[ 9.99970424e-01 -1.73000221e-03 7.49394132e-03 6.93851243e-01] [ 1.72360627e-03 9.99998145e-01 8.59854855e-04 7.43062168e-02] [-7.49541497e-03 -8.46912819e-04 9.99971550e-01 -2.68105151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.923133365 meters Centerline goodness [0,1] 0.2716411426088845 Centerline is valid? [False, False] Translation: X:0.69, Y:0.08, Z:-0.27 [[ 9.99970472e-01 -1.90874114e-03 7.44386505e-03 6.93882095e-01] [ 1.90549656e-03 9.99998086e-01 4.42941681e-04 7.62348854e-02] [-7.44469626e-03 -4.28744342e-04 9.99972196e-01 -2.67994914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.953133365 meters Centerline goodness [0,1] 0.2696753246753246 Centerline is valid? [False, False] Translation: X:0.69, Y:0.08, Z:-0.27 [[ 9.99970581e-01 -2.00920400e-03 7.40269988e-03 6.93974367e-01] [ 2.00739618e-03 9.99997954e-01 2.51632564e-04 7.69975207e-02] [-7.40319032e-03 -2.36765010e-04 9.99972568e-01 -2.68002852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.983133364999999 meters Centerline goodness [0,1] 0.2692340847377268 Centerline is valid? [False, False] Translation: X:0.69, Y:0.08, Z:-0.27 [[ 9.99970121e-01 -2.09209815e-03 7.44180838e-03 6.93777212e-01] [ 2.09179813e-03 9.99997811e-01 4.80984246e-05 7.80191369e-02] [-7.44189272e-03 -3.25302266e-05 9.99972308e-01 -2.67875794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.013133365 meters Centerline goodness [0,1] 0.2721159269382619 Centerline is valid? [False, False] Translation: X:0.69, Y:0.08, Z:-0.27 [[ 9.99968352e-01 -2.12690688e-03 7.66628799e-03 6.92992717e-01] [ 2.12817448e-03 9.99997723e-01 -1.57193333e-04 7.93303351e-02] [-7.66593620e-03 1.73503557e-04 9.99970601e-01 -2.67509767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.043133365 meters Centerline goodness [0,1] 0.2710896784378176 Centerline is valid? [False, False] Translation: X:0.69, Y:0.08, Z:-0.27 [[ 9.99965724e-01 -2.13717061e-03 7.99893143e-03 6.91998270e-01] [ 2.14036528e-03 9.99997633e-01 -3.90847240e-04 8.10666203e-02] [-7.99807719e-03 4.07954479e-04 9.99967932e-01 -2.67222111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.073133365 meters Centerline goodness [0,1] 0.271543627059357 Centerline is valid? [False, False] Translation: X:0.69, Y:0.09, Z:-0.27 [[ 9.99957182e-01 -1.83707790e-03 9.06966659e-03 6.89111509e-01] [ 1.84470535e-03 9.99997952e-01 -8.32690525e-04 8.60616224e-02] [-9.06811830e-03 8.49385733e-04 9.99958523e-01 -2.66821386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.103133365 meters Centerline goodness [0,1] 0.27303370786516856 Centerline is valid? [False, False] Translation: X:0.69, Y:0.09, Z:-0.27 [[ 0.99995498 -0.0020294 0.00926904 0.68862222] [ 0.00204363 0.99999675 -0.00152619 0.08952569] [-0.00926591 0.00154507 0.99995588 -0.26688201] [ 0. 0. 0. 1. ]] SLAMing on 14.133133364999999 meters Centerline goodness [0,1] 0.2742041424004904 Centerline is valid? [False, False] Translation: X:0.67, Y:0.09, Z:-0.27 [[ 0.99994518 0.00600004 0.00858087 0.66744525] [-0.00597623 0.99997823 -0.00279771 0.08837352] [-0.00859747 0.00274628 0.99995927 -0.26727575] [ 0. 0. 0. 1. ]] SLAMing on 14.163133365 meters Centerline goodness [0,1] 0.27405515163424377 Centerline is valid? [False, False] Translation: X:0.67, Y:0.09, Z:-0.27 [[ 0.99994638 0.00582166 0.00856365 0.66752693] [-0.00579203 0.99997717 -0.00348061 0.0918086 ] [-0.00858372 0.00343082 0.99995727 -0.26747963] [ 0. 0. 0. 1. ]] SLAMing on 14.193133365 meters Centerline goodness [0,1] 0.27501420640818286 Centerline is valid? [False, False] Translation: X:0.67, Y:0.10, Z:-0.27 [[ 0.99995167 0.00592481 0.00784594 0.66970136] [-0.00589217 0.99997392 -0.00417718 0.09740591] [-0.00787048 0.00413075 0.9999605 -0.26853763] [ 0. 0. 0. 1. ]] SLAMing on 14.223133364999999 meters Centerline goodness [0,1] 0.2731230544852957 Centerline is valid? [False, False] Translation: X:0.67, Y:0.10, Z:-0.27 [[ 0.99995252 0.00584748 0.00779489 0.66983047] [-0.00581322 0.99997338 -0.00441038 0.09869166] [-0.00782047 0.00436486 0.99995989 -0.2686027 ] [ 0. 0. 0. 1. ]] SLAMing on 14.253133365 meters Centerline goodness [0,1] 0.27217570947047953 Centerline is valid? [False, False] Translation: X:0.67, Y:0.10, Z:-0.27 [[ 0.99995324 0.00575714 0.00776971 0.66969535] [-0.00572201 0.99997334 -0.0045365 0.09916158] [-0.00779562 0.00449183 0.99995953 -0.26826425] [ 0. 0. 0. 1. ]] SLAMing on 14.283133365 meters Centerline goodness [0,1] 0.27460483800541435 Centerline is valid? [False, False] Translation: X:0.67, Y:0.10, Z:-0.27 [[ 0.99995456 0.00569409 0.00764607 0.6696643 ] [-0.0056595 0.99997369 -0.00453758 0.09891259] [-0.00767171 0.0044941 0.99996047 -0.26768503] [ 0. 0. 0. 1. ]] SLAMing on 14.313133364999999 meters Centerline goodness [0,1] 0.272302611567375 Centerline is valid? [False, False] Translation: X:0.67, Y:0.10, Z:-0.27 [[ 0.99995511 0.00567854 0.00758506 0.66967432] [-0.00564502 0.99997424 -0.00443381 0.09823631] [-0.00761005 0.00439079 0.9999614 -0.26744345] [ 0. 0. 0. 1. ]] SLAMing on 14.343133365 meters Centerline goodness [0,1] 0.2714927218691021 Centerline is valid? [False, False] Translation: X:0.67, Y:0.10, Z:-0.27 [[ 0.9999544 0.00570103 0.00766103 0.66957979] [-0.00566736 0.99997422 -0.00440874 0.09827617] [-0.00768596 0.00436512 0.99996094 -0.26759212] [ 0. 0. 0. 1. ]] SLAMing on 14.373133365 meters Centerline goodness [0,1] 0.2738614686342009 Centerline is valid? [False, False] Translation: X:0.65, Y:0.10, Z:-0.27 [[ 0.99997136 -0.00276579 0.0070449 0.64946172] [ 0.00278644 0.99999185 -0.00292266 0.10135349] [-0.00703676 0.00294221 0.99997091 -0.26845263] [ 0. 0. 0. 1. ]] SLAMing on 14.403133364999999 meters Centerline goodness [0,1] 0.2718159479853002 Centerline is valid? [False, False] Translation: X:0.65, Y:0.10, Z:-0.27 [[ 0.9999713 -0.00277285 0.00704991 0.64940838] [ 0.00279433 0.99999148 -0.00303866 0.10181626] [-0.00704142 0.00305828 0.99997053 -0.26842355] [ 0. 0. 0. 1. ]] SLAMing on 14.433133365 meters Centerline goodness [0,1] 0.2708504830813223 Centerline is valid? [False, False] Translation: X:0.65, Y:0.10, Z:-0.27 [[ 0.99997193 -0.0027634 0.00696486 0.6496078 ] [ 0.00278485 0.9999914 -0.00307214 0.10203151] [-0.00695631 0.00309145 0.99997103 -0.26847796] [ 0. 0. 0. 1. ]] SLAMing on 14.463133365 meters Centerline goodness [0,1] 0.2708504830813223 Centerline is valid? [False, False] Translation: X:0.65, Y:0.10, Z:-0.27 [[ 0.99997193 -0.0027634 0.00696486 0.6496078 ] [ 0.00278485 0.9999914 -0.00307214 0.10203151] [-0.00695631 0.00309145 0.99997103 -0.26847796] [ 0. 0. 0. 1. ]] SLAMing on 14.493133365 meters Centerline goodness [0,1] 0.2706556416433361 Centerline is valid? [False, False] Translation: X:0.65, Y:0.10, Z:-0.27 [[ 0.99997197 -0.0027668 0.00695751 0.64971444] [ 0.00278861 0.99999122 -0.0031268 0.10233172] [-0.00694879 0.00314611 0.99997091 -0.26863627] [ 0. 0. 0. 1. ]] SLAMing on 14.523133365 meters Centerline goodness [0,1] 0.2724528632048646 Centerline is valid? [False, False] Translation: X:0.65, Y:0.10, Z:-0.27 [[ 0.99997246 -0.00275808 0.00688986 0.65010262] [ 0.00277982 0.99999118 -0.00314736 0.1024625 ] [-0.00688112 0.00316643 0.99997131 -0.26905831] [ 0. 0. 0. 1. ]] SLAMing on 14.553133364999999 meters Centerline goodness [0,1] 0.2710710102806576 Centerline is valid? [False, False] Translation: X:0.65, Y:0.10, Z:-0.27 [[ 0.99997472 -0.00272186 0.00656928 0.65137602] [ 0.00274283 0.99999117 -0.00318527 0.10293612] [-0.00656056 0.00320321 0.99997335 -0.27000453] [ 0. 0. 0. 1. ]] SLAMing on 14.583133365 meters Centerline goodness [0,1] 0.27162456445993033 Centerline is valid? [False, False] Translation: X:0.65, Y:0.10, Z:-0.27 [[ 0.99997489 -0.00269641 0.00655366 0.6515937 ] [ 0.00271746 0.99999117 -0.00320489 0.10326293] [-0.00654496 0.00322262 0.99997339 -0.27035277] [ 0. 0. 0. 1. ]] SLAMing on 14.613133365 meters Centerline goodness [0,1] 0.27096241222635276 Centerline is valid? [False, False] Translation: X:0.65, Y:0.10, Z:-0.27 [[ 0.99997528 -0.00270749 0.00648898 0.65182445] [ 0.00272874 0.99999094 -0.00326813 0.10366105] [-0.00648007 0.00328576 0.99997361 -0.270512 ] [ 0. 0. 0. 1. ]] SLAMing on 14.643133364999999 meters Centerline goodness [0,1] 0.27007331027431525 Centerline is valid? [False, False] Translation: X:0.65, Y:0.10, Z:-0.27 [[ 0.99997457 -0.00272447 0.00659044 0.65152497] [ 0.00274654 0.99999064 -0.00334215 0.1040446 ] [-0.00658127 0.00336017 0.9999727 -0.27042732] [ 0. 0. 0. 1. ]] SLAMing on 14.673133365 meters Centerline goodness [0,1] 0.2709175468335724 Centerline is valid? [False, False] Translation: X:0.65, Y:0.10, Z:-0.27 [[ 0.99997054 -0.00271636 0.0071789 0.64943407] [ 0.00274066 0.99999054 -0.00337801 0.10478043] [-0.00716966 0.00339759 0.99996853 -0.26929831] [ 0. 0. 0. 1. ]] SLAMing on 14.703133365 meters Centerline goodness [0,1] 0.27187724766243104 Centerline is valid? [False, False] Translation: X:0.65, Y:0.11, Z:-0.27 [[ 0.99996853 -0.00273084 0.00744924 0.64859041] [ 0.0027567 0.99999021 -0.00346271 0.10546446] [-0.00743971 0.00348314 0.99996626 -0.2689868 ] [ 0. 0. 0. 1. ]] SLAMing on 14.733133364999999 meters Centerline goodness [0,1] 0.27429008300567936 Centerline is valid? [False, False] Translation: X:0.65, Y:0.11, Z:-0.27 [[ 0.99996788 -0.00277216 0.00751959 0.64836066] [ 0.00279895 0.99998976 -0.00355567 0.10587979] [-0.00750965 0.0035766 0.99996541 -0.26888185] [ 0. 0. 0. 1. ]] SLAMing on 14.763133365 meters Centerline goodness [0,1] 0.2714952665023992 Centerline is valid? [False, False] Translation: X:0.65, Y:0.11, Z:-0.27 [[ 0.99996826 -0.002879 0.00742875 0.64875397] [ 0.00290672 0.99998884 -0.003724 0.1064339 ] [-0.00741795 0.00374548 0.99996547 -0.26918659] [ 0. 0. 0. 1. ]] SLAMing on 14.793133365 meters Centerline goodness [0,1] 0.273345688433446 Centerline is valid? [False, False] Translation: X:0.65, Y:0.11, Z:-0.27 [[ 0.99997103 -0.00301831 0.0069878 0.65028092] [ 0.00304688 0.99998703 -0.00408057 0.10823122] [-0.00697539 0.00410174 0.99996726 -0.27007679] [ 0. 0. 0. 1. ]] SLAMing on 14.823133365 meters Centerline goodness [0,1] 0.2707585936990412 Centerline is valid? [False, False] Translation: X:0.65, Y:0.11, Z:-0.27 [[ 0.99997226 -0.00306763 0.00678706 0.65089526] [ 0.00309666 0.99998608 -0.00427102 0.10936193] [-0.00677386 0.00429192 0.99996785 -0.27032492] [ 0. 0. 0. 1. ]] SLAMing on 14.853133365 meters Centerline goodness [0,1] 0.2727887889635904 Centerline is valid? [False, False] Translation: X:0.65, Y:0.11, Z:-0.27 [[ 0.9999715 -0.00324167 0.00681887 0.65054634] [ 0.00327356 0.99998373 -0.00467165 0.1110314 ] [-0.00680361 0.00469384 0.99996584 -0.26992579] [ 0. 0. 0. 1. ]] SLAMing on 14.883133364999999 meters Centerline goodness [0,1] 0.2700220903538788 Centerline is valid? [False, False] Translation: X:0.65, Y:0.11, Z:-0.27 [[ 0.99997065 -0.00329442 0.00691686 0.65014399] [ 0.00332766 0.99998294 -0.00480043 0.11154678] [-0.00690092 0.0048233 0.99996456 -0.26967883] [ 0. 0. 0. 1. ]] SLAMing on 14.913133365 meters Centerline goodness [0,1] 0.2720211750412219 Centerline is valid? [False, False] Translation: X:0.65, Y:0.11, Z:-0.27 [[ 0.99996966 -0.00335857 0.00702815 0.64982841] [ 0.00339346 0.99998195 -0.00495901 0.11226379] [-0.00701137 0.00498271 0.99996301 -0.26961549] [ 0. 0. 0. 1. ]] SLAMing on 14.943133365 meters Centerline goodness [0,1] 0.26820565729515944 Centerline is valid? [False, False] Translation: X:0.65, Y:0.11, Z:-0.27 [[ 0.99996961 -0.00340965 0.00701164 0.65006476] [ 0.00344591 0.99998072 -0.00516517 0.11344955] [-0.0069939 0.00518917 0.99996208 -0.26999412] [ 0. 0. 0. 1. ]] SLAMing on 14.973133364999999 meters Centerline goodness [0,1] 0.270922140060896 Centerline is valid? [False, False] Translation: X:0.65, Y:0.12, Z:-0.27 [[ 0.9999698 -0.00352896 0.00692379 0.65063422] [ 0.00356835 0.99997747 -0.00568477 0.11637626] [-0.00690357 0.0057093 0.99995987 -0.27067878] [ 0. 0. 0. 1. ]] SLAMing on 15.003133365 meters Centerline goodness [0,1] 0.2696892202331932 Centerline is valid? [False, False] Translation: X:0.65, Y:0.12, Z:-0.27 [[ 0.99996947 -0.00362974 0.00691935 0.65054456] [ 0.00367108 0.99997544 -0.00597048 0.11778215] [-0.00689751 0.0059957 0.99995824 -0.27054637] [ 0. 0. 0. 1. ]] SLAMing on 15.033133365 meters Centerline goodness [0,1] 0.2680015485203028 Centerline is valid? [False, False] Translation: X:0.65, Y:0.12, Z:-0.27 [[ 0.99996948 -0.00365817 0.0069038 0.65037632] [ 0.00370047 0.9999744 -0.00612402 0.11871364] [-0.00688122 0.00614938 0.99995742 -0.27024632] [ 0. 0. 0. 1. ]] SLAMing on 15.063133364999999 meters Centerline goodness [0,1] 0.2698106667822018 Centerline is valid? [False, False] Translation: X:0.65, Y:0.12, Z:-0.27 [[ 0.99996891 -0.00366418 0.00698228 0.65002862] [ 0.00370751 0.99997388 -0.00620381 0.11932387] [-0.00695937 0.0062295 0.99995638 -0.27005347] [ 0. 0. 0. 1. ]] SLAMing on 15.093133365 meters Centerline goodness [0,1] 0.26848131345863036 Centerline is valid? [False, False] Translation: X:0.65, Y:0.12, Z:-0.27 [[ 0.99996737 -0.00353463 0.00726331 0.64899164] [ 0.00357846 0.99997541 -0.00603058 0.11907884] [-0.00724182 0.00605637 0.99995544 -0.26946902] [ 0. 0. 0. 1. ]] SLAMing on 15.123133365 meters Centerline goodness [0,1] 0.27249934594924563 Centerline is valid? [False, False] Translation: X:0.65, Y:0.12, Z:-0.27 [[ 0.99996747 -0.00353289 0.00725134 0.64915004] [ 0.00357684 0.99997526 -0.00605718 0.11923083] [-0.00722976 0.00608292 0.99995536 -0.26970188] [ 0. 0. 0. 1. ]] SLAMing on 15.153133364999999 meters Centerline goodness [0,1] 0.2724412524139128 Centerline is valid? [False, False] Translation: X:0.65, Y:0.12, Z:-0.27 [[ 0.99996927 -0.00354521 0.00699221 0.6501057 ] [ 0.00358838 0.99997452 -0.0061715 0.11981575] [-0.00697015 0.0061964 0.99995651 -0.27029926] [ 0. 0. 0. 1. ]] SLAMing on 15.183133365 meters Centerline goodness [0,1] 0.2696773351887285 Centerline is valid? [False, False] Translation: X:0.65, Y:0.12, Z:-0.27 [[ 0.999982 -0.00112269 0.00589444 0.65454243] [ 0.00114748 0.9999905 -0.00420425 0.12348113] [-0.00588966 0.00421094 0.99997379 -0.27266876] [ 0. 0. 0. 1. ]] SLAMing on 15.213133365 meters Centerline goodness [0,1] 0.2708442351299494 Centerline is valid? [False, False] Translation: X:0.65, Y:0.13, Z:-0.27 [[ 0.99998051 -0.00115898 0.00613496 0.65383675] [ 0.00118682 0.99998901 -0.00453495 0.12553896] [-0.00612964 0.00454214 0.9999709 -0.27257994] [ 0. 0. 0. 1. ]] SLAMing on 15.243133365 meters Centerline goodness [0,1] 0.2721608919007542 Centerline is valid? [False, False] Translation: X:0.65, Y:0.13, Z:-0.27 [[ 0.9999772 -0.00113401 0.00665621 0.65221195] [ 0.0011659 0.99998786 -0.00478811 0.12747459] [-0.0066507 0.00479576 0.99996638 -0.27199743] [ 0. 0. 0. 1. ]] SLAMing on 15.273133365 meters Centerline goodness [0,1] 0.2704358935492952 Centerline is valid? [False, False] Translation: X:0.65, Y:0.13, Z:-0.27 [[ 0.99997453 -0.00113148 0.00704655 0.65083139] [ 0.00116698 0.99998664 -0.0050358 0.12940487] [-0.00704076 0.00504389 0.99996249 -0.27133283] [ 0. 0. 0. 1. ]] SLAMing on 15.303133364999999 meters Centerline goodness [0,1] 0.2680427936672275 Centerline is valid? [False, False] Translation: X:0.65, Y:0.13, Z:-0.27 [[ 0.9999744 -0.00129881 0.00703627 0.65102166] [ 0.00133772 0.99998382 -0.00552872 0.13196479] [-0.00702898 0.00553799 0.99995996 -0.27168539] [ 0. 0. 0. 1. ]] SLAMing on 15.333133365 meters Centerline goodness [0,1] 0.27096241222635276 Centerline is valid? [False, False] Translation: X:0.65, Y:0.13, Z:-0.27 [[ 0.99997595 -0.00141286 0.00678966 0.65205263] [ 0.00145166 0.99998263 -0.00571328 0.13244281] [-0.00678147 0.005723 0.99996063 -0.27244697] [ 0. 0. 0. 1. ]] SLAMing on 15.363133365 meters Centerline goodness [0,1] 0.26956823907566674 Centerline is valid? [False, False] Translation: X:0.65, Y:0.13, Z:-0.27 [[ 0.99997734 -0.00152699 0.00655581 0.65273325] [ 0.00156535 0.99998167 -0.00584935 0.13266553] [-0.00654676 0.00585948 0.9999614 -0.27267996] [ 0. 0. 0. 1. ]] SLAMing on 15.393133364999999 meters Centerline goodness [0,1] 0.2689673111939651 Centerline is valid? [False, False] Translation: X:0.65, Y:0.13, Z:-0.27 [[ 0.99997445 -0.00178666 0.00692196 0.65137035] [ 0.00182692 0.99998142 -0.00581507 0.13182899] [-0.00691144 0.00582757 0.99995913 -0.27176167] [ 0. 0. 0. 1. ]] SLAMing on 15.423133365 meters Centerline goodness [0,1] 0.27004374756356386 Centerline is valid? [False, False] Translation: X:0.65, Y:0.13, Z:-0.27 [[ 0.99997288 -0.00184063 0.00713062 0.65063431] [ 0.00188145 0.99998186 -0.00572208 0.13120156] [-0.00711996 0.00573534 0.99995821 -0.27132339] [ 0. 0. 0. 1. ]] SLAMing on 15.453133365 meters Centerline goodness [0,1] 0.27565776480656556 Centerline is valid? [False, False] Translation: X:0.63, Y:0.13, Z:-0.27 [[ 0.99991772 -0.0109007 0.00676225 0.62879944] [ 0.01093275 0.99992909 -0.00472055 0.13283935] [-0.00671031 0.0047941 0.99996599 -0.27151941] [ 0. 0. 0. 1. ]] SLAMing on 15.483133364999999 meters Centerline goodness [0,1] 0.2708612709261582 Centerline is valid? [False, False] Translation: X:0.65, Y:0.13, Z:-0.27 [[ 0.99996853 -0.00259734 0.00749583 0.64911095] [ 0.0026392 0.99998095 -0.0055802 0.12960394] [-0.00748119 0.00559981 0.99995634 -0.27120261] [ 0. 0. 0. 1. ]] SLAMing on 15.513133365 meters Centerline goodness [0,1] 0.2690702577119993 Centerline is valid? [False, False] Translation: X:0.65, Y:0.13, Z:-0.27 [[ 0.99997102 -0.00273362 0.00710599 0.65004724] [ 0.00277215 0.99998147 -0.00541902 0.12805061] [-0.00709104 0.00543856 0.99996007 -0.27114486] [ 0. 0. 0. 1. ]] SLAMing on 15.543133365 meters Centerline goodness [0,1] 0.26945357081099774 Centerline is valid? [False, False] Translation: X:0.65, Y:0.13, Z:-0.27 [[ 0.9999723 -0.0027115 0.00693198 0.65047976] [ 0.0027479 0.99998246 -0.00524692 0.12692256] [-0.00691763 0.00526582 0.99996221 -0.27114679] [ 0. 0. 0. 1. ]] SLAMing on 15.573133365 meters Centerline goodness [0,1] 0.27297656096977085 Centerline is valid? [False, False] Translation: X:0.65, Y:0.13, Z:-0.27 [[ 0.99997303 -0.00264655 0.00685094 0.65078445] [ 0.00268091 0.99998385 -0.0050117 0.12567972] [-0.00683756 0.00502993 0.99996397 -0.2713019 ] [ 0. 0. 0. 1. ]] SLAMing on 15.603133365 meters Centerline goodness [0,1] 0.27215725412770386 Centerline is valid? [False, False] Translation: X:0.65, Y:0.12, Z:-0.27 [[ 0.99997311 -0.00255941 0.00687212 0.65081046] [ 0.0025923 0.99998521 -0.00478077 0.12462593] [-0.00685979 0.00479846 0.99996496 -0.2714426 ] [ 0. 0. 0. 1. ]] SLAMing on 15.633133364999999 meters Centerline goodness [0,1] 0.2707651214888851 Centerline is valid? [False, False] Translation: X:0.65, Y:0.12, Z:-0.27 [[ 0.99997152 -0.00247502 0.00712942 0.65028824] [ 0.00250739 0.99998657 -0.00453535 0.12332454] [-0.0071181 0.0045531 0.9999643 -0.27156747] [ 0. 0. 0. 1. ]] SLAMing on 15.663133365 meters Centerline goodness [0,1] 0.27125488493269645 Centerline is valid? [False, False] Translation: X:0.65, Y:0.12, Z:-0.27 [[ 0.99997053 -0.00251577 0.0072529 0.64991516] [ 0.00254957 0.99998592 -0.00465428 0.12380954] [-0.00724109 0.00467263 0.99996287 -0.27145095] [ 0. 0. 0. 1. ]] SLAMing on 15.693133365 meters Centerline goodness [0,1] 0.27063912620309294 Centerline is valid? [False, False] Translation: X:0.65, Y:0.13, Z:-0.27 [[ 0.99996966 -0.00257794 0.00735005 0.6495964 ] [ 0.00261432 0.99998436 -0.00494358 0.12529274] [-0.00733719 0.00496264 0.99996077 -0.27133845] [ 0. 0. 0. 1. ]] SLAMing on 15.723133364999999 meters Centerline goodness [0,1] 0.27436324580246374 Centerline is valid? [False, False] Translation: X:0.63, Y:0.13, Z:-0.27 [[ 0.99995079 -0.00800532 0.00586019 0.62789762] [ 0.00801657 0.99996607 -0.00189781 0.13111003] [-0.00584479 0.00194469 0.99998103 -0.27058003] [ 0. 0. 0. 1. ]] SLAMing on 15.753133365 meters Centerline goodness [0,1] 0.26914448423141635 Centerline is valid? [False, False] Translation: X:0.65, Y:0.13, Z:-0.27 [[ 0.99997907 0.00157758 0.00627427 0.65055049] [-0.00156326 0.99999617 -0.00228587 0.13233034] [-0.00627785 0.00227601 0.9999777 -0.2709864 ] [ 0. 0. 0. 1. ]] SLAMing on 15.783133365 meters Centerline goodness [0,1] 0.27321373744462474 Centerline is valid? [False, False] Translation: X:0.63, Y:0.13, Z:-0.27 [[ 9.99978110e-01 -4.46818353e-03 4.88007913e-03 6.27997994e-01] [ 4.46354627e-03 9.99989577e-01 9.60721622e-04 1.34887997e-01] [-4.88432094e-03 -9.38918133e-04 9.99987631e-01 -2.70631116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.813133364999999 meters Centerline goodness [0,1] 0.27281900541821136 Centerline is valid? [False, False] Translation: X:0.63, Y:0.14, Z:-0.27 [[ 9.99979003e-01 -4.49001733e-03 4.67266874e-03 6.28794842e-01] [ 4.48729417e-03 9.99989756e-01 5.93106768e-04 1.37089907e-01] [-4.67528393e-03 -5.72126675e-04 9.99988907e-01 -2.71277144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.843133365 meters Centerline goodness [0,1] 0.2700804522722331 Centerline is valid? [False, False] Translation: X:0.65, Y:0.14, Z:-0.27 [[ 0.9999826 0.00411442 0.00422845 0.65064454] [-0.00410953 0.99999088 -0.00116573 0.1393303 ] [-0.00423321 0.00114833 0.99999038 -0.27084704] [ 0. 0. 0. 1. ]] SLAMing on 15.873133365 meters Centerline goodness [0,1] 0.27055257534127086 Centerline is valid? [False, False] Translation: X:0.65, Y:0.14, Z:-0.27 [[ 0.99998355 0.00394657 0.00416318 0.6508331 ] [-0.00393989 0.99999094 -0.0016125 0.14144989] [-0.00416951 0.00159607 0.99999003 -0.27098849] [ 0. 0. 0. 1. ]] SLAMing on 15.903133364999999 meters Centerline goodness [0,1] 0.2672305899615899 Centerline is valid? [False, False] Translation: X:0.67, Y:0.15, Z:-0.27 [[ 9.99987439e-01 -3.08789042e-03 3.94796999e-03 6.69118096e-01] [ 3.08959946e-03 9.99995136e-01 -4.26867445e-04 1.49845051e-01] [-3.94663267e-03 4.39059729e-04 9.99992116e-01 -2.69326739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.933133365 meters Centerline goodness [0,1] 0.2700063218014954 Centerline is valid? [False, False] Translation: X:0.65, Y:0.15, Z:-0.27 [[ 0.99998196 0.00480238 0.00360922 0.64908836] [-0.00479651 0.99998716 -0.00163521 0.14660353] [-0.00361703 0.00161787 0.99999215 -0.27003297] [ 0. 0. 0. 1. ]] SLAMing on 15.963133365 meters Centerline goodness [0,1] 0.2682446186495734 Centerline is valid? [False, False] Translation: X:0.66, Y:0.16, Z:-0.27 [[ 9.99999183e-01 -8.06641450e-04 9.92084388e-04 6.64717981e-01] [ 8.07766745e-04 9.99999030e-01 -1.13439625e-03 1.55849074e-01] [-9.91168375e-04 1.13519670e-03 9.99998864e-01 -2.67464389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.993133365 meters Centerline goodness [0,1] 0.2700702922678505 Centerline is valid? [False, False] Translation: X:0.67, Y:0.16, Z:-0.27 [[ 9.99999293e-01 -9.07446808e-04 7.68613899e-04 6.65435331e-01] [ 9.08545854e-04 9.99998564e-01 -1.43076735e-03 1.57475764e-01] [-7.67314449e-04 1.43146465e-03 9.99998681e-01 -2.67831488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.023133365 meters Centerline goodness [0,1] 0.2720232756546278 Centerline is valid? [False, False] Translation: X:0.67, Y:0.16, Z:-0.27 [[ 9.99999356e-01 -9.60525255e-04 6.04112011e-04 6.65830030e-01] [ 9.61505428e-04 9.99998219e-01 -1.62431051e-03 1.59164800e-01] [-6.02550743e-04 1.62489032e-03 9.99998498e-01 -2.67917454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.053133365 meters Centerline goodness [0,1] 0.27038720391574167 Centerline is valid? [False, False] Translation: X:0.67, Y:0.16, Z:-0.27 [[ 9.99999343e-01 -1.00208070e-03 5.56248464e-04 6.65798901e-01] [ 1.00295740e-03 9.99998252e-01 -1.57804811e-03 1.58800143e-01] [-5.54666160e-04 1.57860497e-03 9.99998600e-01 -2.67609255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.083133365 meters Centerline goodness [0,1] 0.26862821681204707 Centerline is valid? [False, False] Translation: X:0.67, Y:0.16, Z:-0.27 [[ 9.99999210e-01 -1.12908788e-03 5.52894746e-04 6.65680844e-01] [ 1.12992811e-03 9.99998204e-01 -1.52174361e-03 1.57800552e-01] [-5.51175570e-04 1.52236714e-03 9.99998689e-01 -2.67302925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.113133365 meters Centerline goodness [0,1] 0.269488911574969 Centerline is valid? [False, False] Translation: X:0.67, Y:0.16, Z:-0.27 [[ 9.99999023e-01 -1.25379579e-03 6.18577783e-04 6.65396710e-01] [ 1.25466902e-03 9.99998214e-01 -1.41330396e-03 1.56442989e-01] [-6.16804683e-04 1.41407869e-03 9.99998810e-01 -2.67020020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.143133365 meters Centerline goodness [0,1] 0.272657752141234 Centerline is valid? [False, False] Translation: X:0.66, Y:0.15, Z:-0.27 [[ 0.99999862 -0.00127198 0.00107089 0.6641658 ] [ 0.00127316 0.99999858 -0.00110535 0.15476862] [-0.00106949 0.00110671 0.99999882 -0.26663737] [ 0. 0. 0. 1. ]] SLAMing on 16.173133364999998 meters Centerline goodness [0,1] 0.271069127633641 Centerline is valid? [False, False] Translation: X:0.66, Y:0.15, Z:-0.27 [[ 0.99999854 -0.00119949 0.0012207 0.66363445] [ 0.00120074 0.99999876 -0.00102101 0.15482993] [-0.00121948 0.00102248 0.99999873 -0.26633449] [ 0. 0. 0. 1. ]] SLAMing on 16.203133365 meters Centerline goodness [0,1] 0.2713830159007513 Centerline is valid? [False, False] Translation: X:0.66, Y:0.16, Z:-0.27 [[ 0.99999824 -0.00119641 0.00144405 0.66306762] [ 0.00119802 0.99999866 -0.00111776 0.1555387 ] [-0.00144271 0.00111949 0.99999833 -0.26629972] [ 0. 0. 0. 1. ]] SLAMing on 16.233133365 meters Centerline goodness [0,1] 0.2690856250542205 Centerline is valid? [False, False] Translation: X:0.66, Y:0.16, Z:-0.27 [[ 0.99999805 -0.00122172 0.00155062 0.66280341] [ 0.00122376 0.99999839 -0.00131167 0.15659156] [-0.00154902 0.00131357 0.99999794 -0.26633657] [ 0. 0. 0. 1. ]] SLAMing on 16.263133364999998 meters Centerline goodness [0,1] 0.2702374234992838 Centerline is valid? [False, False] Translation: X:0.66, Y:0.16, Z:-0.27 [[ 0.99999815 -0.00103835 0.00162215 0.66263985] [ 0.00104086 0.99999826 -0.00155007 0.15841431] [-0.00162053 0.00155176 0.99999748 -0.26650652] [ 0. 0. 0. 1. ]] SLAMing on 16.293133365 meters Centerline goodness [0,1] 0.27030550606231807 Centerline is valid? [False, False] Translation: X:0.66, Y:0.16, Z:-0.27 [[ 0.99999829 -0.0010695 0.00150593 0.66307753] [ 0.00107217 0.99999785 -0.00177543 0.15951157] [-0.00150403 0.00177705 0.99999729 -0.26686847] [ 0. 0. 0. 1. ]] SLAMing on 16.323133365 meters Centerline goodness [0,1] 0.27286042190403326 Centerline is valid? [False, False] Translation: X:0.66, Y:0.16, Z:-0.27 [[ 0.99999831 -0.00110688 0.00146982 0.66332437] [ 0.0011098 0.99999741 -0.00198723 0.16053564] [-0.00146762 0.00198886 0.99999695 -0.26722182] [ 0. 0. 0. 1. ]] SLAMing on 16.353133364999998 meters Centerline goodness [0,1] 0.2681513513513514 Centerline is valid? [False, False] Translation: X:0.68, Y:0.17, Z:-0.27 [[ 9.99966481e-01 -8.15157508e-03 7.67129075e-04 6.81921793e-01] [ 8.15228788e-03 9.99966336e-01 -9.30688281e-04 1.67540562e-01] [-7.59516675e-04 9.36910943e-04 9.99999273e-01 -2.65837087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.383133365 meters Centerline goodness [0,1] 0.2681513513513514 Centerline is valid? [False, False] Translation: X:0.68, Y:0.17, Z:-0.27 [[ 9.99966481e-01 -8.15157508e-03 7.67129075e-04 6.81921793e-01] [ 8.15228788e-03 9.99966336e-01 -9.30688281e-04 1.67540562e-01] [-7.59516675e-04 9.36910943e-04 9.99999273e-01 -2.65837087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.413133365 meters Centerline goodness [0,1] 0.26948044898933976 Centerline is valid? [False, False] Translation: X:0.66, Y:0.17, Z:-0.27 [[ 9.99999721e-01 2.17884415e-04 7.14328448e-04 6.61769181e-01] [-2.16568977e-04 9.99998282e-01 -1.84106307e-03 1.65001289e-01] [-7.14728359e-04 1.84090786e-03 9.99998050e-01 -2.67577843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.443133364999998 meters Centerline goodness [0,1] 0.27042585203113756 Centerline is valid? [False, False] Translation: X:0.66, Y:0.17, Z:-0.27 [[ 9.99999602e-01 1.58241703e-04 8.78450976e-04 6.61567326e-01] [-1.56435815e-04 9.99997875e-01 -2.05545281e-03 1.66171151e-01] [-8.78774368e-04 2.05531457e-03 9.99997502e-01 -2.67980731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.473133365 meters Centerline goodness [0,1] 0.2686525068882477 Centerline is valid? [False, False] Translation: X:0.66, Y:0.17, Z:-0.27 [[ 9.99999795e-01 -3.87990963e-05 6.39472506e-04 6.62477657e-01] [ 4.04717810e-05 9.99996578e-01 -2.61592046e-03 1.68971518e-01] [-6.39368823e-04 2.61594581e-03 9.99996374e-01 -2.68652066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.503133365 meters Centerline goodness [0,1] 0.268377253814147 Centerline is valid? [False, False] Translation: X:0.66, Y:0.17, Z:-0.27 [[ 9.99999915e-01 -9.22968603e-05 4.02795672e-04 6.63186873e-01] [ 9.34250390e-05 9.99996071e-01 -2.80175144e-03 1.70044802e-01] [-4.02535497e-04 2.80178883e-03 9.99995994e-01 -2.68927214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.533133365 meters Centerline goodness [0,1] 0.2718384883491528 Centerline is valid? [False, False] Translation: X:0.64, Y:0.17, Z:-0.27 [[ 9.99961947e-01 -8.69376208e-03 -7.23362216e-04 6.42941422e-01] [ 8.69253082e-03 9.99960794e-01 -1.68821485e-03 1.73223989e-01] [ 7.38010795e-04 1.68186276e-03 9.99998313e-01 -2.69790636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.563133365 meters Centerline goodness [0,1] 0.26918230795968023 Centerline is valid? [False, False] Translation: X:0.66, Y:0.17, Z:-0.27 [[ 9.99999907e-01 -3.90632022e-04 1.83444308e-04 6.62405481e-01] [ 3.91160902e-04 9.99995742e-01 -2.89192286e-03 1.71388848e-01] [-1.82313849e-04 2.89199435e-03 9.99995802e-01 -2.68620890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.593133365 meters Centerline goodness [0,1] 0.27170116147061396 Centerline is valid? [False, False] Translation: X:0.66, Y:0.17, Z:-0.27 [[ 9.99999861e-01 -4.14272179e-04 3.26432020e-04 6.61856887e-01] [ 4.15234384e-04 9.99995553e-01 -2.95310892e-03 1.71931761e-01] [-3.25207177e-04 2.95324405e-03 9.99995586e-01 -2.68329413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.623133365 meters Centerline goodness [0,1] 0.26970630341416857 Centerline is valid? [False, False] Translation: X:0.66, Y:0.17, Z:-0.27 [[ 9.99999831e-01 -4.00173039e-04 4.21730103e-04 6.61587571e-01] [ 4.01418906e-04 9.99995544e-01 -2.95824792e-03 1.72325548e-01] [-4.20544413e-04 2.95841671e-03 9.99995535e-01 -2.68249759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.653133365 meters Centerline goodness [0,1] 0.26909500400632347 Centerline is valid? [False, False] Translation: X:0.66, Y:0.17, Z:-0.27 [[ 9.99999815e-01 -3.82399040e-04 4.72873699e-04 6.61522035e-01] [ 3.83804676e-04 9.99995498e-01 -2.97602987e-03 1.72719791e-01] [-4.71733540e-04 2.97621082e-03 9.99995460e-01 -2.68369088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.683133365 meters Centerline goodness [0,1] 0.2680566058118181 Centerline is valid? [False, False] Translation: X:0.66, Y:0.17, Z:-0.27 [[ 9.99999811e-01 -4.51777162e-04 4.16850248e-04 6.61780635e-01] [ 4.53075803e-04 9.99995028e-01 -3.12054849e-03 1.73416409e-01] [-4.15438383e-04 3.12073677e-03 9.99995044e-01 -2.68553547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.713133365 meters Centerline goodness [0,1] 0.27230779372019953 Centerline is valid? [False, False] Translation: X:0.62, Y:0.17, Z:-0.27 [[ 0.99999474 -0.00197065 -0.00257464 0.61744664] [ 0.00195988 0.99998935 -0.004178 0.17254979] [ 0.00258285 0.00417293 0.99998796 -0.26766086] [ 0. 0. 0. 1. ]] SLAMing on 16.743133365 meters Centerline goodness [0,1] 0.27252954874994506 Centerline is valid? [False, False] Translation: X:0.62, Y:0.17, Z:-0.27 [[ 0.9999943 -0.00201917 -0.00270443 0.61763931] [ 0.00200757 0.9999888 -0.00428568 0.17310555] [ 0.00271305 0.00428023 0.99998716 -0.2674857 ] [ 0. 0. 0. 1. ]] SLAMing on 16.773133365 meters Centerline goodness [0,1] 0.27101965843738385 Centerline is valid? [False, False] Translation: X:0.62, Y:0.17, Z:-0.27 [[ 0.99999458 -0.00203453 -0.00259014 0.61730797] [ 0.0020232 0.99998841 -0.00436939 0.17374785] [ 0.002599 0.00436413 0.9999871 -0.26739711] [ 0. 0. 0. 1. ]] SLAMing on 16.803133365 meters Centerline goodness [0,1] 0.2614468864468864 Centerline is valid? [False, False] Translation: X:0.62, Y:0.17, Z:-0.27 [[ 0.99999591 -0.00203266 -0.00201293 0.61530117] [ 0.00202366 0.99998801 -0.00445983 0.17457034] [ 0.00202197 0.00445574 0.99998803 -0.26632659] [ 0. 0. 0. 1. ]] SLAMing on 16.833133365 meters Centerline goodness [0,1] 0.2749084369585718 Centerline is valid? [False, False] Translation: X:0.61, Y:0.18, Z:-0.27 [[ 0.99999606 -0.00208934 -0.00187677 0.6147839 ] [ 0.00208073 0.99998736 -0.00457728 0.1750391 ] [ 0.00188631 0.00457335 0.99998776 -0.26599313] [ 0. 0. 0. 1. ]] SLAMing on 16.863133365 meters Centerline goodness [0,1] 0.2727890708944587 Centerline is valid? [False, False] Translation: X:0.61, Y:0.18, Z:-0.27 [[ 0.99999595 -0.00212228 -0.0018977 0.61482636] [ 0.00211336 0.99998677 -0.00468977 0.1755751 ] [ 0.00190762 0.00468574 0.9999872 -0.26603331] [ 0. 0. 0. 1. ]] SLAMing on 16.893133365 meters Centerline goodness [0,1] 0.2707328155087735 Centerline is valid? [False, False] Translation: X:0.63, Y:0.18, Z:-0.26 [[ 0.99995091 -0.00983948 -0.00116863 0.63391776] [ 0.00983539 0.99994568 -0.00345106 0.18068067] [ 0.00120253 0.0034394 0.99999336 -0.26491583] [ 0. 0. 0. 1. ]] SLAMing on 16.923133364999998 meters Centerline goodness [0,1] 0.2712754415657683 Centerline is valid? [False, False] Translation: X:0.63, Y:0.18, Z:-0.26 [[ 9.99951876e-01 -9.76267556e-03 -9.67884230e-04 6.33287945e-01] [ 9.75953248e-03 9.99947253e-01 -3.20057944e-03 1.79425363e-01] [ 9.99079395e-04 3.19097932e-03 9.99994410e-01 -2.64621730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.953133365 meters Centerline goodness [0,1] 0.2714174623061304 Centerline is valid? [False, False] Translation: X:0.65, Y:0.17, Z:-0.26 [[ 9.99998239e-01 -1.73843349e-03 -7.06765947e-04 6.52231848e-01] [ 1.73526524e-03 9.99988553e-01 -4.45891481e-03 1.74713803e-01] [ 7.14509384e-04 4.45768053e-03 9.99989809e-01 -2.62816649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.983133365 meters Centerline goodness [0,1] 0.27298208732974205 Centerline is valid? [False, False] Translation: X:0.61, Y:0.17, Z:-0.26 [[ 0.9999909 -0.00264264 -0.00334781 0.60687119] [ 0.00262724 0.99998598 -0.0045967 0.16958497] [ 0.00335992 0.00458786 0.99998383 -0.26181435] [ 0. 0. 0. 1. ]] SLAMing on 17.013133364999998 meters Centerline goodness [0,1] 0.2761835812382081 Centerline is valid? [False, False] Translation: X:0.61, Y:0.17, Z:-0.26 [[ 0.99999066 -0.00246828 -0.00354697 0.60747002] [ 0.00245421 0.99998911 -0.0039683 0.16621706] [ 0.00355672 0.00395956 0.99998584 -0.26196696] [ 0. 0. 0. 1. ]] SLAMing on 17.043133365 meters Centerline goodness [0,1] 0.2686428802414573 Centerline is valid? [False, False] Translation: X:0.65, Y:0.17, Z:-0.26 [[ 0.99999586 -0.00209661 -0.00197179 0.65232281] [ 0.00208881 0.99999002 -0.00395044 0.16695284] [ 0.00198005 0.0039463 0.99999025 -0.26251889] [ 0. 0. 0. 1. ]] SLAMing on 17.073133365 meters Centerline goodness [0,1] 0.270858183868659 Centerline is valid? [False, False] Translation: X:0.65, Y:0.17, Z:-0.26 [[ 0.99999586 -0.00199226 -0.00207407 0.65284808] [ 0.00198466 0.99999132 -0.00366269 0.1654162 ] [ 0.00208135 0.00365856 0.99999114 -0.26295842] [ 0. 0. 0. 1. ]] SLAMing on 17.103133364999998 meters Centerline goodness [0,1] 0.2718008759377304 Centerline is valid? [False, False] Translation: X:0.65, Y:0.16, Z:-0.26 [[ 0.99999573 -0.00189573 -0.00222277 0.65353125] [ 0.00188814 0.99999239 -0.00341324 0.16410364] [ 0.00222922 0.00340903 0.9999917 -0.26349592] [ 0. 0. 0. 1. ]] SLAMing on 17.133133365 meters Centerline goodness [0,1] 0.2706573791902481 Centerline is valid? [False, False] Translation: X:0.65, Y:0.16, Z:-0.26 [[ 0.99999568 -0.0016994 -0.00239774 0.65436506] [ 0.00169202 0.99999384 -0.00307485 0.16275132] [ 0.00240295 0.00307078 0.9999924 -0.26422798] [ 0. 0. 0. 1. ]] SLAMing on 17.163133365 meters Centerline goodness [0,1] 0.25618641145025 Centerline is valid? [False, False] Translation: X:0.65, Y:0.16, Z:-0.26 [[ 0.99999571 -0.00164282 -0.00242505 0.65437997] [ 0.00163534 0.99999391 -0.00308178 0.16295633] [ 0.0024301 0.0030778 0.99999231 -0.26415805] [ 0. 0. 0. 1. ]] SLAMing on 17.193133364999998 meters Centerline goodness [0,1] 0.27084014027750547 Centerline is valid? [False, False] Translation: X:0.63, Y:0.16, Z:-0.27 [[ 0.99997564 0.00647595 -0.00260392 0.63428193] [-0.00648678 0.99997025 -0.00417275 0.15808453] [ 0.00257682 0.00418954 0.9999879 -0.26542436] [ 0. 0. 0. 1. ]] SLAMing on 17.223133365 meters Centerline goodness [0,1] 0.2721928405961799 Centerline is valid? [False, False] Translation: X:0.64, Y:0.16, Z:-0.27 [[ 0.99997118 0.00690803 -0.00314942 0.63617035] [-0.00692114 0.99996735 -0.0041709 0.15959266] [ 0.00312051 0.00419258 0.99998634 -0.26664511] [ 0. 0. 0. 1. ]] SLAMing on 17.253133365 meters Centerline goodness [0,1] 0.2689186843703897 Centerline is valid? [False, False] Translation: X:0.66, Y:0.17, Z:-0.27 [[ 9.99989803e-01 6.34913869e-04 -4.47114342e-03 6.55957878e-01] [-6.46181834e-04 9.99996618e-01 -2.51915938e-03 1.66211606e-01] [ 4.46952885e-03 2.52202286e-03 9.99986831e-01 -2.65623491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.283133365 meters Centerline goodness [0,1] 0.2715324323734253 Centerline is valid? [False, False] Translation: X:0.66, Y:0.17, Z:-0.27 [[ 9.99990003e-01 6.13232560e-04 -4.42917708e-03 6.56137152e-01] [-6.25392222e-04 9.99996038e-01 -2.74449167e-03 1.67523178e-01] [ 4.42747653e-03 2.74723421e-03 9.99986425e-01 -2.66170272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.313133365 meters Centerline goodness [0,1] 0.2683085744070889 Centerline is valid? [False, False] Translation: X:0.66, Y:0.17, Z:-0.27 [[ 9.99991444e-01 5.24274293e-04 -4.10336805e-03 6.55128296e-01] [-5.37132901e-04 9.99994947e-01 -3.13319731e-03 1.69482440e-01] [ 4.10170466e-03 3.13537456e-03 9.99986673e-01 -2.65902660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.343133365 meters Centerline goodness [0,1] 0.2703442284721468 Centerline is valid? [False, False] Translation: X:0.65, Y:0.17, Z:-0.27 [[ 9.99991767e-01 5.04232416e-04 -4.02645561e-03 6.54857006e-01] [-5.17443580e-04 9.99994485e-01 -3.28072275e-03 1.70474218e-01] [ 4.02477915e-03 3.28277920e-03 9.99986512e-01 -2.65826943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.373133365 meters Centerline goodness [0,1] 0.2694887204947304 Centerline is valid? [False, False] Translation: X:0.65, Y:0.17, Z:-0.27 [[ 9.99991791e-01 4.53360718e-04 -4.02638585e-03 6.54898536e-01] [-4.67353367e-04 9.99993853e-01 -3.47497734e-03 1.71637315e-01] [ 4.02478568e-03 3.47683056e-03 9.99985856e-01 -2.65933207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.403133365 meters Centerline goodness [0,1] 0.26799516386717903 Centerline is valid? [False, False] Translation: X:0.66, Y:0.17, Z:-0.27 [[ 9.99991376e-01 3.41729797e-04 -4.13887367e-03 6.55491290e-01] [-3.57176557e-04 9.99992972e-01 -3.73195278e-03 1.72901340e-01] [ 4.13756926e-03 3.73339891e-03 9.99984471e-01 -2.66473264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.433133365 meters Centerline goodness [0,1] 0.2691797359319601 Centerline is valid? [False, False] Translation: X:0.66, Y:0.18, Z:-0.27 [[ 9.99990852e-01 1.16118732e-04 -4.27579029e-03 6.55912231e-01] [-1.34249134e-04 9.99991001e-01 -4.24020300e-03 1.75107665e-01] [ 4.27525945e-03 4.24073823e-03 9.99981869e-01 -2.66662710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.463133365 meters Centerline goodness [0,1] 0.2693955259400286 Centerline is valid? [False, False] Translation: X:0.66, Y:0.18, Z:-0.27 [[ 9.99991228e-01 4.27483028e-05 -4.18825103e-03 6.55403655e-01] [-6.13382886e-05 9.99990148e-01 -4.43857562e-03 1.76208337e-01] [ 4.18802003e-03 4.43879359e-03 9.99981379e-01 -2.66212940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.493133365 meters Centerline goodness [0,1] 0.2710768627963168 Centerline is valid? [False, False] Translation: X:0.65, Y:0.18, Z:-0.27 [[ 9.99992083e-01 1.63977101e-05 -3.97925955e-03 6.54536659e-01] [-3.45667366e-05 9.99989576e-01 -4.56590567e-03 1.77117867e-01] [ 3.97914320e-03 4.56600707e-03 9.99981659e-01 -2.65642322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.523133365 meters Centerline goodness [0,1] 0.27397290305607924 Centerline is valid? [False, False] Translation: X:0.65, Y:0.18, Z:-0.26 [[ 9.99993937e-01 -1.04733872e-04 -3.48061005e-03 6.52525490e-01] [ 8.82299846e-05 9.99988755e-01 -4.74148039e-03 1.78004822e-01] [ 3.48106750e-03 4.74114455e-03 9.99982702e-01 -2.64234314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.553133365 meters Centerline goodness [0,1] 0.27066937645939637 Centerline is valid? [False, False] Translation: X:0.67, Y:0.18, Z:-0.26 [[ 0.99996277 -0.00821748 -0.00263287 0.67192562] [ 0.00820715 0.99995868 -0.00390814 0.18331664] [ 0.00266487 0.00388639 0.9999889 -0.26300252] [ 0. 0. 0. 1. ]] SLAMing on 17.583133365 meters Centerline goodness [0,1] 0.2707766109166343 Centerline is valid? [False, False] Translation: X:0.67, Y:0.18, Z:-0.26 [[ 0.99996283 -0.00820837 -0.00264015 0.67190621] [ 0.00819828 0.99995913 -0.0038102 0.18273112] [ 0.00267131 0.00378841 0.99998926 -0.26288403] [ 0. 0. 0. 1. ]] SLAMing on 17.613133365 meters Centerline goodness [0,1] 0.27282787952434684 Centerline is valid? [False, False] Translation: X:0.67, Y:0.18, Z:-0.26 [[ 0.99996302 -0.0081549 -0.00273129 0.67211492] [ 0.0081449 0.99996016 -0.00365319 0.18197326] [ 0.00276097 0.00363081 0.9999896 -0.26285416] [ 0. 0. 0. 1. ]] SLAMing on 17.643133365 meters Centerline goodness [0,1] 0.25942958309044195 Centerline is valid? [False, False] Translation: X:0.67, Y:0.18, Z:-0.26 [[ 0.9999643 -0.00803617 -0.00261057 0.67174938] [ 0.00802748 0.99996227 -0.00332049 0.18039734] [ 0.00263715 0.00329941 0.99999108 -0.26264317] [ 0. 0. 0. 1. ]] SLAMing on 17.673133364999998 meters Centerline goodness [0,1] 0.2731782675863269 Centerline is valid? [False, False] Translation: X:0.65, Y:0.17, Z:-0.26 [[ 9.99998701e-01 -2.93577922e-04 -1.58502402e-03 6.52173530e-01] [ 2.87081268e-04 9.99991564e-01 -4.09744618e-03 1.73309043e-01] [ 1.58621357e-03 4.09698583e-03 9.99990349e-01 -2.64156558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.703133365 meters Centerline goodness [0,1] 0.25689970914575033 Centerline is valid? [False, False] Translation: X:0.67, Y:0.18, Z:-0.26 [[ 9.99969164e-01 -7.79222234e-03 -9.75820345e-04 6.70709097e-01] [ 7.78965702e-03 9.99966265e-01 -2.60566482e-03 1.77531869e-01] [ 9.96091346e-04 2.59798316e-03 9.99996129e-01 -2.62711749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.733133365 meters Centerline goodness [0,1] 0.271475296953004 Centerline is valid? [False, False] Translation: X:0.67, Y:0.18, Z:-0.26 [[ 9.99970184e-01 -7.66372647e-03 -9.48151716e-04 6.70644905e-01] [ 7.66139636e-03 9.99967681e-01 -2.43722847e-03 1.76996369e-01] [ 9.66799325e-04 2.42989163e-03 9.99996580e-01 -2.62729768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.763133364999998 meters Centerline goodness [0,1] 0.26272695682390756 Centerline is valid? [False, False] Translation: X:0.65, Y:0.17, Z:-0.26 [[ 0.99999812 0.00105808 -0.00162574 0.65113138] [-0.00106303 0.99999479 -0.00304821 0.17052259] [ 0.0016225 0.00304993 0.99999403 -0.26466338] [ 0. 0. 0. 1. ]] SLAMing on 17.793133365 meters Centerline goodness [0,1] 0.26064669622580294 Centerline is valid? [False, False] Translation: X:0.65, Y:0.17, Z:-0.27 [[ 0.99999796 0.00109924 -0.00169414 0.65172435] [-0.00110448 0.99999459 -0.00309693 0.17066529] [ 0.00169073 0.0030988 0.99999377 -0.26542393] [ 0. 0. 0. 1. ]] SLAMing on 17.823133365 meters Centerline goodness [0,1] 0.2600561676387989 Centerline is valid? [False, False] Translation: X:0.65, Y:0.17, Z:-0.27 [[ 0.99999778 0.00113791 -0.0017735 0.65217818] [-0.00114351 0.99999435 -0.00316178 0.17087695] [ 0.00176989 0.00316381 0.99999343 -0.26592796] [ 0. 0. 0. 1. ]] SLAMing on 17.853133364999998 meters Centerline goodness [0,1] 0.2592552640662754 Centerline is valid? [False, False] Translation: X:0.65, Y:0.17, Z:-0.27 [[ 0.99999737 0.00123361 -0.00193346 0.65272756] [-0.00123981 0.99999408 -0.00320966 0.17133878] [ 0.00192949 0.00321205 0.99999298 -0.26628544] [ 0. 0. 0. 1. ]] SLAMing on 17.883133365 meters Centerline goodness [0,1] 0.2620419702076764 Centerline is valid? [False, False] Translation: X:0.65, Y:0.17, Z:-0.27 [[ 0.9999966 0.00162577 -0.0020388 0.65318289] [-0.00163182 0.99999426 -0.00296952 0.17142201] [ 0.00203396 0.00297284 0.99999351 -0.2668222 ] [ 0. 0. 0. 1. ]] SLAMing on 17.913133365 meters Centerline goodness [0,1] 0.26822163725024817 Centerline is valid? [False, False] Translation: X:0.65, Y:0.17, Z:-0.27 [[ 0.99999647 0.00172515 -0.00202211 0.65319527] [-0.00173082 0.99999456 -0.00280637 0.17080259] [ 0.00201726 0.00280986 0.99999402 -0.2669521 ] [ 0. 0. 0. 1. ]] SLAMing on 17.943133364999998 meters Centerline goodness [0,1] 0.27222077130669453 Centerline is valid? [False, False] Translation: X:0.65, Y:0.17, Z:-0.27 [[ 0.9999964 0.00178703 -0.00200404 0.65315968] [-0.00179223 0.99999502 -0.0025975 0.16970181] [ 0.00199939 0.00260108 0.99999462 -0.26692308] [ 0. 0. 0. 1. ]] SLAMing on 17.973133365 meters Centerline goodness [0,1] 0.27110985597288906 Centerline is valid? [False, False] Translation: X:0.65, Y:0.17, Z:-0.27 [[ 0.99999605 0.00182945 -0.00213402 0.65357982] [-0.00183456 0.99999545 -0.00239472 0.16852823] [ 0.00212963 0.00239862 0.99999486 -0.26708462] [ 0. 0. 0. 1. ]] SLAMing on 18.003133365 meters Centerline goodness [0,1] 0.27407990897553713 Centerline is valid? [False, False] Translation: X:0.66, Y:0.17, Z:-0.27 [[ 0.99999468 0.00175256 -0.00275111 0.65543828] [-0.00175801 0.99999649 -0.00198066 0.16549686] [ 0.00274763 0.00198548 0.99999425 -0.26766547] [ 0. 0. 0. 1. ]] SLAMing on 18.033133364999998 meters Centerline goodness [0,1] 0.26053897144837745 Centerline is valid? [False, False] Translation: X:0.68, Y:0.17, Z:-0.27 [[ 0.99997601 -0.00633545 -0.0027994 0.67595825] [ 0.00633252 0.99997939 -0.00105394 0.16877402] [ 0.00280602 0.00103618 0.99999553 -0.26702445] [ 0. 0. 0. 1. ]] SLAMing on 18.063133365 meters Centerline goodness [0,1] 0.2722772277227723 Centerline is valid? [False, False] Translation: X:0.68, Y:0.17, Z:-0.27 [[ 9.99975739e-01 -6.24055352e-03 -3.09459106e-03 6.76776027e-01] [ 6.23857313e-03 9.99980329e-01 -6.49192980e-04 1.66570387e-01] [ 3.09858151e-03 6.29871398e-04 9.99995001e-01 -2.67114033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.093133365 meters Centerline goodness [0,1] 0.2584369257377581 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.27 [[ 9.99975312e-01 -6.12659689e-03 -3.44083539e-03 6.77567741e-01] [ 6.12662229e-03 9.99981232e-01 -3.15811864e-06 1.63050179e-01] [ 3.44079016e-03 -1.79226581e-05 9.99994080e-01 -2.66879530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.123133365 meters Centerline goodness [0,1] 0.25953307392996106 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.27 [[ 9.99975741e-01 -6.06291969e-03 -3.42892142e-03 6.77356090e-01] [ 6.06356330e-03 9.99981601e-01 1.77335655e-04 1.62129573e-01] [ 3.42778316e-03 -1.98122835e-04 9.99994106e-01 -2.66565179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.153133365 meters Centerline goodness [0,1] 0.2589148959119836 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.27 [[ 9.99975859e-01 -6.05000371e-03 -3.41751704e-03 6.77104345e-01] [ 6.05058530e-03 9.99981682e-01 1.59865926e-04 1.62237589e-01] [ 3.41648725e-03 -1.80540045e-04 9.99994147e-01 -2.66209645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.183133365 meters Centerline goodness [0,1] 0.2750356008325118 Centerline is valid? [False, False] Translation: X:0.66, Y:0.16, Z:-0.27 [[ 9.99990114e-01 2.25473008e-03 -3.83263017e-03 6.56138534e-01] [-2.25710653e-03 9.99997263e-01 -6.15846587e-04 1.57373037e-01] [ 3.83123111e-03 6.24491153e-04 9.99992466e-01 -2.66585710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.213133365 meters Centerline goodness [0,1] 0.25939582120447635 Centerline is valid? [False, False] Translation: X:0.66, Y:0.16, Z:-0.27 [[ 0.99997421 0.00597016 -0.00399253 0.65646685] [-0.00595986 0.99997889 0.0025881 0.16048924] [ 0.0040079 -0.00256424 0.99998868 -0.26661937] [ 0. 0. 0. 1. ]] SLAMing on 18.243133365 meters Centerline goodness [0,1] 0.2605556156091233 Centerline is valid? [False, False] Translation: X:0.66, Y:0.16, Z:-0.27 [[ 0.99997459 0.00602217 -0.0038156 0.65616371] [-0.00601395 0.99997958 0.002162 0.16331308] [ 0.00382854 -0.002139 0.99999038 -0.26700805] [ 0. 0. 0. 1. ]] SLAMing on 18.273133365 meters Centerline goodness [0,1] 0.2605556156091233 Centerline is valid? [False, False] Translation: X:0.66, Y:0.16, Z:-0.27 [[ 0.99997459 0.00602217 -0.0038156 0.65616371] [-0.00601395 0.99997958 0.002162 0.16331308] [ 0.00382854 -0.002139 0.99999038 -0.26700805] [ 0. 0. 0. 1. ]] SLAMing on 18.303133365 meters Centerline goodness [0,1] 0.26856945613013183 Centerline is valid? [False, False] Translation: X:0.66, Y:0.17, Z:-0.27 [[ 0.99997587 0.00594709 -0.00359169 0.65566187] [-0.00594136 0.99998106 0.00160453 0.16643379] [ 0.00360116 -0.00158315 0.99999226 -0.26722729] [ 0. 0. 0. 1. ]] SLAMing on 18.333133365 meters Centerline goodness [0,1] 0.2719699943303241 Centerline is valid? [False, False] Translation: X:0.63, Y:0.17, Z:-0.27 [[ 0.9999933 -0.00236199 -0.00279508 0.63438202] [ 0.00236829 0.99999466 0.00225361 0.17278861] [ 0.00278974 -0.00226021 0.99999355 -0.26878181] [ 0. 0. 0. 1. ]] SLAMing on 18.363133365 meters Centerline goodness [0,1] 0.2702192725616501 Centerline is valid? [False, False] Translation: X:0.63, Y:0.18, Z:-0.27 [[ 0.99999415 -0.00247266 -0.0023635 0.63305746] [ 0.00247585 0.99999603 0.00134618 0.17828942] [ 0.00236016 -0.00135202 0.9999963 -0.26863171] [ 0. 0. 0. 1. ]] SLAMing on 18.393133365 meters Centerline goodness [0,1] 0.27155256803498007 Centerline is valid? [False, False] Translation: X:0.63, Y:0.18, Z:-0.27 [[ 9.99994336e-01 -2.63220606e-03 -2.09754323e-03 6.32187628e-01] [ 2.63398387e-03 9.99996174e-01 8.45252877e-04 1.80945782e-01] [ 2.09531033e-03 -8.50772984e-04 9.99997443e-01 -2.68383225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.423133364999998 meters Centerline goodness [0,1] 0.2704891410259186 Centerline is valid? [False, False] Translation: X:0.63, Y:0.19, Z:-0.27 [[ 9.99993729e-01 -2.88191523e-03 -2.05837888e-03 6.31775985e-01] [ 2.88188797e-03 9.99995847e-01 -1.62133769e-05 1.86096500e-01] [ 2.05841705e-03 1.02812579e-05 9.99997881e-01 -2.68123904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.453133365 meters Centerline goodness [0,1] 0.2589763507681685 Centerline is valid? [False, False] Translation: X:0.63, Y:0.19, Z:-0.27 [[ 9.99993319e-01 -2.99229848e-03 -2.09946588e-03 6.31961350e-01] [ 2.99150885e-03 9.99995454e-01 -3.79150860e-04 1.88192549e-01] [ 2.10059087e-03 3.72867756e-04 9.99997724e-01 -2.68348687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.483133365 meters Centerline goodness [0,1] 0.2700090999696668 Centerline is valid? [False, False] Translation: X:0.63, Y:0.19, Z:-0.27 [[ 9.99993102e-01 -3.12541067e-03 -2.00700374e-03 6.31749893e-01] [ 3.12389491e-03 9.99994833e-01 -7.57924664e-04 1.90156262e-01] [ 2.00936220e-03 7.51649767e-04 9.99997699e-01 -2.68424158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.513133364999998 meters Centerline goodness [0,1] 0.27028199566160516 Centerline is valid? [False, False] Translation: X:0.63, Y:0.19, Z:-0.27 [[ 0.9999929 -0.00324424 -0.00191533 0.63143235] [ 0.0032422 0.99999417 -0.0010689 0.19159199] [ 0.00191879 0.00106269 0.99999759 -0.26830117] [ 0. 0. 0. 1. ]] SLAMing on 18.543133365 meters Centerline goodness [0,1] 0.26954714693912896 Centerline is valid? [False, False] Translation: X:0.63, Y:0.19, Z:-0.27 [[ 0.99999091 -0.00356143 -0.00234615 0.6325678 ] [ 0.00355755 0.9999923 -0.00165387 0.19369489] [ 0.00235202 0.00164551 0.99999588 -0.26854471] [ 0. 0. 0. 1. ]] SLAMing on 18.573133365 meters Centerline goodness [0,1] 0.26307104394649994 Centerline is valid? [False, False] Translation: X:0.63, Y:0.19, Z:-0.27 [[ 0.99999005 -0.00361367 -0.00261695 0.63334835] [ 0.00360885 0.99999179 -0.00184277 0.19484398] [ 0.00262359 0.00183331 0.99999488 -0.26883184] [ 0. 0. 0. 1. ]] SLAMing on 18.603133364999998 meters Centerline goodness [0,1] 0.26102965064650974 Centerline is valid? [False, False] Translation: X:0.63, Y:0.20, Z:-0.27 [[ 0.99998967 -0.00358269 -0.0027959 0.63395502] [ 0.00357745 0.99999184 -0.00187646 0.1955549 ] [ 0.0028026 0.00186644 0.99999433 -0.26911935] [ 0. 0. 0. 1. ]] SLAMing on 18.633133365 meters Centerline goodness [0,1] 0.2614577461735247 Centerline is valid? [False, False] Translation: X:0.63, Y:0.20, Z:-0.27 [[ 0.99998946 -0.00357439 -0.00288068 0.6343884 ] [ 0.00356891 0.99999181 -0.00190627 0.19594877] [ 0.00288747 0.00189597 0.99999403 -0.26947809] [ 0. 0. 0. 1. ]] SLAMing on 18.663133365 meters Centerline goodness [0,1] 0.26184544103505547 Centerline is valid? [False, False] Translation: X:0.62, Y:0.19, Z:-0.27 [[ 0.99999132 0.00298725 -0.00290429 0.61699775] [-0.00299991 0.99998598 -0.00436382 0.19067674] [ 0.00289122 0.00437249 0.99998626 -0.27184651] [ 0. 0. 0. 1. ]] SLAMing on 18.693133364999998 meters Centerline goodness [0,1] 0.2590357536824346 Centerline is valid? [False, False] Translation: X:0.64, Y:0.20, Z:-0.27 [[ 0.9999836 -0.00474849 -0.00320314 0.63660186] [ 0.00473713 0.9999825 -0.00354506 0.19772823] [ 0.00321992 0.00352983 0.99998859 -0.27098581] [ 0. 0. 0. 1. ]] SLAMing on 18.723133365 meters Centerline goodness [0,1] 0.2699812709612788 Centerline is valid? [False, False] Translation: X:0.64, Y:0.20, Z:-0.27 [[ 0.99998299 -0.00482116 -0.00328144 0.6371052 ] [ 0.00480869 0.99998122 -0.00379889 0.1992279 ] [ 0.00329969 0.00378305 0.9999874 -0.27154183] [ 0. 0. 0. 1. ]] SLAMing on 18.753133365 meters Centerline goodness [0,1] 0.2567810369087563 Centerline is valid? [False, False] Translation: X:0.64, Y:0.20, Z:-0.27 [[ 0.9999867 -0.00270051 -0.00439419 0.64194346] [ 0.00269124 0.99999414 -0.00211437 0.20353014] [ 0.00439987 0.00210251 0.99998811 -0.27409147] [ 0. 0. 0. 1. ]] SLAMing on 18.783133364999998 meters Centerline goodness [0,1] 0.2623190301761731 Centerline is valid? [False, False] Translation: X:0.64, Y:0.20, Z:-0.27 [[ 0.99998633 -0.00284133 -0.00438906 0.64179173] [ 0.00283061 0.999993 -0.00244642 0.204984 ] [ 0.00439598 0.00243396 0.99998738 -0.27389445] [ 0. 0. 0. 1. ]] SLAMing on 18.813133365 meters Centerline goodness [0,1] 0.26154350677743765 Centerline is valid? [False, False] Translation: X:0.64, Y:0.21, Z:-0.27 [[ 0.99998538 -0.00298486 -0.00450791 0.64186848] [ 0.0029725 0.99999181 -0.00274746 0.20617862] [ 0.00451607 0.00273402 0.99998607 -0.27358746] [ 0. 0. 0. 1. ]] SLAMing on 18.843133365 meters Centerline goodness [0,1] 0.26262956901254775 Centerline is valid? [False, False] Translation: X:0.64, Y:0.21, Z:-0.27 [[ 0.99998406 -0.0030883 -0.00472751 0.64248804] [ 0.00307362 0.99999044 -0.00310945 0.20840017] [ 0.00473707 0.00309487 0.99998399 -0.27381498] [ 0. 0. 0. 1. ]] SLAMing on 18.873133365 meters Centerline goodness [0,1] 0.2620043790240413 Centerline is valid? [False, False] Translation: X:0.64, Y:0.21, Z:-0.27 [[ 0.99998394 -0.00312092 -0.0047298 0.64273928] [ 0.00310573 0.99999 -0.00321659 0.20911659] [ 0.0047398 0.00320185 0.99998364 -0.2742129 ] [ 0. 0. 0. 1. ]] SLAMing on 18.903133365 meters Centerline goodness [0,1] 0.26066867181029596 Centerline is valid? [False, False] Translation: X:0.64, Y:0.21, Z:-0.27 [[ 0.99998443 -0.00316145 -0.00459844 0.64233852] [ 0.00314656 0.9999898 -0.00324126 0.20907532] [ 0.00460865 0.00322674 0.99998417 -0.27405594] [ 0. 0. 0. 1. ]] SLAMing on 18.933133365 meters Centerline goodness [0,1] 0.2618413585366919 Centerline is valid? [False, False] Translation: X:0.64, Y:0.21, Z:-0.27 [[ 0.9999855 -0.00343804 -0.00414541 0.64058195] [ 0.00342421 0.99998856 -0.00333971 0.20856023] [ 0.00415684 0.00332546 0.99998583 -0.27282778] [ 0. 0. 0. 1. ]] SLAMing on 18.963133365 meters Centerline goodness [0,1] 0.27079257423590275 Centerline is valid? [False, False] Translation: X:0.64, Y:0.21, Z:-0.27 [[ 0.9999852 -0.00343127 -0.00422223 0.64054446] [ 0.00341739 0.99998874 -0.00329191 0.20839989] [ 0.00423348 0.00327743 0.99998567 -0.27244511] [ 0. 0. 0. 1. ]] SLAMing on 18.993133365 meters Centerline goodness [0,1] 0.2730952693536388 Centerline is valid? [False, False] Translation: X:0.64, Y:0.21, Z:-0.27 [[ 0.99998503 -0.00343238 -0.00426119 0.64066789] [ 0.00341844 0.9999888 -0.00327434 0.20840687] [ 0.00427238 0.00325972 0.99998556 -0.27248456] [ 0. 0. 0. 1. ]] SLAMing on 19.023133365 meters Centerline goodness [0,1] 0.2607744954409289 Centerline is valid? [False, False] Translation: X:0.64, Y:0.21, Z:-0.27 [[ 0.99998499 -0.00351824 -0.00419982 0.64070779] [ 0.00350458 0.99998856 -0.00325639 0.20765695] [ 0.00421122 0.00324162 0.99998588 -0.27265135] [ 0. 0. 0. 1. ]] SLAMing on 19.053133365 meters Centerline goodness [0,1] 0.2603067551397803 Centerline is valid? [False, False] Translation: X:0.64, Y:0.21, Z:-0.27 [[ 0.9999851 -0.00352335 -0.00416993 0.64054659] [ 0.00351001 0.99998871 -0.00320197 0.20722694] [ 0.00418117 0.00318729 0.99998618 -0.27250271] [ 0. 0. 0. 1. ]] SLAMing on 19.083133365 meters Centerline goodness [0,1] 0.25957787986478287 Centerline is valid? [False, False] Translation: X:0.64, Y:0.21, Z:-0.27 [[ 0.99998483 -0.00343728 -0.00430378 0.6407737 ] [ 0.00342414 0.99998946 -0.00305703 0.2068437 ] [ 0.00431424 0.00304225 0.99998607 -0.27236213] [ 0. 0. 0. 1. ]] SLAMing on 19.113133365 meters Centerline goodness [0,1] 0.2581945132857789 Centerline is valid? [False, False] Translation: X:0.64, Y:0.21, Z:-0.27 [[ 0.9999845 -0.00321265 -0.00454796 0.64134213] [ 0.00320018 0.99999111 -0.00274601 0.20628988] [ 0.00455674 0.00273141 0.99998589 -0.27234209] [ 0. 0. 0. 1. ]] SLAMing on 19.143133365 meters Centerline goodness [0,1] 0.26304970587592114 Centerline is valid? [False, False] Translation: X:0.60, Y:0.20, Z:-0.27 [[ 0.99996795 -0.00364943 -0.0071254 0.59640703] [ 0.00362836 0.99998902 -0.00296708 0.20240238] [ 0.00713615 0.00294113 0.99997021 -0.27157491] [ 0. 0. 0. 1. ]] SLAMing on 19.173133364999998 meters Centerline goodness [0,1] 0.25881716942372146 Centerline is valid? [False, False] Translation: X:0.62, Y:0.20, Z:-0.27 [[ 0.99997072 0.00440258 -0.00625985 0.61612108] [-0.00442932 0.9999811 -0.00426324 0.19906963] [ 0.00624096 0.00429084 0.99997132 -0.27034799] [ 0. 0. 0. 1. ]] SLAMing on 19.203133365 meters Centerline goodness [0,1] 0.2726737979564715 Centerline is valid? [False, False] Translation: X:0.62, Y:0.20, Z:-0.27 [[ 0.9999716 0.00442409 -0.00610206 0.61552032] [-0.00444981 0.99998125 -0.00420657 0.19875047] [ 0.00608334 0.0042336 0.99997253 -0.27001598] [ 0. 0. 0. 1. ]] SLAMing on 19.233133365 meters Centerline goodness [0,1] 0.258843273947844 Centerline is valid? [False, False] Translation: X:0.64, Y:0.20, Z:-0.27 [[ 0.99998959 -0.00131442 -0.00436911 0.63688415] [ 0.00130976 0.99999857 -0.00107024 0.20125819] [ 0.00437051 0.0010645 0.99998988 -0.27045052] [ 0. 0. 0. 1. ]] SLAMing on 19.263133364999998 meters Centerline goodness [0,1] 0.2611589238873594 Centerline is valid? [False, False] Translation: X:0.64, Y:0.20, Z:-0.27 [[ 0.99998957 -0.00131076 -0.00437476 0.63704926] [ 0.00130621 0.9999986 -0.00104379 0.2009889 ] [ 0.00437613 0.00103806 0.99998989 -0.27066029] [ 0. 0. 0. 1. ]] SLAMing on 19.293133365 meters Centerline goodness [0,1] 0.2598577191688717 Centerline is valid? [False, False] Translation: X:0.64, Y:0.20, Z:-0.27 [[ 9.99989549e-01 -1.28496757e-03 -4.38749391e-03 6.37147499e-01] [ 1.28068815e-03 9.99998702e-01 -9.78036925e-04 2.00528822e-01] [ 4.38874496e-03 9.72407693e-04 9.99989897e-01 -2.70780320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.323133365 meters Centerline goodness [0,1] 0.2622157611525777 Centerline is valid? [False, False] Translation: X:0.64, Y:0.20, Z:-0.27 [[ 9.99990655e-01 -1.14978647e-03 -4.16745190e-03 6.36415829e-01] [ 1.14679463e-03 9.99999083e-01 -7.20223892e-04 1.99630377e-01] [ 4.16827618e-03 7.15437951e-04 9.99991057e-01 -2.70486701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.353133364999998 meters Centerline goodness [0,1] 0.2619731800766284 Centerline is valid? [False, False] Translation: X:0.64, Y:0.20, Z:-0.27 [[ 9.99991414e-01 -1.02916854e-03 -4.01417367e-03 6.35994428e-01] [ 1.02710294e-03 9.99999339e-01 -5.16604347e-04 1.99092751e-01] [ 4.01470269e-03 5.12476942e-04 9.99991810e-01 -2.70376993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.383133365 meters Centerline goodness [0,1] 0.25931995083981974 Centerline is valid? [False, False] Translation: X:0.64, Y:0.20, Z:-0.27 [[ 9.99991446e-01 -9.45942441e-04 -4.02662858e-03 6.36032132e-01] [ 9.44574003e-04 9.99999495e-01 -3.41735152e-04 1.98383043e-01] [ 4.02694981e-03 3.37928780e-04 9.99991835e-01 -2.70350549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.413133365 meters Centerline goodness [0,1] 0.2639214055970067 Centerline is valid? [False, False] Translation: X:0.59, Y:0.19, Z:-0.27 [[ 0.99997413 -0.00199856 -0.00690933 0.59194713] [ 0.00199085 0.99999739 -0.00112271 0.1942585 ] [ 0.00691156 0.00110893 0.9999755 -0.26997232] [ 0. 0. 0. 1. ]] SLAMing on 19.443133364999998 meters Centerline goodness [0,1] 0.2603776038844211 Centerline is valid? [False, False] Translation: X:0.59, Y:0.19, Z:-0.27 [[ 0.999972 -0.00204891 -0.00719715 0.59291338] [ 0.00204075 0.99999727 -0.00114102 0.19372427] [ 0.00719947 0.0011263 0.99997345 -0.27046057] [ 0. 0. 0. 1. ]] SLAMing on 19.473133365 meters Centerline goodness [0,1] 0.2631751227495909 Centerline is valid? [False, False] Translation: X:0.59, Y:0.19, Z:-0.27 [[ 0.99997211 -0.00195578 -0.00720832 0.59295173] [ 0.00194767 0.99999746 -0.00113247 0.19429358] [ 0.00721051 0.0011184 0.99997338 -0.27056123] [ 0. 0. 0. 1. ]] SLAMing on 19.503133365 meters Centerline goodness [0,1] 0.2716420511479981 Centerline is valid? [False, False] Translation: X:0.59, Y:0.20, Z:-0.27 [[ 0.99997239 -0.00186337 -0.00719372 0.5932064 ] [ 0.00185518 0.99999762 -0.00114445 0.19502523] [ 0.00719583 0.00113107 0.99997347 -0.27110256] [ 0. 0. 0. 1. ]] SLAMing on 19.533133364999998 meters Centerline goodness [0,1] 0.26328160706901427 Centerline is valid? [False, False] Translation: X:0.59, Y:0.20, Z:-0.27 [[ 0.9999695 -0.00189852 -0.00757609 0.59460498] [ 0.0018882 0.99999728 -0.0013703 0.19597634] [ 0.00757867 0.00135595 0.99997036 -0.27197406] [ 0. 0. 0. 1. ]] SLAMing on 19.563133365 meters Centerline goodness [0,1] 0.2597354806589173 Centerline is valid? [False, False] Translation: X:0.60, Y:0.20, Z:-0.27 [[ 0.9999676 -0.00200168 -0.00779681 0.59532828] [ 0.0019896 0.99999681 -0.00155626 0.19639152] [ 0.0077999 0.0015407 0.99996839 -0.27230736] [ 0. 0. 0. 1. ]] SLAMing on 19.593133365 meters Centerline goodness [0,1] 0.26052091213660433 Centerline is valid? [False, False] Translation: X:0.60, Y:0.20, Z:-0.27 [[ 0.99996727 -0.00202596 -0.00783328 0.5955047 ] [ 0.00201331 0.99999666 -0.00162228 0.19667602] [ 0.00783654 0.00160645 0.999968 -0.27250415] [ 0. 0. 0. 1. ]] SLAMing on 19.623133365 meters Centerline goodness [0,1] 0.2718974899069686 Centerline is valid? [False, False] Translation: X:0.55, Y:0.19, Z:-0.27 [[ 9.99946367e-01 -1.78956230e-03 -1.02010414e-02 5.48984747e-01] [ 1.78092688e-03 9.99998048e-01 -8.55544380e-04 1.92304781e-01] [ 1.02025525e-02 8.37331186e-04 9.99947602e-01 -2.71148119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.653133365 meters Centerline goodness [0,1] 0.2572246866790129 Centerline is valid? [False, False] Translation: X:0.59, Y:0.19, Z:-0.27 [[ 9.99973293e-01 -8.31285333e-04 -7.26097638e-03 5.90198022e-01] [ 8.31395409e-04 9.99999654e-01 1.21415172e-05 1.94744377e-01] [ 7.26096378e-03 -1.81779354e-05 9.99973639e-01 -2.70283330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.683133365 meters Centerline goodness [0,1] 0.27029197872571364 Centerline is valid? [False, False] Translation: X:0.59, Y:0.19, Z:-0.27 [[ 9.99973785e-01 -8.39315458e-04 -7.19201309e-03 5.89853923e-01] [ 8.40172543e-04 9.99999640e-01 1.16151315e-04 1.93919367e-01] [ 7.19191301e-03 -1.22190802e-04 9.99974130e-01 -2.69953686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.713133365 meters Centerline goodness [0,1] 0.2585560396211284 Centerline is valid? [False, False] Translation: X:0.59, Y:0.19, Z:-0.27 [[ 9.99973665e-01 -8.30004448e-04 -7.20980303e-03 5.89861258e-01] [ 8.31770141e-04 9.99999625e-01 2.41906624e-04 1.92994414e-01] [ 7.20959954e-03 -2.47897153e-04 9.99973980e-01 -2.69853296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.743133365 meters Centerline goodness [0,1] 0.2592016924637869 Centerline is valid? [False, False] Translation: X:0.59, Y:0.19, Z:-0.27 [[ 9.99972467e-01 -7.83185938e-04 -7.37919798e-03 5.90239254e-01] [ 7.86135472e-04 9.99999612e-01 3.96817279e-04 1.92157702e-01] [ 7.37888433e-03 -4.02607403e-04 9.99972695e-01 -2.69772048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.773133365 meters Centerline goodness [0,1] 0.25396313957984273 Centerline is valid? [False, False] Translation: X:0.59, Y:0.19, Z:-0.27 [[ 9.99970705e-01 -6.29595763e-04 -7.62836358e-03 5.91092576e-01] [ 6.35529121e-04 9.99999497e-01 7.75403153e-04 1.90438643e-01] [ 7.62787155e-03 -7.80228485e-04 9.99970603e-01 -2.70086887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.803133365 meters Centerline goodness [0,1] 0.2556896255582274 Centerline is valid? [False, False] Translation: X:0.59, Y:0.19, Z:-0.27 [[ 9.99970792e-01 -5.63525314e-04 -7.62211701e-03 5.91248541e-01] [ 5.70959071e-04 9.99999363e-01 9.73146803e-04 1.89393862e-01] [ 7.62156376e-03 -9.77470296e-04 9.99970478e-01 -2.70336908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.833133365 meters Centerline goodness [0,1] 0.26134680721317183 Centerline is valid? [False, False] Translation: X:0.55, Y:0.18, Z:-0.27 [[ 9.99949500e-01 -1.23621441e-03 -9.97338721e-03 5.45078648e-01] [ 1.24526237e-03 9.99998819e-01 9.01051248e-04 1.83886311e-01] [ 9.97226154e-03 -9.13425229e-04 9.99949859e-01 -2.69403407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.863133365 meters Centerline goodness [0,1] 0.25631497551336024 Centerline is valid? [False, False] Translation: X:0.57, Y:0.18, Z:-0.27 [[ 0.99995178 0.00507964 -0.00840436 0.56703662] [-0.00509559 0.99998526 -0.0018773 0.18136127] [ 0.0083947 0.00192004 0.99996292 -0.26971311] [ 0. 0. 0. 1. ]] SLAMing on 19.893133365 meters Centerline goodness [0,1] 0.2611303044130109 Centerline is valid? [False, False] Translation: X:0.55, Y:0.18, Z:-0.27 [[ 9.99956127e-01 -3.29133883e-03 -8.76989133e-03 5.46434826e-01] [ 3.28557467e-03 9.99994377e-01 -6.71592440e-04 1.83660848e-01] [ 8.77205246e-03 6.42748843e-04 9.99961318e-01 -2.70804520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.923133364999998 meters Centerline goodness [0,1] 0.25975776816195173 Centerline is valid? [False, False] Translation: X:0.55, Y:0.18, Z:-0.27 [[ 9.99956638e-01 -3.24712506e-03 -8.72797909e-03 5.46277274e-01] [ 3.24126476e-03 9.99994512e-01 -6.85500114e-04 1.83937869e-01] [ 8.73015710e-03 6.57180698e-04 9.99961676e-01 -2.70746513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.953133365 meters Centerline goodness [0,1] 0.27053855196133925 Centerline is valid? [False, False] Translation: X:0.54, Y:0.19, Z:-0.27 [[ 9.99963072e-01 -2.89059546e-03 -8.09318849e-03 5.44762296e-01] [ 2.88449495e-03 9.99995547e-01 -7.65354694e-04 1.85750735e-01] [ 8.09536479e-03 7.41981670e-04 9.99966957e-01 -2.70965070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.983133365 meters Centerline goodness [0,1] 0.2600328307918268 Centerline is valid? [False, False] Translation: X:0.54, Y:0.19, Z:-0.27 [[ 9.99967916e-01 -2.72560293e-03 -7.53246001e-03 5.43221215e-01] [ 2.71858516e-03 9.99995861e-01 -9.41751893e-04 1.87667928e-01] [ 7.53499568e-03 9.21244044e-04 9.99971187e-01 -2.70788899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.013133364999998 meters Centerline goodness [0,1] 0.2722214949600733 Centerline is valid? [False, False] Translation: X:0.52, Y:0.18, Z:-0.27 [[ 0.9999594 0.00563977 -0.00702847 0.52194769] [-0.00565343 0.99998217 -0.00192509 0.18453571] [ 0.00701749 0.00196475 0.99997345 -0.27186623] [ 0. 0. 0. 1. ]] SLAMing on 20.043133365 meters Centerline goodness [0,1] 0.25884716761007653 Centerline is valid? [False, False] Translation: X:0.54, Y:0.19, Z:-0.27 [[ 9.99957503e-01 6.47060379e-04 -9.19639756e-03 5.44165578e-01] [-6.44418345e-04 9.99999750e-01 2.90250359e-04 1.93428044e-01] [ 9.19658308e-03 -2.84311697e-04 9.99957670e-01 -2.71907564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.073133365 meters Centerline goodness [0,1] 0.2601407105011726 Centerline is valid? [False, False] Translation: X:0.55, Y:0.19, Z:-0.27 [[ 9.99955782e-01 5.46917190e-04 -9.38800990e-03 5.45029239e-01] [-5.46718556e-04 9.99999850e-01 2.37245495e-05 1.94752560e-01] [ 9.38802147e-03 -1.85909012e-05 9.99955931e-01 -2.72621693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.103133364999998 meters Centerline goodness [0,1] 0.2599878276746511 Centerline is valid? [False, False] Translation: X:0.55, Y:0.20, Z:-0.27 [[ 9.99955179e-01 4.64712506e-04 -9.45637728e-03 5.45324975e-01] [-4.65597347e-04 9.99999887e-01 -9.13696330e-05 1.95161733e-01] [ 9.45633376e-03 9.57684020e-05 9.99955283e-01 -2.72859840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.133133365 meters Centerline goodness [0,1] 0.26160521553321847 Centerline is valid? [False, False] Translation: X:0.55, Y:0.20, Z:-0.27 [[ 9.99953335e-01 -7.37707084e-05 -9.66034660e-03 5.45878559e-01] [ 6.92460218e-05 9.99999888e-01 -4.68710889e-04 1.95379800e-01] [ 9.66038009e-03 4.68020076e-04 9.99953228e-01 -2.72853914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.163133365 meters Centerline goodness [0,1] 0.2563232704942672 Centerline is valid? [False, False] Translation: X:0.59, Y:0.20, Z:-0.27 [[ 9.99964823e-01 -8.60600063e-04 -8.34342550e-03 5.91709253e-01] [ 8.50340688e-04 9.99998878e-01 -1.23310533e-03 1.99396293e-01] [ 8.34447735e-03 1.22596720e-03 9.99964433e-01 -2.73591982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.193133364999998 meters Centerline goodness [0,1] 0.2563232704942672 Centerline is valid? [False, False] Translation: X:0.59, Y:0.20, Z:-0.27 [[ 9.99964823e-01 -8.60600063e-04 -8.34342550e-03 5.91709253e-01] [ 8.50340688e-04 9.99998878e-01 -1.23310533e-03 1.99396293e-01] [ 8.34447735e-03 1.22596720e-03 9.99964433e-01 -2.73591982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.223133365 meters Centerline goodness [0,1] 0.25733399727207773 Centerline is valid? [False, False] Translation: X:0.59, Y:0.20, Z:-0.27 [[ 9.99961108e-01 -9.34012533e-04 -8.76980545e-03 5.92919192e-01] [ 9.23430641e-04 9.99998841e-01 -1.21059960e-03 1.99077778e-01] [ 8.77092600e-03 1.20245421e-03 9.99960812e-01 -2.73822642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.253133365 meters Centerline goodness [0,1] 0.2563869796394761 Centerline is valid? [False, False] Translation: X:0.59, Y:0.20, Z:-0.27 [[ 0.99995889 -0.00109867 -0.00900048 0.59348383] [ 0.00108779 0.99999867 -0.00121349 0.19907789] [ 0.0090018 0.00120365 0.99995876 -0.27370411] [ 0. 0. 0. 1. ]] SLAMing on 20.283133364999998 meters Centerline goodness [0,1] 0.2612101980523033 Centerline is valid? [False, False] Translation: X:0.55, Y:0.20, Z:-0.27 [[ 0.99993168 -0.00229817 -0.01146085 0.54735851] [ 0.00227728 0.99999572 -0.00183487 0.19602553] [ 0.01146502 0.00180865 0.99993264 -0.27262489] [ 0. 0. 0. 1. ]] SLAMing on 20.313133365 meters Centerline goodness [0,1] 0.25857840477482363 Centerline is valid? [False, False] Translation: X:0.55, Y:0.20, Z:-0.27 [[ 0.99993113 -0.00238905 -0.01148992 0.54734922] [ 0.00236769 0.99999544 -0.00187191 0.19574064] [ 0.01149434 0.00184458 0.99993224 -0.27246724] [ 0. 0. 0. 1. ]] SLAMing on 20.343133365 meters Centerline goodness [0,1] 0.2574609087365184 Centerline is valid? [False, False] Translation: X:0.55, Y:0.19, Z:-0.27 [[ 0.99992939 -0.00237721 -0.01164338 0.54734977] [ 0.00235763 0.99999578 -0.00169516 0.19490583] [ 0.01164736 0.00166759 0.99993078 -0.2718181 ] [ 0. 0. 0. 1. ]] SLAMing on 20.373133365 meters Centerline goodness [0,1] 0.25213060558572875 Centerline is valid? [False, False] Translation: X:0.55, Y:0.19, Z:-0.27 [[ 0.99992927 -0.00232364 -0.0116644 0.54725148] [ 0.00230591 0.99999617 -0.00153341 0.19422584] [ 0.01166792 0.0015064 0.99993079 -0.27160414] [ 0. 0. 0. 1. ]] SLAMing on 20.403133365 meters Centerline goodness [0,1] 0.2635855875588654 Centerline is valid? [False, False] Translation: X:0.50, Y:0.19, Z:-0.27 [[ 0.99989536 -0.00307076 -0.01413643 0.50131161] [ 0.00304843 0.99999407 -0.00160123 0.18976281] [ 0.01414126 0.00155796 0.99989879 -0.2705508 ] [ 0. 0. 0. 1. ]] SLAMing on 20.433133365 meters Centerline goodness [0,1] 0.2560279256178758 Centerline is valid? [False, False] Translation: X:0.52, Y:0.19, Z:-0.27 [[ 0.99991946 0.00276122 -0.01238742 0.52366688] [-0.00281774 0.99998569 -0.00454779 0.18900902] [ 0.01237468 0.00458233 0.99991293 -0.27082486] [ 0. 0. 0. 1. ]] SLAMing on 20.463133365 meters Centerline goodness [0,1] 0.25662298277916173 Centerline is valid? [False, False] Translation: X:0.52, Y:0.19, Z:-0.27 [[ 0.99993041 0.00244359 -0.01154141 0.52119307] [-0.002493 0.99998778 -0.00426865 0.18588793] [ 0.01153083 0.00429713 0.99992428 -0.26999538] [ 0. 0. 0. 1. ]] SLAMing on 20.493133365 meters Centerline goodness [0,1] 0.2580946992775699 Centerline is valid? [False, False] Translation: X:0.52, Y:0.18, Z:-0.27 [[ 0.99993141 0.00255396 -0.01143019 0.52071414] [-0.00259781 0.99998932 -0.00382333 0.18360055] [ 0.0114203 0.00385276 0.99992736 -0.26962144] [ 0. 0. 0. 1. ]] SLAMing on 20.523133365 meters Centerline goodness [0,1] 0.26150691505606216 Centerline is valid? [False, False] Translation: X:0.52, Y:0.18, Z:-0.27 [[ 0.99993115 0.00272623 -0.01141315 0.52048214] [-0.00276412 0.99999072 -0.00330528 0.18118264] [ 0.01140404 0.0033366 0.99992941 -0.26926979] [ 0. 0. 0. 1. ]] SLAMing on 20.553133365 meters Centerline goodness [0,1] 0.25863856254319284 Centerline is valid? [False, False] Translation: X:0.54, Y:0.18, Z:-0.27 [[ 0.99991778 -0.00565219 -0.01151029 0.54226699] [ 0.00562777 0.99998185 -0.00215341 0.18047127] [ 0.01152225 0.00208846 0.99993144 -0.26878175] [ 0. 0. 0. 1. ]] SLAMing on 20.583133365 meters Centerline goodness [0,1] 0.26280394304490695 Centerline is valid? [False, False] Translation: X:0.52, Y:0.17, Z:-0.27 [[ 0.99992424 0.00194909 -0.01215351 0.5235149 ] [-0.00198912 0.99999263 -0.0032828 0.17126316] [ 0.01214702 0.00330673 0.99992075 -0.27049956] [ 0. 0. 0. 1. ]] SLAMing on 20.613133365 meters Centerline goodness [0,1] 0.27317689609342655 Centerline is valid? [False, False] Translation: X:0.52, Y:0.17, Z:-0.27 [[ 0.99992244 0.00209504 -0.01227702 0.52382284] [-0.00212902 0.99999394 -0.00275531 0.16833862] [ 0.01227117 0.00278124 0.99992084 -0.2704889 ] [ 0. 0. 0. 1. ]] SLAMing on 20.643133365 meters Centerline goodness [0,1] 0.2618886831499837 Centerline is valid? [False, False] Translation: X:0.52, Y:0.16, Z:-0.27 [[ 0.99992122 0.00244701 -0.01231126 0.52398404] [-0.00246911 0.99999537 -0.00178027 0.16325909] [ 0.01230685 0.00181053 0.99992263 -0.27052737] [ 0. 0. 0. 1. ]] SLAMing on 20.673133364999998 meters Centerline goodness [0,1] 0.2725943066713238 Centerline is valid? [False, False] Translation: X:0.52, Y:0.16, Z:-0.27 [[ 0.99992064 0.00260929 -0.01232516 0.52413905] [-0.00262754 0.99999548 -0.00146451 0.16186995] [ 0.01232128 0.00149678 0.99992297 -0.27072739] [ 0. 0. 0. 1. ]] SLAMing on 20.703133365 meters Centerline goodness [0,1] 0.27111950176854804 Centerline is valid? [False, False] Translation: X:0.52, Y:0.16, Z:-0.27 [[ 0.99991904 0.00274898 -0.01242409 0.52449426] [-0.00276476 0.99999539 -0.00125285 0.1610895 ] [ 0.01242059 0.0012871 0.99992203 -0.27096169] [ 0. 0. 0. 1. ]] SLAMing on 20.733133365 meters Centerline goodness [0,1] 0.272223434431595 Centerline is valid? [False, False] Translation: X:0.52, Y:0.16, Z:-0.27 [[ 9.99919330e-01 3.26383397e-03 -1.22752517e-02 5.24342794e-01] [-3.27093041e-03 9.99994495e-01 -5.58076778e-04 1.58644507e-01] [ 1.22733626e-02 5.98183252e-04 9.99924501e-01 -2.71309631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.763133364999998 meters Centerline goodness [0,1] 0.2633430188102156 Centerline is valid? [False, False] Translation: X:0.52, Y:0.16, Z:-0.27 [[ 9.99919821e-01 3.38001483e-03 -1.22035446e-02 5.24323275e-01] [-3.38462793e-03 9.99994208e-01 -3.57379417e-04 1.57719755e-01] [ 1.22022660e-02 3.98655221e-04 9.99925470e-01 -2.71585521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.793133365 meters Centerline goodness [0,1] 0.26385809312638586 Centerline is valid? [False, False] Translation: X:0.52, Y:0.16, Z:-0.27 [[ 9.99919735e-01 3.50687057e-03 -1.21747600e-02 5.24436876e-01] [-3.50829308e-03 9.99993841e-01 -9.54857573e-05 1.56400762e-01] [ 1.21743502e-02 1.38190720e-04 9.99925880e-01 -2.71885405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.823133365 meters Centerline goodness [0,1] 0.2762563616735332 Centerline is valid? [False, False] Translation: X:0.52, Y:0.15, Z:-0.27 [[ 9.99920488e-01 3.76662030e-03 -1.20345250e-02 5.24253187e-01] [-3.76048128e-03 9.99992787e-01 5.32705703e-04 1.53102444e-01] [ 1.20364447e-02 -4.87407741e-04 9.99927441e-01 -2.72135509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.853133364999998 meters Centerline goodness [0,1] 0.2608413679795927 Centerline is valid? [False, False] Translation: X:0.57, Y:0.15, Z:-0.27 [[ 9.99941410e-01 4.59102579e-03 -9.80298035e-03 5.67005246e-01] [-4.58407573e-03 9.99989226e-01 7.31326029e-04 1.54348866e-01] [ 9.80623226e-03 -6.86345576e-04 9.99951682e-01 -2.71656286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.883133365 meters Centerline goodness [0,1] 0.2732985664099151 Centerline is valid? [False, False] Translation: X:0.55, Y:0.16, Z:-0.27 [[ 0.99994744 -0.00355239 -0.00961796 0.54670994] [ 0.00357541 0.99999078 0.00237739 0.15618104] [ 0.00960943 -0.00241166 0.99995092 -0.27327436] [ 0. 0. 0. 1. ]] SLAMing on 20.913133365 meters Centerline goodness [0,1] 0.271956890182956 Centerline is valid? [False, False] Translation: X:0.55, Y:0.16, Z:-0.27 [[ 0.9999484 -0.00342488 -0.00956418 0.54662354] [ 0.00345 0.99999064 0.00261058 0.15529217] [ 0.00955515 -0.00264344 0.99995085 -0.2733353 ] [ 0. 0. 0. 1. ]] SLAMing on 20.943133364999998 meters Centerline goodness [0,1] 0.2710067143260685 Centerline is valid? [False, False] Translation: X:0.55, Y:0.15, Z:-0.27 [[ 0.99994771 -0.00330644 -0.00967746 0.54690778] [ 0.00333495 0.99999014 0.00293179 0.15352519] [ 0.00966767 -0.00296392 0.99994887 -0.27330058] [ 0. 0. 0. 1. ]] SLAMing on 20.973133365 meters Centerline goodness [0,1] 0.2739495798319328 Centerline is valid? [False, False] Translation: X:0.55, Y:0.15, Z:-0.27 [[ 0.99994784 -0.0032285 -0.00968965 0.54682608] [ 0.00325933 0.99998967 0.00316784 0.15223501] [ 0.00967933 -0.00319926 0.99994804 -0.27308878] [ 0. 0. 0. 1. ]] SLAMing on 21.003133365 meters Centerline goodness [0,1] 0.2739498733735045 Centerline is valid? [False, False] Translation: X:0.55, Y:0.15, Z:-0.27 [[ 0.99994988 -0.00311805 -0.00951347 0.54621286] [ 0.00315131 0.99998897 0.00348272 0.15063956] [ 0.00950251 -0.00351253 0.99994868 -0.27273899] [ 0. 0. 0. 1. ]] SLAMing on 21.033133364999998 meters Centerline goodness [0,1] 0.27366815557250246 Centerline is valid? [False, False] Translation: X:0.55, Y:0.15, Z:-0.27 [[ 0.99995202 -0.00302381 -0.00931732 0.54546985] [ 0.0030592 0.99998815 0.00378578 0.14908868] [ 0.00930576 -0.0038141 0.99994943 -0.27223586] [ 0. 0. 0. 1. ]] SLAMing on 21.063133365 meters Centerline goodness [0,1] 0.2714465027700831 Centerline is valid? [False, False] Translation: X:0.55, Y:0.15, Z:-0.27 [[ 0.9999508 -0.00284361 -0.0095036 0.54593707] [ 0.00288523 0.9999863 0.00436834 0.1461578 ] [ 0.00949105 -0.00439555 0.9999453 -0.27216908] [ 0. 0. 0. 1. ]] SLAMing on 21.093133365 meters Centerline goodness [0,1] 0.27425764192139734 Centerline is valid? [False, False] Translation: X:0.55, Y:0.14, Z:-0.27 [[ 0.99994837 -0.00275935 -0.00977991 0.54683185] [ 0.00280482 0.99998531 0.00463854 0.14470045] [ 0.00976696 -0.00466574 0.99994142 -0.27249559] [ 0. 0. 0. 1. ]] SLAMing on 21.123133364999997 meters Centerline goodness [0,1] 0.273849436147516 Centerline is valid? [False, False] Translation: X:0.55, Y:0.14, Z:-0.27 [[ 0.99994564 -0.00275389 -0.01005659 0.547597 ] [ 0.00280218 0.9999846 0.00479058 0.14360292] [ 0.01004324 -0.0048185 0.99993796 -0.27260985] [ 0. 0. 0. 1. ]] SLAMing on 21.153133365 meters Centerline goodness [0,1] 0.2739997819688216 Centerline is valid? [False, False] Translation: X:0.55, Y:0.14, Z:-0.27 [[ 0.99994331 -0.00272733 -0.01029234 0.54826393] [ 0.00277798 0.99998409 0.00490985 0.14285996] [ 0.01027878 -0.00493816 0.99993498 -0.27278873] [ 0. 0. 0. 1. ]] SLAMing on 21.183133365 meters Centerline goodness [0,1] 0.27132018209408193 Centerline is valid? [False, False] Translation: X:0.55, Y:0.14, Z:-0.27 [[ 0.99994309 -0.00272379 -0.01031504 0.54850227] [ 0.00277356 0.99998457 0.00481328 0.14357697] [ 0.01030177 -0.00484162 0.99993521 -0.27314432] [ 0. 0. 0. 1. ]] SLAMing on 21.213133365 meters Centerline goodness [0,1] 0.271233826748445 Centerline is valid? [False, False] Translation: X:0.55, Y:0.15, Z:-0.27 [[ 0.99994326 -0.00275491 -0.01029013 0.54845226] [ 0.00280222 0.99998556 0.00458569 0.14501116] [ 0.01027735 -0.00461426 0.99993654 -0.27324554] [ 0. 0. 0. 1. ]] SLAMing on 21.243133365 meters Centerline goodness [0,1] 0.27383884396591185 Centerline is valid? [False, False] Translation: X:0.55, Y:0.15, Z:-0.27 [[ 0.99994554 -0.00280469 -0.01005283 0.54772995] [ 0.00284829 0.99998659 0.0043252 0.1465044 ] [ 0.01004057 -0.0043536 0.99994011 -0.27309705] [ 0. 0. 0. 1. ]] SLAMing on 21.273133365 meters Centerline goodness [0,1] 0.2733686067019401 Centerline is valid? [False, False] Translation: X:0.55, Y:0.15, Z:-0.27 [[ 0.99995301 -0.00276123 -0.00929233 0.54540622] [ 0.00279757 0.99998848 0.00390077 0.14919429] [ 0.00928145 -0.00392659 0.99994922 -0.27242849] [ 0. 0. 0. 1. ]] SLAMing on 21.303133365 meters Centerline goodness [0,1] 0.27210825157177976 Centerline is valid? [False, False] Translation: X:0.54, Y:0.15, Z:-0.27 [[ 0.99995404 -0.00282722 -0.00916118 0.54492634] [ 0.00286072 0.99998926 0.00364522 0.15065438] [ 0.00915078 -0.00367126 0.99995139 -0.27223836] [ 0. 0. 0. 1. ]] SLAMing on 21.333133365 meters Centerline goodness [0,1] 0.2741675031641426 Centerline is valid? [False, False] Translation: X:0.54, Y:0.15, Z:-0.27 [[ 0.9999538 -0.00288142 -0.00917053 0.54479194] [ 0.0029128 0.99998994 0.00341034 0.15207917] [ 0.00916061 -0.0034369 0.99995213 -0.27211147] [ 0. 0. 0. 1. ]] SLAMing on 21.363133365 meters Centerline goodness [0,1] 0.2721542214450705 Centerline is valid? [False, False] Translation: X:0.57, Y:0.15, Z:-0.27 [[ 0.99994942 0.00584273 -0.00818667 0.56608632] [-0.0058243 0.99998046 0.00227275 0.15383658] [ 0.00819979 -0.00222495 0.99996391 -0.27203975] [ 0. 0. 0. 1. ]] SLAMing on 21.393133365 meters Centerline goodness [0,1] 0.26956259166594776 Centerline is valid? [False, False] Translation: X:0.57, Y:0.16, Z:-0.27 [[ 0.99995135 0.00574074 -0.00802126 0.56574483] [-0.00572515 0.99998168 0.00196441 0.15542627] [ 0.00803239 -0.00191839 0.9999659 -0.27220199] [ 0. 0. 0. 1. ]] SLAMing on 21.423133364999998 meters Centerline goodness [0,1] 0.2698883798954771 Centerline is valid? [False, False] Translation: X:0.57, Y:0.16, Z:-0.27 [[ 0.99995371 0.00562309 -0.00780771 0.5651697 ] [-0.00561065 0.99998296 0.00161459 0.15732916] [ 0.00781666 -0.0015707 0.99996822 -0.27219073] [ 0. 0. 0. 1. ]] SLAMing on 21.453133365 meters Centerline goodness [0,1] 0.26977187134756075 Centerline is valid? [False, False] Translation: X:0.56, Y:0.16, Z:-0.27 [[ 9.99957063e-01 5.41157419e-03 -7.52245893e-03 5.64580434e-01] [-5.40589837e-03 9.99985088e-01 7.74644915e-04 1.62141227e-01] [ 7.52653880e-03 -7.33946005e-04 9.99971406e-01 -2.72502483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.483133365 meters Centerline goodness [0,1] 0.2713688632869178 Centerline is valid? [False, False] Translation: X:0.56, Y:0.16, Z:-0.27 [[ 9.99958429e-01 5.18512423e-03 -7.50029850e-03 5.64726059e-01] [-5.18376661e-03 9.99986544e-01 2.00437663e-04 1.64859843e-01] [ 7.50123687e-03 -1.61549534e-04 9.99971852e-01 -2.72914540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.513133364999998 meters Centerline goodness [0,1] 0.27163576360241437 Centerline is valid? [False, False] Translation: X:0.56, Y:0.17, Z:-0.27 [[ 9.99959545e-01 4.96857860e-03 -7.49815516e-03 5.64939002e-01] [-4.97147298e-03 9.99987575e-01 -3.67423951e-04 1.67532493e-01] [ 7.49623642e-03 4.04685962e-04 9.99971821e-01 -2.73371096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.543133365 meters Centerline goodness [0,1] 0.27152993251893154 Centerline is valid? [False, False] Translation: X:0.57, Y:0.17, Z:-0.27 [[ 9.99960836e-01 4.77017499e-03 -7.45464426e-03 5.65107766e-01] [-4.77688862e-03 9.99988201e-01 -8.83051608e-04 1.70036526e-01] [ 7.45034399e-03 9.18627030e-04 9.99971824e-01 -2.73932430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.573133365 meters Centerline goodness [0,1] 0.2718543839404298 Centerline is valid? [False, False] Translation: X:0.57, Y:0.17, Z:-0.27 [[ 0.99996223 0.00451227 -0.00742866 0.5655911 ] [-0.0045244 0.99998846 -0.0016172 0.17391613] [ 0.00742128 0.00165075 0.9999711 -0.2749076 ] [ 0. 0. 0. 1. ]] SLAMing on 21.603133364999998 meters Centerline goodness [0,1] 0.2649986087626549 Centerline is valid? [False, False] Translation: X:0.58, Y:0.18, Z:-0.27 [[ 9.99967693e-01 -2.97103651e-03 -7.46895138e-03 5.84594988e-01] [ 2.96629844e-03 9.99995392e-01 -6.45366899e-04 1.81314608e-01] [ 7.47083437e-03 6.23190910e-04 9.99971899e-01 -2.73630430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.633133365 meters Centerline goodness [0,1] 0.2695369969710082 Centerline is valid? [False, False] Translation: X:0.57, Y:0.18, Z:-0.28 [[ 0.99995952 0.00443981 -0.00782562 0.56615957] [-0.00445763 0.99998751 -0.00226104 0.17596875] [ 0.00781548 0.00229583 0.99996682 -0.27555647] [ 0. 0. 0. 1. ]] SLAMing on 21.663133365 meters Centerline goodness [0,1] 0.2707917353936974 Centerline is valid? [False, False] Translation: X:0.57, Y:0.18, Z:-0.28 [[ 0.99995783 0.00429631 -0.00811619 0.56718459] [-0.00431634 0.99998768 -0.00245248 0.17636845] [ 0.00810555 0.00248741 0.99996406 -0.27611554] [ 0. 0. 0. 1. ]] SLAMing on 21.693133364999998 meters Centerline goodness [0,1] 0.2729201294724871 Centerline is valid? [False, False] Translation: X:0.57, Y:0.18, Z:-0.28 [[ 0.99995383 0.00412524 -0.00867865 0.56919672] [-0.00414879 0.99998776 -0.00269759 0.17723214] [ 0.00866742 0.00273347 0.9999587 -0.27723399] [ 0. 0. 0. 1. ]] SLAMing on 21.723133365 meters Centerline goodness [0,1] 0.2692199563158236 Centerline is valid? [False, False] Translation: X:0.59, Y:0.18, Z:-0.28 [[ 0.99995863 -0.00370077 -0.00830934 0.58864876] [ 0.00368758 0.99999192 -0.00160234 0.18289785] [ 0.00831521 0.00157163 0.99996419 -0.27602068] [ 0. 0. 0. 1. ]] SLAMing on 21.753133365 meters Centerline goodness [0,1] 0.2682195621697401 Centerline is valid? [False, False] Translation: X:0.59, Y:0.18, Z:-0.28 [[ 0.99996236 -0.00387952 -0.00776024 0.58683216] [ 0.00386804 0.9999914 -0.00149304 0.18161092] [ 0.00776597 0.00146297 0.99996877 -0.27513616] [ 0. 0. 0. 1. ]] SLAMing on 21.783133364999998 meters Centerline goodness [0,1] 0.2764680008797009 Centerline is valid? [False, False] Translation: X:0.54, Y:0.18, Z:-0.27 [[ 0.99994081 -0.00480758 -0.00976068 0.53954607] [ 0.00479359 0.99998745 -0.00145627 0.17631435] [ 0.00976756 0.00140939 0.9999513 -0.27343739] [ 0. 0. 0. 1. ]] SLAMing on 21.813133365 meters Centerline goodness [0,1] 0.274800655379574 Centerline is valid? [False, False] Translation: X:0.54, Y:0.17, Z:-0.27 [[ 0.99993882 -0.0047178 -0.01000509 0.54014868] [ 0.00470637 0.99998825 -0.00116573 0.17492179] [ 0.01001047 0.00111857 0.99994927 -0.27342418] [ 0. 0. 0. 1. ]] SLAMing on 21.843133365 meters Centerline goodness [0,1] 0.2707535949832415 Centerline is valid? [False, False] Translation: X:0.56, Y:0.17, Z:-0.27 [[ 0.9999375 0.00314644 -0.01072798 0.56137506] [-0.0031695 0.9999927 -0.00213396 0.17067617] [ 0.01072118 0.00216783 0.99994018 -0.27242584] [ 0. 0. 0. 1. ]] SLAMing on 21.873133364999997 meters Centerline goodness [0,1] 0.2743901100107595 Centerline is valid? [False, False] Translation: X:0.54, Y:0.17, Z:-0.27 [[ 0.99989233 -0.00588532 -0.01344178 0.54148529] [ 0.00586967 0.99998205 -0.00120303 0.16928958] [ 0.01344862 0.001124 0.99990893 -0.27323054] [ 0. 0. 0. 1. ]] SLAMing on 21.903133365 meters Centerline goodness [0,1] 0.27559572000612675 Centerline is valid? [False, False] Translation: X:0.54, Y:0.17, Z:-0.27 [[ 9.99891984e-01 -5.77526864e-03 -1.35153953e-02 5.41541943e-01] [ 5.76443968e-03 9.99983033e-01 -8.40051099e-04 1.67509976e-01] [ 1.35200175e-02 7.62051680e-04 9.99908310e-01 -2.72957478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.933133365 meters Centerline goodness [0,1] 0.27155863862995877 Centerline is valid? [False, False] Translation: X:0.56, Y:0.16, Z:-0.27 [[ 0.99993009 0.00222511 -0.01161329 0.56027764] [-0.00224752 0.99999564 -0.00191674 0.16319881] [ 0.01160898 0.00194271 0.99993073 -0.27154372] [ 0. 0. 0. 1. ]] SLAMing on 21.963133365 meters Centerline goodness [0,1] 0.274442839003459 Centerline is valid? [False, False] Translation: X:0.56, Y:0.16, Z:-0.27 [[ 0.99993362 0.00231301 -0.01128773 0.55923397] [-0.00233109 0.99999602 -0.00158891 0.16156325] [ 0.01128401 0.00161511 0.99993503 -0.27104543] [ 0. 0. 0. 1. ]] SLAMing on 21.993133365 meters Centerline goodness [0,1] 0.2743658648489218 Centerline is valid? [False, False] Translation: X:0.56, Y:0.16, Z:-0.27 [[ 0.99993554 0.00230276 -0.01111829 0.55886628] [-0.00231718 0.99999649 -0.00128421 0.15926708] [ 0.0111153 0.00130989 0.99993737 -0.27102713] [ 0. 0. 0. 1. ]] SLAMing on 22.023133365 meters Centerline goodness [0,1] 0.2702071025124976 Centerline is valid? [False, False] Translation: X:0.58, Y:0.16, Z:-0.27 [[ 9.99923960e-01 -5.36242216e-03 -1.11048942e-02 5.78183520e-01] [ 5.36219799e-03 9.99985622e-01 -4.99605384e-05 1.63699622e-01] [ 1.11050025e-02 -9.58990214e-06 9.99938338e-01 -2.69691341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.053133365 meters Centerline goodness [0,1] 0.27277075949642327 Centerline is valid? [False, False] Translation: X:0.58, Y:0.16, Z:-0.27 [[ 9.99925652e-01 -5.23350281e-03 -1.10136263e-02 5.78001394e-01] [ 5.23572298e-03 9.99986279e-01 1.72760192e-04 1.63036032e-01] [ 1.10125711e-02 -2.30411644e-04 9.99939333e-01 -2.69740473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.083133365 meters Centerline goodness [0,1] 0.27277075949642327 Centerline is valid? [False, False] Translation: X:0.58, Y:0.16, Z:-0.27 [[ 9.99925652e-01 -5.23350281e-03 -1.10136263e-02 5.78001394e-01] [ 5.23572298e-03 9.99986279e-01 1.72760192e-04 1.63036032e-01] [ 1.10125711e-02 -2.30411644e-04 9.99939333e-01 -2.69740473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.113133365 meters Centerline goodness [0,1] 0.27361111111111114 Centerline is valid? [False, False] Translation: X:0.58, Y:0.16, Z:-0.27 [[ 9.99928857e-01 -5.12476513e-03 -1.07711519e-02 5.77293284e-01] [ 5.12855474e-03 9.99986796e-01 3.24238182e-04 1.62670244e-01] [ 1.07693480e-02 -3.79455557e-04 9.99941937e-01 -2.69549843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.143133365 meters Centerline goodness [0,1] 0.2756558557772054 Centerline is valid? [False, False] Translation: X:0.58, Y:0.16, Z:-0.27 [[ 9.99936929e-01 -5.07128383e-03 -1.00210128e-02 5.75023675e-01] [ 5.07645504e-03 9.99986994e-01 4.90666725e-04 1.61427623e-01] [ 1.00183942e-02 -5.41506999e-04 9.99949668e-01 -2.68754056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.173133364999998 meters Centerline goodness [0,1] 0.2740468733124527 Centerline is valid? [False, False] Translation: X:0.59, Y:0.16, Z:-0.27 [[ 9.99955139e-01 3.19826474e-03 -8.91577857e-03 5.94938300e-01] [-3.20560698e-03 9.99994535e-01 -8.09341619e-04 1.58517202e-01] [ 8.91314135e-03 8.37885793e-04 9.99959926e-01 -2.67600706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.203133365 meters Centerline goodness [0,1] 0.276358559305395 Centerline is valid? [False, False] Translation: X:0.58, Y:0.16, Z:-0.27 [[ 9.99935315e-01 -4.85893307e-03 -1.02838154e-02 5.76734557e-01] [ 4.86820846e-03 9.99987766e-01 8.77100195e-04 1.61915128e-01] [ 1.02794278e-02 -9.27107217e-04 9.99946735e-01 -2.69931172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.233133365 meters Centerline goodness [0,1] 0.2721454450784284 Centerline is valid? [False, False] Translation: X:0.58, Y:0.16, Z:-0.27 [[ 0.99992855 -0.00316047 -0.01152872 0.58210436] [ 0.00318854 0.99999199 0.00241758 0.16083482] [ 0.01152098 -0.00245417 0.99993062 -0.27298447] [ 0. 0. 0. 1. ]] SLAMing on 22.263133364999998 meters Centerline goodness [0,1] 0.27376945958269105 Centerline is valid? [False, False] Translation: X:0.58, Y:0.16, Z:-0.27 [[ 0.99993332 -0.00313278 -0.01111522 0.58104264] [ 0.00315932 0.9999922 0.00237139 0.16119808] [ 0.01110771 -0.00240635 0.99993541 -0.27289258] [ 0. 0. 0. 1. ]] SLAMing on 22.293133365 meters Centerline goodness [0,1] 0.27595401494951266 Centerline is valid? [False, False] Translation: X:0.58, Y:0.16, Z:-0.27 [[ 0.9999391 -0.00307128 -0.01060001 0.57939249] [ 0.0030961 0.9999925 0.00232582 0.1617747 ] [ 0.01059279 -0.00235849 0.99994111 -0.27226655] [ 0. 0. 0. 1. ]] SLAMing on 22.323133365 meters Centerline goodness [0,1] 0.2778883373061867 Centerline is valid? [False, False] Translation: X:0.58, Y:0.16, Z:-0.27 [[ 0.99994389 -0.00303503 -0.01014911 0.5779857 ] [ 0.00305764 0.99999288 0.00221261 0.16272504] [ 0.01014232 -0.00224352 0.99994605 -0.27179365] [ 0. 0. 0. 1. ]] SLAMing on 22.353133364999998 meters Centerline goodness [0,1] 0.2736222602072831 Centerline is valid? [False, False] Translation: X:0.60, Y:0.16, Z:-0.27 [[ 0.99993179 0.00650274 -0.00970186 0.60064278] [-0.0064857 0.99997737 0.00178604 0.16396994] [ 0.00971326 -0.001723 0.99995134 -0.27227097] [ 0. 0. 0. 1. ]] SLAMing on 22.383133365 meters Centerline goodness [0,1] 0.2755689846314371 Centerline is valid? [False, False] Translation: X:0.60, Y:0.17, Z:-0.27 [[ 0.9999292 0.00641855 -0.01001964 0.60199494] [-0.00640449 0.99997846 0.00143478 0.16577523] [ 0.01002864 -0.0013705 0.99994877 -0.27329814] [ 0. 0. 0. 1. ]] SLAMing on 22.413133365 meters Centerline goodness [0,1] 0.27128742904190317 Centerline is valid? [False, False] Translation: X:0.60, Y:0.17, Z:-0.27 [[ 9.99926346e-01 6.32827580e-03 -1.03564182e-02 6.03341768e-01] [-6.31766279e-03 9.99979485e-01 1.05717130e-03 1.67665851e-01] [ 1.03628958e-02 -9.91665073e-04 9.99945812e-01 -2.74234580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.443133364999998 meters Centerline goodness [0,1] 0.2745466873728647 Centerline is valid? [False, False] Translation: X:0.58, Y:0.17, Z:-0.28 [[ 0.99993905 -0.00202311 -0.01085343 0.58391185] [ 0.00204607 0.99999569 0.00210433 0.17265399] [ 0.01084912 -0.00212641 0.99993889 -0.27620045] [ 0. 0. 0. 1. ]] SLAMing on 22.473133365 meters Centerline goodness [0,1] 0.2696604837834906 Centerline is valid? [False, False] Translation: X:0.60, Y:0.18, Z:-0.27 [[ 9.99925957e-01 7.22407875e-03 -9.79251752e-03 6.04566175e-01] [-7.21479289e-03 9.99973490e-01 9.83256153e-04 1.76183176e-01] [ 9.79936104e-03 -9.12532363e-04 9.99951569e-01 -2.74998627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.503133365 meters Centerline goodness [0,1] 0.27013662979830844 Centerline is valid? [False, False] Translation: X:0.60, Y:0.18, Z:-0.28 [[ 9.99926941e-01 7.08740838e-03 -9.79190262e-03 6.04767548e-01] [-7.08353643e-03 9.99974819e-01 4.30049579e-04 1.79148141e-01] [ 9.79470398e-03 -3.60656861e-04 9.99951966e-01 -2.75476546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.533133364999998 meters Centerline goodness [0,1] 0.2723818674120011 Centerline is valid? [False, False] Translation: X:0.59, Y:0.19, Z:-0.28 [[ 9.99932532e-01 -5.93446361e-04 -1.16008432e-02 5.87470741e-01] [ 6.14056665e-04 9.99998239e-01 1.77314003e-03 1.88335854e-01] [ 1.15997706e-02 -1.78014398e-03 9.99931136e-01 -2.78745562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.563133365 meters Centerline goodness [0,1] 0.2714503816793893 Centerline is valid? [False, False] Translation: X:0.59, Y:0.19, Z:-0.28 [[ 9.99931879e-01 -7.89499060e-04 -1.16453293e-02 5.87829776e-01] [ 8.04371609e-04 9.99998867e-01 1.27249722e-03 1.90712565e-01] [ 1.16443115e-02 -1.28177771e-03 9.99931381e-01 -2.79242915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.593133365 meters Centerline goodness [0,1] 0.26905403947794193 Centerline is valid? [False, False] Translation: X:0.61, Y:0.19, Z:-0.28 [[ 9.99914009e-01 7.17983905e-03 -1.09738006e-02 6.08283793e-01] [-7.18299156e-03 9.99974171e-01 -2.47889435e-04 1.90363065e-01] [ 1.09717374e-02 3.26692836e-04 9.99939755e-01 -2.78259148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.623133364999997 meters Centerline goodness [0,1] 0.2727054510539868 Centerline is valid? [False, False] Translation: X:0.59, Y:0.19, Z:-0.28 [[ 9.99937219e-01 -1.95004305e-03 -1.10342629e-02 5.86601569e-01] [ 1.95196369e-03 9.99998082e-01 1.63294210e-04 1.94248652e-01] [ 1.10339233e-02 -1.84822438e-04 9.99939107e-01 -2.79157361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.653133365 meters Centerline goodness [0,1] 0.27094141396600746 Centerline is valid? [False, False] Translation: X:0.59, Y:0.19, Z:-0.28 [[ 9.99934712e-01 -2.43910793e-03 -1.11634535e-02 5.86405952e-01] [ 2.43736708e-03 9.99997015e-01 -1.69544429e-04 1.94616934e-01] [ 1.11638337e-02 1.42323926e-04 9.99937672e-01 -2.78215176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.683133365 meters Centerline goodness [0,1] 0.2744444444444445 Centerline is valid? [False, False] Translation: X:0.59, Y:0.19, Z:-0.28 [[ 9.99935325e-01 -2.51701772e-03 -1.10910292e-02 5.86059750e-01] [ 2.51547706e-03 9.99996824e-01 -1.52858431e-04 1.94344241e-01] [ 1.10913787e-02 1.24949315e-04 9.99938481e-01 -2.77857947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.713133365 meters Centerline goodness [0,1] 0.2696280323450134 Centerline is valid? [False, False] Translation: X:0.61, Y:0.19, Z:-0.28 [[ 0.99994073 0.00527208 -0.00952539 0.60532607] [-0.00528566 0.99998505 -0.00140142 0.19173496] [ 0.00951786 0.00145168 0.99995365 -0.27707682] [ 0. 0. 0. 1. ]] SLAMing on 22.743133365 meters Centerline goodness [0,1] 0.27080230525157034 Centerline is valid? [False, False] Translation: X:0.60, Y:0.19, Z:-0.28 [[ 0.9999423 0.00523869 -0.00937865 0.60494945] [-0.00525225 0.9999852 -0.00142163 0.1919032 ] [ 0.00937107 0.00147081 0.99995501 -0.27698936] [ 0. 0. 0. 1. ]] SLAMing on 22.773133365 meters Centerline goodness [0,1] 0.2738617127479491 Centerline is valid? [False, False] Translation: X:0.61, Y:0.19, Z:-0.28 [[ 0.99994288 0.00513076 -0.00937657 0.60508291] [-0.00514769 0.99998516 -0.00178167 0.19402463] [ 0.00936729 0.00182984 0.99995445 -0.27723415] [ 0. 0. 0. 1. ]] SLAMing on 22.803133365 meters Centerline goodness [0,1] 0.2739813149699548 Centerline is valid? [False, False] Translation: X:0.59, Y:0.20, Z:-0.28 [[ 9.99941423e-01 -2.97581211e-03 -1.04065010e-02 5.86159599e-01] [ 2.97203678e-03 9.99995512e-01 -3.78230847e-04 1.98808430e-01] [ 1.04075798e-02 3.47280187e-04 9.99945779e-01 -2.79103523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.833133365 meters Centerline goodness [0,1] 0.27039798838116713 Centerline is valid? [False, False] Translation: X:0.61, Y:0.20, Z:-0.28 [[ 0.99993403 0.00565478 -0.00999834 0.60750529] [-0.00566857 0.99998302 -0.0013518 0.19868061] [ 0.00999053 0.00140838 0.9999491 -0.27844357] [ 0. 0. 0. 1. ]] SLAMing on 22.863133365 meters Centerline goodness [0,1] 0.2748676206730559 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 9.99971526e-01 -8.21890523e-04 -7.50149462e-03 5.89198996e-01] [ 8.19470714e-04 9.99999611e-01 -3.25644828e-04 2.06507841e-01] [ 7.50175935e-03 3.19488300e-04 9.99971810e-01 -2.81623648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.893133365 meters Centerline goodness [0,1] 0.27080184809361374 Centerline is valid? [False, False] Translation: X:0.61, Y:0.21, Z:-0.28 [[ 0.99995229 0.00754014 -0.00621049 0.60967407] [-0.00755029 0.9999702 -0.00161204 0.20673533] [ 0.00619815 0.00165886 0.99997942 -0.28103153] [ 0. 0. 0. 1. ]] SLAMing on 22.923133364999998 meters Centerline goodness [0,1] 0.27404496834752234 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 9.99982289e-01 -8.51844354e-04 -5.89038680e-03 5.88709100e-01] [ 8.46409086e-04 9.99999214e-01 -9.25166533e-04 2.12302242e-01] [ 5.89117027e-03 9.20164470e-04 9.99982224e-01 -2.82414672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.953133365 meters Centerline goodness [0,1] 0.2732104735764388 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 9.99983259e-01 -9.83329894e-04 -5.70220129e-03 5.88115464e-01] [ 9.75656574e-04 9.99998615e-01 -1.34830248e-03 2.14472432e-01] [ 5.70351922e-03 1.34271652e-03 9.99982833e-01 -2.82296069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.983133365 meters Centerline goodness [0,1] 0.27298514572777277 Centerline is valid? [False, False] Translation: X:0.59, Y:0.22, Z:-0.28 [[ 0.99998601 -0.00116834 -0.00515866 0.58628246] [ 0.00115825 0.99999741 -0.00195842 0.21796019] [ 0.00516093 0.00195242 0.99998478 -0.2815692 ] [ 0. 0. 0. 1. ]] SLAMing on 23.013133364999998 meters Centerline goodness [0,1] 0.2757015444855341 Centerline is valid? [False, False] Translation: X:0.59, Y:0.22, Z:-0.28 [[ 0.99998665 -0.00125184 -0.00501375 0.58563906] [ 0.00124099 0.99999688 -0.00216814 0.21905382] [ 0.00501644 0.00216189 0.99998508 -0.28111128] [ 0. 0. 0. 1. ]] SLAMing on 23.043133365 meters Centerline goodness [0,1] 0.27453070280381964 Centerline is valid? [False, False] Translation: X:0.59, Y:0.22, Z:-0.28 [[ 0.99998678 -0.0013331 -0.00496596 0.58539147] [ 0.00132146 0.99999637 -0.00234617 0.2199196 ] [ 0.00496907 0.00233958 0.99998492 -0.28090135] [ 0. 0. 0. 1. ]] SLAMing on 23.073133365 meters Centerline goodness [0,1] 0.2748196122750587 Centerline is valid? [False, False] Translation: X:0.59, Y:0.22, Z:-0.28 [[ 0.99998575 -0.00149214 -0.00512542 0.58578587] [ 0.00147913 0.99999568 -0.00254164 0.22051634] [ 0.00512919 0.00253402 0.99998363 -0.28087786] [ 0. 0. 0. 1. ]] SLAMing on 23.103133364999998 meters Centerline goodness [0,1] 0.2723239284945078 Centerline is valid? [False, False] Translation: X:0.59, Y:0.22, Z:-0.28 [[ 0.99998411 -0.00153069 -0.00542648 0.58674681] [ 0.00151725 0.99999578 -0.00247849 0.21993148] [ 0.00543025 0.00247022 0.99998221 -0.28119921] [ 0. 0. 0. 1. ]] SLAMing on 23.133133365 meters Centerline goodness [0,1] 0.2729987664740635 Centerline is valid? [False, False] Translation: X:0.59, Y:0.22, Z:-0.28 [[ 0.99998184 -0.00154465 -0.00582505 0.58807483] [ 0.00153082 0.999996 -0.00237817 0.2192026 ] [ 0.0058287 0.00236921 0.99998021 -0.28175157] [ 0. 0. 0. 1. ]] SLAMing on 23.163133365 meters Centerline goodness [0,1] 0.27456647398843925 Centerline is valid? [False, False] Translation: X:0.59, Y:0.22, Z:-0.28 [[ 0.99998004 -0.0015113 -0.00613558 0.58909114] [ 0.00149783 0.99999646 -0.00220042 0.21822897] [ 0.00613888 0.00219118 0.99997876 -0.28211391] [ 0. 0. 0. 1. ]] SLAMing on 23.193133364999998 meters Centerline goodness [0,1] 0.27296769997832215 Centerline is valid? [False, False] Translation: X:0.59, Y:0.22, Z:-0.28 [[ 0.99997999 -0.00150585 -0.00614464 0.5889792 ] [ 0.00149424 0.99999709 -0.00189301 0.21638426] [ 0.00614747 0.00188379 0.99997933 -0.28177296] [ 0. 0. 0. 1. ]] SLAMing on 23.223133365 meters Centerline goodness [0,1] 0.2760873826585063 Centerline is valid? [False, False] Translation: X:0.59, Y:0.22, Z:-0.28 [[ 0.99998008 -0.00146682 -0.00613868 0.58882333] [ 0.00145627 0.99999746 -0.00172231 0.21539623] [ 0.00614119 0.00171333 0.99997967 -0.28148913] [ 0. 0. 0. 1. ]] SLAMing on 23.253133365 meters Centerline goodness [0,1] 0.27235860045731053 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 0.99998017 -0.00142508 -0.00613436 0.58869796] [ 0.00141554 0.99999778 -0.0015587 0.2144728 ] [ 0.00613656 0.00154999 0.99997997 -0.28126204] [ 0. 0. 0. 1. ]] SLAMing on 23.283133364999998 meters Centerline goodness [0,1] 0.2764190426366727 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 0.9999791 -0.00131648 -0.00632943 0.58922018] [ 0.00130803 0.99999825 -0.00133757 0.2135756 ] [ 0.00633118 0.00132927 0.99997907 -0.28134822] [ 0. 0. 0. 1. ]] SLAMing on 23.313133365 meters Centerline goodness [0,1] 0.2751361791705549 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 0.99997772 -0.00127067 -0.00655291 0.58995942] [ 0.00126218 0.99999836 -0.00129987 0.21357067] [ 0.00655456 0.00129157 0.99997768 -0.28166444] [ 0. 0. 0. 1. ]] SLAMing on 23.343133365 meters Centerline goodness [0,1] 0.27542243374230446 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 0.99997685 -0.00125278 -0.00668837 0.59050521] [ 0.00124409 0.99999838 -0.00130339 0.21366993] [ 0.00669 0.00129504 0.99997678 -0.28204808] [ 0. 0. 0. 1. ]] SLAMing on 23.373133364999997 meters Centerline goodness [0,1] 0.2723395041680199 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 0.99997635 -0.00120668 -0.00677038 0.59079511] [ 0.00119809 0.99999847 -0.00127286 0.21365201] [ 0.00677191 0.00126472 0.99997627 -0.28219291] [ 0. 0. 0. 1. ]] SLAMing on 23.403133365 meters Centerline goodness [0,1] 0.2756422722067371 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 0.99997848 -0.00117206 -0.00645441 0.58953773] [ 0.0011649 0.9999987 -0.0011121 0.21262077] [ 0.00645571 0.00110456 0.99997855 -0.28137229] [ 0. 0. 0. 1. ]] SLAMing on 23.433133365 meters Centerline goodness [0,1] 0.2756330968035935 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 9.99978713e-01 -1.11229041e-03 -6.42928326e-03 5.89388126e-01] [ 1.10632304e-03 9.99998954e-01 -9.31636959e-04 2.11700604e-01] [ 6.43031278e-03 9.24504264e-04 9.99978898e-01 -2.81221605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.463133365 meters Centerline goodness [0,1] 0.2767320261437909 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 9.99978050e-01 -1.04044112e-03 -6.54342451e-03 5.89818455e-01] [ 1.03553351e-03 9.99999180e-01 -7.53350502e-04 2.10952426e-01] [ 6.54420296e-03 7.46558031e-04 9.99978308e-01 -2.81453327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.493133365 meters Centerline goodness [0,1] 0.2725702689866586 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 9.99975957e-01 -9.91883753e-04 -6.86301348e-03 5.90946230e-01] [ 9.87613475e-04 9.99999317e-01 -6.25577186e-04 2.10428025e-01] [ 6.86362929e-03 6.18784141e-04 9.99976254e-01 -2.82005628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.523133365 meters Centerline goodness [0,1] 0.27280569333620874 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 9.99972464e-01 -9.31865398e-04 -7.36220795e-03 5.92923662e-01] [ 9.28182143e-04 9.99999442e-01 -5.03693065e-04 2.09922135e-01] [ 7.36267321e-03 4.96845726e-04 9.99972772e-01 -2.83192272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.553133365 meters Centerline goodness [0,1] 0.27307475133562087 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 9.99971833e-01 -9.26313787e-04 -7.44817157e-03 5.93294823e-01] [ 9.22176568e-04 9.99999419e-01 -5.58882777e-04 2.10316396e-01] [ 7.44868494e-03 5.51998505e-04 9.99972106e-01 -2.83467261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.583133365 meters Centerline goodness [0,1] 0.275750273822563 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 9.99972812e-01 -9.11520755e-04 -7.31738593e-03 5.93047851e-01] [ 9.06575320e-04 9.99999358e-01 -6.79135727e-04 2.11145516e-01] [ 7.31800028e-03 6.72483502e-04 9.99972997e-01 -2.83639128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.613133365 meters Centerline goodness [0,1] 0.27363812593931736 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 9.99973826e-01 -8.81994414e-04 -7.18118637e-03 5.92581405e-01] [ 8.76175563e-04 9.99999285e-01 -8.13396727e-04 2.12093327e-01] [ 7.18189865e-03 8.07083457e-04 9.99973884e-01 -2.83469372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.643133365 meters Centerline goodness [0,1] 0.2779577187376898 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 9.99976972e-01 -8.48972313e-04 -6.73315498e-03 5.91393481e-01] [ 8.42564438e-04 9.99999190e-01 -9.54469306e-04 2.12898675e-01] [ 6.73395984e-03 9.48774209e-04 9.99976877e-01 -2.83348532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.673133364999998 meters Centerline goodness [0,1] 0.27253232828643836 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 9.99976559e-01 -7.87720559e-04 -6.80154045e-03 5.91782034e-01] [ 7.81536363e-04 9.99999279e-01 -9.11844623e-04 2.12888402e-01] [ 6.80225383e-03 9.06507597e-04 9.99976454e-01 -2.83752969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.703133365 meters Centerline goodness [0,1] 0.2727351463710376 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 9.99976035e-01 -7.03178251e-04 -6.88737409e-03 5.92238024e-01] [ 6.97823093e-04 9.99999452e-01 -7.79904853e-04 2.12562812e-01] [ 6.88791873e-03 7.75079994e-04 9.99975978e-01 -2.84176508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.733133365 meters Centerline goodness [0,1] 0.2736958119030125 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 9.99975296e-01 -6.39800467e-04 -6.99984899e-03 5.92951336e-01] [ 6.35796396e-04 9.99999633e-01 -5.74232739e-04 2.11451388e-01] [ 7.00021381e-03 5.69768075e-04 9.99975336e-01 -2.84811205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.763133364999998 meters Centerline goodness [0,1] 0.265968540888155 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 9.99975343e-01 -6.58787674e-04 -6.99133271e-03 5.92974423e-01] [ 6.55252108e-04 9.99999656e-01 -5.07985506e-04 2.10694842e-01] [ 6.99166496e-03 5.03391896e-04 9.99975431e-01 -2.84862426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.793133365 meters Centerline goodness [0,1] 0.26583651509892403 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 9.99975186e-01 -6.74519724e-04 -7.01230035e-03 5.92927394e-01] [ 6.71062221e-04 9.99999652e-01 -4.95403845e-04 2.10440581e-01] [ 7.01263207e-03 4.90685862e-04 9.99975291e-01 -2.84676087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.823133365 meters Centerline goodness [0,1] 0.2755808152020651 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 9.99976120e-01 -6.13745227e-04 -6.88348372e-03 5.92486773e-01] [ 6.10442778e-04 9.99999698e-01 -4.81854955e-04 2.10780069e-01] [ 6.88377738e-03 4.77641475e-04 9.99976192e-01 -2.84519991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.853133364999998 meters Centerline goodness [0,1] 0.2726938466529686 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 9.99976643e-01 -5.41704543e-04 -6.81328897e-03 5.92262099e-01] [ 5.37705797e-04 9.99999682e-01 -5.88721941e-04 2.12061235e-01] [ 6.81360572e-03 5.85044645e-04 9.99976616e-01 -2.84447398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.883133365 meters Centerline goodness [0,1] 0.2696015424164524 Centerline is valid? [False, False] Translation: X:0.59, Y:0.21, Z:-0.28 [[ 0.99997243 0.00312514 -0.00673609 0.59225488] [-0.00310691 0.99999149 0.00271606 0.21441584] [ 0.00674452 -0.00269506 0.99997362 -0.28464391] [ 0. 0. 0. 1. ]] SLAMing on 23.913133365 meters Centerline goodness [0,1] 0.27416237812954636 Centerline is valid? [False, False] Translation: X:0.55, Y:0.21, Z:-0.28 [[ 0.99995122 0.0030496 -0.00939431 0.54663619] [-0.00302892 0.99999296 0.00221457 0.21380464] [ 0.00940099 -0.00218601 0.99995342 -0.28348091] [ 0. 0. 0. 1. ]] SLAMing on 23.943133364999998 meters Centerline goodness [0,1] 0.2749837133550489 Centerline is valid? [False, False] Translation: X:0.55, Y:0.22, Z:-0.28 [[ 0.99995195 0.00283533 -0.00938414 0.54653707] [-0.00282048 0.99999475 0.00159592 0.21665188] [ 0.00938861 -0.00156937 0.99995469 -0.28350831] [ 0. 0. 0. 1. ]] SLAMing on 23.973133365 meters Centerline goodness [0,1] 0.2670656605082835 Centerline is valid? [False, False] Translation: X:0.55, Y:0.22, Z:-0.28 [[ 0.99995263 0.00265544 -0.00936389 0.54634497] [-0.00264593 0.99999597 0.00102839 0.21951043] [ 0.00936659 -0.00100356 0.99995563 -0.28342171] [ 0. 0. 0. 1. ]] SLAMing on 24.003133365 meters Centerline goodness [0,1] 0.2670656605082835 Centerline is valid? [False, False] Translation: X:0.55, Y:0.22, Z:-0.28 [[ 0.99995263 0.00265544 -0.00936389 0.54634497] [-0.00264593 0.99999597 0.00102839 0.21951043] [ 0.00936659 -0.00100356 0.99995563 -0.28342171] [ 0. 0. 0. 1. ]] SLAMing on 24.033133364999998 meters Centerline goodness [0,1] 0.2644855789926819 Centerline is valid? [False, False] Translation: X:0.55, Y:0.23, Z:-0.28 [[ 9.99953267e-01 2.38640711e-03 -9.36852868e-03 5.46139384e-01] [-2.38649922e-03 9.99997152e-01 1.34643887e-06 2.25781761e-01] [ 9.36850521e-03 2.10116105e-05 9.99956114e-01 -2.83329428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.063133365 meters Centerline goodness [0,1] 0.26627553237722734 Centerline is valid? [False, False] Translation: X:0.55, Y:0.23, Z:-0.28 [[ 9.99954200e-01 2.14773780e-03 -9.32655694e-03 5.45859374e-01] [-2.15313047e-03 9.99997521e-01 -5.68203158e-04 2.28353983e-01] [ 9.32531347e-03 5.88258428e-04 9.99956345e-01 -2.83113907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.093133365 meters Centerline goodness [0,1] 0.2679765613087328 Centerline is valid? [False, False] Translation: X:0.55, Y:0.23, Z:-0.28 [[ 0.99995449 0.00190663 -0.0093476 0.54569835] [-0.00191727 0.99999752 -0.00112953 0.23084767] [ 0.00934543 0.0011474 0.99995567 -0.28281221] [ 0. 0. 0. 1. ]] SLAMing on 24.123133364999997 meters Centerline goodness [0,1] 0.266897746967071 Centerline is valid? [False, False] Translation: X:0.55, Y:0.23, Z:-0.28 [[ 0.99995383 0.00171349 -0.00945491 0.54576218] [-0.00172871 0.99999722 -0.00160188 0.23317999] [ 0.00945214 0.00161815 0.99995402 -0.28256032] [ 0. 0. 0. 1. ]] SLAMing on 24.153133365 meters Centerline goodness [0,1] 0.26156526227498544 Centerline is valid? [False, False] Translation: X:0.55, Y:0.24, Z:-0.28 [[ 0.99995071 0.001417 -0.00982653 0.54641171] [-0.00144137 0.9999959 -0.00247394 0.23812005] [ 0.00982299 0.00248798 0.99994866 -0.28227362] [ 0. 0. 0. 1. ]] SLAMing on 24.183133365 meters Centerline goodness [0,1] 0.2660634073302519 Centerline is valid? [False, False] Translation: X:0.55, Y:0.24, Z:-0.28 [[ 0.99994968 0.00122323 -0.00995692 0.54666193] [-0.00125278 0.99999483 -0.00296243 0.24048678] [ 0.00995325 0.00297475 0.99994604 -0.28219565] [ 0. 0. 0. 1. ]] SLAMing on 24.213133365 meters Centerline goodness [0,1] 0.275634030293771 Centerline is valid? [False, False] Translation: X:0.55, Y:0.24, Z:-0.28 [[ 0.99994908 0.00100782 -0.01004091 0.54681525] [-0.00104281 0.9999934 -0.00348068 0.24277169] [ 0.01003733 0.00349097 0.99994353 -0.2821802 ] [ 0. 0. 0. 1. ]] SLAMing on 24.243133365 meters Centerline goodness [0,1] 0.27813543417061304 Centerline is valid? [False, False] Translation: X:0.55, Y:0.25, Z:-0.28 [[ 9.99949304e-01 8.07969285e-04 -1.00367925e-02 5.46578459e-01] [-8.47972941e-04 9.99991712e-01 -3.98208527e-03 2.45065600e-01] [ 1.00334920e-02 3.99039433e-03 9.99941701e-01 -2.81875043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.273133365 meters Centerline goodness [0,1] 0.27885370321905256 Centerline is valid? [False, False] Translation: X:0.55, Y:0.25, Z:-0.28 [[ 9.99950619e-01 5.70085467e-04 -9.92142888e-03 5.45643336e-01] [-6.17162210e-04 9.99988564e-01 -4.74254139e-03 2.49299846e-01] [ 9.91861176e-03 4.74843032e-03 9.99939535e-01 -2.80988701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.303133365 meters Centerline goodness [0,1] 0.261459186753482 Centerline is valid? [False, False] Translation: X:0.57, Y:0.26, Z:-0.28 [[ 0.99993929 -0.00559202 -0.00949435 0.56700872] [ 0.0055733 0.99998247 -0.00199702 0.2551141 ] [ 0.00950535 0.00194398 0.99995293 -0.28090807] [ 0. 0. 0. 1. ]] SLAMing on 24.333133365 meters Centerline goodness [0,1] 0.2653877762879018 Centerline is valid? [False, False] Translation: X:0.57, Y:0.26, Z:-0.28 [[ 0.99993704 -0.00571413 -0.00965779 0.56745909] [ 0.00569256 0.99998125 -0.0022589 0.25631906] [ 0.00967052 0.00220378 0.99995081 -0.28099491] [ 0. 0. 0. 1. ]] SLAMing on 24.363133365 meters Centerline goodness [0,1] 0.26660269132625247 Centerline is valid? [False, False] Translation: X:0.55, Y:0.25, Z:-0.28 [[ 0.99994182 0.00214248 -0.01057199 0.54948648] [-0.00218411 0.9999899 -0.003928 0.25178996] [ 0.01056346 0.00395086 0.9999364 -0.28273221] [ 0. 0. 0. 1. ]] SLAMing on 24.393133365 meters Centerline goodness [0,1] 0.27449874142869546 Centerline is valid? [False, False] Translation: X:0.55, Y:0.25, Z:-0.28 [[ 0.99993961 0.00199499 -0.01080766 0.55029308] [-0.00204054 0.99998908 -0.00420486 0.2529067 ] [ 0.01079915 0.00422666 0.99993275 -0.28313111] [ 0. 0. 0. 1. ]] SLAMing on 24.423133364999998 meters Centerline goodness [0,1] 0.2751712887438825 Centerline is valid? [False, False] Translation: X:0.55, Y:0.26, Z:-0.28 [[ 0.99994042 0.00177991 -0.01076938 0.55025293] [-0.00183141 0.99998693 -0.00477344 0.25594715] [ 0.01076074 0.00479288 0.99993061 -0.28327313] [ 0. 0. 0. 1. ]] SLAMing on 24.453133365 meters Centerline goodness [0,1] 0.2642763143701594 Centerline is valid? [False, False] Translation: X:0.57, Y:0.26, Z:-0.28 [[ 0.99994266 -0.00431596 -0.00980062 0.57030957] [ 0.00429902 0.99998923 -0.00174855 0.2621566 ] [ 0.00980806 0.00170632 0.99995044 -0.28277783] [ 0. 0. 0. 1. ]] SLAMing on 24.483133365 meters Centerline goodness [0,1] 0.2634932290879247 Centerline is valid? [False, False] Translation: X:0.57, Y:0.26, Z:-0.28 [[ 0.99994307 -0.00443707 -0.00970357 0.56981247] [ 0.00441666 0.99998799 -0.00212453 0.26427637] [ 0.00971288 0.00208155 0.99995066 -0.28242467] [ 0. 0. 0. 1. ]] SLAMing on 24.513133364999998 meters Centerline goodness [0,1] 0.26428927788985057 Centerline is valid? [False, False] Translation: X:0.57, Y:0.27, Z:-0.28 [[ 0.99993999 -0.00480288 -0.00984591 0.57015246] [ 0.00477399 0.99998424 -0.00295551 0.26788208] [ 0.00985995 0.00290833 0.99994716 -0.2824644 ] [ 0. 0. 0. 1. ]] SLAMing on 24.543133365 meters Centerline goodness [0,1] 0.26453254463606113 Centerline is valid? [False, False] Translation: X:0.57, Y:0.27, Z:-0.28 [[ 0.99993692 -0.00493624 -0.01008876 0.57093102] [ 0.00490308 0.9999825 -0.00330931 0.26949234] [ 0.01010492 0.00325964 0.99994363 -0.28281299] [ 0. 0. 0. 1. ]] SLAMing on 24.573133365 meters Centerline goodness [0,1] 0.27906722615613255 Centerline is valid? [False, False] Translation: X:0.57, Y:0.27, Z:-0.28 [[ 0.99993424 -0.00503113 -0.01030559 0.57147942] [ 0.00499394 0.99998094 -0.00363177 0.27120058] [ 0.01032366 0.00358007 0.9999403 -0.28293452] [ 0. 0. 0. 1. ]] SLAMing on 24.603133364999998 meters Centerline goodness [0,1] 0.2647937318730791 Centerline is valid? [False, False] Translation: X:0.59, Y:0.27, Z:-0.28 [[ 0.99994493 0.00293282 -0.01007678 0.59099381] [-0.00297978 0.99998476 -0.00464843 0.27054667] [ 0.01006299 0.0046782 0.99993842 -0.28157868] [ 0. 0. 0. 1. ]] SLAMing on 24.633133365 meters Centerline goodness [0,1] 0.26460414234444585 Centerline is valid? [False, False] Translation: X:0.59, Y:0.27, Z:-0.28 [[ 0.99994723 0.00264715 -0.00992655 0.59004654] [-0.00269586 0.99998437 -0.00489739 0.27126506] [ 0.00991343 0.00492389 0.99993874 -0.28054504] [ 0. 0. 0. 1. ]] SLAMing on 24.663133365 meters Centerline goodness [0,1] 0.26609665588854403 Centerline is valid? [False, False] Translation: X:0.59, Y:0.27, Z:-0.28 [[ 0.99994716 0.00257218 -0.00995252 0.58994298] [-0.00261998 0.99998508 -0.00479237 0.27037466] [ 0.00994005 0.00481819 0.99993899 -0.28018093] [ 0. 0. 0. 1. ]] SLAMing on 24.693133364999998 meters Centerline goodness [0,1] 0.2619088675259732 Centerline is valid? [False, False] Translation: X:0.61, Y:0.27, Z:-0.28 [[ 0.99993252 -0.00614543 -0.00985869 0.61028246] [ 0.00610827 0.99997415 -0.0037944 0.27359134] [ 0.00988176 0.00373393 0.9999442 -0.2788044 ] [ 0. 0. 0. 1. ]] SLAMing on 24.723133365 meters Centerline goodness [0,1] 0.27722382576751514 Centerline is valid? [False, False] Translation: X:0.59, Y:0.27, Z:-0.28 [[ 9.99950018e-01 5.12734288e-05 -9.99789469e-03 5.87622518e-01] [-1.15378003e-04 9.99979441e-01 -6.41133597e-03 2.67280661e-01] [ 9.99736041e-03 6.41216905e-03 9.99929466e-01 -2.78331446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.753133365 meters Centerline goodness [0,1] 0.26668845315904144 Centerline is valid? [False, False] Translation: X:0.59, Y:0.26, Z:-0.28 [[ 9.99951212e-01 -1.34812602e-04 -9.87701833e-03 5.87348271e-01] [ 7.72897625e-05 9.99983037e-01 -5.82405758e-03 2.62973927e-01] [ 9.87763594e-03 5.82301005e-03 9.99934260e-01 -2.78108731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.783133364999998 meters Centerline goodness [0,1] 0.26046301670213456 Centerline is valid? [False, False] Translation: X:0.61, Y:0.27, Z:-0.28 [[ 0.99992958 -0.00847091 -0.00831144 0.60691556] [ 0.00843309 0.99995398 -0.00457474 0.26527564] [ 0.00834981 0.00450433 0.99995499 -0.27719771] [ 0. 0. 0. 1. ]] SLAMing on 24.813133365 meters Centerline goodness [0,1] 0.26670600061186134 Centerline is valid? [False, False] Translation: X:0.59, Y:0.26, Z:-0.28 [[ 9.99974005e-01 -2.80787874e-04 -7.20483137e-03 5.85672094e-01] [ 2.43724584e-04 9.99986737e-01 -5.14458981e-03 2.57158598e-01] [ 7.20618035e-03 5.14270009e-03 9.99960811e-01 -2.77879477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.843133365 meters Centerline goodness [0,1] 0.2673568818514007 Centerline is valid? [False, False] Translation: X:0.59, Y:0.25, Z:-0.28 [[ 9.99974297e-01 -1.42118112e-04 -7.16829138e-03 5.85508912e-01] [ 1.08234955e-04 9.99988822e-01 -4.72697721e-03 2.54742343e-01] [ 7.16888305e-03 4.72607986e-03 9.99963135e-01 -2.77669579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.873133364999997 meters Centerline goodness [0,1] 0.26204343213458337 Centerline is valid? [False, False] Translation: X:0.59, Y:0.25, Z:-0.28 [[ 9.99971381e-01 -4.48159552e-05 -7.56535407e-03 5.86629024e-01] [ 1.00875732e-05 9.99989464e-01 -4.59042607e-03 2.54058764e-01] [ 7.56548009e-03 4.59021838e-03 9.99960846e-01 -2.77987435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.903133365 meters Centerline goodness [0,1] 0.26261271976299116 Centerline is valid? [False, False] Translation: X:0.59, Y:0.25, Z:-0.28 [[ 9.99968289e-01 7.74355042e-05 -7.96338980e-03 5.87907885e-01] [-1.12851432e-04 9.99990106e-01 -4.44699011e-03 2.53541341e-01] [ 7.96296665e-03 4.44774777e-03 9.99958403e-01 -2.78517441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.933133365 meters Centerline goodness [0,1] 0.2640412748171369 Centerline is valid? [False, False] Translation: X:0.59, Y:0.25, Z:-0.28 [[ 9.99966681e-01 2.04951455e-04 -8.16053779e-03 5.88527405e-01] [-2.40108036e-04 9.99990694e-01 -4.30737394e-03 2.53115076e-01] [ 8.15957905e-03 4.30918983e-03 9.99957425e-01 -2.78825231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.963133365 meters Centerline goodness [0,1] 0.26029490905177055 Centerline is valid? [False, False] Translation: X:0.61, Y:0.25, Z:-0.28 [[ 9.99967723e-01 -5.07765369e-03 -6.22665648e-03 6.10426171e-01] [ 5.07236262e-03 9.99986761e-01 -8.65243920e-04 2.53008720e-01] [ 6.23096746e-03 8.33632132e-04 9.99980240e-01 -2.79626379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.993133365 meters Centerline goodness [0,1] 0.26411054885169327 Centerline is valid? [False, False] Translation: X:0.61, Y:0.25, Z:-0.28 [[ 9.99969817e-01 -4.94360338e-03 -5.99375425e-03 6.09620592e-01] [ 4.94034082e-03 9.99987640e-01 -5.59010788e-04 2.51534053e-01] [ 5.99644369e-03 5.29382726e-04 9.99981881e-01 -2.79243744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.023133365 meters Centerline goodness [0,1] 0.26349822179114124 Centerline is valid? [False, False] Translation: X:0.61, Y:0.25, Z:-0.28 [[ 9.99970945e-01 -4.78132127e-03 -5.93697853e-03 6.09395147e-01] [ 4.78026814e-03 9.99988556e-01 -1.91562445e-04 2.49797877e-01] [ 5.93782651e-03 1.63176530e-04 9.99982358e-01 -2.79070779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.053133365 meters Centerline goodness [0,1] 0.26297525321534687 Centerline is valid? [False, False] Translation: X:0.61, Y:0.25, Z:-0.28 [[ 9.99972285e-01 -4.43093462e-03 -5.98289885e-03 6.09859953e-01] [ 4.43507117e-03 9.99989935e-01 6.78305530e-04 2.45575028e-01] [ 5.97983311e-03 -7.04821314e-04 9.99981872e-01 -2.79541054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.083133365 meters Centerline goodness [0,1] 0.2626323751891074 Centerline is valid? [False, False] Translation: X:0.61, Y:0.24, Z:-0.28 [[ 0.99997312 -0.00426955 -0.00596065 0.60982867] [ 0.0042763 0.99999023 0.00112005 0.2433209 ] [ 0.00595581 -0.00114551 0.99998161 -0.27951466] [ 0. 0. 0. 1. ]] SLAMing on 25.113133365 meters Centerline goodness [0,1] 0.2657056376978856 Centerline is valid? [False, False] Translation: X:0.59, Y:0.24, Z:-0.28 [[ 9.99994649e-01 1.48530474e-03 -2.91475015e-03 5.94017233e-01] [-1.48481537e-03 9.99998883e-01 1.70050772e-04 2.35287434e-01] [ 2.91499948e-03 -1.65721997e-04 9.99995738e-01 -2.82789913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.143133365 meters Centerline goodness [0,1] 0.26319770080169413 Centerline is valid? [False, False] Translation: X:0.59, Y:0.23, Z:-0.28 [[ 9.99994597e-01 1.62770230e-03 -2.85594092e-03 5.93714247e-01] [-1.62622276e-03 9.99998542e-01 5.20303066e-04 2.33598423e-01] [ 2.85678366e-03 -5.15655858e-04 9.99995786e-01 -2.82503771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.173133364999998 meters Centerline goodness [0,1] 0.2643388268034961 Centerline is valid? [False, False] Translation: X:0.59, Y:0.23, Z:-0.28 [[ 9.99994520e-01 1.98315329e-03 -2.65096168e-03 5.93256356e-01] [-1.98069717e-03 9.99997607e-01 9.28807142e-04 2.32463203e-01] [ 2.65279730e-03 -9.23551299e-04 9.99996055e-01 -2.82593460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.203133365 meters Centerline goodness [0,1] 0.2640256171704277 Centerline is valid? [False, False] Translation: X:0.59, Y:0.23, Z:-0.28 [[ 9.99994206e-01 2.07251078e-03 -2.70049408e-03 5.93498262e-01] [-2.06991429e-03 9.99997393e-01 9.63926821e-04 2.32529256e-01] [ 2.70248479e-03 -9.58331444e-04 9.99995889e-01 -2.82880407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.233133365 meters Centerline goodness [0,1] 0.2638876852413554 Centerline is valid? [False, False] Translation: X:0.59, Y:0.23, Z:-0.28 [[ 9.99993841e-01 2.08499630e-03 -2.82313124e-03 5.93997641e-01] [-2.08258381e-03 9.99997464e-01 8.57213692e-04 2.33012667e-01] [ 2.82491136e-03 -8.51329005e-04 9.99995648e-01 -2.83287187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.263133364999998 meters Centerline goodness [0,1] 0.2633339808759093 Centerline is valid? [False, False] Translation: X:0.59, Y:0.23, Z:-0.28 [[ 9.99993211e-01 2.09872648e-03 -3.02863009e-03 5.94781408e-01] [-2.09649422e-03 9.99997529e-01 7.40039974e-04 2.33562302e-01] [ 3.03017574e-03 -7.33685445e-04 9.99995140e-01 -2.83860488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.293133365 meters Centerline goodness [0,1] 0.26225506081621186 Centerline is valid? [False, False] Translation: X:0.60, Y:0.23, Z:-0.28 [[ 9.99992425e-01 2.09687611e-03 -3.27911723e-03 5.95671213e-01] [-2.09471233e-03 9.99997586e-01 6.63161982e-04 2.33951106e-01] [ 3.28049989e-03 -6.56288151e-04 9.99994404e-01 -2.84390713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.323133365 meters Centerline goodness [0,1] 0.26394287461239463 Centerline is valid? [False, False] Translation: X:0.57, Y:0.24, Z:-0.28 [[ 0.99997882 -0.00454195 -0.00466179 0.57434326] [ 0.00455799 0.99998371 0.00343706 0.23519441] [ 0.0046461 -0.00345823 0.99998323 -0.2845521 ] [ 0. 0. 0. 1. ]] SLAMing on 25.353133364999998 meters Centerline goodness [0,1] 0.26392706015792 Centerline is valid? [False, False] Translation: X:0.57, Y:0.24, Z:-0.28 [[ 0.99997911 -0.00458363 -0.00455739 0.57397553] [ 0.004599 0.99998376 0.00336671 0.23542897] [ 0.00454188 -0.0033876 0.99998395 -0.28435168] [ 0. 0. 0. 1. ]] SLAMing on 25.383133365 meters Centerline goodness [0,1] 0.26345978360057354 Centerline is valid? [False, False] Translation: X:0.57, Y:0.24, Z:-0.28 [[ 0.99997943 -0.00461938 -0.00445059 0.57359975] [ 0.00463422 0.99998372 0.0033298 0.23542312] [ 0.00443513 -0.00335035 0.99998455 -0.28415684] [ 0. 0. 0. 1. ]] SLAMing on 25.413133365 meters Centerline goodness [0,1] 0.2595169873106836 Centerline is valid? [False, False] Translation: X:0.59, Y:0.23, Z:-0.28 [[ 0.99998773 0.00309737 -0.00386702 0.59278228] [-0.0030906 0.99999368 0.00175669 0.23349867] [ 0.00387243 -0.00174472 0.99999098 -0.28252151] [ 0. 0. 0. 1. ]] SLAMing on 25.443133364999998 meters Centerline goodness [0,1] 0.26191873736385574 Centerline is valid? [False, False] Translation: X:0.57, Y:0.24, Z:-0.28 [[ 0.99998259 -0.00468726 -0.00358497 0.57341083] [ 0.00469848 0.99998408 0.00312584 0.23930694] [ 0.00357026 -0.00314263 0.99998869 -0.28494487] [ 0. 0. 0. 1. ]] SLAMing on 25.473133365 meters Centerline goodness [0,1] 0.2646422246999409 Centerline is valid? [False, False] Translation: X:0.57, Y:0.24, Z:-0.29 [[ 0.99998155 -0.00480054 -0.00372339 0.57388227] [ 0.00481096 0.99998452 0.00279441 0.24092716] [ 0.00370991 -0.00281227 0.99998916 -0.28524173] [ 0. 0. 0. 1. ]] SLAMing on 25.503133365 meters Centerline goodness [0,1] 0.2607237880983798 Centerline is valid? [False, False] Translation: X:0.60, Y:0.24, Z:-0.28 [[ 0.99998755 0.00319201 -0.00383661 0.5952485 ] [-0.00318645 0.99999387 0.00145431 0.24014679] [ 0.00384123 -0.00144207 0.99999158 -0.28468893] [ 0. 0. 0. 1. ]] SLAMing on 25.533133364999998 meters Centerline goodness [0,1] 0.2587771288174314 Centerline is valid? [False, False] Translation: X:0.60, Y:0.24, Z:-0.29 [[ 9.99987669e-01 3.00073093e-03 -3.95707228e-03 5.95714042e-01] [-2.99676105e-03 9.99995001e-01 1.00878453e-03 2.41999455e-01] [ 3.96007958e-03 -9.96913687e-04 9.99991662e-01 -2.85064318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.563133365 meters Centerline goodness [0,1] 0.25987211613237704 Centerline is valid? [False, False] Translation: X:0.60, Y:0.25, Z:-0.29 [[ 9.99987963e-01 2.92474577e-03 -3.93957831e-03 5.95524320e-01] [-2.92322881e-03 9.99995651e-01 3.90760090e-04 2.46041260e-01] [ 3.94070405e-03 -3.79239097e-04 9.99992163e-01 -2.85070313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.593133365 meters Centerline goodness [0,1] 0.2625002716269367 Centerline is valid? [False, False] Translation: X:0.60, Y:0.25, Z:-0.28 [[ 9.99988335e-01 2.81687667e-03 -3.92370624e-03 5.95314522e-01] [-2.81707394e-03 9.99996031e-01 -4.47498059e-05 2.48582041e-01] [ 3.92356461e-03 5.58026545e-05 9.99992301e-01 -2.84882970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.623133364999997 meters Centerline goodness [0,1] 0.2602588996763754 Centerline is valid? [False, False] Translation: X:0.60, Y:0.25, Z:-0.28 [[ 9.99988716e-01 2.61721506e-03 -3.96460439e-03 5.95413850e-01] [-2.61948970e-03 9.99996407e-01 -5.68651657e-04 2.51118336e-01] [ 3.96310186e-03 5.79030481e-04 9.99991979e-01 -2.84928090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.653133365 meters Centerline goodness [0,1] 0.26298580988294784 Centerline is valid? [False, False] Translation: X:0.58, Y:0.26, Z:-0.29 [[ 9.99992210e-01 -3.87177517e-03 -7.67399540e-04 5.77541861e-01] [ 3.87137509e-03 9.99992370e-01 -5.22148640e-04 2.60288471e-01] [ 7.69415327e-04 5.19173681e-04 9.99999569e-01 -2.87776396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.683133365 meters Centerline goodness [0,1] 0.25983024424042955 Centerline is valid? [False, False] Translation: X:0.58, Y:0.26, Z:-0.29 [[ 9.99991775e-01 -4.00335581e-03 -6.50079903e-04 5.77073993e-01] [ 4.00268709e-03 9.99991462e-01 -1.02673895e-03 2.63182381e-01] [ 6.54184754e-04 1.02412844e-03 9.99999262e-01 -2.87617574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.713133364999997 meters Centerline goodness [0,1] 0.2618721610049771 Centerline is valid? [False, False] Translation: X:0.58, Y:0.27, Z:-0.29 [[ 9.99991570e-01 -4.09557444e-03 -2.92243341e-04 5.75840953e-01] [ 4.09511958e-03 9.99990429e-01 -1.54040971e-03 2.66433212e-01] [ 2.98549406e-04 1.53919996e-03 9.99998771e-01 -2.87172051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.743133365 meters Centerline goodness [0,1] 0.26078961600865336 Centerline is valid? [False, False] Translation: X:0.57, Y:0.27, Z:-0.29 [[ 9.99991167e-01 -4.20057820e-03 1.48288256e-04 5.74168481e-01] [ 4.20087610e-03 9.99989035e-01 -2.06930049e-03 2.69737252e-01] [-1.39594372e-04 2.06990515e-03 9.99997848e-01 -2.86287241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.773133365 meters Centerline goodness [0,1] 0.2635375128020745 Centerline is valid? [False, False] Translation: X:0.57, Y:0.28, Z:-0.29 [[ 9.99989123e-01 -4.65463261e-03 2.97141693e-04 5.73102985e-01] [ 4.65557089e-03 9.99983916e-01 -3.23921590e-03 2.75346245e-01] [-2.82059554e-04 3.24056403e-03 9.99994710e-01 -2.85311993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.803133365 meters Centerline goodness [0,1] 0.27066397866944136 Centerline is valid? [False, False] Translation: X:0.57, Y:0.28, Z:-0.29 [[ 9.99988222e-01 -4.85288040e-03 6.77257687e-05 5.73719771e-01] [ 4.85310202e-03 9.99981058e-01 -3.78561832e-03 2.77943573e-01] [-4.93533330e-05 3.78590241e-03 9.99992832e-01 -2.85531254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.833133365 meters Centerline goodness [0,1] 0.26116206628017646 Centerline is valid? [False, False] Translation: X:0.58, Y:0.28, Z:-0.29 [[ 9.99998234e-01 -1.81026620e-03 -5.05462823e-04 5.75259586e-01] [ 1.80985566e-03 9.99998033e-01 -8.11482250e-04 2.79717867e-01] [ 5.06930828e-04 8.10566002e-04 9.99999543e-01 -2.85720137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.863133365 meters Centerline goodness [0,1] 0.26249017381430695 Centerline is valid? [False, False] Translation: X:0.57, Y:0.28, Z:-0.29 [[ 9.99998090e-01 -1.94383552e-03 -2.05974913e-04 5.74344194e-01] [ 1.94356893e-03 9.99997283e-01 -1.28669033e-03 2.82407753e-01] [ 2.08475468e-04 1.28628754e-03 9.99999151e-01 -2.85510737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.893133365 meters Centerline goodness [0,1] 0.26249017381430695 Centerline is valid? [False, False] Translation: X:0.57, Y:0.28, Z:-0.29 [[ 9.99998090e-01 -1.94383552e-03 -2.05974913e-04 5.74344194e-01] [ 1.94356893e-03 9.99997283e-01 -1.28669033e-03 2.82407753e-01] [ 2.08475468e-04 1.28628754e-03 9.99999151e-01 -2.85510737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.923133364999998 meters Centerline goodness [0,1] 0.26160538446555714 Centerline is valid? [False, False] Translation: X:0.57, Y:0.29, Z:-0.28 [[ 9.99997383e-01 -2.26207700e-03 3.43097087e-04 5.72238758e-01] [ 2.26279103e-03 9.99995245e-01 -2.09521817e-03 2.86621967e-01] [-3.38355910e-04 2.09598905e-03 9.99997746e-01 -2.84322950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.953133365 meters Centerline goodness [0,1] 0.27398459383753504 Centerline is valid? [False, False] Translation: X:0.55, Y:0.28, Z:-0.29 [[ 9.99982803e-01 5.86209431e-03 1.70469288e-04 5.52806355e-01] [-5.86145509e-03 9.99976572e-01 -3.53540693e-03 2.82725464e-01] [-1.91190183e-04 3.53434693e-03 9.99993736e-01 -2.85227781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.983133365 meters Centerline goodness [0,1] 0.2610037776578521 Centerline is valid? [False, False] Translation: X:0.57, Y:0.29, Z:-0.28 [[ 9.99997722e-01 -2.12331249e-03 -2.16204461e-04 5.72218829e-01] [ 2.12275281e-03 9.99994478e-01 -2.55679661e-03 2.90422811e-01] [ 2.21632146e-04 2.55633184e-03 9.99996708e-01 -2.84098458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.013133364999998 meters Centerline goodness [0,1] 0.2619006216580446 Centerline is valid? [False, False] Translation: X:0.57, Y:0.29, Z:-0.28 [[ 9.99997570e-01 -2.16714536e-03 -4.03539321e-04 5.72781122e-01] [ 2.16605870e-03 9.99994079e-01 -2.67405225e-03 2.91115809e-01] [ 4.09331992e-04 2.67317166e-03 9.99996343e-01 -2.84265754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.043133365 meters Centerline goodness [0,1] 0.2736759031918625 Centerline is valid? [False, False] Translation: X:0.57, Y:0.29, Z:-0.28 [[ 9.99997330e-01 -2.25781909e-03 -4.92062217e-04 5.73014566e-01] [ 2.25652384e-03 9.99994029e-01 -2.61713000e-03 2.90415419e-01] [ 4.97968285e-04 2.61601266e-03 9.99996454e-01 -2.84191270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.073133365 meters Centerline goodness [0,1] 0.26153010215170613 Centerline is valid? [False, False] Translation: X:0.57, Y:0.29, Z:-0.28 [[ 9.99997342e-01 -2.24509339e-03 -5.24026716e-04 5.73070563e-01] [ 2.24383367e-03 9.99994621e-01 -2.39225979e-03 2.89014785e-01] [ 5.29394744e-04 2.39107760e-03 9.99997001e-01 -2.84083088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.103133364999998 meters Centerline goodness [0,1] 0.26147287833311583 Centerline is valid? [False, False] Translation: X:0.57, Y:0.29, Z:-0.28 [[ 9.99997446e-01 -2.21036785e-03 -4.72254598e-04 5.73038151e-01] [ 2.20934157e-03 9.99995221e-01 -2.16271924e-03 2.87756404e-01] [ 4.77032746e-04 2.16167035e-03 9.99997550e-01 -2.84153448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.133133365 meters Centerline goodness [0,1] 0.2730730555676999 Centerline is valid? [False, False] Translation: X:0.57, Y:0.29, Z:-0.28 [[ 9.99997608e-01 -2.14225236e-03 -4.40333315e-04 5.73070769e-01] [ 2.14139203e-03 9.99995816e-01 -1.94510030e-03 2.86672723e-01] [ 4.44498368e-04 1.94415272e-03 9.99998011e-01 -2.84310859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.163133365 meters Centerline goodness [0,1] 0.26144714527981916 Centerline is valid? [False, False] Translation: X:0.57, Y:0.29, Z:-0.28 [[ 9.99997553e-01 -2.12079651e-03 -6.29159334e-04 5.73905888e-01] [ 2.11962058e-03 9.99996017e-01 -1.86386419e-03 2.85984466e-01] [ 6.33109704e-04 1.86252605e-03 9.99998065e-01 -2.84953754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.193133364999998 meters Centerline goodness [0,1] 0.263171696422718 Centerline is valid? [False, False] Translation: X:0.57, Y:0.29, Z:-0.29 [[ 9.99997317e-01 -2.11889210e-03 -9.36177449e-04 5.74844495e-01] [ 2.11701796e-03 9.99995762e-01 -1.99837293e-03 2.86721206e-01] [ 9.40407819e-04 1.99638567e-03 9.99997565e-01 -2.85375362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.223133365 meters Centerline goodness [0,1] 0.25807778042287965 Centerline is valid? [False, False] Translation: X:0.58, Y:0.29, Z:-0.29 [[ 0.99999694 -0.00201293 -0.0014385 0.57641685] [ 0.00200986 0.99999571 -0.00213286 0.28793147] [ 0.00144279 0.00212996 0.99999669 -0.28611692] [ 0. 0. 0. 1. ]] SLAMing on 26.253133365 meters Centerline goodness [0,1] 0.2585398671817353 Centerline is valid? [False, False] Translation: X:0.58, Y:0.29, Z:-0.29 [[ 0.99999596 -0.0017658 -0.00222715 0.57864137] [ 0.00176045 0.99999557 -0.00240093 0.29006375] [ 0.00223138 0.002397 0.99999464 -0.28691904] [ 0. 0. 0. 1. ]] SLAMing on 26.283133364999998 meters Centerline goodness [0,1] 0.2566829737049009 Centerline is valid? [False, False] Translation: X:0.58, Y:0.29, Z:-0.29 [[ 0.99999614 -0.00177928 -0.00213491 0.57836962] [ 0.00177392 0.99999527 -0.00251122 0.29050314] [ 0.00213937 0.00250742 0.99999457 -0.28695458] [ 0. 0. 0. 1. ]] SLAMing on 26.313133365 meters Centerline goodness [0,1] 0.26159070990359334 Centerline is valid? [False, False] Translation: X:0.58, Y:0.29, Z:-0.29 [[ 0.9999963 -0.00179761 -0.00204018 0.5780899 ] [ 0.00179238 0.99999511 -0.00256254 0.29070699] [ 0.00204477 0.00255887 0.99999464 -0.28692823] [ 0. 0. 0. 1. ]] SLAMing on 26.343133365 meters Centerline goodness [0,1] 0.25834111185881437 Centerline is valid? [False, False] Translation: X:0.58, Y:0.29, Z:-0.29 [[ 0.99999661 -0.00171209 -0.00196028 0.57784939] [ 0.00170726 0.99999551 -0.00246145 0.29053845] [ 0.00196449 0.00245809 0.99999505 -0.2868608 ] [ 0. 0. 0. 1. ]] SLAMing on 26.373133364999997 meters Centerline goodness [0,1] 0.25803435529462926 Centerline is valid? [False, False] Translation: X:0.58, Y:0.29, Z:-0.29 [[ 0.99999643 -0.00166875 -0.00208625 0.57860466] [ 0.00166396 0.99999598 -0.00229595 0.28968284] [ 0.00209007 0.00229247 0.99999519 -0.28759021] [ 0. 0. 0. 1. ]] SLAMing on 26.403133365 meters Centerline goodness [0,1] 0.25777806726155583 Centerline is valid? [False, False] Translation: X:0.58, Y:0.29, Z:-0.29 [[ 0.99999606 -0.00165653 -0.00226617 0.57922838] [ 0.00165157 0.99999624 -0.00218751 0.28888151] [ 0.00226978 0.00218376 0.99999504 -0.28784196] [ 0. 0. 0. 1. ]] SLAMing on 26.433133365 meters Centerline goodness [0,1] 0.2597164267144386 Centerline is valid? [False, False] Translation: X:0.58, Y:0.29, Z:-0.29 [[ 0.99999616 -0.00158686 -0.00227077 0.57921548] [ 0.00158239 0.99999681 -0.0019676 0.28771662] [ 0.00227389 0.001964 0.99999549 -0.28778242] [ 0. 0. 0. 1. ]] SLAMing on 26.463133364999997 meters Centerline goodness [0,1] 0.25829456016002084 Centerline is valid? [False, False] Translation: X:0.58, Y:0.29, Z:-0.29 [[ 0.99999638 -0.00147328 -0.00225205 0.5790776 ] [ 0.00146963 0.99999761 -0.00162125 0.28612086] [ 0.00225444 0.00161793 0.99999615 -0.28752364] [ 0. 0. 0. 1. ]] SLAMing on 26.493133365 meters Centerline goodness [0,1] 0.257057917236291 Centerline is valid? [False, False] Translation: X:0.58, Y:0.28, Z:-0.29 [[ 9.99997582e-01 -1.38597345e-03 -1.70733445e-03 5.77409153e-01] [ 1.38442626e-03 9.99998630e-01 -9.07052421e-04 2.82226121e-01] [ 1.70858926e-03 9.04686549e-04 9.99998131e-01 -2.86710979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.523133365 meters Centerline goodness [0,1] 0.25943836062018866 Centerline is valid? [False, False] Translation: X:0.58, Y:0.28, Z:-0.29 [[ 9.99997812e-01 -1.28589511e-03 -1.65008714e-03 5.77158787e-01] [ 1.28510210e-03 9.99999058e-01 -4.81557836e-04 2.79984865e-01] [ 1.65070482e-03 4.79436252e-04 9.99998523e-01 -2.86411084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.553133365 meters Centerline goodness [0,1] 0.26122119765439367 Centerline is valid? [False, False] Translation: X:0.58, Y:0.28, Z:-0.29 [[ 9.99997693e-01 -1.17269524e-03 -1.79950333e-03 5.77778701e-01] [ 1.17256074e-03 9.99999310e-01 -7.57963461e-05 2.77921679e-01] [ 1.79959097e-03 7.36861443e-05 9.99998378e-01 -2.86755596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.583133365 meters Centerline goodness [0,1] 0.2581583058496789 Centerline is valid? [False, False] Translation: X:0.58, Y:0.27, Z:-0.29 [[ 9.99996655e-01 -8.40955567e-04 -2.44580207e-03 5.79945944e-01] [ 8.42926054e-04 9.99999321e-01 8.04741730e-04 2.74110783e-01] [ 2.44512365e-03 -8.06800668e-04 9.99996685e-01 -2.87628003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.613133365 meters Centerline goodness [0,1] 0.25926569251145315 Centerline is valid? [False, False] Translation: X:0.58, Y:0.27, Z:-0.29 [[ 9.99996757e-01 -7.04726932e-04 -2.44751884e-03 5.79949636e-01] [ 7.07645632e-04 9.99999039e-01 1.19185301e-03 2.72331831e-01] [ 2.44667656e-03 -1.19358112e-03 9.99996295e-01 -2.87505570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.643133365 meters Centerline goodness [0,1] 0.25656443310118093 Centerline is valid? [False, False] Translation: X:0.58, Y:0.27, Z:-0.29 [[ 9.99997182e-01 -6.00443945e-04 -2.29701856e-03 5.79281472e-01] [ 6.04008060e-04 9.99998614e-01 1.55124757e-03 2.70419038e-01] [ 2.29608394e-03 -1.55263061e-03 9.99996159e-01 -2.86973139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.673133364999998 meters Centerline goodness [0,1] 0.2597277541909222 Centerline is valid? [False, False] Translation: X:0.56, Y:0.26, Z:-0.29 [[ 0.99998329 0.00554629 -0.0016285 0.55577429] [-0.00554818 0.99998394 -0.00115719 0.26451635] [ 0.00162206 0.00116621 0.999998 -0.28617389] [ 0. 0. 0. 1. ]] SLAMing on 26.703133365 meters Centerline goodness [0,1] 0.26158199526191106 Centerline is valid? [False, False] Translation: X:0.56, Y:0.26, Z:-0.29 [[ 9.99982529e-01 5.71811626e-03 -1.49843232e-03 5.55529152e-01] [-5.71896695e-03 9.99983487e-01 -5.64050964e-04 2.61574037e-01] [ 1.49518227e-03 5.72610595e-04 9.99998718e-01 -2.86209629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.733133365 meters Centerline goodness [0,1] 0.2594136779376133 Centerline is valid? [False, False] Translation: X:0.56, Y:0.26, Z:-0.29 [[ 9.99982108e-01 5.78478414e-03 -1.52293998e-03 5.55766517e-01] [-5.78535493e-03 9.99983196e-01 -3.70657120e-04 2.60651612e-01] [ 1.52077022e-03 3.79461237e-04 9.99998772e-01 -2.86476663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.763133364999998 meters Centerline goodness [0,1] 0.2569548504788586 Centerline is valid? [False, False] Translation: X:0.56, Y:0.26, Z:-0.29 [[ 9.99981858e-01 5.81355375e-03 -1.57688092e-03 5.55903681e-01] [-5.81401024e-03 9.99983058e-01 -2.85061276e-04 2.60152048e-01] [ 1.57519698e-03 2.94224106e-04 9.99998716e-01 -2.86499515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.793133365 meters Centerline goodness [0,1] 0.2599210244998582 Centerline is valid? [False, False] Translation: X:0.56, Y:0.26, Z:-0.29 [[ 9.99982200e-01 5.75645267e-03 -1.56953708e-03 5.55818111e-01] [-5.75704750e-03 9.99983358e-01 -3.74731017e-04 2.60373052e-01] [ 1.56735384e-03 3.83760247e-04 9.99998698e-01 -2.86427207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.823133365 meters Centerline goodness [0,1] 0.25758534191296756 Centerline is valid? [False, False] Translation: X:0.56, Y:0.26, Z:-0.29 [[ 9.99982517e-01 5.68830043e-03 -1.61503010e-03 5.55855223e-01] [-5.68952578e-03 9.99983529e-01 -7.55135187e-04 2.62182393e-01] [ 1.61070806e-03 7.64310740e-04 9.99998411e-01 -2.86434279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.853133364999998 meters Centerline goodness [0,1] 0.257319587628866 Centerline is valid? [False, False] Translation: X:0.56, Y:0.26, Z:-0.29 [[ 0.99998291 0.00562675 -0.00158927 0.55577162] [-0.00562856 0.99998352 -0.00113342 0.26432546] [ 0.00158287 0.00114234 0.99999809 -0.28652601] [ 0. 0. 0. 1. ]] SLAMing on 26.883133365 meters Centerline goodness [0,1] 0.25676523394406103 Centerline is valid? [False, False] Translation: X:0.56, Y:0.27, Z:-0.29 [[ 0.99998345 0.00557676 -0.00141744 0.55519485] [-0.00557887 0.99998333 -0.00149159 0.26644675] [ 0.0014091 0.00149948 0.99999788 -0.28639822] [ 0. 0. 0. 1. ]] SLAMing on 26.913133365 meters Centerline goodness [0,1] 0.2591500433651345 Centerline is valid? [False, False] Translation: X:0.55, Y:0.27, Z:-0.29 [[ 0.99998494 0.0053537 -0.00120968 0.55407698] [-0.00535632 0.99998329 -0.0021759 0.26978135] [ 0.00119801 0.00218235 0.9999969 -0.28554543] [ 0. 0. 0. 1. ]] SLAMing on 26.943133364999998 meters Centerline goodness [0,1] 0.25806033365027226 Centerline is valid? [False, False] Translation: X:0.55, Y:0.27, Z:-0.29 [[ 0.99998527 0.00528324 -0.00124229 0.55394639] [-0.00528612 0.99998333 -0.00232267 0.2703823 ] [ 0.00123 0.00232921 0.99999653 -0.28524143] [ 0. 0. 0. 1. ]] SLAMing on 26.973133365 meters Centerline goodness [0,1] 0.25920375317651656 Centerline is valid? [False, False] Translation: X:0.55, Y:0.27, Z:-0.28 [[ 0.99998569 0.00522129 -0.00116906 0.55358798] [-0.00522407 0.99998351 -0.0023872 0.27049893] [ 0.00115658 0.00239328 0.99999647 -0.28495505] [ 0. 0. 0. 1. ]] SLAMing on 27.003133365 meters Centerline goodness [0,1] 0.25923757481134535 Centerline is valid? [False, False] Translation: X:0.55, Y:0.27, Z:-0.28 [[ 0.99998599 0.00518579 -0.0010659 0.55305598] [-0.00518827 0.9999838 -0.00234101 0.2700801 ] [ 0.00105375 0.0023465 0.99999669 -0.28445812] [ 0. 0. 0. 1. ]] SLAMing on 27.033133364999998 meters Centerline goodness [0,1] 0.25933808200138986 Centerline is valid? [False, False] Translation: X:0.55, Y:0.27, Z:-0.28 [[ 9.99986205e-01 5.16347537e-03 -9.63504915e-04 5.52561310e-01] [-5.16555868e-03 9.99984299e-01 -2.17240219e-03 2.68965034e-01] [ 9.52272642e-04 2.17734926e-03 9.99997176e-01 -2.83960371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.063133365 meters Centerline goodness [0,1] 0.25932929082176004 Centerline is valid? [False, False] Translation: X:0.55, Y:0.27, Z:-0.28 [[ 9.99988867e-01 4.68088839e-03 -5.96447345e-04 5.51521541e-01] [-4.68210471e-03 9.99986928e-01 -2.05445929e-03 2.66491510e-01] [ 5.86822854e-04 2.05722905e-03 9.99997712e-01 -2.83495034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.093133365 meters Centerline goodness [0,1] 0.2598373700159142 Centerline is valid? [False, False] Translation: X:0.55, Y:0.26, Z:-0.28 [[ 9.99989009e-01 4.66151990e-03 -5.01452577e-04 5.51306254e-01] [-4.66237732e-03 9.99987648e-01 -1.72250838e-03 2.64322510e-01] [ 4.93416876e-04 1.72482741e-03 9.99998391e-01 -2.83418482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.123133364999997 meters Centerline goodness [0,1] 0.2588077056577577 Centerline is valid? [False, False] Translation: X:0.55, Y:0.26, Z:-0.28 [[ 9.99988630e-01 4.73019673e-03 -6.04688249e-04 5.51484895e-01] [-4.73095315e-03 9.99988021e-01 -1.25567788e-03 2.61762001e-01] [ 5.98741402e-04 1.25852435e-03 9.99999029e-01 -2.83194718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.153133365 meters Centerline goodness [0,1] 0.2607198884434373 Centerline is valid? [False, False] Translation: X:0.55, Y:0.26, Z:-0.28 [[ 9.99987965e-01 4.85227393e-03 -7.25356093e-04 5.51735375e-01] [-4.85284799e-03 9.99987911e-01 -7.91762614e-04 2.59490994e-01] [ 7.21505475e-04 7.95273127e-04 9.99999423e-01 -2.83050933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.183133365 meters Centerline goodness [0,1] 0.27103392814449345 Centerline is valid? [False, False] Translation: X:0.55, Y:0.26, Z:-0.28 [[ 9.99986963e-01 5.00161345e-03 -1.02816838e-03 5.52573252e-01] [-5.00196110e-03 9.99987434e-01 -3.35834984e-04 2.57307314e-01] [ 1.02647574e-03 3.40973464e-04 9.99999415e-01 -2.83165247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.213133364999997 meters Centerline goodness [0,1] 0.2562548697082504 Centerline is valid? [False, False] Translation: X:0.55, Y:0.25, Z:-0.28 [[ 9.99985281e-01 5.18974040e-03 -1.58282116e-03 5.54450305e-01] [-5.18944334e-03 9.99986516e-01 1.91727143e-04 2.54538119e-01] [ 1.58379483e-03 -1.83510361e-04 9.99998729e-01 -2.84022707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.243133365 meters Centerline goodness [0,1] 0.2580176192336068 Centerline is valid? [False, False] Translation: X:0.55, Y:0.25, Z:-0.28 [[ 9.99984697e-01 5.27003543e-03 -1.68317626e-03 5.54758967e-01] [-5.26939409e-03 9.99986042e-01 3.85237022e-04 2.53520339e-01] [ 1.68518297e-03 -3.76361807e-04 9.99998509e-01 -2.84109926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.273133365 meters Centerline goodness [0,1] 0.25643020792806814 Centerline is valid? [False, False] Translation: X:0.55, Y:0.25, Z:-0.28 [[ 9.99984349e-01 5.34469577e-03 -1.65404781e-03 5.54668439e-01] [-5.34381582e-03 9.99985578e-01 5.35956332e-04 2.52834687e-01] [ 1.65688848e-03 -5.27109016e-04 9.99998488e-01 -2.84110200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.303133365 meters Centerline goodness [0,1] 0.2594098360655738 Centerline is valid? [False, False] Translation: X:0.53, Y:0.25, Z:-0.28 [[ 0.99999398 -0.00271859 -0.00215407 0.53416424] [ 0.00272198 0.99999506 0.00157463 0.25449403] [ 0.00214978 -0.00158049 0.99999644 -0.28481402] [ 0. 0. 0. 1. ]] SLAMing on 27.333133365 meters Centerline goodness [0,1] 0.26245118258809075 Centerline is valid? [False, False] Translation: X:0.53, Y:0.25, Z:-0.29 [[ 0.99999415 -0.00268037 -0.00212511 0.53420161] [ 0.00268377 0.99999511 0.00160308 0.2543556 ] [ 0.0021208 -0.00160877 0.99999646 -0.28500963] [ 0. 0. 0. 1. ]] SLAMing on 27.363133365 meters Centerline goodness [0,1] 0.26176341248900614 Centerline is valid? [False, False] Translation: X:0.53, Y:0.25, Z:-0.29 [[ 0.99999427 -0.00265365 -0.0021016 0.53435374] [ 0.00265692 0.99999526 0.00155432 0.25468787] [ 0.00209746 -0.0015599 0.99999658 -0.28545193] [ 0. 0. 0. 1. ]] SLAMing on 27.393133365 meters Centerline goodness [0,1] 0.26197245179063355 Centerline is valid? [False, False] Translation: X:0.53, Y:0.26, Z:-0.29 [[ 0.99999438 -0.00262489 -0.002086 0.53444169] [ 0.00262787 0.99999553 0.00142432 0.25554745] [ 0.00208225 -0.00142979 0.99999681 -0.2857524 ] [ 0. 0. 0. 1. ]] SLAMing on 27.423133364999998 meters Centerline goodness [0,1] 0.2559602577174219 Centerline is valid? [False, False] Translation: X:0.56, Y:0.26, Z:-0.29 [[ 9.99978010e-01 6.44604980e-03 -1.55846294e-03 5.56956679e-01] [-6.44485550e-03 9.99978935e-01 7.70137864e-04 2.56808930e-01] [ 1.56339446e-03 -7.60076859e-04 9.99998489e-01 -2.85950537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.453133365 meters Centerline goodness [0,1] 0.25721961047683006 Centerline is valid? [False, False] Translation: X:0.56, Y:0.26, Z:-0.29 [[ 9.99978463e-01 6.36283231e-03 -1.60862437e-03 5.57107413e-01] [-6.36224921e-03 9.99979693e-01 3.67341455e-04 2.58847541e-01] [ 1.61092904e-03 -3.57099074e-04 9.99998639e-01 -2.86150796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.483133365 meters Centerline goodness [0,1] 0.26041119860017503 Centerline is valid? [False, False] Translation: X:0.54, Y:0.26, Z:-0.29 [[ 0.99999757 -0.00148071 -0.00163358 0.53762597] [ 0.0014829 0.999998 0.0013428 0.26463255] [ 0.00163159 -0.00134522 0.99999776 -0.28797579] [ 0. 0. 0. 1. ]] SLAMing on 27.513133364999998 meters Centerline goodness [0,1] 0.2559876663843832 Centerline is valid? [False, False] Translation: X:0.54, Y:0.27, Z:-0.29 [[ 9.99996914e-01 -1.30489212e-03 -2.11415432e-03 5.38879448e-01] [ 1.30683239e-03 9.99998726e-01 9.16632149e-04 2.68195854e-01] [ 2.11295552e-03 -9.19392166e-04 9.99997345e-01 -2.88451602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.543133365 meters Centerline goodness [0,1] 0.25411433521004767 Centerline is valid? [False, False] Translation: X:0.54, Y:0.27, Z:-0.29 [[ 9.99996691e-01 -1.35782031e-03 -2.18505967e-03 5.39038353e-01] [ 1.35941836e-03 9.99998810e-01 7.30033821e-04 2.69238006e-01] [ 2.18406581e-03 -7.33001816e-04 9.99997346e-01 -2.88482844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.573133365 meters Centerline goodness [0,1] 0.25857313497665324 Centerline is valid? [False, False] Translation: X:0.54, Y:0.27, Z:-0.29 [[ 9.99996270e-01 -1.40313974e-03 -2.34323530e-03 5.39424012e-01] [ 1.40474004e-03 9.99998781e-01 6.81439060e-04 2.69336041e-01] [ 2.34227629e-03 -6.84728154e-04 9.99997022e-01 -2.88492394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.603133364999998 meters Centerline goodness [0,1] 0.2588061131188226 Centerline is valid? [False, False] Translation: X:0.54, Y:0.27, Z:-0.29 [[ 9.99996040e-01 -1.69413726e-03 -2.24714048e-03 5.38944399e-01] [ 1.69554150e-03 9.99998368e-01 6.23140419e-04 2.68888567e-01] [ 2.24608113e-03 -6.26948072e-04 9.99997281e-01 -2.87951233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.633133365 meters Centerline goodness [0,1] 0.268427585305838 Centerline is valid? [False, False] Translation: X:0.54, Y:0.27, Z:-0.29 [[ 9.99996648e-01 -1.76236541e-03 -1.89691295e-03 5.37772853e-01] [ 1.76372401e-03 9.99998189e-01 7.14777846e-04 2.68244772e-01] [ 1.89564982e-03 -7.18121081e-04 9.99997945e-01 -2.87307573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.663133365 meters Centerline goodness [0,1] 0.27076128354419293 Centerline is valid? [False, False] Translation: X:0.54, Y:0.27, Z:-0.29 [[ 9.99997280e-01 -1.87632643e-03 -1.38543695e-03 5.36137823e-01] [ 1.87745170e-03 9.99997908e-01 8.11359495e-04 2.67340243e-01] [ 1.38391167e-03 -8.13958379e-04 9.99998711e-01 -2.86480006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.693133364999998 meters Centerline goodness [0,1] 0.2590743313650573 Centerline is valid? [False, False] Translation: X:0.54, Y:0.27, Z:-0.29 [[ 9.99997461e-01 -1.89381218e-03 -1.22113449e-03 5.35444078e-01] [ 1.89492510e-03 9.99997790e-01 9.10873041e-04 2.66743316e-01] [ 1.21940677e-03 -9.13184687e-04 9.99998840e-01 -2.85908584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.723133365 meters Centerline goodness [0,1] 0.2608885112316709 Centerline is valid? [False, False] Translation: X:0.53, Y:0.27, Z:-0.29 [[ 9.99997664e-01 -1.83289280e-03 -1.14526236e-03 5.34951308e-01] [ 1.83402789e-03 9.99997827e-01 9.90855566e-04 2.66981306e-01] [ 1.14344374e-03 -9.92953695e-04 9.99998853e-01 -2.85350018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.753133365 meters Centerline goodness [0,1] 0.258970189701897 Centerline is valid? [False, False] Translation: X:0.54, Y:0.27, Z:-0.29 [[ 9.99997503e-01 -1.87883821e-03 -1.21018564e-03 5.35081204e-01] [ 1.87986768e-03 9.99997872e-01 8.50098343e-04 2.67738422e-01] [ 1.20858587e-03 -8.52371209e-04 9.99998906e-01 -2.85326680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.783133364999998 meters Centerline goodness [0,1] 0.2722951463084907 Centerline is valid? [False, False] Translation: X:0.54, Y:0.27, Z:-0.29 [[ 9.99997409e-01 -1.93113240e-03 -1.20564086e-03 5.35041683e-01] [ 1.93202989e-03 9.99997857e-01 7.43690935e-04 2.68077698e-01] [ 1.20420211e-03 -7.46018342e-04 9.99998997e-01 -2.85324063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.813133365 meters Centerline goodness [0,1] 0.2722951463084907 Centerline is valid? [False, False] Translation: X:0.54, Y:0.27, Z:-0.29 [[ 9.99997409e-01 -1.93113240e-03 -1.20564086e-03 5.35041683e-01] [ 1.93202989e-03 9.99997857e-01 7.43690935e-04 2.68077698e-01] [ 1.20420211e-03 -7.46018342e-04 9.99998997e-01 -2.85324063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.843133365 meters Centerline goodness [0,1] 0.26161587557453114 Centerline is valid? [False, False] Translation: X:0.53, Y:0.27, Z:-0.29 [[ 9.99997300e-01 -1.98884937e-03 -1.20149711e-03 5.34903739e-01] [ 1.98949045e-03 9.99997879e-01 5.32612253e-04 2.69052506e-01] [ 1.20043528e-03 -5.35001182e-04 9.99999136e-01 -2.85204741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.873133364999997 meters Centerline goodness [0,1] 0.26095729908002085 Centerline is valid? [False, False] Translation: X:0.53, Y:0.27, Z:-0.29 [[ 9.99997440e-01 -1.96555155e-03 -1.12113188e-03 5.34855827e-01] [ 1.96609624e-03 9.99997950e-01 4.84944907e-04 2.69580878e-01] [ 1.12017639e-03 -4.87147919e-04 9.99999254e-01 -2.85502521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.903133365 meters Centerline goodness [0,1] 0.2710282407205953 Centerline is valid? [False, False] Translation: X:0.53, Y:0.27, Z:-0.29 [[ 9.99997546e-01 -1.95085521e-03 -1.04989336e-03 5.34669215e-01] [ 1.95133212e-03 9.99997993e-01 4.53408632e-04 2.69814062e-01] [ 1.04900672e-03 -4.55456210e-04 9.99999346e-01 -2.85507088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.933133365 meters Centerline goodness [0,1] 0.26979700369673776 Centerline is valid? [False, False] Translation: X:0.53, Y:0.27, Z:-0.29 [[ 9.99997407e-01 -1.96330466e-03 -1.15366245e-03 5.34881229e-01] [ 1.96368039e-03 9.99998019e-01 3.24636990e-04 2.70305262e-01] [ 1.15302281e-03 -3.26901573e-04 9.99999282e-01 -2.85516935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.963133364999997 meters Centerline goodness [0,1] 0.2571317929521105 Centerline is valid? [False, False] Translation: X:0.54, Y:0.27, Z:-0.29 [[ 9.99997333e-01 -1.95335909e-03 -1.23229444e-03 5.35159425e-01] [ 1.95358764e-03 9.99998075e-01 1.84296132e-04 2.71198433e-01] [ 1.23193207e-03 -1.86703035e-04 9.99999224e-01 -2.85729474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.993133365 meters Centerline goodness [0,1] 0.2695372023161653 Centerline is valid? [False, False] Translation: X:0.51, Y:0.27, Z:-0.29 [[ 9.99975247e-01 6.87087891e-03 -1.51507111e-03 5.14485458e-01] [-6.87177156e-03 9.99976218e-01 -5.84764907e-04 2.67038662e-01] [ 1.51101723e-03 5.95161655e-04 9.99998681e-01 -2.86559353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.023133365 meters Centerline goodness [0,1] 0.26140400584094325 Centerline is valid? [False, False] Translation: X:0.51, Y:0.27, Z:-0.29 [[ 9.99975549e-01 6.90121642e-03 -1.12896453e-03 5.13427475e-01] [-6.90212661e-03 9.99975857e-01 -8.04317113e-04 2.68601884e-01] [ 1.12338651e-03 8.12089703e-04 9.99999039e-01 -2.86427192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.053133365 meters Centerline goodness [0,1] 0.25896011027828036 Centerline is valid? [False, False] Translation: X:0.53, Y:0.28, Z:-0.29 [[ 9.99999956e-01 2.49569507e-04 1.61446044e-04 5.31707599e-01] [-2.49742300e-04 9.99999395e-01 1.07115372e-03 2.76931499e-01] [-1.61178619e-04 -1.07119399e-03 9.99999413e-01 -2.85461724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.083133365 meters Centerline goodness [0,1] 0.258620316925006 Centerline is valid? [False, False] Translation: X:0.53, Y:0.28, Z:-0.29 [[ 9.99999952e-01 1.36631396e-04 2.78532039e-04 5.31449315e-01] [-1.36826398e-04 9.99999745e-01 7.00204349e-04 2.78737207e-01] [-2.78436298e-04 -7.00242426e-04 9.99999716e-01 -2.85628107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.113133365 meters Centerline goodness [0,1] 0.2585267799247828 Centerline is valid? [False, False] Translation: X:0.53, Y:0.28, Z:-0.29 [[ 9.99999957e-01 3.83115516e-05 2.91035866e-04 5.31590968e-01] [-3.84314180e-05 9.99999914e-01 4.11866599e-04 2.80044170e-01] [-2.91020062e-04 -4.11877766e-04 9.99999873e-01 -2.86012430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.143133365 meters Centerline goodness [0,1] 0.26003422357961314 Centerline is valid? [False, False] Translation: X:0.53, Y:0.28, Z:-0.29 [[ 9.99999952e-01 -1.03409885e-04 2.93772350e-04 5.31879010e-01] [ 1.03404421e-04 9.99999994e-01 1.86169898e-05 2.81854348e-01] [-2.93774274e-04 -1.85866116e-05 9.99999957e-01 -2.86591388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.173133364999998 meters Centerline goodness [0,1] 0.26031704725348603 Centerline is valid? [False, False] Translation: X:0.53, Y:0.28, Z:-0.29 [[ 9.99999962e-01 -1.63507796e-04 2.22281520e-04 5.31921213e-01] [ 1.63525202e-04 9.99999984e-01 -7.82908167e-05 2.82250916e-01] [-2.22268715e-04 7.83271624e-05 9.99999972e-01 -2.86377496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.203133365 meters Centerline goodness [0,1] 0.2548106966621415 Centerline is valid? [False, False] Translation: X:0.53, Y:0.28, Z:-0.29 [[ 9.99999946e-01 -2.16681756e-04 2.46454678e-04 5.31722378e-01] [ 2.16708405e-04 9.99999971e-01 -1.08108734e-04 2.82279101e-01] [-2.46431245e-04 1.08162137e-04 9.99999964e-01 -2.86115449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.233133365 meters Centerline goodness [0,1] 0.2598281697474616 Centerline is valid? [False, False] Translation: X:0.53, Y:0.28, Z:-0.29 [[ 9.99999940e-01 -2.52930916e-04 2.37622656e-04 5.31578161e-01] [ 2.52950107e-04 9.99999965e-01 -8.07385812e-05 2.82010190e-01] [-2.37602227e-04 8.07986830e-05 9.99999969e-01 -2.85774720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.263133364999998 meters Centerline goodness [0,1] 0.26948285247686443 Centerline is valid? [False, False] Translation: X:0.53, Y:0.28, Z:-0.29 [[ 9.99999948e-01 -3.12192956e-04 -8.38019431e-05 5.32655911e-01] [ 3.12189949e-04 9.99999951e-01 -3.58942469e-05 2.81729874e-01] [ 8.38131449e-05 3.58680829e-05 9.99999996e-01 -2.86204368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.293133365 meters Centerline goodness [0,1] 0.25967783839958436 Centerline is valid? [False, False] Translation: X:0.53, Y:0.28, Z:-0.29 [[ 9.99999854e-01 -3.22735331e-04 -4.32667869e-04 5.33964773e-01] [ 3.22736790e-04 9.99999948e-01 3.30007870e-06 2.81487839e-01] [ 4.32666781e-04 -3.43971605e-06 9.99999906e-01 -2.86938684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.323133365 meters Centerline goodness [0,1] 0.2592648944725803 Centerline is valid? [False, False] Translation: X:0.54, Y:0.28, Z:-0.29 [[ 9.99999610e-01 -3.43711510e-04 -8.13841206e-04 5.35208121e-01] [ 3.43770798e-04 9.99999938e-01 7.27117562e-05 2.80878775e-01] [ 8.13816164e-04 -7.29915027e-05 9.99999666e-01 -2.87444414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.353133364999998 meters Centerline goodness [0,1] 0.25826397146254454 Centerline is valid? [False, False] Translation: X:0.54, Y:0.28, Z:-0.29 [[ 9.99999133e-01 -3.82488523e-04 -1.25970567e-03 5.36453877e-01] [ 3.82688792e-04 9.99999914e-01 1.58743732e-04 2.80132022e-01] [ 1.25964485e-03 -1.59225670e-04 9.99999194e-01 -2.87728430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.383133365 meters Centerline goodness [0,1] 0.25668704209476745 Centerline is valid? [False, False] Translation: X:0.54, Y:0.28, Z:-0.29 [[ 9.99998897e-01 -5.10653867e-04 -1.39440778e-03 5.36690521e-01] [ 5.11263239e-04 9.99999774e-01 4.36690118e-04 2.77975091e-01] [ 1.39418447e-03 -4.37402546e-04 9.99998932e-01 -2.87425265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.413133365 meters Centerline goodness [0,1] 0.25641750168452626 Centerline is valid? [False, False] Translation: X:0.54, Y:0.28, Z:-0.29 [[ 9.99999145e-01 -4.73898417e-04 -1.21896127e-03 5.35902621e-01] [ 4.74726913e-04 9.99999656e-01 6.79473888e-04 2.76670404e-01] [ 1.21863885e-03 -6.80051981e-04 9.99999026e-01 -2.86725971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.443133364999998 meters Centerline goodness [0,1] 0.2608164156297752 Centerline is valid? [False, False] Translation: X:0.53, Y:0.28, Z:-0.29 [[ 9.99999435e-01 -4.23485771e-04 -9.75015421e-04 5.34939936e-01] [ 4.24401343e-04 9.99999469e-01 9.39017650e-04 2.75387432e-01] [ 9.74617242e-04 -9.39430918e-04 9.99999084e-01 -2.86015718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.473133365 meters Centerline goodness [0,1] 0.2560970327052199 Centerline is valid? [False, False] Translation: X:0.53, Y:0.27, Z:-0.29 [[ 9.99999569e-01 -3.52544211e-04 -8.58497315e-04 5.34365294e-01] [ 3.53573662e-04 9.99999218e-01 1.19927525e-03 2.74178523e-01] [ 8.58073846e-04 -1.19957827e-03 9.99998912e-01 -2.85497574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.503133365 meters Centerline goodness [0,1] 0.26020785319824324 Centerline is valid? [False, False] Translation: X:0.54, Y:0.27, Z:-0.29 [[ 9.99999396e-01 -2.18793911e-04 -1.07720022e-03 5.35039947e-01] [ 2.20621270e-04 9.99998536e-01 1.69657050e-03 2.71713479e-01] [ 1.07682744e-03 -1.69680713e-03 9.99997981e-01 -2.85646974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.533133364999998 meters Centerline goodness [0,1] 0.27039127895658943 Centerline is valid? [False, False] Translation: X:0.54, Y:0.27, Z:-0.29 [[ 9.99999125e-01 -1.76128425e-04 -1.31140080e-03 5.35865556e-01] [ 1.78621187e-04 9.99998177e-01 1.90096471e-03 2.70444993e-01] [ 1.31106359e-03 -1.90119729e-03 9.99997333e-01 -2.86007078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.563133365 meters Centerline goodness [0,1] 0.262809410010743 Centerline is valid? [False, False] Translation: X:0.49, Y:0.27, Z:-0.28 [[ 9.99992635e-01 -4.08098012e-04 -3.81617632e-03 4.90347083e-01] [ 4.13606794e-04 9.99998874e-01 1.44285677e-03 2.66009412e-01] [ 3.81558320e-03 -1.44442454e-03 9.99991677e-01 -2.84617308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.593133365 meters Centerline goodness [0,1] 0.2587930959523499 Centerline is valid? [False, False] Translation: X:0.49, Y:0.26, Z:-0.28 [[ 9.99993955e-01 -3.20954704e-04 -3.46228238e-03 4.88811386e-01] [ 3.27110077e-04 9.99998367e-01 1.77741705e-03 2.64079508e-01] [ 3.46170625e-03 -1.77853885e-03 9.99992427e-01 -2.83430227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.623133364999997 meters Centerline goodness [0,1] 0.260393349994567 Centerline is valid? [False, False] Translation: X:0.49, Y:0.26, Z:-0.28 [[ 9.99994601e-01 -2.34080064e-04 -3.27754157e-03 4.87983117e-01] [ 2.40514946e-04 9.99998044e-01 1.96306929e-03 2.63377468e-01] [ 3.27707565e-03 -1.96384699e-03 9.99992702e-01 -2.82817441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.653133365 meters Centerline goodness [0,1] 0.2753537217681694 Centerline is valid? [False, False] Translation: X:0.47, Y:0.26, Z:-0.28 [[ 0.99996259 0.00814445 -0.00291416 0.46787228] [-0.00814118 0.99996622 0.00113182 0.2570826 ] [ 0.00292328 -0.00110805 0.99999511 -0.28387072] [ 0. 0. 0. 1. ]] SLAMing on 28.683133365 meters Centerline goodness [0,1] 0.2732608885397574 Centerline is valid? [False, False] Translation: X:0.49, Y:0.26, Z:-0.28 [[ 9.99996005e-01 1.08567193e-04 -2.82441340e-03 4.86303837e-01] [-1.02014993e-04 9.99997304e-01 2.31988527e-03 2.61406948e-01] [ 2.82465765e-03 -2.31958787e-03 9.99993320e-01 -2.82354587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.713133364999997 meters Centerline goodness [0,1] 0.25706708066498485 Centerline is valid? [False, False] Translation: X:0.51, Y:0.26, Z:-0.28 [[ 0.99996171 0.00819606 -0.00306724 0.50770109] [-0.00819178 0.99996546 0.00140735 0.2574269 ] [ 0.00307867 -0.00138217 0.99999431 -0.28158458] [ 0. 0. 0. 1. ]] SLAMing on 28.743133365 meters Centerline goodness [0,1] 0.25931303499837466 Centerline is valid? [False, False] Translation: X:0.51, Y:0.26, Z:-0.28 [[ 0.99996137 0.00822638 -0.00309647 0.50789629] [-0.00822201 0.99996519 0.00142272 0.25728712] [ 0.00310806 -0.00139721 0.99999419 -0.28185473] [ 0. 0. 0. 1. ]] SLAMing on 28.773133365 meters Centerline goodness [0,1] 0.2603816909646254 Centerline is valid? [False, False] Translation: X:0.51, Y:0.26, Z:-0.28 [[ 0.99996114 0.00827268 -0.0030476 0.50770405] [-0.00826814 0.99996469 0.00149938 0.25690019] [ 0.0030599 -0.00147412 0.99999423 -0.28177164] [ 0. 0. 0. 1. ]] SLAMing on 28.803133364999997 meters Centerline goodness [0,1] 0.26152468717926325 Centerline is valid? [False, False] Translation: X:0.49, Y:0.26, Z:-0.28 [[ 9.99998593e-01 2.60490136e-04 -1.65745066e-03 4.86677239e-01] [-2.56682696e-04 9.99997329e-01 2.29696464e-03 2.57900673e-01] [ 1.65804457e-03 -2.29653597e-03 9.99995988e-01 -2.83214473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.833133365 meters Centerline goodness [0,1] 0.25914884424281703 Centerline is valid? [False, False] Translation: X:0.51, Y:0.25, Z:-0.28 [[ 9.99967786e-01 8.01956817e-03 -3.36514584e-04 5.05978443e-01] [-8.01923305e-03 9.99967360e-01 9.85648548e-04 2.53819626e-01] [ 3.44408076e-04 -9.82918208e-04 9.99999458e-01 -2.81958291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.863133365 meters Centerline goodness [0,1] 0.2626353002793296 Centerline is valid? [False, False] Translation: X:0.48, Y:0.26, Z:-0.28 [[ 9.99999852e-01 -4.85629089e-04 2.46108932e-04 4.84525670e-01] [ 4.85194765e-04 9.99998330e-01 1.76176164e-03 2.55639947e-01] [-2.46964084e-04 -1.76164196e-03 9.99998418e-01 -2.83248772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.893133365 meters Centerline goodness [0,1] 0.27487994334653776 Centerline is valid? [False, False] Translation: X:0.47, Y:0.25, Z:-0.28 [[ 9.99969138e-01 7.53743899e-03 -2.21582118e-03 4.66721732e-01] [-7.53579487e-03 9.99971325e-01 7.49408841e-04 2.47566674e-01] [ 2.22140627e-03 -7.32687739e-04 9.99997264e-01 -2.84808435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.923133364999998 meters Centerline goodness [0,1] 0.25995035708064795 Centerline is valid? [False, False] Translation: X:0.49, Y:0.25, Z:-0.28 [[ 9.99995668e-01 -5.99257810e-04 -2.88169012e-03 4.88115005e-01] [ 6.04274768e-04 9.99998303e-01 1.74042241e-03 2.51174024e-01] [ 2.88064227e-03 -1.74215620e-03 9.99994333e-01 -2.84787155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.953133365 meters Centerline goodness [0,1] 0.2608267501148872 Centerline is valid? [False, False] Translation: X:0.49, Y:0.25, Z:-0.29 [[ 9.99995202e-01 -4.90122986e-04 -3.05870296e-03 4.88728257e-01] [ 4.96857559e-04 9.99997453e-01 2.20140266e-03 2.48707040e-01] [ 3.05761622e-03 -2.20291184e-03 9.99992899e-01 -2.85037364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.983133365 meters Centerline goodness [0,1] 0.26016719140158506 Centerline is valid? [False, False] Translation: X:0.49, Y:0.24, Z:-0.28 [[ 9.99987885e-01 -4.01138068e-03 -2.85272372e-03 4.87694378e-01] [ 4.00983112e-03 9.99991810e-01 -5.48699247e-04 2.43445839e-01] [ 2.85490140e-03 5.37253659e-04 9.99995780e-01 -2.84047263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.013133364999998 meters Centerline goodness [0,1] 0.25872364449655827 Centerline is valid? [False, False] Translation: X:0.49, Y:0.24, Z:-0.28 [[ 9.99988298e-01 -3.97020383e-03 -2.76422853e-03 4.87344577e-01] [ 3.97047362e-03 9.99992113e-01 9.21214295e-05 2.39635978e-01] [ 2.76384099e-03 -1.03095648e-04 9.99996175e-01 -2.83658561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.043133365 meters Centerline goodness [0,1] 0.25829835114900246 Centerline is valid? [False, False] Translation: X:0.49, Y:0.24, Z:-0.28 [[ 9.99988200e-01 -3.90603103e-03 -2.88849318e-03 4.87759705e-01] [ 3.90820728e-03 9.99992083e-01 7.48159832e-04 2.35735818e-01] [ 2.88554797e-03 -7.59439834e-04 9.99995548e-01 -2.83696208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.073133365 meters Centerline goodness [0,1] 0.26263222309642453 Centerline is valid? [False, False] Translation: X:0.47, Y:0.22, Z:-0.29 [[ 0.99999767 0.00165293 -0.00138491 0.46846596] [-0.00165469 0.99999782 -0.00127167 0.2232747 ] [ 0.00138281 0.00127395 0.99999823 -0.28600459] [ 0. 0. 0. 1. ]] SLAMing on 29.103133364999998 meters Centerline goodness [0,1] 0.2574751907984347 Centerline is valid? [False, False] Translation: X:0.49, Y:0.23, Z:-0.29 [[ 9.99979424e-01 -6.33752673e-03 -9.93735454e-04 4.88625808e-01] [ 6.33759263e-03 9.99979915e-01 6.31831516e-05 2.25413024e-01] [ 9.93315070e-04 -6.94797420e-05 9.99999504e-01 -2.85598931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.133133365 meters Centerline goodness [0,1] 0.2567406605305902 Centerline is valid? [False, False] Translation: X:0.49, Y:0.22, Z:-0.29 [[ 9.99980398e-01 -6.17670800e-03 -1.02529730e-03 4.88811576e-01] [ 6.17713325e-03 9.99980836e-01 4.12110904e-04 2.23798368e-01] [ 1.02273216e-03 -4.18436224e-04 9.99999389e-01 -2.85743220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.163133365 meters Centerline goodness [0,1] 0.2564573255010366 Centerline is valid? [False, False] Translation: X:0.49, Y:0.22, Z:-0.29 [[ 9.99981217e-01 -6.02953756e-03 -1.10006726e-03 4.89215399e-01] [ 6.03019791e-03 9.99981639e-01 5.97951941e-04 2.23208079e-01] [ 1.09644168e-03 -6.04574333e-04 9.99999216e-01 -2.86163062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.193133364999998 meters Centerline goodness [0,1] 0.25840413342845403 Centerline is valid? [False, False] Translation: X:0.49, Y:0.22, Z:-0.29 [[ 9.99982967e-01 -5.44681056e-03 -2.09723527e-03 4.92029045e-01] [ 5.44860133e-03 9.99984796e-01 8.49107259e-04 2.23558270e-01] [ 2.09257846e-03 -8.60519795e-04 9.99997440e-01 -2.87062629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.223133365 meters Centerline goodness [0,1] 0.2564274584487535 Centerline is valid? [False, False] Translation: X:0.49, Y:0.22, Z:-0.29 [[ 9.99982748e-01 -5.38977620e-03 -2.33542248e-03 4.92623945e-01] [ 5.39135151e-03 9.99985243e-01 6.68756161e-04 2.24771208e-01] [ 2.33178357e-03 -6.81335707e-04 9.99997049e-01 -2.87223659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.253133365 meters Centerline goodness [0,1] 0.2574514599883114 Centerline is valid? [False, False] Translation: X:0.49, Y:0.23, Z:-0.29 [[ 9.99983703e-01 -5.28692189e-03 -2.15468012e-03 4.92055298e-01] [ 5.28820352e-03 9.99985844e-01 5.89546342e-04 2.25750076e-01] [ 2.15153273e-03 -6.00931121e-04 9.99997505e-01 -2.87143794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.283133364999998 meters Centerline goodness [0,1] 0.2605624591236102 Centerline is valid? [False, False] Translation: X:0.47, Y:0.22, Z:-0.29 [[ 9.99994383e-01 3.10145007e-03 -1.27050150e-03 4.71273658e-01] [-3.10160920e-03 9.99995182e-01 -1.23294114e-04 2.21096562e-01] [ 1.27011299e-03 1.27234020e-04 9.99999185e-01 -2.87990738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.313133365 meters Centerline goodness [0,1] 0.26862949452840024 Centerline is valid? [False, False] Translation: X:0.47, Y:0.22, Z:-0.29 [[ 9.99995067e-01 3.03720744e-03 -8.00391567e-04 4.70052053e-01] [-3.03747495e-03 9.99995331e-01 -3.33220448e-04 2.22072378e-01] [ 7.99375771e-04 3.35649974e-04 9.99999624e-01 -2.87915273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.343133365 meters Centerline goodness [0,1] 0.259593137468896 Centerline is valid? [False, False] Translation: X:0.47, Y:0.22, Z:-0.29 [[ 9.99995234e-01 2.97569926e-03 -8.22724348e-04 4.70246160e-01] [-2.97602204e-03 9.99995495e-01 -3.91379962e-04 2.21996435e-01] [ 8.21556012e-04 3.93826542e-04 9.99999585e-01 -2.88161857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.373133364999997 meters Centerline goodness [0,1] 0.2567952983881423 Centerline is valid? [False, False] Translation: X:0.49, Y:0.23, Z:-0.29 [[ 9.99987434e-01 -4.93757702e-03 -8.66853126e-04 4.89561770e-01] [ 4.93820380e-03 9.99987546e-01 7.22403016e-04 2.27075139e-01] [ 8.63275410e-04 -7.26674636e-04 9.99999363e-01 -2.86894670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.403133365 meters Centerline goodness [0,1] 0.2574557416785699 Centerline is valid? [False, False] Translation: X:0.49, Y:0.23, Z:-0.29 [[ 9.99988182e-01 -4.79975676e-03 -7.73508999e-04 4.88922200e-01] [ 4.80053449e-03 9.99987971e-01 1.00676192e-03 2.26365985e-01] [ 7.68667482e-04 -1.01046328e-03 9.99999194e-01 -2.86235427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.433133365 meters Centerline goodness [0,1] 0.2725384749912557 Centerline is valid? [False, False] Translation: X:0.47, Y:0.22, Z:-0.29 [[ 9.99995195e-01 3.09963748e-03 -3.84238188e-05 4.68989104e-01] [-3.09963303e-03 9.99995189e-01 1.15184081e-04 2.20099644e-01] [ 3.87806629e-05 -1.15064428e-04 9.99999993e-01 -2.87188347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.463133364999997 meters Centerline goodness [0,1] 0.254224502112251 Centerline is valid? [False, False] Translation: X:0.49, Y:0.22, Z:-0.29 [[ 9.99985404e-01 -5.19846695e-03 1.47229582e-03 4.88497693e-01] [ 5.19711891e-03 9.99986074e-01 9.17954781e-04 2.24802139e-01] [-1.47704727e-03 -9.10289686e-04 9.99998495e-01 -2.86649822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.493133365 meters Centerline goodness [0,1] 0.2550622129256248 Centerline is valid? [False, False] Translation: X:0.49, Y:0.22, Z:-0.29 [[ 9.99985081e-01 -5.30211424e-03 1.31370487e-03 4.89081132e-01] [ 5.30096292e-03 9.99985564e-01 8.78326442e-04 2.24485156e-01] [-1.31834290e-03 -8.71349437e-04 9.99998751e-01 -2.86956229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.523133365 meters Centerline goodness [0,1] 0.27298484515703936 Centerline is valid? [False, False] Translation: X:0.47, Y:0.22, Z:-0.29 [[ 9.99995253e-01 3.06030017e-03 -3.59405033e-04 4.69656042e-01] [-3.06031343e-03 9.99995317e-01 -3.63450630e-05 2.20226943e-01] [ 3.59292123e-04 3.74447825e-05 9.99999935e-01 -2.87642967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.553133364999997 meters Centerline goodness [0,1] 0.2580708106584567 Centerline is valid? [False, False] Translation: X:0.49, Y:0.23, Z:-0.29 [[ 9.99994735e-01 -3.15662133e-03 -7.52450173e-04 4.92310907e-01] [ 3.15854739e-03 9.99991703e-01 2.57242058e-03 2.25006762e-01] [ 7.44323772e-04 -2.57478369e-03 9.99996408e-01 -2.88268010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.583133365 meters Centerline goodness [0,1] 0.2601631349909248 Centerline is valid? [False, False] Translation: X:0.47, Y:0.22, Z:-0.29 [[ 9.99989136e-01 4.50413537e-03 -1.20034329e-03 4.73174936e-01] [-4.50338114e-03 9.99989661e-01 6.30304888e-04 2.21662488e-01] [ 1.20316986e-03 -6.24892437e-04 9.99999081e-01 -2.89632924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.613133365 meters Centerline goodness [0,1] 0.25709392816110643 Centerline is valid? [False, False] Translation: X:0.49, Y:0.23, Z:-0.29 [[ 9.99994431e-01 -3.27014901e-03 -6.66514576e-04 4.91150494e-01] [ 3.27132608e-03 9.99993078e-01 1.77263530e-03 2.28391600e-01] [ 6.60713181e-04 -1.77480581e-03 9.99998207e-01 -2.87784208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.643133365 meters Centerline goodness [0,1] 0.2601899228167548 Centerline is valid? [False, False] Translation: X:0.49, Y:0.23, Z:-0.29 [[ 9.99994530e-01 -3.26795042e-03 -5.10491964e-04 4.90367480e-01] [ 3.26876913e-03 9.99993359e-01 1.61125026e-03 2.29717571e-01] [ 5.05223088e-04 -1.61291013e-03 9.99998572e-01 -2.87219613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.673133364999998 meters Centerline goodness [0,1] 0.26397135871463495 Centerline is valid? [False, False] Translation: X:0.49, Y:0.23, Z:-0.29 [[ 9.99994681e-01 -3.24152175e-03 -3.61081795e-04 4.89755890e-01] [ 3.24205764e-03 9.99993629e-01 1.49354248e-03 2.30945365e-01] [ 3.56238144e-04 -1.49470518e-03 9.99998819e-01 -2.86868826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.703133365 meters Centerline goodness [0,1] 0.26397135871463495 Centerline is valid? [False, False] Translation: X:0.49, Y:0.23, Z:-0.29 [[ 9.99994681e-01 -3.24152175e-03 -3.61081795e-04 4.89755890e-01] [ 3.24205764e-03 9.99993629e-01 1.49354248e-03 2.30945365e-01] [ 3.56238144e-04 -1.49470518e-03 9.99998819e-01 -2.86868826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.733133365 meters Centerline goodness [0,1] 0.26107139743701513 Centerline is valid? [False, False] Translation: X:0.49, Y:0.23, Z:-0.29 [[ 9.99993873e-01 -3.44217513e-03 -6.36480328e-04 4.90946057e-01] [ 3.44283852e-03 9.99993528e-01 1.04414109e-03 2.32774027e-01] [ 6.32882092e-04 -1.04632600e-03 9.99999252e-01 -2.87786658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.763133364999998 meters Centerline goodness [0,1] 0.2613217626409088 Centerline is valid? [False, False] Translation: X:0.49, Y:0.23, Z:-0.29 [[ 9.99993263e-01 -3.54852719e-03 -9.39350617e-04 4.92011344e-01] [ 3.54928883e-03 9.99993373e-01 8.10391784e-04 2.33562603e-01] [ 9.36468694e-04 -8.13720351e-04 9.99999230e-01 -2.88420589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.793133365 meters Centerline goodness [0,1] 0.2613489401810569 Centerline is valid? [False, False] Translation: X:0.49, Y:0.23, Z:-0.29 [[ 9.99992939e-01 -3.58003941e-03 -1.14291116e-03 4.92707706e-01] [ 3.58077478e-03 9.99993383e-01 6.42018757e-04 2.34590647e-01] [ 1.14060514e-03 -6.46106731e-04 9.99999141e-01 -2.88856893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.823133365 meters Centerline goodness [0,1] 0.2627086953652581 Centerline is valid? [False, False] Translation: X:0.49, Y:0.24, Z:-0.29 [[ 9.99993212e-01 -3.50174602e-03 -1.14602633e-03 4.92506717e-01] [ 3.50226056e-03 9.99993767e-01 4.47272828e-04 2.36706888e-01] [ 1.14445295e-03 -4.51283475e-04 9.99999243e-01 -2.88659342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.853133364999998 meters Centerline goodness [0,1] 0.26116022821305696 Centerline is valid? [False, False] Translation: X:0.51, Y:0.23, Z:-0.29 [[ 9.99990956e-01 4.24578122e-03 2.48562325e-04 5.11459359e-01] [-4.24550114e-03 9.99990364e-01 -1.11669847e-03 2.34844639e-01] [-2.53301187e-04 1.11563310e-03 9.99999346e-01 -2.87321885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.883133365 meters Centerline goodness [0,1] 0.2587458314261427 Centerline is valid? [False, False] Translation: X:0.51, Y:0.23, Z:-0.29 [[ 9.99991213e-01 4.16783415e-03 4.49692951e-04 5.10727407e-01] [-4.16731557e-03 9.99990658e-01 -1.14802696e-03 2.34354016e-01] [-4.54473536e-04 1.14614286e-03 9.99999240e-01 -2.86895391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.913133365 meters Centerline goodness [0,1] 0.2591669015764252 Centerline is valid? [False, False] Translation: X:0.51, Y:0.23, Z:-0.29 [[ 9.99991137e-01 4.15824788e-03 6.58815130e-04 5.09710354e-01] [-4.15763413e-03 9.99990924e-01 -9.30236653e-04 2.32937203e-01] [-6.62677305e-04 9.27489296e-04 9.99999350e-01 -2.86008096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.943133364999998 meters Centerline goodness [0,1] 0.259172470654603 Centerline is valid? [False, False] Translation: X:0.51, Y:0.23, Z:-0.29 [[ 9.99990658e-01 4.27583274e-03 6.33388192e-04 5.09802784e-01] [-4.27542501e-03 9.99990653e-01 -6.43685947e-04 2.31776761e-01] [-6.36134565e-04 6.40971930e-04 9.99999592e-01 -2.86016726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.973133365 meters Centerline goodness [0,1] 0.25910577971646676 Centerline is valid? [False, False] Translation: X:0.51, Y:0.23, Z:-0.29 [[ 9.99990260e-01 4.38071206e-03 5.37607632e-04 5.10260227e-01] [-4.38052539e-03 9.99990345e-01 -3.47922863e-04 2.30413682e-01] [-5.39126591e-04 3.45564471e-04 9.99999795e-01 -2.86357198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.003133365 meters Centerline goodness [0,1] 0.2713294621691569 Centerline is valid? [False, False] Translation: X:0.51, Y:0.23, Z:-0.29 [[ 9.99995394e-01 3.02590739e-03 -2.35178862e-04 5.14407039e-01] [-3.02628133e-03 9.99994131e-01 -1.60625670e-03 2.28835076e-01] [ 2.30317098e-04 1.60696102e-03 9.99998682e-01 -2.89054332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.033133364999998 meters Centerline goodness [0,1] 0.2688937449966464 Centerline is valid? [False, False] Translation: X:0.51, Y:0.23, Z:-0.29 [[ 9.99995163e-01 3.10509454e-03 -1.78388389e-04 5.14152535e-01] [-3.10533666e-03 9.99994235e-01 -1.37336971e-03 2.27545894e-01] [ 1.74122918e-04 1.37391702e-03 9.99999041e-01 -2.88844490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.063133365 meters Centerline goodness [0,1] 0.2558826701175455 Centerline is valid? [False, False] Translation: X:0.51, Y:0.23, Z:-0.29 [[ 9.99994818e-01 3.21879450e-03 -4.84699604e-05 5.13607210e-01] [-3.21884757e-03 9.99994172e-01 -1.13773357e-03 2.26538919e-01] [ 4.48075474e-05 1.13788369e-03 9.99999352e-01 -2.88474608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.093133365 meters Centerline goodness [0,1] 0.268766857266156 Centerline is valid? [False, False] Translation: X:0.51, Y:0.23, Z:-0.29 [[ 9.99994580e-01 3.29227341e-03 4.15005718e-05 5.13284282e-01] [-3.29223213e-03 9.99994121e-01 -9.58416045e-04 2.25622211e-01] [-4.46556955e-05 9.58274221e-04 9.99999540e-01 -2.88306001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.123133364999997 meters Centerline goodness [0,1] 0.27060920214731254 Centerline is valid? [False, False] Translation: X:0.51, Y:0.22, Z:-0.29 [[ 9.99994205e-01 3.40448073e-03 1.16199388e-05 5.13179346e-01] [-3.40447443e-03 9.99994078e-01 -5.04234568e-04 2.22581726e-01] [-1.33365269e-05 5.04192086e-04 9.99999873e-01 -2.87985230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.153133365 meters Centerline goodness [0,1] 0.25655580255973065 Centerline is valid? [False, False] Translation: X:0.51, Y:0.22, Z:-0.29 [[ 9.99993746e-01 3.53619070e-03 5.80482116e-05 5.12938549e-01] [-3.53618748e-03 9.99993746e-01 -5.54744196e-05 2.20201192e-01] [-5.82440167e-05 5.52688033e-05 9.99999997e-01 -2.87750600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.183133365 meters Centerline goodness [0,1] 0.27058006252170896 Centerline is valid? [False, False] Translation: X:0.51, Y:0.22, Z:-0.29 [[ 9.99992855e-01 3.77728035e-03 1.46423368e-04 5.12607209e-01] [-3.77736723e-03 9.99992687e-01 5.97727812e-04 2.17144910e-01] [-1.44164512e-04 -5.98276637e-04 9.99999811e-01 -2.87480298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.213133364999997 meters Centerline goodness [0,1] 0.2569247311827957 Centerline is valid? [False, False] Translation: X:0.53, Y:0.22, Z:-0.29 [[ 9.99990079e-01 -4.41313250e-03 6.05508945e-04 5.32703556e-01] [ 4.41190668e-03 9.99988245e-01 2.01106662e-03 2.18273189e-01] [-6.14376931e-04 -2.00837522e-03 9.99997794e-01 -2.86731694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.243133365 meters Centerline goodness [0,1] 0.25841727239393486 Centerline is valid? [False, False] Translation: X:0.53, Y:0.21, Z:-0.29 [[ 9.99967800e-01 -7.99413138e-03 7.02229673e-04 5.33099772e-01] [ 7.99462562e-03 9.99967795e-01 -7.03858950e-04 2.11331328e-01] [-6.96580317e-04 7.09450349e-04 9.99999506e-01 -2.87381768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.273133365 meters Centerline goodness [0,1] 0.25548278684992887 Centerline is valid? [False, False] Translation: X:0.53, Y:0.21, Z:-0.29 [[ 9.99969069e-01 -7.83970725e-03 6.33094751e-04 5.33361885e-01] [ 7.83974089e-03 9.99969267e-01 -5.06754388e-05 2.07547468e-01] [-6.32678014e-04 5.56371701e-05 9.99999798e-01 -2.87423212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.303133364999997 meters Centerline goodness [0,1] 0.27186560334684273 Centerline is valid? [False, False] Translation: X:0.51, Y:0.20, Z:-0.29 [[ 9.99999311e-01 2.69702761e-04 1.14267248e-03 5.13873267e-01] [-2.69842331e-04 9.99999956e-01 1.21991430e-04 1.95241114e-01] [-1.14263953e-03 -1.22299687e-04 9.99999340e-01 -2.88495589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.333133365 meters Centerline goodness [0,1] 0.2725869229598382 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.29 [[ 9.99999346e-01 4.50277605e-04 1.05153841e-03 5.14352744e-01] [-4.50858412e-04 9.99999746e-01 5.52168680e-04 1.93266053e-01] [-1.05128951e-03 -5.52642413e-04 9.99999295e-01 -2.88883822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.363133365 meters Centerline goodness [0,1] 0.2724496695530787 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.29 [[ 9.99999307e-01 5.89880626e-04 1.01873458e-03 5.14542786e-01] [-5.90840687e-04 9.99999381e-01 9.42361435e-04 1.91251568e-01] [-1.01817807e-03 -9.42962692e-04 9.99999037e-01 -2.89023071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.393133365 meters Centerline goodness [0,1] 0.2708274375775519 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.29 [[ 9.99999119e-01 7.32881199e-04 1.10638208e-03 5.14213808e-01] [-7.34353521e-04 9.99998845e-01 1.33093465e-03 1.89201511e-01] [-1.10540539e-03 -1.33174595e-03 9.99998502e-01 -2.88803024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.423133364999998 meters Centerline goodness [0,1] 0.25921370619713446 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.29 [[ 0.99999867 0.00104526 0.00125337 0.51387923] [-0.00104771 0.99999755 0.00195155 0.18637836] [-0.00125132 -0.00195286 0.99999731 -0.28880693] [ 0. 0. 0. 1. ]] SLAMing on 30.453133365 meters Centerline goodness [0,1] 0.26965146056686484 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.29 [[ 0.99999877 0.00113699 0.00107968 0.51459413] [-0.00113927 0.99999711 0.00211714 0.18558627] [-0.00107727 -0.00211837 0.99999718 -0.28929816] [ 0. 0. 0. 1. ]] SLAMing on 30.483133365 meters Centerline goodness [0,1] 0.26774694687783196 Centerline is valid? [False, False] Translation: X:0.52, Y:0.18, Z:-0.29 [[ 9.99998925e-01 1.19342376e-03 8.52217742e-04 5.15526510e-01] [-1.19533331e-03 9.99996768e-01 2.24369729e-03 1.84818087e-01] [-8.49537306e-04 -2.24471356e-03 9.99997120e-01 -2.89945079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.513133364999998 meters Centerline goodness [0,1] 0.26786523644054994 Centerline is valid? [False, False] Translation: X:0.52, Y:0.18, Z:-0.29 [[ 9.99999012e-01 1.22031204e-03 6.97190624e-04 5.16088992e-01] [-1.22193098e-03 9.99996547e-01 2.32640285e-03 1.84146907e-01] [-6.94349280e-04 -2.32725247e-03 9.99997051e-01 -2.90253838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.543133365 meters Centerline goodness [0,1] 0.2697295536005213 Centerline is valid? [False, False] Translation: X:0.52, Y:0.18, Z:-0.29 [[ 9.99999060e-01 1.22559721e-03 6.15324431e-04 5.16428264e-01] [-1.22701519e-03 9.99996581e-01 2.30938367e-03 1.83773205e-01] [-6.12491953e-04 -2.31013651e-03 9.99997144e-01 -2.90573441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.573133365 meters Centerline goodness [0,1] 0.2693588766735605 Centerline is valid? [False, False] Translation: X:0.52, Y:0.18, Z:-0.29 [[ 9.99998960e-01 1.26439298e-03 6.93132315e-04 5.16249056e-01] [-1.26595186e-03 9.99996660e-01 2.25322712e-03 1.84311333e-01] [-6.90281036e-04 -2.25410225e-03 9.99997221e-01 -2.90649199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.603133364999998 meters Centerline goodness [0,1] 0.2689161777215521 Centerline is valid? [False, False] Translation: X:0.52, Y:0.18, Z:-0.29 [[ 9.99998745e-01 1.35487854e-03 8.21608200e-04 5.15802633e-01] [-1.35675129e-03 9.99996473e-01 2.28310729e-03 1.84684293e-01] [-8.18511969e-04 -2.28421914e-03 9.99997056e-01 -2.90477661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.633133365 meters Centerline goodness [0,1] 0.26781310837118755 Centerline is valid? [False, False] Translation: X:0.52, Y:0.18, Z:-0.29 [[ 9.99998548e-01 1.46576178e-03 8.69751979e-04 5.15612635e-01] [-1.46778613e-03 9.99996205e-01 2.33145395e-03 1.84726952e-01] [-8.66331322e-04 -2.33272717e-03 9.99996904e-01 -2.90445493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.663133365 meters Centerline goodness [0,1] 0.26659609859367916 Centerline is valid? [False, False] Translation: X:0.52, Y:0.18, Z:-0.29 [[ 9.99998796e-01 1.42685966e-03 6.10171359e-04 5.16512845e-01] [-1.42826387e-03 9.99996319e-01 2.30712933e-03 1.84416801e-01] [-6.06877162e-04 -2.30799803e-03 9.99997152e-01 -2.90934364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.693133364999998 meters Centerline goodness [0,1] 0.2652134618695128 Centerline is valid? [False, False] Translation: X:0.52, Y:0.18, Z:-0.29 [[ 9.99998951e-01 1.42281839e-03 2.70738126e-04 5.17699319e-01] [-1.42345118e-03 9.99996222e-01 2.35159051e-03 1.83963573e-01] [-2.67391217e-04 -2.35197343e-03 9.99997198e-01 -2.91517621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.723133365 meters Centerline goodness [0,1] 0.2678964697673405 Centerline is valid? [False, False] Translation: X:0.47, Y:0.18, Z:-0.29 [[ 0.99999585 0.00161302 -0.00238914 0.47190686] [-0.00160498 0.99999305 0.00336534 0.17873812] [ 0.00239456 -0.00336149 0.99999148 -0.28966567] [ 0. 0. 0. 1. ]] SLAMing on 30.753133365 meters Centerline goodness [0,1] 0.2662634003530374 Centerline is valid? [False, False] Translation: X:0.49, Y:0.18, Z:-0.29 [[ 9.99952252e-01 9.76647085e-03 -3.30985640e-04 4.91213936e-01] [-9.76570109e-03 9.99949777e-01 2.25252510e-03 1.76371744e-01] [ 3.52968237e-04 -2.24918524e-03 9.99997408e-01 -2.88952481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.783133364999998 meters Centerline goodness [0,1] 0.2680513054235302 Centerline is valid? [False, False] Translation: X:0.47, Y:0.18, Z:-0.29 [[ 9.99999242e-01 1.01124426e-03 7.02131952e-04 4.69461622e-01] [-1.01313233e-03 9.99995858e-01 2.69392203e-03 1.79698343e-01] [-6.99404831e-04 -2.69463134e-03 9.99996125e-01 -2.89969840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.813133365 meters Centerline goodness [0,1] 0.2698960426312571 Centerline is valid? [False, False] Translation: X:0.47, Y:0.18, Z:-0.29 [[ 9.99999233e-01 9.95317205e-04 7.36518562e-04 4.69338683e-01] [-9.97268056e-04 9.99995983e-01 2.65313679e-03 1.80005842e-01] [-7.33874891e-04 -2.65386926e-03 9.99996209e-01 -2.89971082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.843133365 meters Centerline goodness [0,1] 0.2692986469703902 Centerline is valid? [False, False] Translation: X:0.47, Y:0.18, Z:-0.29 [[ 9.99999164e-01 9.94761355e-04 8.26187998e-04 4.69092757e-01] [-9.96851605e-04 9.99996294e-01 2.53344619e-03 1.81064781e-01] [-8.23664762e-04 -2.53426766e-03 9.99996450e-01 -2.89972746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.873133364999997 meters Centerline goodness [0,1] 0.267531792283195 Centerline is valid? [False, False] Translation: X:0.47, Y:0.18, Z:-0.29 [[ 9.99999188e-01 9.38364635e-04 8.61797700e-04 4.69034032e-01] [-9.40362457e-04 9.99996865e-01 2.32072983e-03 1.82313778e-01] [-8.59617308e-04 -2.32153835e-03 9.99996936e-01 -2.90029803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.903133365 meters Centerline goodness [0,1] 0.2710333515582285 Centerline is valid? [False, False] Translation: X:0.47, Y:0.19, Z:-0.29 [[ 9.99999581e-01 6.10599430e-04 6.81409797e-04 4.69488022e-01] [-6.11676530e-04 9.99998562e-01 1.58160602e-03 1.85306108e-01] [-6.80443089e-04 -1.58202216e-03 9.99998517e-01 -2.90197874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.933133365 meters Centerline goodness [0,1] 0.26787800129785855 Centerline is valid? [False, False] Translation: X:0.49, Y:0.19, Z:-0.29 [[ 9.99977252e-01 -6.74302510e-03 1.64709686e-04 4.88250989e-01] [ 6.74258048e-03 9.99973978e-01 2.56534635e-03 1.93441081e-01] [-1.82003595e-04 -2.56417742e-03 9.99996696e-01 -2.88674395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.963133364999997 meters Centerline goodness [0,1] 0.26987065023300383 Centerline is valid? [False, False] Translation: X:0.47, Y:0.19, Z:-0.29 [[ 9.99998927e-01 1.43637362e-03 2.87566895e-04 4.68710785e-01] [-1.43687190e-03 9.99997454e-01 1.74008634e-03 1.89687729e-01] [-2.85066749e-04 -1.74049767e-03 9.99998445e-01 -2.89548102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.993133365 meters Centerline goodness [0,1] 0.2691782750926146 Centerline is valid? [False, False] Translation: X:0.47, Y:0.19, Z:-0.29 [[ 9.99999149e-01 1.26812988e-03 3.06954902e-04 4.68317255e-01] [-1.26859832e-03 9.99998024e-01 1.53076091e-03 1.90959700e-01] [-3.05013091e-04 -1.53114901e-03 9.99998781e-01 -2.88940479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.023133365 meters Centerline goodness [0,1] 0.25776913940179247 Centerline is valid? [False, False] Translation: X:0.47, Y:0.19, Z:-0.29 [[ 9.99999485e-01 1.01191821e-03 8.12088268e-05 4.68850715e-01] [-1.01203160e-03 9.99998496e-01 1.40869000e-03 1.90538920e-01] [-7.97832256e-05 -1.40877146e-03 9.99999004e-01 -2.88835453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.053133364999997 meters Centerline goodness [0,1] 0.2694034078528784 Centerline is valid? [False, False] Translation: X:0.47, Y:0.19, Z:-0.29 [[ 9.99999689e-01 7.79285546e-04 -1.24788696e-04 4.69218408e-01] [-7.79113880e-04 9.99998758e-01 1.36984528e-03 1.89572229e-01] [ 1.25856042e-04 -1.36974763e-03 9.99999054e-01 -2.88571610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.083133365 meters Centerline goodness [0,1] 0.26915867480383604 Centerline is valid? [False, False] Translation: X:0.47, Y:0.19, Z:-0.29 [[ 9.99999745e-01 6.56497902e-04 -2.80901751e-04 4.69454772e-01] [-6.56076241e-04 9.99998662e-01 1.49856532e-03 1.88183671e-01] [ 2.81885180e-04 -1.49838064e-03 9.99998838e-01 -2.88279148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.113133365 meters Centerline goodness [0,1] 0.26973569813945397 Centerline is valid? [False, False] Translation: X:0.47, Y:0.19, Z:-0.29 [[ 9.99999736e-01 7.26680126e-04 -1.64676831e-05 4.68578738e-01] [-7.26643717e-04 9.99997505e-01 2.11253586e-03 1.85273377e-01] [ 1.80027798e-05 -2.11252334e-03 9.99997768e-01 -2.87671123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.143133365 meters Centerline goodness [0,1] 0.2693250602043694 Centerline is valid? [False, False] Translation: X:0.47, Y:0.18, Z:-0.29 [[ 9.99999650e-01 8.27326124e-04 1.21760604e-04 4.68207166e-01] [-8.27614788e-04 9.99996801e-01 2.39010492e-03 1.84062455e-01] [-1.19782818e-04 -2.39020486e-03 9.99997136e-01 -2.87549137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.173133364999998 meters Centerline goodness [0,1] 0.2698599147307057 Centerline is valid? [False, False] Translation: X:0.47, Y:0.18, Z:-0.29 [[ 9.99999617e-01 8.67650909e-04 1.18234786e-04 4.68276047e-01] [-8.67952934e-04 9.99996298e-01 2.57880736e-03 1.82857485e-01] [-1.15996844e-04 -2.57890899e-03 9.99996668e-01 -2.87612260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.203133365 meters Centerline goodness [0,1] 0.26885288567896415 Centerline is valid? [False, False] Translation: X:0.47, Y:0.18, Z:-0.29 [[ 9.99999573e-01 8.96086149e-04 -2.26995112e-04 4.69323275e-01] [-8.95459852e-04 9.99995833e-01 2.74431503e-03 1.81404350e-01] [ 2.29453309e-04 -2.74411060e-03 9.99996209e-01 -2.87951761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.233133365 meters Centerline goodness [0,1] 0.27001597339226713 Centerline is valid? [False, False] Translation: X:0.47, Y:0.18, Z:-0.29 [[ 9.99999406e-01 1.00329970e-03 -4.26366940e-04 4.69983288e-01] [-1.00205556e-03 9.99995269e-01 2.90825057e-03 1.80801355e-01] [ 4.29282769e-04 -2.90782160e-03 9.99995680e-01 -2.88346915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.263133364999998 meters Centerline goodness [0,1] 0.2666868276666523 Centerline is valid? [False, False] Translation: X:0.52, Y:0.18, Z:-0.29 [[ 9.99996888e-01 2.33725392e-03 8.72477641e-04 5.15938712e-01] [-2.34064162e-03 9.99989647e-01 3.90223732e-03 1.81959656e-01] [-8.63348089e-04 -3.90426733e-03 9.99992006e-01 -2.89578564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.293133365 meters Centerline goodness [0,1] 0.2674909594855027 Centerline is valid? [False, False] Translation: X:0.52, Y:0.18, Z:-0.29 [[ 0.99999626 0.00251504 0.00107684 0.51548988] [-0.00251978 0.99998707 0.00441804 0.17881965] [-0.00106572 -0.00442074 0.99998966 -0.28957714] [ 0. 0. 0. 1. ]] SLAMing on 31.323133365 meters Centerline goodness [0,1] 0.27029093132972215 Centerline is valid? [False, False] Translation: X:0.51, Y:0.18, Z:-0.29 [[ 9.99997525e-01 7.62947389e-04 2.09009436e-03 5.10941912e-01] [-7.68865017e-04 9.99995694e-01 2.83193449e-03 1.77273929e-01] [-2.08792474e-03 -2.83353448e-03 9.99993806e-01 -2.87180418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.353133364999998 meters Centerline goodness [0,1] 0.26678441424171284 Centerline is valid? [False, False] Translation: X:0.55, Y:0.18, Z:-0.29 [[ 9.99988608e-01 5.21374067e-04 4.74458323e-03 5.53298367e-01] [-5.32880495e-04 9.99996920e-01 2.42423052e-03 1.77368003e-01] [-4.74330469e-03 -2.42673120e-03 9.99985806e-01 -2.87192790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.383133365 meters Centerline goodness [0,1] 0.2683935803859565 Centerline is valid? [False, False] Translation: X:0.55, Y:0.17, Z:-0.29 [[ 9.99988712e-01 7.92157158e-04 4.68498245e-03 5.53470273e-01] [-8.08226972e-04 9.99993794e-01 3.42917124e-03 1.72320711e-01] [-4.68223693e-03 -3.43291906e-03 9.99983146e-01 -2.87092073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.413133365 meters Centerline goodness [0,1] 0.2704376458274276 Centerline is valid? [False, False] Translation: X:0.55, Y:0.17, Z:-0.29 [[ 9.99989296e-01 9.18727087e-04 4.53468345e-03 5.54050279e-01] [-9.36799504e-04 9.99991622e-01 3.98486183e-03 1.69322870e-01] [-4.53098445e-03 -3.98906727e-03 9.99981779e-01 -2.87350214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.443133364999998 meters Centerline goodness [0,1] 0.27200630942470316 Centerline is valid? [False, False] Translation: X:0.55, Y:0.17, Z:-0.29 [[ 9.99989489e-01 8.92331484e-04 4.49718888e-03 5.54166935e-01] [-9.12481858e-04 9.99989546e-01 4.48060156e-03 1.65848752e-01] [-4.49314369e-03 -4.48465807e-03 9.99979850e-01 -2.87258138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.473133365 meters Centerline goodness [0,1] 0.27090873626492706 Centerline is valid? [False, False] Translation: X:0.57, Y:0.16, Z:-0.29 [[ 9.99961242e-01 5.34865349e-03 6.99335713e-03 5.72944092e-01] [-5.35436111e-03 9.99985347e-01 7.97680585e-04 1.56578193e-01] [-6.98898814e-03 -8.35094627e-04 9.99975228e-01 -2.86259891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.503133365 meters Centerline goodness [0,1] 0.2715931526762274 Centerline is valid? [False, False] Translation: X:0.57, Y:0.15, Z:-0.29 [[ 0.99995907 0.0054794 0.00719964 0.57218094] [-0.00549059 0.99998375 0.00153618 0.15258763] [-0.00719111 -0.00157565 0.9999729 -0.28568765] [ 0. 0. 0. 1. ]] SLAMing on 31.533133364999998 meters Centerline goodness [0,1] 0.2722727075090221 Centerline is valid? [False, False] Translation: X:0.57, Y:0.15, Z:-0.29 [[ 0.99995722 0.00559377 0.00736633 0.57162902] [-0.00561019 0.99998182 0.0022096 0.1488914 ] [-0.00735384 -0.00225083 0.99997043 -0.28533821] [ 0. 0. 0. 1. ]] SLAMing on 31.563133365 meters Centerline goodness [0,1] 0.27161488384245247 Centerline is valid? [False, False] Translation: X:0.57, Y:0.14, Z:-0.29 [[ 9.99971248e-01 2.20567487e-03 7.25527680e-03 5.72190867e-01] [-2.20261552e-03 9.99997482e-01 -4.29636484e-04 1.43524836e-01] [-7.25620617e-03 4.13643546e-04 9.99973588e-01 -2.85745998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.593133365 meters Centerline goodness [0,1] 0.2706332304750315 Centerline is valid? [False, False] Translation: X:0.57, Y:0.14, Z:-0.29 [[ 9.99973511e-01 2.32386637e-03 6.89763757e-03 5.73363231e-01] [-2.32435689e-03 9.99997297e-01 6.30991694e-05 1.40784321e-01] [-6.89747229e-03 -7.91300694e-05 9.99976209e-01 -2.86232919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.623133364999997 meters Centerline goodness [0,1] 0.2706332304750315 Centerline is valid? [False, False] Translation: X:0.57, Y:0.14, Z:-0.29 [[ 9.99973511e-01 2.32386637e-03 6.89763757e-03 5.73363231e-01] [-2.32435689e-03 9.99997297e-01 6.30991694e-05 1.40784321e-01] [-6.89747229e-03 -7.91300694e-05 9.99976209e-01 -2.86232919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.653133365 meters Centerline goodness [0,1] 0.2695410774702871 Centerline is valid? [False, False] Translation: X:0.57, Y:0.14, Z:-0.29 [[ 9.99974465e-01 2.45832926e-03 6.71014777e-03 5.74043316e-01] [-2.46197339e-03 9.99996826e-01 5.34870525e-04 1.38191111e-01] [-6.70881159e-03 -5.51377072e-04 9.99977344e-01 -2.86594638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.683133365 meters Centerline goodness [0,1] 0.271139946007141 Centerline is valid? [False, False] Translation: X:0.57, Y:0.14, Z:-0.29 [[ 9.99975600e-01 2.55149413e-03 6.50308113e-03 5.74717039e-01] [-2.55710829e-03 9.99996365e-01 8.55139826e-04 1.36342433e-01] [-6.50087561e-03 -8.71748043e-04 9.99978489e-01 -2.86888716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.713133364999997 meters Centerline goodness [0,1] 0.2706730873989497 Centerline is valid? [False, False] Translation: X:0.58, Y:0.13, Z:-0.29 [[ 0.99997761 0.00267802 0.00613294 0.57630843] [-0.00268569 0.99999562 0.00124231 0.13419925] [-0.00612959 -0.00125876 0.99998042 -0.28809401] [ 0. 0. 0. 1. ]] SLAMing on 31.743133365 meters Centerline goodness [0,1] 0.27015620241047733 Centerline is valid? [False, False] Translation: X:0.58, Y:0.13, Z:-0.29 [[ 0.99997867 0.00271372 0.00594094 0.57691095] [-0.00272208 0.99999532 0.00139849 0.13321768] [-0.00593712 -0.00141463 0.99998137 -0.28833103] [ 0. 0. 0. 1. ]] SLAMing on 31.773133365 meters Centerline goodness [0,1] 0.2721505093080435 Centerline is valid? [False, False] Translation: X:0.58, Y:0.13, Z:-0.29 [[ 0.9999791 0.00276621 0.00584332 0.57715036] [-0.00277545 0.99999491 0.00157395 0.1322683 ] [-0.00583893 -0.00159014 0.99998169 -0.28833744] [ 0. 0. 0. 1. ]] SLAMing on 31.803133364999997 meters Centerline goodness [0,1] 0.27126633342102957 Centerline is valid? [False, False] Translation: X:0.58, Y:0.13, Z:-0.29 [[ 0.99997877 0.00280084 0.00588308 0.5770295 ] [-0.00281089 0.9999946 0.00170059 0.13158958] [-0.00587828 -0.00171709 0.99998125 -0.28829712] [ 0. 0. 0. 1. ]] SLAMing on 31.833133365 meters Centerline goodness [0,1] 0.2706049046321526 Centerline is valid? [False, False] Translation: X:0.58, Y:0.13, Z:-0.29 [[ 0.99997757 0.00290789 0.0060328 0.57665835] [-0.00291945 0.99999392 0.00190809 0.13072852] [-0.00602721 -0.00192566 0.99997998 -0.28822485] [ 0. 0. 0. 1. ]] SLAMing on 31.863133365 meters Centerline goodness [0,1] 0.27186958334247535 Centerline is valid? [False, False] Translation: X:0.58, Y:0.13, Z:-0.29 [[ 0.9999777 0.00292337 0.00600483 0.57672156] [-0.00293542 0.99999369 0.00199909 0.1300306 ] [-0.00599895 -0.00201667 0.99997997 -0.28823282] [ 0. 0. 0. 1. ]] SLAMing on 31.893133365 meters Centerline goodness [0,1] 0.2696048632218845 Centerline is valid? [False, False] Translation: X:0.60, Y:0.13, Z:-0.29 [[ 0.99997525 -0.00482873 0.00511741 0.59700385] [ 0.00481463 0.99998459 0.00276363 0.13331772] [-0.00513068 -0.00273893 0.99998309 -0.2875016 ] [ 0. 0. 0. 1. ]] SLAMing on 31.923133364999998 meters Centerline goodness [0,1] 0.27102538956085864 Centerline is valid? [False, False] Translation: X:0.60, Y:0.13, Z:-0.29 [[ 0.99997589 -0.00473288 0.005081 0.59703198] [ 0.00471784 0.99998446 0.00296885 0.13249698] [-0.00509498 -0.00294481 0.99998268 -0.28740732] [ 0. 0. 0. 1. ]] SLAMing on 31.953133365 meters Centerline goodness [0,1] 0.2715817518726388 Centerline is valid? [False, False] Translation: X:0.60, Y:0.13, Z:-0.29 [[ 0.99997619 -0.00464799 0.00510082 0.59698945] [ 0.00463181 0.99998422 0.00317994 0.13150137] [-0.00511552 -0.00315623 0.99998193 -0.28738877] [ 0. 0. 0. 1. ]] SLAMing on 31.983133365 meters Centerline goodness [0,1] 0.2722960360162512 Centerline is valid? [False, False] Translation: X:0.58, Y:0.12, Z:-0.29 [[ 0.99998129 0.00256213 0.00555502 0.57828682] [-0.00257252 0.99999495 0.00186421 0.12347203] [-0.00555021 -0.00187846 0.99998283 -0.2893004 ] [ 0. 0. 0. 1. ]] SLAMing on 32.013133364999995 meters Centerline goodness [0,1] 0.26936972229476797 Centerline is valid? [False, False] Translation: X:0.58, Y:0.12, Z:-0.29 [[ 0.99998171 0.00256434 0.00547671 0.57828727] [-0.00257523 0.99999472 0.00198123 0.12259304] [-0.0054716 -0.0019953 0.99998304 -0.28898865] [ 0. 0. 0. 1. ]] SLAMing on 32.043133364999996 meters Centerline goodness [0,1] 0.2704732465496974 Centerline is valid? [False, False] Translation: X:0.58, Y:0.12, Z:-0.29 [[ 0.99998037 0.00272703 0.00564166 0.57738417] [-0.00274076 0.9999933 0.00242775 0.12042093] [-0.005635 -0.00244317 0.99998114 -0.28806575] [ 0. 0. 0. 1. ]] SLAMing on 32.073133365 meters Centerline goodness [0,1] 0.27101562840102733 Centerline is valid? [False, False] Translation: X:0.58, Y:0.12, Z:-0.29 [[ 0.99997916 0.00283764 0.00579934 0.57678824] [-0.00285349 0.99999221 0.00272729 0.1190049 ] [-0.00579156 -0.00274378 0.99997946 -0.28766643] [ 0. 0. 0. 1. ]] SLAMing on 32.103133365 meters Centerline goodness [0,1] 0.2720115470410708 Centerline is valid? [False, False] Translation: X:0.58, Y:0.12, Z:-0.29 [[ 0.9999775 0.00292868 0.00603483 0.57605625] [-0.00294703 0.99999106 0.00303329 0.11744018] [-0.00602589 -0.003051 0.99997719 -0.28737564] [ 0. 0. 0. 1. ]] SLAMing on 32.13313336499999 meters Centerline goodness [0,1] 0.2689898029726927 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:-0.29 [[ 0.99996191 -0.00496215 0.00718072 0.59601165] [ 0.00493278 0.99997942 0.00410159 0.12003817] [-0.00720092 -0.00406601 0.99996581 -0.28688392] [ 0. 0. 0. 1. ]] SLAMing on 32.16313336499999 meters Centerline goodness [0,1] 0.2705161892766401 Centerline is valid? [False, False] Translation: X:0.58, Y:0.11, Z:-0.29 [[ 9.99950710e-01 7.45839510e-04 9.90061559e-03 5.77831770e-01] [-7.77063620e-04 9.99994736e-01 3.15028229e-03 1.09349641e-01] [-9.89821387e-03 -3.15782042e-03 9.99946025e-01 -2.89024563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.193133364999994 meters Centerline goodness [0,1] 0.27285586820743835 Centerline is valid? [False, False] Translation: X:0.58, Y:0.11, Z:-0.29 [[ 9.99951981e-01 8.27287021e-04 9.76476282e-03 5.78193461e-01] [-8.61963390e-04 9.99993336e-01 3.54749954e-03 1.06962902e-01] [-9.76176295e-03 -3.55574606e-03 9.99946031e-01 -2.89039205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.223133364999995 meters Centerline goodness [0,1] 0.27347285067873306 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:-0.29 [[ 9.99954115e-01 9.60470551e-04 9.53130944e-03 5.78965351e-01] [-9.98545754e-04 9.99991538e-01 3.99079598e-03 1.04598386e-01] [-9.52739575e-03 -4.00013031e-03 9.99946612e-01 -2.89377267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.253133365 meters Centerline goodness [0,1] 0.2743018348021956 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:-0.29 [[ 0.99995539 0.00110973 0.00937966 0.57954865] [-0.00115121 0.99998958 0.00441799 0.10253291] [-0.00937466 -0.00442859 0.99994625 -0.28974132] [ 0. 0. 0. 1. ]] SLAMing on 32.283133365 meters Centerline goodness [0,1] 0.2727034579112819 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:-0.29 [[ 0.99995496 0.00141105 0.0093859 0.57961645] [-0.00145986 0.99998544 0.00519555 0.09879456] [-0.00937843 -0.00520902 0.99994245 -0.28977954] [ 0. 0. 0. 1. ]] SLAMing on 32.313133365 meters Centerline goodness [0,1] 0.27414841051204686 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:-0.29 [[ 0.99995423 0.0014709 0.00945375 0.57942657] [-0.0015219 0.99998432 0.00538975 0.09766589] [-0.00944567 -0.0054039 0.99994079 -0.28970407] [ 0. 0. 0. 1. ]] SLAMing on 32.34313336499999 meters Centerline goodness [0,1] 0.2773995990571233 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:-0.29 [[ 0.99995415 0.00157255 0.00944632 0.5795141 ] [-0.00162511 0.99998323 0.00555891 0.0969408 ] [-0.00943742 -0.00557401 0.99993993 -0.28980383] [ 0. 0. 0. 1. ]] SLAMing on 32.373133364999994 meters Centerline goodness [0,1] 0.27127033273734247 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:-0.29 [[ 0.99995586 0.00170603 0.00923896 0.58028158] [-0.00175806 0.99998263 0.00562635 0.09688897] [-0.0092292 -0.00564234 0.99994149 -0.29031868] [ 0. 0. 0. 1. ]] SLAMing on 32.403133364999995 meters Centerline goodness [0,1] 0.27051718123146695 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:-0.29 [[ 0.99996021 0.00237068 0.00860007 0.5824967 ] [-0.00242211 0.99997922 0.00597444 0.09677471] [-0.00858573 -0.00599503 0.99994517 -0.29165733] [ 0. 0. 0. 1. ]] SLAMing on 32.433133364999996 meters Centerline goodness [0,1] 0.2691966122988282 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:-0.29 [[ 0.99996117 0.00248806 0.00845413 0.58297687] [-0.00253827 0.99997917 0.00593385 0.09722503] [-0.00843919 -0.00595508 0.99994666 -0.29197451] [ 0. 0. 0. 1. ]] SLAMing on 32.463133365 meters Centerline goodness [0,1] 0.27091122511085997 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:-0.29 [[ 0.99995479 0.00281018 0.00908421 0.58124022] [-0.00286641 0.99997678 0.00618223 0.09663131] [-0.00906663 -0.00620799 0.99993963 -0.2916582 ] [ 0. 0. 0. 1. ]] SLAMing on 32.493133365 meters Centerline goodness [0,1] 0.26788573901752866 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:-0.29 [[ 0.99995372 0.00290455 0.00917192 0.58080018] [-0.0029629 0.99997542 0.006355 0.09582376] [-0.00915323 -0.00638188 0.99993774 -0.29128655] [ 0. 0. 0. 1. ]] SLAMing on 32.52313336499999 meters Centerline goodness [0,1] 0.27011431918262874 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:-0.29 [[ 0.99995313 0.00298688 0.0092091 0.58075695] [-0.00304711 0.99997401 0.00653339 0.09500658] [-0.00918934 -0.00656114 0.99993625 -0.29135332] [ 0. 0. 0. 1. ]] SLAMing on 32.553133364999994 meters Centerline goodness [0,1] 0.27340569877883314 Centerline is valid? [False, False] Translation: X:0.58, Y:0.09, Z:-0.29 [[ 0.99995381 0.00318335 0.00906912 0.58159941] [-0.00324669 0.99997038 0.00697783 0.09308526] [-0.00904664 -0.00700695 0.99993453 -0.29222187] [ 0. 0. 0. 1. ]] SLAMing on 32.583133364999995 meters Centerline goodness [0,1] 0.2678956446744286 Centerline is valid? [False, False] Translation: X:0.63, Y:0.10, Z:-0.29 [[ 0.9999324 0.00412936 0.01086897 0.62717507] [-0.00420121 0.99996942 0.00659581 0.09543803] [-0.0108414 -0.00664102 0.99991918 -0.29411747] [ 0. 0. 0. 1. ]] SLAMing on 32.613133364999996 meters Centerline goodness [0,1] 0.26968533819096563 Centerline is valid? [False, False] Translation: X:0.63, Y:0.09, Z:-0.29 [[ 0.99993347 0.00413758 0.01076693 0.62751553] [-0.00421037 0.99996837 0.00674702 0.09415178] [-0.01073867 -0.0067919 0.99991927 -0.29420647] [ 0. 0. 0. 1. ]] SLAMing on 32.643133365 meters Centerline goodness [0,1] 0.2695971013863878 Centerline is valid? [False, False] Translation: X:0.63, Y:0.09, Z:-0.29 [[ 0.99993971 0.00101401 0.01093393 0.6268116 ] [-0.0010528 0.99999317 0.00354245 0.09314836] [-0.01093026 -0.00355375 0.99993395 -0.29397346] [ 0. 0. 0. 1. ]] SLAMing on 32.673133365 meters Centerline goodness [0,1] 0.271748135874068 Centerline is valid? [False, False] Translation: X:0.63, Y:0.09, Z:-0.29 [[ 0.99993951 0.00108197 0.01094587 0.62670565] [-0.00112235 0.99999258 0.00368382 0.09267266] [-0.0109418 -0.00369588 0.99993331 -0.29387147] [ 0. 0. 0. 1. ]] SLAMing on 32.70313336499999 meters Centerline goodness [0,1] 0.26946732445178534 Centerline is valid? [False, False] Translation: X:0.63, Y:0.09, Z:-0.29 [[ 0.99993993 0.00114125 0.01090075 0.62673207] [-0.00118259 0.99999213 0.00378618 0.09243539] [-0.01089635 -0.00379884 0.99993342 -0.29373797] [ 0. 0. 0. 1. ]] SLAMing on 32.73313336499999 meters Centerline goodness [0,1] 0.26669537136706134 Centerline is valid? [False, False] Translation: X:0.63, Y:0.09, Z:-0.29 [[ 0.99994168 0.00104987 0.01074871 0.62721988] [-0.00108842 0.999993 0.00358086 0.09327982] [-0.01074487 -0.00359235 0.99993582 -0.29395353] [ 0. 0. 0. 1. ]] SLAMing on 32.763133364999995 meters Centerline goodness [0,1] 0.27132525921408035 Centerline is valid? [False, False] Translation: X:0.61, Y:0.09, Z:-0.29 [[ 0.99990495 0.00860967 0.01076904 0.60683707] [-0.0086372 0.99995954 0.0025122 0.08820676] [-0.01074697 -0.00260497 0.99993886 -0.29441349] [ 0. 0. 0. 1. ]] SLAMing on 32.793133364999996 meters Centerline goodness [0,1] 0.2674216215054688 Centerline is valid? [False, False] Translation: X:0.62, Y:0.10, Z:-0.29 [[ 0.99992786 0.00130643 0.0119404 0.62491452] [-0.00134879 0.99999282 0.00354055 0.09548548] [-0.01193569 -0.0035564 0.99992244 -0.29334566] [ 0. 0. 0. 1. ]] SLAMing on 32.823133365 meters Centerline goodness [0,1] 0.26872757739156583 Centerline is valid? [False, False] Translation: X:0.62, Y:0.10, Z:-0.29 [[ 0.99992267 0.00134296 0.01236326 0.62340533] [-0.00138509 0.99999326 0.00339988 0.09695784] [-0.01235861 -0.00341674 0.99991779 -0.2926321 ] [ 0. 0. 0. 1. ]] SLAMing on 32.853133365 meters Centerline goodness [0,1] 0.26951484743426857 Centerline is valid? [False, False] Translation: X:0.62, Y:0.10, Z:-0.29 [[ 0.9999173 0.00109901 0.01281355 0.62177569] [-0.00113392 0.99999567 0.00271709 0.10040698] [-0.01281051 -0.0027314 0.99991421 -0.29184544] [ 0. 0. 0. 1. ]] SLAMing on 32.88313336499999 meters Centerline goodness [0,1] 0.27037077072748894 Centerline is valid? [False, False] Translation: X:0.62, Y:0.10, Z:-0.29 [[ 9.99918285e-01 8.94469106e-04 1.27523592e-02 6.21938403e-01] [-9.23340131e-04 9.99997024e-01 2.25826741e-03 1.02339004e-01] [-1.27503013e-02 -2.26985764e-03 9.99916135e-01 -2.91946801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91313336499999 meters Centerline goodness [0,1] 0.2716349282089099 Centerline is valid? [False, False] Translation: X:0.62, Y:0.10, Z:-0.29 [[ 9.99919431e-01 7.51458299e-04 1.26714966e-02 6.22108805e-01] [-7.75017146e-04 9.99997980e-01 1.85439202e-03 1.04404097e-01] [-1.26700775e-02 -1.86406324e-03 9.99917994e-01 -2.92007389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.943133364999994 meters Centerline goodness [0,1] 0.27503981499661845 Centerline is valid? [False, False] Translation: X:0.62, Y:0.11, Z:-0.29 [[ 9.99915994e-01 7.71475937e-04 1.29387116e-02 6.21017128e-01] [-7.91309426e-04 9.99998520e-01 1.52783032e-03 1.07570520e-01] [-1.29375138e-02 -1.53794049e-03 9.99915124e-01 -2.91462056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.973133364999995 meters Centerline goodness [0,1] 0.27184466019417475 Centerline is valid? [False, False] Translation: X:0.62, Y:0.11, Z:-0.29 [[ 9.99915283e-01 6.55316523e-04 1.29999021e-02 6.20556861e-01] [-6.72741578e-04 9.99998881e-01 1.33607131e-03 1.08354518e-01] [-1.29990120e-02 -1.34470370e-03 9.99914605e-01 -2.90919963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.003133365 meters Centerline goodness [0,1] 0.2707596029348295 Centerline is valid? [False, False] Translation: X:0.62, Y:0.11, Z:-0.29 [[ 9.99930317e-01 8.47886972e-05 1.18048045e-02 6.23594243e-01] [-9.50588747e-05 9.99999618e-01 8.69441420e-04 1.08560598e-01] [-1.18047263e-02 -8.70502986e-04 9.99929943e-01 -2.91253735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.033133365 meters Centerline goodness [0,1] 0.2716129732075062 Centerline is valid? [False, False] Translation: X:0.62, Y:0.11, Z:-0.29 [[ 9.99934344e-01 7.06280968e-05 1.14587714e-02 6.24758949e-01] [-8.08793197e-05 9.99999597e-01 8.94157036e-04 1.08403647e-01] [-1.14587036e-02 -8.95025106e-04 9.99933946e-01 -2.91793112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.063133365 meters Centerline goodness [0,1] 0.272251195132551 Centerline is valid? [False, False] Translation: X:0.63, Y:0.11, Z:-0.29 [[ 9.99935875e-01 1.21282811e-04 1.13239222e-02 6.25462843e-01] [-1.32397347e-04 9.99999510e-01 9.80764921e-04 1.08255706e-01] [-1.13237977e-02 -9.82201287e-04 9.99935401e-01 -2.92453254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.09313336499999 meters Centerline goodness [0,1] 0.2716549142508923 Centerline is valid? [False, False] Translation: X:0.63, Y:0.11, Z:-0.29 [[ 9.99934165e-01 1.86832595e-04 1.14730138e-02 6.25175532e-01] [-2.00145758e-04 9.99999308e-01 1.15925213e-03 1.07328269e-01] [-1.14727893e-02 -1.16147209e-03 9.99933511e-01 -2.92479742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.123133364999994 meters Centerline goodness [0,1] 0.27128803179360217 Centerline is valid? [False, False] Translation: X:0.63, Y:0.11, Z:-0.29 [[ 9.99934159e-01 1.53506080e-04 1.14740472e-02 6.25154551e-01] [-1.67054493e-04 9.99999290e-01 1.17983856e-03 1.06787913e-01] [-1.14738580e-02 -1.18167767e-03 9.99933475e-01 -2.92435231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.153133364999995 meters Centerline goodness [0,1] 0.27276694157175896 Centerline is valid? [False, False] Translation: X:0.63, Y:0.11, Z:-0.29 [[ 9.99935802e-01 1.21689731e-04 1.13303564e-02 6.25696383e-01] [-1.34492803e-04 9.99999353e-01 1.12922450e-03 1.06814293e-01] [-1.13302116e-02 -1.13067585e-03 9.99935172e-01 -2.92809316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.183133364999996 meters Centerline goodness [0,1] 0.2725766724066526 Centerline is valid? [False, False] Translation: X:0.63, Y:0.11, Z:-0.29 [[ 9.99938512e-01 1.75442167e-04 1.10879263e-02 6.26694347e-01] [-1.87962333e-04 9.99999346e-01 1.12813913e-03 1.07123807e-01] [-1.10877211e-02 -1.13015387e-03 9.99937891e-01 -2.93591700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.213133365 meters Centerline goodness [0,1] 0.26828160484481456 Centerline is valid? [False, False] Translation: X:0.63, Y:0.11, Z:-0.29 [[ 9.99945083e-01 3.09323293e-04 1.04754677e-02 6.28834460e-01] [-3.22698347e-04 9.99999135e-01 1.27513162e-03 1.06695440e-01] [-1.04750642e-02 -1.27844201e-03 9.99944318e-01 -2.94787726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.243133365 meters Centerline goodness [0,1] 0.27450381679389313 Centerline is valid? [False, False] Translation: X:0.63, Y:0.11, Z:-0.29 [[ 9.99946784e-01 3.02681924e-04 1.03120315e-02 6.29342253e-01] [-3.17643892e-04 9.99998899e-01 1.44931643e-03 1.05248257e-01] [-1.03115815e-02 -1.45251486e-03 9.99945779e-01 -2.94971544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.27313336499999 meters Centerline goodness [0,1] 0.27725217774837363 Centerline is valid? [False, False] Translation: X:0.63, Y:0.10, Z:-0.29 [[ 9.99946852e-01 2.82338118e-04 1.03059610e-02 6.29217332e-01] [-3.00261399e-04 9.99998445e-01 1.73761198e-03 1.03072941e-01] [-1.03054544e-02 -1.74061411e-03 9.99945382e-01 -2.94684433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.303133364999994 meters Centerline goodness [0,1] 0.27106386686416306 Centerline is valid? [False, False] Translation: X:0.65, Y:0.10, Z:-0.29 [[ 0.9998948 -0.00804981 0.01206631 0.64914255] [ 0.00801822 0.9999643 0.00266419 0.10299556] [-0.01208733 -0.00256716 0.99992365 -0.29379091] [ 0. 0. 0. 1. ]] SLAMing on 33.333133364999995 meters Centerline goodness [0,1] 0.27220094027511754 Centerline is valid? [False, False] Translation: X:0.65, Y:0.10, Z:-0.29 [[ 0.99989673 -0.00795202 0.01197076 0.64912442] [ 0.00791694 0.99996424 0.0029749 0.10145279] [-0.01199399 -0.00287982 0.99992392 -0.29332212] [ 0. 0. 0. 1. ]] SLAMing on 33.363133364999996 meters Centerline goodness [0,1] 0.27279838341698714 Centerline is valid? [False, False] Translation: X:0.65, Y:0.10, Z:-0.29 [[ 0.99989876 -0.00802449 0.01175087 0.64957054] [ 0.00798657 0.99996276 0.00327046 0.09889751] [-0.01177668 -0.00317628 0.99992561 -0.29310031] [ 0. 0. 0. 1. ]] SLAMing on 33.393133365 meters Centerline goodness [0,1] 0.27237987710879996 Centerline is valid? [False, False] Translation: X:0.65, Y:0.10, Z:-0.29 [[ 0.99989786 -0.00791814 0.01189825 0.64901468] [ 0.00787595 0.99996254 0.00358865 0.09745131] [-0.01192622 -0.00349457 0.99992277 -0.29272907] [ 0. 0. 0. 1. ]] SLAMing on 33.423133365 meters Centerline goodness [0,1] 0.2730328064355255 Centerline is valid? [False, False] Translation: X:0.65, Y:0.10, Z:-0.29 [[ 0.99989656 -0.0077664 0.01210563 0.64814676] [ 0.0077192 0.99996244 0.00394034 0.09609217] [-0.01213577 -0.00384649 0.99991896 -0.29209051] [ 0. 0. 0. 1. ]] SLAMing on 33.45313336499999 meters Centerline goodness [0,1] 0.27488749266256496 Centerline is valid? [False, False] Translation: X:0.65, Y:0.09, Z:-0.29 [[ 0.99989019 -0.00775711 0.01262661 0.64628141] [ 0.0077006 0.99996014 0.00451804 0.09269995] [-0.01266115 -0.00442031 0.99991007 -0.29085417] [ 0. 0. 0. 1. ]] SLAMing on 33.48313336499999 meters Centerline goodness [0,1] 0.27555594238217507 Centerline is valid? [False, False] Translation: X:0.65, Y:0.09, Z:-0.29 [[ 0.99989103 -0.00787956 0.01248399 0.64615149] [ 0.007821 0.99995821 0.0047329 0.09061236] [-0.01252076 -0.00463475 0.99991087 -0.29001622] [ 0. 0. 0. 1. ]] SLAMing on 33.513133364999995 meters Centerline goodness [0,1] 0.27555594238217507 Centerline is valid? [False, False] Translation: X:0.65, Y:0.09, Z:-0.29 [[ 0.99989103 -0.00787956 0.01248399 0.64615149] [ 0.007821 0.99995821 0.0047329 0.09061236] [-0.01252076 -0.00463475 0.99991087 -0.29001622] [ 0. 0. 0. 1. ]] SLAMing on 33.543133364999996 meters Centerline goodness [0,1] 0.27205692108667534 Centerline is valid? [False, False] Translation: X:0.66, Y:0.08, Z:-0.29 [[ 9.99915319e-01 -5.82825309e-04 1.30005621e-02 6.63461827e-01] [ 5.46412025e-04 9.99995919e-01 2.80427691e-03 8.46210363e-02] [-1.30021434e-02 -2.79693578e-03 9.99911557e-01 -2.87646412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.573133365 meters Centerline goodness [0,1] 0.2752627586954166 Centerline is valid? [False, False] Translation: X:0.66, Y:0.08, Z:-0.29 [[ 9.99912793e-01 -4.90392113e-04 1.31972236e-02 6.62532861e-01] [ 4.46356266e-04 9.99994324e-01 3.33948946e-03 8.19886699e-02] [-1.31987864e-02 -3.33330757e-03 9.99907336e-01 -2.86834429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.603133365 meters Centerline goodness [0,1] 0.2736600073751112 Centerline is valid? [False, False] Translation: X:0.66, Y:0.08, Z:-0.29 [[ 9.99915842e-01 -6.14531101e-04 1.29588641e-02 6.63299878e-01] [ 5.63520053e-04 9.99992081e-01 3.93966678e-03 7.83639284e-02] [-1.29611825e-02 -3.93203264e-03 9.99908269e-01 -2.87038843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63313336499999 meters Centerline goodness [0,1] 0.27715709300028535 Centerline is valid? [False, False] Translation: X:0.64, Y:0.07, Z:-0.29 [[ 9.99917239e-01 4.52052542e-03 1.20448902e-02 6.41205938e-01] [-4.52954334e-03 9.99989481e-01 7.21517561e-04 7.36623738e-02] [-1.20415019e-02 -7.76015699e-04 9.99927197e-01 -2.86944838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66313336499999 meters Centerline goodness [0,1] 0.27709633768387965 Centerline is valid? [False, False] Translation: X:0.64, Y:0.07, Z:-0.29 [[ 9.99921123e-01 4.46662051e-03 1.17387406e-02 6.41987635e-01] [-4.47820419e-03 9.99989511e-01 9.60690819e-04 7.16680212e-02] [-1.17343264e-02 -1.01318352e-03 9.99930637e-01 -2.87055365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.693133364999994 meters Centerline goodness [0,1] 0.27685454108706575 Centerline is valid? [False, False] Translation: X:0.64, Y:0.07, Z:-0.29 [[ 0.99991367 0.00413156 0.01247288 0.63962443] [-0.00414958 0.99999038 0.00141859 0.0671337 ] [-0.0124669 -0.00147022 0.9999212 -0.28584298] [ 0. 0. 0. 1. ]] SLAMing on 33.723133364999995 meters Centerline goodness [0,1] 0.2748436790064692 Centerline is valid? [False, False] Translation: X:0.64, Y:0.06, Z:-0.29 [[ 0.99991436 0.00415358 0.01241088 0.63953 ] [-0.00417768 0.99998944 0.00191621 0.06402641] [-0.01240279 -0.0019679 0.99992115 -0.28543228] [ 0. 0. 0. 1. ]] SLAMing on 33.753133365 meters Centerline goodness [0,1] 0.2767374747759672 Centerline is valid? [False, False] Translation: X:0.64, Y:0.06, Z:-0.29 [[ 0.99992256 0.0040825 0.01175576 0.64117761] [-0.00411014 0.99998884 0.00232873 0.06098557] [-0.01174612 -0.00237687 0.99992819 -0.28559265] [ 0. 0. 0. 1. ]] SLAMing on 33.783133365 meters Centerline goodness [0,1] 0.27623453422654765 Centerline is valid? [False, False] Translation: X:0.64, Y:0.06, Z:-0.29 [[ 9.99936957e-01 6.29277110e-04 1.12110229e-02 6.43476190e-01] [-6.23280038e-04 9.99999661e-01 -5.38412247e-04 5.66419834e-02] [-1.12113579e-02 5.31390697e-04 9.99937010e-01 -2.87201232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.813133365 meters Centerline goodness [0,1] 0.2745412396819551 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.29 [[ 9.99939350e-01 7.50370665e-04 1.09878261e-02 6.43873952e-01] [-7.50395217e-04 9.99999718e-01 -1.88824013e-06 5.36945266e-02] [-1.09878244e-02 -6.35708650e-06 9.99939632e-01 -2.87006381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84313336499999 meters Centerline goodness [0,1] 0.2731248917373982 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.29 [[ 9.99938799e-01 9.41550875e-04 1.10232312e-02 6.43488166e-01] [-9.48118833e-04 9.99999376e-01 5.90618053e-04 5.07577938e-02] [-1.10226683e-02 -6.01033240e-04 9.99939068e-01 -2.86469588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.873133364999994 meters Centerline goodness [0,1] 0.2779805485739264 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.29 [[ 0.99993975 0.00107814 0.01092397 0.64364616] [-0.00109298 0.99999849 0.00135249 0.04597044] [-0.0109225 -0.00136435 0.99993942 -0.28628828] [ 0. 0. 0. 1. ]] SLAMing on 33.903133364999995 meters Centerline goodness [0,1] 0.27366005714780506 Centerline is valid? [False, False] Translation: X:0.64, Y:0.04, Z:-0.29 [[ 0.99994144 0.00112633 0.01076309 0.64433399] [-0.00114333 0.99999811 0.00157325 0.04452355] [-0.01076129 -0.00158546 0.99994084 -0.28680094] [ 0. 0. 0. 1. ]] SLAMing on 33.933133364999996 meters Centerline goodness [0,1] 0.27500814597588796 Centerline is valid? [False, False] Translation: X:0.65, Y:0.04, Z:-0.29 [[ 0.99994396 0.00116108 0.01052233 0.6451696 ] [-0.00117951 0.99999778 0.00174519 0.04341557] [-0.01052028 -0.0017575 0.99994312 -0.28722347] [ 0. 0. 0. 1. ]] SLAMing on 33.963133365 meters Centerline goodness [0,1] 0.2773175542406312 Centerline is valid? [False, False] Translation: X:0.65, Y:0.04, Z:-0.29 [[ 0.99994941 0.00122835 0.00998306 0.64682059] [-0.00125002 0.99999687 0.00216546 0.04071927] [-0.00998037 -0.00217783 0.99994782 -0.28791539] [ 0. 0. 0. 1. ]] SLAMing on 33.993133365 meters Centerline goodness [0,1] 0.2732868102813055 Centerline is valid? [False, False] Translation: X:0.67, Y:0.04, Z:-0.29 [[ 0.99994679 -0.0058635 0.00848766 0.66605906] [ 0.00583728 0.99997812 0.00311067 0.04380725] [-0.00850571 -0.00306096 0.99995914 -0.28626103] [ 0. 0. 0. 1. ]] SLAMing on 34.02313336499999 meters Centerline goodness [0,1] 0.2772619777524744 Centerline is valid? [False, False] Translation: X:0.65, Y:0.04, Z:-0.29 [[ 0.99996333 0.00167357 0.00839814 0.64604356] [-0.00169308 0.99999588 0.00231639 0.03761168] [-0.00839423 -0.00233053 0.99996205 -0.2869178 ] [ 0. 0. 0. 1. ]] SLAMing on 34.053133364999994 meters Centerline goodness [0,1] 0.2763376828093528 Centerline is valid? [False, False] Translation: X:0.64, Y:0.04, Z:-0.29 [[ 0.99995918 0.00178198 0.0088584 0.64462538] [-0.00180522 0.99999495 0.00261638 0.03632431] [-0.00885369 -0.00263226 0.99995734 -0.28634561] [ 0. 0. 0. 1. ]] SLAMing on 34.083133364999995 meters Centerline goodness [0,1] 0.27500054408148167 Centerline is valid? [False, False] Translation: X:0.64, Y:0.04, Z:-0.29 [[ 0.99995699 0.00181241 0.00909534 0.64397022] [-0.00183678 0.99999474 0.00267155 0.03619317] [-0.00909045 -0.00268814 0.99995507 -0.28619312] [ 0. 0. 0. 1. ]] SLAMing on 34.113133364999996 meters Centerline goodness [0,1] 0.27709920322213466 Centerline is valid? [False, False] Translation: X:0.64, Y:0.04, Z:-0.29 [[ 0.99995582 0.00175148 0.00923559 0.64366081] [-0.0017752 0.99999515 0.00256085 0.03662107] [-0.00923106 -0.00257713 0.99995407 -0.28620975] [ 0. 0. 0. 1. ]] SLAMing on 34.143133365 meters Centerline goodness [0,1] 0.27796186171029824 Centerline is valid? [False, False] Translation: X:0.64, Y:0.04, Z:-0.29 [[ 0.99995537 0.00165011 0.00930295 0.64346356] [-0.00167228 0.99999578 0.00237576 0.03732688] [-0.00929899 -0.00239121 0.9999539 -0.2861626 ] [ 0. 0. 0. 1. ]] SLAMing on 34.173133365 meters Centerline goodness [0,1] 0.27927097057531836 Centerline is valid? [False, False] Translation: X:0.64, Y:0.04, Z:-0.29 [[ 0.99995537 0.00151138 0.00932608 0.64313647] [-0.00152957 0.99999694 0.00194408 0.03975339] [-0.00932311 -0.00195826 0.99995462 -0.28575919] [ 0. 0. 0. 1. ]] SLAMing on 34.20313336499999 meters Centerline goodness [0,1] 0.27596091205211726 Centerline is valid? [False, False] Translation: X:0.66, Y:0.05, Z:-0.28 [[ 0.99994543 -0.00553152 0.00886261 0.66176611] [ 0.00550488 0.99998026 0.00302779 0.04643657] [-0.00887918 -0.00297883 0.99995614 -0.28382197] [ 0. 0. 0. 1. ]] SLAMing on 34.23313336499999 meters Centerline goodness [0,1] 0.27581265064165206 Centerline is valid? [False, False] Translation: X:0.66, Y:0.05, Z:-0.28 [[ 0.99994232 -0.00569686 0.00910474 0.66079122] [ 0.00567048 0.99997966 0.00292142 0.04693316] [-0.0091212 -0.00286963 0.99995428 -0.28323428] [ 0. 0. 0. 1. ]] SLAMing on 34.263133364999995 meters Centerline goodness [0,1] 0.27286634634030726 Centerline is valid? [False, False] Translation: X:0.66, Y:0.05, Z:-0.28 [[ 0.99994229 -0.00591888 0.00896556 0.66095282] [ 0.00589296 0.99997839 0.00291482 0.04604108] [-0.00898261 -0.00286182 0.99995556 -0.28300604] [ 0. 0. 0. 1. ]] SLAMing on 34.293133364999996 meters Centerline goodness [0,1] 0.2773458766141852 Centerline is valid? [False, False] Translation: X:0.66, Y:0.04, Z:-0.28 [[ 0.99993876 -0.00659842 0.00888461 0.66148337] [ 0.00657295 0.99997421 0.00289313 0.0437353 ] [-0.00890347 -0.00283456 0.99995635 -0.283517 ] [ 0. 0. 0. 1. ]] SLAMing on 34.323133365 meters Centerline goodness [0,1] 0.2775159291262983 Centerline is valid? [False, False] Translation: X:0.66, Y:0.04, Z:-0.28 [[ 0.99993978 -0.00662007 0.00875318 0.66182679] [ 0.00659269 0.9999733 0.00315257 0.04239048] [-0.00877382 -0.00309467 0.99995672 -0.28361345] [ 0. 0. 0. 1. ]] SLAMing on 34.353133365 meters Centerline goodness [0,1] 0.27561622397078644 Centerline is valid? [False, False] Translation: X:0.66, Y:0.04, Z:-0.28 [[ 0.99993978 -0.00668283 0.00870451 0.66190527] [ 0.00665466 0.99997254 0.00326106 0.04152505] [-0.00872607 -0.00320294 0.9999568 -0.28359285] [ 0. 0. 0. 1. ]] SLAMing on 34.38313336499999 meters Centerline goodness [0,1] 0.2722589024786233 Centerline is valid? [False, False] Translation: X:0.66, Y:0.04, Z:-0.28 [[ 0.99994009 -0.00676359 0.00860633 0.66206936] [ 0.00673574 0.999972 0.00326017 0.04122152] [-0.00862814 -0.003202 0.99995765 -0.28349919] [ 0. 0. 0. 1. ]] SLAMing on 34.41313336499999 meters Centerline goodness [0,1] 0.27511457677186735 Centerline is valid? [False, False] Translation: X:0.66, Y:0.04, Z:-0.28 [[ 0.99994119 -0.00688084 0.00838326 0.66263123] [ 0.00685698 0.99997237 0.00287099 0.04330787] [-0.00840278 -0.00281334 0.99996074 -0.2835428 ] [ 0. 0. 0. 1. ]] SLAMing on 34.443133364999994 meters Centerline goodness [0,1] 0.2788666710662355 Centerline is valid? [False, False] Translation: X:0.64, Y:0.04, Z:-0.28 [[ 0.99997667 0.00130772 0.00670434 0.64196279] [-0.00132136 0.99999707 0.00202985 0.04270127] [-0.00670167 -0.00203866 0.99997547 -0.28396264] [ 0. 0. 0. 1. ]] SLAMing on 34.473133364999995 meters Centerline goodness [0,1] 0.2749940062335171 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.28 [[ 0.99997981 0.00125165 0.00622998 0.64357338] [-0.00126041 0.99999822 0.00140124 0.0466601 ] [-0.00622822 -0.00140906 0.99997961 -0.28482181] [ 0. 0. 0. 1. ]] SLAMing on 34.503133365 meters Centerline goodness [0,1] 0.271528769970126 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.28 [[ 0.9999795 0.00109203 0.00630969 0.64335783] [-0.00109877 0.99999883 0.00106486 0.04808819] [-0.00630852 -0.00107177 0.99997953 -0.28478824] [ 0. 0. 0. 1. ]] SLAMing on 34.533133365 meters Centerline goodness [0,1] 0.27672709882179036 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.28 [[ 9.99978749e-01 9.77966157e-04 6.44561864e-03 6.42944871e-01] [-9.83374914e-04 9.99999167e-01 8.36021155e-04 4.90566659e-02] [-6.44479567e-03 -8.42341848e-04 9.99978877e-01 -2.84688757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.563133365 meters Centerline goodness [0,1] 0.2739746780651444 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.28 [[ 9.99979730e-01 6.84314741e-04 6.33019410e-03 6.43218381e-01] [-6.88278112e-04 9.99999568e-01 6.23948441e-04 4.96981702e-02] [-6.32976439e-03 -6.28292727e-04 9.99979769e-01 -2.84783753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.59313336499999 meters Centerline goodness [0,1] 0.2759811480572508 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.29 [[ 9.99981418e-01 6.21240272e-04 6.06449143e-03 6.43996132e-01] [-6.25557737e-04 9.99999552e-01 7.10054324e-04 4.91602809e-02] [-6.06404760e-03 -7.13834819e-04 9.99981359e-01 -2.85122557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.623133364999994 meters Centerline goodness [0,1] 0.27662133205055317 Centerline is valid? [False, False] Translation: X:0.65, Y:0.05, Z:-0.29 [[ 9.99984335e-01 4.90192862e-04 5.57577726e-03 6.45368569e-01] [-4.94281795e-04 9.99999610e-01 7.31984358e-04 4.86829015e-02] [-5.57541628e-03 -7.34728897e-04 9.99984187e-01 -2.85575834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.653133364999995 meters Centerline goodness [0,1] 0.27498418377364253 Centerline is valid? [False, False] Translation: X:0.65, Y:0.05, Z:-0.29 [[ 9.99990916e-01 -2.77737029e-04 4.25320987e-03 6.48958634e-01] [ 2.77022847e-04 9.99999947e-01 1.68504271e-04 4.89325698e-02] [-4.25325644e-03 -1.67324504e-04 9.99990941e-01 -2.86437054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.683133364999996 meters Centerline goodness [0,1] 0.2744818510801623 Centerline is valid? [False, False] Translation: X:0.65, Y:0.05, Z:-0.29 [[ 9.99991632e-01 -3.61098591e-04 4.07495963e-03 6.49502609e-01] [ 3.60930643e-04 9.99999934e-01 4.19501218e-05 4.93578490e-02] [-4.07497451e-03 -4.04789930e-05 9.99991696e-01 -2.86663721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.713133365 meters Centerline goodness [0,1] 0.2743374442403569 Centerline is valid? [False, False] Translation: X:0.65, Y:0.05, Z:-0.29 [[ 9.99991660e-01 -4.52821957e-04 4.05883058e-03 6.49511799e-01] [ 4.53609624e-04 9.99999878e-01 -1.93144099e-04 5.04868973e-02] [-4.05874262e-03 1.94983613e-04 9.99991744e-01 -2.86598115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.743133365 meters Centerline goodness [0,1] 0.2760142442050991 Centerline is valid? [False, False] Translation: X:0.65, Y:0.05, Z:-0.29 [[ 9.99990656e-01 -5.53889168e-04 4.28724372e-03 6.48696666e-01] [ 5.56678185e-04 9.99999634e-01 -6.49372497e-04 5.31772869e-02] [-4.28688247e-03 6.51753045e-04 9.99990599e-01 -2.86063650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.77313336499999 meters Centerline goodness [0,1] 0.27420690256231484 Centerline is valid? [False, False] Translation: X:0.65, Y:0.05, Z:-0.29 [[ 9.99990351e-01 -6.04179526e-04 4.35128852e-03 6.48527588e-01] [ 6.07946143e-04 9.99999442e-01 -8.64361909e-04 5.44374551e-02] [-4.35076386e-03 8.66998918e-04 9.99990160e-01 -2.86052349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.803133364999994 meters Centerline goodness [0,1] 0.2750240826692355 Centerline is valid? [False, False] Translation: X:0.65, Y:0.06, Z:-0.29 [[ 9.99990064e-01 -7.30226882e-04 4.39754351e-03 6.48513441e-01] [ 7.35882011e-04 9.99998904e-01 -1.28449372e-03 5.66428057e-02] [-4.39660072e-03 1.28771703e-03 9.99989506e-01 -2.86155167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.833133364999995 meters Centerline goodness [0,1] 0.2713273991293613 Centerline is valid? [False, False] Translation: X:0.69, Y:0.06, Z:-0.29 [[ 9.99979534e-01 -1.60128331e-04 6.39582318e-03 6.92711958e-01] [ 1.72629531e-04 9.99998076e-01 -1.95408394e-03 5.75524345e-02] [-6.39549797e-03 1.95514806e-03 9.99977637e-01 -2.87390255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.863133364999996 meters Centerline goodness [0,1] 0.27583792771506077 Centerline is valid? [False, False] Translation: X:0.69, Y:0.06, Z:-0.29 [[ 9.99978685e-01 -2.77675343e-04 6.52326704e-03 6.92282437e-01] [ 2.92936881e-04 9.99997222e-01 -2.33871539e-03 5.95852593e-02] [-6.52259952e-03 2.34057645e-03 9.99975988e-01 -2.87117602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.893133365 meters Centerline goodness [0,1] 0.2709549128949985 Centerline is valid? [False, False] Translation: X:0.71, Y:0.06, Z:-0.29 [[ 9.99953293e-01 -5.68988195e-03 7.81257306e-03 7.13787405e-01] [ 5.68577659e-03 9.99983686e-01 5.47591912e-04 6.32525581e-02] [-7.81556134e-03 -5.03145790e-04 9.99969331e-01 -2.87227082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.923133365 meters Centerline goodness [0,1] 0.2764062602318119 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.29 [[ 9.99964343e-01 3.16991509e-03 7.82714153e-03 6.90633541e-01] [-3.16696428e-03 9.99994909e-01 -3.89363015e-04 6.76096299e-02] [-7.82833593e-03 3.64560854e-04 9.99969292e-01 -2.86817404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.95313336499999 meters Centerline goodness [0,1] 0.2773319959879639 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.29 [[ 0.99996515 0.00300622 0.00778875 0.69082407] [-0.00299821 0.99999497 -0.00103952 0.07112741] [-0.00779183 0.00101614 0.99996913 -0.28687853] [ 0. 0. 0. 1. ]] SLAMing on 34.98313336499999 meters Centerline goodness [0,1] 0.2773068857042992 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.29 [[ 0.99996562 0.00283317 0.00779298 0.69087396] [-0.00282023 0.99999463 -0.00167133 0.07454819] [-0.00779767 0.0016493 0.99996824 -0.2869415 ] [ 0. 0. 0. 1. ]] SLAMing on 35.013133364999995 meters Centerline goodness [0,1] 0.2741438430487434 Centerline is valid? [False, False] Translation: X:0.69, Y:0.08, Z:-0.29 [[ 0.99996421 0.0025502 0.00806705 0.69014701] [-0.00252763 0.99999287 -0.00280695 0.08162008] [-0.00807415 0.00278646 0.99996352 -0.28672548] [ 0. 0. 0. 1. ]] SLAMing on 35.043133364999996 meters Centerline goodness [0,1] 0.27588666277637297 Centerline is valid? [False, False] Translation: X:0.69, Y:0.09, Z:-0.29 [[ 0.99996278 0.00229703 0.00831637 0.6893469 ] [-0.00226793 0.99999128 -0.00350732 0.08504701] [-0.00832436 0.00348833 0.99995927 -0.28635155] [ 0. 0. 0. 1. ]] SLAMing on 35.073133365 meters Centerline goodness [0,1] 0.27879371892862614 Centerline is valid? [False, False] Translation: X:0.67, Y:0.09, Z:-0.29 [[ 0.99995234 -0.0045366 0.00864546 0.66585689] [ 0.00454779 0.99998885 -0.00127467 0.0920504 ] [-0.00863958 0.00131393 0.99996181 -0.28526188] [ 0. 0. 0. 1. ]] SLAMing on 35.103133365 meters Centerline goodness [0,1] 0.27711263766219607 Centerline is valid? [False, False] Translation: X:0.67, Y:0.10, Z:-0.29 [[ 0.99994976 -0.00496886 0.00870544 0.66569127] [ 0.00498998 0.99998466 -0.0024055 0.09875861] [-0.00869335 0.00244882 0.99995921 -0.28525466] [ 0. 0. 0. 1. ]] SLAMing on 35.13313336499999 meters Centerline goodness [0,1] 0.27909259461228053 Centerline is valid? [False, False] Translation: X:0.67, Y:0.10, Z:-0.29 [[ 0.9999496 -0.005187 0.00859642 0.66611708] [ 0.00521242 0.9999821 -0.00293728 0.10140732] [-0.00858103 0.00298194 0.99995874 -0.28551156] [ 0. 0. 0. 1. ]] SLAMing on 35.16313336499999 meters Centerline goodness [0,1] 0.2764264853319385 Centerline is valid? [False, False] Translation: X:0.67, Y:0.10, Z:-0.29 [[ 0.999949 -0.00537398 0.00855104 0.66633149] [ 0.00540282 0.99997978 -0.00335319 0.10341536] [-0.00853284 0.00339922 0.99995782 -0.28570082] [ 0. 0. 0. 1. ]] SLAMing on 35.193133364999994 meters Centerline goodness [0,1] 0.27667364016736407 Centerline is valid? [False, False] Translation: X:0.67, Y:0.11, Z:-0.29 [[ 0.99994807 -0.0057871 0.00838845 0.6668994 ] [ 0.00582125 0.99997484 -0.00405296 0.10650255] [-0.00836478 0.00410158 0.9999566 -0.28603789] [ 0. 0. 0. 1. ]] SLAMing on 35.223133364999995 meters Centerline goodness [0,1] 0.27857189908438185 Centerline is valid? [False, False] Translation: X:0.67, Y:0.11, Z:-0.29 [[ 0.99994813 -0.00585454 0.00833445 0.66701409] [ 0.00589029 0.99997353 -0.00427139 0.10788872] [-0.00830923 0.00432026 0.99995615 -0.28604947] [ 0. 0. 0. 1. ]] SLAMing on 35.253133365 meters Centerline goodness [0,1] 0.27407984083733405 Centerline is valid? [False, False] Translation: X:0.69, Y:0.11, Z:-0.29 [[ 0.9999527 0.00230695 0.00944888 0.68660814] [-0.00225559 0.99998265 -0.00544162 0.10588216] [-0.00946127 0.00542005 0.99994055 -0.28589702] [ 0. 0. 0. 1. ]] SLAMing on 35.283133365 meters Centerline goodness [0,1] 0.27622781226178805 Centerline is valid? [False, False] Translation: X:0.67, Y:0.12, Z:-0.29 [[ 0.99994077 -0.00581021 0.0092033 0.66849305] [ 0.00585273 0.99997229 -0.00459957 0.11717462] [-0.00917632 0.00465316 0.99994707 -0.28745116] [ 0. 0. 0. 1. ]] SLAMing on 35.31313336499999 meters Centerline goodness [0,1] 0.27821395675248917 Centerline is valid? [False, False] Translation: X:0.67, Y:0.12, Z:-0.29 [[ 0.99994169 -0.00597813 0.00899345 0.6693696 ] [ 0.00602373 0.99996909 -0.00505258 0.11940057] [-0.00896297 0.00510646 0.99994679 -0.28809505] [ 0. 0. 0. 1. ]] SLAMing on 35.34313336499999 meters Centerline goodness [0,1] 0.2758386764995514 Centerline is valid? [False, False] Translation: X:0.67, Y:0.12, Z:-0.29 [[ 0.99994263 -0.00611635 0.00879321 0.67024999] [ 0.00616428 0.99996623 -0.00543479 0.12130661] [-0.00875968 0.00548868 0.99994657 -0.28874912] [ 0. 0. 0. 1. ]] SLAMing on 35.373133364999994 meters Centerline goodness [0,1] 0.2747925806871987 Centerline is valid? [False, False] Translation: X:0.67, Y:0.13, Z:-0.29 [[ 0.99994166 -0.0063595 0.00873121 0.67052962] [ 0.00641326 0.99996057 -0.00614269 0.12506483] [-0.0086918 0.00619833 0.99994302 -0.28894514] [ 0. 0. 0. 1. ]] SLAMing on 35.403133364999995 meters Centerline goodness [0,1] 0.2759093282283328 Centerline is valid? [False, False] Translation: X:0.67, Y:0.13, Z:-0.29 [[ 0.99995274 -0.00373355 0.00897699 0.66982276] [ 0.00376475 0.99998692 -0.00346153 0.12662384] [-0.00896395 0.00349516 0.99995371 -0.28885257] [ 0. 0. 0. 1. ]] SLAMing on 35.433133364999996 meters Centerline goodness [0,1] 0.2759093282283328 Centerline is valid? [False, False] Translation: X:0.67, Y:0.13, Z:-0.29 [[ 0.99995274 -0.00373355 0.00897699 0.66982276] [ 0.00376475 0.99998692 -0.00346153 0.12662384] [-0.00896395 0.00349516 0.99995371 -0.28885257] [ 0. 0. 0. 1. ]] SLAMing on 35.463133365 meters Centerline goodness [0,1] 0.2793046539773353 Centerline is valid? [False, False] Translation: X:0.65, Y:0.13, Z:-0.29 [[ 0.9999548 0.00457706 0.00833397 0.64959465] [-0.00453886 0.99997913 -0.00459748 0.1254732 ] [-0.00835484 0.00455944 0.9999547 -0.2896762 ] [ 0. 0. 0. 1. ]] SLAMing on 35.493133365 meters Centerline goodness [0,1] 0.2747933433662675 Centerline is valid? [False, False] Translation: X:0.67, Y:0.13, Z:-0.29 [[ 0.99998657 -0.00137955 0.0049949 0.66701976] [ 0.00139919 0.9999913 -0.00393064 0.13081288] [-0.00498944 0.00393758 0.9999798 -0.28730604] [ 0. 0. 0. 1. ]] SLAMing on 35.52313336499999 meters Centerline goodness [0,1] 0.27514947846200843 Centerline is valid? [False, False] Translation: X:0.67, Y:0.13, Z:-0.29 [[ 0.99998867 -0.00156542 0.00449591 0.66881573] [ 0.00158565 0.99998863 -0.00449821 0.13375384] [-0.00448881 0.00450529 0.99997978 -0.28830254] [ 0. 0. 0. 1. ]] SLAMing on 35.553133364999994 meters Centerline goodness [0,1] 0.2605771316988501 Centerline is valid? [False, False] Translation: X:0.67, Y:0.14, Z:-0.29 [[ 0.99998899 -0.00164665 0.0043949 0.66921233] [ 0.00166778 0.99998705 -0.00480879 0.13549499] [-0.00438692 0.00481607 0.99997878 -0.28849406] [ 0. 0. 0. 1. ]] SLAMing on 35.583133364999995 meters Centerline goodness [0,1] 0.2779364591114821 Centerline is valid? [False, False] Translation: X:0.65, Y:0.14, Z:-0.29 [[ 0.99996001 -0.00807695 0.00383964 0.64678755] [ 0.00808535 0.99996495 -0.00217554 0.14082972] [-0.00382194 0.0022065 0.99999026 -0.28771533] [ 0. 0. 0. 1. ]] SLAMing on 35.613133364999996 meters Centerline goodness [0,1] 0.2782469455351072 Centerline is valid? [False, False] Translation: X:0.64, Y:0.14, Z:-0.29 [[ 9.99976907e-01 -5.14811288e-03 4.43638833e-03 6.44796325e-01] [ 5.14569776e-03 9.99986606e-01 5.55631773e-04 1.42941252e-01] [-4.43918937e-03 -5.32790628e-04 9.99990005e-01 -2.86938819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.643133365 meters Centerline goodness [0,1] 0.27412891986062715 Centerline is valid? [False, False] Translation: X:0.64, Y:0.14, Z:-0.29 [[ 9.99975821e-01 -5.24706983e-03 4.56349313e-03 6.44439179e-01] [ 5.24601850e-03 9.99986210e-01 2.42318645e-04 1.44511468e-01] [-4.56470166e-03 -2.18372616e-04 9.99989558e-01 -2.86831047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.673133365 meters Centerline goodness [0,1] 0.260830950524218 Centerline is valid? [False, False] Translation: X:0.64, Y:0.15, Z:-0.29 [[ 9.99973864e-01 -5.42366871e-03 4.78062644e-03 6.43654487e-01] [ 5.42513244e-03 9.99985241e-01 -2.93265207e-04 1.47208720e-01] [-4.77896531e-03 3.19193074e-04 9.99988530e-01 -2.86364677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70313336499999 meters Centerline goodness [0,1] 0.27792332547375775 Centerline is valid? [False, False] Translation: X:0.62, Y:0.14, Z:-0.29 [[ 0.99998062 0.00255898 0.00567574 0.62329363] [-0.0025512 0.9999958 -0.00137824 0.14441684] [-0.00567925 0.00136373 0.99998294 -0.28783507] [ 0. 0. 0. 1. ]] SLAMing on 35.73313336499999 meters Centerline goodness [0,1] 0.2636525438444174 Centerline is valid? [False, False] Translation: X:0.62, Y:0.14, Z:-0.29 [[ 0.99997983 0.00246164 0.00585544 0.62282681] [-0.00245282 0.99999585 -0.00151279 0.14488498] [-0.00585914 0.0014984 0.99998171 -0.28775366] [ 0. 0. 0. 1. ]] SLAMing on 35.763133364999995 meters Centerline goodness [0,1] 0.27638190954773867 Centerline is valid? [False, False] Translation: X:0.62, Y:0.15, Z:-0.29 [[ 0.99997639 0.00215235 0.00652662 0.62070905] [-0.00214053 0.99999606 -0.00181723 0.14550821] [-0.0065305 0.00180322 0.99997705 -0.28690185] [ 0. 0. 0. 1. ]] SLAMing on 35.793133364999996 meters Centerline goodness [0,1] 0.2762551593107816 Centerline is valid? [False, False] Translation: X:0.62, Y:0.15, Z:-0.29 [[ 0.99997642 0.00210524 0.00653667 0.62052061] [-0.00209329 0.99999613 -0.0018342 0.14551699] [-0.0065405 0.00182047 0.99997695 -0.2866897 ] [ 0. 0. 0. 1. ]] SLAMing on 35.823133365 meters Centerline goodness [0,1] 0.26203821931741944 Centerline is valid? [False, False] Translation: X:0.62, Y:0.15, Z:-0.29 [[ 0.99997653 0.00204749 0.00653813 0.62056494] [-0.00203558 0.99999626 -0.00182726 0.14533808] [-0.00654184 0.00181391 0.99997696 -0.28682394] [ 0. 0. 0. 1. ]] SLAMing on 35.853133365 meters Centerline goodness [0,1] 0.2736167633561347 Centerline is valid? [False, False] Translation: X:0.62, Y:0.15, Z:-0.29 [[ 0.99997785 0.00188847 0.0063827 0.62102563] [-0.00187609 0.99999635 -0.00194385 0.14541796] [-0.00638634 0.00193183 0.99997774 -0.28702485] [ 0. 0. 0. 1. ]] SLAMing on 35.88313336499999 meters Centerline goodness [0,1] 0.27871403212728185 Centerline is valid? [False, False] Translation: X:0.60, Y:0.15, Z:-0.29 [[ 9.99965122e-01 -6.44451673e-03 5.31249127e-03 6.01166000e-01] [ 6.44989987e-03 9.99978702e-01 -9.96789262e-04 1.51499973e-01] [-5.30595430e-03 1.03101953e-03 9.99985392e-01 -2.87288047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.91313336499999 meters Centerline goodness [0,1] 0.2755845568243611 Centerline is valid? [False, False] Translation: X:0.62, Y:0.15, Z:-0.29 [[ 0.99998914 0.00135914 0.00445729 0.62016472] [-0.00135014 0.99999705 -0.00202105 0.1473474 ] [-0.00446003 0.00201501 0.99998802 -0.28594789] [ 0. 0. 0. 1. ]] SLAMing on 35.943133364999994 meters Centerline goodness [0,1] 0.27851302736291295 Centerline is valid? [False, False] Translation: X:0.62, Y:0.15, Z:-0.29 [[ 0.99998872 0.00125709 0.00458095 0.61984165] [-0.00124627 0.99999643 -0.0023638 0.14930699] [-0.00458391 0.00235807 0.99998671 -0.28587583] [ 0. 0. 0. 1. ]] SLAMing on 35.973133364999995 meters Centerline goodness [0,1] 0.258903103120408 Centerline is valid? [False, False] Translation: X:0.62, Y:0.15, Z:-0.29 [[ 0.99998735 0.00112711 0.00490249 0.61888811] [-0.00111399 0.99999579 -0.00267835 0.1507464 ] [-0.00490548 0.00267285 0.9999844 -0.28556131] [ 0. 0. 0. 1. ]] SLAMing on 36.003133365 meters Centerline goodness [0,1] 0.27542031885507967 Centerline is valid? [False, False] Translation: X:0.62, Y:0.15, Z:-0.29 [[ 9.99985706e-01 9.63923558e-04 5.25914710e-03 6.18173748e-01] [-9.47105111e-04 9.99994433e-01 -3.19949575e-03 1.53728673e-01] [-5.26220189e-03 3.19446906e-03 9.99981052e-01 -2.85709871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.033133365 meters Centerline goodness [0,1] 0.27769863013698626 Centerline is valid? [False, False] Translation: X:0.62, Y:0.15, Z:-0.29 [[ 9.99987067e-01 8.64297858e-04 5.01189059e-03 6.19181795e-01] [-8.47128939e-04 9.99993770e-01 -3.42674884e-03 1.54872999e-01] [-5.01482109e-03 3.42245880e-03 9.99981569e-01 -2.86414718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06313336499999 meters Centerline goodness [0,1] 0.26152549333218056 Centerline is valid? [False, False] Translation: X:0.64, Y:0.16, Z:-0.29 [[ 0.99996692 -0.00739666 0.00338345 0.64168129] [ 0.00740682 0.99996807 -0.00299836 0.15881536] [-0.00336116 0.00302332 0.99998978 -0.28612489] [ 0. 0. 0. 1. ]] SLAMing on 36.09313336499999 meters Centerline goodness [0,1] 0.27004437551161087 Centerline is valid? [False, False] Translation: X:0.64, Y:0.16, Z:-0.29 [[ 0.99996712 -0.00754796 0.00296404 0.64324306] [ 0.00755724 0.99996654 -0.00313152 0.15906261] [-0.00294031 0.00315382 0.9999907 -0.28708956] [ 0. 0. 0. 1. ]] SLAMing on 36.123133364999994 meters Centerline goodness [0,1] 0.26292757955850177 Centerline is valid? [False, False] Translation: X:0.64, Y:0.16, Z:-0.29 [[ 0.99996648 -0.00774118 0.00266602 0.64409426] [ 0.00774996 0.99996454 -0.00329615 0.15960744] [-0.0026404 0.00331671 0.99999101 -0.28747273] [ 0. 0. 0. 1. ]] SLAMing on 36.153133364999995 meters Centerline goodness [0,1] 0.2749065461184039 Centerline is valid? [False, False] Translation: X:0.64, Y:0.16, Z:-0.29 [[ 0.99996579 -0.00777666 0.00281985 0.64342606] [ 0.00778605 0.99996413 -0.00333294 0.1598174 ] [-0.00279383 0.00335478 0.99999047 -0.28697669] [ 0. 0. 0. 1. ]] SLAMing on 36.183133364999996 meters Centerline goodness [0,1] 0.27406556239701674 Centerline is valid? [False, False] Translation: X:0.64, Y:0.16, Z:-0.29 [[ 0.99996504 -0.00782606 0.00294628 0.64292193] [ 0.00783605 0.99996354 -0.00339469 0.16003809] [-0.0029196 0.00341766 0.9999899 -0.28667822] [ 0. 0. 0. 1. ]] SLAMing on 36.213133365 meters Centerline goodness [0,1] 0.27471999650677903 Centerline is valid? [False, False] Translation: X:0.64, Y:0.16, Z:-0.29 [[ 0.99996339 -0.00803068 0.00295257 0.64288979] [ 0.00804183 0.9999605 -0.00378457 0.16141127] [-0.00292206 0.00380817 0.99998848 -0.28661737] [ 0. 0. 0. 1. ]] SLAMing on 36.243133365 meters Centerline goodness [0,1] 0.2618846328932821 Centerline is valid? [False, False] Translation: X:0.66, Y:0.16, Z:-0.29 [[ 9.99994212e-01 -1.38713437e-05 3.40243563e-03 6.61989938e-01] [ 3.07719973e-05 9.99987663e-01 -4.96722007e-03 1.57493412e-01] [-3.40232475e-03 4.96729602e-03 9.99981875e-01 -2.85834339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.27313336499999 meters Centerline goodness [0,1] 0.2781332164767748 Centerline is valid? [False, False] Translation: X:0.64, Y:0.17, Z:-0.29 [[ 0.99997748 -0.00468808 0.00480142 0.64037014] [ 0.00469522 0.99998789 -0.00147649 0.16597271] [-0.00479444 0.001499 0.99998738 -0.28601958] [ 0. 0. 0. 1. ]] SLAMing on 36.303133364999994 meters Centerline goodness [0,1] 0.2755644669165722 Centerline is valid? [False, False] Translation: X:0.64, Y:0.17, Z:-0.29 [[ 0.99997786 -0.00467771 0.00473252 0.64054418] [ 0.00468643 0.99998734 -0.00183385 0.16832308] [-0.00472388 0.00185599 0.99998712 -0.28587362] [ 0. 0. 0. 1. ]] SLAMing on 36.333133364999995 meters Centerline goodness [0,1] 0.27318095402696163 Centerline is valid? [False, False] Translation: X:0.66, Y:0.17, Z:-0.28 [[ 0.99998321 0.00344445 0.00466055 0.66061433] [-0.00342996 0.99998927 -0.00311433 0.16580273] [-0.00467123 0.00309829 0.99998429 -0.28473396] [ 0. 0. 0. 1. ]] SLAMing on 36.363133364999996 meters Centerline goodness [0,1] 0.2774652838811742 Centerline is valid? [False, False] Translation: X:0.64, Y:0.18, Z:-0.28 [[ 0.99999205 -0.00210277 0.00338883 0.6386534 ] [ 0.0021064 0.99999721 -0.00107065 0.17658962] [-0.00338657 0.00107778 0.99999368 -0.28299337] [ 0. 0. 0. 1. ]] SLAMing on 36.393133365 meters Centerline goodness [0,1] 0.2774407666271045 Centerline is valid? [False, False] Translation: X:0.64, Y:0.18, Z:-0.28 [[ 0.9999928 -0.00215893 0.00312201 0.63928902] [ 0.00216405 0.99999631 -0.00164024 0.17996694] [-0.00311846 0.00164699 0.99999378 -0.28294518] [ 0. 0. 0. 1. ]] SLAMing on 36.423133365 meters Centerline goodness [0,1] 0.27560348367298426 Centerline is valid? [False, False] Translation: X:0.68, Y:0.18, Z:-0.28 [[ 0.99998723 -0.00130535 0.0048827 0.68246545] [ 0.00131034 0.99999862 -0.00101824 0.18140583] [-0.00488136 0.00102463 0.99998756 -0.28303079] [ 0. 0. 0. 1. ]] SLAMing on 36.45313336499999 meters Centerline goodness [0,1] 0.26356673960612687 Centerline is valid? [False, False] Translation: X:0.68, Y:0.18, Z:-0.28 [[ 0.99998649 -0.00145578 0.00498914 0.68216623] [ 0.00146369 0.99999768 -0.00158061 0.18448345] [-0.00498683 0.00158789 0.9999863 -0.28290048] [ 0. 0. 0. 1. ]] SLAMing on 36.48313336499999 meters Centerline goodness [0,1] 0.2600013009822416 Centerline is valid? [False, False] Translation: X:0.68, Y:0.19, Z:-0.28 [[ 0.99998552 -0.00166444 0.00511738 0.6817372 ] [ 0.00167637 0.99999589 -0.00232775 0.18887276] [-0.00511348 0.0023363 0.9999842 -0.2826419 ] [ 0. 0. 0. 1. ]] SLAMing on 36.513133364999995 meters Centerline goodness [0,1] 0.27886700694429234 Centerline is valid? [False, False] Translation: X:0.68, Y:0.19, Z:-0.28 [[ 0.99998475 -0.00174366 0.00524008 0.68120434] [ 0.00175713 0.99999517 -0.00256553 0.19021864] [-0.00523559 0.0025747 0.99998298 -0.28220259] [ 0. 0. 0. 1. ]] SLAMing on 36.543133364999996 meters Centerline goodness [0,1] 0.26250135589543333 Centerline is valid? [False, False] Translation: X:0.68, Y:0.19, Z:-0.28 [[ 0.99998356 -0.00184523 0.00542831 0.68065926] [ 0.00186014 0.99999451 -0.00274354 0.19105352] [-0.00542322 0.00275359 0.9999815 -0.28206245] [ 0. 0. 0. 1. ]] SLAMing on 36.573133365 meters Centerline goodness [0,1] 0.2627994516851977 Centerline is valid? [False, False] Translation: X:0.68, Y:0.19, Z:-0.28 [[ 0.99998175 -0.00215328 0.00564507 0.68029406] [ 0.00217042 0.99999305 -0.00303148 0.19178811] [-0.00563851 0.00304367 0.99997947 -0.28234546] [ 0. 0. 0. 1. ]] SLAMing on 36.603133365 meters Centerline goodness [0,1] 0.26458074229233486 Centerline is valid? [False, False] Translation: X:0.68, Y:0.19, Z:-0.28 [[ 0.99998183 -0.00222859 0.00560204 0.68054831] [ 0.00224614 0.99999258 -0.00312815 0.1920521 ] [-0.00559503 0.00314068 0.99997942 -0.2826039 ] [ 0. 0. 0. 1. ]] SLAMing on 36.63313336499999 meters Centerline goodness [0,1] 0.2649898650857654 Centerline is valid? [False, False] Translation: X:0.68, Y:0.19, Z:-0.28 [[ 0.99998267 -0.00227469 0.00543041 0.6811353 ] [ 0.00229227 0.99999215 -0.00323328 0.19254118] [-0.00542301 0.00324567 0.99998003 -0.28290893] [ 0. 0. 0. 1. ]] SLAMing on 36.66313336499999 meters Centerline goodness [0,1] 0.2608413819926103 Centerline is valid? [False, False] Translation: X:0.68, Y:0.19, Z:-0.28 [[ 0.99998416 -0.0022939 0.0051404 0.68189606] [ 0.00231154 0.99999145 -0.00342917 0.19388751] [-0.00513249 0.00344099 0.99998091 -0.28298207] [ 0. 0. 0. 1. ]] SLAMing on 36.693133364999994 meters Centerline goodness [0,1] 0.28066042976822736 Centerline is valid? [False, False] Translation: X:0.64, Y:0.20, Z:-0.28 [[ 9.99996970e-01 9.95318231e-05 2.45970109e-03 6.35933331e-01] [-9.33310032e-05 9.99996818e-01 -2.52095104e-03 2.01839920e-01] [-2.45994418e-03 2.52071384e-03 9.99993797e-01 -2.80501282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.723133364999995 meters Centerline goodness [0,1] 0.2780098414434117 Centerline is valid? [False, False] Translation: X:0.68, Y:0.20, Z:-0.28 [[ 9.99991963e-01 6.22563850e-04 3.96052072e-03 6.79961462e-01] [-6.13820443e-04 9.99997373e-01 -2.20847323e-03 2.02386903e-01] [-3.96188523e-03 2.20602443e-03 9.99989718e-01 -2.80996008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.753133365 meters Centerline goodness [0,1] 0.2785714285714286 Centerline is valid? [False, False] Translation: X:0.68, Y:0.21, Z:-0.28 [[ 0.99999207 0.00102943 0.0038463 0.68045327] [-0.00101863 0.99999554 -0.00280901 0.20774027] [-0.00384918 0.00280507 0.99998866 -0.28110197] [ 0. 0. 0. 1. ]] SLAMing on 36.783133365 meters Centerline goodness [0,1] 0.2765934162143232 Centerline is valid? [False, False] Translation: X:0.68, Y:0.21, Z:-0.28 [[ 0.9999925 0.00102708 0.00373453 0.6808249 ] [-0.00101496 0.99999422 -0.00324509 0.21046722] [-0.00373784 0.00324128 0.99998776 -0.28120629] [ 0. 0. 0. 1. ]] SLAMing on 36.81313336499999 meters Centerline goodness [0,1] 0.2754876941044163 Centerline is valid? [False, False] Translation: X:0.70, Y:0.21, Z:-0.28 [[ 9.99980911e-01 -4.68995182e-03 4.02256032e-03 7.02170972e-01] [ 4.69039516e-03 9.99988995e-01 -1.00786323e-04 2.14109460e-01] [-4.02204337e-03 1.19651797e-04 9.99991904e-01 -2.81148409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84313336499999 meters Centerline goodness [0,1] 0.27758752317591884 Centerline is valid? [False, False] Translation: X:0.68, Y:0.22, Z:-0.28 [[ 0.99998506 0.00434231 0.00331927 0.68114879] [-0.00433787 0.99998969 -0.00134444 0.21595984] [-0.00332507 0.00133002 0.99999359 -0.28160891] [ 0. 0. 0. 1. ]] SLAMing on 36.873133364999994 meters Centerline goodness [0,1] 0.26094866796621186 Centerline is valid? [False, False] Translation: X:0.68, Y:0.22, Z:-0.28 [[ 0.99998628 0.00422691 0.00309468 0.68175149] [-0.00422198 0.99998981 -0.00159924 0.21703322] [-0.00310141 0.00158615 0.99999393 -0.28172272] [ 0. 0. 0. 1. ]] SLAMing on 36.903133364999995 meters Centerline goodness [0,1] 0.2783753587311324 Centerline is valid? [False, False] Translation: X:0.66, Y:0.22, Z:-0.28 [[ 9.99989330e-01 -3.95000830e-03 2.39528660e-03 6.62004034e-01] [ 3.95214621e-03 9.99991796e-01 -8.88474186e-04 2.23329814e-01] [-2.39175747e-03 8.97931228e-04 9.99996737e-01 -2.82448571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.933133364999996 meters Centerline goodness [0,1] 0.2618361465623713 Centerline is valid? [False, False] Translation: X:0.68, Y:0.22, Z:-0.28 [[ 0.99998615 0.00387598 0.00355948 0.6805035 ] [-0.00386844 0.99999027 -0.00212132 0.22005162] [-0.00356767 0.00210752 0.99999142 -0.28149673] [ 0. 0. 0. 1. ]] SLAMing on 36.963133365 meters Centerline goodness [0,1] 0.26395417477426264 Centerline is valid? [False, False] Translation: X:0.66, Y:0.23, Z:-0.28 [[ 9.99987010e-01 -3.64778712e-03 3.56001757e-03 6.61513815e-01] [ 3.65071882e-03 9.99993002e-01 -8.17356736e-04 2.26532814e-01] [-3.55701111e-03 8.30342741e-04 9.99993329e-01 -2.82722828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.993133365 meters Centerline goodness [0,1] 0.27505862937548853 Centerline is valid? [False, False] Translation: X:0.66, Y:0.23, Z:-0.28 [[ 9.99987722e-01 -3.61964193e-03 3.38440828e-03 6.61980347e-01] [ 3.62256485e-03 9.99993070e-01 -8.57911244e-04 2.26942440e-01] [-3.38127950e-03 8.70160949e-04 9.99993905e-01 -2.82812250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02313336499999 meters Centerline goodness [0,1] 0.2750212090230798 Centerline is valid? [False, False] Translation: X:0.66, Y:0.23, Z:-0.28 [[ 9.99988593e-01 -3.59162015e-03 3.14876673e-03 6.62751133e-01] [ 3.59430376e-03 9.99993182e-01 -8.47030070e-04 2.26976662e-01] [-3.14570306e-03 8.58338032e-04 9.99994684e-01 -2.83164206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.053133364999994 meters Centerline goodness [0,1] 0.2611431567907708 Centerline is valid? [False, False] Translation: X:0.66, Y:0.23, Z:-0.28 [[ 9.99989457e-01 -3.44519851e-03 3.03590554e-03 6.62888713e-01] [ 3.44758927e-03 9.99993751e-01 -7.82615714e-04 2.26987562e-01] [-3.03319031e-03 7.93074018e-04 9.99995085e-01 -2.82929621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.083133364999995 meters Centerline goodness [0,1] 0.26126126126126126 Centerline is valid? [False, False] Translation: X:0.66, Y:0.23, Z:-0.28 [[ 9.99988427e-01 -3.36509856e-03 3.43826399e-03 6.61488646e-01] [ 3.36791739e-03 9.99993997e-01 -8.14381529e-04 2.27299860e-01] [-3.43550287e-03 8.25951894e-04 9.99993758e-01 -2.82150846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.113133364999996 meters Centerline goodness [0,1] 0.27661576160679124 Centerline is valid? [False, False] Translation: X:0.66, Y:0.23, Z:-0.28 [[ 9.99986824e-01 -3.28400245e-03 3.94543785e-03 6.59813134e-01] [ 3.28753382e-03 9.99994201e-01 -8.88899058e-04 2.27886604e-01] [-3.94249582e-03 9.01858107e-04 9.99991822e-01 -2.81285955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.143133365 meters Centerline goodness [0,1] 0.2639187469837231 Centerline is valid? [False, False] Translation: X:0.66, Y:0.23, Z:-0.28 [[ 9.99987186e-01 -2.72884256e-03 4.26400659e-03 6.58868347e-01] [ 2.73207090e-03 9.99995986e-01 -7.51474494e-04 2.28952650e-01] [-4.26193881e-03 7.63114433e-04 9.99990627e-01 -2.80865784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.173133365 meters Centerline goodness [0,1] 0.27458803122289677 Centerline is valid? [False, False] Translation: X:0.68, Y:0.23, Z:-0.28 [[ 0.99997682 0.00543351 0.00410295 0.67891966] [-0.00542589 0.99998354 -0.00186611 0.22583179] [-0.00411302 0.0018438 0.99998984 -0.27963948] [ 0. 0. 0. 1. ]] SLAMing on 37.20313336499999 meters Centerline goodness [0,1] 0.2747345612134344 Centerline is valid? [False, False] Translation: X:0.68, Y:0.23, Z:-0.28 [[ 0.99997349 0.00585513 0.00432833 0.67806794] [-0.00584674 0.99998101 -0.00195025 0.22782134] [-0.00433966 0.00192489 0.99998873 -0.2790534 ] [ 0. 0. 0. 1. ]] SLAMing on 37.23313336499999 meters Centerline goodness [0,1] 0.27935630974305004 Centerline is valid? [False, False] Translation: X:0.65, Y:0.23, Z:-0.28 [[ 9.99985331e-01 -3.56590734e-04 5.40468534e-03 6.54482338e-01] [ 3.54723465e-04 9.99999877e-01 3.46445412e-04 2.32780826e-01] [-5.40480822e-03 -3.44523161e-04 9.99985335e-01 -2.78460133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.263133364999995 meters Centerline goodness [0,1] 0.278900814292926 Centerline is valid? [False, False] Translation: X:0.65, Y:0.23, Z:-0.28 [[ 9.99984127e-01 -3.65636967e-04 5.62242463e-03 6.53682528e-01] [ 3.64874549e-04 9.99999924e-01 1.36628243e-04 2.34086816e-01] [-5.62247416e-03 -1.34574595e-04 9.99984185e-01 -2.77991326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.293133364999996 meters Centerline goodness [0,1] 0.2768457471114303 Centerline is valid? [False, False] Translation: X:0.65, Y:0.24, Z:-0.28 [[ 9.99982685e-01 -4.53497200e-04 5.86719399e-03 6.53225230e-01] [ 4.54778439e-04 9.99999873e-01 -2.17041080e-04 2.35772253e-01] [-5.86709481e-03 2.19705595e-04 9.99982764e-01 -2.78184286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.323133365 meters Centerline goodness [0,1] 0.2768457471114303 Centerline is valid? [False, False] Translation: X:0.65, Y:0.24, Z:-0.28 [[ 9.99982685e-01 -4.53497200e-04 5.86719399e-03 6.53225230e-01] [ 4.54778439e-04 9.99999873e-01 -2.17041080e-04 2.35772253e-01] [-5.86709481e-03 2.19705595e-04 9.99982764e-01 -2.78184286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.353133365 meters Centerline goodness [0,1] 0.27484559236384054 Centerline is valid? [False, False] Translation: X:0.65, Y:0.24, Z:-0.28 [[ 9.99982881e-01 -5.09140666e-04 5.82913283e-03 6.53597139e-01] [ 5.10991690e-04 9.99999819e-01 -3.16062125e-04 2.36099145e-01] [-5.82897085e-03 3.19035353e-04 9.99982961e-01 -2.78687813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38313336499999 meters Centerline goodness [0,1] 0.27784924666942856 Centerline is valid? [False, False] Translation: X:0.65, Y:0.24, Z:-0.28 [[ 9.99983057e-01 -5.24115937e-04 5.79748123e-03 6.53844935e-01] [ 5.26374333e-04 9.99999786e-01 -3.88028894e-04 2.36539987e-01] [-5.79727662e-03 3.91073965e-04 9.99983119e-01 -2.78984995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.41313336499999 meters Centerline goodness [0,1] 0.27597212271217353 Centerline is valid? [False, False] Translation: X:0.65, Y:0.24, Z:-0.28 [[ 9.99982462e-01 -5.28206575e-04 5.89893742e-03 6.53655179e-01] [ 5.31614891e-04 9.99999693e-01 -5.76231783e-04 2.38031626e-01] [-5.89863123e-03 5.79357640e-04 9.99982435e-01 -2.79052923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.443133364999994 meters Centerline goodness [0,1] 0.2782650644680291 Centerline is valid? [False, False] Translation: X:0.65, Y:0.24, Z:-0.28 [[ 9.99982987e-01 -5.83867678e-04 5.80387929e-03 6.53881678e-01] [ 5.88385516e-04 9.99999525e-01 -7.76739879e-04 2.39154704e-01] [-5.80342302e-03 7.80141583e-04 9.99982856e-01 -2.79057313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.473133364999995 meters Centerline goodness [0,1] 0.2754791176025755 Centerline is valid? [False, False] Translation: X:0.70, Y:0.24, Z:-0.28 [[ 9.99980305e-01 5.28009678e-04 6.25379952e-03 7.00143721e-01] [-5.29737204e-04 9.99999822e-01 2.74582963e-04 2.40872459e-01] [-6.25365343e-03 -2.77890426e-04 9.99980407e-01 -2.80281087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.503133365 meters Centerline goodness [0,1] 0.27616950778218596 Centerline is valid? [False, False] Translation: X:0.70, Y:0.24, Z:-0.28 [[ 9.99982719e-01 4.83821484e-04 5.85891635e-03 7.01425747e-01] [-4.83937750e-04 9.99999883e-01 1.84265790e-05 2.42315036e-01] [-5.85890674e-03 -2.12616114e-05 9.99982836e-01 -2.80900856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.533133365 meters Centerline goodness [0,1] 0.2777337559429477 Centerline is valid? [False, False] Translation: X:0.70, Y:0.24, Z:-0.28 [[ 9.99985126e-01 4.16840684e-04 5.43819707e-03 7.02937860e-01] [-4.15550644e-04 9.99999885e-01 -2.38346114e-04 2.43505179e-01] [-5.43829580e-03 2.36082723e-04 9.99985184e-01 -2.81803070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56313336499999 meters Centerline goodness [0,1] 0.2777448852049207 Centerline is valid? [False, False] Translation: X:0.70, Y:0.24, Z:-0.28 [[ 9.99987012e-01 3.91890474e-04 5.08150349e-03 7.04226277e-01] [-3.89848157e-04 9.99999843e-01 -4.02896143e-04 2.44306708e-01] [-5.08166058e-03 4.00909895e-04 9.99987008e-01 -2.82654927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.59313336499999 meters Centerline goodness [0,1] 0.27554930187249704 Centerline is valid? [False, False] Translation: X:0.75, Y:0.25, Z:-0.28 [[ 9.99973768e-01 1.17455807e-03 7.14727339e-03 7.48182296e-01] [-1.17710636e-03 9.99999245e-01 3.52344241e-04 2.45178722e-01] [-7.14685415e-03 -3.60748099e-04 9.99974396e-01 -2.83455194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.623133364999994 meters Centerline goodness [0,1] 0.27925257449004237 Centerline is valid? [False, False] Translation: X:0.72, Y:0.25, Z:-0.28 [[ 0.9999648 -0.00457318 0.00703517 0.72441999] [ 0.00454936 0.99998388 0.00339801 0.24837049] [-0.00705059 -0.00336588 0.99996948 -0.28256779] [ 0. 0. 0. 1. ]] SLAMing on 37.653133364999995 meters Centerline goodness [0,1] 0.2760321201012481 Centerline is valid? [False, False] Translation: X:0.72, Y:0.25, Z:-0.28 [[ 0.99996638 -0.00449255 0.00685901 0.72479256] [ 0.00447087 0.99998497 0.00317364 0.25017887] [-0.00687316 -0.00314287 0.99997144 -0.28245985] [ 0. 0. 0. 1. ]] SLAMing on 37.683133364999996 meters Centerline goodness [0,1] 0.2737760270118177 Centerline is valid? [False, False] Translation: X:0.75, Y:0.25, Z:-0.28 [[ 0.99996978 0.00380427 0.00678051 0.74554574] [-0.00381787 0.99999072 0.00199397 0.24889387] [-0.00677286 -0.0020198 0.99997502 -0.2816628 ] [ 0. 0. 0. 1. ]] SLAMing on 37.713133365 meters Centerline goodness [0,1] 0.2745511455027605 Centerline is valid? [False, False] Translation: X:0.75, Y:0.25, Z:-0.28 [[ 0.99996927 0.00420557 0.00661578 0.74611303] [-0.00421605 0.99998988 0.00157191 0.25278166] [-0.0066091 -0.00159975 0.99997688 -0.28204145] [ 0. 0. 0. 1. ]] SLAMing on 37.743133365 meters Centerline goodness [0,1] 0.27565114443567484 Centerline is valid? [False, False] Translation: X:0.75, Y:0.26, Z:-0.28 [[ 0.99996732 0.00427566 0.0068617 0.74548926] [-0.00428429 0.99999005 0.00124416 0.25525197] [-0.00685631 -0.00127352 0.99997568 -0.28198735] [ 0. 0. 0. 1. ]] SLAMing on 37.77313336499999 meters Centerline goodness [0,1] 0.2589929610916786 Centerline is valid? [False, False] Translation: X:0.77, Y:0.26, Z:-0.28 [[ 0.99996791 -0.00141133 0.00788628 0.76708815] [ 0.00137636 0.99998921 0.00443685 0.25994861] [-0.00789246 -0.00442585 0.99995906 -0.28248348] [ 0. 0. 0. 1. ]] SLAMing on 37.803133364999994 meters Centerline goodness [0,1] 0.27538790097629007 Centerline is valid? [False, False] Translation: X:0.75, Y:0.26, Z:-0.28 [[ 0.99994101 0.00720487 0.00812775 0.74535021] [-0.00723004 0.99996914 0.00307189 0.25910071] [-0.00810537 -0.00313048 0.99996225 -0.28272644] [ 0. 0. 0. 1. ]] SLAMing on 37.833133364999995 meters Centerline goodness [0,1] 0.274569556605211 Centerline is valid? [False, False] Translation: X:0.75, Y:0.26, Z:-0.28 [[ 0.99994214 0.00706839 0.0081084 0.74533702] [-0.00709163 0.99997082 0.00284033 0.25973283] [-0.00808809 -0.00289767 0.99996309 -0.28268948] [ 0. 0. 0. 1. ]] SLAMing on 37.863133364999996 meters Centerline goodness [0,1] 0.2740527930185337 Centerline is valid? [False, False] Translation: X:0.76, Y:0.26, Z:-0.28 [[ 0.99996603 -0.00114684 0.00816231 0.76415387] [ 0.00111415 0.99999135 0.0040085 0.26422544] [-0.00816684 -0.00399927 0.99995865 -0.28120367] [ 0. 0. 0. 1. ]] SLAMing on 37.893133365 meters Centerline goodness [0,1] 0.27852038115404976 Centerline is valid? [False, False] Translation: X:0.72, Y:0.26, Z:-0.28 [[ 9.99971023e-01 -4.47714199e-04 7.59956630e-03 7.15210860e-01] [ 4.13464033e-04 9.99989754e-01 4.50783085e-03 2.63650012e-01] [-7.60150666e-03 -4.50455808e-03 9.99960962e-01 -2.78466551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.923133365 meters Centerline goodness [0,1] 0.27427903857387015 Centerline is valid? [False, False] Translation: X:0.76, Y:0.26, Z:-0.28 [[ 0.99994815 -0.00104863 0.01012925 0.75729379] [ 0.00100373 0.99998966 0.00443607 0.26363498] [-0.0101338 -0.00442567 0.99993886 -0.27863408] [ 0. 0. 0. 1. ]] SLAMing on 37.95313336499999 meters Centerline goodness [0,1] 0.27528211336417485 Centerline is valid? [False, False] Translation: X:0.76, Y:0.26, Z:-0.28 [[ 0.99994657 -0.00109503 0.01027928 0.75692661] [ 0.00104909 0.99998944 0.0044736 0.26284028] [-0.01028407 -0.00446258 0.99993716 -0.27863095] [ 0. 0. 0. 1. ]] SLAMing on 37.98313336499999 meters Centerline goodness [0,1] 0.2753999135322093 Centerline is valid? [False, False] Translation: X:0.76, Y:0.26, Z:-0.28 [[ 0.99994655 -0.00109226 0.01028122 0.75682472] [ 0.00104551 0.9999891 0.00455109 0.26214238] [-0.01028608 -0.00454009 0.99993679 -0.27851169] [ 0. 0. 0. 1. ]] SLAMing on 38.013133364999995 meters Centerline goodness [0,1] 0.27532777115613827 Centerline is valid? [False, False] Translation: X:0.76, Y:0.26, Z:-0.28 [[ 9.99944881e-01 -8.80528367e-04 1.04623306e-02 7.56341802e-01] [ 8.31274523e-04 9.99988557e-01 4.71114800e-03 2.62153166e-01] [-1.04663592e-02 -4.70219125e-03 9.99934170e-01 -2.78453967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.043133364999996 meters Centerline goodness [0,1] 0.2603882907424223 Centerline is valid? [False, False] Translation: X:0.76, Y:0.26, Z:-0.28 [[ 9.99944820e-01 -8.24253287e-04 1.04726902e-02 7.56389888e-01] [ 7.75712985e-04 9.99988943e-01 4.63815806e-03 2.62814033e-01] [-1.04763974e-02 -4.62977833e-03 9.99934403e-01 -2.78607217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.073133365 meters Centerline goodness [0,1] 0.27508939213349226 Centerline is valid? [False, False] Translation: X:0.76, Y:0.26, Z:-0.28 [[ 9.99945154e-01 -8.29593608e-04 1.04403642e-02 7.56581716e-01] [ 7.82895722e-04 9.99989676e-01 4.47611397e-03 2.63588948e-01] [-1.04439698e-02 -4.46769476e-03 9.99935480e-01 -2.78837970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.103133365 meters Centerline goodness [0,1] 0.2754363466429022 Centerline is valid? [False, False] Translation: X:0.76, Y:0.27, Z:-0.28 [[ 9.99950003e-01 -4.88747314e-04 9.98763371e-03 7.57908276e-01] [ 4.45317802e-04 9.99990439e-01 4.35008983e-03 2.65086902e-01] [-9.98966431e-03 -4.34542467e-03 9.99940660e-01 -2.79462119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13313336499999 meters Centerline goodness [0,1] 0.27763709395738734 Centerline is valid? [False, False] Translation: X:0.76, Y:0.27, Z:-0.28 [[ 9.99953572e-01 -3.79635095e-04 9.62858204e-03 7.58889674e-01] [ 3.39412610e-04 9.99991212e-01 4.17869491e-03 2.66515832e-01] [-9.63008380e-03 -4.17523284e-03 9.99944913e-01 -2.79832547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16313336499999 meters Centerline goodness [0,1] 0.27525032651284287 Centerline is valid? [False, False] Translation: X:0.76, Y:0.27, Z:-0.28 [[ 9.99955619e-01 -2.60165475e-04 9.41761836e-03 7.59608101e-01] [ 2.22236981e-04 9.99991862e-01 4.02822016e-03 2.67895407e-01] [-9.41858972e-03 -4.02594845e-03 9.99947540e-01 -2.80304403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.193133364999994 meters Centerline goodness [0,1] 0.27359742435119316 Centerline is valid? [False, False] Translation: X:0.76, Y:0.27, Z:-0.28 [[ 9.99955264e-01 -6.86877568e-05 9.45857849e-03 7.59797487e-01] [ 3.20931185e-05 9.99992515e-01 3.86903381e-03 2.69578408e-01] [-9.45877344e-03 -3.86855717e-03 9.99947782e-01 -2.80939980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.223133364999995 meters Centerline goodness [0,1] 0.2728337744608843 Centerline is valid? [False, False] Translation: X:0.76, Y:0.27, Z:-0.28 [[ 9.99956354e-01 -1.06351488e-04 9.34227216e-03 7.60359249e-01] [ 7.17819185e-05 9.99993150e-01 3.70059592e-03 2.70456493e-01] [-9.34260173e-03 -3.69976380e-03 9.99949512e-01 -2.81499265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.253133365 meters Centerline goodness [0,1] 0.272359667811644 Centerline is valid? [False, False] Translation: X:0.76, Y:0.27, Z:-0.28 [[ 9.99958719e-01 -1.89993072e-04 9.08432453e-03 7.61359879e-01] [ 1.58020301e-04 9.99993792e-01 3.52014226e-03 2.71180822e-01] [-9.08493694e-03 -3.51856144e-03 9.99952541e-01 -2.82183366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.283133365 meters Centerline goodness [0,1] 0.2712860044111546 Centerline is valid? [False, False] Translation: X:0.76, Y:0.27, Z:-0.28 [[ 9.99963590e-01 -3.18302551e-04 8.52747032e-03 7.63201601e-01] [ 2.91512825e-04 9.99995019e-01 3.14263828e-03 2.72834453e-01] [-8.52842816e-03 -3.14003799e-03 9.99958702e-01 -2.83199019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31313336499999 meters Centerline goodness [0,1] 0.2731363596452717 Centerline is valid? [False, False] Translation: X:0.76, Y:0.27, Z:-0.28 [[ 9.99963758e-01 -3.55886138e-04 8.50621548e-03 7.63334859e-01] [ 3.30552191e-04 9.99995507e-01 2.97950682e-03 2.73752953e-01] [-8.50723762e-03 -2.97658709e-03 9.99959383e-01 -2.83402855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34313336499999 meters Centerline goodness [0,1] 0.27235975569997173 Centerline is valid? [False, False] Translation: X:0.76, Y:0.27, Z:-0.28 [[ 9.99962326e-01 -3.30466621e-04 8.67395426e-03 7.62903976e-01] [ 3.05266447e-04 9.99995730e-01 2.90643261e-03 2.74705178e-01] [-8.67487770e-03 -2.90367524e-03 9.99958157e-01 -2.83343456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.373133364999994 meters Centerline goodness [0,1] 0.2731936353360578 Centerline is valid? [False, False] Translation: X:0.76, Y:0.27, Z:-0.28 [[ 9.99962426e-01 -3.73476369e-04 8.66069143e-03 7.62721673e-01] [ 3.48576408e-04 9.99995802e-01 2.87638597e-03 2.74775918e-01] [-8.66172934e-03 -2.87325898e-03 9.99958359e-01 -2.82991970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.403133364999995 meters Centerline goodness [0,1] 0.2729031276489382 Centerline is valid? [False, False] Translation: X:0.76, Y:0.27, Z:-0.28 [[ 9.99963880e-01 -4.32129434e-04 8.48829342e-03 7.63078726e-01] [ 4.07602097e-04 9.99995738e-01 2.89106619e-03 2.74348133e-01] [-8.48950655e-03 -2.88750192e-03 9.99959794e-01 -2.82865223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.433133364999996 meters Centerline goodness [0,1] 0.2745406824146982 Centerline is valid? [False, False] Translation: X:0.76, Y:0.27, Z:-0.28 [[ 9.99965760e-01 -4.70935726e-04 8.26181074e-03 7.63559220e-01] [ 4.46518301e-04 9.99995528e-01 2.95705259e-03 2.73694446e-01] [-8.26316638e-03 -2.95326229e-03 9.99961498e-01 -2.82768991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.463133365 meters Centerline goodness [0,1] 0.2723186171252362 Centerline is valid? [False, False] Translation: X:0.76, Y:0.27, Z:-0.28 [[ 9.99968838e-01 -4.39443611e-04 7.88220013e-03 7.64822136e-01] [ 4.14030462e-04 9.99994712e-01 3.22546080e-03 2.72183971e-01] [-7.88357586e-03 -3.22209682e-03 9.99963733e-01 -2.83323896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.493133365 meters Centerline goodness [0,1] 0.2745020705975153 Centerline is valid? [False, False] Translation: X:0.76, Y:0.27, Z:-0.28 [[ 9.99967141e-01 -4.39792095e-04 8.09467820e-03 7.64200523e-01] [ 4.13153038e-04 9.99994495e-01 3.29231264e-03 2.71682391e-01] [-8.09608157e-03 -3.28886012e-03 9.99961818e-01 -2.83153885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52313336499999 meters Centerline goodness [0,1] 0.27288308419933616 Centerline is valid? [False, False] Translation: X:0.78, Y:0.27, Z:-0.28 [[ 0.99993032 0.00724988 0.00931616 0.78233274] [-0.00726817 0.99997172 0.00193098 0.26789863] [-0.0093019 -0.00199856 0.99995474 -0.2815645 ] [ 0. 0. 0. 1. ]] SLAMing on 38.553133364999994 meters Centerline goodness [0,1] 0.270170148610812 Centerline is valid? [False, False] Translation: X:0.80, Y:0.27, Z:-0.28 [[ 9.99942558e-01 -8.60579411e-04 1.06836751e-02 8.00389656e-01] [ 8.24099754e-04 9.99993817e-01 3.41845615e-03 2.71078843e-01] [-1.06865509e-02 -3.40945538e-03 9.99937085e-01 -2.80160829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.583133364999995 meters Centerline goodness [0,1] 0.2718072080272197 Centerline is valid? [False, False] Translation: X:0.80, Y:0.27, Z:-0.28 [[ 9.99942185e-01 -8.37546456e-04 1.07203399e-02 8.00212325e-01] [ 7.99910118e-04 9.99993504e-01 3.51454753e-03 2.70454310e-01] [-1.07232139e-02 -3.50576903e-03 9.99936359e-01 -2.80007560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.613133364999996 meters Centerline goodness [0,1] 0.27474495925901654 Centerline is valid? [False, False] Translation: X:0.80, Y:0.27, Z:-0.28 [[ 9.99941402e-01 -8.12455462e-04 1.07950396e-02 7.99919433e-01] [ 7.73077365e-04 9.99993035e-01 3.65146780e-03 2.69476296e-01] [-1.07979310e-02 -3.64290843e-03 9.99935065e-01 -2.79831602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.643133365 meters Centerline goodness [0,1] 0.27603847835592477 Centerline is valid? [False, False] Translation: X:0.80, Y:0.27, Z:-0.28 [[ 9.99941667e-01 -7.31267779e-04 1.07762562e-02 8.00221163e-01] [ 6.87962559e-04 9.99991676e-01 4.02173654e-03 2.67099839e-01] [-1.07791074e-02 -4.01408828e-03 9.99933847e-01 -2.80240065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.673133365 meters Centerline goodness [0,1] 0.27275481497511356 Centerline is valid? [False, False] Translation: X:0.80, Y:0.27, Z:-0.28 [[ 9.99942102e-01 -6.13464427e-04 1.07431583e-02 8.00457495e-01] [ 5.67737928e-04 9.99990770e-01 4.25886929e-03 2.66021015e-01] [-1.07456718e-02 -4.25252341e-03 9.99933221e-01 -2.80512806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70313336499999 meters Centerline goodness [0,1] 0.2733439137335043 Centerline is valid? [False, False] Translation: X:0.80, Y:0.27, Z:-0.28 [[ 9.99940403e-01 -5.06081184e-04 1.09056910e-02 8.00157973e-01] [ 4.57196554e-04 9.99989840e-01 4.48451512e-03 2.65010794e-01] [-1.09078497e-02 -4.47926181e-03 9.99930475e-01 -2.80687231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.73313336499999 meters Centerline goodness [0,1] 0.2729916236274468 Centerline is valid? [False, False] Translation: X:0.80, Y:0.26, Z:-0.28 [[ 9.99932312e-01 -3.84071071e-04 1.16285569e-02 7.97924710e-01] [ 3.29316528e-04 9.99988853e-01 4.71017628e-03 2.63706364e-01] [-1.16302363e-02 -4.70602798e-03 9.99921292e-01 -2.79793312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.763133364999995 meters Centerline goodness [0,1] 0.2737909177737258 Centerline is valid? [False, False] Translation: X:0.80, Y:0.26, Z:-0.28 [[ 9.99931440e-01 -3.72939392e-04 1.17036457e-02 7.97643632e-01] [ 3.17756446e-04 9.99988827e-01 4.71652731e-03 2.63501954e-01] [-1.17052739e-02 -4.71248503e-03 9.99920386e-01 -2.79684007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.793133364999996 meters Centerline goodness [0,1] 0.27542160809487537 Centerline is valid? [False, False] Translation: X:0.80, Y:0.26, Z:-0.28 [[ 9.99932819e-01 -3.27337078e-04 1.15866769e-02 7.98093618e-01] [ 2.72309968e-04 9.99988680e-01 4.75043008e-03 2.63432259e-01] [-1.15881008e-02 -4.74695577e-03 9.99921588e-01 -2.80058364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.823133365 meters Centerline goodness [0,1] 0.2724315179907606 Centerline is valid? [False, False] Translation: X:0.80, Y:0.26, Z:-0.28 [[ 9.99934061e-01 -1.94722156e-05 1.14836491e-02 7.98609917e-01] [-3.90255913e-05 9.99987026e-01 5.09376247e-03 2.62715444e-01] [-1.14835993e-02 -5.09387475e-03 9.99921087e-01 -2.80563274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.853133365 meters Centerline goodness [0,1] 0.27309263121306915 Centerline is valid? [False, False] Translation: X:0.80, Y:0.26, Z:-0.28 [[ 9.99932902e-01 1.39577170e-05 1.15840975e-02 7.98202065e-01] [-7.44298487e-05 9.99986374e-01 5.21985658e-03 2.61970713e-01] [-1.15838668e-02 -5.22036854e-03 9.99919278e-01 -2.80293843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88313336499999 meters Centerline goodness [0,1] 0.27323183241550586 Centerline is valid? [False, False] Translation: X:0.80, Y:0.26, Z:-0.28 [[ 9.99931875e-01 1.78186159e-05 1.16724320e-02 7.97898725e-01] [-8.05365957e-05 9.99985564e-01 5.37272357e-03 2.60725754e-01] [-1.16721677e-02 -5.37329761e-03 9.99917441e-01 -2.80132720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.91313336499999 meters Centerline goodness [0,1] 0.2724347901191916 Centerline is valid? [False, False] Translation: X:0.80, Y:0.26, Z:-0.28 [[ 9.99932702e-01 -6.85733675e-07 1.16013775e-02 7.98062207e-01] [-6.31654120e-05 9.99984854e-01 5.50338822e-03 2.59402104e-01] [-1.16012056e-02 -5.50375066e-03 9.99917557e-01 -2.80142640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.943133364999994 meters Centerline goodness [0,1] 0.27451406233032905 Centerline is valid? [False, False] Translation: X:0.80, Y:0.26, Z:-0.28 [[ 9.99935373e-01 2.00294232e-04 1.13670357e-02 7.98877343e-01] [-2.70483027e-04 9.99980907e-01 6.17356553e-03 2.55870376e-01] [-1.13655821e-02 -6.17624114e-03 9.99916335e-01 -2.80532897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.973133364999995 meters Centerline goodness [0,1] 0.2752175243758471 Centerline is valid? [False, False] Translation: X:0.80, Y:0.25, Z:-0.28 [[ 9.99936620e-01 3.80651212e-04 1.12521353e-02 7.99344334e-01] [-4.55697882e-04 9.99977667e-01 6.66773791e-03 2.53559341e-01] [-1.12493459e-02 -6.67244288e-03 9.99914462e-01 -2.80815188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.003133365 meters Centerline goodness [0,1] 0.2729776621123401 Centerline is valid? [False, False] Translation: X:0.80, Y:0.25, Z:-0.28 [[ 0.99994137 -0.00209033 0.01062491 0.80222893] [ 0.0020395 0.99998644 0.0047921 0.24789015] [-0.01063478 -0.00477015 0.99993207 -0.28238238] [ 0. 0. 0. 1. ]] SLAMing on 39.033133365 meters Centerline goodness [0,1] 0.27521497768586045 Centerline is valid? [False, False] Translation: X:0.80, Y:0.25, Z:-0.28 [[ 0.99994388 -0.00199996 0.01040351 0.80289688] [ 0.00194558 0.99998441 0.00523461 0.24515754] [-0.01041382 -0.00521408 0.99993218 -0.28254596] [ 0. 0. 0. 1. ]] SLAMing on 39.06313336499999 meters Centerline goodness [0,1] 0.2760188948698231 Centerline is valid? [False, False] Translation: X:0.78, Y:0.24, Z:-0.28 [[ 0.99994469 0.00450154 0.00950524 0.78215411] [-0.00452702 0.99998621 0.00266015 0.2386383 ] [-0.00949314 -0.00270303 0.99995129 -0.28248323] [ 0. 0. 0. 1. ]] SLAMing on 39.09313336499999 meters Centerline goodness [0,1] 0.2742982437097019 Centerline is valid? [False, False] Translation: X:0.80, Y:0.24, Z:-0.28 [[ 0.99994488 -0.00329687 0.00996796 0.80243503] [ 0.00325233 0.99998467 0.00448168 0.23811533] [-0.00998259 -0.00444901 0.99994028 -0.28216751] [ 0. 0. 0. 1. ]] SLAMing on 39.123133364999994 meters Centerline goodness [0,1] 0.27173606133663475 Centerline is valid? [False, False] Translation: X:0.80, Y:0.24, Z:-0.28 [[ 0.99994684 -0.00313478 0.00982342 0.80291897] [ 0.00308789 0.99998379 0.00478449 0.23680631] [-0.00983826 -0.0047539 0.9999403 -0.28239232] [ 0. 0. 0. 1. ]] SLAMing on 39.153133364999995 meters Centerline goodness [0,1] 0.2737624303354824 Centerline is valid? [False, False] Translation: X:0.78, Y:0.23, Z:-0.28 [[ 0.99993895 0.00506409 0.00982144 0.7836741 ] [-0.00510059 0.99998017 0.00369465 0.23020413] [-0.00980254 -0.00374452 0.99994494 -0.28404584] [ 0. 0. 0. 1. ]] SLAMing on 39.183133364999996 meters Centerline goodness [0,1] 0.27619342154675386 Centerline is valid? [False, False] Translation: X:0.77, Y:0.23, Z:-0.28 [[ 0.99995811 -0.00234917 0.00884635 0.76558338] [ 0.00230772 0.99998632 0.00469338 0.23225307] [-0.00885726 -0.00467277 0.99994986 -0.28483119] [ 0. 0. 0. 1. ]] SLAMing on 39.213133365 meters Centerline goodness [0,1] 0.2704135737009544 Centerline is valid? [False, False] Translation: X:0.81, Y:0.24, Z:-0.29 [[ 9.99942974e-01 -9.76998511e-04 1.06345519e-02 8.09063445e-01] [ 9.18771262e-04 9.99984569e-01 5.47879847e-03 2.35236668e-01] [-1.06397405e-02 -5.46871532e-03 9.99928442e-01 -2.85657320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.243133365 meters Centerline goodness [0,1] 0.2704135737009544 Centerline is valid? [False, False] Translation: X:0.81, Y:0.24, Z:-0.29 [[ 9.99942974e-01 -9.76998511e-04 1.06345519e-02 8.09063445e-01] [ 9.18771262e-04 9.99984569e-01 5.47879847e-03 2.35236668e-01] [-1.06397405e-02 -5.46871532e-03 9.99928442e-01 -2.85657320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.27313336499999 meters Centerline goodness [0,1] 0.271538261322228 Centerline is valid? [False, False] Translation: X:0.81, Y:0.24, Z:-0.29 [[ 9.99941226e-01 -8.08111811e-04 1.08116531e-02 8.08731300e-01] [ 7.49041211e-04 9.99984778e-01 5.46653904e-03 2.36062947e-01] [-1.08159061e-02 -5.45811937e-03 9.99926610e-01 -2.85907240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.303133364999994 meters Centerline goodness [0,1] 0.25877580961833047 Centerline is valid? [False, False] Translation: X:0.81, Y:0.24, Z:-0.29 [[ 9.99940674e-01 -6.64881653e-04 1.08723166e-02 8.08625050e-01] [ 6.06246526e-04 9.99985261e-01 5.39547321e-03 2.37118539e-01] [-1.08757437e-02 -5.38856181e-03 9.99926338e-01 -2.86074748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.333133364999995 meters Centerline goodness [0,1] 0.2715732172019597 Centerline is valid? [False, False] Translation: X:0.79, Y:0.23, Z:-0.29 [[ 0.99992112 0.00741246 0.01013944 0.78854815] [-0.00745198 0.99996476 0.00386541 0.23285308] [-0.01011044 -0.00394067 0.99994112 -0.28731508] [ 0. 0. 0. 1. ]] SLAMing on 39.363133364999996 meters Centerline goodness [0,1] 0.2576487099211918 Centerline is valid? [False, False] Translation: X:0.81, Y:0.24, Z:-0.29 [[ 9.99960067e-01 -8.93209141e-05 8.93620520e-03 8.06814091e-01] [ 4.84567517e-05 9.99989543e-01 4.57298847e-03 2.38963295e-01] [-8.93652022e-03 -4.57237284e-03 9.99949615e-01 -2.85897630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.393133365 meters Centerline goodness [0,1] 0.273629231408029 Centerline is valid? [False, False] Translation: X:0.79, Y:0.23, Z:-0.29 [[ 0.99993 0.00810314 0.00862128 0.7866372 ] [-0.00813399 0.99996062 0.00354962 0.23404302] [-0.00859217 -0.0036195 0.99995654 -0.28640933] [ 0. 0. 0. 1. ]] SLAMing on 39.423133365 meters Centerline goodness [0,1] 0.2728260869565218 Centerline is valid? [False, False] Translation: X:0.79, Y:0.24, Z:-0.29 [[ 0.99992565 0.00813266 0.00908552 0.78514253] [-0.00816454 0.99996062 0.00347796 0.23519407] [-0.00905688 -0.00355188 0.99995268 -0.28572088] [ 0. 0. 0. 1. ]] SLAMing on 39.45313336499999 meters Centerline goodness [0,1] 0.27131531063166103 Centerline is valid? [False, False] Translation: X:0.78, Y:0.24, Z:-0.29 [[ 0.99992552 0.00803287 0.00918831 0.78490877] [-0.00806375 0.99996195 0.00332875 0.23566884] [-0.00916123 -0.00340259 0.99995225 -0.2857228 ] [ 0. 0. 0. 1. ]] SLAMing on 39.48313336499999 meters Centerline goodness [0,1] 0.27335760852975166 Centerline is valid? [False, False] Translation: X:0.79, Y:0.24, Z:-0.29 [[ 0.99992739 0.00794216 0.00906281 0.78525505] [-0.00797169 0.99996302 0.00322711 0.23579239] [-0.00903685 -0.00329912 0.99995372 -0.28580552] [ 0. 0. 0. 1. ]] SLAMing on 39.513133364999995 meters Centerline goodness [0,1] 0.2594507269789984 Centerline is valid? [False, False] Translation: X:0.81, Y:0.24, Z:-0.29 [[ 9.99964324e-01 -2.51772940e-04 8.44313045e-03 8.05699149e-01] [ 2.19151477e-04 9.99992509e-01 3.86437187e-03 2.41481733e-01] [-8.44404015e-03 -3.86238368e-03 9.99956889e-01 -2.85276372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.543133364999996 meters Centerline goodness [0,1] 0.26945447469134465 Centerline is valid? [False, False] Translation: X:0.81, Y:0.24, Z:-0.29 [[ 9.99971597e-01 -3.86593071e-04 7.52698314e-03 8.08362878e-01] [ 3.57170650e-04 9.99992293e-01 3.90987806e-03 2.40986751e-01] [-7.52843666e-03 -3.90707859e-03 9.99964028e-01 -2.86046558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.573133365 meters Centerline goodness [0,1] 0.2702073543992758 Centerline is valid? [False, False] Translation: X:0.81, Y:0.24, Z:-0.29 [[ 9.99973634e-01 -4.59640582e-04 7.24703370e-03 8.09181566e-01] [ 4.30221070e-04 9.99991663e-01 4.06056112e-03 2.39844223e-01] [-7.24883968e-03 -4.05733623e-03 9.99965496e-01 -2.86216303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.603133365 meters Centerline goodness [0,1] 0.2733125286428213 Centerline is valid? [False, False] Translation: X:0.79, Y:0.23, Z:-0.29 [[ 9.99960773e-01 5.05588642e-03 7.27257986e-03 7.86602830e-01] [-5.06260250e-03 9.99986775e-01 9.05366943e-04 2.34575566e-01] [-7.26790625e-03 -9.42149609e-04 9.99973145e-01 -2.85413556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63313336499999 meters Centerline goodness [0,1] 0.2730189701897019 Centerline is valid? [False, False] Translation: X:0.78, Y:0.23, Z:-0.28 [[ 9.99956505e-01 4.39748350e-03 8.22497946e-03 7.83927247e-01] [-4.40516124e-03 9.99989878e-01 9.15581920e-04 2.31582804e-01] [-8.22086996e-03 -9.51774457e-04 9.99965755e-01 -2.84524946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66313336499999 meters Centerline goodness [0,1] 0.2587377908104961 Centerline is valid? [False, False] Translation: X:0.78, Y:0.23, Z:-0.28 [[ 0.99995546 0.00444932 0.00832345 0.78372998] [-0.00445962 0.99998931 0.00121995 0.22991948] [-0.00831793 -0.00125701 0.99996462 -0.28454987] [ 0. 0. 0. 1. ]] SLAMing on 39.693133364999994 meters Centerline goodness [0,1] 0.2720192120464724 Centerline is valid? [False, False] Translation: X:0.78, Y:0.23, Z:-0.28 [[ 0.9999548 0.00452684 0.00836116 0.78385337] [-0.004539 0.99998867 0.00143554 0.22893398] [-0.00835457 -0.00147343 0.99996401 -0.28482555] [ 0. 0. 0. 1. ]] SLAMing on 39.723133364999995 meters Centerline goodness [0,1] 0.27705741679282125 Centerline is valid? [False, False] Translation: X:0.76, Y:0.23, Z:-0.29 [[ 0.9999689 -0.0034786 0.00707736 0.76436259] [ 0.00345852 0.99998997 0.00284737 0.23185237] [-0.00708719 -0.0028228 0.9999709 -0.28615483] [ 0. 0. 0. 1. ]] SLAMing on 39.753133365 meters Centerline goodness [0,1] 0.274104262923895 Centerline is valid? [False, False] Translation: X:0.76, Y:0.23, Z:-0.29 [[ 0.99996867 -0.00347896 0.00711086 0.76436582] [ 0.0034591 0.99999009 0.00280422 0.231906 ] [-0.00712054 -0.00277953 0.99997079 -0.2863247 ] [ 0. 0. 0. 1. ]] SLAMing on 39.783133365 meters Centerline goodness [0,1] 0.27565879964194484 Centerline is valid? [False, False] Translation: X:0.76, Y:0.23, Z:-0.29 [[ 0.99996844 -0.00350366 0.0071301 0.76418216] [ 0.00348395 0.99999008 0.00277451 0.2316754 ] [-0.00713975 -0.00274958 0.99997073 -0.28612301] [ 0. 0. 0. 1. ]] SLAMing on 39.81313336499999 meters Centerline goodness [0,1] 0.27403877537698285 Centerline is valid? [False, False] Translation: X:0.76, Y:0.23, Z:-0.29 [[ 0.99996889 -0.0033355 0.00714771 0.7641196 ] [ 0.00331405 0.99998998 0.00300991 0.23077176] [-0.00715767 -0.00298613 0.99996992 -0.28615774] [ 0. 0. 0. 1. ]] SLAMing on 39.84313336499999 meters Centerline goodness [0,1] 0.2725396480556159 Centerline is valid? [False, False] Translation: X:0.76, Y:0.23, Z:-0.29 [[ 0.99996956 -0.00323865 0.00709799 0.76451843] [ 0.00321595 0.99998968 0.00320799 0.22990377] [-0.00710831 -0.00318506 0.99996966 -0.28663473] [ 0. 0. 0. 1. ]] SLAMing on 39.873133364999994 meters Centerline goodness [0,1] 0.2735117231761527 Centerline is valid? [False, False] Translation: X:0.77, Y:0.23, Z:-0.29 [[ 0.99997024 -0.00320078 0.00701933 0.76509138] [ 0.0031769 0.99998914 0.00341057 0.22842092] [-0.00703017 -0.00338817 0.99996955 -0.28726477] [ 0. 0. 0. 1. ]] SLAMing on 39.903133364999995 meters Centerline goodness [0,1] 0.2734856094684893 Centerline is valid? [False, False] Translation: X:0.77, Y:0.22, Z:-0.29 [[ 0.99997071 -0.0031804 0.00696117 0.76561598] [ 0.00315366 0.99998762 0.00384898 0.22486216] [-0.00697333 -0.00382692 0.99996836 -0.28784984] [ 0. 0. 0. 1. ]] SLAMing on 39.933133364999996 meters Centerline goodness [0,1] 0.27425194102765416 Centerline is valid? [False, False] Translation: X:0.77, Y:0.22, Z:-0.29 [[ 0.99997083 -0.00301526 0.00701778 0.76545249] [ 0.0029852 0.99998634 0.00428991 0.22277109] [-0.00703062 -0.00426883 0.99996617 -0.28774475] [ 0. 0. 0. 1. ]] SLAMing on 39.963133365 meters Centerline goodness [0,1] 0.27217449635383983 Centerline is valid? [False, False] Translation: X:0.77, Y:0.22, Z:-0.29 [[ 0.99997193 -0.00280248 0.00694816 0.76559228] [ 0.00276932 0.99998475 0.00477822 0.22067296] [-0.00696145 -0.00475885 0.99996445 -0.28766965] [ 0. 0. 0. 1. ]] SLAMing on 39.993133365 meters Centerline goodness [0,1] 0.27814115879259294 Centerline is valid? [False, False] Translation: X:0.74, Y:0.21, Z:-0.29 [[ 0.99997378 0.00383297 0.00614402 0.74334735] [-0.00384916 0.99998914 0.00262657 0.21428029] [-0.00613388 -0.00265015 0.99997768 -0.2869277 ] [ 0. 0. 0. 1. ]] SLAMing on 40.02313336499999 meters Centerline goodness [0,1] 0.27526806881701715 Centerline is valid? [False, False] Translation: X:0.79, Y:0.21, Z:-0.29 [[ 0.99995853 0.00324209 0.00850992 0.78517231] [-0.00325939 0.99999265 0.00201928 0.21124104] [-0.00850331 -0.00204693 0.99996175 -0.28647682] [ 0. 0. 0. 1. ]] SLAMing on 40.053133364999994 meters Centerline goodness [0,1] 0.2697937744865889 Centerline is valid? [False, False] Translation: X:0.80, Y:0.21, Z:-0.29 [[ 0.99994662 -0.00447537 0.00931236 0.80339909] [ 0.00444313 0.99998407 0.00348017 0.21361026] [-0.00932779 -0.00343861 0.99995058 -0.28523999] [ 0. 0. 0. 1. ]] SLAMing on 40.083133364999995 meters Centerline goodness [0,1] 0.26962714344112393 Centerline is valid? [False, False] Translation: X:0.80, Y:0.21, Z:-0.29 [[ 0.99994502 -0.00411262 0.00964607 0.80251747] [ 0.00407271 0.99998308 0.00415351 0.21070358] [-0.00966299 -0.00411399 0.99994485 -0.28511025] [ 0. 0. 0. 1. ]] SLAMing on 40.113133364999996 meters Centerline goodness [0,1] 0.2733207538985404 Centerline is valid? [False, False] Translation: X:0.78, Y:0.20, Z:-0.29 [[ 0.99994835 0.00384089 0.00940955 0.78352162] [-0.0038699 0.99998781 0.00306652 0.20363108] [-0.00939766 -0.00310277 0.99995103 -0.28680947] [ 0. 0. 0. 1. ]] SLAMing on 40.143133365 meters Centerline goodness [0,1] 0.2752317534926231 Centerline is valid? [False, False] Translation: X:0.78, Y:0.20, Z:-0.29 [[ 0.9999478 0.00393426 0.0094302 0.78368157] [-0.00396544 0.99998673 0.0032899 0.2024889 ] [-0.00941713 -0.00332713 0.99995012 -0.28718522] [ 0. 0. 0. 1. ]] SLAMing on 40.173133365 meters Centerline goodness [0,1] 0.2749891067538126 Centerline is valid? [False, False] Translation: X:0.78, Y:0.20, Z:-0.29 [[ 0.99994701 0.0041507 0.00942034 0.78411093] [-0.00418645 0.9999841 0.00377888 0.20027943] [-0.00940451 -0.00381811 0.99994849 -0.28784433] [ 0. 0. 0. 1. ]] SLAMing on 40.20313336499999 meters Centerline goodness [0,1] 0.27279061159615925 Centerline is valid? [False, False] Translation: X:0.78, Y:0.20, Z:-0.29 [[ 0.99994915 0.00417391 0.00918041 0.78494073] [-0.00421006 0.99998345 0.00392178 0.19930283] [-0.00916389 -0.00396023 0.99995017 -0.28828694] [ 0. 0. 0. 1. ]] SLAMing on 40.23313336499999 meters Centerline goodness [0,1] 0.267045942464577 Centerline is valid? [False, False] Translation: X:0.81, Y:0.20, Z:-0.29 [[ 0.99996355 -0.00413908 0.0074678 0.80880356] [ 0.00410653 0.99998202 0.0043688 0.20102929] [-0.00748575 -0.00433797 0.99996257 -0.28907351] [ 0. 0. 0. 1. ]] SLAMing on 40.263133364999995 meters Centerline goodness [0,1] 0.27234746279049526 Centerline is valid? [False, False] Translation: X:0.79, Y:0.20, Z:-0.29 [[ 0.99997672 0.0019487 0.0065394 0.78627192] [-0.00196111 0.99999629 0.00189199 0.19515542] [-0.00653569 -0.00190477 0.99997683 -0.28841478] [ 0. 0. 0. 1. ]] SLAMing on 40.293133364999996 meters Centerline goodness [0,1] 0.2722371967654986 Centerline is valid? [False, False] Translation: X:0.79, Y:0.19, Z:-0.29 [[ 0.99997649 0.00208901 0.006531 0.78632962] [-0.00210453 0.99999498 0.00237045 0.19269987] [-0.00652602 -0.00238414 0.99997586 -0.28842457] [ 0. 0. 0. 1. ]] SLAMing on 40.323133365 meters Centerline goodness [0,1] 0.2727470188318599 Centerline is valid? [False, False] Translation: X:0.79, Y:0.19, Z:-0.29 [[ 0.99997453 0.00219489 0.00679158 0.78563027] [-0.00221391 0.99999364 0.00279473 0.19028372] [-0.0067854 -0.00280969 0.99997303 -0.28820321] [ 0. 0. 0. 1. ]] SLAMing on 40.353133365 meters Centerline goodness [0,1] 0.2733512902945521 Centerline is valid? [False, False] Translation: X:0.78, Y:0.19, Z:-0.29 [[ 0.99996703 0.00219562 0.00781778 0.78303971] [-0.00222265 0.99999158 0.00344999 0.18540811] [-0.00781014 -0.00346726 0.99996349 -0.28775237] [ 0. 0. 0. 1. ]] SLAMing on 40.38313336499999 meters Centerline goodness [0,1] 0.269959521143743 Centerline is valid? [False, False] Translation: X:0.78, Y:0.18, Z:-0.29 [[ 0.99996517 0.00231929 0.00801808 0.78246621] [-0.00235056 0.99998966 0.00389343 0.18291621] [-0.00800897 -0.00391215 0.99996027 -0.28757596] [ 0. 0. 0. 1. ]] SLAMing on 40.41313336499999 meters Centerline goodness [0,1] 0.27651473709546837 Centerline is valid? [False, False] Translation: X:0.76, Y:0.17, Z:-0.29 [[ 0.99991785 0.01001967 0.00799376 0.76292029] [-0.01004457 0.9999448 0.00308127 0.17400829] [-0.00796244 -0.00316131 0.9999633 -0.28864135] [ 0. 0. 0. 1. ]] SLAMing on 40.443133364999994 meters Centerline goodness [0,1] 0.274526471806273 Centerline is valid? [False, False] Translation: X:0.76, Y:0.17, Z:-0.29 [[ 9.99949537e-01 6.71787765e-03 7.46944541e-03 7.64369623e-01] [-6.71953201e-03 9.99977404e-01 1.96409329e-04 1.70085436e-01] [-7.46795717e-03 -2.46590595e-04 9.99972084e-01 -2.89140838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.473133364999995 meters Centerline goodness [0,1] 0.2724599450798936 Centerline is valid? [False, False] Translation: X:0.78, Y:0.17, Z:-0.29 [[ 0.99997373 -0.00147968 0.00709563 0.78490417] [ 0.00147226 0.99999836 0.00105068 0.17119315] [-0.00709717 -0.0010402 0.99997427 -0.28846369] [ 0. 0. 0. 1. ]] SLAMing on 40.503133365 meters Centerline goodness [0,1] 0.2739615744467895 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:-0.29 [[ 0.9999746 -0.00134536 0.00699987 0.78512813] [ 0.00133402 0.99999779 0.00162556 0.16785182] [-0.00700204 -0.00161618 0.99997418 -0.28839096] [ 0. 0. 0. 1. ]] SLAMing on 40.533133365 meters Centerline goodness [0,1] 0.27412137799209346 Centerline is valid? [False, False] Translation: X:0.78, Y:0.16, Z:-0.29 [[ 9.99973096e-01 -9.30763533e-04 7.27606452e-03 7.84166127e-01] [ 9.09969497e-04 9.99995494e-01 2.86065681e-03 1.61864070e-01] [-7.27869434e-03 -2.85395885e-03 9.99969437e-01 -2.87764722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56313336499999 meters Centerline goodness [0,1] 0.2731827942994729 Centerline is valid? [False, False] Translation: X:0.78, Y:0.16, Z:-0.29 [[ 9.99972539e-01 -7.42804567e-04 7.37362422e-03 7.83741347e-01] [ 7.18296626e-04 9.99994211e-01 3.32582265e-03 1.59716821e-01] [-7.37605197e-03 -3.32043487e-03 9.99967284e-01 -2.87356867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.59313336499999 meters Centerline goodness [0,1] 0.2726507532265723 Centerline is valid? [False, False] Translation: X:0.78, Y:0.16, Z:-0.29 [[ 9.99972416e-01 -6.40737920e-04 7.39975211e-03 7.83577768e-01] [ 6.14190926e-04 9.99993370e-01 3.58926726e-03 1.58333023e-01] [-7.40200283e-03 -3.58462340e-03 9.99966180e-01 -2.87160998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.623133364999994 meters Centerline goodness [0,1] 0.2744026711764451 Centerline is valid? [False, False] Translation: X:0.78, Y:0.16, Z:-0.29 [[ 9.99972132e-01 -5.83548060e-04 7.44270044e-03 7.83304936e-01] [ 5.55705068e-04 9.99992842e-01 3.74249933e-03 1.57082707e-01] [-7.44483110e-03 -3.73825909e-03 9.99965299e-01 -2.86918060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.653133364999995 meters Centerline goodness [0,1] 0.2730281659672046 Centerline is valid? [False, False] Translation: X:0.78, Y:0.16, Z:-0.29 [[ 9.99972006e-01 -5.26983642e-04 7.46391967e-03 7.83256561e-01] [ 4.99082215e-04 9.99992883e-01 3.73954285e-03 1.57382397e-01] [-7.46583723e-03 -3.73571305e-03 9.99965152e-01 -2.86986171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.683133364999996 meters Centerline goodness [0,1] 0.272664642941721 Centerline is valid? [False, False] Translation: X:0.78, Y:0.16, Z:-0.29 [[ 9.99972343e-01 -3.94998340e-04 7.42684539e-03 7.83488189e-01] [ 3.66860766e-04 9.99992752e-01 3.78961143e-03 1.57884422e-01] [-7.42828845e-03 -3.78678200e-03 9.99965240e-01 -2.87258962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.713133365 meters Centerline goodness [0,1] 0.27230138169257345 Centerline is valid? [False, False] Translation: X:0.78, Y:0.16, Z:-0.29 [[ 9.99974624e-01 -3.80428834e-04 7.11388474e-03 7.84877534e-01] [ 3.55225253e-04 9.99993658e-01 3.54379963e-03 1.59413261e-01] [-7.11518778e-03 -3.54118267e-03 9.99968417e-01 -2.88441724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.743133365 meters Centerline goodness [0,1] 0.2740731064811791 Centerline is valid? [False, False] Translation: X:0.79, Y:0.16, Z:-0.29 [[ 9.99975511e-01 -4.80573130e-04 6.98182673e-03 7.85476806e-01] [ 4.57254044e-04 9.99994314e-01 3.34118160e-03 1.59978474e-01] [-6.98339271e-03 -3.33790731e-03 9.99970045e-01 -2.88965869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.77313336499999 meters Centerline goodness [0,1] 0.2701668386652907 Centerline is valid? [False, False] Translation: X:0.81, Y:0.16, Z:-0.29 [[ 0.99994244 0.00766448 0.00750766 0.80609196] [-0.00767909 0.99996867 0.0019187 0.15805959] [-0.00749272 -0.00197624 0.99996998 -0.28862076] [ 0. 0. 0. 1. ]] SLAMing on 40.803133364999994 meters Centerline goodness [0,1] 0.27427342630001306 Centerline is valid? [False, False] Translation: X:0.79, Y:0.16, Z:-0.29 [[ 0.99997695 -0.00102257 0.00671224 0.78551681] [ 0.00100242 0.99999498 0.00300435 0.16097456] [-0.00671528 -0.00299755 0.99997296 -0.28937472] [ 0. 0. 0. 1. ]] SLAMing on 40.833133364999995 meters Centerline goodness [0,1] 0.2758154248936402 Centerline is valid? [False, False] Translation: X:0.79, Y:0.16, Z:-0.29 [[ 0.99997639 -0.00109917 0.00678348 0.78520192] [ 0.00107902 0.999995 0.00297401 0.16091475] [-0.00678671 -0.00296662 0.99997257 -0.28912096] [ 0. 0. 0. 1. ]] SLAMing on 40.863133364999996 meters Centerline goodness [0,1] 0.27645632658410324 Centerline is valid? [False, False] Translation: X:0.79, Y:0.16, Z:-0.29 [[ 0.99997698 -0.00119597 0.00667827 0.78565006] [ 0.00117698 0.99999526 0.00284679 0.16117159] [-0.00668165 -0.00283886 0.99997365 -0.28948123] [ 0. 0. 0. 1. ]] SLAMing on 40.893133365 meters Centerline goodness [0,1] 0.2751136562336073 Centerline is valid? [False, False] Translation: X:0.79, Y:0.16, Z:-0.29 [[ 0.99997723 -0.00126546 0.00662863 0.78604866] [ 0.00124723 0.99999543 0.00275309 0.16151845] [-0.00663208 -0.00274476 0.99997424 -0.28994225] [ 0. 0. 0. 1. ]] SLAMing on 40.923133365 meters Centerline goodness [0,1] 0.27316999264101116 Centerline is valid? [False, False] Translation: X:0.79, Y:0.16, Z:-0.29 [[ 0.99997608 -0.00122834 0.00680692 0.7856083 ] [ 0.00121032 0.99999576 0.00264992 0.1629076 ] [-0.00681015 -0.00264162 0.99997332 -0.28994901] [ 0. 0. 0. 1. ]] SLAMing on 40.95313336499999 meters Centerline goodness [0,1] 0.27550620509470936 Centerline is valid? [False, False] Translation: X:0.79, Y:0.16, Z:-0.29 [[ 0.99997523 -0.00127856 0.00692085 0.78514159] [ 0.00126109 0.99999601 0.00252873 0.16355565] [-0.00692405 -0.00251993 0.99997285 -0.28967252] [ 0. 0. 0. 1. ]] SLAMing on 40.98313336499999 meters Centerline goodness [0,1] 0.27692039029927307 Centerline is valid? [False, False] Translation: X:0.78, Y:0.16, Z:-0.29 [[ 0.99997497 -0.00136101 0.00694381 0.78495884] [ 0.00134474 0.99999634 0.00234789 0.16437843] [-0.00694698 -0.0023385 0.99997314 -0.28949306] [ 0. 0. 0. 1. ]] SLAMing on 41.013133364999995 meters Centerline goodness [0,1] 0.27306687396083007 Centerline is valid? [False, False] Translation: X:0.81, Y:0.16, Z:-0.29 [[ 9.99949057e-01 6.80784762e-03 7.45229203e-03 8.05117948e-01] [-6.81499460e-03 9.99976341e-01 9.34057455e-04 1.62724465e-01] [-7.44575680e-03 -9.84797202e-04 9.99971795e-01 -2.88680772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.043133364999996 meters Centerline goodness [0,1] 0.27456527889616744 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:-0.29 [[ 0.99998575 -0.00160869 0.00509022 0.78681477] [ 0.00159799 0.99999651 0.00210406 0.16739469] [-0.00509359 -0.00209589 0.99998483 -0.29009148] [ 0. 0. 0. 1. ]] SLAMing on 41.073133365 meters Centerline goodness [0,1] 0.27656836227205306 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:-0.29 [[ 0.99998676 -0.00165314 0.0048741 0.78765568] [ 0.00164404 0.9999969 0.00186939 0.16884296] [-0.00487717 -0.00186135 0.99998637 -0.29070363] [ 0. 0. 0. 1. ]] SLAMing on 41.103133365 meters Centerline goodness [0,1] 0.27683183051737725 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:-0.29 [[ 0.99998759 -0.00144361 0.00476728 0.78800841] [ 0.00143674 0.99999793 0.00144416 0.17275771] [-0.00476936 -0.00143729 0.99998759 -0.29107251] [ 0. 0. 0. 1. ]] SLAMing on 41.13313336499999 meters Centerline goodness [0,1] 0.27683183051737725 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:-0.29 [[ 0.99998759 -0.00144361 0.00476728 0.78800841] [ 0.00143674 0.99999793 0.00144416 0.17275771] [-0.00476936 -0.00143729 0.99998759 -0.29107251] [ 0. 0. 0. 1. ]] SLAMing on 41.16313336499999 meters Centerline goodness [0,1] 0.276133169360506 Centerline is valid? [False, False] Translation: X:0.79, Y:0.18, Z:-0.29 [[ 0.99998619 -0.00148434 0.00504175 0.78710263] [ 0.00147906 0.99999835 0.00105071 0.17516693] [-0.0050433 -0.00104324 0.99998674 -0.29076913] [ 0. 0. 0. 1. ]] SLAMing on 41.193133364999994 meters Centerline goodness [0,1] 0.27602076426452626 Centerline is valid? [False, False] Translation: X:0.79, Y:0.18, Z:-0.29 [[ 9.99984657e-01 -1.51221984e-03 5.32913026e-03 7.86121334e-01] [ 1.50849286e-03 9.99998615e-01 7.03310613e-04 1.77504234e-01] [-5.33018644e-03 -6.95260867e-04 9.99985553e-01 -2.90357216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.223133364999995 meters Centerline goodness [0,1] 0.27269181599531966 Centerline is valid? [False, False] Translation: X:0.78, Y:0.18, Z:-0.29 [[ 9.99982427e-01 -1.66218854e-03 5.69058258e-03 7.84934684e-01] [ 1.66187620e-03 9.99998617e-01 5.96157129e-05 1.81041683e-01] [-5.69067380e-03 -5.01576216e-05 9.99983807e-01 -2.89972981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.253133365 meters Centerline goodness [0,1] 0.27601967527097027 Centerline is valid? [False, False] Translation: X:0.78, Y:0.18, Z:-0.29 [[ 9.99982520e-01 -1.77630131e-03 5.63962772e-03 7.84929104e-01] [ 1.77744955e-03 9.99998401e-01 -1.98595500e-04 1.82103399e-01] [-5.63926593e-03 2.08616182e-04 9.99984077e-01 -2.89803054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.283133365 meters Centerline goodness [0,1] 0.2740711839424286 Centerline is valid? [False, False] Translation: X:0.78, Y:0.18, Z:-0.29 [[ 9.99982359e-01 -1.85110681e-03 5.64405770e-03 7.84797656e-01] [ 1.85291848e-03 9.99998233e-01 -3.15774765e-04 1.82533943e-01] [-5.64346320e-03 3.26227174e-04 9.99984022e-01 -2.89637644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31313336499999 meters Centerline goodness [0,1] 0.27785530504557154 Centerline is valid? [False, False] Translation: X:0.78, Y:0.18, Z:-0.29 [[ 9.99982233e-01 -1.86246770e-03 5.66256329e-03 7.84423569e-01] [ 1.86299963e-03 9.99998261e-01 -8.86638155e-05 1.81387152e-01] [-5.66238831e-03 9.92115936e-05 9.99983964e-01 -2.89013613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34313336499999 meters Centerline goodness [0,1] 0.27829192343705766 Centerline is valid? [False, False] Translation: X:0.78, Y:0.18, Z:-0.29 [[ 9.99982215e-01 -1.79278121e-03 5.68824973e-03 7.84240929e-01] [ 1.79159379e-03 9.99998372e-01 2.13838321e-04 1.79881731e-01] [-5.68862384e-03 -2.03643485e-04 9.99983799e-01 -2.88782849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.373133364999994 meters Centerline goodness [0,1] 0.2784199548061881 Centerline is valid? [False, False] Translation: X:0.78, Y:0.18, Z:-0.29 [[ 9.99981913e-01 -1.72582265e-03 5.76159047e-03 7.83926648e-01] [ 1.72258449e-03 9.99998356e-01 5.66941241e-04 1.77938705e-01] [-5.76255943e-03 -5.57006160e-04 9.99983241e-01 -2.88430721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.403133364999995 meters Centerline goodness [0,1] 0.2755496105801385 Centerline is valid? [False, False] Translation: X:0.78, Y:0.18, Z:-0.29 [[ 9.99981164e-01 -1.71125944e-03 5.89427866e-03 7.83681211e-01] [ 1.70621534e-03 9.99998174e-01 8.60683938e-04 1.75848865e-01] [-5.89574075e-03 -8.50610818e-04 9.99982258e-01 -2.88444948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.433133364999996 meters Centerline goodness [0,1] 0.2778200143362948 Centerline is valid? [False, False] Translation: X:0.78, Y:0.17, Z:-0.29 [[ 0.99998017 -0.00160808 0.00608826 0.78327628] [ 0.00159912 0.99999763 0.00147662 0.17179288] [-0.00609062 -0.00146686 0.99998038 -0.28840464] [ 0. 0. 0. 1. ]] SLAMing on 41.463133365 meters Centerline goodness [0,1] 0.2769935719249479 Centerline is valid? [False, False] Translation: X:0.78, Y:0.17, Z:-0.29 [[ 0.99998115 -0.00147251 0.00596042 0.78381766] [ 0.00146239 0.99999748 0.00170137 0.17102447] [-0.00596291 -0.00169262 0.99998079 -0.28874895] [ 0. 0. 0. 1. ]] SLAMing on 41.493133365 meters Centerline goodness [0,1] 0.27561393241866616 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:-0.29 [[ 0.99998755 -0.00110127 0.00486673 0.787199 ] [ 0.00109135 0.99999732 0.00204072 0.17017794] [-0.00486897 -0.00203538 0.99998608 -0.29017222] [ 0. 0. 0. 1. ]] SLAMing on 41.52313336499999 meters Centerline goodness [0,1] 0.2770398481973435 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:-0.29 [[ 0.99998884 -0.00111554 0.00459019 0.7882196 ] [ 0.00110636 0.99999738 0.00200196 0.1700322 ] [-0.00459241 -0.00199686 0.99998746 -0.29080696] [ 0. 0. 0. 1. ]] SLAMing on 41.553133364999994 meters Centerline goodness [0,1] 0.2755073250135648 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:-0.29 [[ 0.99998945 -0.00109341 0.00446043 0.78872398] [ 0.0010847 0.9999975 0.00195417 0.17018897] [-0.00446255 -0.00194931 0.99998814 -0.29118587] [ 0. 0. 0. 1. ]] SLAMing on 41.583133364999995 meters Centerline goodness [0,1] 0.2761663463218592 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:-0.29 [[ 9.99985678e-01 -9.01329637e-04 5.27548866e-03 7.86718239e-01] [ 8.91221539e-04 9.99997763e-01 1.91808687e-03 1.70925139e-01] [-5.27720568e-03 -1.91335778e-03 9.99984245e-01 -2.91173380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.613133364999996 meters Centerline goodness [0,1] 0.27733076788525446 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:-0.29 [[ 9.99984191e-01 -9.28065195e-04 5.54588807e-03 7.85951195e-01] [ 9.18567804e-04 9.99998108e-01 1.71481225e-03 1.72020223e-01] [-5.54746904e-03 -1.70969087e-03 9.99983151e-01 -2.91039363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.643133365 meters Centerline goodness [0,1] 0.27361492996167924 Centerline is valid? [False, False] Translation: X:0.79, Y:0.18, Z:-0.29 [[ 9.99991238e-01 3.35207749e-04 4.17259725e-03 7.90890467e-01] [-3.45566087e-04 9.99996860e-01 2.48199427e-03 1.75619795e-01] [-4.17175216e-03 -2.48341443e-03 9.99988214e-01 -2.93355896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.673133365 meters Centerline goodness [0,1] 0.27535947284589035 Centerline is valid? [False, False] Translation: X:0.79, Y:0.18, Z:-0.29 [[ 9.99992080e-01 2.36704686e-04 3.97288220e-03 7.91850085e-01] [-2.44945534e-04 9.99997819e-01 2.07391609e-03 1.78058080e-01] [-3.97238264e-03 -2.07487280e-03 9.99989957e-01 -2.94275488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70313336499999 meters Centerline goodness [0,1] 0.27441688585527035 Centerline is valid? [False, False] Translation: X:0.79, Y:0.18, Z:-0.29 [[ 9.99992235e-01 1.54077945e-04 3.93767450e-03 7.92170351e-01] [-1.60761584e-04 9.99998547e-01 1.69709687e-03 1.80526955e-01] [-3.93740729e-03 -1.69771672e-03 9.99990807e-01 -2.94714374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73313336499999 meters Centerline goodness [0,1] 0.2746294109930474 Centerline is valid? [False, False] Translation: X:0.79, Y:0.18, Z:-0.29 [[ 9.99992099e-01 2.97889051e-06 3.97508028e-03 7.91930270e-01] [-8.14290804e-06 9.99999156e-01 1.29908212e-03 1.82557534e-01] [-3.97507306e-03 -1.29910422e-03 9.99991256e-01 -2.94520094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.763133364999995 meters Centerline goodness [0,1] 0.2731864891818063 Centerline is valid? [False, False] Translation: X:0.79, Y:0.18, Z:-0.29 [[ 9.99992963e-01 -6.21601188e-04 3.69957669e-03 7.92123881e-01] [ 6.19730328e-04 9.99999680e-01 5.06820600e-04 1.84841394e-01] [-3.69989055e-03 -5.04524294e-04 9.99993028e-01 -2.93783382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.793133364999996 meters Centerline goodness [0,1] 0.2745520180932498 Centerline is valid? [False, False] Translation: X:0.79, Y:0.19, Z:-0.29 [[ 9.99993601e-01 -8.09468373e-04 3.48472523e-03 7.92457552e-01] [ 8.08423589e-04 9.99999628e-01 3.01216391e-04 1.85429306e-01] [-3.48496776e-03 -2.98397329e-04 9.99993883e-01 -2.93476601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.823133365 meters Centerline goodness [0,1] 0.2745678582313754 Centerline is valid? [False, False] Translation: X:0.79, Y:0.19, Z:-0.29 [[ 9.99993053e-01 -9.40101723e-04 3.60706264e-03 7.91885115e-01] [ 9.38895875e-04 9.99999503e-01 3.35980636e-04 1.85660173e-01] [-3.60737670e-03 -3.32591646e-04 9.99993438e-01 -2.92958333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.853133365 meters Centerline goodness [0,1] 0.27556510043819693 Centerline is valid? [False, False] Translation: X:0.79, Y:0.19, Z:-0.29 [[ 9.99991784e-01 -8.70334647e-04 3.95908770e-03 7.90747076e-01] [ 8.68192175e-04 9.99999476e-01 5.42839571e-04 1.85175222e-01] [-3.95955808e-03 -5.39397862e-04 9.99992015e-01 -2.92365655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88313336499999 meters Centerline goodness [0,1] 0.2756862319626776 Centerline is valid? [False, False] Translation: X:0.79, Y:0.18, Z:-0.29 [[ 9.99990259e-01 -8.74830947e-04 4.32635059e-03 7.89539228e-01] [ 8.71735730e-04 9.99999363e-01 7.17267700e-04 1.84337383e-01] [-4.32697532e-03 -7.13489279e-04 9.99990384e-01 -2.91744580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91313336499999 meters Centerline goodness [0,1] 0.27594799566630557 Centerline is valid? [False, False] Translation: X:0.79, Y:0.18, Z:-0.29 [[ 9.99989242e-01 -1.00205885e-03 4.52900241e-03 7.88772090e-01] [ 9.98627282e-04 9.99999213e-01 7.59885591e-04 1.83495006e-01] [-4.52976030e-03 -7.55354631e-04 9.99989455e-01 -2.91155870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.943133364999994 meters Centerline goodness [0,1] 0.2765869654917802 Centerline is valid? [False, False] Translation: X:0.79, Y:0.18, Z:-0.29 [[ 9.99990375e-01 -1.00382545e-03 4.27101397e-03 7.89673804e-01] [ 1.00078235e-03 9.99999244e-01 7.14579892e-04 1.83886609e-01] [-4.27172806e-03 -7.10298659e-04 9.99990624e-01 -2.91623144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.973133364999995 meters Centerline goodness [0,1] 0.2740695836671069 Centerline is valid? [False, False] Translation: X:0.79, Y:0.18, Z:-0.29 [[ 9.99991424e-01 -1.01801011e-03 4.01430294e-03 7.90643536e-01] [ 1.01558512e-03 9.99999301e-01 6.06080638e-04 1.84628931e-01] [-4.01491713e-03 -6.01998574e-04 9.99991759e-01 -2.92194860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.003133365 meters Centerline goodness [0,1] 0.2742591390871728 Centerline is valid? [False, False] Translation: X:0.79, Y:0.19, Z:-0.29 [[ 9.99991934e-01 -1.02473872e-03 3.88348767e-03 7.91175924e-01] [ 1.02268019e-03 9.99999336e-01 5.32021811e-04 1.85055875e-01] [-3.88403027e-03 -5.28045954e-04 9.99992318e-01 -2.92562569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.033133365 meters Centerline goodness [0,1] 0.2736296935692706 Centerline is valid? [False, False] Translation: X:0.79, Y:0.19, Z:-0.29 [[ 9.99991979e-01 -1.03646567e-03 3.86888252e-03 7.90787742e-01] [ 1.03465758e-03 9.99999355e-01 4.69314814e-04 1.85292482e-01] [-3.86936645e-03 -4.65308081e-04 9.99992406e-01 -2.91928943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06313336499999 meters Centerline goodness [0,1] 0.2772300825515135 Centerline is valid? [False, False] Translation: X:0.79, Y:0.19, Z:-0.29 [[ 9.99992029e-01 -1.01694812e-03 3.86103251e-03 7.90630900e-01] [ 1.01513506e-03 9.99999374e-01 4.71509960e-04 1.85438757e-01] [-3.86150959e-03 -4.67586732e-04 9.99992435e-01 -2.91648225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.09313336499999 meters Centerline goodness [0,1] 0.27376844103183506 Centerline is valid? [False, False] Translation: X:0.79, Y:0.19, Z:-0.29 [[ 9.99992099e-01 -9.67190197e-04 3.85561748e-03 7.90784946e-01] [ 9.65310122e-04 9.99999414e-01 4.89450639e-04 1.85657448e-01] [-3.85608861e-03 -4.85724906e-04 9.99992447e-01 -2.91884992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.123133364999994 meters Centerline goodness [0,1] 0.2756394983647036 Centerline is valid? [False, False] Translation: X:0.79, Y:0.19, Z:-0.29 [[ 9.99991374e-01 -9.82188354e-04 4.03581642e-03 7.90779656e-01] [ 9.80975133e-04 9.99999473e-01 3.02582023e-04 1.86624914e-01] [-4.03611148e-03 -2.98620377e-04 9.99991810e-01 -2.92617670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.153133364999995 meters Centerline goodness [0,1] 0.2734422132207188 Centerline is valid? [False, False] Translation: X:0.79, Y:0.19, Z:-0.29 [[ 9.99991154e-01 -1.03240723e-03 4.07760467e-03 7.90859399e-01] [ 1.03207524e-03 9.99999464e-01 8.35204435e-05 1.87696487e-01] [-4.07768871e-03 -7.93113098e-05 9.99991683e-01 -2.92970021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.183133364999996 meters Centerline goodness [0,1] 0.27522915804829196 Centerline is valid? [False, False] Translation: X:0.79, Y:0.19, Z:-0.29 [[ 9.99992389e-01 -6.49687977e-04 3.84716629e-03 7.91754794e-01] [ 6.50526715e-04 9.99999765e-01 -2.16767144e-04 1.91203814e-01] [-3.84702456e-03 2.19268178e-04 9.99992576e-01 -2.93781734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.213133365 meters Centerline goodness [0,1] 0.2700294187120187 Centerline is valid? [False, False] Translation: X:0.84, Y:0.20, Z:-0.29 [[ 9.99985153e-01 1.13145941e-03 5.33038432e-03 8.36866563e-01] [-1.13280980e-03 9.99999327e-01 2.50325751e-04 1.97648801e-01] [-5.33009750e-03 -2.56360346e-04 9.99985762e-01 -2.94864483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24313336499999 meters Centerline goodness [0,1] 0.27167092223135847 Centerline is valid? [False, False] Translation: X:0.84, Y:0.20, Z:-0.30 [[ 9.99984801e-01 1.01576136e-03 5.41911133e-03 8.36692471e-01] [-1.01424411e-03 9.99999446e-01 -2.82720878e-04 2.00502639e-01] [-5.41939550e-03 2.77220279e-04 9.99985277e-01 -2.95071095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.27313336499999 meters Centerline goodness [0,1] 0.2757410636442894 Centerline is valid? [False, False] Translation: X:0.84, Y:0.20, Z:-0.30 [[ 9.99984587e-01 8.46099135e-04 5.48727665e-03 8.36488859e-01] [-8.41660703e-04 9.99999317e-01 -8.11117502e-04 2.03026196e-01] [-5.48795919e-03 8.06486575e-04 9.99984616e-01 -2.95140629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.303133364999994 meters Centerline goodness [0,1] 0.27391398783666376 Centerline is valid? [False, False] Translation: X:0.84, Y:0.21, Z:-0.30 [[ 9.99985402e-01 6.86156829e-04 5.35952825e-03 8.36791855e-01] [-6.78364405e-04 9.99998710e-01 -1.45562105e-03 2.06624919e-01] [-5.36052013e-03 1.45196408e-03 9.99984578e-01 -2.95305115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.333133364999995 meters Centerline goodness [0,1] 0.2737875864461161 Centerline is valid? [False, False] Translation: X:0.84, Y:0.21, Z:-0.30 [[ 9.99985933e-01 6.16043036e-04 5.26825566e-03 8.37170913e-01] [-6.07134411e-04 9.99998384e-01 -1.69243310e-03 2.07983652e-01] [-5.26928975e-03 1.68921075e-03 9.99984690e-01 -2.95604265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.363133364999996 meters Centerline goodness [0,1] 0.2739643050297458 Centerline is valid? [False, False] Translation: X:0.84, Y:0.21, Z:-0.30 [[ 9.99986279e-01 4.13916256e-04 5.22205192e-03 8.37198682e-01] [-4.03659400e-04 9.99997988e-01 -1.96504390e-03 2.08937671e-01] [-5.22285477e-03 1.96290900e-03 9.99984434e-01 -2.95476871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.393133365 meters Centerline goodness [0,1] 0.2744130434782609 Centerline is valid? [False, False] Translation: X:0.84, Y:0.21, Z:-0.29 [[ 9.99985956e-01 3.62045842e-04 5.28739530e-03 8.36690694e-01] [-3.51768679e-04 9.99998048e-01 -1.94451068e-03 2.08649531e-01] [-5.28808898e-03 1.94262343e-03 9.99984131e-01 -2.94847256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.423133365 meters Centerline goodness [0,1] 0.27303643373911535 Centerline is valid? [False, False] Translation: X:0.84, Y:0.21, Z:-0.29 [[ 9.99985763e-01 3.21262514e-04 5.32649371e-03 8.36364514e-01] [-3.10962823e-04 9.99998081e-01 -1.93438738e-03 2.08544966e-01] [-5.32710494e-03 1.93270350e-03 9.99983943e-01 -2.94412297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.45313336499999 meters Centerline goodness [0,1] 0.2765636939198778 Centerline is valid? [False, False] Translation: X:0.84, Y:0.21, Z:-0.29 [[ 9.99986246e-01 2.93314936e-04 5.23666611e-03 8.36534841e-01] [-2.83139285e-04 9.99998071e-01 -1.94379004e-03 2.08615833e-01] [-5.23722615e-03 1.94228059e-03 9.99984399e-01 -2.94287504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48313336499999 meters Centerline goodness [0,1] 0.2745714905619441 Centerline is valid? [False, False] Translation: X:0.84, Y:0.21, Z:-0.30 [[ 9.99989186e-01 1.22935589e-04 4.64898649e-03 8.38572004e-01] [-1.12636850e-04 9.99997540e-01 -2.21546251e-03 2.09870026e-01] [-4.64924741e-03 2.21491490e-03 9.99986739e-01 -2.95302930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.513133364999995 meters Centerline goodness [0,1] 0.2757823069872998 Centerline is valid? [False, False] Translation: X:0.84, Y:0.21, Z:-0.30 [[ 9.99990496e-01 6.38802604e-05 4.35938255e-03 8.39688382e-01] [-5.33893321e-05 9.99997103e-01 -2.40659096e-03 2.10940374e-01] [-4.35952365e-03 2.40633534e-03 9.99987602e-01 -2.96049183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.543133364999996 meters Centerline goodness [0,1] 0.27184633646271716 Centerline is valid? [False, False] Translation: X:0.86, Y:0.22, Z:-0.30 [[ 0.99997008 -0.0071988 0.00283099 0.85958971] [ 0.00720352 0.99997268 -0.00165994 0.21867484] [-0.00281896 0.00168028 0.99999462 -0.29500503] [ 0. 0. 0. 1. ]] SLAMing on 42.573133365 meters Centerline goodness [0,1] 0.2720100296132979 Centerline is valid? [False, False] Translation: X:0.86, Y:0.22, Z:-0.29 [[ 0.99998953 -0.00380747 0.00253792 0.85981234] [ 0.00380378 0.9999917 0.00145986 0.22089497] [-0.00254346 -0.00145019 0.99999571 -0.29445229] [ 0. 0. 0. 1. ]] SLAMing on 42.603133365 meters Centerline goodness [0,1] 0.2734771849086094 Centerline is valid? [False, False] Translation: X:0.86, Y:0.22, Z:-0.29 [[ 0.99998871 -0.00385219 0.00278039 0.85879149] [ 0.00384921 0.99999201 0.00107587 0.22349709] [-0.00278451 -0.00106516 0.99999556 -0.29387869] [ 0. 0. 0. 1. ]] SLAMing on 42.63313336499999 meters Centerline goodness [0,1] 0.27078102000173176 Centerline is valid? [False, False] Translation: X:0.86, Y:0.23, Z:-0.29 [[ 9.99987916e-01 -3.72664412e-03 3.20623607e-03 8.57372762e-01] [ 3.72508533e-03 9.99992941e-01 4.92009889e-04 2.28470028e-01] [-3.20804698e-03 -4.80060440e-04 9.99994739e-01 -2.93368633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66313336499999 meters Centerline goodness [0,1] 0.2769200489853044 Centerline is valid? [False, False] Translation: X:0.84, Y:0.22, Z:-0.29 [[ 9.99985870e-01 4.33870956e-03 3.07181246e-03 8.36973474e-01] [-4.33604426e-03 9.99990218e-01 -8.73791609e-04 2.24906908e-01] [-3.07557354e-03 8.60459748e-04 9.99994900e-01 -2.94169331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.693133364999994 meters Centerline goodness [0,1] 0.27560379088963616 Centerline is valid? [False, False] Translation: X:0.84, Y:0.23, Z:-0.29 [[ 0.9999863 0.00421651 0.0031021 0.8367412 ] [-0.00421296 0.99999046 -0.00115217 0.22617734] [-0.00310692 0.00113908 0.99999452 -0.29394729] [ 0. 0. 0. 1. ]] SLAMing on 42.723133364999995 meters Centerline goodness [0,1] 0.272756735734503 Centerline is valid? [False, False] Translation: X:0.86, Y:0.23, Z:-0.29 [[ 9.99986466e-01 -3.44576928e-03 3.89811255e-03 8.55378214e-01] [ 3.44502951e-03 9.99994047e-01 1.96475226e-04 2.32585158e-01] [-3.89876636e-03 -1.83043454e-04 9.99992383e-01 -2.92701837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.753133365 meters Centerline goodness [0,1] 0.27863695360450536 Centerline is valid? [False, False] Translation: X:0.81, Y:0.23, Z:-0.29 [[ 9.99987834e-01 -3.70321050e-03 3.25842484e-03 8.07110158e-01] [ 3.70174319e-03 9.99993044e-01 4.56229286e-04 2.29677186e-01] [-3.26009169e-03 -4.44161883e-04 9.99994587e-01 -2.90704322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.783133365 meters Centerline goodness [0,1] 0.27922546767312106 Centerline is valid? [False, False] Translation: X:0.81, Y:0.23, Z:-0.29 [[ 9.99987026e-01 -3.68718469e-03 3.51457291e-03 8.06210856e-01] [ 3.68523893e-03 9.99993053e-01 5.59942548e-04 2.29133661e-01] [-3.51661311e-03 -5.46983243e-04 9.99993667e-01 -2.90142484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81313336499999 meters Centerline goodness [0,1] 0.27605780271681435 Centerline is valid? [False, False] Translation: X:0.83, Y:0.23, Z:-0.29 [[ 0.99998569 0.00370814 0.00385626 0.82536822] [-0.00370337 0.99999237 -0.00124404 0.22542399] [-0.00386085 0.00122974 0.99999179 -0.28835207] [ 0. 0. 0. 1. ]] SLAMing on 42.84313336499999 meters Centerline goodness [0,1] 0.2738453543511682 Centerline is valid? [False, False] Translation: X:0.83, Y:0.23, Z:-0.29 [[ 0.99998687 0.00367239 0.00357438 0.82632811] [-0.00366764 0.99999239 -0.00133339 0.22580234] [-0.00357925 0.00132026 0.99999272 -0.2888193 ] [ 0. 0. 0. 1. ]] SLAMing on 42.873133364999994 meters Centerline goodness [0,1] 0.27635532331809276 Centerline is valid? [False, False] Translation: X:0.83, Y:0.23, Z:-0.29 [[ 0.99998743 0.00367232 0.00341429 0.82695011] [-0.00366755 0.99999229 -0.00140168 0.2262978 ] [-0.00341941 0.00138914 0.99999319 -0.28923885] [ 0. 0. 0. 1. ]] SLAMing on 42.903133364999995 meters Centerline goodness [0,1] 0.278383776309725 Centerline is valid? [False, False] Translation: X:0.81, Y:0.23, Z:-0.29 [[ 9.99984467e-01 -4.34798778e-03 3.48733887e-03 8.07379580e-01] [ 4.34840480e-03 9.99990539e-01 -1.12005645e-04 2.30213254e-01] [-3.48681887e-03 1.27168267e-04 9.99993913e-01 -2.91028730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.933133364999996 meters Centerline goodness [0,1] 0.27432779884080705 Centerline is valid? [False, False] Translation: X:0.81, Y:0.23, Z:-0.29 [[ 9.99984080e-01 -4.37465026e-03 3.56390781e-03 8.07151296e-01] [ 4.37540692e-03 9.99990407e-01 -2.04544017e-04 2.30583896e-01] [-3.56297881e-03 2.20134308e-04 9.99993628e-01 -2.90968371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.963133365 meters Centerline goodness [0,1] 0.2749312725934584 Centerline is valid? [False, False] Translation: X:0.81, Y:0.23, Z:-0.29 [[ 9.99984021e-01 -4.35345042e-03 3.60624162e-03 8.06961877e-01] [ 4.35433561e-03 9.99990492e-01 -2.37645765e-04 2.30903700e-01] [-3.60517275e-03 2.53344754e-04 9.99993469e-01 -2.90871219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99313336499999 meters Centerline goodness [0,1] 0.2749972834945127 Centerline is valid? [False, False] Translation: X:0.81, Y:0.23, Z:-0.29 [[ 9.99984419e-01 -4.25662766e-03 3.61157316e-03 8.06973575e-01] [ 4.25743285e-03 9.99990914e-01 -2.15287963e-04 2.31245505e-01] [-3.61062394e-03 2.30660638e-04 9.99993455e-01 -2.91007163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02313336499999 meters Centerline goodness [0,1] 0.2755774856993144 Centerline is valid? [False, False] Translation: X:0.81, Y:0.23, Z:-0.29 [[ 9.99984663e-01 -4.27135900e-03 3.52552025e-03 8.07266568e-01] [ 4.27229143e-03 9.99990841e-01 -2.56991352e-04 2.31299327e-01] [-3.52439026e-03 2.72049460e-04 9.99993752e-01 -2.91177620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.053133364999994 meters Centerline goodness [0,1] 0.2755774856993144 Centerline is valid? [False, False] Translation: X:0.81, Y:0.23, Z:-0.29 [[ 9.99984663e-01 -4.27135900e-03 3.52552025e-03 8.07266568e-01] [ 4.27229143e-03 9.99990841e-01 -2.56991352e-04 2.31299327e-01] [-3.52439026e-03 2.72049460e-04 9.99993752e-01 -2.91177620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.083133364999995 meters Centerline goodness [0,1] 0.27354609621963366 Centerline is valid? [False, False] Translation: X:0.83, Y:0.23, Z:-0.29 [[ 0.99998865 0.00361826 0.00310126 0.82713339] [-0.00361328 0.99999217 -0.00161176 0.2281208 ] [-0.00310707 0.00160054 0.99999389 -0.28972103] [ 0. 0. 0. 1. ]] SLAMing on 43.113133364999996 meters Centerline goodness [0,1] 0.27361084053077045 Centerline is valid? [False, False] Translation: X:0.83, Y:0.23, Z:-0.29 [[ 0.99998923 0.00356491 0.00297105 0.82763189] [-0.00355998 0.99999228 -0.00166223 0.22794344] [-0.00297695 0.00165163 0.9999942 -0.29002953] [ 0. 0. 0. 1. ]] SLAMing on 43.143133365 meters Centerline goodness [0,1] 0.27449105959545483 Centerline is valid? [False, False] Translation: X:0.83, Y:0.23, Z:-0.29 [[ 0.9999889 0.00364636 0.00298398 0.82765268] [-0.0036417 0.99999214 -0.00156569 0.227892 ] [-0.00298966 0.0015548 0.99999432 -0.29012629] [ 0. 0. 0. 1. ]] SLAMing on 43.173133365 meters Centerline goodness [0,1] 0.2721036915220496 Centerline is valid? [False, False] Translation: X:0.83, Y:0.23, Z:-0.29 [[ 0.99998829 0.00370208 0.0031171 0.82732611] [-0.00369753 0.99999209 -0.00146582 0.2275562 ] [-0.00312251 0.00145427 0.99999407 -0.29010591] [ 0. 0. 0. 1. ]] SLAMing on 43.20313336499999 meters Centerline goodness [0,1] 0.27326826945965244 Centerline is valid? [False, False] Translation: X:0.83, Y:0.23, Z:-0.29 [[ 0.99998847 0.00365062 0.00312024 0.82736014] [-0.00364663 0.99999253 -0.0012828 0.2257079 ] [-0.0031249 0.00127141 0.99999431 -0.29009821] [ 0. 0. 0. 1. ]] SLAMing on 43.23313336499999 meters Centerline goodness [0,1] 0.2712105535437145 Centerline is valid? [False, False] Translation: X:0.83, Y:0.22, Z:-0.29 [[ 0.99998898 0.00365567 0.00294404 0.82785905] [-0.00365255 0.99999276 -0.00106454 0.22407737] [-0.00294791 0.00105378 0.9999951 -0.29019379] [ 0. 0. 0. 1. ]] SLAMing on 43.263133364999995 meters Centerline goodness [0,1] 0.2585645071388758 Centerline is valid? [False, False] Translation: X:0.83, Y:0.22, Z:-0.29 [[ 9.99989724e-01 3.69853887e-03 2.62162245e-03 8.28923706e-01] [-3.69664278e-03 9.99992903e-01 -7.27724454e-04 2.22024035e-01] [-2.62429536e-03 7.18025774e-04 9.99996299e-01 -2.90604447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.293133364999996 meters Centerline goodness [0,1] 0.27432757489612947 Centerline is valid? [False, False] Translation: X:0.79, Y:0.21, Z:-0.29 [[ 9.99997190e-01 2.15837415e-03 -9.80255427e-04 7.88190453e-01] [-2.15948583e-03 9.99997025e-01 -1.13443861e-03 2.13354706e-01] [ 9.77803968e-04 1.13655228e-03 9.99998876e-01 -2.91427201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.323133365 meters Centerline goodness [0,1] 0.2735100345719814 Centerline is valid? [False, False] Translation: X:0.79, Y:0.21, Z:-0.29 [[ 9.99996846e-01 2.21813696e-03 -1.17817845e-03 7.88718279e-01] [-2.21889815e-03 9.99997330e-01 -6.45163162e-04 2.10314022e-01] [ 1.17674424e-03 6.47775385e-04 9.99999098e-01 -2.91410663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.353133365 meters Centerline goodness [0,1] 0.2603359173126615 Centerline is valid? [False, False] Translation: X:0.81, Y:0.21, Z:-0.29 [[ 9.99981627e-01 -6.04204540e-03 -4.89839299e-04 8.08746380e-01] [ 6.04230412e-03 9.99981605e-01 5.28424749e-04 2.11864385e-01] [ 4.86637523e-04 -5.31374798e-04 9.99999740e-01 -2.90519334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38313336499999 meters Centerline goodness [0,1] 0.2754675708192059 Centerline is valid? [False, False] Translation: X:0.79, Y:0.20, Z:-0.29 [[ 9.99998307e-01 2.48054647e-04 1.82308068e-03 7.85223422e-01] [-2.47232674e-04 9.99999868e-01 -4.51081736e-04 2.00766085e-01] [-1.82319234e-03 4.50630248e-04 9.99998236e-01 -2.90008941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.41313336499999 meters Centerline goodness [0,1] 0.2729718004338395 Centerline is valid? [False, False] Translation: X:0.79, Y:0.20, Z:-0.29 [[ 9.99998371e-01 4.32195288e-04 1.75267272e-03 7.85540019e-01] [-4.32241099e-04 9.99999906e-01 2.57586633e-05 1.98429373e-01] [-1.75266143e-03 -2.65161985e-05 9.99998464e-01 -2.90175135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.443133364999994 meters Centerline goodness [0,1] 0.27198888068453286 Centerline is valid? [False, False] Translation: X:0.79, Y:0.20, Z:-0.29 [[ 9.99998493e-01 5.40989778e-04 1.64968875e-03 7.86069508e-01] [-5.41643196e-04 9.99999775e-01 3.95664167e-04 1.96146650e-01] [-1.64947432e-03 -3.96557114e-04 9.99998561e-01 -2.90582607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.473133364999995 meters Centerline goodness [0,1] 0.2725053934494105 Centerline is valid? [False, False] Translation: X:0.79, Y:0.19, Z:-0.29 [[ 9.99998967e-01 6.89908741e-04 1.26115773e-03 7.87646792e-01] [-6.91078231e-04 9.99999331e-01 9.27113966e-04 1.92738805e-01] [-1.26051726e-03 -9.27984566e-04 9.99998775e-01 -2.91609574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.503133365 meters Centerline goodness [0,1] 0.2600043215211755 Centerline is valid? [False, False] Translation: X:0.79, Y:0.19, Z:-0.29 [[ 9.99999003e-01 8.52969143e-04 1.12538051e-03 7.88283822e-01] [-8.54365334e-04 9.99998865e-01 1.24074234e-03 1.91438405e-01] [-1.12432091e-03 -1.24170259e-03 9.99998597e-01 -2.92100501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.533133365 meters Centerline goodness [0,1] 0.26091946555793755 Centerline is valid? [False, False] Translation: X:0.79, Y:0.19, Z:-0.29 [[ 9.99998822e-01 9.97388486e-04 1.16669471e-03 7.88201394e-01] [-9.99256056e-04 9.99998219e-01 1.60125004e-03 1.89772190e-01] [-1.16509556e-03 -1.60241398e-03 9.99998037e-01 -2.92111706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56313336499999 meters Centerline goodness [0,1] 0.2716321497937717 Centerline is valid? [False, False] Translation: X:0.79, Y:0.19, Z:-0.29 [[ 0.99999853 0.00114294 0.00127976 0.78776468] [-0.00114552 0.99999731 0.00201474 0.18764849] [-0.00127746 -0.00201621 0.99999715 -0.29178319] [ 0. 0. 0. 1. ]] SLAMing on 43.59313336499999 meters Centerline goodness [0,1] 0.27438117729379863 Centerline is valid? [False, False] Translation: X:0.79, Y:0.18, Z:-0.29 [[ 0.99999801 0.00113668 0.00164169 0.78633507] [-0.00114106 0.99999578 0.00267116 0.18235927] [-0.00163865 -0.00267303 0.99999508 -0.29079704] [ 0. 0. 0. 1. ]] SLAMing on 43.623133364999994 meters Centerline goodness [0,1] 0.2716387422039681 Centerline is valid? [False, False] Translation: X:0.79, Y:0.18, Z:-0.29 [[ 0.99999796 0.0012585 0.0015826 0.78647024] [-0.00126349 0.99999422 0.00315557 0.179575 ] [-0.00157862 -0.00315756 0.99999377 -0.29069159] [ 0. 0. 0. 1. ]] SLAMing on 43.653133364999995 meters Centerline goodness [0,1] 0.2699086303208764 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:-0.29 [[ 0.9999982 0.00145118 0.00122141 0.78753462] [-0.00145617 0.99999057 0.00409223 0.17406716] [-0.00121546 -0.004094 0.99999088 -0.29083584] [ 0. 0. 0. 1. ]] SLAMing on 43.683133364999996 meters Centerline goodness [0,1] 0.2740928898329209 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:-0.29 [[ 0.99999791 0.00164928 0.00120663 0.78766305] [-0.00165485 0.99998788 0.00463697 0.17139266] [-0.00119897 -0.00463896 0.99998852 -0.29092821] [ 0. 0. 0. 1. ]] SLAMing on 43.713133365 meters Centerline goodness [0,1] 0.27009562634169615 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:-0.29 [[ 0.99999768 0.00180922 0.00117332 0.78787705] [-0.00181517 0.99998537 0.00509509 0.16896589] [-0.00116408 -0.00509721 0.99998633 -0.29107703] [ 0. 0. 0. 1. ]] SLAMing on 43.74313336499999 meters Centerline goodness [0,1] 0.2718387426805111 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:-0.29 [[ 0.9999973 0.00201074 0.00116773 0.78817176] [-0.00201735 0.99998182 0.0056828 0.16546058] [-0.00115628 -0.00568514 0.99998317 -0.29140089] [ 0. 0. 0. 1. ]] SLAMing on 43.77313336499999 meters Centerline goodness [0,1] 0.272504806851949 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:-0.29 [[ 0.99999711 0.00207006 0.00121875 0.7880922 ] [-0.00207705 0.99998127 0.00575641 0.16507069] [-0.00120681 -0.00575893 0.99998269 -0.29150257] [ 0. 0. 0. 1. ]] SLAMing on 43.803133364999994 meters Centerline goodness [0,1] 0.2745569897177861 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:-0.29 [[ 0.99999702 0.00211359 0.00122337 0.78824723] [-0.00212048 0.99998171 0.00566346 0.1656973 ] [-0.00121138 -0.00566604 0.99998321 -0.29183445] [ 0. 0. 0. 1. ]] SLAMing on 43.833133364999995 meters Centerline goodness [0,1] 0.2743017494628842 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:-0.29 [[ 9.99997144e-01 2.18209143e-03 9.74483465e-04 7.89175785e-01] [-2.18736594e-03 9.99982785e-01 5.44475734e-03 1.67235986e-01] [-9.62585731e-04 -5.44687334e-03 9.99984702e-01 -2.92575396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.863133364999996 meters Centerline goodness [0,1] 0.27079413695033905 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:-0.29 [[ 9.99995856e-01 2.83052042e-03 5.25943749e-04 7.90853527e-01] [-2.83327885e-03 9.99981834e-01 5.32016582e-03 1.70774414e-01] [-5.10875357e-04 -5.32163391e-03 9.99985710e-01 -2.93933788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.893133365 meters Centerline goodness [0,1] 0.2716449745353241 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:-0.29 [[ 9.99995921e-01 2.75728722e-03 7.45444965e-04 7.90244285e-01] [-2.76097479e-03 9.99983729e-01 4.99187917e-03 1.72538534e-01] [-7.31668791e-04 -4.99391697e-03 9.99987263e-01 -2.93910401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.923133365 meters Centerline goodness [0,1] 0.26778920975272347 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:-0.29 [[ 0.99999609 0.00260123 0.00102929 0.78942956] [-0.00260591 0.99998617 0.00456905 0.17467474] [-0.00101739 -0.00457171 0.99998903 -0.2938232 ] [ 0. 0. 0. 1. ]] SLAMing on 43.95313336499999 meters Centerline goodness [0,1] 0.26863242856212977 Centerline is valid? [False, False] Translation: X:0.79, Y:0.18, Z:-0.29 [[ 0.99999623 0.00254235 0.00103951 0.78924276] [-0.00254697 0.99998675 0.00447352 0.17512255] [-0.00102813 -0.00447615 0.99998945 -0.293621 ] [ 0. 0. 0. 1. ]] SLAMing on 43.98313336499999 meters Centerline goodness [0,1] 0.26961328371526194 Centerline is valid? [False, False] Translation: X:0.79, Y:0.18, Z:-0.29 [[ 9.99996532e-01 2.46883364e-03 9.16970686e-04 7.89519473e-01] [-2.47288488e-03 9.99987070e-01 4.44353001e-03 1.75012883e-01] [-9.05988493e-04 -4.44578217e-03 9.99989707e-01 -2.93569650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.013133364999995 meters Centerline goodness [0,1] 0.2691647286400487 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:-0.29 [[ 9.99997755e-01 2.06483126e-03 4.76189257e-04 7.90527937e-01] [-2.06683965e-03 9.99988805e-01 4.25642637e-03 1.74793745e-01] [-4.67395124e-04 -4.25740102e-03 9.99990828e-01 -2.93448314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.043133364999996 meters Centerline goodness [0,1] 0.2739677788537723 Centerline is valid? [False, False] Translation: X:0.77, Y:0.17, Z:-0.29 [[ 9.99967449e-01 8.06781857e-03 1.01692908e-04 7.68157879e-01] [-8.06796825e-03 9.99966222e-01 1.56919983e-03 1.70711606e-01] [-8.90294538e-05 -1.56996921e-03 9.99998764e-01 -2.93113191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.073133365 meters Centerline goodness [0,1] 0.2706896176528192 Centerline is valid? [False, False] Translation: X:0.79, Y:0.18, Z:-0.29 [[ 9.99999827e-01 -4.24849351e-04 4.06578547e-04 7.88904021e-01] [ 4.23984977e-04 9.99997655e-01 2.12369879e-03 1.75879513e-01] [-4.07479846e-04 -2.12352604e-03 9.99997662e-01 -2.92223779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.103133365 meters Centerline goodness [0,1] 0.2695456317408065 Centerline is valid? [False, False] Translation: X:0.79, Y:0.18, Z:-0.29 [[ 9.99999839e-01 -4.63441703e-04 3.26823696e-04 7.89144510e-01] [ 4.62744953e-04 9.99997627e-01 2.12874570e-03 1.75657522e-01] [-3.27809470e-04 -2.12859412e-03 9.99997681e-01 -2.92274173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13313336499999 meters Centerline goodness [0,1] 0.2727411744145404 Centerline is valid? [False, False] Translation: X:0.79, Y:0.18, Z:-0.29 [[ 9.99999804e-01 -5.03866716e-04 3.72762451e-04 7.88928105e-01] [ 5.03086669e-04 9.99997690e-01 2.08975479e-03 1.75761906e-01] [-3.73814547e-04 -2.08956684e-03 9.99997747e-01 -2.92097972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16313336499999 meters Centerline goodness [0,1] 0.27293527522330263 Centerline is valid? [False, False] Translation: X:0.79, Y:0.18, Z:-0.29 [[ 9.99999825e-01 -4.87263078e-04 3.35553218e-04 7.89015756e-01] [ 4.86558739e-04 9.99997685e-01 2.09592992e-03 1.76002037e-01] [-3.36573710e-04 -2.09576628e-03 9.99997747e-01 -2.92136066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.193133364999994 meters Centerline goodness [0,1] 0.2687889513799917 Centerline is valid? [False, False] Translation: X:0.81, Y:0.18, Z:-0.29 [[ 9.99977295e-01 6.68348831e-03 8.60252324e-04 8.11630050e-01] [-6.68357060e-03 9.99977660e-01 9.28170992e-05 1.75077362e-01] [-8.59612764e-04 -9.85645489e-05 9.99999626e-01 -2.92989975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.223133364999995 meters Centerline goodness [0,1] 0.26889898090002395 Centerline is valid? [False, False] Translation: X:0.81, Y:0.17, Z:-0.29 [[ 9.99977774e-01 6.61679243e-03 8.18702598e-04 8.11724288e-01] [-6.61690457e-03 9.99978099e-01 1.34347491e-04 1.74260975e-01] [-8.17795718e-04 -1.39761782e-04 9.99999656e-01 -2.92938133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.253133365 meters Centerline goodness [0,1] 0.27097944113084704 Centerline is valid? [False, False] Translation: X:0.81, Y:0.17, Z:-0.29 [[ 9.99977966e-01 6.55480167e-03 1.04970860e-03 8.10864288e-01] [-6.55519884e-03 9.99978444e-01 3.75364361e-04 1.72484378e-01] [-1.04722553e-03 -3.82237139e-04 9.99999379e-01 -2.92359030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.283133365 meters Centerline goodness [0,1] 0.2697463214426058 Centerline is valid? [False, False] Translation: X:0.81, Y:0.17, Z:-0.29 [[ 9.99977177e-01 6.66711467e-03 1.09324843e-03 8.10739015e-01] [-6.66777963e-03 9.99977587e-01 6.05728461e-04 1.71727127e-01] [-1.08918547e-03 -6.13004176e-04 9.99999219e-01 -2.92312147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31313336499999 meters Centerline goodness [0,1] 0.271453170295778 Centerline is valid? [False, False] Translation: X:0.81, Y:0.17, Z:-0.29 [[ 9.99976777e-01 6.73717095e-03 1.02752828e-03 8.10946280e-01] [-6.73795378e-03 9.99977011e-01 7.60306500e-04 1.71200499e-01] [-1.02238235e-03 -7.67212282e-04 9.99999183e-01 -2.92389324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34313336499999 meters Centerline goodness [0,1] 0.26848307925181103 Centerline is valid? [False, False] Translation: X:0.83, Y:0.18, Z:-0.29 [[ 9.99999255e-01 -1.08734831e-03 5.53780900e-04 8.30295046e-01] [ 1.08650981e-03 9.99998266e-01 1.51219858e-03 1.75917506e-01] [-5.55424227e-04 -1.51159576e-03 9.99998703e-01 -2.91277960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.373133364999994 meters Centerline goodness [0,1] 0.2711694427487573 Centerline is valid? [False, False] Translation: X:0.83, Y:0.18, Z:-0.29 [[ 9.99999245e-01 -1.12262037e-03 4.99660944e-04 8.30633306e-01] [ 1.12188188e-03 9.99998282e-01 1.47583081e-03 1.75654217e-01] [-5.01316883e-04 -1.47526913e-03 9.99998786e-01 -2.91663269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.403133364999995 meters Centerline goodness [0,1] 0.2701482773658962 Centerline is valid? [False, False] Translation: X:0.83, Y:0.18, Z:-0.29 [[ 9.99999273e-01 -1.09421502e-03 5.05669782e-04 8.30566000e-01] [ 1.09344943e-03 9.99998259e-01 1.51180795e-03 1.75642016e-01] [-5.07323145e-04 -1.51125392e-03 9.99998729e-01 -2.91619089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.433133364999996 meters Centerline goodness [0,1] 0.26965706089451036 Centerline is valid? [False, False] Translation: X:0.83, Y:0.18, Z:-0.29 [[ 9.99999296e-01 -1.02679472e-03 5.94349038e-04 8.30299530e-01] [ 1.02581317e-03 9.99998114e-01 1.64943352e-03 1.75221689e-01] [-5.96041546e-04 -1.64882267e-03 9.99998463e-01 -2.91558251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.463133365 meters Centerline goodness [0,1] 0.27005027531721326 Centerline is valid? [False, False] Translation: X:0.83, Y:0.17, Z:-0.29 [[ 9.99998928e-01 -1.14857866e-03 9.08118071e-04 8.29211690e-01] [ 1.14675384e-03 9.99997328e-01 2.00743644e-03 1.72404475e-01] [-9.10421342e-04 -2.00639290e-03 9.99997573e-01 -2.90844270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49313336499999 meters Centerline goodness [0,1] 0.26957183221038905 Centerline is valid? [False, False] Translation: X:0.83, Y:0.17, Z:-0.29 [[ 9.99998872e-01 -1.26486483e-03 8.10433376e-04 8.29332834e-01] [ 1.26303403e-03 9.99996659e-01 2.25558196e-03 1.70153206e-01] [-8.13283674e-04 -2.25455581e-03 9.99997128e-01 -2.90597340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52313336499999 meters Centerline goodness [0,1] 0.2723432975550282 Centerline is valid? [False, False] Translation: X:0.83, Y:0.17, Z:-0.29 [[ 9.99998652e-01 -1.42917219e-03 8.08976486e-04 8.29246874e-01] [ 1.42709922e-03 9.99995712e-01 2.55726688e-03 1.67669474e-01] [-8.12627792e-04 -2.55610894e-03 9.99996403e-01 -2.90375322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.553133364999994 meters Centerline goodness [0,1] 0.2724507658643326 Centerline is valid? [False, False] Translation: X:0.83, Y:0.16, Z:-0.29 [[ 0.99999756 -0.00187574 0.00116532 0.82821987] [ 0.00187211 0.9999934 0.00311283 0.16238815] [-0.00117115 -0.00311064 0.99999448 -0.28981331] [ 0. 0. 0. 1. ]] SLAMing on 44.583133364999995 meters Centerline goodness [0,1] 0.27160601628500947 Centerline is valid? [False, False] Translation: X:0.83, Y:0.16, Z:-0.29 [[ 0.99999729 -0.00196055 0.00125642 0.82787474] [ 0.00195609 0.99999182 0.00354155 0.15946933] [-0.00126335 -0.00353908 0.99999294 -0.28946795] [ 0. 0. 0. 1. ]] SLAMing on 44.613133364999996 meters Centerline goodness [0,1] 0.27223148007877596 Centerline is valid? [False, False] Translation: X:0.83, Y:0.15, Z:-0.29 [[ 9.99982710e-01 -5.69474894e-03 1.46622850e-03 8.26972721e-01] [ 5.69402305e-03 9.99983665e-01 4.98776543e-04 1.54777532e-01] [-1.46904496e-03 -4.90419180e-04 9.99998801e-01 -2.88686222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.643133365 meters Centerline goodness [0,1] 0.2731466370737864 Centerline is valid? [False, False] Translation: X:0.83, Y:0.15, Z:-0.29 [[ 0.9999834 -0.00562944 0.00122596 0.82756201] [ 0.0056282 0.99998365 0.00101577 0.15156865] [-0.00123166 -0.00100886 0.99999873 -0.28869224] [ 0. 0. 0. 1. ]] SLAMing on 44.673133365 meters Centerline goodness [0,1] 0.2713986119819255 Centerline is valid? [False, False] Translation: X:0.83, Y:0.15, Z:-0.29 [[ 9.99984473e-01 -5.52666028e-03 7.13349656e-04 8.29045328e-01] [ 5.52557056e-03 9.99983578e-01 1.52064037e-03 1.48733466e-01] [-7.21742003e-04 -1.51667509e-03 9.99998589e-01 -2.89079528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70313336499999 meters Centerline goodness [0,1] 0.2708696030640668 Centerline is valid? [False, False] Translation: X:0.82, Y:0.14, Z:-0.29 [[ 9.99996999e-01 3.29005850e-04 2.42776186e-03 8.15519850e-01] [-3.30876525e-04 9.99999649e-01 7.70173144e-04 1.39959943e-01] [-2.42750762e-03 -7.70974122e-04 9.99996756e-01 -2.93413204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73313336499999 meters Centerline goodness [0,1] 0.2715191390165792 Centerline is valid? [False, False] Translation: X:0.82, Y:0.14, Z:-0.29 [[ 9.99997146e-01 4.08735262e-04 2.35387497e-03 8.15686178e-01] [-4.11120934e-04 9.99999402e-01 1.01311371e-03 1.38552525e-01] [-2.35345946e-03 -1.01407855e-03 9.99996716e-01 -2.93375286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.763133364999995 meters Centerline goodness [0,1] 0.2727431693989071 Centerline is valid? [False, False] Translation: X:0.82, Y:0.14, Z:-0.29 [[ 9.99997057e-01 4.53107468e-04 2.38357678e-03 8.15600662e-01] [-4.55920118e-04 9.99999200e-01 1.17960107e-03 1.37369605e-01] [-2.38304039e-03 -1.18068431e-03 9.99996464e-01 -2.93351032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.793133364999996 meters Centerline goodness [0,1] 0.2729338256177223 Centerline is valid? [False, False] Translation: X:0.82, Y:0.14, Z:-0.29 [[ 9.99996869e-01 4.82647422e-04 2.45530762e-03 8.15309728e-01] [-4.85738427e-04 9.99999090e-01 1.25846688e-03 1.36726975e-01] [-2.45469799e-03 -1.25965558e-03 9.99996194e-01 -2.93151597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.823133365 meters Centerline goodness [0,1] 0.27348857548923144 Centerline is valid? [False, False] Translation: X:0.82, Y:0.14, Z:-0.29 [[ 9.99996848e-01 5.10643609e-04 2.45819938e-03 8.15269920e-01] [-5.13778492e-04 9.99999055e-01 1.27481347e-03 1.36626678e-01] [-2.45754609e-03 -1.27607243e-03 9.99996166e-01 -2.93145835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.853133365 meters Centerline goodness [0,1] 0.26969670748063856 Centerline is valid? [False, False] Translation: X:0.83, Y:0.14, Z:-0.29 [[ 0.99997325 -0.00690033 0.00242673 0.83437115] [ 0.00689406 0.9999729 0.00258446 0.14157133] [-0.00244449 -0.00256766 0.99999372 -0.2918651 ] [ 0. 0. 0. 1. ]] SLAMing on 44.88313336499999 meters Centerline goodness [0,1] 0.2727890708944587 Centerline is valid? [False, False] Translation: X:0.81, Y:0.13, Z:-0.29 [[ 9.99996548e-01 8.32685948e-04 2.49192129e-03 8.14384177e-01] [-8.37285746e-04 9.99997947e-01 1.84541075e-03 1.34523700e-01] [-2.49037953e-03 -1.84749083e-03 9.99995192e-01 -2.92837645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.91313336499999 meters Centerline goodness [0,1] 0.2727233048905572 Centerline is valid? [False, False] Translation: X:0.81, Y:0.13, Z:-0.29 [[ 9.99996716e-01 8.64399320e-04 2.41262171e-03 8.14608403e-01] [-8.69410510e-04 9.99997466e-01 2.07679705e-03 1.33187319e-01] [-2.41082041e-03 -2.07888779e-03 9.99994933e-01 -2.92906490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.943133364999994 meters Centerline goodness [0,1] 0.2727233048905572 Centerline is valid? [False, False] Translation: X:0.81, Y:0.13, Z:-0.29 [[ 9.99996716e-01 8.64399320e-04 2.41262171e-03 8.14608403e-01] [-8.69410510e-04 9.99997466e-01 2.07679705e-03 1.33187319e-01] [-2.41082041e-03 -2.07888779e-03 9.99994933e-01 -2.92906490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.973133364999995 meters Centerline goodness [0,1] 0.2718855770280598 Centerline is valid? [False, False] Translation: X:0.82, Y:0.13, Z:-0.29 [[ 9.99997548e-01 8.23975076e-04 2.05552379e-03 8.15569937e-01] [-8.28698482e-04 9.99997016e-01 2.29811594e-03 1.31607756e-01] [-2.05362407e-03 -2.29981371e-03 9.99995247e-01 -2.93140811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.003133365 meters Centerline goodness [0,1] 0.27424609289016066 Centerline is valid? [False, False] Translation: X:0.82, Y:0.13, Z:-0.29 [[ 9.99999039e-01 1.26388626e-04 1.38074626e-03 8.17575681e-01] [-1.29576056e-04 9.99997327e-01 2.30863815e-03 1.28603435e-01] [-1.38045079e-03 -2.30881484e-03 9.99996382e-01 -2.93797851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.033133365 meters Centerline goodness [0,1] 0.270650759219089 Centerline is valid? [False, False] Translation: X:0.86, Y:0.13, Z:-0.29 [[ 9.99995966e-01 -9.10158318e-04 2.69064583e-03 8.62756515e-01] [ 9.06375603e-04 9.99998600e-01 1.40676132e-03 1.26864735e-01] [-2.69192243e-03 -1.40431691e-03 9.99995391e-01 -2.94999507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06313336499999 meters Centerline goodness [0,1] 0.27041537157389095 Centerline is valid? [False, False] Translation: X:0.86, Y:0.12, Z:-0.30 [[ 0.99999684 -0.00112992 0.00224495 0.86382547] [ 0.00112618 0.99999798 0.00166721 0.12444671] [-0.00224683 -0.00166467 0.99999609 -0.2950091 ] [ 0. 0. 0. 1. ]] SLAMing on 45.09313336499999 meters Centerline goodness [0,1] 0.2736240233948758 Centerline is valid? [False, False] Translation: X:0.86, Y:0.12, Z:-0.29 [[ 0.99999513 -0.00196774 0.00242108 0.86306131] [ 0.0019637 0.99999668 0.00166933 0.12010123] [-0.00242436 -0.00166456 0.99999568 -0.29445879] [ 0. 0. 0. 1. ]] SLAMing on 45.123133364999994 meters Centerline goodness [0,1] 0.2566596469898613 Centerline is valid? [False, False] Translation: X:0.86, Y:0.12, Z:-0.29 [[ 0.9999944 -0.00198895 0.00269298 0.86210228] [ 0.0019836 0.99999606 0.00198739 0.11797234] [-0.00269692 -0.00198204 0.9999944 -0.29390809] [ 0. 0. 0. 1. ]] SLAMing on 45.153133364999995 meters Centerline goodness [0,1] 0.27343545430741034 Centerline is valid? [False, False] Translation: X:0.86, Y:0.12, Z:-0.29 [[ 0.99999347 -0.00197381 0.00302714 0.86088962] [ 0.00196696 0.9999955 0.00226423 0.11623595] [-0.0030316 -0.00225826 0.99999285 -0.29321207] [ 0. 0. 0. 1. ]] SLAMing on 45.183133364999996 meters Centerline goodness [0,1] 0.2711527663801667 Centerline is valid? [False, False] Translation: X:0.88, Y:0.11, Z:-0.29 [[ 9.99975755e-01 5.97119829e-03 3.58243466e-03 8.80224681e-01] [-5.97462030e-03 9.99981705e-01 9.45280990e-04 1.09785729e-01] [-3.57672466e-03 -9.66661759e-04 9.99993136e-01 -2.92333461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.213133365 meters Centerline goodness [0,1] 0.2730036525885261 Centerline is valid? [False, False] Translation: X:0.86, Y:0.11, Z:-0.29 [[ 0.99999515 -0.00239903 0.00198456 0.86085444] [ 0.0023946 0.99999465 0.00222899 0.11374408] [-0.00198989 -0.00222423 0.99999555 -0.29300178] [ 0. 0. 0. 1. ]] SLAMing on 45.24313336499999 meters Centerline goodness [0,1] 0.27081698491586015 Centerline is valid? [False, False] Translation: X:0.86, Y:0.11, Z:-0.29 [[ 0.99999553 -0.00237878 0.001812 0.86141776] [ 0.00237505 0.99999506 0.00205721 0.1148664 ] [-0.00181688 -0.00205289 0.99999624 -0.29333775] [ 0. 0. 0. 1. ]] SLAMing on 45.27313336499999 meters Centerline goodness [0,1] 0.2549437176756921 Centerline is valid? [False, False] Translation: X:0.86, Y:0.12, Z:-0.29 [[ 0.99999538 -0.00243236 0.00182542 0.86127848] [ 0.00242881 0.99999517 0.00194134 0.11530143] [-0.00183013 -0.0019369 0.99999645 -0.29315662] [ 0. 0. 0. 1. ]] SLAMing on 45.303133364999994 meters Centerline goodness [0,1] 0.256873749238667 Centerline is valid? [False, False] Translation: X:0.86, Y:0.12, Z:-0.29 [[ 0.999995 -0.00247986 0.00196355 0.8607989 ] [ 0.00247621 0.9999952 0.0018639 0.11563629] [-0.00196816 -0.00185903 0.99999634 -0.29294458] [ 0. 0. 0. 1. ]] SLAMing on 45.333133364999995 meters Centerline goodness [0,1] 0.2723874921228189 Centerline is valid? [False, False] Translation: X:0.86, Y:0.11, Z:-0.29 [[ 0.99999527 -0.00253147 0.00174533 0.86118463] [ 0.00252796 0.99999478 0.00201097 0.11470339] [-0.00175041 -0.00200655 0.99999645 -0.29283935] [ 0. 0. 0. 1. ]] SLAMing on 45.363133364999996 meters Centerline goodness [0,1] 0.27489594742606793 Centerline is valid? [False, False] Translation: X:0.86, Y:0.11, Z:-0.29 [[ 0.99999566 -0.00247879 0.00159237 0.86156241] [ 0.00247513 0.99999431 0.00229119 0.11334149] [-0.00159804 -0.00228724 0.99999611 -0.29292526] [ 0. 0. 0. 1. ]] SLAMing on 45.393133365 meters Centerline goodness [0,1] 0.2709755727507207 Centerline is valid? [False, False] Translation: X:0.88, Y:0.11, Z:-0.29 [[ 9.99993200e-01 3.44669563e-03 1.31140168e-03 8.83003517e-01] [-3.44603264e-03 9.99993934e-01 -5.07479395e-04 1.09112187e-01] [-1.31314285e-03 5.02956811e-04 9.99999011e-01 -2.92948262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.423133365 meters Centerline goodness [0,1] 0.27247730446927376 Centerline is valid? [False, False] Translation: X:0.88, Y:0.11, Z:-0.29 [[ 9.99993562e-01 3.36820688e-03 1.23723381e-03 8.83154769e-01] [-3.36790720e-03 9.99994299e-01 -2.44228446e-04 1.07182338e-01] [-1.23804937e-03 2.40059985e-04 9.99999205e-01 -2.92960210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.45313336499999 meters Centerline goodness [0,1] 0.2717749503502761 Centerline is valid? [False, False] Translation: X:0.88, Y:0.10, Z:-0.29 [[ 9.99994498e-01 2.88559585e-03 1.63648053e-03 8.81982440e-01] [-2.88545323e-03 9.99995833e-01 -8.95064806e-05 1.04180462e-01] [-1.63673199e-03 8.47840001e-05 9.99998657e-01 -2.92584022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48313336499999 meters Centerline goodness [0,1] 0.27283382531689526 Centerline is valid? [False, False] Translation: X:0.88, Y:0.10, Z:-0.29 [[ 9.99994417e-01 2.91538243e-03 1.63307229e-03 8.81740136e-01] [-2.91576981e-03 9.99995722e-01 2.34880125e-04 1.02155382e-01] [-1.63238054e-03 -2.39640476e-04 9.99998639e-01 -2.92237826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.513133364999995 meters Centerline goodness [0,1] 0.27288349430087877 Centerline is valid? [False, False] Translation: X:0.88, Y:0.10, Z:-0.29 [[ 9.99994264e-01 2.92746083e-03 1.70350082e-03 8.81216922e-01] [-2.92853738e-03 9.99995513e-01 6.29815878e-04 9.95248656e-02] [-1.70164942e-03 -6.34801031e-04 9.99998351e-01 -2.91746388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.543133364999996 meters Centerline goodness [0,1] 0.27178436798640315 Centerline is valid? [False, False] Translation: X:0.88, Y:0.10, Z:-0.29 [[ 9.99994103e-01 2.96688535e-03 1.72952146e-03 8.81157950e-01] [-2.96828342e-03 9.99995270e-01 8.06352269e-04 9.84775491e-02] [-1.72712092e-03 -8.11481224e-04 9.99998179e-01 -2.91753035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.573133365 meters Centerline goodness [0,1] 0.27312390924956365 Centerline is valid? [False, False] Translation: X:0.88, Y:0.10, Z:-0.29 [[ 9.99993713e-01 3.03230372e-03 1.83847994e-03 8.80799374e-01] [-3.03400806e-03 9.99994970e-01 9.24960928e-04 9.80312795e-02] [-1.83566593e-03 -9.30533076e-04 9.99997882e-01 -2.91572868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.603133365 meters Centerline goodness [0,1] 0.27252742469092806 Centerline is valid? [False, False] Translation: X:0.88, Y:0.10, Z:-0.29 [[ 9.99992462e-01 3.13781297e-03 2.28699017e-03 8.79167152e-01] [-3.13979255e-03 9.99994699e-01 8.62510513e-04 9.87347773e-02] [-2.28427165e-03 -8.69684686e-04 9.99997013e-01 -2.90547968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63313336499999 meters Centerline goodness [0,1] 0.2738378307628542 Centerline is valid? [False, False] Translation: X:0.88, Y:0.10, Z:-0.29 [[ 9.99992478e-01 3.07911475e-03 2.35847553e-03 8.78848069e-01] [-3.08062879e-03 9.99995051e-01 6.38592158e-04 9.98854286e-02] [-2.35649756e-03 -6.45852942e-04 9.99997015e-01 -2.90290207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66313336499999 meters Centerline goodness [0,1] 0.27439505523408736 Centerline is valid? [False, False] Translation: X:0.88, Y:0.10, Z:-0.29 [[ 9.99992907e-01 3.04053742e-03 2.22277245e-03 8.79173085e-01] [-3.04158341e-03 9.99995265e-01 4.67350753e-04 1.00912600e-01] [-2.22134093e-03 -4.74108186e-04 9.99997420e-01 -2.90310136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.693133364999994 meters Centerline goodness [0,1] 0.25671952621645655 Centerline is valid? [False, False] Translation: X:0.90, Y:0.11, Z:-0.29 [[ 0.99999165 -0.00396013 0.00101277 0.89850943] [ 0.00395846 0.99999081 0.00164746 0.10597886] [-0.00101929 -0.00164343 0.99999813 -0.28866094] [ 0. 0. 0. 1. ]] SLAMing on 45.723133364999995 meters Centerline goodness [0,1] 0.2708666177296084 Centerline is valid? [False, False] Translation: X:0.90, Y:0.11, Z:-0.29 [[ 9.99991723e-01 -3.95274070e-03 9.64605620e-04 8.98913540e-01] [ 3.95132849e-03 9.99991125e-01 1.46157161e-03 1.07617110e-01] [-9.70374273e-04 -1.45774803e-03 9.99998467e-01 -2.89116768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.753133365 meters Centerline goodness [0,1] 0.2726384789025873 Centerline is valid? [False, False] Translation: X:0.90, Y:0.11, Z:-0.29 [[ 9.99991478e-01 -4.01127312e-03 9.76757393e-04 8.98915204e-01] [ 4.00996148e-03 9.99991061e-01 1.34113207e-03 1.08093143e-01] [-9.82128308e-04 -1.33720388e-03 9.99998624e-01 -2.89205629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.783133365 meters Centerline goodness [0,1] 0.2731128074639525 Centerline is valid? [False, False] Translation: X:0.90, Y:0.11, Z:-0.29 [[ 0.99999074 -0.00413394 0.00119746 0.89811608] [ 0.00413258 0.99999082 0.00113207 0.10883072] [-0.00120213 -0.00112711 0.99999864 -0.28879102] [ 0. 0. 0. 1. ]] SLAMing on 45.81313336499999 meters Centerline goodness [0,1] 0.272899187062557 Centerline is valid? [False, False] Translation: X:0.90, Y:0.11, Z:-0.29 [[ 0.99999065 -0.00412309 0.00130245 0.89778412] [ 0.00412172 0.99999095 0.00105443 0.10960421] [-0.00130678 -0.00104906 0.9999986 -0.28867081] [ 0. 0. 0. 1. ]] SLAMing on 45.84313336499999 meters Centerline goodness [0,1] 0.2730808508789083 Centerline is valid? [False, False] Translation: X:0.90, Y:0.11, Z:-0.29 [[ 9.99990359e-01 -4.30796283e-03 8.50897405e-04 8.99420284e-01] [ 4.30753139e-03 9.99990593e-01 5.08219901e-04 1.12478143e-01] [-8.53078793e-04 -5.04549733e-04 9.99999509e-01 -2.89583274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.873133364999994 meters Centerline goodness [0,1] 0.270384971671083 Centerline is valid? [False, False] Translation: X:0.92, Y:0.11, Z:-0.29 [[ 9.99993722e-01 3.54145221e-03 1.14613983e-04 9.20259814e-01] [-3.54131542e-03 9.99993042e-01 -1.17245550e-03 1.10169966e-01] [-1.18765380e-04 1.17204226e-03 9.99999306e-01 -2.88955546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.903133364999995 meters Centerline goodness [0,1] 0.27350745451759095 Centerline is valid? [False, False] Translation: X:0.90, Y:0.12, Z:-0.29 [[ 9.99987516e-01 -4.74846147e-03 -1.55575504e-03 9.01554071e-01] [ 4.74824981e-03 9.99988717e-01 -1.39718426e-04 1.17879716e-01] [ 1.55640093e-03 1.32329568e-04 9.99998780e-01 -2.89897167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.933133364999996 meters Centerline goodness [0,1] 0.2551301817550108 Centerline is valid? [False, False] Translation: X:0.92, Y:0.12, Z:-0.29 [[ 0.99998986 0.00215216 -0.0039559 0.9178948 ] [-0.00215803 0.99999658 -0.00148019 0.12176987] [ 0.0039527 0.00148871 0.99999108 -0.28746805] [ 0. 0. 0. 1. ]] SLAMing on 45.963133365 meters Centerline goodness [0,1] 0.2729922847624058 Centerline is valid? [False, False] Translation: X:0.90, Y:0.13, Z:-0.29 [[ 9.99975081e-01 -5.96932220e-03 -3.76896271e-03 8.99199424e-01] [ 5.96763056e-03 9.99982088e-01 -4.59921600e-04 1.29595768e-01] [ 3.77164062e-03 4.37418362e-04 9.99992792e-01 -2.89455955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99313336499999 meters Centerline goodness [0,1] 0.271857177195551 Centerline is valid? [False, False] Translation: X:0.90, Y:0.13, Z:-0.29 [[ 9.99973791e-01 -6.15327000e-03 -3.81503576e-03 8.99478205e-01] [ 6.14974467e-03 9.99980653e-01 -9.35105333e-04 1.31811368e-01] [ 3.82071591e-03 9.11619329e-04 9.99992286e-01 -2.89749103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02313336499999 meters Centerline goodness [0,1] 0.2582331073693418 Centerline is valid? [False, False] Translation: X:0.90, Y:0.13, Z:-0.29 [[ 0.99997256 -0.00628672 -0.00391909 0.89995339] [ 0.00628168 0.99997943 -0.00129611 0.13364728] [ 0.00392715 0.00127145 0.99999148 -0.29018782] [ 0. 0. 0. 1. ]] SLAMing on 46.053133364999994 meters Centerline goodness [0,1] 0.2728557144720254 Centerline is valid? [False, False] Translation: X:0.90, Y:0.14, Z:-0.29 [[ 0.99997001 -0.00646398 -0.00426624 0.90095985] [ 0.00645646 0.99997759 -0.00177207 0.13647627] [ 0.0042776 0.00174447 0.99998933 -0.29050678] [ 0. 0. 0. 1. ]] SLAMing on 46.083133364999995 meters Centerline goodness [0,1] 0.2740507574267165 Centerline is valid? [False, False] Translation: X:0.90, Y:0.14, Z:-0.29 [[ 0.99996929 -0.00653773 -0.00432229 0.90118131] [ 0.00652927 0.99997674 -0.00196982 0.13767274] [ 0.00433507 0.00194154 0.99998872 -0.29067752] [ 0. 0. 0. 1. ]] SLAMing on 46.113133364999996 meters Centerline goodness [0,1] 0.27193914042350287 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:-0.29 [[ 0.99999368 0.00121403 -0.00334103 0.91942627] [-0.001226 0.99999283 -0.00358318 0.13583242] [ 0.00333665 0.00358726 0.999988 -0.2895576 ] [ 0. 0. 0. 1. ]] SLAMing on 46.143133365 meters Centerline goodness [0,1] 0.27341087487082516 Centerline is valid? [False, False] Translation: X:0.90, Y:0.14, Z:-0.29 [[ 0.99996534 -0.00750405 -0.00360735 0.89855576] [ 0.00749354 0.99996767 -0.00291765 0.14193453] [ 0.00362913 0.00289051 0.99998924 -0.29011252] [ 0. 0. 0. 1. ]] SLAMing on 46.173133365 meters Centerline goodness [0,1] 0.27137562772746215 Centerline is valid? [False, False] Translation: X:0.90, Y:0.14, Z:-0.29 [[ 0.9999647 -0.00759403 -0.00359586 0.89841627] [ 0.00758273 0.9999663 -0.00314755 0.14314645] [ 0.00361964 0.00312017 0.99998858 -0.28991985] [ 0. 0. 0. 1. ]] SLAMing on 46.20313336499999 meters Centerline goodness [0,1] 0.26905644829007 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:-0.29 [[ 9.99995400e-01 9.22460655e-04 -2.88947740e-03 9.19137467e-01] [-9.34043294e-04 9.99991525e-01 -4.00977719e-03 1.41681485e-01] [ 2.88575405e-03 4.01245765e-03 9.99987786e-01 -2.90082666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23313336499999 meters Centerline goodness [0,1] 0.27140723166820435 Centerline is valid? [False, False] Translation: X:0.90, Y:0.15, Z:-0.29 [[ 0.99996677 -0.00743618 -0.0033402 0.89913762] [ 0.00742589 0.99996767 -0.00308325 0.14842386] [ 0.00336302 0.00305834 0.99998967 -0.29092895] [ 0. 0. 0. 1. ]] SLAMing on 46.263133364999995 meters Centerline goodness [0,1] 0.26978980808564346 Centerline is valid? [False, False] Translation: X:0.92, Y:0.15, Z:-0.29 [[ 9.99997110e-01 9.41512312e-04 -2.21209558e-03 9.18304224e-01] [-9.50663359e-04 9.99990981e-01 -4.13941934e-03 1.45393866e-01] [ 2.20817832e-03 4.14151034e-03 9.99988986e-01 -2.90119413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.293133364999996 meters Centerline goodness [0,1] 0.2720260466742418 Centerline is valid? [False, False] Translation: X:0.92, Y:0.15, Z:-0.29 [[ 9.99997924e-01 8.76558972e-04 -1.83925779e-03 9.16996685e-01] [-8.84725771e-04 9.99989733e-01 -4.44416319e-03 1.47397962e-01] [ 1.83534334e-03 4.44578120e-03 9.99988433e-01 -2.89437484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.323133365 meters Centerline goodness [0,1] 0.2718389296956978 Centerline is valid? [False, False] Translation: X:0.92, Y:0.15, Z:-0.29 [[ 9.99997983e-01 8.66572507e-04 -1.81210542e-03 9.16773703e-01] [-8.74725943e-04 9.99989477e-01 -4.50348536e-03 1.47988217e-01] [ 1.80818375e-03 4.50506137e-03 9.99988217e-01 -2.89156505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.353133365 meters Centerline goodness [0,1] 0.2715814766273482 Centerline is valid? [False, False] Translation: X:0.92, Y:0.15, Z:-0.29 [[ 9.99997986e-01 8.52695415e-04 -1.81710820e-03 9.16653257e-01] [-8.60911089e-04 9.99989390e-01 -4.52531509e-03 1.48131680e-01] [ 1.81323020e-03 4.52687034e-03 9.99988110e-01 -2.88955223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38313336499999 meters Centerline goodness [0,1] 0.27263162509315686 Centerline is valid? [False, False] Translation: X:0.92, Y:0.15, Z:-0.29 [[ 9.99998004e-01 7.89896475e-04 -1.83530457e-03 9.16811048e-01] [-7.98305816e-04 9.99989167e-01 -4.58578071e-03 1.48244085e-01] [ 1.83166240e-03 4.58723669e-03 9.99987801e-01 -2.89172470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41313336499999 meters Centerline goodness [0,1] 0.2691034930247648 Centerline is valid? [False, False] Translation: X:0.94, Y:0.15, Z:-0.29 [[ 0.99996799 -0.00789147 -0.00131755 0.93813636] [ 0.00788596 0.99996037 -0.00413147 0.15115134] [ 0.0013501 0.00412095 0.9999906 -0.28872252] [ 0. 0. 0. 1. ]] SLAMing on 46.443133364999994 meters Centerline goodness [0,1] 0.25682799314489013 Centerline is valid? [False, False] Translation: X:0.94, Y:0.15, Z:-0.29 [[ 0.99996807 -0.00788503 -0.00130009 0.937989 ] [ 0.00787971 0.99996077 -0.00404463 0.15064509] [ 0.00133193 0.00403426 0.99999098 -0.2885953 ] [ 0. 0. 0. 1. ]] SLAMing on 46.473133364999995 meters Centerline goodness [0,1] 0.26788422375319554 Centerline is valid? [False, False] Translation: X:0.94, Y:0.15, Z:-0.29 [[ 0.99996832 -0.00784543 -0.00134707 0.93806791] [ 0.00784008 0.99996154 -0.00393066 0.15019843] [ 0.00137785 0.00391998 0.99999137 -0.28855317] [ 0. 0. 0. 1. ]] SLAMing on 46.503133365 meters Centerline goodness [0,1] 0.25730062420882627 Centerline is valid? [False, False] Translation: X:0.92, Y:0.15, Z:-0.29 [[ 9.99998931e-01 4.72571711e-04 -1.38362595e-03 9.17897875e-01] [-4.79287779e-04 9.99988087e-01 -4.85766092e-03 1.46761419e-01] [ 1.38131387e-03 4.85831888e-03 9.99987244e-01 -2.90082204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.533133365 meters Centerline goodness [0,1] 0.27395265723929496 Centerline is valid? [False, False] Translation: X:0.90, Y:0.15, Z:-0.29 [[ 0.99996952 -0.00757074 -0.00191029 0.89893597] [ 0.00756405 0.99996532 -0.00348574 0.15246509] [ 0.00193661 0.00347118 0.9999921 -0.2914687 ] [ 0. 0. 0. 1. ]] SLAMing on 46.56313336499999 meters Centerline goodness [0,1] 0.25689778104271543 Centerline is valid? [False, False] Translation: X:0.94, Y:0.15, Z:-0.29 [[ 9.99980476e-01 -6.23959041e-03 3.38386478e-04 9.42016465e-01] [ 6.24052534e-03 9.99976506e-01 -2.83607142e-03 1.52215145e-01] [-3.20682604e-04 2.83812776e-03 9.99995921e-01 -2.91726583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.59313336499999 meters Centerline goodness [0,1] 0.27245778529237386 Centerline is valid? [False, False] Translation: X:0.92, Y:0.15, Z:-0.29 [[ 9.99996895e-01 2.49002894e-03 9.83039640e-05 9.19720949e-01] [-2.48966002e-03 9.99990458e-01 -3.58973330e-03 1.50335863e-01] [-1.07241566e-04 3.58947741e-03 9.99993552e-01 -2.91883019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.623133364999994 meters Centerline goodness [0,1] 0.2692149342347613 Centerline is valid? [False, False] Translation: X:0.94, Y:0.15, Z:-0.29 [[ 9.99994077e-01 -3.42006207e-03 3.86931399e-04 9.42296179e-01] [ 3.42045770e-03 9.99993623e-01 -1.02647366e-03 1.53217880e-01] [-3.83418328e-04 1.02779106e-03 9.99999398e-01 -2.91917130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.653133364999995 meters Centerline goodness [0,1] 0.26881299114042534 Centerline is valid? [False, False] Translation: X:0.94, Y:0.16, Z:-0.29 [[ 9.99995008e-01 -3.15899969e-03 6.61927916e-05 9.42947020e-01] [ 3.15907862e-03 9.99994256e-01 -1.22833717e-03 1.55871679e-01] [-6.23120946e-05 1.22854015e-03 9.99999243e-01 -2.91793544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.683133364999996 meters Centerline goodness [0,1] 0.2707154560349536 Centerline is valid? [False, False] Translation: X:0.94, Y:0.16, Z:-0.29 [[ 9.99995072e-01 -3.13919176e-03 3.50879753e-05 9.43095757e-01] [ 3.13923513e-03 9.99994210e-01 -1.31323670e-03 1.56745079e-01] [-3.09652703e-05 1.31334037e-03 9.99999137e-01 -2.91935598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.713133365 meters Centerline goodness [0,1] 0.2748305010125913 Centerline is valid? [False, False] Translation: X:0.94, Y:0.16, Z:-0.29 [[ 9.99994969e-01 -3.17210805e-03 1.96736370e-05 9.43231064e-01] [ 3.17213263e-03 9.99993976e-01 -1.40916787e-03 1.57319394e-01] [-1.52034857e-05 1.40922319e-03 9.99999007e-01 -2.92142240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74313336499999 meters Centerline goodness [0,1] 0.2712232107639041 Centerline is valid? [False, False] Translation: X:0.94, Y:0.16, Z:-0.29 [[ 9.99994685e-01 -3.26041274e-03 2.33437674e-05 9.43119600e-01] [ 3.26044473e-03 9.99993508e-01 -1.53434374e-03 1.57589413e-01] [-1.83410220e-05 1.53441169e-03 9.99998823e-01 -2.91993986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.77313336499999 meters Centerline goodness [0,1] 0.2717196840773225 Centerline is valid? [False, False] Translation: X:0.94, Y:0.16, Z:-0.29 [[ 9.99994464e-01 -3.32742781e-03 -2.31196335e-05 9.43175331e-01] [ 3.32738406e-03 9.99993040e-01 -1.68770901e-03 1.58303821e-01] [ 2.87352025e-05 1.68762274e-03 9.99998576e-01 -2.91953668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.803133364999994 meters Centerline goodness [0,1] 0.2705536821494615 Centerline is valid? [False, False] Translation: X:0.94, Y:0.16, Z:-0.29 [[ 9.99994404e-01 -3.34043497e-03 -1.82810882e-04 9.43448711e-01] [ 3.34004925e-03 9.99992277e-01 -2.07105076e-03 1.61391550e-01] [ 1.89727680e-04 2.07042858e-03 9.99997839e-01 -2.91755730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.833133364999995 meters Centerline goodness [0,1] 0.2587171948165088 Centerline is valid? [False, False] Translation: X:0.94, Y:0.16, Z:-0.29 [[ 9.99994113e-01 -3.42270532e-03 -2.42537338e-04 9.43743299e-01] [ 3.42210257e-03 9.99991159e-01 -2.44347481e-03 1.63627149e-01] [ 2.50898488e-04 2.44263044e-03 9.99996985e-01 -2.91954284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.863133364999996 meters Centerline goodness [0,1] 0.2587171948165088 Centerline is valid? [False, False] Translation: X:0.94, Y:0.16, Z:-0.29 [[ 9.99994113e-01 -3.42270532e-03 -2.42537338e-04 9.43743299e-01] [ 3.42210257e-03 9.99991159e-01 -2.44347481e-03 1.63627149e-01] [ 2.50898488e-04 2.44263044e-03 9.99996985e-01 -2.91954284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.893133365 meters Centerline goodness [0,1] 0.270272622440765 Centerline is valid? [False, False] Translation: X:0.94, Y:0.17, Z:-0.29 [[ 9.99993536e-01 -3.58930009e-03 -2.12545062e-04 9.43713459e-01] [ 3.58866358e-03 9.99989289e-01 -2.92294572e-03 1.65961542e-01] [ 2.23034114e-04 2.92216407e-03 9.99995706e-01 -2.92023858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.923133365 meters Centerline goodness [0,1] 0.2722772277227723 Centerline is valid? [False, False] Translation: X:0.94, Y:0.17, Z:-0.29 [[ 9.99992251e-01 -3.93648259e-03 -3.65730797e-05 9.42944314e-01] [ 3.93631345e-03 9.99984904e-01 -3.83365991e-03 1.70558434e-01] [ 5.16636631e-05 3.83348625e-03 9.99992651e-01 -2.91474634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.95313336499999 meters Centerline goodness [0,1] 0.2707360003476825 Centerline is valid? [False, False] Translation: X:0.94, Y:0.17, Z:-0.29 [[ 9.99991963e-01 -4.00757488e-03 1.11186121e-04 9.42395841e-01] [ 4.00799914e-03 9.99983474e-01 -4.12168598e-03 1.72501319e-01] [-9.46663182e-05 4.12209849e-03 9.99991500e-01 -2.91158110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98313336499999 meters Centerline goodness [0,1] 0.2701484451186478 Centerline is valid? [False, False] Translation: X:0.94, Y:0.18, Z:-0.29 [[ 9.99990457e-01 -4.33485027e-03 5.43082874e-04 9.40862465e-01] [ 4.33736155e-03 9.99979494e-01 -4.71157231e-03 1.75342417e-01] [-5.22647777e-04 4.71388290e-03 9.99988753e-01 -2.90311383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.013133364999995 meters Centerline goodness [0,1] 0.2700901096515036 Centerline is valid? [False, False] Translation: X:0.94, Y:0.18, Z:-0.29 [[ 9.99989800e-01 -4.46785797e-03 6.61713745e-04 9.40385681e-01] [ 4.47110586e-03 9.99977549e-01 -4.99096891e-03 1.76653782e-01] [-6.39399949e-04 4.99387660e-03 9.99987326e-01 -2.89996938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.043133364999996 meters Centerline goodness [0,1] 0.258267339657123 Centerline is valid? [False, False] Translation: X:0.94, Y:0.18, Z:-0.29 [[ 9.99989226e-01 -4.60251052e-03 6.03848376e-04 9.40487766e-01] [ 4.60565764e-03 9.99975252e-01 -5.31821688e-03 1.78346502e-01] [-5.79356282e-04 5.32094070e-03 9.99985676e-01 -2.89970141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.073133365 meters Centerline goodness [0,1] 0.2722109356226926 Centerline is valid? [False, False] Translation: X:0.94, Y:0.18, Z:-0.29 [[ 9.99995326e-01 -3.05330731e-03 -1.62083525e-04 9.44362033e-01] [ 3.05260781e-03 9.99986715e-01 -4.15345813e-03 1.83469218e-01] [ 1.74763156e-04 4.15294394e-03 9.99991361e-01 -2.92421081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.103133365 meters Centerline goodness [0,1] 0.2682420150610231 Centerline is valid? [False, False] Translation: X:0.95, Y:0.19, Z:-0.29 [[ 9.99994772e-01 -3.20810696e-03 -4.04106623e-04 9.45250789e-01] [ 3.20619505e-03 9.99984066e-01 -4.64619252e-03 1.86087147e-01] [ 4.19005667e-04 4.64487259e-03 9.99989125e-01 -2.92898660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13313336499999 meters Centerline goodness [0,1] 0.26944111558993356 Centerline is valid? [False, False] Translation: X:0.95, Y:0.19, Z:-0.29 [[ 9.99994027e-01 -3.41720296e-03 -5.18161210e-04 9.45652621e-01] [ 3.41442711e-03 9.99980302e-01 -5.26657054e-03 1.89280492e-01] [ 5.36147944e-04 5.26476986e-03 9.99985997e-01 -2.93062547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16313336499999 meters Centerline goodness [0,1] 0.26975174216027875 Centerline is valid? [False, False] Translation: X:0.95, Y:0.19, Z:-0.29 [[ 9.99999893e-01 5.34864332e-05 -4.59839935e-04 9.45527413e-01] [-5.46475428e-05 9.99996810e-01 -2.52538809e-03 1.94584631e-01] [ 4.59703394e-04 2.52541295e-03 9.99996705e-01 -2.93039279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.193133364999994 meters Centerline goodness [0,1] 0.2529514224888717 Centerline is valid? [False, False] Translation: X:0.97, Y:0.20, Z:-0.29 [[ 9.99985042e-01 -5.43591317e-03 6.04814763e-04 9.67231857e-01] [ 5.43563218e-03 9.99985119e-01 4.65259082e-04 1.99786699e-01] [-6.07334871e-04 -4.61964572e-04 9.99999709e-01 -2.93353976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.223133364999995 meters Centerline goodness [0,1] 0.27031386224934617 Centerline is valid? [False, False] Translation: X:0.94, Y:0.20, Z:-0.29 [[ 9.99994018e-01 3.43920823e-03 3.68496913e-04 9.44708321e-01] [-3.43895531e-03 9.99993852e-01 -6.84785202e-04 2.02000416e-01] [-3.70849766e-04 6.83513862e-04 9.99999698e-01 -2.93640557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.253133365 meters Centerline goodness [0,1] 0.2545808545159546 Centerline is valid? [False, False] Translation: X:0.94, Y:0.21, Z:-0.29 [[ 9.99977155e-01 6.73390264e-03 5.86053747e-04 9.44677325e-01] [-6.73490141e-03 9.99975842e-01 1.71928103e-03 2.08795937e-01] [-5.74462118e-04 -1.72318876e-03 9.99998350e-01 -2.94217241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.283133365 meters Centerline goodness [0,1] 0.2727173342662236 Centerline is valid? [False, False] Translation: X:0.93, Y:0.22, Z:-0.30 [[ 9.99998852e-01 -1.42374621e-03 -5.18569527e-04 9.25839372e-01] [ 1.42491379e-03 9.99996435e-01 2.25818018e-03 2.18345170e-01] [ 5.15352603e-04 -2.25891650e-03 9.99997316e-01 -2.95555005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31313336499999 meters Centerline goodness [0,1] 0.27291108083161175 Centerline is valid? [False, False] Translation: X:0.93, Y:0.22, Z:-0.30 [[ 0.99999774 -0.00181505 -0.0011087 0.92789182] [ 0.0018164 0.99999761 0.00121718 0.2239976 ] [ 0.00110649 -0.00121919 0.99999864 -0.29666699] [ 0. 0. 0. 1. ]] SLAMing on 47.34313336499999 meters Centerline goodness [0,1] 0.271393963203038 Centerline is valid? [False, False] Translation: X:0.93, Y:0.23, Z:-0.30 [[ 9.99997368e-01 -1.93836741e-03 -1.22743189e-03 9.28247796e-01] [ 1.93956195e-03 9.99997646e-01 9.72762032e-04 2.25254482e-01] [ 1.22554343e-03 -9.75140152e-04 9.99998774e-01 -2.96794044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.373133364999994 meters Centerline goodness [0,1] 0.2716478614536867 Centerline is valid? [False, False] Translation: X:0.93, Y:0.23, Z:-0.30 [[ 9.99997351e-01 -2.04952482e-03 -1.04743886e-03 9.27676162e-01] [ 2.05039123e-03 9.99997556e-01 8.26772884e-04 2.25965845e-01] [ 1.04574181e-03 -8.28918353e-04 9.99999110e-01 -2.96584938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.403133364999995 meters Centerline goodness [0,1] 0.27357583176671185 Centerline is valid? [False, False] Translation: X:0.93, Y:0.23, Z:-0.30 [[ 9.99996350e-01 -2.68218177e-03 -3.24494615e-04 9.25670614e-01] [ 2.68224818e-03 9.99996382e-01 2.04372442e-04 2.27214512e-01] [ 3.23945277e-04 -2.05242071e-04 9.99999926e-01 -2.96061751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.433133364999996 meters Centerline goodness [0,1] 0.27328460783244246 Centerline is valid? [False, False] Translation: X:0.93, Y:0.23, Z:-0.30 [[ 9.99996012e-01 -2.79775578e-03 -3.86635859e-04 9.25983817e-01] [ 2.79779941e-03 9.99996080e-01 1.12348060e-04 2.27324569e-01] [ 3.86320021e-04 -1.13429342e-04 9.99999919e-01 -2.96367770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.463133365 meters Centerline goodness [0,1] 0.27054147390369454 Centerline is valid? [False, False] Translation: X:0.93, Y:0.23, Z:-0.30 [[ 9.99995703e-01 -2.85093326e-03 -6.82225561e-04 9.27126347e-01] [ 2.85098681e-03 9.99995933e-01 7.75454515e-05 2.27422932e-01] [ 6.82001710e-04 -7.94901344e-05 9.99999764e-01 -2.97095093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49313336499999 meters Centerline goodness [0,1] 0.2705273008204392 Centerline is valid? [False, False] Translation: X:0.93, Y:0.23, Z:-0.30 [[ 9.99995404e-01 -2.94567664e-03 -7.17188319e-04 9.27449619e-01] [ 2.94560994e-03 9.99995657e-01 -9.40419745e-05 2.28269594e-01] [ 7.17462222e-04 9.19289853e-05 9.99999738e-01 -2.97520596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52313336499999 meters Centerline goodness [0,1] 0.27202863228158003 Centerline is valid? [False, False] Translation: X:0.93, Y:0.23, Z:-0.30 [[ 9.99995439e-01 -2.96995623e-03 -5.48516707e-04 9.26692543e-01] [ 2.96984530e-03 9.99995569e-01 -2.02944652e-04 2.28989235e-01] [ 5.49117013e-04 2.01314717e-04 9.99999829e-01 -2.96924116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.553133364999994 meters Centerline goodness [0,1] 0.27131901505385736 Centerline is valid? [False, False] Translation: X:0.93, Y:0.23, Z:-0.30 [[ 9.99995357e-01 -3.01340998e-03 -4.52278799e-04 9.26094330e-01] [ 3.01323345e-03 9.99995384e-01 -3.90476923e-04 2.30086863e-01] [ 4.53453378e-04 3.89112288e-04 9.99999821e-01 -2.96254020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.583133364999995 meters Centerline goodness [0,1] 0.2721583847545952 Centerline is valid? [False, False] Translation: X:0.93, Y:0.23, Z:-0.30 [[ 9.99994970e-01 -3.15005713e-03 -3.70595067e-04 9.25448466e-01] [ 3.14973571e-03 9.99994666e-01 -8.64725433e-04 2.32474872e-01] [ 3.73317025e-04 8.63553806e-04 9.99999557e-01 -2.95471033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.613133364999996 meters Centerline goodness [0,1] 0.2693899664102286 Centerline is valid? [False, False] Translation: X:0.93, Y:0.23, Z:-0.30 [[ 9.99994793e-01 -3.18934233e-03 -4.91687355e-04 9.25928798e-01] [ 3.18882767e-03 9.99994371e-01 -1.04398590e-03 2.33500606e-01] [ 4.95014215e-04 1.04241256e-03 9.99999334e-01 -2.95814566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.643133365 meters Centerline goodness [0,1] 0.2722935140199133 Centerline is valid? [False, False] Translation: X:0.93, Y:0.23, Z:-0.30 [[ 9.99994754e-01 -3.17351940e-03 -6.49212826e-04 9.26439445e-01] [ 3.17277648e-03 9.99994314e-01 -1.14218668e-03 2.34452052e-01] [ 6.52833886e-04 1.14012088e-03 9.99999137e-01 -2.96022463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.673133365 meters Centerline goodness [0,1] 0.2715648027741656 Centerline is valid? [False, False] Translation: X:0.93, Y:0.24, Z:-0.30 [[ 9.99994882e-01 -3.12504129e-03 -6.85074093e-04 9.26560118e-01] [ 3.12401080e-03 9.99993995e-01 -1.50014870e-03 2.37545032e-01] [ 6.89758006e-04 1.49800084e-03 9.99998640e-01 -2.96024571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70313336499999 meters Centerline goodness [0,1] 0.2719996520074819 Centerline is valid? [False, False] Translation: X:0.93, Y:0.24, Z:-0.30 [[ 9.99994630e-01 -3.23528398e-03 -5.23185252e-04 9.25875984e-01] [ 3.23429085e-03 9.99992987e-01 -1.88807106e-03 2.39601891e-01] [ 5.29290029e-04 1.88636878e-03 9.99998081e-01 -2.95495798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73313336499999 meters Centerline goodness [0,1] 0.2736278330539287 Centerline is valid? [False, False] Translation: X:0.93, Y:0.24, Z:-0.30 [[ 9.99994224e-01 -3.38076085e-03 -3.48763828e-04 9.25189823e-01] [ 3.37994128e-03 9.99991587e-01 -2.32434674e-03 2.41827521e-01] [ 3.56618954e-04 2.32315451e-03 9.99997238e-01 -2.95016837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.763133364999995 meters Centerline goodness [0,1] 0.2745876603543067 Centerline is valid? [False, False] Translation: X:0.92, Y:0.25, Z:-0.29 [[ 9.99998439e-01 -1.47949233e-03 9.66278035e-04 9.19800025e-01] [ 1.48048401e-03 9.99998377e-01 -1.02637706e-03 2.47535281e-01] [-9.64757950e-04 1.02780601e-03 9.99999006e-01 -2.92220523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.793133364999996 meters Centerline goodness [0,1] 0.2756688398055077 Centerline is valid? [False, False] Translation: X:0.92, Y:0.25, Z:-0.29 [[ 0.99999815 -0.00162546 0.00102877 0.91954453] [ 0.00162702 0.99999753 -0.00151536 0.25030853] [-0.00102631 0.00151703 0.99999832 -0.292017 ] [ 0. 0. 0. 1. ]] SLAMing on 47.823133365 meters Centerline goodness [0,1] 0.2747720232121821 Centerline is valid? [False, False] Translation: X:0.92, Y:0.25, Z:-0.29 [[ 9.99997910e-01 -1.81692446e-03 9.37783327e-04 9.19852655e-01] [ 1.81891628e-03 9.99996083e-01 -2.12750254e-03 2.53555364e-01] [-9.33914142e-04 2.12920384e-03 9.99997297e-01 -2.92103800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.853133365 meters Centerline goodness [0,1] 0.2757179127998599 Centerline is valid? [False, False] Translation: X:0.92, Y:0.26, Z:-0.29 [[ 9.99996921e-01 -2.29807917e-03 9.36579952e-04 9.19944142e-01] [ 2.30128633e-03 9.99991443e-01 -3.43775574e-03 2.60374212e-01] [-9.28671703e-04 3.43990050e-03 9.99993652e-01 -2.92183605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88313336499999 meters Centerline goodness [0,1] 0.27382707484173097 Centerline is valid? [False, False] Translation: X:0.92, Y:0.26, Z:-0.29 [[ 9.99996223e-01 -2.59488426e-03 9.05822662e-04 9.19954796e-01] [ 2.59863124e-03 9.99987970e-01 -4.16017469e-03 2.63811146e-01] [-8.95016593e-04 4.16251288e-03 9.99990936e-01 -2.92045542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.91313336499999 meters Centerline goodness [0,1] 0.27371344267985764 Centerline is valid? [False, False] Translation: X:0.92, Y:0.27, Z:-0.29 [[ 9.99995678e-01 -2.81293163e-03 8.55623909e-04 9.20171375e-01] [ 2.81693119e-03 9.99984942e-01 -4.70971625e-03 2.66661843e-01] [-8.42362915e-04 4.71210613e-03 9.99988543e-01 -2.92180939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.943133364999994 meters Centerline goodness [0,1] 0.2747279164299139 Centerline is valid? [False, False] Translation: X:0.92, Y:0.27, Z:-0.29 [[ 9.99994947e-01 -3.14650700e-03 4.53248781e-04 9.21795080e-01] [ 3.14892457e-03 9.99980268e-01 -5.43573980e-03 2.70835814e-01] [-4.36136244e-04 5.43713958e-03 9.99985124e-01 -2.93176000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.973133364999995 meters Centerline goodness [0,1] 0.27761128250330547 Centerline is valid? [False, False] Translation: X:0.92, Y:0.27, Z:-0.29 [[ 9.99994558e-01 -3.28364199e-03 3.19398712e-04 9.22422147e-01] [ 3.28540384e-03 9.99978462e-01 -5.68160807e-03 2.71978162e-01] [-3.00735466e-04 5.68262651e-03 9.99983809e-01 -2.93704458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.003133365 meters Centerline goodness [0,1] 0.2724996734445073 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.29 [[ 9.99914632e-01 -1.30651763e-02 -1.70676572e-04 9.44637893e-01] [ 1.30639537e-02 9.99897531e-01 -5.85322270e-03 2.77029173e-01] [ 2.47132469e-04 5.85049332e-03 9.99982855e-01 -2.93381681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.033133365 meters Centerline goodness [0,1] 0.27299387409306164 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.29 [[ 9.99913683e-01 -1.31382207e-02 -1.18252472e-04 9.44770026e-01] [ 1.31372832e-02 9.99895956e-01 -5.95731867e-03 2.77488455e-01] [ 1.96508736e-04 5.95525094e-03 9.99982248e-01 -2.93790045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06313336499999 meters Centerline goodness [0,1] 0.27638124587277124 Centerline is valid? [False, False] Translation: X:0.92, Y:0.28, Z:-0.29 [[ 9.99991232e-01 -4.12848413e-03 -7.00527879e-04 9.24156073e-01] [ 4.12357385e-03 9.99967887e-01 -6.87174607e-03 2.75639622e-01] [ 7.28875278e-04 6.86879714e-03 9.99976144e-01 -2.94845895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.09313336499999 meters Centerline goodness [0,1] 0.27513725147094203 Centerline is valid? [False, False] Translation: X:0.92, Y:0.28, Z:-0.30 [[ 9.99990972e-01 -4.16828121e-03 -8.25681065e-04 9.24819253e-01] [ 4.16258086e-03 9.99968289e-01 -6.78923773e-03 2.75057116e-01] [ 8.53954334e-04 6.78573947e-03 9.99976612e-01 -2.95511139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.123133364999994 meters Centerline goodness [0,1] 0.2717474308904064 Centerline is valid? [False, False] Translation: X:0.93, Y:0.27, Z:-0.30 [[ 9.99991055e-01 -4.12686416e-03 -9.26548018e-04 9.25290567e-01] [ 4.12063587e-03 9.99969556e-01 -6.62622377e-03 2.74249398e-01] [ 9.53865336e-04 6.62234653e-03 9.99977617e-01 -2.95945160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.153133364999995 meters Centerline goodness [0,1] 0.2687089526443138 Centerline is valid? [False, False] Translation: X:0.93, Y:0.27, Z:-0.30 [[ 0.99999144 -0.00394102 -0.00125705 0.92641066] [ 0.00393309 0.99997276 -0.00624528 0.27284372] [ 0.00128163 0.00624028 0.99997971 -0.29649858] [ 0. 0. 0. 1. ]] SLAMing on 48.183133364999996 meters Centerline goodness [0,1] 0.2732824093326621 Centerline is valid? [False, False] Translation: X:0.88, Y:0.28, Z:-0.30 [[ 0.99998599 -0.00341153 -0.00404643 0.88199098] [ 0.00338367 0.99997066 -0.00687191 0.27542473] [ 0.00406975 0.00685812 0.9999682 -0.29575893] [ 0. 0. 0. 1. ]] SLAMing on 48.213133365 meters Centerline goodness [0,1] 0.2724143190186722 Centerline is valid? [False, False] Translation: X:0.88, Y:0.27, Z:-0.30 [[ 0.99998644 -0.00335096 -0.00398573 0.88199252] [ 0.00332447 0.99997247 -0.00663387 0.27386165] [ 0.00400785 0.00662053 0.99997005 -0.29603329] [ 0. 0. 0. 1. ]] SLAMing on 48.24313336499999 meters Centerline goodness [0,1] 0.2730143519829257 Centerline is valid? [False, False] Translation: X:0.88, Y:0.27, Z:-0.30 [[ 0.9999878 -0.00315812 -0.00379717 0.88105868] [ 0.00313445 0.99997571 -0.00622518 0.27180776] [ 0.00381674 0.0062132 0.99997341 -0.29531925] [ 0. 0. 0. 1. ]] SLAMing on 48.27313336499999 meters Centerline goodness [0,1] 0.2731665904786782 Centerline is valid? [False, False] Translation: X:0.88, Y:0.27, Z:-0.30 [[ 0.9999881 -0.00301642 -0.00383483 0.88097617] [ 0.00299315 0.99997717 -0.00605868 0.27139583] [ 0.00385302 0.00604713 0.99997429 -0.29501961] [ 0. 0. 0. 1. ]] SLAMing on 48.303133364999994 meters Centerline goodness [0,1] 0.27470554752835064 Centerline is valid? [False, False] Translation: X:0.88, Y:0.27, Z:-0.29 [[ 0.99998774 -0.0028846 -0.0040246 0.88134239] [ 0.00286089 0.9999786 -0.00588421 0.27079247] [ 0.00404149 0.00587262 0.99997459 -0.29491189] [ 0. 0. 0. 1. ]] SLAMing on 48.333133364999995 meters Centerline goodness [0,1] 0.27467397260273974 Centerline is valid? [False, False] Translation: X:0.88, Y:0.27, Z:-0.29 [[ 0.99998614 -0.00255686 -0.00460233 0.8826905 ] [ 0.00253186 0.99998205 -0.00543012 0.2691635 ] [ 0.00461614 0.00541839 0.99997467 -0.29491232] [ 0. 0. 0. 1. ]] SLAMing on 48.363133364999996 meters Centerline goodness [0,1] 0.27083062242463674 Centerline is valid? [False, False] Translation: X:0.88, Y:0.27, Z:-0.29 [[ 0.99998664 -0.00246674 -0.00454278 0.88246422] [ 0.00244273 0.99998305 -0.00528425 0.26845127] [ 0.00455574 0.00527308 0.99997572 -0.29477626] [ 0. 0. 0. 1. ]] SLAMing on 48.393133365 meters Centerline goodness [0,1] 0.27605086927120825 Centerline is valid? [False, False] Translation: X:0.88, Y:0.27, Z:-0.29 [[ 0.99998959 -0.00237876 -0.00389291 0.88010565] [ 0.00235849 0.99998368 -0.00520315 0.26792726] [ 0.00390522 0.00519392 0.99997889 -0.29346486] [ 0. 0. 0. 1. ]] SLAMing on 48.423133365 meters Centerline goodness [0,1] 0.2747226452033935 Centerline is valid? [False, False] Translation: X:0.88, Y:0.27, Z:-0.29 [[ 0.99999112 -0.00233508 -0.00350852 0.87881671] [ 0.00231656 0.99998341 -0.00527345 0.26869372] [ 0.00352077 0.00526528 0.99997994 -0.29283167] [ 0. 0. 0. 1. ]] SLAMing on 48.45313336499999 meters Centerline goodness [0,1] 0.2743046529763452 Centerline is valid? [False, False] Translation: X:0.88, Y:0.27, Z:-0.29 [[ 0.99999198 -0.00230631 -0.00327419 0.87806611] [ 0.00228887 0.99998322 -0.00532122 0.26933942] [ 0.0032864 0.00531368 0.99998048 -0.29255665] [ 0. 0. 0. 1. ]] SLAMing on 48.48313336499999 meters Centerline goodness [0,1] 0.2768935176087859 Centerline is valid? [False, False] Translation: X:0.88, Y:0.27, Z:-0.29 [[ 0.99999236 -0.0023852 -0.00309787 0.877565 ] [ 0.00236853 0.99998277 -0.00537167 0.26907514] [ 0.00311063 0.00536429 0.99998077 -0.29248054] [ 0. 0. 0. 1. ]] SLAMing on 48.513133364999995 meters Centerline goodness [0,1] 0.27623416339012674 Centerline is valid? [False, False] Translation: X:0.88, Y:0.27, Z:-0.29 [[ 0.99999178 -0.00241938 -0.003254 0.87809473] [ 0.00240193 0.99998277 -0.00535638 0.26872891] [ 0.0032669 0.00534852 0.99998036 -0.29277213] [ 0. 0. 0. 1. ]] SLAMing on 48.543133364999996 meters Centerline goodness [0,1] 0.2748941712797135 Centerline is valid? [False, False] Translation: X:0.88, Y:0.27, Z:-0.29 [[ 0.99999099 -0.00242506 -0.00348355 0.87882401] [ 0.00240644 0.99998285 -0.00533907 0.26865184] [ 0.00349643 0.00533064 0.99997968 -0.29310335] [ 0. 0. 0. 1. ]] SLAMing on 48.573133365 meters Centerline goodness [0,1] 0.27619710044123724 Centerline is valid? [False, False] Translation: X:0.88, Y:0.27, Z:-0.29 [[ 0.99999055 -0.00253312 -0.00353318 0.87888045] [ 0.00251307 0.99998079 -0.00566616 0.27050877] [ 0.00354746 0.00565723 0.99997771 -0.29296995] [ 0. 0. 0. 1. ]] SLAMing on 48.603133365 meters Centerline goodness [0,1] 0.2761031493662064 Centerline is valid? [False, False] Translation: X:0.88, Y:0.27, Z:-0.29 [[ 0.99999035 -0.00264028 -0.00351037 0.87859522] [ 0.00261921 0.99997862 -0.00599176 0.27214673] [ 0.00352612 0.00598251 0.99997589 -0.29252786] [ 0. 0. 0. 1. ]] SLAMing on 48.63313336499999 meters Centerline goodness [0,1] 0.2777426734938446 Centerline is valid? [False, False] Translation: X:0.87, Y:0.28, Z:-0.29 [[ 9.99997095e-01 -3.46500620e-04 -2.38521788e-03 8.73732468e-01] [ 3.36221904e-04 9.99990662e-01 -4.30839365e-03 2.77394467e-01] [ 2.38668847e-03 4.30757917e-03 9.99987874e-01 -2.89782089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66313336499999 meters Centerline goodness [0,1] 0.2750523385060324 Centerline is valid? [False, False] Translation: X:0.89, Y:0.28, Z:-0.29 [[ 9.99978574e-01 -6.48328727e-03 -9.05080933e-04 8.94563533e-01] [ 6.48225576e-03 9.99978342e-01 -1.13800768e-03 2.81205350e-01] [ 9.12439362e-04 1.13211633e-03 9.99998943e-01 -2.89878480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.693133364999994 meters Centerline goodness [0,1] 0.27432560544686724 Centerline is valid? [False, False] Translation: X:0.89, Y:0.28, Z:-0.29 [[ 9.99977851e-01 -6.61241418e-03 -7.56834773e-04 8.94250909e-01] [ 6.61115550e-03 9.99976779e-01 -1.65368076e-03 2.84215381e-01] [ 7.67752021e-04 1.64864058e-03 9.99998346e-01 -2.89909554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.723133364999995 meters Centerline goodness [0,1] 0.27579997830567304 Centerline is valid? [False, False] Translation: X:0.87, Y:0.28, Z:-0.29 [[ 0.9999968 0.00213421 -0.00135648 0.87426631] [-0.00213857 0.99999253 -0.00321938 0.28435954] [ 0.0013496 0.00322227 0.9999939 -0.29150473] [ 0. 0. 0. 1. ]] SLAMing on 48.753133365 meters Centerline goodness [0,1] 0.27579997830567304 Centerline is valid? [False, False] Translation: X:0.87, Y:0.28, Z:-0.29 [[ 0.9999968 0.00213421 -0.00135648 0.87426631] [-0.00213857 0.99999253 -0.00321938 0.28435954] [ 0.0013496 0.00322227 0.9999939 -0.29150473] [ 0. 0. 0. 1. ]] SLAMing on 48.783133365 meters Centerline goodness [0,1] 0.27717533315913245 Centerline is valid? [False, False] Translation: X:0.88, Y:0.29, Z:-0.29 [[ 0.99999658 0.00189947 -0.00179545 0.87624589] [-0.00190627 0.99999099 -0.00379161 0.28732606] [ 0.00178823 0.00379502 0.9999912 -0.29303307] [ 0. 0. 0. 1. ]] SLAMing on 48.81313336499999 meters Centerline goodness [0,1] 0.27681276289693346 Centerline is valid? [False, False] Translation: X:0.88, Y:0.29, Z:-0.29 [[ 0.99999599 0.00187924 -0.00211741 0.87726161] [-0.00188736 0.99999086 -0.00383556 0.28785246] [ 0.00211018 0.00383954 0.9999904 -0.29346651] [ 0. 0. 0. 1. ]] SLAMing on 48.84313336499999 meters Centerline goodness [0,1] 0.27898741972376173 Centerline is valid? [False, False] Translation: X:0.86, Y:0.29, Z:-0.29 [[ 0.99997778 -0.0057956 -0.00329392 0.85864992] [ 0.00578718 0.99997997 -0.00256158 0.29405179] [ 0.0033087 0.00254246 0.99999129 -0.2949118 ] [ 0. 0. 0. 1. ]] SLAMing on 48.873133364999994 meters Centerline goodness [0,1] 0.2771284745020792 Centerline is valid? [False, False] Translation: X:0.86, Y:0.29, Z:-0.30 [[ 0.9999728 -0.00606776 -0.00419386 0.86144325] [ 0.00605608 0.99997777 -0.00279145 0.29460428] [ 0.0042107 0.00276598 0.99998731 -0.2960678 ] [ 0. 0. 0. 1. ]] SLAMing on 48.903133364999995 meters Centerline goodness [0,1] 0.2761342082888225 Centerline is valid? [False, False] Translation: X:0.86, Y:0.29, Z:-0.30 [[ 0.99997121 -0.00613282 -0.00446901 0.86243941] [ 0.00612005 0.99997717 -0.00286495 0.29472537] [ 0.00448648 0.00283752 0.99998591 -0.29662313] [ 0. 0. 0. 1. ]] SLAMing on 48.933133364999996 meters Centerline goodness [0,1] 0.27650093293820655 Centerline is valid? [False, False] Translation: X:0.86, Y:0.30, Z:-0.29 [[ 0.99998548 -0.00423669 -0.00333124 0.85750549] [ 0.00423265 0.9999903 -0.00121829 0.29586942] [ 0.00333636 0.00120417 0.99999371 -0.29396164] [ 0. 0. 0. 1. ]] SLAMing on 48.963133365 meters Centerline goodness [0,1] 0.2781343414805697 Centerline is valid? [False, False] Translation: X:0.86, Y:0.30, Z:-0.29 [[ 0.99998701 -0.00415647 -0.00295165 0.85609169] [ 0.00415198 0.99999022 -0.00152607 0.29821023] [ 0.00295797 0.00151379 0.99999448 -0.29295972] [ 0. 0. 0. 1. ]] SLAMing on 48.99313336499999 meters Centerline goodness [0,1] 0.2763930575492627 Centerline is valid? [False, False] Translation: X:0.88, Y:0.30, Z:-0.29 [[ 0.99999067 0.00384142 -0.00197743 0.87589374] [-0.00384677 0.99998892 -0.00271364 0.29652449] [ 0.00196698 0.00272123 0.99999436 -0.29186164] [ 0. 0. 0. 1. ]] SLAMing on 49.02313336499999 meters Centerline goodness [0,1] 0.2775179227137612 Centerline is valid? [False, False] Translation: X:0.88, Y:0.30, Z:-0.29 [[ 0.99998823 0.00422437 -0.00238837 0.87694628] [-0.00423216 0.99998571 -0.00326711 0.30163399] [ 0.00237453 0.00327718 0.99999181 -0.29176691] [ 0. 0. 0. 1. ]] SLAMing on 49.053133364999994 meters Centerline goodness [0,1] 0.27467894668569204 Centerline is valid? [False, False] Translation: X:0.90, Y:0.31, Z:-0.29 [[ 9.99994284e-01 -1.77817170e-03 -2.87565809e-03 8.99319698e-01] [ 1.77700170e-03 9.99998337e-01 -4.09365321e-04 3.05885984e-01] [ 2.87638123e-03 4.04252932e-04 9.99995781e-01 -2.91853522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.083133364999995 meters Centerline goodness [0,1] 0.27825426120942354 Centerline is valid? [False, False] Translation: X:0.90, Y:0.31, Z:-0.29 [[ 9.99993127e-01 -1.73982649e-03 -3.27386146e-03 9.00286619e-01] [ 1.73708378e-03 9.99998138e-01 -8.40418188e-04 3.08850038e-01] [ 3.27531755e-03 8.34725440e-04 9.99994288e-01 -2.91876707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.113133364999996 meters Centerline goodness [0,1] 0.2584801929637758 Centerline is valid? [False, False] Translation: X:0.90, Y:0.31, Z:-0.29 [[ 0.99999206 -0.00154925 -0.00367236 0.90103661] [ 0.00154395 0.99999776 -0.00144595 0.31399432] [ 0.00367459 0.00144027 0.99999221 -0.29150669] [ 0. 0. 0. 1. ]] SLAMing on 49.143133365 meters Centerline goodness [0,1] 0.2795689465581702 Centerline is valid? [False, False] Translation: X:0.85, Y:0.32, Z:-0.29 [[ 9.99984150e-01 -4.04991307e-04 -5.61572084e-03 8.54149057e-01] [ 3.93154078e-04 9.99997699e-01 -2.10881717e-03 3.19296254e-01] [ 5.61656197e-03 2.10657590e-03 9.99982008e-01 -2.89361355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.173133365 meters Centerline goodness [0,1] 0.27693745381840307 Centerline is valid? [False, False] Translation: X:0.87, Y:0.32, Z:-0.29 [[ 0.99995333 -0.00890658 -0.0037425 0.87324907] [ 0.0089024 0.99995973 -0.0011312 0.3242937 ] [ 0.00375242 0.00109783 0.99999236 -0.28850518] [ 0. 0. 0. 1. ]] SLAMing on 49.20313336499999 meters Centerline goodness [0,1] 0.2798998257839721 Centerline is valid? [False, False] Translation: X:0.87, Y:0.33, Z:-0.29 [[ 0.99995319 -0.00902997 -0.00347501 0.87230815] [ 0.00902504 0.99995825 -0.00143158 0.3257726 ] [ 0.00348779 0.00140015 0.99999294 -0.28802063] [ 0. 0. 0. 1. ]] SLAMing on 49.23313336499999 meters Centerline goodness [0,1] 0.2764319086347119 Centerline is valid? [False, False] Translation: X:0.89, Y:0.32, Z:-0.29 [[ 0.99999641 -0.00166624 -0.00209957 0.89001526] [ 0.00166059 0.99999501 -0.00268758 0.32341613] [ 0.00210403 0.00268408 0.99999418 -0.28655772] [ 0. 0. 0. 1. ]] SLAMing on 49.263133364999995 meters Centerline goodness [0,1] 0.28044353074971573 Centerline is valid? [False, False] Translation: X:0.87, Y:0.33, Z:-0.29 [[ 0.99995417 -0.00938101 -0.00191186 0.87008698] [ 0.00937757 0.99995441 -0.0017998 0.32951132] [ 0.00192866 0.00178179 0.99999655 -0.2880461 ] [ 0. 0. 0. 1. ]] SLAMing on 49.293133364999996 meters Centerline goodness [0,1] 0.28008556896815173 Centerline is valid? [False, False] Translation: X:0.87, Y:0.33, Z:-0.29 [[ 0.99995304 -0.00956617 -0.00154863 0.86889613] [ 0.00956283 0.99995196 -0.00214973 0.33133515] [ 0.00156912 0.00213482 0.99999649 -0.28746548] [ 0. 0. 0. 1. ]] SLAMing on 49.323133365 meters Centerline goodness [0,1] 0.2805586882970418 Centerline is valid? [False, False] Translation: X:0.89, Y:0.33, Z:-0.29 [[ 9.99997713e-01 -2.02792907e-03 -6.78654082e-04 8.87318365e-01] [ 2.02573861e-03 9.99992787e-01 -3.21292165e-03 3.28175536e-01] [ 6.85164764e-04 3.21153953e-03 9.99994608e-01 -2.85903614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.353133365 meters Centerline goodness [0,1] 0.27770213317772163 Centerline is valid? [False, False] Translation: X:0.89, Y:0.33, Z:-0.29 [[ 9.99997534e-01 -2.14204686e-03 -5.85677837e-04 8.86988581e-01] [ 2.14000846e-03 9.99991727e-01 -3.45916709e-03 3.29365788e-01] [ 5.93082690e-04 3.45790520e-03 9.99993846e-01 -2.85716156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38313336499999 meters Centerline goodness [0,1] 0.2798066244201999 Centerline is valid? [False, False] Translation: X:0.89, Y:0.33, Z:-0.29 [[ 9.99996832e-01 -2.31965832e-03 -9.77635957e-04 8.88364279e-01] [ 2.31593893e-03 9.99990141e-01 -3.78858237e-03 3.31011432e-01] [ 9.86414536e-04 3.78630622e-03 9.99992345e-01 -2.86448932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.41313336499999 meters Centerline goodness [0,1] 0.27669923901764093 Centerline is valid? [False, False] Translation: X:0.89, Y:0.33, Z:-0.29 [[ 0.99999649 -0.00236408 -0.00119939 0.88917253] [ 0.00235937 0.99998958 -0.00390778 0.33182757] [ 0.00120861 0.00390494 0.99999165 -0.28687744] [ 0. 0. 0. 1. ]] SLAMing on 49.443133364999994 meters Centerline goodness [0,1] 0.2765777488614184 Centerline is valid? [False, False] Translation: X:0.89, Y:0.33, Z:-0.29 [[ 0.9999962 -0.0024002 -0.00135469 0.88968838] [ 0.00239467 0.99998886 -0.00406816 0.33294219] [ 0.00136444 0.0040649 0.99999081 -0.28707534] [ 0. 0. 0. 1. ]] SLAMing on 49.473133364999995 meters Centerline goodness [0,1] 0.28302221433955577 Centerline is valid? [False, False] Translation: X:0.85, Y:0.34, Z:-0.29 [[ 9.99991186e-01 -8.59015354e-04 -4.10984918e-03 8.46656819e-01] [ 8.39995606e-04 9.99988941e-01 -4.62733569e-03 3.40963394e-01] [ 4.11377868e-03 4.62384265e-03 9.99980848e-01 -2.86614891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.503133365 meters Centerline goodness [0,1] 0.2760206516551694 Centerline is valid? [False, False] Translation: X:0.89, Y:0.34, Z:-0.29 [[ 0.99999602 -0.00112194 -0.00259026 0.89115108] [ 0.00111215 0.99999225 -0.0037776 0.34074988] [ 0.00259448 0.0037747 0.99998951 -0.28736915] [ 0. 0. 0. 1. ]] SLAMing on 49.533133365 meters Centerline goodness [0,1] 0.2810498940052888 Centerline is valid? [False, False] Translation: X:0.89, Y:0.35, Z:-0.29 [[ 9.99993369e-01 2.59702437e-03 -2.55297601e-03 8.91020590e-01] [-2.59882619e-03 9.99996376e-01 -7.02708671e-04 3.45373664e-01] [ 2.55114181e-03 7.09338752e-04 9.99996494e-01 -2.87227560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56313336499999 meters Centerline goodness [0,1] 0.2771105195957497 Centerline is valid? [False, False] Translation: X:0.91, Y:0.35, Z:-0.29 [[ 0.9999908 -0.00392665 -0.00172889 0.91117591] [ 0.0039305 0.99998979 0.00222829 0.35022407] [ 0.00172013 -0.00223507 0.99999602 -0.28669586] [ 0. 0. 0. 1. ]] SLAMing on 49.59313336499999 meters Centerline goodness [0,1] 0.28074637665270685 Centerline is valid? [False, False] Translation: X:0.89, Y:0.35, Z:-0.29 [[ 9.99983703e-01 5.19682615e-03 -2.36353670e-03 8.89883808e-01] [-5.19491413e-03 9.99986175e-01 8.14387348e-04 3.50616601e-01] [ 2.36773626e-03 -8.02095706e-04 9.99996875e-01 -2.87046023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.623133364999994 meters Centerline goodness [0,1] 0.27776573138470884 Centerline is valid? [False, False] Translation: X:0.91, Y:0.36, Z:-0.29 [[ 0.99999324 -0.00251224 -0.00268423 0.9099317 ] [ 0.00251657 0.99999554 0.00161117 0.3593078 ] [ 0.00268017 -0.00161791 0.9999951 -0.28619676] [ 0. 0. 0. 1. ]] SLAMing on 49.653133364999995 meters Centerline goodness [0,1] 0.27586206896551724 Centerline is valid? [False, False] Translation: X:0.91, Y:0.36, Z:-0.29 [[ 0.99999292 -0.00252042 -0.00279318 0.91001983] [ 0.00252355 0.99999619 0.00111952 0.36236796] [ 0.00279035 -0.00112656 0.99999547 -0.28587515] [ 0. 0. 0. 1. ]] SLAMing on 49.683133364999996 meters Centerline goodness [0,1] 0.2786230547175135 Centerline is valid? [False, False] Translation: X:0.91, Y:0.37, Z:-0.29 [[ 9.99995709e-01 9.77040085e-04 -2.76173660e-03 9.09440130e-01] [-9.66821585e-04 9.99992692e-01 3.69894373e-03 3.69001071e-01] [ 2.76533044e-03 -3.69625775e-03 9.99989345e-01 -2.85212000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.713133365 meters Centerline goodness [0,1] 0.2777077812051961 Centerline is valid? [False, False] Translation: X:0.91, Y:0.37, Z:-0.29 [[ 9.99994600e-01 9.38236552e-04 -3.14969186e-03 9.10288022e-01] [-9.28533914e-04 9.99994824e-01 3.08055413e-03 3.72965105e-01] [ 3.15256585e-03 -3.07761290e-03 9.99990295e-01 -2.85105757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74313336499999 meters Centerline goodness [0,1] 0.2595190813331031 Centerline is valid? [False, False] Translation: X:0.91, Y:0.38, Z:-0.29 [[ 9.99993342e-01 9.25296810e-04 -3.52987161e-03 9.11170712e-01] [-9.16473219e-04 9.99996454e-01 2.50049086e-03 3.76860009e-01] [ 3.53217279e-03 -2.49723918e-03 9.99990644e-01 -2.85085652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77313336499999 meters Centerline goodness [0,1] 0.2775924802910855 Centerline is valid? [False, False] Translation: X:0.91, Y:0.38, Z:-0.28 [[ 9.99993481e-01 9.97771637e-04 -3.47011231e-03 9.10773675e-01] [-9.92240047e-04 9.99998235e-01 1.59542294e-03 3.84472340e-01] [ 3.47169805e-03 -1.59196935e-03 9.99992706e-01 -2.84629764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.803133364999994 meters Centerline goodness [0,1] 0.28131926005573715 Centerline is valid? [False, False] Translation: X:0.89, Y:0.39, Z:-0.29 [[ 0.99997816 -0.00602883 -0.00270953 0.89143469] [ 0.00603452 0.9999796 0.0020943 0.39369202] [ 0.00269685 -0.0021106 0.99999414 -0.28627373] [ 0. 0. 0. 1. ]] SLAMing on 49.833133364999995 meters Centerline goodness [0,1] 0.2823790384573148 Centerline is valid? [False, False] Translation: X:0.89, Y:0.40, Z:-0.29 [[ 0.99997567 -0.00621193 -0.00317308 0.89244758] [ 0.0062156 0.99998002 0.00114744 0.39928398] [ 0.00316589 -0.00116714 0.99999431 -0.28621319] [ 0. 0. 0. 1. ]] SLAMing on 49.863133364999996 meters Centerline goodness [0,1] 0.27684969351636013 Centerline is valid? [False, False] Translation: X:0.91, Y:0.40, Z:-0.29 [[ 9.99996016e-01 1.53398322e-03 -2.36957676e-03 9.13269779e-01] [-1.53282150e-03 9.99998704e-01 4.92001628e-04 3.97616294e-01] [ 2.37032842e-03 -4.88367529e-04 9.99997072e-01 -2.85836737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.893133365 meters Centerline goodness [0,1] 0.27872664059104735 Centerline is valid? [False, False] Translation: X:0.91, Y:0.40, Z:-0.29 [[ 9.99996013e-01 1.42146225e-03 -2.43995961e-03 9.13310116e-01] [-1.42110883e-03 9.99998979e-01 1.46574453e-04 3.99505039e-01] [ 2.44016547e-03 -1.43106421e-04 9.99997013e-01 -2.85647894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.923133365 meters Centerline goodness [0,1] 0.2785742128286197 Centerline is valid? [False, False] Translation: X:0.91, Y:0.40, Z:-0.29 [[ 9.99995562e-01 1.25904182e-03 -2.70019462e-03 9.14447850e-01] [-1.26029663e-03 9.99999099e-01 -4.63058262e-04 4.02657114e-01] [ 2.69960918e-03 4.66459253e-04 9.99996247e-01 -2.86472257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.95313336499999 meters Centerline goodness [0,1] 0.279175851758081 Centerline is valid? [False, False] Translation: X:0.91, Y:0.40, Z:-0.29 [[ 9.99995288e-01 1.15517114e-03 -2.84414139e-03 9.14966248e-01] [-1.15748735e-03 9.99999000e-01 -8.12868748e-04 4.04467061e-01] [ 2.84319955e-03 8.16156976e-04 9.99995625e-01 -2.86811224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98313336499999 meters Centerline goodness [0,1] 0.2800349879728843 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.29 [[ 0.99999527 0.00115994 -0.00284904 0.91486406] [-0.00116292 0.99999878 -0.00104392 0.40606056] [ 0.00284782 0.00104723 0.9999954 -0.2866396 ] [ 0. 0. 0. 1. ]] SLAMing on 50.013133364999995 meters Centerline goodness [0,1] 0.27704136885423436 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.29 [[ 0.99999506 0.00148549 -0.00276948 0.9141264 ] [-0.00148855 0.99999828 -0.00110277 0.40795763] [ 0.00276784 0.00110689 0.99999556 -0.28572363] [ 0. 0. 0. 1. ]] SLAMing on 50.043133364999996 meters Centerline goodness [0,1] 0.27719982661465103 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.29 [[ 0.99999521 0.00140695 -0.00275566 0.91397638] [-0.00141056 0.99999815 -0.00130782 0.40861568] [ 0.00275382 0.0013117 0.99999535 -0.28562579] [ 0. 0. 0. 1. ]] SLAMing on 50.073133365 meters Centerline goodness [0,1] 0.2779700614346283 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.29 [[ 0.99999487 0.00149882 -0.00282979 0.91424723] [-0.00150298 0.9999978 -0.00146527 0.40944224] [ 0.00282759 0.00146952 0.99999492 -0.28584001] [ 0. 0. 0. 1. ]] SLAMing on 50.103133365 meters Centerline goodness [0,1] 0.27945672111101405 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.29 [[ 0.99999442 0.00165453 -0.00290363 0.91458059] [-0.0016586 0.99999765 -0.00139933 0.40984875] [ 0.0029013 0.00140414 0.99999481 -0.28613089] [ 0. 0. 0. 1. ]] SLAMing on 50.13313336499999 meters Centerline goodness [0,1] 0.27677546511879747 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.29 [[ 0.99999369 0.00189499 -0.00300646 0.91494616] [-0.00189859 0.99999748 -0.00119551 0.40969624] [ 0.00300419 0.00120121 0.99999477 -0.28631052] [ 0. 0. 0. 1. ]] SLAMing on 50.16313336499999 meters Centerline goodness [0,1] 0.2775997228117285 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.29 [[ 0.99999397 0.00198233 -0.00284965 0.91465161] [-0.00198534 0.99999748 -0.00105227 0.40820068] [ 0.00284756 0.00105792 0.99999539 -0.28654195] [ 0. 0. 0. 1. ]] SLAMing on 50.193133364999994 meters Centerline goodness [0,1] 0.2751233445858219 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.29 [[ 9.99993936e-01 2.02828350e-03 -2.83076806e-03 9.14591158e-01] [-2.03097165e-03 9.99997489e-01 -9.47065384e-04 4.07277872e-01] [ 2.82884004e-03 9.52808851e-04 9.99995545e-01 -2.86590851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.223133364999995 meters Centerline goodness [0,1] 0.277720995976949 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.29 [[ 9.99993273e-01 2.13467336e-03 -2.98292539e-03 9.14950659e-01] [-2.13706857e-03 9.99997396e-01 -8.00016224e-04 4.06643281e-01] [ 2.98120985e-03 8.06385558e-04 9.99995231e-01 -2.86675316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.253133365 meters Centerline goodness [0,1] 0.2763820190442987 Centerline is valid? [False, False] Translation: X:0.92, Y:0.41, Z:-0.29 [[ 9.99991908e-01 2.30994438e-03 -3.29368849e-03 9.15854886e-01] [-2.31205255e-03 9.99997125e-01 -6.36400025e-04 4.06277006e-01] [ 3.29220897e-03 6.44010056e-04 9.99994373e-01 -2.87018207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.283133365 meters Centerline goodness [0,1] 0.2738885382891215 Centerline is valid? [False, False] Translation: X:0.92, Y:0.41, Z:-0.29 [[ 9.99987508e-01 2.89017578e-03 -4.07796374e-03 9.18323414e-01] [-2.89140263e-03 9.99995776e-01 -2.94985703e-04 4.05883500e-01] [ 4.07709396e-03 3.06773053e-04 9.99991642e-01 -2.88135350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31313336499999 meters Centerline goodness [0,1] 0.27613390692900663 Centerline is valid? [False, False] Translation: X:0.92, Y:0.41, Z:-0.29 [[ 9.99986812e-01 2.94686377e-03 -4.20612946e-03 9.18662862e-01] [-2.94820735e-03 9.99995605e-01 -3.13269785e-04 4.05911911e-01] [ 4.20518781e-03 3.25666195e-04 9.99991105e-01 -2.88329035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34313336499999 meters Centerline goodness [0,1] 0.2777449241080229 Centerline is valid? [False, False] Translation: X:0.92, Y:0.40, Z:-0.29 [[ 9.99985645e-01 3.44017412e-03 -4.10780094e-03 9.18168858e-01] [-3.43960171e-03 9.99994074e-01 1.46402313e-04 4.04978124e-01] [ 4.10828024e-03 -1.32271013e-04 9.99991552e-01 -2.87994784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.373133364999994 meters Centerline goodness [0,1] 0.2772376948677526 Centerline is valid? [False, False] Translation: X:0.92, Y:0.40, Z:-0.29 [[ 9.99985591e-01 3.55799908e-03 -4.01984510e-03 9.17877893e-01] [-3.55658076e-03 9.99993611e-01 3.59924936e-04 4.04056086e-01] [ 4.02110003e-03 -3.45622846e-04 9.99991856e-01 -2.87905174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.403133364999995 meters Centerline goodness [0,1] 0.27734845333741986 Centerline is valid? [False, False] Translation: X:0.92, Y:0.40, Z:-0.29 [[ 9.99985487e-01 3.61990569e-03 -3.99022631e-03 9.17961423e-01] [-3.61754822e-03 9.99993278e-01 5.97870731e-04 4.02557618e-01] [ 3.99236373e-03 -5.83427218e-04 9.99991860e-01 -2.88210049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.433133364999996 meters Centerline goodness [0,1] 0.2764373998375448 Centerline is valid? [False, False] Translation: X:0.92, Y:0.40, Z:-0.29 [[ 0.99998575 0.00371894 -0.00383021 0.91776556] [-0.00371371 0.99999216 0.0013723 0.39734333] [ 0.00383529 -0.00135806 0.99999172 -0.28848819] [ 0. 0. 0. 1. ]] SLAMing on 50.463133365 meters Centerline goodness [0,1] 0.27664413971086765 Centerline is valid? [False, False] Translation: X:0.92, Y:0.39, Z:-0.29 [[ 0.99998613 0.00387488 -0.00356712 0.91702053] [-0.00386769 0.99999048 0.00202004 0.39396889] [ 0.00357491 -0.00200621 0.9999916 -0.28815784] [ 0. 0. 0. 1. ]] SLAMing on 50.49313336499999 meters Centerline goodness [0,1] 0.260504926373887 Centerline is valid? [False, False] Translation: X:0.94, Y:0.39, Z:-0.29 [[ 0.99998692 -0.00480917 -0.00174268 0.93700319] [ 0.0048152 0.99998236 0.00347782 0.39368634] [ 0.00172593 -0.00348617 0.99999243 -0.28808205] [ 0. 0. 0. 1. ]] SLAMing on 50.52313336499999 meters Centerline goodness [0,1] 0.27537686249700033 Centerline is valid? [False, False] Translation: X:0.91, Y:0.38, Z:-0.29 [[ 9.99999426e-01 1.03822241e-03 -2.65361989e-04 9.14521864e-01] [-1.03807726e-03 9.99999312e-01 5.46568348e-04 3.82946161e-01] [ 2.65929266e-04 -5.46292568e-04 9.99999815e-01 -2.87996722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.553133364999994 meters Centerline goodness [0,1] 0.27725390735080535 Centerline is valid? [False, False] Translation: X:0.91, Y:0.38, Z:-0.29 [[ 9.99999287e-01 1.17576962e-03 -2.06937867e-04 9.14110069e-01] [-1.17555154e-03 9.99998757e-01 1.05082836e-03 3.79949778e-01] [ 2.08173142e-04 -1.05058435e-03 9.99999426e-01 -2.87543460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.583133364999995 meters Centerline goodness [0,1] 0.2768127869704583 Centerline is valid? [False, False] Translation: X:0.91, Y:0.38, Z:-0.29 [[ 9.99999023e-01 1.38943836e-03 -1.52145448e-04 9.13813848e-01] [-1.38920338e-03 9.99997859e-01 1.53379304e-03 3.77757109e-01] [ 1.54276233e-04 -1.53358018e-03 9.99998812e-01 -2.87288178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.613133364999996 meters Centerline goodness [0,1] 0.2749489950948474 Centerline is valid? [False, False] Translation: X:0.91, Y:0.37, Z:-0.29 [[ 9.99998007e-01 1.99645184e-03 -1.19836615e-05 9.13633744e-01] [-1.99641565e-03 9.99994883e-01 2.49968148e-03 3.74127924e-01] [ 1.69740939e-05 -2.49965257e-03 9.99996876e-01 -2.87513427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.643133365 meters Centerline goodness [0,1] 0.27762120119726463 Centerline is valid? [False, False] Translation: X:0.91, Y:0.37, Z:-0.29 [[ 9.99997807e-01 2.09225762e-03 8.71680339e-05 9.13393118e-01] [-2.09248611e-03 9.99994140e-01 2.70936672e-03 3.72893498e-01] [-8.14988300e-05 -2.70954318e-03 9.99996326e-01 -2.87556939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67313336499999 meters Centerline goodness [0,1] 0.27762120119726463 Centerline is valid? [False, False] Translation: X:0.91, Y:0.37, Z:-0.29 [[ 9.99997807e-01 2.09225762e-03 8.71680339e-05 9.13393118e-01] [-2.09248611e-03 9.99994140e-01 2.70936672e-03 3.72893498e-01] [-8.14988300e-05 -2.70954318e-03 9.99996326e-01 -2.87556939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70313336499999 meters Centerline goodness [0,1] 0.27596471406222844 Centerline is valid? [False, False] Translation: X:0.91, Y:0.37, Z:-0.29 [[ 9.99996963e-01 2.45142961e-03 -2.52340061e-04 9.14226230e-01] [-2.45064643e-03 9.99992320e-01 3.05854150e-03 3.71122029e-01] [ 2.59835922e-04 -3.05791382e-03 9.99995291e-01 -2.87789085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73313336499999 meters Centerline goodness [0,1] 0.27455371703159315 Centerline is valid? [False, False] Translation: X:0.92, Y:0.37, Z:-0.29 [[ 9.99996222e-01 2.66282532e-03 -6.82270629e-04 9.15589378e-01] [-2.66057838e-03 9.99991103e-01 3.27333155e-03 3.70424270e-01] [ 6.90980869e-04 -3.27150395e-03 9.99994410e-01 -2.88471611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.763133364999995 meters Centerline goodness [0,1] 0.2737829097302108 Centerline is valid? [False, False] Translation: X:0.92, Y:0.37, Z:-0.29 [[ 0.99999519 0.00290686 -0.0010861 0.91698736] [-0.00290302 0.99998958 0.00352248 0.3696723 ] [ 0.00109633 -0.00351931 0.99999321 -0.28927111] [ 0. 0. 0. 1. ]] SLAMing on 50.793133364999996 meters Centerline goodness [0,1] 0.27237801701684317 Centerline is valid? [False, False] Translation: X:0.92, Y:0.37, Z:-0.29 [[ 0.99999415 0.00320576 -0.00119608 0.91760443] [-0.00320091 0.99998672 0.00403875 0.36721964] [ 0.00120902 -0.0040349 0.99999113 -0.28997124] [ 0. 0. 0. 1. ]] SLAMing on 50.823133365 meters Centerline goodness [0,1] 0.25963073206505327 Centerline is valid? [False, False] Translation: X:0.92, Y:0.37, Z:-0.29 [[ 0.99999388 0.00330746 -0.00114214 0.91739911] [-0.00330247 0.99998509 0.00434864 0.36542921] [ 0.0011565 -0.00434484 0.99998989 -0.28983915] [ 0. 0. 0. 1. ]] SLAMing on 50.853133365 meters Centerline goodness [0,1] 0.2595327807083647 Centerline is valid? [False, False] Translation: X:0.92, Y:0.36, Z:-0.29 [[ 0.99999362 0.00342291 -0.00101754 0.91704166] [-0.00341812 0.99998324 0.00467365 0.36364735] [ 0.00103352 -0.00467014 0.99998856 -0.28973747] [ 0. 0. 0. 1. ]] SLAMing on 50.88313336499999 meters Centerline goodness [0,1] 0.273979148566464 Centerline is valid? [False, False] Translation: X:0.92, Y:0.36, Z:-0.29 [[ 9.99993162e-01 3.63859843e-03 -6.60532694e-04 9.16082645e-01] [-3.63505094e-03 9.99979376e-01 5.29467460e-03 3.60302292e-01] [ 6.79784266e-04 -5.29223732e-03 9.99985765e-01 -2.89531987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.91313336499999 meters Centerline goodness [0,1] 0.27340692971909497 Centerline is valid? [False, False] Translation: X:0.92, Y:0.36, Z:-0.29 [[ 9.99992732e-01 3.75235918e-03 -6.75198843e-04 9.16326550e-01] [-3.74852191e-03 9.99977309e-01 5.59740816e-03 3.58701265e-01] [ 6.96187008e-04 -5.59483648e-03 9.99984106e-01 -2.89841711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.943133364999994 meters Centerline goodness [0,1] 0.27202224491125926 Centerline is valid? [False, False] Translation: X:0.92, Y:0.36, Z:-0.29 [[ 0.99999138 0.00402193 -0.00102877 0.91765166] [-0.00401553 0.99997301 0.00615308 0.35604258] [ 0.00105349 -0.00614889 0.99998054 -0.29067295] [ 0. 0. 0. 1. ]] SLAMing on 50.973133364999995 meters Centerline goodness [0,1] 0.27241491790801353 Centerline is valid? [False, False] Translation: X:0.92, Y:0.36, Z:-0.29 [[ 0.9999907 0.00411995 -0.00127206 0.91845658] [-0.00411183 0.99997156 0.0063216 0.35527428] [ 0.00129807 -0.00631631 0.99997921 -0.29104443] [ 0. 0. 0. 1. ]] SLAMing on 51.003133365 meters Centerline goodness [0,1] 0.271936879170561 Centerline is valid? [False, False] Translation: X:0.92, Y:0.35, Z:-0.29 [[ 0.99999033 0.00416274 -0.00142032 0.91894655] [-0.0041536 0.99997102 0.00637948 0.35497795] [ 0.00144683 -0.00637352 0.99997864 -0.2913102 ] [ 0. 0. 0. 1. ]] SLAMing on 51.033133365 meters Centerline goodness [0,1] 0.2734889810168012 Centerline is valid? [False, False] Translation: X:0.92, Y:0.35, Z:-0.29 [[ 0.99999004 0.00425536 -0.00134412 0.91855325] [-0.0042467 0.99997062 0.0063814 0.35499855] [ 0.00137123 -0.00637563 0.99997874 -0.2910995 ] [ 0. 0. 0. 1. ]] SLAMing on 51.06313336499999 meters Centerline goodness [0,1] 0.2699546312978922 Centerline is valid? [False, False] Translation: X:0.92, Y:0.36, Z:-0.29 [[ 0.99998988 0.00428247 -0.00137729 0.91851855] [-0.00427374 0.99997113 0.00628347 0.35569418] [ 0.00140416 -0.00627752 0.99997931 -0.29103648] [ 0. 0. 0. 1. ]] SLAMing on 51.09313336499999 meters Centerline goodness [0,1] 0.2705859281371886 Centerline is valid? [False, False] Translation: X:0.92, Y:0.36, Z:-0.29 [[ 0.99998915 0.00439526 -0.00154631 0.91902083] [-0.00438579 0.9999719 0.0060793 0.35729489] [ 0.00157299 -0.00607245 0.99998033 -0.29143079] [ 0. 0. 0. 1. ]] SLAMing on 51.123133364999994 meters Centerline goodness [0,1] 0.2685011330527679 Centerline is valid? [False, False] Translation: X:0.92, Y:0.36, Z:-0.29 [[ 0.99998938 0.00437202 -0.0014609 0.91879983] [-0.00436321 0.99997257 0.00598553 0.35770323] [ 0.00148703 -0.0059791 0.99998102 -0.2914733 ] [ 0. 0. 0. 1. ]] SLAMing on 51.153133364999995 meters Centerline goodness [0,1] 0.2724430646316841 Centerline is valid? [False, False] Translation: X:0.92, Y:0.36, Z:-0.29 [[ 0.99998974 0.00434878 -0.00126982 0.91809946] [-0.00434114 0.99997285 0.00595494 0.35778461] [ 0.00129568 -0.00594937 0.99998146 -0.29110429] [ 0. 0. 0. 1. ]] SLAMing on 51.183133364999996 meters Centerline goodness [0,1] 0.2693945485593239 Centerline is valid? [False, False] Translation: X:0.92, Y:0.36, Z:-0.29 [[ 9.99990222e-01 4.34927922e-03 -8.00000074e-04 9.16359227e-01] [-4.34446304e-03 9.99973001e-01 5.92653340e-03 3.58278692e-01] [ 8.25754623e-04 -5.92299988e-03 9.99982118e-01 -2.90140323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.213133365 meters Centerline goodness [0,1] 0.26024408683443134 Centerline is valid? [False, False] Translation: X:0.92, Y:0.36, Z:-0.29 [[ 9.99990524e-01 4.29560734e-03 -7.06901140e-04 9.16096319e-01] [-4.29140989e-03 9.99973763e-01 5.83590975e-03 3.58678043e-01] [ 7.31951370e-04 -5.83282085e-03 9.99982721e-01 -2.90097486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24313336499999 meters Centerline goodness [0,1] 0.26016980276091517 Centerline is valid? [False, False] Translation: X:0.92, Y:0.36, Z:-0.29 [[ 9.99990747e-01 4.19194129e-03 -9.65926560e-04 9.17096273e-01] [-4.18647876e-03 9.99975615e-01 5.58950107e-03 3.60023709e-01] [ 9.89333866e-04 -5.58540552e-03 9.99983912e-01 -2.90739274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.27313336499999 meters Centerline goodness [0,1] 0.2699642043605597 Centerline is valid? [False, False] Translation: X:0.92, Y:0.36, Z:-0.29 [[ 0.99999082 0.00413268 -0.00113336 0.91753215] [-0.00412653 0.999977 0.00538279 0.36127093] [ 0.00115557 -0.00537806 0.99998487 -0.29083652] [ 0. 0. 0. 1. ]] SLAMing on 51.303133364999994 meters Centerline goodness [0,1] 0.2691742960787701 Centerline is valid? [False, False] Translation: X:0.92, Y:0.36, Z:-0.29 [[ 0.99999099 0.00407835 -0.00117658 0.91771758] [-0.00407221 0.99997834 0.00517065 0.36249484] [ 0.00119765 -0.00516581 0.99998594 -0.2910008 ] [ 0. 0. 0. 1. ]] SLAMing on 51.333133364999995 meters Centerline goodness [0,1] 0.2722397820163488 Centerline is valid? [False, False] Translation: X:0.92, Y:0.36, Z:-0.29 [[ 0.99999154 0.00396613 -0.00109009 0.91748195] [-0.00396077 0.99998027 0.00487627 0.36395226] [ 0.0011094 -0.00487191 0.99998752 -0.29099206] [ 0. 0. 0. 1. ]] SLAMing on 51.363133364999996 meters Centerline goodness [0,1] 0.26228867813971657 Centerline is valid? [False, False] Translation: X:0.92, Y:0.37, Z:-0.29 [[ 9.99992403e-01 3.82241720e-03 -7.64146938e-04 9.16517276e-01] [-3.81894287e-03 9.99982594e-01 4.49756833e-03 3.65798390e-01] [ 7.81325220e-04 -4.49461593e-03 9.99989594e-01 -2.90781766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.393133365 meters Centerline goodness [0,1] 0.2575575145130079 Centerline is valid? [False, False] Translation: X:0.92, Y:0.37, Z:-0.29 [[ 9.99992611e-01 3.76437152e-03 -7.78952101e-04 9.16463437e-01] [-3.76096038e-03 9.99983530e-01 4.33522433e-03 3.66652316e-01] [ 7.95258667e-04 -4.33226269e-03 9.99990299e-01 -2.90633250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42313336499999 meters Centerline goodness [0,1] 0.27299076011157597 Centerline is valid? [False, False] Translation: X:0.87, Y:0.37, Z:-0.29 [[ 0.99998654 0.00356063 -0.0037735 0.87381506] [-0.00354902 0.99998896 0.00307826 0.36606559] [ 0.00378442 -0.00306483 0.99998814 -0.29047994] [ 0. 0. 0. 1. ]] SLAMing on 51.45313336499999 meters Centerline goodness [0,1] 0.25811327273119855 Centerline is valid? [False, False] Translation: X:0.87, Y:0.37, Z:-0.29 [[ 0.99998628 0.00354952 -0.00385117 0.87408251] [-0.00353764 0.99998898 0.00308768 0.36600503] [ 0.00386208 -0.00307401 0.99998782 -0.2905893 ] [ 0. 0. 0. 1. ]] SLAMing on 51.48313336499999 meters Centerline goodness [0,1] 0.25974391140718955 Centerline is valid? [False, False] Translation: X:0.87, Y:0.37, Z:-0.29 [[ 0.99998675 0.0035953 -0.00368459 0.87347294] [-0.00358358 0.99998851 0.00318344 0.36577035] [ 0.003696 -0.00317019 0.99998814 -0.2902539 ] [ 0. 0. 0. 1. ]] SLAMing on 51.513133364999995 meters Centerline goodness [0,1] 0.27207887102754813 Centerline is valid? [False, False] Translation: X:0.87, Y:0.36, Z:-0.29 [[ 0.99998748 0.00368818 -0.00338184 0.8723772 ] [-0.00367649 0.99998727 0.00345687 0.36463391] [ 0.00339455 -0.00344439 0.99998831 -0.28954262] [ 0. 0. 0. 1. ]] SLAMing on 51.543133364999996 meters Centerline goodness [0,1] 0.27330726037274133 Centerline is valid? [False, False] Translation: X:0.87, Y:0.36, Z:-0.29 [[ 0.99998732 0.00367407 -0.00344281 0.8725339 ] [-0.00366188 0.99998703 0.00353992 0.36372314] [ 0.00345577 -0.00352727 0.99998781 -0.28954886] [ 0. 0. 0. 1. ]] SLAMing on 51.573133365 meters Centerline goodness [0,1] 0.27302667691294324 Centerline is valid? [False, False] Translation: X:0.87, Y:0.36, Z:-0.29 [[ 0.99998689 0.00364919 -0.00359173 0.872949 ] [-0.00363621 0.99998686 0.00361361 0.36281395] [ 0.00360487 -0.0036005 0.99998702 -0.28966991] [ 0. 0. 0. 1. ]] SLAMing on 51.603133365 meters Centerline goodness [0,1] 0.2725046463321308 Centerline is valid? [False, False] Translation: X:0.87, Y:0.36, Z:-0.29 [[ 0.99998585 0.00374885 -0.00377512 0.87342906] [-0.00373382 0.99998511 0.0039807 0.36065948] [ 0.00378999 -0.00396654 0.99998495 -0.28977041] [ 0. 0. 0. 1. ]] SLAMing on 51.63313336499999 meters Centerline goodness [0,1] 0.2759806839981478 Centerline is valid? [False, False] Translation: X:0.87, Y:0.36, Z:-0.29 [[ 0.99998589 0.00384463 -0.00366721 0.8731636 ] [-0.00382922 0.99998385 0.00420074 0.35967738] [ 0.0036833 -0.00418664 0.99998445 -0.28973821] [ 0. 0. 0. 1. ]] SLAMing on 51.66313336499999 meters Centerline goodness [0,1] 0.27290732599138123 Centerline is valid? [False, False] Translation: X:0.92, Y:0.36, Z:-0.29 [[ 0.99999041 0.00378184 -0.00221032 0.91686154] [-0.0037705 0.99997984 0.00510916 0.36045042] [ 0.00222959 -0.00510078 0.99998451 -0.2900262 ] [ 0. 0. 0. 1. ]] SLAMing on 51.693133364999994 meters Centerline goodness [0,1] 0.26126556963676284 Centerline is valid? [False, False] Translation: X:0.92, Y:0.36, Z:-0.29 [[ 0.99998918 0.00392131 -0.00250226 0.91815344] [-0.00390735 0.99997691 0.00556055 0.3579316 ] [ 0.00252401 -0.00555071 0.99998141 -0.29092619] [ 0. 0. 0. 1. ]] SLAMing on 51.723133364999995 meters Centerline goodness [0,1] 0.27144997719820196 Centerline is valid? [False, False] Translation: X:0.92, Y:0.36, Z:-0.29 [[ 9.99995918e-01 7.03632398e-04 -2.76931352e-03 9.18881850e-01] [-6.97244148e-04 9.99997096e-01 2.30708913e-03 3.57292918e-01] [ 2.77092882e-03 -2.30514882e-03 9.99993504e-01 -2.91187658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.753133365 meters Centerline goodness [0,1] 0.27124246971575217 Centerline is valid? [False, False] Translation: X:0.92, Y:0.35, Z:-0.29 [[ 9.99997506e-01 4.99186663e-04 -2.17683217e-03 9.17311700e-01] [-4.92934907e-04 9.99995756e-01 2.87154294e-03 3.52204160e-01] [ 2.17825636e-03 -2.87046274e-03 9.99993508e-01 -2.90758195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.783133365 meters Centerline goodness [0,1] 0.27639539744351305 Centerline is valid? [False, False] Translation: X:0.90, Y:0.34, Z:-0.29 [[ 9.99976014e-01 6.87221590e-03 -8.62058866e-04 8.95653259e-01] [-6.87176405e-03 9.99976251e-01 5.26021986e-04 3.44165842e-01] [ 8.65653330e-04 -5.20085504e-04 9.99999490e-01 -2.91120538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81313336499999 meters Centerline goodness [0,1] 0.26374008475497124 Centerline is valid? [False, False] Translation: X:0.92, Y:0.35, Z:-0.29 [[ 9.99998433e-01 -1.76760134e-03 -9.80810304e-05 9.15864768e-01] [ 1.76777656e-03 9.99996788e-01 1.81611091e-03 3.45321878e-01] [ 9.48705553e-05 -1.81628145e-03 9.99998346e-01 -2.90617653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84313336499999 meters Centerline goodness [0,1] 0.2585345815406568 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.29 [[ 9.99998511e-01 -1.72459605e-03 -6.02984883e-05 9.15941111e-01] [ 1.72475588e-03 9.99994705e-01 2.75941046e-03 3.39095191e-01] [ 5.55393007e-05 -2.75951035e-03 9.99996191e-01 -2.90598757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.873133364999994 meters Centerline goodness [0,1] 0.2607980966800043 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.29 [[ 9.99998736e-01 -1.58966060e-03 -5.57993037e-06 9.15746734e-01] [ 1.58967033e-03 9.99993502e-01 3.23570059e-03 3.36498680e-01] [ 4.36228381e-07 -3.23570537e-03 9.99994765e-01 -2.90409247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.903133364999995 meters Centerline goodness [0,1] 0.27469284246425607 Centerline is valid? [False, False] Translation: X:0.89, Y:0.33, Z:-0.29 [[ 9.99987043e-01 5.08952530e-03 1.05453388e-04 8.94094612e-01] [-5.08959008e-03 9.99986854e-01 6.23368956e-04 3.30060763e-01] [-1.02279350e-04 -6.23897593e-04 9.99999800e-01 -2.90342610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.933133364999996 meters Centerline goodness [0,1] 0.2749634734064592 Centerline is valid? [False, False] Translation: X:0.89, Y:0.33, Z:-0.29 [[ 9.99985953e-01 5.29815864e-03 1.54099481e-04 8.93814337e-01] [-5.29832643e-03 9.99985348e-01 1.10959304e-03 3.27542606e-01] [-1.48218423e-04 -1.11039393e-03 9.99999373e-01 -2.90082777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.963133365 meters Centerline goodness [0,1] 0.2708144111413866 Centerline is valid? [False, False] Translation: X:0.91, Y:0.33, Z:-0.29 [[ 9.99997521e-01 -2.20445521e-03 -3.14011153e-04 9.11766578e-01] [ 2.20531553e-03 9.99993742e-01 2.76629963e-03 3.32277875e-01] [ 3.07911005e-04 -2.76698527e-03 9.99996124e-01 -2.88411023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99313336499999 meters Centerline goodness [0,1] 0.2730711537207331 Centerline is valid? [False, False] Translation: X:0.91, Y:0.33, Z:-0.29 [[ 9.99997801e-01 -2.00660048e-03 -6.09448179e-04 9.12848669e-01] [ 2.00852939e-03 9.99992923e-01 3.18106158e-03 3.30140996e-01] [ 6.03060746e-04 -3.18227868e-03 9.99994755e-01 -2.89035699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02313336499999 meters Centerline goodness [0,1] 0.2723986236334335 Centerline is valid? [False, False] Translation: X:0.91, Y:0.33, Z:-0.29 [[ 9.99997886e-01 -1.94565394e-03 -6.65734529e-04 9.13135862e-01] [ 1.94797039e-03 9.99991989e-01 3.49675868e-03 3.27984809e-01] [ 6.58925714e-04 -3.49804812e-03 9.99993665e-01 -2.89268922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.053133364999994 meters Centerline goodness [0,1] 0.27487448155424576 Centerline is valid? [False, False] Translation: X:0.91, Y:0.33, Z:-0.29 [[ 9.99998079e-01 -1.87414352e-03 -5.74762688e-04 9.12847938e-01] [ 1.87636668e-03 9.99990665e-01 3.89212474e-03 3.25456358e-01] [ 5.67462922e-04 -3.89319572e-03 9.99992260e-01 -2.89090858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.083133364999995 meters Centerline goodness [0,1] 0.27169329902480166 Centerline is valid? [False, False] Translation: X:0.93, Y:0.32, Z:-0.29 [[ 9.99991453e-01 2.30153603e-03 3.43463999e-03 9.33612291e-01] [-2.30492561e-03 9.99996860e-01 9.83247739e-04 3.19440885e-01] [-3.43236623e-03 -9.91155925e-04 9.99993618e-01 -2.88901440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.113133364999996 meters Centerline goodness [0,1] 0.27270164176191203 Centerline is valid? [False, False] Translation: X:0.93, Y:0.32, Z:-0.29 [[ 0.99999017 0.00246818 0.0036831 0.93296915] [-0.00247421 0.9999956 0.00163441 0.31604897] [-0.00367905 -0.00164351 0.99999188 -0.28868225] [ 0. 0. 0. 1. ]] SLAMing on 52.143133365 meters Centerline goodness [0,1] 0.27491349104441887 Centerline is valid? [False, False] Translation: X:0.93, Y:0.31, Z:-0.29 [[ 0.99999144 0.00172137 0.00376383 0.93342626] [-0.00172749 0.99999719 0.00162309 0.30797854] [-0.00376103 -0.00162957 0.9999916 -0.28937168] [ 0. 0. 0. 1. ]] SLAMing on 52.17313336499999 meters Centerline goodness [0,1] 0.2724456192044371 Centerline is valid? [False, False] Translation: X:0.93, Y:0.31, Z:-0.29 [[ 0.99999198 0.00184854 0.0035519 0.93427234] [-0.00185577 0.99999621 0.00203555 0.30565928] [-0.00354813 -0.00204212 0.99999162 -0.28991572] [ 0. 0. 0. 1. ]] SLAMing on 52.20313336499999 meters Centerline goodness [0,1] 0.27033223741131684 Centerline is valid? [False, False] Translation: X:0.94, Y:0.30, Z:-0.29 [[ 0.99999253 0.00201225 0.0032995 0.93513728] [-0.00202041 0.9999949 0.00247409 0.30339397] [-0.00329451 -0.00248074 0.9999915 -0.29028373] [ 0. 0. 0. 1. ]] SLAMing on 52.23313336499999 meters Centerline goodness [0,1] 0.2729421971586595 Centerline is valid? [False, False] Translation: X:0.94, Y:0.30, Z:-0.29 [[ 0.9999929 0.00230017 0.00298541 0.93653415] [-0.00230971 0.99999223 0.00319591 0.29950076] [-0.00297803 -0.00320278 0.99999044 -0.29128249] [ 0. 0. 0. 1. ]] SLAMing on 52.263133364999995 meters Centerline goodness [0,1] 0.2612079836500413 Centerline is valid? [False, False] Translation: X:0.94, Y:0.30, Z:-0.29 [[ 0.99999265 0.00242934 0.00296521 0.93676291] [-0.00243969 0.99999092 0.00349436 0.29797078] [-0.00295669 -0.00350157 0.9999895 -0.2915839 ] [ 0. 0. 0. 1. ]] SLAMing on 52.293133364999996 meters Centerline goodness [0,1] 0.2608168391874919 Centerline is valid? [False, False] Translation: X:0.94, Y:0.30, Z:-0.29 [[ 0.99999148 0.00284734 0.00299003 0.93707778] [-0.00285925 0.99998797 0.0039862 0.29641441] [-0.00297864 -0.00399472 0.99998758 -0.29226308] [ 0. 0. 0. 1. ]] SLAMing on 52.323133365 meters Centerline goodness [0,1] 0.2720907405387719 Centerline is valid? [False, False] Translation: X:0.94, Y:0.30, Z:-0.29 [[ 0.99999149 0.0028975 0.00293781 0.93747794] [-0.00290899 0.99998812 0.00391197 0.29697971] [-0.00292644 -0.00392048 0.99998803 -0.29279894] [ 0. 0. 0. 1. ]] SLAMing on 52.353133365 meters Centerline goodness [0,1] 0.2630105833989329 Centerline is valid? [False, False] Translation: X:0.94, Y:0.30, Z:-0.29 [[ 0.99999201 0.00286662 0.00278691 0.93807883] [-0.00287692 0.99998902 0.00369804 0.29787777] [-0.00277628 -0.00370603 0.99998928 -0.2933571 ] [ 0. 0. 0. 1. ]] SLAMing on 52.38313336499999 meters Centerline goodness [0,1] 0.26117315407134334 Centerline is valid? [False, False] Translation: X:0.94, Y:0.30, Z:-0.29 [[ 0.99999086 0.00328492 0.00273677 0.93818206] [-0.00329503 0.99998773 0.00369862 0.29943178] [-0.00272458 -0.00370761 0.99998942 -0.29361864] [ 0. 0. 0. 1. ]] SLAMing on 52.41313336499999 meters Centerline goodness [0,1] 0.26035528502665717 Centerline is valid? [False, False] Translation: X:0.94, Y:0.30, Z:-0.29 [[ 0.99998998 0.00336833 0.00294768 0.9376223 ] [-0.00337894 0.9999878 0.00360387 0.3005989 ] [-0.00293551 -0.00361379 0.99998916 -0.29364048] [ 0. 0. 0. 1. ]] SLAMing on 52.443133364999994 meters Centerline goodness [0,1] 0.25842575643372456 Centerline is valid? [False, False] Translation: X:0.94, Y:0.30, Z:-0.29 [[ 0.99999004 0.00325441 0.00305568 0.93737616] [-0.00326415 0.99998959 0.0031889 0.30272775] [-0.00304527 -0.00319884 0.99999025 -0.29382085] [ 0. 0. 0. 1. ]] SLAMing on 52.473133364999995 meters Centerline goodness [0,1] 0.2700585380715078 Centerline is valid? [False, False] Translation: X:0.94, Y:0.30, Z:-0.29 [[ 0.99999079 0.00310353 0.00296281 0.93754665] [-0.00311222 0.99999086 0.00293207 0.3034224 ] [-0.00295369 -0.00294126 0.99999131 -0.29377001] [ 0. 0. 0. 1. ]] SLAMing on 52.503133365 meters Centerline goodness [0,1] 0.27136412178802605 Centerline is valid? [False, False] Translation: X:0.94, Y:0.30, Z:-0.29 [[ 0.99999126 0.00298883 0.00292333 0.93747886] [-0.00299674 0.99999186 0.00270358 0.30434235] [-0.00291522 -0.00271232 0.99999207 -0.29355506] [ 0. 0. 0. 1. ]] SLAMing on 52.533133365 meters Centerline goodness [0,1] 0.2722669180349431 Centerline is valid? [False, False] Translation: X:0.94, Y:0.31, Z:-0.29 [[ 0.99999098 0.00286972 0.0031305 0.93655569] [-0.00287689 0.99999324 0.00228922 0.30703278] [-0.00312391 -0.0022982 0.99999248 -0.29294528] [ 0. 0. 0. 1. ]] SLAMing on 52.56313336499999 meters Centerline goodness [0,1] 0.2722669180349431 Centerline is valid? [False, False] Translation: X:0.94, Y:0.31, Z:-0.29 [[ 0.99999098 0.00286972 0.0031305 0.93655569] [-0.00287689 0.99999324 0.00228922 0.30703278] [-0.00312391 -0.0022982 0.99999248 -0.29294528] [ 0. 0. 0. 1. ]] SLAMing on 52.59313336499999 meters Centerline goodness [0,1] 0.2703640266244607 Centerline is valid? [False, False] Translation: X:0.95, Y:0.31, Z:-0.29 [[ 0.99997884 -0.00502526 0.00413205 0.95435546] [ 0.00501009 0.99998071 0.00367189 0.31422605] [-0.00415042 -0.00365111 0.99998472 -0.29140858] [ 0. 0. 0. 1. ]] SLAMing on 52.623133364999994 meters Centerline goodness [0,1] 0.2700714131140446 Centerline is valid? [False, False] Translation: X:0.95, Y:0.32, Z:-0.29 [[ 0.99997543 -0.00525794 0.00463605 0.95238161] [ 0.00524229 0.99998054 0.00338136 0.3154115 ] [-0.00465374 -0.00335697 0.99998354 -0.2901029 ] [ 0. 0. 0. 1. ]] SLAMing on 52.653133364999995 meters Centerline goodness [0,1] 0.2735281290885303 Centerline is valid? [False, False] Translation: X:0.93, Y:0.31, Z:-0.29 [[ 0.99998645 0.00233335 0.0046539 0.93422541] [-0.00234164 0.99999568 0.00177725 0.30946371] [-0.00464974 -0.00178812 0.99998759 -0.29123682] [ 0. 0. 0. 1. ]] SLAMing on 52.683133364999996 meters Centerline goodness [0,1] 0.26467387825641686 Centerline is valid? [False, False] Translation: X:0.98, Y:0.31, Z:-0.29 [[ 0.99998285 0.00144141 0.00567567 0.97884266] [-0.00145035 0.99999771 0.00157185 0.31275797] [-0.00567339 -0.00158005 0.99998266 -0.29165732] [ 0. 0. 0. 1. ]] SLAMing on 52.713133365 meters Centerline goodness [0,1] 0.27028135864049574 Centerline is valid? [False, False] Translation: X:0.96, Y:0.31, Z:-0.29 [[ 0.99996349 -0.00719048 0.00461664 0.95729331] [ 0.00717845 0.99997081 0.00261832 0.31285287] [-0.00463534 -0.00258509 0.99998592 -0.29173594] [ 0. 0. 0. 1. ]] SLAMing on 52.74313336499999 meters Centerline goodness [0,1] 0.27044866264020706 Centerline is valid? [False, False] Translation: X:0.96, Y:0.31, Z:-0.29 [[ 0.9999639 -0.00712913 0.00462422 0.9571912 ] [ 0.00711599 0.99997062 0.00285041 0.31162413] [-0.00464441 -0.0028174 0.99998525 -0.29153222] [ 0. 0. 0. 1. ]] SLAMing on 52.77313336499999 meters Centerline goodness [0,1] 0.27373559085659493 Centerline is valid? [False, False] Translation: X:0.94, Y:0.30, Z:-0.29 [[ 9.99987717e-01 7.79783942e-04 4.89464654e-03 9.37613288e-01] [-7.87841311e-04 9.99998338e-01 1.64444724e-03 3.04279871e-01] [-4.89335609e-03 -1.64828324e-03 9.99986669e-01 -2.92470095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.803133364999994 meters Centerline goodness [0,1] 0.2714721603081517 Centerline is valid? [False, False] Translation: X:0.94, Y:0.30, Z:-0.29 [[ 9.99987328e-01 7.77497714e-04 4.97390050e-03 9.37328454e-01] [-7.85923628e-04 9.99998259e-01 1.69229520e-03 3.03753458e-01] [-4.97257608e-03 -1.69618287e-03 9.99986198e-01 -2.92305520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.833133364999995 meters Centerline goodness [0,1] 0.26833261525204655 Centerline is valid? [False, False] Translation: X:0.94, Y:0.30, Z:-0.29 [[ 9.99988618e-01 8.61490169e-04 4.69276360e-03 9.38497209e-01] [-8.69070655e-04 9.99998321e-01 1.61355696e-03 3.04325244e-01] [-4.69136565e-03 -1.61761693e-03 9.99987687e-01 -2.93264055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.863133364999996 meters Centerline goodness [0,1] 0.27366268572298724 Centerline is valid? [False, False] Translation: X:0.94, Y:0.31, Z:-0.29 [[ 9.99989060e-01 9.05902209e-04 4.58900315e-03 9.39127079e-01] [-9.12674705e-04 9.99998497e-01 1.47393080e-03 3.05398475e-01] [-4.58766102e-03 -1.47810294e-03 9.99988384e-01 -2.93985137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.893133365 meters Centerline goodness [0,1] 0.2726635718665148 Centerline is valid? [False, False] Translation: X:0.94, Y:0.31, Z:-0.29 [[ 0.99998903 0.00108688 0.00455624 0.93949665] [-0.00109265 0.99999861 0.00126243 0.30720814] [-0.00455486 -0.0012674 0.99998882 -0.29472467] [ 0. 0. 0. 1. ]] SLAMing on 52.92313336499999 meters Centerline goodness [0,1] 0.27160225792444637 Centerline is valid? [False, False] Translation: X:0.94, Y:0.31, Z:-0.30 [[ 0.99998891 0.00108779 0.00458123 0.93956266] [-0.00109304 0.99999875 0.00114194 0.30786287] [-0.00457998 -0.00114694 0.99998885 -0.29504787] [ 0. 0. 0. 1. ]] SLAMing on 52.95313336499999 meters Centerline goodness [0,1] 0.2704435204435205 Centerline is valid? [False, False] Translation: X:0.94, Y:0.31, Z:-0.30 [[ 0.99998958 0.00107739 0.00443579 0.94009881] [-0.00108205 0.99999887 0.00104739 0.30834917] [-0.00443465 -0.00105218 0.99998961 -0.29542045] [ 0. 0. 0. 1. ]] SLAMing on 52.98313336499999 meters Centerline goodness [0,1] 0.2703558340742026 Centerline is valid? [False, False] Translation: X:0.94, Y:0.31, Z:-0.30 [[ 9.99991620e-01 1.05089580e-03 3.95659780e-03 9.41859276e-01] [-1.05442036e-03 9.99999049e-01 8.88825118e-04 3.09106747e-01] [-3.95565997e-03 -8.92989587e-04 9.99991778e-01 -2.96601245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.013133364999995 meters Centerline goodness [0,1] 0.2718970527189706 Centerline is valid? [False, False] Translation: X:0.94, Y:0.31, Z:-0.30 [[ 9.99992603e-01 1.02201439e-03 3.70791229e-03 9.42790358e-01] [-1.02508847e-03 9.99999132e-01 8.27254961e-04 3.09398553e-01] [-3.70706360e-03 -8.31049780e-04 9.99992783e-01 -2.97202145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.043133364999996 meters Centerline goodness [0,1] 0.25798275637970625 Centerline is valid? [False, False] Translation: X:0.94, Y:0.31, Z:-0.30 [[ 9.99993694e-01 9.50275947e-04 3.42177110e-03 9.43825664e-01] [-9.52589651e-04 9.99999319e-01 6.74605156e-04 3.10287222e-01] [-3.42112771e-03 -6.77860446e-04 9.99993918e-01 -2.97823882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.073133365 meters Centerline goodness [0,1] 0.25870765234332715 Centerline is valid? [False, False] Translation: X:0.94, Y:0.31, Z:-0.30 [[ 9.99993517e-01 9.25736637e-04 3.47978639e-03 9.43600424e-01] [-9.28025215e-04 9.99999354e-01 6.56120721e-04 3.10477225e-01] [-3.47917675e-03 -6.59345797e-04 9.99993730e-01 -2.97649612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.103133365 meters Centerline goodness [0,1] 0.27012658779440923 Centerline is valid? [False, False] Translation: X:0.94, Y:0.31, Z:-0.30 [[ 9.99992734e-01 9.06519575e-04 3.70279863e-03 9.42691054e-01] [-9.09095213e-04 9.99999346e-01 6.93968418e-04 3.10298453e-01] [-3.70216711e-03 -6.97329572e-04 9.99992904e-01 -2.97004077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13313336499999 meters Centerline goodness [0,1] 0.26870630879433843 Centerline is valid? [False, False] Translation: X:0.96, Y:0.31, Z:-0.30 [[ 0.9999528 -0.00788618 0.00567456 0.96094846] [ 0.00787739 0.99996774 0.00157037 0.31415365] [-0.00568676 -0.0015256 0.99998267 -0.29561942] [ 0. 0. 0. 1. ]] SLAMing on 53.16313336499999 meters Centerline goodness [0,1] 0.27025449198901597 Centerline is valid? [False, False] Translation: X:0.96, Y:0.31, Z:-0.30 [[ 0.99995323 -0.00794024 0.00552187 0.96125341] [ 0.00793163 0.9999673 0.00157934 0.31372076] [-0.00553423 -0.00153547 0.99998351 -0.29546714] [ 0. 0. 0. 1. ]] SLAMing on 53.193133364999994 meters Centerline goodness [0,1] 0.26977810458929885 Centerline is valid? [False, False] Translation: X:0.96, Y:0.31, Z:-0.30 [[ 0.99995387 -0.00796115 0.00537318 0.96162433] [ 0.00795262 0.99996709 0.00160682 0.31341022] [-0.00538579 -0.00156402 0.99998427 -0.29546633] [ 0. 0. 0. 1. ]] SLAMing on 53.223133364999995 meters Centerline goodness [0,1] 0.2705208558461206 Centerline is valid? [False, False] Translation: X:0.96, Y:0.31, Z:-0.30 [[ 0.99995368 -0.00788278 0.00552341 0.96104297] [ 0.00787395 0.99996769 0.00161918 0.31403273] [-0.00553599 -0.00157562 0.99998343 -0.29516157] [ 0. 0. 0. 1. ]] SLAMing on 53.253133365 meters Centerline goodness [0,1] 0.26968015031423453 Centerline is valid? [False, False] Translation: X:0.96, Y:0.31, Z:-0.30 [[ 0.99995307 -0.00784105 0.00569061 0.96056707] [ 0.00783224 0.9999681 0.00156839 0.31472644] [-0.00570272 -0.00152374 0.99998258 -0.29507784] [ 0. 0. 0. 1. ]] SLAMing on 53.283133365 meters Centerline goodness [0,1] 0.2731320804138563 Centerline is valid? [False, False] Translation: X:0.94, Y:0.31, Z:-0.30 [[ 9.99983551e-01 4.47663743e-04 5.71821753e-03 9.40484884e-01] [-4.49353564e-04 9.99999856e-01 2.94234087e-04 3.09818103e-01] [-5.71808498e-03 -2.96798749e-04 9.99983608e-01 -2.96093170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31313336499999 meters Centerline goodness [0,1] 0.26904453091223524 Centerline is valid? [False, False] Translation: X:0.94, Y:0.31, Z:-0.30 [[ 9.99981831e-01 2.93311830e-04 6.02096633e-03 9.39960411e-01] [-2.91488540e-04 9.99999911e-01 -3.03698699e-04 3.12547218e-01] [-6.02105488e-03 3.01938138e-04 9.99981828e-01 -2.96630822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34313336499999 meters Centerline goodness [0,1] 0.27521559805024376 Centerline is valid? [False, False] Translation: X:0.89, Y:0.31, Z:-0.30 [[ 9.99991199e-01 8.63093572e-04 4.10565094e-03 8.94321452e-01] [-8.61519185e-04 9.99999555e-01 -3.85221368e-04 3.10903512e-01] [-4.10598159e-03 3.81680880e-04 9.99991498e-01 -2.95381346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.373133364999994 meters Centerline goodness [0,1] 0.26968809236601754 Centerline is valid? [False, False] Translation: X:0.94, Y:0.32, Z:-0.29 [[ 9.99978625e-01 2.21913452e-03 6.15013585e-03 9.36376420e-01] [-2.22276130e-03 9.99997360e-01 5.82934871e-04 3.18456673e-01] [-6.14882600e-03 -5.96592695e-04 9.99980918e-01 -2.94849952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.403133364999995 meters Centerline goodness [0,1] 0.26762019645011204 Centerline is valid? [False, False] Translation: X:0.94, Y:0.32, Z:-0.29 [[ 9.99979555e-01 2.06179124e-03 6.05300555e-03 9.36605380e-01] [-2.06275412e-03 9.99997861e-01 1.52836275e-04 3.20437984e-01] [-6.05267749e-03 -1.65319012e-04 9.99981669e-01 -2.94954594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.433133364999996 meters Centerline goodness [0,1] 0.27498902064119457 Centerline is valid? [False, False] Translation: X:0.89, Y:0.32, Z:-0.29 [[ 9.99992937e-01 1.82459045e-03 3.28593405e-03 8.93706441e-01] [-1.82198492e-03 9.99998024e-01 -7.95752057e-04 3.19453116e-01] [-3.28737948e-03 7.89759514e-04 9.99994285e-01 -2.94981736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.463133365 meters Centerline goodness [0,1] 0.2685095061968724 Centerline is valid? [False, False] Translation: X:0.92, Y:0.33, Z:-0.30 [[ 0.99999217 -0.00375586 0.00124768 0.9173341 ] [ 0.00375415 0.99999202 0.00136595 0.32905918] [-0.00125281 -0.00136126 0.99999829 -0.29673731] [ 0. 0. 0. 1. ]] SLAMing on 53.49313336499999 meters Centerline goodness [0,1] 0.2717995682606136 Centerline is valid? [False, False] Translation: X:0.90, Y:0.33, Z:-0.30 [[ 9.99988537e-01 4.77172970e-03 3.94464536e-04 8.98493328e-01] [-4.77181919e-03 9.99988589e-01 2.26233067e-04 3.25568087e-01] [-3.93380512e-04 -2.28112787e-04 9.99999897e-01 -2.97995183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52313336499999 meters Centerline goodness [0,1] 0.2729183083793013 Centerline is valid? [False, False] Translation: X:0.90, Y:0.33, Z:-0.30 [[ 9.99989456e-01 4.56834497e-03 4.66335578e-04 8.98183906e-01] [-4.56825524e-03 9.99989547e-01 -1.93305797e-04 3.27385702e-01] [-4.67213791e-04 1.91173418e-04 9.99999873e-01 -2.97816602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.553133364999994 meters Centerline goodness [0,1] 0.2678150733784339 Centerline is valid? [False, False] Translation: X:0.92, Y:0.33, Z:-0.30 [[ 9.99991441e-01 -3.91086647e-03 1.34994043e-03 9.17195436e-01] [ 3.91015379e-03 9.99992215e-01 5.30170661e-04 3.33448640e-01] [-1.35200335e-03 -5.24887648e-04 9.99998948e-01 -2.96990771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.583133364999995 meters Centerline goodness [0,1] 0.26774291147994467 Centerline is valid? [False, False] Translation: X:0.92, Y:0.33, Z:-0.30 [[ 9.99991121e-01 -3.95172578e-03 1.46340501e-03 9.16584265e-01] [ 3.95106972e-03 9.99992093e-01 4.50930339e-04 3.34073510e-01] [-1.46517539e-03 -4.45144320e-04 9.99998828e-01 -2.96433527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.613133364999996 meters Centerline goodness [0,1] 0.2712843339485398 Centerline is valid? [False, False] Translation: X:0.92, Y:0.33, Z:-0.30 [[ 9.99991167e-01 -3.93745996e-03 1.47054874e-03 9.16632872e-01] [ 3.93684681e-03 9.99992163e-01 4.19617658e-04 3.34513442e-01] [-1.47218944e-03 -4.13824626e-04 9.99998831e-01 -2.96559362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.643133365 meters Centerline goodness [0,1] 0.2738450074515648 Centerline is valid? [False, False] Translation: X:0.90, Y:0.33, Z:-0.30 [[ 9.99990256e-01 4.27978707e-03 1.08188658e-03 8.97692110e-01] [-4.27875497e-03 9.99990391e-01 -9.54502836e-04 3.29496704e-01] [-1.08596125e-03 9.49864409e-04 9.99998959e-01 -2.97865874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67313336499999 meters Centerline goodness [0,1] 0.27130570758405004 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 9.99992694e-01 -3.32861786e-03 1.87916301e-03 9.15067330e-01] [ 3.32730163e-03 9.99994217e-01 7.03128369e-04 3.36478619e-01] [-1.88149259e-03 -6.96870690e-04 9.99997987e-01 -2.96271371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70313336499999 meters Centerline goodness [0,1] 0.269099746132315 Centerline is valid? [False, False] Translation: X:0.91, Y:0.34, Z:-0.30 [[ 9.99992321e-01 -3.27058348e-03 2.15908128e-03 9.14138585e-01] [ 3.26918331e-03 9.99994444e-01 6.51714179e-04 3.37351022e-01] [-2.16120077e-03 -6.44650741e-04 9.99997457e-01 -2.95896199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.73313336499999 meters Centerline goodness [0,1] 0.26865929509329645 Centerline is valid? [False, False] Translation: X:0.91, Y:0.34, Z:-0.30 [[ 9.99991510e-01 -3.27509722e-03 2.50074005e-03 9.13155945e-01] [ 3.27445769e-03 9.99994605e-01 2.59788492e-04 3.39804713e-01] [-2.50157739e-03 -2.51597719e-04 9.99996839e-01 -2.95790624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.763133364999995 meters Centerline goodness [0,1] 0.2700208008320333 Centerline is valid? [False, False] Translation: X:0.91, Y:0.34, Z:-0.30 [[ 9.99991243e-01 -3.39149042e-03 2.45176114e-03 9.13351384e-01] [ 3.39168603e-03 9.99994245e-01 -7.56285883e-05 3.41197337e-01] [-2.45149054e-03 8.39435300e-05 9.99996992e-01 -2.96035532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.793133364999996 meters Centerline goodness [0,1] 0.2703553365603768 Centerline is valid? [False, False] Translation: X:0.91, Y:0.34, Z:-0.30 [[ 9.99991502e-01 -3.46509843e-03 2.23368180e-03 9.14098401e-01] [ 3.46591847e-03 9.99993928e-01 -3.63361746e-04 3.42638019e-01] [-2.23240915e-03 3.71100417e-04 9.99997439e-01 -2.96536802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.823133365 meters Centerline goodness [0,1] 0.2678331673091082 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 9.99998484e-01 -1.59169891e-03 7.06572301e-04 9.20591945e-01] [ 1.59088196e-03 9.99998067e-01 1.15528674e-03 3.44557578e-01] [-7.08409804e-04 -1.15416092e-03 9.99999083e-01 -3.00133807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.853133365 meters Centerline goodness [0,1] 0.26911828895678747 Centerline is valid? [False, False] Translation: X:0.92, Y:0.35, Z:-0.30 [[ 9.99998572e-01 -1.60474059e-03 5.29714806e-04 9.21180469e-01] [ 1.60419760e-03 9.99998189e-01 1.02390250e-03 3.45232563e-01] [-5.31356944e-04 -1.02305127e-03 9.99999336e-01 -3.00511637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88313336499999 meters Centerline goodness [0,1] 0.27025202030103035 Centerline is valid? [False, False] Translation: X:0.92, Y:0.35, Z:-0.30 [[ 9.99998354e-01 -1.74268650e-03 5.04403007e-04 9.21177073e-01] [ 1.74229843e-03 9.99998187e-01 7.68775914e-04 3.45856859e-01] [-5.05741828e-04 -7.67895828e-04 9.99999577e-01 -3.00495754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.91313336499999 meters Centerline goodness [0,1] 0.2617698769290877 Centerline is valid? [False, False] Translation: X:0.92, Y:0.35, Z:-0.30 [[ 9.99998303e-01 -1.74176549e-03 5.99751367e-04 9.20797024e-01] [ 1.74130376e-03 9.99998188e-01 7.69526348e-04 3.45890754e-01] [-6.01090615e-04 -7.68480693e-04 9.99999524e-01 -3.00284514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.943133364999994 meters Centerline goodness [0,1] 0.2721368119491766 Centerline is valid? [False, False] Translation: X:0.92, Y:0.35, Z:-0.30 [[ 9.99998303e-01 -1.70546395e-03 6.96456419e-04 9.20290516e-01] [ 1.70492461e-03 9.99998247e-01 7.74268411e-04 3.46247731e-01] [-6.97775685e-04 -7.73079692e-04 9.99999458e-01 -2.99831585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.973133364999995 meters Centerline goodness [0,1] 0.2615291393451492 Centerline is valid? [False, False] Translation: X:0.94, Y:0.35, Z:-0.30 [[ 9.99974588e-01 6.52960994e-03 2.86135168e-03 9.40042003e-01] [-6.52912329e-03 9.99978669e-01 -1.79387167e-04 3.48081340e-01] [-2.86246197e-03 1.60700490e-04 9.99995890e-01 -2.99288812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.003133365 meters Centerline goodness [0,1] 0.2688686392069436 Centerline is valid? [False, False] Translation: X:0.94, Y:0.35, Z:-0.30 [[ 9.99974858e-01 6.40392764e-03 3.04520262e-03 9.39413880e-01] [-6.40238834e-03 9.99979372e-01 -5.14962190e-04 3.49694322e-01] [-3.04843758e-03 4.95452673e-04 9.99995231e-01 -2.99097799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.033133365 meters Centerline goodness [0,1] 0.26119935170178277 Centerline is valid? [False, False] Translation: X:0.94, Y:0.35, Z:-0.30 [[ 0.99997569 0.00623244 0.00312665 0.93886496] [-0.00622925 0.99998007 -0.00102878 0.35242892] [-0.003133 0.00100928 0.99999458 -0.2986801 ] [ 0. 0. 0. 1. ]] SLAMing on 54.06313336499999 meters Centerline goodness [0,1] 0.25903770012050265 Centerline is valid? [False, False] Translation: X:0.94, Y:0.35, Z:-0.30 [[ 0.99997652 0.00617546 0.00297012 0.93926693] [-0.00617189 0.99998022 -0.00121105 0.35353153] [-0.00297754 0.00119269 0.99999486 -0.29875293] [ 0. 0. 0. 1. ]] SLAMing on 54.09313336499999 meters Centerline goodness [0,1] 0.27142545295786946 Centerline is valid? [False, False] Translation: X:0.92, Y:0.36, Z:-0.30 [[ 9.99994283e-01 -2.23508056e-03 2.53756941e-03 9.17451707e-01] [ 2.23657968e-03 9.99997326e-01 -5.88088624e-04 3.56666819e-01] [-2.53624820e-03 5.93760738e-04 9.99996607e-01 -2.99245683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.123133364999994 meters Centerline goodness [0,1] 0.263320094624216 Centerline is valid? [False, False] Translation: X:0.92, Y:0.36, Z:-0.30 [[ 9.99993576e-01 -2.28377712e-03 2.76256846e-03 9.16614452e-01] [ 2.28529029e-03 9.99997240e-01 -5.44707345e-04 3.56251193e-01] [-2.76131685e-03 5.51017117e-04 9.99996036e-01 -2.98696498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.153133364999995 meters Centerline goodness [0,1] 0.2634458799261752 Centerline is valid? [False, False] Translation: X:0.92, Y:0.35, Z:-0.30 [[ 9.99992110e-01 -2.36572428e-03 3.19126098e-03 9.15181591e-01] [ 2.36691582e-03 9.99997131e-01 -3.69650679e-04 3.54927302e-01] [-3.19037733e-03 3.77201208e-04 9.99994840e-01 -2.97843286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.183133364999996 meters Centerline goodness [0,1] 0.2713015639533626 Centerline is valid? [False, False] Translation: X:0.91, Y:0.35, Z:-0.30 [[ 9.99989263e-01 -3.13698350e-03 3.41069827e-03 9.14299513e-01] [ 3.13843791e-03 9.99994986e-01 -4.21158216e-04 3.52114752e-01] [-3.40936000e-03 4.31857959e-04 9.99994095e-01 -2.97038662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.213133365 meters Centerline goodness [0,1] 0.2729742063060909 Centerline is valid? [False, False] Translation: X:0.92, Y:0.35, Z:-0.30 [[ 9.99988545e-01 -3.53406575e-03 3.22792250e-03 9.15320955e-01] [ 3.53450833e-03 9.99993745e-01 -1.31415905e-04 3.49004297e-01] [-3.22743788e-03 1.42823519e-04 9.99994782e-01 -2.97696280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24313336499999 meters Centerline goodness [0,1] 0.2726028884786622 Centerline is valid? [False, False] Translation: X:0.92, Y:0.35, Z:-0.30 [[ 9.99989018e-01 -3.44133297e-03 3.18131325e-03 9.15760799e-01] [ 3.44047308e-03 9.99994044e-01 2.75729862e-04 3.46876086e-01] [-3.18224318e-03 -2.64781612e-04 9.99994902e-01 -2.98120494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27313336499999 meters Centerline goodness [0,1] 0.27656001221400683 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 9.99989572e-01 -3.33178857e-03 3.12346689e-03 9.16185190e-01] [ 3.32969678e-03 9.99994229e-01 6.74664519e-04 3.44816165e-01] [-3.12569670e-03 -6.64257286e-04 9.99994894e-01 -2.98489363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.303133364999994 meters Centerline goodness [0,1] 0.2735892138740894 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.99998984 -0.0031467 0.00322716 0.91621207] [ 0.00314205 0.99999402 0.00144615 0.34074647] [-0.00323169 -0.00143599 0.99999375 -0.29875031] [ 0. 0. 0. 1. ]] SLAMing on 54.333133364999995 meters Centerline goodness [0,1] 0.27673476499542626 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.99999029 -0.00300499 0.00322303 0.91630713] [ 0.00299913 0.99999384 0.00182242 0.33891597] [-0.00322849 -0.00181274 0.99999315 -0.29885084] [ 0. 0. 0. 1. ]] SLAMing on 54.363133364999996 meters Centerline goodness [0,1] 0.2716228821832223 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.99999098 -0.00286855 0.00313335 0.91669582] [ 0.00286195 0.99999368 0.00210984 0.33765206] [-0.00313938 -0.00210085 0.99999287 -0.29914197] [ 0. 0. 0. 1. ]] SLAMing on 54.393133365 meters Centerline goodness [0,1] 0.2737548184768168 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.9999925 -0.00276058 0.0027164 0.91826182] [ 0.00275435 0.99999358 0.00229257 0.33646296] [-0.00272271 -0.00228507 0.99999368 -0.30019031] [ 0. 0. 0. 1. ]] SLAMing on 54.42313336499999 meters Centerline goodness [0,1] 0.27325505544683626 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.99999341 -0.00274733 0.00237175 0.91967673] [ 0.00274191 0.99999362 0.00228896 0.3361401 ] [-0.00237802 -0.00228244 0.99999457 -0.30126628] [ 0. 0. 0. 1. ]] SLAMing on 54.45313336499999 meters Centerline goodness [0,1] 0.2726002576025498 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.99999506 -0.0025379 0.00185235 0.92160527] [ 0.00253323 0.99999362 0.00251769 0.33548265] [-0.00185873 -0.00251298 0.99999512 -0.30258661] [ 0. 0. 0. 1. ]] SLAMing on 54.48313336499999 meters Centerline goodness [0,1] 0.2726002576025498 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.99999506 -0.0025379 0.00185235 0.92160527] [ 0.00253323 0.99999362 0.00251769 0.33548265] [-0.00185873 -0.00251298 0.99999512 -0.30258661] [ 0. 0. 0. 1. ]] SLAMing on 54.513133364999995 meters Centerline goodness [0,1] 0.2719667095143685 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.99999546 -0.00242961 0.00178193 0.92187631] [ 0.00242492 0.9999936 0.00263179 0.33544963] [-0.00178831 -0.00262746 0.99999495 -0.30276349] [ 0. 0. 0. 1. ]] SLAMing on 54.543133364999996 meters Centerline goodness [0,1] 0.27242047508110345 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.99999561 -0.00243126 0.00169526 0.9222744 ] [ 0.0024268 0.9999936 0.00262746 0.33534663] [-0.00170163 -0.00262334 0.99999511 -0.30311395] [ 0. 0. 0. 1. ]] SLAMing on 54.573133365 meters Centerline goodness [0,1] 0.2607527464193625 Centerline is valid? [False, False] Translation: X:0.92, Y:0.33, Z:-0.30 [[ 0.99999561 -0.00257003 0.0014744 0.92299324] [ 0.00256631 0.99999354 0.0025167 0.33489578] [-0.00148086 -0.0025129 0.99999575 -0.30349422] [ 0. 0. 0. 1. ]] SLAMing on 54.603133365 meters Centerline goodness [0,1] 0.25866315243691673 Centerline is valid? [False, False] Translation: X:0.92, Y:0.33, Z:-0.30 [[ 0.99999557 -0.00255074 0.00153573 0.92246887] [ 0.00254678 0.99999345 0.00257311 0.33465496] [-0.00154228 -0.00256919 0.99999551 -0.30290187] [ 0. 0. 0. 1. ]] SLAMing on 54.63313336499999 meters Centerline goodness [0,1] 0.2711230876216968 Centerline is valid? [False, False] Translation: X:0.92, Y:0.33, Z:-0.30 [[ 0.99999539 -0.00251915 0.00169505 0.92165583] [ 0.00251473 0.99999344 0.00260557 0.33468366] [-0.0017016 -0.00260129 0.99999517 -0.30220012] [ 0. 0. 0. 1. ]] SLAMing on 54.66313336499999 meters Centerline goodness [0,1] 0.271903652242089 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.99999515 -0.00250341 0.00185018 0.92093352] [ 0.00249896 0.999994 0.00240074 0.33626712] [-0.00185618 -0.00239611 0.99999541 -0.30173656] [ 0. 0. 0. 1. ]] SLAMing on 54.693133364999994 meters Centerline goodness [0,1] 0.2747389575778758 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.99999493 -0.0025984 0.0018389 0.92117286] [ 0.00259441 0.99999428 0.00216965 0.33717474] [-0.00184453 -0.00216487 0.99999596 -0.30214806] [ 0. 0. 0. 1. ]] SLAMing on 54.723133364999995 meters Centerline goodness [0,1] 0.27298031966945746 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.99999406 -0.00271807 0.00212133 0.92027673] [ 0.00271412 0.99999458 0.00186288 0.33849682] [-0.00212639 -0.00185711 0.99999601 -0.30191094] [ 0. 0. 0. 1. ]] SLAMing on 54.753133365 meters Centerline goodness [0,1] 0.2742838470754819 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.99999335 -0.00275524 0.00239121 0.91920137] [ 0.00275105 0.99999468 0.00175252 0.33910708] [-0.00239603 -0.00174593 0.99999561 -0.30121304] [ 0. 0. 0. 1. ]] SLAMing on 54.783133365 meters Centerline goodness [0,1] 0.2741956578603191 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.99999279 -0.00280064 0.00256375 0.91834762] [ 0.00279653 0.99999481 0.00160291 0.33993764] [-0.00256823 -0.00159573 0.99999543 -0.30052825] [ 0. 0. 0. 1. ]] SLAMing on 54.81313336499999 meters Centerline goodness [0,1] 0.2734322538719809 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.99999298 -0.00278779 0.00250467 0.91852625] [ 0.00278405 0.999995 0.00149707 0.34085833] [-0.00250883 -0.00149009 0.99999574 -0.30060649] [ 0. 0. 0. 1. ]] SLAMing on 54.84313336499999 meters Centerline goodness [0,1] 0.26491946847022607 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.99999319 -0.00278507 0.00242276 0.91900831] [ 0.00278174 0.99999518 0.00137784 0.34166527] [-0.00242659 -0.00137109 0.99999612 -0.30117516] [ 0. 0. 0. 1. ]] SLAMing on 54.873133364999994 meters Centerline goodness [0,1] 0.27189946792403863 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.99999332 -0.00280026 0.00235112 0.91929941] [ 0.00279732 0.9999953 0.0012533 0.34240158] [-0.00235462 -0.00124671 0.99999645 -0.30142345] [ 0. 0. 0. 1. ]] SLAMing on 54.903133364999995 meters Centerline goodness [0,1] 0.26356304192704394 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.99999358 -0.00282701 0.00220141 0.91944518] [ 0.00282464 0.99999543 0.00108005 0.34333645] [-0.00220445 -0.00107383 0.99999699 -0.30118647] [ 0. 0. 0. 1. ]] SLAMing on 54.933133364999996 meters Centerline goodness [0,1] 0.27052178241392 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.99999376 -0.00280599 0.00214495 0.91959763] [ 0.00280369 0.99999549 0.00107477 0.34353 ] [-0.00214795 -0.00106875 0.99999712 -0.30125167] [ 0. 0. 0. 1. ]] SLAMing on 54.963133365 meters Centerline goodness [0,1] 0.2645453363947494 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.99999321 -0.0027878 0.0024093 0.91849733] [ 0.00278521 0.99999554 0.00107736 0.34387286] [-0.00241229 -0.00107064 0.99999652 -0.30048801] [ 0. 0. 0. 1. ]] SLAMing on 54.99313336499999 meters Centerline goodness [0,1] 0.27278245035983695 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.99999314 -0.00274576 0.00248592 0.91819852] [ 0.0027429 0.99999557 0.00115511 0.34352946] [-0.00248908 -0.00114828 0.99999624 -0.30028535] [ 0. 0. 0. 1. ]] SLAMing on 55.02313336499999 meters Centerline goodness [0,1] 0.27251837239047016 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.99999321 -0.00273366 0.00246995 0.9183694 ] [ 0.00273073 0.99999557 0.00118692 0.34341026] [-0.00247319 -0.00118016 0.99999625 -0.30049665] [ 0. 0. 0. 1. ]] SLAMing on 55.053133364999994 meters Centerline goodness [0,1] 0.2749727728163799 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.9999939 -0.00280417 0.00208467 0.9195392 ] [ 0.00280169 0.99999536 0.00119345 0.34282955] [-0.00208801 -0.0011876 0.99999711 -0.30088457] [ 0. 0. 0. 1. ]] SLAMing on 55.083133364999995 meters Centerline goodness [0,1] 0.2740140018263252 Centerline is valid? [False, False] Translation: X:0.92, Y:0.34, Z:-0.30 [[ 0.99999419 -0.00278501 0.00196318 0.91968631] [ 0.00278265 0.9999954 0.00120523 0.34288808] [-0.00196653 -0.00119976 0.99999735 -0.30066088] [ 0. 0. 0. 1. ]] SLAMing on 55.113133364999996 meters Centerline goodness [0,1] 0.2640084351867792 Centerline is valid? [False, False] Translation: X:0.94, Y:0.34, Z:-0.30 [[ 9.99983796e-01 5.13636805e-03 2.45456501e-03 9.38812962e-01] [-5.13666699e-03 9.99986801e-01 1.15501466e-04 3.41614363e-01] [-2.45393936e-03 -1.28107877e-04 9.99996981e-01 -2.98623612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.143133365 meters Centerline goodness [0,1] 0.27145976092172674 Centerline is valid? [False, False] Translation: X:0.94, Y:0.34, Z:-0.30 [[ 9.99983888e-01 5.10965109e-03 2.47298487e-03 9.38809140e-01] [-5.10991771e-03 9.99986939e-01 1.01508698e-04 3.41477690e-01] [-2.47243390e-03 -1.14143811e-04 9.99996937e-01 -2.98687985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17313336499999 meters Centerline goodness [0,1] 0.2637286521353276 Centerline is valid? [False, False] Translation: X:0.94, Y:0.34, Z:-0.30 [[ 9.99984110e-01 5.09791949e-03 2.40636801e-03 9.39144342e-01] [-5.09836754e-03 9.99986987e-01 1.80097206e-04 3.40793802e-01] [-2.40541857e-03 -1.92362892e-04 9.99997088e-01 -2.98980007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20313336499999 meters Centerline goodness [0,1] 0.27555274243184846 Centerline is valid? [False, False] Translation: X:0.94, Y:0.34, Z:-0.30 [[ 9.99984125e-01 5.14393483e-03 2.29991687e-03 9.39610600e-01] [-5.14557420e-03 9.99986511e-01 7.07447399e-04 3.37671459e-01] [-2.29624679e-03 -7.19270561e-04 9.99997105e-01 -2.99213618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23313336499999 meters Centerline goodness [0,1] 0.2645453363947494 Centerline is valid? [False, False] Translation: X:0.94, Y:0.34, Z:-0.30 [[ 0.99998399 0.00519416 0.00224512 0.93976051] [-0.00519665 0.99998589 0.00110138 0.3353752 ] [-0.00223937 -0.00111303 0.99999687 -0.29911402] [ 0. 0. 0. 1. ]] SLAMing on 55.263133364999995 meters Centerline goodness [0,1] 0.2637334083970292 Centerline is valid? [False, False] Translation: X:0.94, Y:0.33, Z:-0.30 [[ 0.99999681 0.00148625 0.00204387 0.94008218] [-0.00148214 0.99999689 -0.0020075 0.33098812] [-0.00204685 0.00200446 0.9999959 -0.29884863] [ 0. 0. 0. 1. ]] SLAMing on 55.293133364999996 meters Centerline goodness [0,1] 0.2748345089527944 Centerline is valid? [False, False] Translation: X:0.94, Y:0.33, Z:-0.30 [[ 0.99999727 0.00156014 0.00174188 0.94098068] [-0.00155753 0.99999766 -0.00150253 0.32796745] [-0.00174422 0.00149981 0.99999735 -0.29906865] [ 0. 0. 0. 1. ]] SLAMing on 55.323133365 meters Centerline goodness [0,1] 0.2625051494980595 Centerline is valid? [False, False] Translation: X:0.94, Y:0.33, Z:-0.30 [[ 9.99997385e-01 1.74392557e-03 1.47929794e-03 9.41913713e-01] [-1.74252582e-03 9.99998033e-01 -9.46988835e-04 3.25150358e-01] [-1.48094650e-03 9.44408644e-04 9.99998457e-01 -2.99463523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.353133365 meters Centerline goodness [0,1] 0.2593048359240069 Centerline is valid? [False, False] Translation: X:0.94, Y:0.32, Z:-0.30 [[ 9.99997211e-01 1.96933428e-03 1.30405383e-03 9.42884815e-01] [-1.96893750e-03 9.99998015e-01 -3.05478600e-04 3.21653255e-01] [-1.30465283e-03 3.02910147e-04 9.99999103e-01 -3.00246267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38313336499999 meters Centerline goodness [0,1] 0.2635006077444001 Centerline is valid? [False, False] Translation: X:0.94, Y:0.32, Z:-0.30 [[ 9.99997221e-01 2.00210901e-03 1.24495014e-03 9.43119142e-01] [-2.00182921e-03 9.99997971e-01 -2.25949707e-04 3.20934818e-01] [-1.24539999e-03 2.23456901e-04 9.99999200e-01 -3.00472550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.41313336499999 meters Centerline goodness [0,1] 0.2764397905759163 Centerline is valid? [False, False] Translation: X:0.94, Y:0.32, Z:-0.30 [[ 9.99997319e-01 1.99804050e-03 1.17043808e-03 9.43356199e-01] [-1.99770605e-03 9.99997963e-01 -2.86840914e-04 3.20958300e-01] [-1.17100882e-03 2.84501954e-04 9.99999274e-01 -3.00676874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.443133364999994 meters Centerline goodness [0,1] 0.2791004708885271 Centerline is valid? [False, False] Translation: X:0.94, Y:0.32, Z:-0.30 [[ 9.99997133e-01 2.21476068e-03 9.10274364e-04 9.43887448e-01] [-2.21453212e-03 9.99997516e-01 -2.52016555e-04 3.21400251e-01] [-9.10830260e-04 2.50000001e-04 9.99999554e-01 -3.00729671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.473133364999995 meters Centerline goodness [0,1] 0.26563825852353085 Centerline is valid? [False, False] Translation: X:0.96, Y:0.33, Z:-0.30 [[ 0.99998366 -0.00552951 0.00144765 0.96236265] [ 0.00552785 0.99998406 0.00114939 0.32675027] [-0.00145399 -0.00114137 0.99999829 -0.2998641 ] [ 0. 0. 0. 1. ]] SLAMing on 55.503133365 meters Centerline goodness [0,1] 0.258569251572192 Centerline is valid? [False, False] Translation: X:0.98, Y:0.32, Z:-0.30 [[ 9.99993998e-01 2.41240277e-03 2.48692517e-03 9.82407575e-01] [-2.41281724e-03 9.99997076e-01 1.63675998e-04 3.23596881e-01] [-2.48652304e-03 -1.69675511e-04 9.99996894e-01 -2.99154814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.533133365 meters Centerline goodness [0,1] 0.265016207279135 Centerline is valid? [False, False] Translation: X:0.96, Y:0.32, Z:-0.30 [[ 9.99977660e-01 -6.37031120e-03 2.02458762e-03 9.59576612e-01] [ 6.36873475e-03 9.99979412e-01 7.84147319e-04 3.23479452e-01] [-2.02954120e-03 -7.71235739e-04 9.99997643e-01 -2.98919908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56313336499999 meters Centerline goodness [0,1] 0.2630691034930248 Centerline is valid? [False, False] Translation: X:0.98, Y:0.32, Z:-0.30 [[ 9.99997558e-01 1.22517405e-03 1.83923186e-03 9.78093802e-01] [-1.22475468e-03 9.99999224e-01 -2.29123316e-04 3.19343896e-01] [-1.83951115e-03 2.26870148e-04 9.99998282e-01 -2.96661083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.59313336499999 meters Centerline goodness [0,1] 0.2643918140101347 Centerline is valid? [False, False] Translation: X:0.98, Y:0.32, Z:-0.30 [[ 9.99997162e-01 1.31417266e-03 1.98698051e-03 9.77051452e-01] [-1.31451264e-03 9.99999122e-01 1.69807414e-04 3.17429052e-01] [-1.98675561e-03 -1.72418843e-04 9.99998012e-01 -2.95362952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.623133364999994 meters Centerline goodness [0,1] 0.2784046182104435 Centerline is valid? [False, False] Translation: X:0.98, Y:0.32, Z:-0.29 [[ 9.99997246e-01 1.35066636e-03 1.91932796e-03 9.76960076e-01] [-1.35125386e-03 9.99999041e-01 3.04832987e-04 3.16716478e-01] [-1.91891439e-03 -3.07425646e-04 9.99998112e-01 -2.94894859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.653133364999995 meters Centerline goodness [0,1] 0.27721170245331705 Centerline is valid? [False, False] Translation: X:0.98, Y:0.32, Z:-0.29 [[ 9.99997314e-01 1.38387543e-03 1.85951514e-03 9.77049501e-01] [-1.38469081e-03 9.99998946e-01 4.37274690e-04 3.16073186e-01] [-1.85890805e-03 -4.39848368e-04 9.99998175e-01 -2.94786738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.683133364999996 meters Centerline goodness [0,1] 0.27760005222954887 Centerline is valid? [False, False] Translation: X:0.98, Y:0.31, Z:-0.29 [[ 9.99997037e-01 1.52793782e-03 1.89509812e-03 9.76962608e-01] [-1.52939449e-03 9.99998536e-01 7.67444718e-04 3.14768722e-01] [-1.89392274e-03 -7.70340796e-04 9.99997910e-01 -2.94754127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.713133365 meters Centerline goodness [0,1] 0.26395608687162353 Centerline is valid? [False, False] Translation: X:0.98, Y:0.31, Z:-0.29 [[ 0.99999672 0.00161905 0.00198399 0.97668823] [-0.00162104 0.99999818 0.00100357 0.31368686] [-0.00198236 -0.00100679 0.99999753 -0.29458501] [ 0. 0. 0. 1. ]] SLAMing on 55.74313336499999 meters Centerline goodness [0,1] 0.26214389079677747 Centerline is valid? [False, False] Translation: X:0.98, Y:0.31, Z:-0.29 [[ 0.99999619 0.00167569 0.00219543 0.97594641] [-0.001679 0.99999746 0.00150663 0.31057735] [-0.0021929 -0.00151031 0.99999646 -0.29404878] [ 0. 0. 0. 1. ]] SLAMing on 55.77313336499999 meters Centerline goodness [0,1] 0.2661962936347205 Centerline is valid? [False, False] Translation: X:0.98, Y:0.31, Z:-0.29 [[ 0.99999611 0.00176277 0.00216393 0.97609866] [-0.00176678 0.99999672 0.0018543 0.30857106] [-0.00216065 -0.00185811 0.99999594 -0.29411349] [ 0. 0. 0. 1. ]] SLAMing on 55.803133364999994 meters Centerline goodness [0,1] 0.27979320014020326 Centerline is valid? [False, False] Translation: X:0.98, Y:0.31, Z:-0.29 [[ 0.99999612 0.00185797 0.00207476 0.9764275 ] [-0.00186253 0.99999585 0.00219943 0.30662353] [-0.00207067 -0.00220328 0.99999543 -0.29427056] [ 0. 0. 0. 1. ]] SLAMing on 55.833133364999995 meters Centerline goodness [0,1] 0.2593737256669457 Centerline is valid? [False, False] Translation: X:1.02, Y:0.31, Z:-0.30 [[ 0.99999345 0.0012927 0.00338092 1.0210953 ] [-0.00129955 0.99999711 0.00202436 0.30768894] [-0.0033783 -0.00202874 0.99999224 -0.29531272] [ 0. 0. 0. 1. ]] SLAMing on 55.863133364999996 meters Centerline goodness [0,1] 0.25928875877211865 Centerline is valid? [False, False] Translation: X:1.02, Y:0.31, Z:-0.30 [[ 0.99999392 0.0014084 0.00319151 1.02165972] [-0.00141584 0.99999628 0.00232965 0.30570196] [-0.00318822 -0.00233415 0.99999219 -0.29548962] [ 0. 0. 0. 1. ]] SLAMing on 55.893133365 meters Centerline goodness [0,1] 0.26501628664495114 Centerline is valid? [False, False] Translation: X:1.02, Y:0.31, Z:-0.30 [[ 0.99999382 0.00144859 0.00320389 1.02157987] [-0.0014562 0.99999612 0.00237421 0.30541301] [-0.00320043 -0.00237886 0.99999205 -0.29545548] [ 0. 0. 0. 1. ]] SLAMing on 55.92313336499999 meters Centerline goodness [0,1] 0.2622001296736546 Centerline is valid? [False, False] Translation: X:1.02, Y:0.30, Z:-0.30 [[ 0.99999237 0.00174846 0.00349223 1.02093069] [-0.0017578 0.99999488 0.00267284 0.30454536] [-0.00348754 -0.00267896 0.99999033 -0.29559268] [ 0. 0. 0. 1. ]] SLAMing on 55.95313336499999 meters Centerline goodness [0,1] 0.2624085938005565 Centerline is valid? [False, False] Translation: X:1.02, Y:0.30, Z:-0.30 [[ 0.99999223 0.0017767 0.00351919 1.02102559] [-0.00178639 0.99999461 0.00275314 0.3039371 ] [-0.00351428 -0.0027594 0.99999002 -0.29586796] [ 0. 0. 0. 1. ]] SLAMing on 55.98313336499999 meters Centerline goodness [0,1] 0.26365295216579054 Centerline is valid? [False, False] Translation: X:1.02, Y:0.30, Z:-0.30 [[ 0.99999293 0.00180123 0.00330112 1.02187466] [-0.00181054 0.99999438 0.00282165 0.30329732] [-0.00329602 -0.0028276 0.99999057 -0.29645941] [ 0. 0. 0. 1. ]] SLAMing on 56.013133364999995 meters Centerline goodness [0,1] 0.2645927997203775 Centerline is valid? [False, False] Translation: X:1.02, Y:0.30, Z:-0.30 [[ 0.99999508 0.0018562 0.00252796 1.02456426] [-0.00186382 0.99999371 0.00301624 0.30174987] [-0.00252234 -0.00302094 0.99999226 -0.29795776] [ 0. 0. 0. 1. ]] SLAMing on 56.043133364999996 meters Centerline goodness [0,1] 0.2602742693732534 Centerline is valid? [False, False] Translation: X:1.03, Y:0.30, Z:-0.30 [[ 0.99999554 0.00189615 0.00230824 1.02529234] [-0.00190349 0.99999313 0.00318103 0.30079642] [-0.00230219 -0.00318541 0.99999228 -0.29827391] [ 0. 0. 0. 1. ]] SLAMing on 56.073133365 meters Centerline goodness [0,1] 0.25520698855323176 Centerline is valid? [False, False] Translation: X:1.02, Y:0.30, Z:-0.30 [[ 0.99999552 0.00176865 0.00241368 1.02495917] [-0.00177716 0.9999922 0.00352588 0.29807066] [-0.00240742 -0.00353016 0.99999087 -0.29798498] [ 0. 0. 0. 1. ]] SLAMing on 56.103133365 meters Centerline goodness [0,1] 0.2568821226996518 Centerline is valid? [False, False] Translation: X:1.02, Y:0.30, Z:-0.30 [[ 0.99999559 0.00172754 0.00241482 1.02492257] [-0.00173663 0.99999139 0.00377013 0.29624353] [-0.00240829 -0.0037743 0.99998998 -0.29779797] [ 0. 0. 0. 1. ]] SLAMing on 56.13313336499999 meters Centerline goodness [0,1] 0.25987192011288396 Centerline is valid? [False, False] Translation: X:1.03, Y:0.29, Z:-0.30 [[ 0.999996 0.00175172 0.00222239 1.02553599] [-0.00176083 0.99999003 0.00410442 0.29420683] [-0.00221517 -0.00410832 0.99998911 -0.2979477 ] [ 0. 0. 0. 1. ]] SLAMing on 56.16313336499999 meters Centerline goodness [0,1] 0.2551676520088033 Centerline is valid? [False, False] Translation: X:1.03, Y:0.29, Z:-0.30 [[ 0.99999732 0.0016878 0.00158166 1.02749112] [-0.00169506 0.999988 0.00459742 0.29107197] [-0.00157388 -0.00460009 0.99998818 -0.2984708 ] [ 0. 0. 0. 1. ]] SLAMing on 56.193133364999994 meters Centerline goodness [0,1] 0.2587950557524419 Centerline is valid? [False, False] Translation: X:1.03, Y:0.29, Z:-0.30 [[ 0.99999728 0.00176812 0.00152263 1.02772201] [-0.00177557 0.99998642 0.00490061 0.28953116] [-0.00151394 -0.0049033 0.99998683 -0.29850788] [ 0. 0. 0. 1. ]] SLAMing on 56.223133364999995 meters Centerline goodness [0,1] 0.2607301484129564 Centerline is valid? [False, False] Translation: X:1.03, Y:0.29, Z:-0.30 [[ 0.99999708 0.00183897 0.00156886 1.02754131] [-0.00184707 0.99998489 0.0051775 0.28810175] [-0.00155931 -0.00518038 0.99998537 -0.29834261] [ 0. 0. 0. 1. ]] SLAMing on 56.253133365 meters Centerline goodness [0,1] 0.25931070405417134 Centerline is valid? [False, False] Translation: X:1.03, Y:0.29, Z:-0.30 [[ 0.99999744 0.0018607 0.00128705 1.02832828] [-0.00186781 0.99998287 0.00554797 0.28561722] [-0.00127671 -0.00555036 0.99998378 -0.29841191] [ 0. 0. 0. 1. ]] SLAMing on 56.283133365 meters Centerline goodness [0,1] 0.2637616679752246 Centerline is valid? [False, False] Translation: X:1.03, Y:0.28, Z:-0.30 [[ 0.9999974 0.0020058 0.00108226 1.02885829] [-0.00201228 0.99997982 0.00602621 0.28323669] [-0.00107016 -0.00602837 0.99998126 -0.29838094] [ 0. 0. 0. 1. ]] SLAMing on 56.31313336499999 meters Centerline goodness [0,1] 0.2580073481737627 Centerline is valid? [False, False] Translation: X:1.03, Y:0.28, Z:-0.30 [[ 0.99999707 0.00207928 0.00123664 1.02828729] [-0.00208703 0.99997802 0.00629303 0.28183192] [-0.00122353 -0.00629559 0.99997943 -0.29796377] [ 0. 0. 0. 1. ]] SLAMing on 56.34313336499999 meters Centerline goodness [0,1] 0.26488589665121975 Centerline is valid? [False, False] Translation: X:1.00, Y:0.28, Z:-0.30 [[ 0.99996437 0.00820102 0.00199921 1.0047321 ] [-0.00820809 0.99996001 0.00355128 0.27681765] [-0.00197001 -0.00356756 0.9999917 -0.29720433] [ 0. 0. 0. 1. ]] SLAMing on 56.373133364999994 meters Centerline goodness [0,1] 0.26488589665121975 Centerline is valid? [False, False] Translation: X:1.00, Y:0.28, Z:-0.30 [[ 0.99996437 0.00820102 0.00199921 1.0047321 ] [-0.00820809 0.99996001 0.00355128 0.27681765] [-0.00197001 -0.00356756 0.9999917 -0.29720433] [ 0. 0. 0. 1. ]] SLAMing on 56.403133364999995 meters Centerline goodness [0,1] 0.26184787802441245 Centerline is valid? [False, False] Translation: X:1.02, Y:0.28, Z:-0.30 [[ 9.99995678e-01 -2.01507277e-04 2.93318898e-03 1.02347481e+00] [ 1.88458477e-04 9.99990089e-01 4.44827027e-03 2.80864003e-01] [-2.93405627e-03 -4.44769826e-03 9.99985805e-01 -2.96362395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.433133364999996 meters Centerline goodness [0,1] 0.25849619508820476 Centerline is valid? [False, False] Translation: X:1.02, Y:0.28, Z:-0.30 [[ 9.99994764e-01 -1.48972889e-04 3.23261029e-03 1.02269806e+00] [ 1.34243496e-04 9.99989611e-01 4.55623991e-03 2.80384833e-01] [-3.23325546e-03 -4.55578209e-03 9.99984395e-01 -2.96271487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.463133365 meters Centerline goodness [0,1] 0.2570295835039107 Centerline is valid? [False, False] Translation: X:1.02, Y:0.28, Z:-0.30 [[ 9.99994805e-01 -8.70518950e-05 3.22220992e-03 1.02280458e+00] [ 7.22548828e-05 9.99989454e-01 4.59202531e-03 2.80471576e-01] [-3.22257568e-03 -4.59176863e-03 9.99984265e-01 -2.96402649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49313336499999 meters Centerline goodness [0,1] 0.2662284847552263 Centerline is valid? [False, False] Translation: X:0.98, Y:0.28, Z:-0.30 [[ 9.99999975e-01 -9.56458170e-05 2.02258184e-04 9.80162854e-01] [ 9.47938710e-05 9.99991142e-01 4.20799346e-03 2.78716065e-01] [-2.02658870e-04 -4.20797418e-03 9.99991126e-01 -2.96204054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52313336499999 meters Centerline goodness [0,1] 0.26464104075262485 Centerline is valid? [False, False] Translation: X:0.98, Y:0.28, Z:-0.30 [[ 9.99999986e-01 -1.04863883e-04 1.28307153e-04 9.80415238e-01] [ 1.04336579e-04 9.99991578e-01 4.10282831e-03 2.79193335e-01] [-1.28736311e-04 -4.10281487e-03 9.99991575e-01 -2.96409487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.553133364999994 meters Centerline goodness [0,1] 0.26000649420933 Centerline is valid? [False, False] Translation: X:0.98, Y:0.28, Z:-0.30 [[ 9.99999987e-01 -9.75691040e-05 1.24849211e-04 9.80401216e-01] [ 9.70746966e-05 9.99992178e-01 3.95393315e-03 2.80116639e-01] [-1.25234016e-04 -3.95392098e-03 9.99992175e-01 -2.96455250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.583133364999995 meters Centerline goodness [0,1] 0.2571459506279775 Centerline is valid? [False, False] Translation: X:0.98, Y:0.28, Z:-0.30 [[ 9.99999940e-01 -6.95481088e-05 3.40098128e-04 9.79614976e-01] [ 6.83070937e-05 9.99993345e-01 3.64764230e-03 2.81862258e-01] [-3.40349551e-04 -3.64761885e-03 9.99993289e-01 -2.96155894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.613133364999996 meters Centerline goodness [0,1] 0.25941331946791457 Centerline is valid? [False, False] Translation: X:0.98, Y:0.28, Z:-0.30 [[ 9.99999925e-01 -1.45736448e-04 3.59494609e-04 9.79427964e-01] [ 1.44503824e-04 9.99994119e-01 3.42641422e-03 2.82809628e-01] [-3.59991849e-04 -3.42636201e-03 9.99994065e-01 -2.96013172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.643133365 meters Centerline goodness [0,1] 0.2553338366950707 Centerline is valid? [False, False] Translation: X:0.98, Y:0.28, Z:-0.30 [[ 9.99999897e-01 -2.15573413e-04 3.98423820e-04 9.79248629e-01] [ 2.14294726e-04 9.99994836e-01 3.20662599e-03 2.83822304e-01] [-3.99113026e-04 -3.20654028e-03 9.99994779e-01 -2.95950607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67313336499999 meters Centerline goodness [0,1] 0.2628080803678442 Centerline is valid? [False, False] Translation: X:0.96, Y:0.28, Z:-0.30 [[ 0.99996552 0.00821786 0.0011962 0.95776325] [-0.00822086 0.999963 0.00253136 0.2790693 ] [-0.00117536 -0.0025411 0.99999608 -0.2959369 ] [ 0. 0. 0. 1. ]] SLAMing on 56.70313336499999 meters Centerline goodness [0,1] 0.26129151051708077 Centerline is valid? [False, False] Translation: X:0.98, Y:0.29, Z:-0.29 [[ 9.99998675e-01 5.50264782e-04 1.53186557e-03 9.75523766e-01] [-5.56396108e-04 9.99991825e-01 4.00497751e-03 2.85348173e-01] [-1.52964925e-03 -4.00582452e-03 9.99990807e-01 -2.93916920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.73313336499999 meters Centerline goodness [0,1] 0.26364722493754755 Centerline is valid? [False, False] Translation: X:0.98, Y:0.29, Z:-0.29 [[ 9.99998711e-01 4.81891172e-04 1.53148140e-03 9.75412941e-01] [-4.87554516e-04 9.99993037e-01 3.69973195e-03 2.87124503e-01] [-1.52968787e-03 -3.70047386e-03 9.99991983e-01 -2.93825809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.763133364999995 meters Centerline goodness [0,1] 0.2597995714378477 Centerline is valid? [False, False] Translation: X:0.98, Y:0.29, Z:-0.29 [[ 9.99998901e-01 3.91178594e-04 1.43004372e-03 9.75925817e-01] [-3.96058009e-04 9.99994096e-01 3.41338451e-03 2.88496917e-01] [-1.42870003e-03 -3.41394714e-03 9.99993152e-01 -2.94336039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.793133364999996 meters Centerline goodness [0,1] 0.2558189608767737 Centerline is valid? [False, False] Translation: X:0.98, Y:0.29, Z:-0.29 [[ 9.99999166e-01 2.85207610e-04 1.25929200e-03 9.76613247e-01] [-2.89037111e-04 9.99995332e-01 3.04186132e-03 2.90382807e-01] [-1.25841856e-03 -3.04222277e-03 9.99994581e-01 -2.94888271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.823133365 meters Centerline goodness [0,1] 0.25899638629822774 Centerline is valid? [False, False] Translation: X:0.98, Y:0.29, Z:-0.30 [[ 9.99999217e-01 2.21862171e-04 1.23149652e-03 9.76778041e-01] [-2.25217271e-04 9.99996262e-01 2.72493953e-03 2.92276692e-01] [-1.23088735e-03 -2.72521475e-03 9.99995529e-01 -2.95171265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.853133365 meters Centerline goodness [0,1] 0.2614486842961581 Centerline is valid? [False, False] Translation: X:0.98, Y:0.30, Z:-0.29 [[ 9.99998806e-01 1.48823070e-04 1.53814878e-03 9.75624241e-01] [-1.51875693e-04 9.99998019e-01 1.98468236e-03 2.97023898e-01] [-1.53785037e-03 -1.98491360e-03 9.99996848e-01 -2.94709980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88313336499999 meters Centerline goodness [0,1] 0.26418505369083667 Centerline is valid? [False, False] Translation: X:0.98, Y:0.30, Z:-0.29 [[ 9.99998714e-01 -4.97442355e-05 1.60313349e-03 9.75337381e-01] [ 4.74490462e-05 9.99998974e-01 1.43169565e-03 2.99704220e-01] [-1.60320307e-03 -1.43161774e-03 9.99997690e-01 -2.94606789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.91313336499999 meters Centerline goodness [0,1] 0.26198596658918605 Centerline is valid? [False, False] Translation: X:0.98, Y:0.30, Z:-0.29 [[ 9.99999167e-01 -1.87363261e-04 1.27705228e-03 9.75958798e-01] [ 1.86517998e-04 9.99999764e-01 6.61973039e-04 3.04627216e-01] [-1.27717600e-03 -6.61734294e-04 9.99998965e-01 -2.94632481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.943133364999994 meters Centerline goodness [0,1] 0.2556175539134369 Centerline is valid? [False, False] Translation: X:0.98, Y:0.31, Z:-0.29 [[ 9.99999288e-01 -2.60773808e-04 1.16410157e-03 9.76205462e-01] [ 2.60439503e-04 9.99999925e-01 2.87321528e-04 3.07055447e-01] [-1.16417641e-03 -2.87018145e-04 9.99999281e-01 -2.94660652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.973133364999995 meters Centerline goodness [0,1] 0.25905828433068145 Centerline is valid? [False, False] Translation: X:0.98, Y:0.31, Z:-0.29 [[ 9.99999352e-01 -6.43284892e-04 9.39455192e-04 9.76678754e-01] [ 6.43919289e-04 9.99999565e-01 -6.75135366e-04 3.11639909e-01] [-9.39020479e-04 6.75739861e-04 9.99999331e-01 -2.94672720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.003133365 meters Centerline goodness [0,1] 0.26101149025069637 Centerline is valid? [False, False] Translation: X:0.98, Y:0.31, Z:-0.29 [[ 9.99999294e-01 -8.13312983e-04 8.66656652e-04 9.76731130e-01] [ 8.14259480e-04 9.99999072e-01 -1.09233193e-03 3.13545894e-01] [-8.65767440e-04 1.09303684e-03 9.99999028e-01 -2.94538870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.033133365 meters Centerline goodness [0,1] 0.2517858679748688 Centerline is valid? [False, False] Translation: X:1.00, Y:0.32, Z:-0.29 [[ 9.99960203e-01 -8.81958575e-03 1.34470170e-03 9.95600481e-01] [ 8.81959083e-03 9.99961107e-01 2.15586658e-06 3.21336378e-01] [-1.34466841e-03 9.70393798e-06 9.99999096e-01 -2.93298578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06313336499999 meters Centerline goodness [0,1] 0.2574184776744286 Centerline is valid? [False, False] Translation: X:0.99, Y:0.32, Z:-0.29 [[ 9.99956376e-01 -9.16268475e-03 1.81393192e-03 9.93959370e-01] [ 9.16305136e-03 9.99958000e-01 -1.93902007e-04 3.21984571e-01] [-1.81207907e-03 2.10514699e-04 9.99998336e-01 -2.92346362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.09313336499999 meters Centerline goodness [0,1] 0.2571416233023125 Centerline is valid? [False, False] Translation: X:0.99, Y:0.32, Z:-0.29 [[ 9.99954366e-01 -9.43703662e-03 1.48626469e-03 9.94755270e-01] [ 9.43751655e-03 9.99955416e-01 -3.16230002e-04 3.21573176e-01] [-1.48321415e-03 3.30242218e-04 9.99998846e-01 -2.92278763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.123133364999994 meters Centerline goodness [0,1] 0.25532834723963516 Centerline is valid? [False, False] Translation: X:1.00, Y:0.32, Z:-0.29 [[ 9.99952380e-01 -9.69962313e-03 1.07449889e-03 9.95837791e-01] [ 9.69998162e-03 9.99952900e-01 -3.28931938e-04 3.20515353e-01] [-1.07125777e-03 3.39338894e-04 9.99999369e-01 -2.92311937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.153133364999995 meters Centerline goodness [0,1] 0.2612488822002661 Centerline is valid? [False, False] Translation: X:0.98, Y:0.31, Z:-0.29 [[ 9.99998326e-01 -1.55081836e-03 9.70990446e-04 9.76810495e-01] [ 1.55188933e-03 9.99998187e-01 -1.10319228e-03 3.13505710e-01] [-9.69277835e-04 1.10469730e-03 9.99998920e-01 -2.93094721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.183133364999996 meters Centerline goodness [0,1] 0.2617886532851482 Centerline is valid? [False, False] Translation: X:0.98, Y:0.31, Z:-0.29 [[ 9.99998252e-01 -1.46087430e-03 1.16666070e-03 9.75964641e-01] [ 1.46164148e-03 9.99998716e-01 -6.57006112e-04 3.11936722e-01] [-1.16569940e-03 6.58710203e-04 9.99999104e-01 -2.92218928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.213133365 meters Centerline goodness [0,1] 0.25988138014632667 Centerline is valid? [False, False] Translation: X:0.98, Y:0.31, Z:-0.29 [[ 9.99998165e-01 -1.45686157e-03 1.24414001e-03 9.75555349e-01] [ 1.45775843e-03 9.99998678e-01 -7.20264097e-04 3.12445151e-01] [-1.24308904e-03 7.22076430e-04 9.99998967e-01 -2.91818044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24313336499999 meters Centerline goodness [0,1] 0.25755423553719003 Centerline is valid? [False, False] Translation: X:0.97, Y:0.32, Z:-0.29 [[ 0.99999748 -0.00135822 0.00178763 0.97377533] [ 0.00136037 0.99999835 -0.001205 0.31553352] [-0.00178599 0.00120743 0.99999768 -0.29116382] [ 0. 0. 0. 1. ]] SLAMing on 57.27313336499999 meters Centerline goodness [0,1] 0.2750475274785307 Centerline is valid? [False, False] Translation: X:0.95, Y:0.31, Z:-0.29 [[ 0.99996853 0.00776607 0.00162357 0.95178024] [-0.00776299 0.99996807 -0.00189464 0.31296516] [-0.00163824 0.00188198 0.99999689 -0.29097851] [ 0. 0. 0. 1. ]] SLAMing on 57.303133364999994 meters Centerline goodness [0,1] 0.2654261599685136 Centerline is valid? [False, False] Translation: X:0.95, Y:0.32, Z:-0.29 [[ 0.99996757 0.00789698 0.0015787 0.95186196] [-0.00789342 0.99996632 -0.00224824 0.31561101] [-0.0015964 0.0022357 0.99999623 -0.29111813] [ 0. 0. 0. 1. ]] SLAMing on 57.333133364999995 meters Centerline goodness [0,1] 0.26061642353144887 Centerline is valid? [False, False] Translation: X:0.96, Y:0.32, Z:-0.29 [[ 9.99950192e-01 9.96082914e-03 6.29584216e-04 9.56254539e-01] [-9.96018884e-03 9.99949884e-01 -1.01209801e-03 3.21127672e-01] [-6.39633999e-04 1.00577682e-03 9.99999290e-01 -2.93877935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.363133364999996 meters Centerline goodness [0,1] 0.26177544103589123 Centerline is valid? [False, False] Translation: X:0.94, Y:0.33, Z:-0.30 [[ 9.99997592e-01 2.11802474e-03 5.75109478e-04 9.37048148e-01] [-2.11799948e-03 9.99997756e-01 -4.45356382e-05 3.25637643e-01] [-5.75202515e-04 4.33174494e-05 9.99999834e-01 -2.95839020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.393133365 meters Centerline goodness [0,1] 0.2580414426911739 Centerline is valid? [False, False] Translation: X:0.94, Y:0.33, Z:-0.30 [[ 9.99997716e-01 2.03829960e-03 6.43396354e-04 9.36759008e-01] [-2.03811456e-03 9.99997882e-01 -2.88117818e-04 3.26712006e-01] [-6.43982261e-04 2.86805845e-04 9.99999752e-01 -2.95752429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42313336499999 meters Centerline goodness [0,1] 0.25737439222042136 Centerline is valid? [False, False] Translation: X:0.94, Y:0.33, Z:-0.30 [[ 9.99997677e-01 2.00221372e-03 7.98685458e-04 9.36096113e-01] [-2.00193800e-03 9.99997936e-01 -3.45877602e-04 3.26864850e-01] [-7.99376331e-04 3.44277880e-04 9.99999621e-01 -2.95288294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45313336499999 meters Centerline goodness [0,1] 0.2623605504188914 Centerline is valid? [False, False] Translation: X:0.94, Y:0.33, Z:-0.29 [[ 9.99997459e-01 1.97327746e-03 1.08967522e-03 9.35058842e-01] [-1.97287481e-03 9.99997985e-01 -3.70461993e-04 3.26874640e-01] [-1.09040405e-03 3.68311259e-04 9.99999338e-01 -2.94781189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48313336499999 meters Centerline goodness [0,1] 0.2585548871207711 Centerline is valid? [False, False] Translation: X:0.93, Y:0.33, Z:-0.29 [[ 9.99997043e-01 1.98754528e-03 1.40102039e-03 9.34301804e-01] [-1.98700641e-03 9.99997951e-01 -3.85917752e-04 3.27189613e-01] [-1.40178454e-03 3.83132774e-04 9.99998944e-01 -2.94773693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.513133364999995 meters Centerline goodness [0,1] 0.2623605504188914 Centerline is valid? [False, False] Translation: X:0.94, Y:0.33, Z:-0.30 [[ 9.99997266e-01 1.98712181e-03 1.23286578e-03 9.35019997e-01] [-1.98654999e-03 9.99997919e-01 -4.64860465e-04 3.27835606e-01] [-1.23378695e-03 4.62410044e-04 9.99999132e-01 -2.95359077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.543133364999996 meters Centerline goodness [0,1] 0.2557913389229839 Centerline is valid? [False, False] Translation: X:0.94, Y:0.33, Z:-0.30 [[ 9.99997630e-01 2.14882526e-03 3.50576686e-04 9.37821667e-01] [-2.14868015e-03 9.99997606e-01 -4.13792680e-04 3.28069248e-01] [-3.51465015e-04 4.13038422e-04 9.99999853e-01 -2.96598827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.573133365 meters Centerline goodness [0,1] 0.2559211950638667 Centerline is valid? [False, False] Translation: X:0.94, Y:0.33, Z:-0.30 [[ 9.99997675e-01 2.15655941e-03 3.40185672e-06 9.38820251e-01] [-2.15655826e-03 9.99997627e-01 -3.07998674e-04 3.27179327e-01] [-4.06606609e-06 3.07990621e-04 9.99999953e-01 -2.96887219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60313336499999 meters Centerline goodness [0,1] 0.2551313318800855 Centerline is valid? [False, False] Translation: X:0.94, Y:0.33, Z:-0.30 [[ 9.99997469e-01 2.22918554e-03 -3.05799882e-04 9.39703764e-01] [-2.22918186e-03 9.99997515e-01 1.23634229e-05 3.25350426e-01] [ 3.05826683e-04 -1.16817080e-05 9.99999953e-01 -2.97087644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63313336499999 meters Centerline goodness [0,1] 0.2593422856769756 Centerline is valid? [False, False] Translation: X:0.94, Y:0.32, Z:-0.30 [[ 9.99999160e-01 -1.22557913e-03 -4.22883305e-04 9.39726411e-01] [ 1.22436583e-03 9.99995168e-01 -2.85754818e-03 3.21422847e-01] [ 4.26383413e-04 2.85702801e-03 9.99995828e-01 -2.96719048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66313336499999 meters Centerline goodness [0,1] 0.25527225583405355 Centerline is valid? [False, False] Translation: X:0.94, Y:0.32, Z:-0.30 [[ 9.99999219e-01 -1.16228561e-03 -4.59268021e-04 9.39824337e-01] [ 1.16122564e-03 9.99996677e-01 -2.30152048e-03 3.18262900e-01] [ 4.61941519e-04 2.30098537e-03 9.99997246e-01 -2.96596171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.693133364999994 meters Centerline goodness [0,1] 0.2575119348497613 Centerline is valid? [False, False] Translation: X:0.94, Y:0.31, Z:-0.29 [[ 9.99994527e-01 -3.27120982e-03 4.94989386e-04 9.35800974e-01] [ 3.27285525e-03 9.99988997e-01 -3.36070114e-03 3.10618761e-01] [-4.83990381e-04 3.36230278e-03 9.99994230e-01 -2.94177934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.723133364999995 meters Centerline goodness [0,1] 0.2580952174947546 Centerline is valid? [False, False] Translation: X:0.93, Y:0.31, Z:-0.29 [[ 0.99999402 -0.00326839 0.00112975 0.93399405] [ 0.00327155 0.99999072 -0.00280215 0.30712001] [-0.00112058 0.00280583 0.99999544 -0.29352345] [ 0. 0. 0. 1. ]] SLAMing on 57.753133365 meters Centerline goodness [0,1] 0.26090356211989574 Centerline is valid? [False, False] Translation: X:0.93, Y:0.30, Z:-0.29 [[ 0.99997502 -0.00685744 0.00171489 0.93213253] [ 0.00686706 0.99996036 -0.00566812 0.30188169] [-0.00167595 0.00567976 0.99998247 -0.29253614] [ 0. 0. 0. 1. ]] SLAMing on 57.783133365 meters Centerline goodness [0,1] 0.25875713544369483 Centerline is valid? [False, False] Translation: X:0.93, Y:0.30, Z:-0.29 [[ 0.99997617 -0.00672358 0.00156872 0.93248144] [ 0.00673158 0.9999641 -0.00514631 0.29905423] [-0.00153406 0.00515675 0.99998553 -0.29245203] [ 0. 0. 0. 1. ]] SLAMing on 57.81313336499999 meters Centerline goodness [0,1] 0.25973716685790993 Centerline is valid? [False, False] Translation: X:0.93, Y:0.30, Z:-0.29 [[ 0.99997785 -0.00653624 0.00125742 0.93343963] [ 0.00654201 0.99996785 -0.00463655 0.29660377] [-0.00122707 0.00464467 0.99998846 -0.292766 ] [ 0. 0. 0. 1. ]] SLAMing on 57.84313336499999 meters Centerline goodness [0,1] 0.25999781587856285 Centerline is valid? [False, False] Translation: X:0.92, Y:0.29, Z:-0.29 [[ 9.99998214e-01 1.84750890e-03 3.97578354e-04 9.15560554e-01] [-1.84536018e-03 9.99984046e-01 -5.33868402e-03 2.88306680e-01] [-4.07435278e-04 5.33794082e-03 9.99985670e-01 -2.94400988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.873133364999994 meters Centerline goodness [0,1] 0.25623754656501774 Centerline is valid? [False, False] Translation: X:0.94, Y:0.29, Z:-0.29 [[ 9.99975897e-01 -6.94167714e-03 -1.38679301e-04 9.37242940e-01] [ 6.94096920e-03 9.99965421e-01 -4.58038592e-03 2.87911454e-01] [ 1.70470066e-04 4.57931295e-03 9.99989500e-01 -2.94529514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.903133364999995 meters Centerline goodness [0,1] 0.26236351253377854 Centerline is valid? [False, False] Translation: X:0.92, Y:0.28, Z:-0.30 [[ 9.99999254e-01 1.21433741e-03 -1.33669414e-04 9.17253676e-01] [-1.21502155e-03 9.99985518e-01 -5.24287809e-03 2.79124821e-01] [ 1.27300855e-04 5.24303658e-03 9.99986247e-01 -2.95343288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.933133364999996 meters Centerline goodness [0,1] 0.2580890336590662 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.29 [[ 0.99997635 -0.00672533 0.00144044 0.93655449] [ 0.00673041 0.99997104 -0.0035515 0.27975645] [-0.00141651 0.00356111 0.99999266 -0.29450412] [ 0. 0. 0. 1. ]] SLAMing on 57.963133365 meters Centerline goodness [0,1] 0.25930197136515953 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.29 [[ 0.99997649 -0.00666793 0.00160196 0.93606937] [ 0.00667327 0.99997211 -0.00335469 0.2785487 ] [-0.00157955 0.00336531 0.99999309 -0.29429464] [ 0. 0. 0. 1. ]] SLAMing on 57.99313336499999 meters Centerline goodness [0,1] 0.2595283675600417 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.29 [[ 0.99997644 -0.00664938 0.00170184 0.93581297] [ 0.00665494 0.99997247 -0.00328176 0.27792764] [-0.00167997 0.00329301 0.99999317 -0.29428412] [ 0. 0. 0. 1. ]] SLAMing on 58.02313336499999 meters Centerline goodness [0,1] 0.25937356359577124 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.29 [[ 0.99997672 -0.00655506 0.0018959 0.93559293] [ 0.00656139 0.99997287 -0.00334798 0.27853762] [-0.0018739 0.00336034 0.9999926 -0.29478238] [ 0. 0. 0. 1. ]] SLAMing on 58.053133364999994 meters Centerline goodness [0,1] 0.2585747405369099 Centerline is valid? [False, False] Translation: X:0.96, Y:0.28, Z:-0.29 [[ 0.99999701 0.00196752 0.0014498 0.95696442] [-0.00196165 0.99998991 -0.00404162 0.27675098] [-0.00145774 0.00403877 0.99999078 -0.29427786] [ 0. 0. 0. 1. ]] SLAMing on 58.083133364999995 meters Centerline goodness [0,1] 0.2541373201399991 Centerline is valid? [False, False] Translation: X:0.96, Y:0.28, Z:-0.30 [[ 9.99997547e-01 2.05663833e-03 8.21985739e-04 9.58850262e-01] [-2.05314840e-03 9.99988970e-01 -4.22425591e-03 2.78069374e-01] [-8.30664439e-04 4.22255789e-03 9.99990740e-01 -2.95068140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.113133364999996 meters Centerline goodness [0,1] 0.2573995540593713 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.30 [[ 9.99980263e-01 -6.26171840e-03 -5.14231850e-04 9.38685429e-01] [ 6.25996565e-03 9.99974821e-01 -3.34214112e-03 2.81547594e-01] [ 5.35146449e-04 3.33885608e-03 9.99994283e-01 -2.95522836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.143133365 meters Centerline goodness [0,1] 0.2575905761665689 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.30 [[ 9.99980390e-01 -6.23035480e-03 -6.33502481e-04 9.38928668e-01] [ 6.22819187e-03 9.99974957e-01 -3.36075109e-03 2.81864807e-01] [ 6.54425288e-04 3.35673961e-03 9.99994152e-01 -2.95503433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17313336499999 meters Centerline goodness [0,1] 0.25998134935264905 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.30 [[ 9.99980463e-01 -6.20603396e-03 -7.47935003e-04 9.39305357e-01] [ 6.20337001e-03 9.99974588e-01 -3.51293282e-03 2.83148179e-01] [ 7.69717377e-04 3.50822447e-03 9.99993550e-01 -2.95731783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20313336499999 meters Centerline goodness [0,1] 0.2546210120773993 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.30 [[ 9.99980105e-01 -6.25707393e-03 -7.99224652e-04 9.39583340e-01] [ 6.25409658e-03 9.99973690e-01 -3.67501187e-03 2.83850219e-01] [ 8.22198446e-04 3.66994033e-03 9.99992928e-01 -2.96045834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.23313336499999 meters Centerline goodness [0,1] 0.25544153212628273 Centerline is valid? [False, False] Translation: X:0.92, Y:0.28, Z:-0.30 [[ 9.99998095e-01 1.84582221e-03 -6.34975994e-04 9.20127748e-01] [-1.84891358e-03 9.99986272e-01 -4.90284953e-03 2.78891945e-01] [ 6.25917489e-04 4.90401421e-03 9.99987779e-01 -2.97513514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.263133364999995 meters Centerline goodness [0,1] 0.25393973504199496 Centerline is valid? [False, False] Translation: X:0.92, Y:0.28, Z:-0.30 [[ 9.99998037e-01 1.96881639e-03 -2.22503282e-04 9.18837610e-01] [-1.96993583e-03 9.99984808e-01 -5.14816121e-03 2.81565430e-01] [ 2.12364118e-04 5.14858942e-03 9.99986723e-01 -2.97137815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.293133364999996 meters Centerline goodness [0,1] 0.25393973504199496 Centerline is valid? [False, False] Translation: X:0.92, Y:0.28, Z:-0.30 [[ 9.99998037e-01 1.96881639e-03 -2.22503282e-04 9.18837610e-01] [-1.96993583e-03 9.99984808e-01 -5.14816121e-03 2.81565430e-01] [ 2.12364118e-04 5.14858942e-03 9.99986723e-01 -2.97137815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.323133365 meters Centerline goodness [0,1] 0.25903076017527416 Centerline is valid? [False, False] Translation: X:0.92, Y:0.28, Z:-0.30 [[ 9.99998047e-01 1.97344750e-03 -1.03673556e-04 9.18430314e-01] [-1.97397551e-03 9.99983649e-01 -5.36709558e-03 2.83299897e-01] [ 9.30801792e-05 5.36728975e-03 9.99985592e-01 -2.96982122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35313336499999 meters Centerline goodness [0,1] 0.2539173403263908 Centerline is valid? [False, False] Translation: X:0.92, Y:0.29, Z:-0.30 [[ 9.99997893e-01 2.05167843e-03 -6.09590530e-05 9.18200970e-01] [-2.05200488e-03 9.99980186e-01 -5.95116139e-03 2.87572908e-01] [ 4.87479757e-05 5.95127394e-03 9.99982290e-01 -2.96952602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38313336499999 meters Centerline goodness [0,1] 0.2586654451061231 Centerline is valid? [False, False] Translation: X:0.92, Y:0.29, Z:-0.30 [[ 9.99998074e-01 1.96163311e-03 6.57775799e-05 9.17764668e-01] [-1.96117112e-03 9.99977528e-01 -6.41077525e-03 2.90203333e-01] [-7.83516907e-05 6.41063390e-03 9.99979449e-01 -2.96856793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.41313336499999 meters Centerline goodness [0,1] 0.2600235335134664 Centerline is valid? [False, False] Translation: X:0.92, Y:0.30, Z:-0.30 [[ 9.99997394e-01 2.27434761e-03 1.96087610e-04 9.16849327e-01] [-2.27294059e-03 9.99973614e-01 -6.89961556e-03 2.96492088e-01] [-2.11774560e-04 6.89915189e-03 9.99976178e-01 -2.96227973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.443133364999994 meters Centerline goodness [0,1] 0.25512213063326195 Centerline is valid? [False, False] Translation: X:0.92, Y:0.30, Z:-0.30 [[ 9.99997686e-01 2.12630076e-03 3.27089443e-04 9.16221081e-01] [-2.12379864e-03 9.99969854e-01 -7.46870381e-03 2.99554031e-01] [-3.42960293e-04 7.46799185e-03 9.99972055e-01 -2.95828914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.473133364999995 meters Centerline goodness [0,1] 0.25865669044718986 Centerline is valid? [False, False] Translation: X:0.91, Y:0.30, Z:-0.30 [[ 9.99997815e-01 1.97667913e-03 6.80657115e-04 9.14906415e-01] [-1.97119903e-03 9.99966377e-01 -7.95988630e-03 3.02207026e-01] [-6.96368371e-04 7.95852720e-03 9.99968088e-01 -2.95148574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.503133365 meters Centerline goodness [0,1] 0.2544496284776222 Centerline is valid? [False, False] Translation: X:0.93, Y:0.31, Z:-0.29 [[ 0.99998211 -0.00557405 0.0021706 0.93170939] [ 0.00558783 0.99996394 -0.00639436 0.31063073] [-0.00213488 0.00640637 0.9999772 -0.29320066] [ 0. 0. 0. 1. ]] SLAMing on 58.533133365 meters Centerline goodness [0,1] 0.25937890338975755 Centerline is valid? [False, False] Translation: X:0.93, Y:0.31, Z:-0.29 [[ 0.9999801 -0.00576635 0.00255725 0.93029041] [ 0.00578366 0.99996007 -0.00681288 0.31280762] [-0.00251786 0.00682753 0.99997352 -0.29241771] [ 0. 0. 0. 1. ]] SLAMing on 58.56313336499999 meters Centerline goodness [0,1] 0.26034201067421847 Centerline is valid? [False, False] Translation: X:0.91, Y:0.31, Z:-0.29 [[ 0.99999556 0.00205276 0.00216151 0.91220069] [-0.0020346 0.99996291 -0.00836919 0.30702253] [-0.00217861 0.00836475 0.99996264 -0.29413162] [ 0. 0. 0. 1. ]] SLAMing on 58.59313336499999 meters Centerline goodness [0,1] 0.2610959799542434 Centerline is valid? [False, False] Translation: X:0.91, Y:0.31, Z:-0.30 [[ 0.99999754 0.00181483 0.00127418 0.91488458] [-0.00180388 0.99996187 -0.00854381 0.30700167] [-0.00128963 0.0085415 0.99996269 -0.29508616] [ 0. 0. 0. 1. ]] SLAMing on 58.623133364999994 meters Centerline goodness [0,1] 0.26363398007341377 Centerline is valid? [False, False] Translation: X:0.92, Y:0.31, Z:-0.30 [[ 0.99999753 0.00187464 0.00119754 0.91524148] [-0.00186448 0.99996273 -0.00843032 0.3067105 ] [-0.0012133 0.00842807 0.99996375 -0.29536307] [ 0. 0. 0. 1. ]] SLAMing on 58.653133364999995 meters Centerline goodness [0,1] 0.2542080648289834 Centerline is valid? [False, False] Translation: X:0.93, Y:0.31, Z:-0.29 [[ 0.99997966 -0.00618479 0.00156029 0.93471905] [ 0.00619614 0.99995356 -0.00738083 0.31244135] [-0.00151457 0.00739034 0.99997154 -0.29465866] [ 0. 0. 0. 1. ]] SLAMing on 58.683133364999996 meters Centerline goodness [0,1] 0.25710381328358856 Centerline is valid? [False, False] Translation: X:0.93, Y:0.31, Z:-0.29 [[ 0.99997938 -0.00623474 0.00153894 0.93493531] [ 0.00624605 0.99995271 -0.00745359 0.31261776] [-0.0014924 0.00746305 0.99997104 -0.29492499] [ 0. 0. 0. 1. ]] SLAMing on 58.713133365 meters Centerline goodness [0,1] 0.2583429605248817 Centerline is valid? [False, False] Translation: X:0.94, Y:0.31, Z:-0.30 [[ 0.99997986 -0.00619906 0.00136118 0.93540747] [ 0.00620896 0.99995338 -0.00739538 0.31246425] [-0.00131527 0.00740368 0.99997173 -0.29503973] [ 0. 0. 0. 1. ]] SLAMing on 58.74313336499999 meters Centerline goodness [0,1] 0.261603098536073 Centerline is valid? [False, False] Translation: X:0.94, Y:0.31, Z:-0.30 [[ 9.99981408e-01 -6.02362212e-03 9.48709775e-04 9.36489275e-01] [ 6.03015022e-03 9.99957069e-01 -7.03543732e-03 3.11274104e-01] [-9.06290230e-04 7.04102738e-03 9.99974801e-01 -2.95160115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77313336499999 meters Centerline goodness [0,1] 0.25892004514280753 Centerline is valid? [False, False] Translation: X:0.94, Y:0.31, Z:-0.30 [[ 9.99982164e-01 -5.89468722e-03 9.61836127e-04 9.36484792e-01] [ 5.90099378e-03 9.99960202e-01 -6.69127383e-03 3.09703460e-01] [-9.22354881e-04 6.69683027e-03 9.99977151e-01 -2.95144497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.803133364999994 meters Centerline goodness [0,1] 0.2502907853358032 Centerline is valid? [False, False] Translation: X:0.94, Y:0.31, Z:-0.29 [[ 0.99998221 -0.00586074 0.00110826 0.93610402] [ 0.00586771 0.99996231 -0.00639897 0.30780244] [-0.00107072 0.00640536 0.99997891 -0.29499952] [ 0. 0. 0. 1. ]] SLAMing on 58.833133364999995 meters Centerline goodness [0,1] 0.2554183576547794 Centerline is valid? [False, False] Translation: X:0.93, Y:0.30, Z:-0.29 [[ 0.99997912 -0.00626631 0.00157889 0.93492446] [ 0.0062758 0.99996181 -0.00608279 0.30286892] [-0.00154071 0.00609257 0.99998025 -0.29477962] [ 0. 0. 0. 1. ]] SLAMing on 58.863133364999996 meters Centerline goodness [0,1] 0.256240283295906 Centerline is valid? [False, False] Translation: X:0.93, Y:0.30, Z:-0.29 [[ 0.99998034 -0.00606732 0.00158462 0.93488031] [ 0.00607574 0.99996716 -0.00536385 0.29917699] [-0.00155203 0.00537338 0.99998436 -0.29458997] [ 0. 0. 0. 1. ]] SLAMing on 58.893133365 meters Centerline goodness [0,1] 0.2598070317456844 Centerline is valid? [False, False] Translation: X:0.92, Y:0.29, Z:-0.30 [[ 0.99999704 0.00159689 0.00183836 0.91619381] [-0.00158664 0.99998327 -0.0055618 0.28550018] [-0.00184721 0.00555887 0.99998284 -0.29611058] [ 0. 0. 0. 1. ]] SLAMing on 58.92313336499999 meters Centerline goodness [0,1] 0.26210588674111945 Centerline is valid? [False, False] Translation: X:0.92, Y:0.28, Z:-0.30 [[ 0.99999708 0.00170844 0.00171108 0.91683395] [-0.00169975 0.99998574 -0.00506203 0.28241926] [-0.0017197 0.0050591 0.99998572 -0.29663055] [ 0. 0. 0. 1. ]] SLAMing on 58.95313336499999 meters Centerline goodness [0,1] 0.25358882754140954 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.30 [[ 0.99997643 -0.00658653 0.00193842 0.93719506] [ 0.00659458 0.99996955 -0.00417345 0.28450135] [-0.00191087 0.00418613 0.99998941 -0.29646867] [ 0. 0. 0. 1. ]] SLAMing on 58.98313336499999 meters Centerline goodness [0,1] 0.25632091291186654 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.30 [[ 0.99998033 -0.00597386 0.00190891 0.93767585] [ 0.00598047 0.99997607 -0.00347673 0.282499 ] [-0.00188809 0.00348808 0.99999213 -0.29719468] [ 0. 0. 0. 1. ]] SLAMing on 59.013133364999995 meters Centerline goodness [0,1] 0.2547188168904456 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.30 [[ 0.99998231 -0.00571469 0.00164968 0.93857858] [ 0.00572013 0.99997817 -0.00330896 0.28246838] [-0.00163073 0.00331834 0.99999316 -0.29776604] [ 0. 0. 0. 1. ]] SLAMing on 59.043133364999996 meters Centerline goodness [0,1] 0.25122506877579087 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.30 [[ 0.99998343 -0.00539614 0.00200321 0.93785018] [ 0.0054023 0.99998065 -0.00308449 0.28183802] [-0.00198652 0.00309526 0.99999324 -0.298101 ] [ 0. 0. 0. 1. ]] SLAMing on 59.073133365 meters Centerline goodness [0,1] 0.255150418067408 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.30 [[ 0.99998332 -0.0053057 0.00228237 0.93694069] [ 0.00531238 0.99998161 -0.00292712 0.28116531] [-0.0022668 0.0029392 0.99999311 -0.29776726] [ 0. 0. 0. 1. ]] SLAMing on 59.10313336499999 meters Centerline goodness [0,1] 0.2551157257192299 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.30 [[ 0.99998343 -0.00521281 0.00244263 0.93651232] [ 0.00521968 0.99998242 -0.00281488 0.28086456] [-0.00242791 0.00282758 0.99999305 -0.29775071] [ 0. 0. 0. 1. ]] SLAMing on 59.13313336499999 meters Centerline goodness [0,1] 0.25540118470651585 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.30 [[ 0.99998325 -0.00521184 0.00251529 0.93655207] [ 0.0052191 0.9999822 -0.00289025 0.28142108] [-0.00250018 0.00290333 0.99999266 -0.29814218] [ 0. 0. 0. 1. ]] SLAMing on 59.16313336499999 meters Centerline goodness [0,1] 0.25625827742677865 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.30 [[ 0.99998243 -0.00527754 0.00269883 0.93610191] [ 0.00528587 0.99998126 -0.00308815 0.28233373] [-0.00268248 0.00310236 0.99999159 -0.29818451] [ 0. 0. 0. 1. ]] SLAMing on 59.193133364999994 meters Centerline goodness [0,1] 0.25409306333476944 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.30 [[ 0.99998128 -0.00538671 0.00290382 0.93524434] [ 0.00539672 0.99997948 -0.00345079 0.28420957] [-0.00288517 0.0034664 0.99998983 -0.29774071] [ 0. 0. 0. 1. ]] SLAMing on 59.223133364999995 meters Centerline goodness [0,1] 0.2557029292318327 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.30 [[ 0.99998183 -0.00539518 0.00269042 0.93566438] [ 0.00540464 0.99997919 -0.00352167 0.28479222] [-0.00267136 0.00353615 0.99999018 -0.29762633] [ 0. 0. 0. 1. ]] SLAMing on 59.253133365 meters Centerline goodness [0,1] 0.2579789565979833 Centerline is valid? [False, False] Translation: X:0.92, Y:0.28, Z:-0.30 [[ 9.99996779e-01 2.50475413e-03 -4.09528030e-04 9.17331102e-01] [-2.50662510e-03 9.99986122e-01 -4.63378263e-03 2.80214691e-01] [ 3.97915861e-04 4.63479424e-03 9.99989180e-01 -2.97396507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.283133365 meters Centerline goodness [0,1] 0.26397899289465554 Centerline is valid? [False, False] Translation: X:0.92, Y:0.28, Z:-0.30 [[ 9.99996774e-01 2.45541013e-03 -6.50514187e-04 9.17937936e-01] [-2.45838476e-03 9.99986342e-01 -4.61209683e-03 2.79842111e-01] [ 6.39180713e-04 4.61368117e-03 9.99989153e-01 -2.97446329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31313336499999 meters Centerline goodness [0,1] 0.25325318855567047 Centerline is valid? [False, False] Translation: X:0.96, Y:0.28, Z:-0.30 [[ 0.99999751 0.00189312 0.00118249 0.96212649] [-0.00188734 0.99998638 -0.00486575 0.28306304] [-0.00119168 0.00486351 0.99998746 -0.2980532 ] [ 0. 0. 0. 1. ]] SLAMing on 59.34313336499999 meters Centerline goodness [0,1] 0.2736010909730776 Centerline is valid? [False, False] Translation: X:0.92, Y:0.28, Z:-0.30 [[ 9.99999182e-01 9.86004285e-04 -8.14617750e-04 9.15955196e-01] [-9.90522098e-04 9.99984029e-01 -5.56426622e-03 2.79496721e-01] [ 8.09118349e-04 5.56506857e-03 9.99984188e-01 -2.96417925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.373133364999994 meters Centerline goodness [0,1] 0.2574841180053955 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.30 [[ 9.99973784e-01 -7.23638688e-03 2.56008829e-04 9.35684991e-01] [ 7.23742634e-03 9.99964462e-01 -4.32364935e-03 2.84528880e-01] [-2.24712132e-04 4.32538885e-03 9.99990620e-01 -2.95496155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.403133364999995 meters Centerline goodness [0,1] 0.25611160607575134 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.30 [[ 9.99973638e-01 -7.25731262e-03 2.34078353e-04 9.35792240e-01] [ 7.25826223e-03 9.99964200e-01 -4.34931233e-03 2.84696575e-01] [-2.02505654e-04 4.35089668e-03 9.99990514e-01 -2.95579560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.433133364999996 meters Centerline goodness [0,1] 0.25573352355013723 Centerline is valid? [False, False] Translation: X:0.94, Y:0.29, Z:-0.30 [[ 9.99972730e-01 -7.38503467e-03 -5.09525590e-06 9.36427002e-01] [ 7.38493456e-03 9.99962322e-01 -4.56258126e-03 2.85525888e-01] [ 3.87898847e-05 4.56241921e-03 9.99989591e-01 -2.95659777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.463133365 meters Centerline goodness [0,1] 0.2617561381606326 Centerline is valid? [False, False] Translation: X:0.92, Y:0.28, Z:-0.30 [[ 9.99999006e-01 1.28456694e-03 -5.82046338e-04 9.15841882e-01] [-1.28758645e-03 9.99985560e-01 -5.21741986e-03 2.80721531e-01] [ 5.75335809e-04 5.21816410e-03 9.99986220e-01 -2.95959562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49313336499999 meters Centerline goodness [0,1] 0.2551117246139246 Centerline is valid? [False, False] Translation: X:0.94, Y:0.29, Z:-0.30 [[ 9.99988620e-01 -4.76773021e-03 1.70095118e-04 9.37227261e-01] [ 4.76811850e-03 9.99985846e-01 -2.36049175e-03 2.85276012e-01] [-1.58838523e-04 2.36127593e-03 9.99997200e-01 -2.96315927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52313336499999 meters Centerline goodness [0,1] 0.2567032396286437 Centerline is valid? [False, False] Translation: X:0.94, Y:0.29, Z:-0.30 [[ 9.99988020e-01 -4.88830997e-03 2.54425143e-04 9.36803363e-01] [ 4.88897324e-03 9.99984471e-01 -2.67512109e-03 2.86724467e-01] [-2.41344371e-04 2.67633291e-03 9.99996389e-01 -2.96013427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.553133364999994 meters Centerline goodness [0,1] 0.25783692254254953 Centerline is valid? [False, False] Translation: X:0.94, Y:0.29, Z:-0.30 [[ 9.99988038e-01 -4.88333497e-03 2.75723411e-04 9.36654149e-01] [ 4.88404585e-03 9.99984590e-01 -2.63928021e-03 2.86411013e-01] [-2.62830673e-04 2.64059529e-03 9.99996479e-01 -2.95894856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.583133364999995 meters Centerline goodness [0,1] 0.25645576744085374 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.30 [[ 9.99988554e-01 -4.78379923e-03 8.25148863e-05 9.37160032e-01] [ 4.78397596e-03 9.99985925e-01 -2.29413578e-03 2.84713415e-01] [-7.15390400e-05 2.29450427e-03 9.99997365e-01 -2.95928140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.613133364999996 meters Centerline goodness [0,1] 0.2570758812293801 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.30 [[ 9.99989071e-01 -4.67526856e-03 4.42463241e-06 9.37287583e-01] [ 4.67526796e-03 9.99987030e-01 -2.02022584e-03 2.83478042e-01] [ 5.02052336e-06 2.02022445e-03 9.99997959e-01 -2.95790428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.643133365 meters Centerline goodness [0,1] 0.2599437700237561 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.30 [[ 9.99989329e-01 -4.61891557e-03 -9.05539110e-05 9.37321139e-01] [ 4.61874180e-03 9.99987653e-01 -1.83345254e-03 2.82392274e-01] [ 9.90213554e-05 1.83301473e-03 9.99998315e-01 -2.95457664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67313336499999 meters Centerline goodness [0,1] 0.25488251778400517 Centerline is valid? [False, False] Translation: X:0.96, Y:0.28, Z:-0.29 [[ 9.99994658e-01 3.26367832e-03 -1.81344713e-04 9.57566785e-01] [-3.26416833e-03 9.99990834e-01 -2.77089304e-03 2.76629149e-01] [ 1.72299747e-04 2.77147018e-03 9.99996145e-01 -2.93764323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70313336499999 meters Centerline goodness [0,1] 0.2732935488086422 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.29 [[ 9.99987947e-01 -4.88125782e-03 -5.28631700e-04 9.36947714e-01] [ 4.88041137e-03 9.99986825e-01 -1.59083965e-03 2.78737283e-01] [ 5.36390034e-04 1.58824054e-03 9.99998595e-01 -2.94430446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.73313336499999 meters Centerline goodness [0,1] 0.2605415483339476 Centerline is valid? [False, False] Translation: X:0.94, Y:0.28, Z:-0.29 [[ 9.99989218e-01 -4.61726392e-03 -4.95048343e-04 9.36651307e-01] [ 4.61678647e-03 9.99988881e-01 -9.61294771e-04 2.75954139e-01] [ 4.99481390e-04 9.58998874e-04 9.99999415e-01 -2.94025160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.763133364999995 meters Centerline goodness [0,1] 0.25654823651452285 Centerline is valid? [False, False] Translation: X:0.94, Y:0.27, Z:-0.29 [[ 9.99989956e-01 -4.46676336e-03 -3.69712785e-04 9.36306723e-01] [ 4.46656301e-03 9.99989879e-01 -5.40957158e-04 2.73924006e-01] [ 3.72125371e-04 5.39300379e-04 9.99999785e-01 -2.93911232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.793133364999996 meters Centerline goodness [0,1] 0.25658192151206594 Centerline is valid? [False, False] Translation: X:0.94, Y:0.27, Z:-0.29 [[ 9.99990477e-01 -4.36334366e-03 -8.92642570e-05 9.35478238e-01] [ 4.36333219e-03 9.99990472e-01 -1.28257684e-04 2.71664931e-01] [ 8.98230388e-05 1.27866973e-04 9.99999988e-01 -2.93563575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.823133365 meters Centerline goodness [0,1] 0.2746204282571285 Centerline is valid? [False, False] Translation: X:0.91, Y:0.26, Z:-0.29 [[ 0.99999781 0.00100886 0.00183478 0.91244776] [-0.00100447 0.99999664 -0.00238904 0.26107578] [-0.00183718 0.00238719 0.99999546 -0.29292918] [ 0. 0. 0. 1. ]] SLAMing on 59.85313336499999 meters Centerline goodness [0,1] 0.27298122523224844 Centerline is valid? [False, False] Translation: X:0.91, Y:0.26, Z:-0.29 [[ 0.99999793 0.0011538 0.00167753 0.91292202] [-0.0011507 0.99999763 -0.00184651 0.25818733] [-0.00167966 0.00184457 0.99999689 -0.29302685] [ 0. 0. 0. 1. ]] SLAMing on 59.88313336499999 meters Centerline goodness [0,1] 0.2764707167354785 Centerline is valid? [False, False] Translation: X:0.91, Y:0.25, Z:-0.29 [[ 9.99997769e-01 1.39264317e-03 1.58810148e-03 9.12924229e-01] [-1.39123059e-03 9.99998636e-01 -8.90239132e-04 2.52849602e-01] [-1.58933910e-03 8.88027730e-04 9.99998343e-01 -2.92578305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.91313336499999 meters Centerline goodness [0,1] 0.2794349195241428 Centerline is valid? [False, False] Translation: X:0.91, Y:0.25, Z:-0.29 [[ 9.99997571e-01 1.49902424e-03 1.61609345e-03 9.12635881e-01] [-1.49830458e-03 9.99998778e-01 -4.46426540e-04 2.50350252e-01] [-1.61676068e-03 4.44004056e-04 9.99998594e-01 -2.92151637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.943133364999994 meters Centerline goodness [0,1] 0.27733946964716194 Centerline is valid? [False, False] Translation: X:0.91, Y:0.25, Z:-0.29 [[ 9.99997501e-01 1.61354555e-03 1.54772394e-03 9.12784626e-01] [-1.61355636e-03 9.99998698e-01 5.73629336e-06 2.47836191e-01] [-1.54771267e-03 -8.23361884e-06 9.99998802e-01 -2.92096056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.973133364999995 meters Centerline goodness [0,1] 0.26351410357174043 Centerline is valid? [False, False] Translation: X:0.92, Y:0.24, Z:-0.29 [[ 9.99998588e-01 1.61776395e-03 4.55485062e-04 9.16146133e-01] [-1.61809688e-03 9.99998423e-01 7.31531658e-04 2.42596937e-01] [-4.54300899e-04 -7.32267644e-04 9.99999629e-01 -2.93336940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.003133365 meters Centerline goodness [0,1] 0.27669140113487556 Centerline is valid? [False, False] Translation: X:0.92, Y:0.24, Z:-0.29 [[ 9.99998579e-01 1.68178130e-03 1.15773388e-04 9.17410435e-01] [-1.68191626e-03 9.99997895e-01 1.17561736e-03 2.39828356e-01] [-1.13796013e-04 -1.17581041e-03 9.99999302e-01 -2.94051447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.033133365 meters Centerline goodness [0,1] 0.2605182200268642 Centerline is valid? [False, False] Translation: X:0.92, Y:0.24, Z:-0.29 [[ 9.99998520e-01 1.71949386e-03 -6.49840079e-05 9.18087753e-01] [-1.71938680e-03 9.99997221e-01 1.61306016e-03 2.36860544e-01] [ 6.77574743e-05 -1.61294604e-03 9.99998697e-01 -2.94395849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06313336499999 meters Centerline goodness [0,1] 0.26068866881920816 Centerline is valid? [False, False] Translation: X:0.92, Y:0.23, Z:-0.29 [[ 9.99998691e-01 1.59058771e-03 -2.95669077e-04 9.18402249e-01] [-1.58991590e-03 9.99996185e-01 2.25871254e-03 2.31614259e-01] [ 2.99260629e-04 -2.25823949e-03 9.99997405e-01 -2.94010652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.09313336499999 meters Centerline goodness [0,1] 0.2752449750114576 Centerline is valid? [False, False] Translation: X:0.92, Y:0.23, Z:-0.29 [[ 9.99998311e-01 1.76250473e-03 -5.21620472e-04 9.19029651e-01] [-1.76104335e-03 9.99994560e-01 2.78894698e-03 2.29052355e-01] [ 5.26533167e-04 -2.78802367e-03 9.99995975e-01 -2.94107853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.123133364999994 meters Centerline goodness [0,1] 0.2750320994102413 Centerline is valid? [False, False] Translation: X:0.92, Y:0.23, Z:-0.29 [[ 0.99999735 0.0019214 -0.00127118 0.92130419] [-0.00191697 0.99999212 0.00347672 0.22550431] [ 0.00127786 -0.00347428 0.99999315 -0.29490531] [ 0. 0. 0. 1. ]] SLAMing on 60.153133364999995 meters Centerline goodness [0,1] 0.27721683275039044 Centerline is valid? [False, False] Translation: X:0.92, Y:0.22, Z:-0.30 [[ 0.99999711 0.00194457 -0.00141153 0.92172928] [-0.00193942 0.9999915 0.00363805 0.2244713 ] [ 0.00141859 -0.00363531 0.99999239 -0.29507201] [ 0. 0. 0. 1. ]] SLAMing on 60.183133364999996 meters Centerline goodness [0,1] 0.27721683275039044 Centerline is valid? [False, False] Translation: X:0.92, Y:0.22, Z:-0.30 [[ 0.99999711 0.00194457 -0.00141153 0.92172928] [-0.00193942 0.9999915 0.00363805 0.2244713 ] [ 0.00141859 -0.00363531 0.99999239 -0.29507201] [ 0. 0. 0. 1. ]] SLAMing on 60.213133365 meters Centerline goodness [0,1] 0.2726287732680348 Centerline is valid? [False, False] Translation: X:0.97, Y:0.23, Z:-0.30 [[ 9.99998185e-01 1.67733440e-03 9.03867088e-04 9.65131886e-01] [-1.68032684e-03 9.99993076e-01 3.32018249e-03 2.25411202e-01] [-8.98291774e-04 -3.32169525e-03 9.99994080e-01 -2.95609269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24313336499999 meters Centerline goodness [0,1] 0.2759989587400755 Centerline is valid? [False, False] Translation: X:0.96, Y:0.23, Z:-0.29 [[ 9.99997439e-01 3.10729709e-04 2.24162758e-03 9.59814990e-01] [-3.15660422e-04 9.99997531e-01 2.19959455e-03 2.25333160e-01] [-2.24093857e-03 -2.20029651e-03 9.99995068e-01 -2.92751113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27313336499999 meters Centerline goodness [0,1] 0.27680087051142543 Centerline is valid? [False, False] Translation: X:0.96, Y:0.22, Z:-0.29 [[ 9.99997313e-01 3.15631921e-04 2.29671790e-03 9.59397645e-01] [-3.21221206e-04 9.99996987e-01 2.43363499e-03 2.24015841e-01] [-2.29594285e-03 -2.43436621e-03 9.99994401e-01 -2.92205140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.303133364999994 meters Centerline goodness [0,1] 0.27208930730696146 Centerline is valid? [False, False] Translation: X:0.96, Y:0.22, Z:-0.29 [[ 9.99998637e-01 -3.34961974e-04 1.61654938e-03 9.61208387e-01] [ 3.30940341e-04 9.99996852e-01 2.48741490e-03 2.20992698e-01] [-1.61737748e-03 -2.48687653e-03 9.99995600e-01 -2.92448929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.333133364999995 meters Centerline goodness [0,1] 0.27626341294565593 Centerline is valid? [False, False] Translation: X:0.96, Y:0.22, Z:-0.29 [[ 9.99998453e-01 -5.36782934e-04 1.67521296e-03 9.60900414e-01] [ 5.32260373e-04 9.99996216e-01 2.69897225e-03 2.18898881e-01] [-1.67665539e-03 -2.69807643e-03 9.99994955e-01 -2.92084718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.363133364999996 meters Centerline goodness [0,1] 0.2770191182208349 Centerline is valid? [False, False] Translation: X:0.96, Y:0.22, Z:-0.29 [[ 9.99997574e-01 -7.25771589e-04 2.07986132e-03 9.59634320e-01] [ 7.19580682e-04 9.99995313e-01 2.97580014e-03 2.16501564e-01] [-2.08201132e-03 -2.97429629e-03 9.99993409e-01 -2.91422377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.393133365 meters Centerline goodness [0,1] 0.2787195201460425 Centerline is valid? [False, False] Translation: X:0.96, Y:0.21, Z:-0.29 [[ 0.99999399 -0.0013891 0.00317702 0.95620067] [ 0.00137911 0.9999941 0.00314714 0.21212809] [-0.00318137 -0.00314274 0.99999 -0.28993309] [ 0. 0. 0. 1. ]] SLAMing on 60.42313336499999 meters Centerline goodness [0,1] 0.2769735989284017 Centerline is valid? [False, False] Translation: X:0.96, Y:0.21, Z:-0.29 [[ 0.99999434 -0.00142895 0.00304542 0.9566673 ] [ 0.00141829 0.99999287 0.00349961 0.20965741] [-0.0030504 -0.00349527 0.99998924 -0.29017606] [ 0. 0. 0. 1. ]] SLAMing on 60.45313336499999 meters Centerline goodness [0,1] 0.2804697372434529 Centerline is valid? [False, False] Translation: X:0.94, Y:0.20, Z:-0.29 [[ 9.99990952e-01 3.60166210e-03 2.26356744e-03 9.36915996e-01] [-3.60187128e-03 9.99993509e-01 8.83439356e-05 2.01334840e-01] [-2.26323456e-03 -9.64962148e-05 9.99997434e-01 -2.91226992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48313336499999 meters Centerline goodness [0,1] 0.28128346921378766 Centerline is valid? [False, False] Translation: X:0.94, Y:0.20, Z:-0.29 [[ 9.99990953e-01 3.72664244e-03 2.05106737e-03 9.37444239e-01] [-3.72787844e-03 9.99992872e-01 5.99123138e-04 1.98680186e-01] [-2.04882003e-03 -6.06763847e-04 9.99997717e-01 -2.91305719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.513133364999995 meters Centerline goodness [0,1] 0.27710269239933283 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.29 [[ 0.99998705 -0.00441639 0.00252896 0.95733118] [ 0.00441141 0.99998833 0.00196861 0.1993818 ] [-0.00253762 -0.00195743 0.99999486 -0.2902413 ] [ 0. 0. 0. 1. ]] SLAMing on 60.543133364999996 meters Centerline goodness [0,1] 0.2769380684278908 Centerline is valid? [False, False] Translation: X:0.96, Y:0.19, Z:-0.29 [[ 0.99998787 -0.00426868 0.00245608 0.95741033] [ 0.00426194 0.99998716 0.00274254 0.19480871] [-0.00246776 -0.00273204 0.99999322 -0.29004669] [ 0. 0. 0. 1. ]] SLAMing on 60.573133365 meters Centerline goodness [0,1] 0.27967543515246696 Centerline is valid? [False, False] Translation: X:0.94, Y:0.19, Z:-0.29 [[ 0.99999137 0.00349185 0.00225177 0.93861249] [-0.00349516 0.99999281 0.00146788 0.18840255] [-0.00224662 -0.00147574 0.99999639 -0.29167457] [ 0. 0. 0. 1. ]] SLAMing on 60.60313336499999 meters Centerline goodness [0,1] 0.28218451284749624 Centerline is valid? [False, False] Translation: X:0.94, Y:0.19, Z:-0.29 [[ 0.99999158 0.00362903 0.00191681 0.93922913] [-0.00363215 0.99999209 0.00162278 0.18808697] [-0.00191091 -0.00162973 0.99999685 -0.29143723] [ 0. 0. 0. 1. ]] SLAMing on 60.63313336499999 meters Centerline goodness [0,1] 0.281114806843627 Centerline is valid? [False, False] Translation: X:0.96, Y:0.19, Z:-0.29 [[ 0.99999373 -0.00337593 0.00107145 0.95770386] [ 0.00337267 0.99998971 0.00303328 0.19354268] [-0.00108168 -0.00302964 0.99999483 -0.28955754] [ 0. 0. 0. 1. ]] SLAMing on 60.66313336499999 meters Centerline goodness [0,1] 0.27717781013015796 Centerline is valid? [False, False] Translation: X:0.96, Y:0.19, Z:-0.29 [[ 0.99999358 -0.00341098 0.00109855 0.9575958 ] [ 0.00340785 0.99999014 0.00284552 0.19451711] [-0.00110825 -0.00284176 0.99999535 -0.28947772] [ 0. 0. 0. 1. ]] SLAMing on 60.693133364999994 meters Centerline goodness [0,1] 0.2814276070814189 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.29 [[ 0.99999256 -0.00353091 0.00155043 0.95618875] [ 0.00352715 0.99999085 0.00242213 0.19653732] [-0.00155897 -0.00241664 0.99999586 -0.28894674] [ 0. 0. 0. 1. ]] SLAMing on 60.723133364999995 meters Centerline goodness [0,1] 0.28122631909411744 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.29 [[ 0.99999233 -0.00355722 0.00163723 0.95570113] [ 0.0035535 0.99999112 0.00226765 0.19762798] [-0.00164528 -0.00226181 0.99999609 -0.28849831] [ 0. 0. 0. 1. ]] SLAMing on 60.753133365 meters Centerline goodness [0,1] 0.281201044386423 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.29 [[ 0.99999223 -0.00368729 0.00139546 0.95618085] [ 0.00368468 0.99999147 0.00186869 0.20005265] [-0.00140234 -0.00186354 0.99999728 -0.28839163] [ 0. 0. 0. 1. ]] SLAMing on 60.783133365 meters Centerline goodness [0,1] 0.28068233608958915 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.29 [[ 0.99999176 -0.00384919 0.0012933 0.956449 ] [ 0.00384712 0.99999133 0.00159631 0.20120673] [-0.00129943 -0.00159132 0.99999789 -0.28847164] [ 0. 0. 0. 1. ]] SLAMing on 60.81313336499999 meters Centerline goodness [0,1] 0.27998697634035163 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.29 [[ 9.99988795e-01 -4.44504830e-03 1.62839906e-03 9.55397815e-01] [ 4.44353718e-03 9.99989695e-01 9.30424917e-04 2.03330714e-01] [-1.63251806e-03 -9.23178639e-04 9.99998241e-01 -2.88033142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84313336499999 meters Centerline goodness [0,1] 0.28220912274595955 Centerline is valid? [False, False] Translation: X:0.95, Y:0.20, Z:-0.29 [[ 9.99987559e-01 -4.65168639e-03 1.80097749e-03 9.54761685e-01] [ 4.65049999e-03 9.99988967e-01 6.62382625e-04 2.04321007e-01] [-1.80403882e-03 -6.53998939e-04 9.99998159e-01 -2.87679762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.873133364999994 meters Centerline goodness [0,1] 0.27819289077009457 Centerline is valid? [False, False] Translation: X:0.95, Y:0.21, Z:-0.29 [[ 9.99986608e-01 -4.84703005e-03 1.81401707e-03 9.54573193e-01] [ 4.84631816e-03 9.99988178e-01 3.96625575e-04 2.05438064e-01] [-1.81591808e-03 -3.87828960e-04 9.99998276e-01 -2.87412000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.903133364999995 meters Centerline goodness [0,1] 0.2821289296529488 Centerline is valid? [False, False] Translation: X:0.94, Y:0.21, Z:-0.29 [[ 9.99996224e-01 2.73832758e-03 -2.30670509e-04 9.37112012e-01] [-2.73858798e-03 9.99995605e-01 -1.13624399e-03 2.06068135e-01] [ 2.27558087e-04 1.13687141e-03 9.99999328e-01 -2.87693867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.933133364999996 meters Centerline goodness [0,1] 0.27651858567543064 Centerline is valid? [False, False] Translation: X:0.96, Y:0.21, Z:-0.29 [[ 9.99986550e-01 -4.94597982e-03 -1.56134162e-03 9.57363209e-01] [ 4.94539267e-03 9.99987699e-01 -3.79689035e-04 2.13504442e-01] [ 1.56320035e-03 3.71962481e-04 9.99998709e-01 -2.86337817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.963133365 meters Centerline goodness [0,1] 0.2763813674512935 Centerline is valid? [False, False] Translation: X:0.96, Y:0.22, Z:-0.29 [[ 9.99985163e-01 -5.16443085e-03 -1.73261113e-03 9.58105636e-01] [ 5.16278549e-03 9.99986219e-01 -9.52774855e-04 2.16376753e-01] [ 1.73750779e-03 9.43815620e-04 9.99998045e-01 -2.86882715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99313336499999 meters Centerline goodness [0,1] 0.2806432038834952 Centerline is valid? [False, False] Translation: X:0.95, Y:0.22, Z:-0.28 [[ 9.99993854e-01 -3.42134170e-03 -7.66294924e-04 9.54110266e-01] [ 3.42134016e-03 9.99994147e-01 -3.32364623e-06 2.24007101e-01] [ 7.66301810e-04 7.01870206e-07 9.99999706e-01 -2.84904065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02313336499999 meters Centerline goodness [0,1] 0.2818970402336428 Centerline is valid? [False, False] Translation: X:0.95, Y:0.23, Z:-0.28 [[ 9.99993301e-01 -3.61185197e-03 -5.93050062e-04 9.53384097e-01] [ 3.61143210e-03 9.99993228e-01 -7.07526300e-04 2.27781295e-01] [ 5.95601526e-04 7.05379801e-04 9.99999574e-01 -2.84344943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.053133364999994 meters Centerline goodness [0,1] 0.2811733287013918 Centerline is valid? [False, False] Translation: X:0.95, Y:0.23, Z:-0.28 [[ 9.99999690e-01 -2.18904583e-04 -7.56036003e-04 9.53783876e-01] [ 2.20336242e-04 9.99998182e-01 1.89407495e-03 2.33614907e-01] [ 7.55620006e-04 -1.89424094e-03 9.99997920e-01 -2.84462214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.083133364999995 meters Centerline goodness [0,1] 0.2803594296008508 Centerline is valid? [False, False] Translation: X:0.95, Y:0.24, Z:-0.29 [[ 9.99999338e-01 -3.98264765e-04 -1.07945258e-03 9.54876349e-01] [ 3.99586136e-04 9.99999171e-01 1.22417321e-03 2.37172399e-01] [ 1.07896414e-03 -1.22460373e-03 9.99998668e-01 -2.85024548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.113133364999996 meters Centerline goodness [0,1] 0.28362534867503486 Centerline is valid? [False, False] Translation: X:0.96, Y:0.24, Z:-0.29 [[ 9.99998917e-01 -5.97324867e-04 -1.34527516e-03 9.55698999e-01] [ 5.98051059e-04 9.99999676e-01 5.39472235e-04 2.40756897e-01] [ 1.34495248e-03 -5.40276194e-04 9.99998950e-01 -2.85374376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.143133365 meters Centerline goodness [0,1] 0.27929314830875973 Centerline is valid? [False, False] Translation: X:0.96, Y:0.24, Z:-0.29 [[ 9.99998443e-01 -7.84231007e-04 -1.58075962e-03 9.56277870e-01] [ 7.84062619e-04 9.99999687e-01 -1.07139969e-04 2.44139922e-01] [ 1.58084315e-03 1.05900388e-04 9.99998745e-01 -2.85400475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17313336499999 meters Centerline goodness [0,1] 0.2823859557527899 Centerline is valid? [False, False] Translation: X:0.96, Y:0.25, Z:-0.28 [[ 9.99998138e-01 -9.70360885e-04 -1.66816637e-03 9.56119642e-01] [ 9.68413485e-04 9.99998849e-01 -1.16780128e-03 2.52070401e-01] [ 1.66929764e-03 1.16618363e-03 9.99997927e-01 -2.84901373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20313336499999 meters Centerline goodness [0,1] 0.2816303424851401 Centerline is valid? [False, False] Translation: X:0.96, Y:0.26, Z:-0.28 [[ 0.99999774 -0.00121714 -0.00174501 0.95626218] [ 0.00121378 0.99999741 -0.0019254 0.25585951] [ 0.00174734 0.00192327 0.99999662 -0.28483882] [ 0. 0. 0. 1. ]] SLAMing on 61.23313336499999 meters Centerline goodness [0,1] 0.27952464020933276 Centerline is valid? [False, False] Translation: X:0.96, Y:0.26, Z:-0.28 [[ 0.99999749 -0.00140915 -0.00173936 0.9559312 ] [ 0.00140418 0.99999493 -0.00285866 0.26458709] [ 0.00174338 0.00285621 0.9999944 -0.28439175] [ 0. 0. 0. 1. ]] SLAMing on 61.263133364999995 meters Centerline goodness [0,1] 0.2614496388876876 Centerline is valid? [False, False] Translation: X:0.96, Y:0.27, Z:-0.28 [[ 0.99999746 -0.00155715 -0.00162678 0.95558421] [ 0.00155181 0.99999341 -0.00328314 0.26684887] [ 0.00163188 0.00328061 0.99999329 -0.28426522] [ 0. 0. 0. 1. ]] SLAMing on 61.293133364999996 meters Centerline goodness [0,1] 0.27968400720533015 Centerline is valid? [False, False] Translation: X:0.96, Y:0.27, Z:-0.28 [[ 0.99999738 -0.00171087 -0.00152347 0.95524886] [ 0.00170534 0.99999199 -0.00362228 0.26844772] [ 0.00152966 0.00361967 0.99999228 -0.28411777] [ 0. 0. 0. 1. ]] SLAMing on 61.323133365 meters Centerline goodness [0,1] 0.2811896652710588 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 0.99999662 -0.00220189 -0.00138142 0.95484131] [ 0.00219628 0.99998939 -0.00404945 0.26966802] [ 0.00139032 0.0040464 0.99999085 -0.28403054] [ 0. 0. 0. 1. ]] SLAMing on 61.35313336499999 meters Centerline goodness [0,1] 0.2830476356428743 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 0.99999654 -0.00227088 -0.0013274 0.95460577] [ 0.00226555 0.99998941 -0.00400529 0.26925134] [ 0.00133648 0.00400227 0.9999911 -0.28385386] [ 0. 0. 0. 1. ]] SLAMing on 61.38313336499999 meters Centerline goodness [0,1] 0.2845833424203432 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 9.99995803e-01 -2.89510830e-03 -1.11000412e-04 9.51172203e-01] [ 2.89459691e-03 9.99986308e-01 -4.35940324e-03 2.69051194e-01] [ 1.23619837e-04 4.35906365e-03 9.99990492e-01 -2.82803927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.41313336499999 meters Centerline goodness [0,1] 0.28464321520421954 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 9.99995715e-01 -2.92344015e-03 1.50756177e-04 9.50341149e-01] [ 2.92405697e-03 9.99986617e-01 -4.26792583e-03 2.68374290e-01] [-1.38277134e-04 4.26834836e-03 9.99990881e-01 -2.82397034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.443133364999994 meters Centerline goodness [0,1] 0.2826991352834832 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 9.99995712e-01 -2.92268144e-03 1.81676742e-04 9.50161227e-01] [ 2.92342183e-03 9.99986830e-01 -4.21819531e-03 2.68069587e-01] [-1.69345909e-04 4.21870834e-03 9.99991087e-01 -2.82211600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.473133364999995 meters Centerline goodness [0,1] 0.28302710251822105 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 9.99995754e-01 -2.91413736e-03 2.34086583e-05 9.50675703e-01] [ 2.91421151e-03 9.99986337e-01 -4.33964438e-03 2.69115596e-01] [-1.07620186e-05 4.33969417e-03 9.99990583e-01 -2.82440504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.503133365 meters Centerline goodness [0,1] 0.28162653872039256 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 9.99995655e-01 -2.94795140e-03 1.77970599e-05 9.50664411e-01] [ 2.94800194e-03 9.99985223e-01 -4.56753415e-03 2.70447836e-01] [-4.33192821e-06 4.56756677e-03 9.99989569e-01 -2.82375773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.533133365 meters Centerline goodness [0,1] 0.28161180722370105 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 9.99995143e-01 -3.11332649e-03 1.44039965e-04 9.50145233e-01] [ 3.11404309e-03 9.99981235e-01 -5.27555844e-03 2.74031648e-01] [-1.27612726e-04 5.27598136e-03 9.99986074e-01 -2.81963792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56313336499999 meters Centerline goodness [0,1] 0.2836995378847328 Centerline is valid? [False, False] Translation: X:0.95, Y:0.28, Z:-0.28 [[ 9.99994828e-01 -3.21560222e-03 -6.33698004e-05 9.50731429e-01] [ 3.21519308e-03 9.99978885e-01 -5.64734731e-03 2.75946876e-01] [ 8.15280849e-05 5.64711435e-03 9.99984052e-01 -2.82139585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.59313336499999 meters Centerline goodness [0,1] 0.28030482934306256 Centerline is valid? [False, False] Translation: X:0.95, Y:0.28, Z:-0.28 [[ 9.99994569e-01 -3.27722407e-03 -3.49004663e-04 9.51635358e-01] [ 3.27509188e-03 9.99976971e-01 -5.94405698e-03 2.77579033e-01] [ 3.68476632e-04 5.94288168e-03 9.99982273e-01 -2.82529334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.623133364999994 meters Centerline goodness [0,1] 0.27993859857738956 Centerline is valid? [False, False] Translation: X:0.95, Y:0.28, Z:-0.28 [[ 9.99993910e-01 -3.43914221e-03 -5.93448955e-04 9.52735262e-01] [ 3.43537544e-03 9.99974657e-01 -6.23564417e-03 2.78801165e-01] [ 6.14879183e-04 6.23356748e-03 9.99980382e-01 -2.83434092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.653133364999995 meters Centerline goodness [0,1] 0.28268858590471224 Centerline is valid? [False, False] Translation: X:0.95, Y:0.28, Z:-0.28 [[ 9.99993850e-01 -3.46165656e-03 -5.62490599e-04 9.52862611e-01] [ 3.45812291e-03 9.99975010e-01 -6.16616484e-03 2.78265110e-01] [ 5.83821687e-04 6.16418176e-03 9.99980831e-01 -2.83808926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.683133364999996 meters Centerline goodness [0,1] 0.2806789642331341 Centerline is valid? [False, False] Translation: X:0.95, Y:0.28, Z:-0.28 [[ 9.99992065e-01 -3.94264157e-03 -5.70706672e-04 9.52922477e-01] [ 3.93905052e-03 9.99973255e-01 -6.16229048e-03 2.76690251e-01] [ 5.94987111e-04 6.15999354e-03 9.99980850e-01 -2.83994146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.713133365 meters Centerline goodness [0,1] 0.28157174508015115 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 9.99991695e-01 -3.98636765e-03 -8.47629829e-04 9.53666412e-01] [ 3.98134217e-03 9.99974962e-01 -5.85011948e-03 2.74857024e-01] [ 8.70929333e-04 5.84669619e-03 9.99982529e-01 -2.84233353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74313336499999 meters Centerline goodness [0,1] 0.28273829020635444 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 0.99999117 -0.00399596 -0.00130385 0.95489145] [ 0.0039888 0.9999772 -0.0054484 0.27259554] [ 0.0013256 0.00544315 0.99998431 -0.284615 ] [ 0. 0. 0. 1. ]] SLAMing on 61.77313336499999 meters Centerline goodness [0,1] 0.28065294411719954 Centerline is valid? [False, False] Translation: X:0.96, Y:0.27, Z:-0.29 [[ 0.99998728 -0.00463836 -0.00197976 0.95707201] [ 0.004628 0.99997574 -0.00520599 0.2682761 ] [ 0.00200386 0.00519676 0.99998449 -0.28574851] [ 0. 0. 0. 1. ]] SLAMing on 61.803133364999994 meters Centerline goodness [0,1] 0.2837888266930084 Centerline is valid? [False, False] Translation: X:0.94, Y:0.26, Z:-0.29 [[ 0.99999407 0.00319067 -0.0012977 0.93806258] [-0.00319891 0.9999744 -0.00640062 0.26160951] [ 0.00127725 0.00640473 0.99997867 -0.28806935] [ 0. 0. 0. 1. ]] SLAMing on 61.833133364999995 meters Centerline goodness [0,1] 0.2817200534232479 Centerline is valid? [False, False] Translation: X:0.94, Y:0.26, Z:-0.29 [[ 0.99999389 0.00329217 -0.00117445 0.93783652] [-0.00329904 0.99997721 -0.00589024 0.25888185] [ 0.00115503 0.00589408 0.99998196 -0.28827058] [ 0. 0. 0. 1. ]] SLAMing on 61.863133364999996 meters Centerline goodness [0,1] 0.2788672443373076 Centerline is valid? [False, False] Translation: X:0.96, Y:0.26, Z:-0.29 [[ 9.99984614e-01 -5.52628546e-03 -4.81248979e-04 9.58872699e-01] [ 5.52401053e-03 9.99974131e-01 -4.60670088e-03 2.55100694e-01] [ 5.06694474e-04 4.60397158e-03 9.99989273e-01 -2.87919870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.893133365 meters Centerline goodness [0,1] 0.27807417046193883 Centerline is valid? [False, False] Translation: X:0.96, Y:0.25, Z:-0.29 [[ 9.99985269e-01 -5.39336970e-03 -6.11466840e-04 9.59239950e-01] [ 5.39075890e-03 9.99976675e-01 -4.19386871e-03 2.52942021e-01] [ 6.34071662e-04 4.19051066e-03 9.99991019e-01 -2.88072336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92313336499999 meters Centerline goodness [0,1] 0.28019018123923145 Centerline is valid? [False, False] Translation: X:0.96, Y:0.25, Z:-0.29 [[ 9.99986533e-01 -5.13646176e-03 -7.41539483e-04 9.59461017e-01] [ 5.13377663e-03 9.99980419e-01 -3.57861951e-03 2.49910611e-01] [ 7.59906405e-04 3.57476442e-03 9.99993322e-01 -2.87983630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95313336499999 meters Centerline goodness [0,1] 0.2804468298642929 Centerline is valid? [False, False] Translation: X:0.96, Y:0.25, Z:-0.29 [[ 9.99987340e-01 -4.99607906e-03 -5.99483735e-04 9.58943211e-01] [ 4.99403246e-03 9.99981857e-01 -3.36820197e-03 2.49115146e-01] [ 6.16300662e-04 3.36516548e-03 9.99994148e-01 -2.87647721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98313336499999 meters Centerline goodness [0,1] 0.282643869162148 Centerline is valid? [False, False] Translation: X:0.96, Y:0.25, Z:-0.29 [[ 9.99987965e-01 -4.88955073e-03 -4.01890201e-04 9.58265378e-01] [ 4.88820422e-03 9.99982654e-01 -3.28578211e-03 2.48984292e-01] [ 4.17949229e-04 3.28377805e-03 9.99994521e-01 -2.87250564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.013133364999995 meters Centerline goodness [0,1] 0.27961236294569625 Centerline is valid? [False, False] Translation: X:0.98, Y:0.24, Z:-0.29 [[ 9.99993651e-01 3.49338131e-03 7.03341198e-04 9.78016974e-01] [-3.49045492e-03 9.99985422e-01 -4.11979365e-03 2.44519684e-01] [-7.17722955e-04 4.11731251e-03 9.99991266e-01 -2.86050025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.043133364999996 meters Centerline goodness [0,1] 0.28175052228412256 Centerline is valid? [False, False] Translation: X:0.96, Y:0.25, Z:-0.29 [[ 9.99991860e-01 -3.98845667e-03 6.09864806e-04 9.60055738e-01] [ 3.99023340e-03 9.99987716e-01 -2.94038773e-03 2.50434886e-01] [-5.98129705e-04 2.94279730e-03 9.99995491e-01 -2.87660002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.073133365 meters Centerline goodness [0,1] 0.2856639739385002 Centerline is valid? [False, False] Translation: X:0.94, Y:0.25, Z:-0.29 [[ 9.99988235e-01 4.84516202e-03 2.34845212e-04 9.39611360e-01] [-4.84420768e-03 9.99980635e-01 -3.90686920e-03 2.48036912e-01] [-2.53770078e-04 3.90568560e-03 9.99992341e-01 -2.88800934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10313336499999 meters Centerline goodness [0,1] 0.2856639739385002 Centerline is valid? [False, False] Translation: X:0.94, Y:0.25, Z:-0.29 [[ 9.99988235e-01 4.84516202e-03 2.34845212e-04 9.39611360e-01] [-4.84420768e-03 9.99980635e-01 -3.90686920e-03 2.48036912e-01] [-2.53770078e-04 3.90568560e-03 9.99992341e-01 -2.88800934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13313336499999 meters Centerline goodness [0,1] 0.2807405001623904 Centerline is valid? [False, False] Translation: X:0.96, Y:0.25, Z:-0.29 [[ 0.99999783 -0.00172034 0.0011734 0.96252847] [ 0.00172191 0.99999763 -0.00133512 0.2488975 ] [-0.0011711 0.00133714 0.99999842 -0.28996484] [ 0. 0. 0. 1. ]] SLAMing on 62.16313336499999 meters Centerline goodness [0,1] 0.2861984519176105 Centerline is valid? [False, False] Translation: X:0.96, Y:0.25, Z:-0.29 [[ 0.99999782 -0.00169477 0.00122123 0.96243293] [ 0.00169631 0.99999778 -0.00125356 0.24848803] [-0.0012191 0.00125563 0.99999847 -0.29002296] [ 0. 0. 0. 1. ]] SLAMing on 62.193133364999994 meters Centerline goodness [0,1] 0.2831233044543625 Centerline is valid? [False, False] Translation: X:0.96, Y:0.25, Z:-0.29 [[ 0.99999785 -0.0016653 0.00123713 0.96229242] [ 0.00166669 0.99999798 -0.00112327 0.24785231] [-0.00123525 0.00112533 0.9999986 -0.28986975] [ 0. 0. 0. 1. ]] SLAMing on 62.223133364999995 meters Centerline goodness [0,1] 0.28183716075156573 Centerline is valid? [False, False] Translation: X:0.96, Y:0.25, Z:-0.29 [[ 0.99999801 -0.00163776 0.00113497 0.96249459] [ 0.00163892 0.99999813 -0.00102542 0.2474091 ] [-0.00113329 0.00102728 0.99999883 -0.28983594] [ 0. 0. 0. 1. ]] SLAMing on 62.253133365 meters Centerline goodness [0,1] 0.28584314156858437 Centerline is valid? [False, False] Translation: X:0.96, Y:0.25, Z:-0.29 [[ 9.99998127e-01 -1.55839330e-03 1.14792479e-03 9.62340882e-01] [ 1.55931445e-03 9.99998463e-01 -8.01986433e-04 2.46483986e-01] [-1.14667321e-03 8.03774907e-04 9.99999020e-01 -2.89666291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.283133365 meters Centerline goodness [0,1] 0.2814136979155346 Centerline is valid? [False, False] Translation: X:0.98, Y:0.24, Z:-0.29 [[ 0.99997841 0.00610423 0.0024329 0.98079472] [-0.00609963 0.99997961 -0.0018927 0.24102375] [-0.0024444 0.00187782 0.99999525 -0.28874742] [ 0. 0. 0. 1. ]] SLAMing on 62.31313336499999 meters Centerline goodness [0,1] 0.2823111459831742 Centerline is valid? [False, False] Translation: X:0.98, Y:0.24, Z:-0.29 [[ 0.99997808 0.00605144 0.00268548 0.9800022 ] [-0.00604631 0.99997989 -0.00191515 0.2407899 ] [-0.00269701 0.00189887 0.99999456 -0.28840003] [ 0. 0. 0. 1. ]] SLAMing on 62.34313336499999 meters Centerline goodness [0,1] 0.28037726075883795 Centerline is valid? [False, False] Translation: X:1.00, Y:0.24, Z:-0.29 [[ 0.99999417 -0.00210498 0.00268846 0.99938009] [ 0.00210789 0.9999972 -0.00107872 0.24422536] [-0.00268618 0.00108438 0.9999958 -0.28731016] [ 0. 0. 0. 1. ]] SLAMing on 62.373133364999994 meters Centerline goodness [0,1] 0.2843118047846057 Centerline is valid? [False, False] Translation: X:1.00, Y:0.24, Z:-0.29 [[ 0.99999466 -0.00206185 0.00253689 0.9998909 ] [ 0.00206472 0.99999723 -0.0011278 0.24475539] [-0.00253455 0.00113303 0.99999615 -0.28753825] [ 0. 0. 0. 1. ]] SLAMing on 62.403133364999995 meters Centerline goodness [0,1] 0.28115992284519187 Centerline is valid? [False, False] Translation: X:1.00, Y:0.25, Z:-0.29 [[ 9.99996131e-01 -1.52288347e-03 2.32776697e-03 1.00034599e+00] [ 1.52510781e-03 9.99998382e-01 -9.54092626e-04 2.45698296e-01] [-2.32631024e-03 9.57639030e-04 9.99996836e-01 -2.87427224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.433133364999996 meters Centerline goodness [0,1] 0.2833177193402906 Centerline is valid? [False, False] Translation: X:1.00, Y:0.25, Z:-0.29 [[ 0.99999633 -0.00149505 0.00226089 1.00051871] [ 0.0014976 0.99999824 -0.00112888 0.24679502] [-0.0022592 0.00113226 0.99999681 -0.28744579] [ 0. 0. 0. 1. ]] SLAMing on 62.463133365 meters Centerline goodness [0,1] 0.2851675473503381 Centerline is valid? [False, False] Translation: X:1.00, Y:0.25, Z:-0.29 [[ 0.99999664 -0.00145804 0.00214132 1.00078424] [ 0.00146075 0.99999813 -0.00126476 0.247624 ] [-0.00213948 0.00126788 0.99999691 -0.28742885] [ 0. 0. 0. 1. ]] SLAMing on 62.49313336499999 meters Centerline goodness [0,1] 0.284737741553832 Centerline is valid? [False, False] Translation: X:1.00, Y:0.25, Z:-0.29 [[ 0.99999637 -0.0014615 0.00226489 1.00042028] [ 0.00146473 0.99999792 -0.00142186 0.24845549] [-0.0022628 0.00142517 0.99999642 -0.2872674 ] [ 0. 0. 0. 1. ]] SLAMing on 62.52313336499999 meters Centerline goodness [0,1] 0.2831931137400783 Centerline is valid? [False, False] Translation: X:1.02, Y:0.25, Z:-0.29 [[ 0.99996839 0.0066688 0.00432997 1.01953105] [-0.00665794 0.99997466 -0.00251918 0.24537544] [-0.00434666 0.00249027 0.99998745 -0.28650712] [ 0. 0. 0. 1. ]] SLAMing on 62.553133364999994 meters Centerline goodness [0,1] 0.287262990617585 Centerline is valid? [False, False] Translation: X:1.00, Y:0.25, Z:-0.29 [[ 9.99987189e-01 -6.28522448e-04 5.02255498e-03 1.00112310e+00] [ 6.34836974e-04 9.99999010e-01 -1.25573860e-03 2.51486545e-01] [-5.02176074e-03 1.25891101e-03 9.99986598e-01 -2.88345036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.583133364999995 meters Centerline goodness [0,1] 0.28389480547707024 Centerline is valid? [False, False] Translation: X:1.00, Y:0.25, Z:-0.29 [[ 9.99990254e-01 -4.10401303e-04 4.39575725e-03 1.00286469e+00] [ 4.16369105e-04 9.99998993e-01 -1.35679850e-03 2.53121050e-01] [-4.39519599e-03 1.35861553e-03 9.99989418e-01 -2.88834144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.613133364999996 meters Centerline goodness [0,1] 0.2835039276362771 Centerline is valid? [False, False] Translation: X:1.00, Y:0.25, Z:-0.29 [[ 9.99991905e-01 -3.79957390e-04 4.00557989e-03 1.00392747e+00] [ 3.86197961e-04 9.99998713e-01 -1.55731086e-03 2.54460917e-01] [-4.00498303e-03 1.55884520e-03 9.99990765e-01 -2.89078036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.643133365 meters Centerline goodness [0,1] 0.2837928861656128 Centerline is valid? [False, False] Translation: X:1.00, Y:0.26, Z:-0.29 [[ 9.99992484e-01 -4.34914598e-04 3.85257139e-03 1.00426765e+00] [ 4.42213988e-04 9.99998109e-01 -1.89403090e-03 2.56293721e-01] [-3.85174036e-03 1.89572033e-03 9.99990785e-01 -2.89037957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67313336499999 meters Centerline goodness [0,1] 0.28555926906549767 Centerline is valid? [False, False] Translation: X:1.00, Y:0.26, Z:-0.29 [[ 9.99989854e-01 6.20588093e-05 4.50413748e-03 1.00232865e+00] [-5.27950965e-05 9.99997883e-01 -2.05680157e-03 2.59531999e-01] [-4.50425559e-03 2.05654290e-03 9.99987741e-01 -2.88344913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70313336499999 meters Centerline goodness [0,1] 0.2862108162462291 Centerline is valid? [False, False] Translation: X:1.00, Y:0.26, Z:-0.29 [[ 9.99988193e-01 2.57661955e-05 4.85932470e-03 1.00124885e+00] [-1.40309687e-05 9.99997084e-01 -2.41500992e-03 2.61622988e-01] [-4.85937275e-03 2.41491322e-03 9.99985277e-01 -2.87885464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73313336499999 meters Centerline goodness [0,1] 0.2847164802645894 Centerline is valid? [False, False] Translation: X:1.00, Y:0.27, Z:-0.29 [[ 9.99989757e-01 -5.66260952e-05 4.52588310e-03 1.00208261e+00] [ 7.07097948e-05 9.99995156e-01 -3.11171305e-03 2.65336800e-01] [-4.52568498e-03 3.11200120e-03 9.99984917e-01 -2.88011954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.763133364999995 meters Centerline goodness [0,1] 0.2859570759341976 Centerline is valid? [False, False] Translation: X:1.00, Y:0.27, Z:-0.29 [[ 9.99991510e-01 -1.30141311e-04 4.11870624e-03 1.00331200e+00] [ 1.44392432e-04 9.99994004e-01 -3.45998824e-03 2.67168944e-01] [-4.11823125e-03 3.46055357e-03 9.99985532e-01 -2.88484584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.793133364999996 meters Centerline goodness [0,1] 0.28560538409600766 Centerline is valid? [False, False] Translation: X:1.01, Y:0.27, Z:-0.29 [[ 9.99994356e-01 -3.84800285e-05 3.35944054e-03 1.00525296e+00] [ 5.15975842e-05 9.99992375e-01 -3.90468524e-03 2.70490707e-01] [-3.35926467e-03 3.90483654e-03 9.99986734e-01 -2.88840893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.823133365 meters Centerline goodness [0,1] 0.28519926586261146 Centerline is valid? [False, False] Translation: X:1.01, Y:0.27, Z:-0.29 [[ 9.99994480e-01 -1.06495743e-04 3.32082722e-03 1.00520290e+00] [ 1.20565215e-04 9.99991017e-01 -4.23682458e-03 2.72327015e-01] [-3.32034619e-03 4.23720157e-03 9.99985511e-01 -2.88584678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85313336499999 meters Centerline goodness [0,1] 0.28874215912842527 Centerline is valid? [False, False] Translation: X:1.00, Y:0.27, Z:-0.29 [[ 9.99993911e-01 -2.03928264e-04 3.48377911e-03 1.00465246e+00] [ 2.20078006e-04 9.99989230e-01 -4.63594196e-03 2.74344943e-01] [-3.48279619e-03 4.63668044e-03 9.99983186e-01 -2.88269078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88313336499999 meters Centerline goodness [0,1] 0.2849621442868332 Centerline is valid? [False, False] Translation: X:1.03, Y:0.28, Z:-0.29 [[ 0.99997191 -0.00603217 0.00444968 1.02601537] [ 0.00604076 0.99997991 -0.00192016 0.27975492] [-0.00443801 0.00194699 0.99998826 -0.28813303] [ 0. 0. 0. 1. ]] SLAMing on 62.91313336499999 meters Centerline goodness [0,1] 0.28308105998178423 Centerline is valid? [False, False] Translation: X:1.03, Y:0.28, Z:-0.29 [[ 0.99997179 -0.00605528 0.00444514 1.02584989] [ 0.00606504 0.99997922 -0.00218489 0.28145231] [-0.00443182 0.00221179 0.99998773 -0.28788707] [ 0. 0. 0. 1. ]] SLAMing on 62.943133364999994 meters Centerline goodness [0,1] 0.28382588377828744 Centerline is valid? [False, False] Translation: X:1.02, Y:0.28, Z:-0.29 [[ 0.99996961 -0.00606829 0.00489509 1.02464705] [ 0.00608088 0.99997823 -0.00256097 0.28378787] [-0.00487945 0.00259066 0.99998474 -0.28766212] [ 0. 0. 0. 1. ]] SLAMing on 62.973133364999995 meters Centerline goodness [0,1] 0.28407759406327304 Centerline is valid? [False, False] Translation: X:1.02, Y:0.28, Z:-0.29 [[ 0.99996793 -0.00615314 0.00512639 1.02381571] [ 0.0061673 0.9999772 -0.00275205 0.28454586] [-0.00510934 0.00278358 0.99998307 -0.28721848] [ 0. 0. 0. 1. ]] SLAMing on 63.003133365 meters Centerline goodness [0,1] 0.28768020969855834 Centerline is valid? [False, False] Translation: X:1.02, Y:0.29, Z:-0.29 [[ 0.9999662 -0.00619702 0.00540311 1.02302115] [ 0.00621267 0.99997654 -0.00288324 0.28512618] [-0.00538511 0.00291671 0.99998125 -0.28695843] [ 0. 0. 0. 1. ]] SLAMing on 63.033133365 meters Centerline goodness [0,1] 0.2857329472469574 Centerline is valid? [False, False] Translation: X:1.02, Y:0.29, Z:-0.29 [[ 0.99996706 -0.00614865 0.00529868 1.02338716] [ 0.00616372 0.99997699 -0.00283262 0.28509235] [-0.00528114 0.00286519 0.99998195 -0.28719777] [ 0. 0. 0. 1. ]] SLAMing on 63.06313336499999 meters Centerline goodness [0,1] 0.28402572570832607 Centerline is valid? [False, False] Translation: X:1.02, Y:0.29, Z:-0.29 [[ 0.99996845 -0.00609437 0.00509497 1.02399122] [ 0.00610878 0.99997738 -0.00281596 0.28520506] [-0.0050777 0.002847 0.99998306 -0.28741116] [ 0. 0. 0. 1. ]] SLAMing on 63.09313336499999 meters Centerline goodness [0,1] 0.2808260476334037 Centerline is valid? [False, False] Translation: X:1.04, Y:0.28, Z:-0.29 [[ 0.99998596 0.00226718 0.0047905 1.04487689] [-0.00225038 0.99999131 -0.00350972 0.28187271] [-0.00479841 0.00349889 0.99998237 -0.28669631] [ 0. 0. 0. 1. ]] SLAMing on 63.123133364999994 meters Centerline goodness [0,1] 0.28403536593313494 Centerline is valid? [False, False] Translation: X:1.03, Y:0.29, Z:-0.29 [[ 0.99997507 -0.00515718 0.00482241 1.02620228] [ 0.00516748 0.99998439 -0.00212596 0.28678679] [-0.00481137 0.00215083 0.99998611 -0.28828016] [ 0. 0. 0. 1. ]] SLAMing on 63.153133364999995 meters Centerline goodness [0,1] 0.2839701609055818 Centerline is valid? [False, False] Translation: X:1.03, Y:0.29, Z:-0.29 [[ 0.99997741 -0.00474705 0.00475772 1.02623456] [ 0.004756 0.99998694 -0.00187138 0.28668137] [-0.00474878 0.00189396 0.99998693 -0.28814719] [ 0. 0. 0. 1. ]] SLAMing on 63.183133364999996 meters Centerline goodness [0,1] 0.2841273651819035 Centerline is valid? [False, False] Translation: X:1.03, Y:0.29, Z:-0.29 [[ 0.99997835 -0.00467095 0.00463585 1.02659935] [ 0.00467988 0.99998721 -0.00191563 0.28719159] [-0.00462685 0.00193729 0.99998742 -0.28835583] [ 0. 0. 0. 1. ]] SLAMing on 63.213133365 meters Centerline goodness [0,1] 0.2847385877629397 Centerline is valid? [False, False] Translation: X:1.03, Y:0.29, Z:-0.29 [[ 0.99997925 -0.00459882 0.00451058 1.02707687] [ 0.00460757 0.99998752 -0.00193158 0.28750515] [-0.00450164 0.00195233 0.99998796 -0.28871444] [ 0. 0. 0. 1. ]] SLAMing on 63.24313336499999 meters Centerline goodness [0,1] 0.27971771408839774 Centerline is valid? [False, False] Translation: X:1.05, Y:0.28, Z:-0.29 [[ 0.99998234 0.00429556 0.00410609 1.04901225] [-0.00428611 0.99998815 -0.00230741 0.28436606] [-0.00411595 0.00228977 0.99998891 -0.28853888] [ 0. 0. 0. 1. ]] SLAMing on 63.27313336499999 meters Centerline goodness [0,1] 0.2846460836768705 Centerline is valid? [False, False] Translation: X:1.03, Y:0.29, Z:-0.29 [[ 9.99991540e-01 -1.92198802e-03 3.63684934e-03 1.02573590e+00] [ 1.92065284e-03 9.99998087e-01 3.70581547e-04 2.85632010e-01] [-3.63755463e-03 -3.63593287e-04 9.99993318e-01 -2.87955166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.303133364999994 meters Centerline goodness [0,1] 0.2791324407649354 Centerline is valid? [False, False] Translation: X:1.07, Y:0.29, Z:-0.29 [[ 9.99983557e-01 -8.23962433e-04 5.67517572e-03 1.06870922e+00] [ 8.15647309e-04 9.99998591e-01 1.46733333e-03 2.85483981e-01] [-5.67637675e-03 -1.46268026e-03 9.99982820e-01 -2.88082647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.333133364999995 meters Centerline goodness [0,1] 0.2804067181900609 Centerline is valid? [False, False] Translation: X:1.07, Y:0.28, Z:-0.29 [[ 9.99983622e-01 -7.54869135e-04 5.67327138e-03 1.06872466e+00] [ 7.45700028e-04 9.99998413e-01 1.61813552e-03 2.84640337e-01] [-5.67448386e-03 -1.61387846e-03 9.99982598e-01 -2.88152427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.363133364999996 meters Centerline goodness [0,1] 0.281177465888631 Centerline is valid? [False, False] Translation: X:1.07, Y:0.28, Z:-0.29 [[ 9.99984435e-01 -6.73439933e-04 5.53865674e-03 1.06915352e+00] [ 6.63457723e-04 9.99998153e-01 1.80391971e-03 2.83691611e-01] [-5.53986134e-03 -1.80021696e-03 9.99983034e-01 -2.88349855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.393133365 meters Centerline goodness [0,1] 0.2857740770111904 Centerline is valid? [False, False] Translation: X:1.05, Y:0.28, Z:-0.29 [[ 9.99961907e-01 7.76658673e-03 3.98306339e-03 1.05014520e+00] [-7.77050711e-03 9.99969339e-01 9.69733629e-04 2.76292591e-01] [-3.97540975e-03 -1.00064711e-03 9.99991597e-01 -2.89813384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42313336499999 meters Centerline goodness [0,1] 0.2805585624594068 Centerline is valid? [False, False] Translation: X:1.07, Y:0.28, Z:-0.29 [[ 9.99992195e-01 -9.07793576e-05 3.94986871e-03 1.07018423e+00] [ 8.24146109e-05 9.99997754e-01 2.11783899e-03 2.80223879e-01] [-3.95005210e-03 -2.11749694e-03 9.99989957e-01 -2.89773074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45313336499999 meters Centerline goodness [0,1] 0.2819112777668136 Centerline is valid? [False, False] Translation: X:1.05, Y:0.27, Z:-0.29 [[ 0.99995823 0.00836806 0.00367656 1.05032809] [-0.00837252 0.99996423 0.00119949 0.27453711] [-0.00366639 -0.00123023 0.99999252 -0.29106868] [ 0. 0. 0. 1. ]] SLAMing on 63.48313336499999 meters Centerline goodness [0,1] 0.2785226191505925 Centerline is valid? [False, False] Translation: X:1.07, Y:0.28, Z:-0.29 [[ 9.99983212e-01 5.21590228e-04 5.77088704e-03 1.06878706e+00] [-5.35265969e-04 9.99997052e-01 2.36849072e-03 2.78681018e-01] [-5.76963464e-03 -2.37153992e-03 9.99980543e-01 -2.90954167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.513133364999995 meters Centerline goodness [0,1] 0.2828139651525394 Centerline is valid? [False, False] Translation: X:1.07, Y:0.28, Z:-0.29 [[ 9.99981927e-01 5.29866863e-04 5.98871325e-03 1.06806674e+00] [-5.44091833e-04 9.99997034e-01 2.37391712e-03 2.78618041e-01] [-5.98743763e-03 -2.37713263e-03 9.99979250e-01 -2.90628375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.543133364999996 meters Centerline goodness [0,1] 0.2819619288234525 Centerline is valid? [False, False] Translation: X:1.07, Y:0.28, Z:-0.29 [[ 9.99982613e-01 5.94194496e-04 5.86698410e-03 1.06818788e+00] [-6.09054816e-04 9.99996611e-01 2.53141040e-03 2.77838631e-01] [-5.86546006e-03 -2.53493970e-03 9.99979585e-01 -2.90381774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.573133365 meters Centerline goodness [0,1] 0.28190642381939146 Centerline is valid? [False, False] Translation: X:1.07, Y:0.28, Z:-0.29 [[ 9.99983207e-01 6.18036027e-04 5.76230269e-03 1.06857226e+00] [-6.33664104e-04 9.99996125e-01 2.71069261e-03 2.76786978e-01] [-5.76060506e-03 -2.71429845e-03 9.99979724e-01 -2.90610870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60313336499999 meters Centerline goodness [0,1] 0.2783936505197774 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.29 [[ 0.9999486 -0.00804939 0.00616409 1.08938959] [ 0.00802762 0.99996148 0.00354766 0.27937973] [-0.00619241 -0.003498 0.99997471 -0.29024658] [ 0. 0. 0. 1. ]] SLAMing on 63.63313336499999 meters Centerline goodness [0,1] 0.27962678991814427 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.29 [[ 0.99994739 -0.00796993 0.0064571 1.08850726] [ 0.00794363 0.99996009 0.00408799 0.27642779] [-0.00648942 -0.00403648 0.9999708 -0.28978013] [ 0. 0. 0. 1. ]] SLAMing on 63.66313336499999 meters Centerline goodness [0,1] 0.2821350526839611 Centerline is valid? [False, False] Translation: X:1.08, Y:0.27, Z:-0.29 [[ 0.99992278 -0.01005738 0.00729994 1.08431932] [ 0.01003621 0.99994534 0.00293167 0.26916644] [-0.00732902 -0.00285818 0.99996906 -0.2868139 ] [ 0. 0. 0. 1. ]] SLAMing on 63.693133364999994 meters Centerline goodness [0,1] 0.28487383971761016 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 0.99998198 -0.00239316 0.00550631 1.06828619] [ 0.00238282 0.99999539 0.00188409 0.25716764] [-0.00551079 -0.00187093 0.99998307 -0.28900374] [ 0. 0. 0. 1. ]] SLAMing on 63.723133364999995 meters Centerline goodness [0,1] 0.2846479549522022 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 0.99998353 -0.0022571 0.00527602 1.06918787] [ 0.00224503 0.99999485 0.00229239 0.25492982] [-0.00528117 -0.0022805 0.99998345 -0.28958745] [ 0. 0. 0. 1. ]] SLAMing on 63.753133365 meters Centerline goodness [0,1] 0.2830410119319293 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 0.9999839 -0.00215809 0.00524861 1.06931548] [ 0.00214475 0.99999446 0.00254583 0.25349031] [-0.00525407 -0.00253453 0.99998299 -0.28967741] [ 0. 0. 0. 1. ]] SLAMing on 63.783133365 meters Centerline goodness [0,1] 0.282946663477637 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 0.99998341 -0.00205445 0.00538123 1.06887698] [ 0.00203976 0.99999418 0.0027335 0.2525968 ] [-0.00538681 -0.00272248 0.99998179 -0.28949638] [ 0. 0. 0. 1. ]] SLAMing on 63.81313336499999 meters Centerline goodness [0,1] 0.28544910571946447 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 0.99998136 -0.00137767 0.00594757 1.06734193] [ 0.00135761 0.99999338 0.003375 0.25141183] [-0.00595218 -0.00336686 0.99997662 -0.28917088] [ 0. 0. 0. 1. ]] SLAMing on 63.84313336499999 meters Centerline goodness [0,1] 0.2825576847868596 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 0.9999813 -0.00117683 0.0060019 1.0673908 ] [ 0.00115554 0.99999303 0.00354968 0.25116744] [-0.00600603 -0.00354267 0.99997569 -0.28951573] [ 0. 0. 0. 1. ]] SLAMing on 63.873133364999994 meters Centerline goodness [0,1] 0.2826942734726723 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 9.99981071e-01 -1.04200679e-03 6.06393656e-03 1.06760452e+00] [ 1.01960912e-03 9.99992652e-01 3.69550624e-03 2.50202856e-01] [-6.06774274e-03 -3.68925344e-03 9.99974786e-01 -2.90184691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.903133364999995 meters Centerline goodness [0,1] 0.28172401837566097 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 9.99980910e-01 -9.71508646e-04 6.10216236e-03 1.06744960e+00] [ 9.48273295e-04 9.99992294e-01 3.80946401e-03 2.49661411e-01] [-6.10581626e-03 -3.80360476e-03 9.99974125e-01 -2.90131025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.933133364999996 meters Centerline goodness [0,1] 0.28258078555108257 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 9.99980544e-01 -8.76943375e-04 6.17595689e-03 1.06715170e+00] [ 8.52429198e-04 9.99991753e-01 3.97080647e-03 2.49062341e-01] [-6.17938813e-03 -3.96546465e-03 9.99973045e-01 -2.89955073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.963133365 meters Centerline goodness [0,1] 0.28145285599531056 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 9.99980020e-01 -7.54647147e-04 6.27614871e-03 1.06687135e+00] [ 7.28166163e-04 9.99990828e-01 4.22052014e-03 2.48062623e-01] [-6.27927615e-03 -4.21586574e-03 9.99971398e-01 -2.89888793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99313336499999 meters Centerline goodness [0,1] 0.28145285599531056 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 9.99980020e-01 -7.54647147e-04 6.27614871e-03 1.06687135e+00] [ 7.28166163e-04 9.99990828e-01 4.22052014e-03 2.48062623e-01] [-6.27927615e-03 -4.21586574e-03 9.99971398e-01 -2.89888793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02313336499999 meters Centerline goodness [0,1] 0.2817222511724856 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 9.99979773e-01 -7.12048740e-04 6.32034315e-03 1.06682283e+00] [ 6.84320907e-04 9.99990138e-01 4.38815622e-03 2.47083412e-01] [-6.32340540e-03 -4.38374232e-03 9.99970398e-01 -2.89969025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.053133365 meters Centerline goodness [0,1] 0.27902573371202344 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 9.99980549e-01 -6.35603152e-04 6.20468198e-03 1.06706195e+00] [ 6.06044285e-04 9.99988465e-01 4.76467999e-03 2.44975074e-01] [-6.20763886e-03 -4.76082700e-03 9.99969399e-01 -2.89832767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.083133365 meters Centerline goodness [0,1] 0.27839820971316676 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 9.99981483e-01 -5.81944574e-04 6.05757912e-03 1.06751820e+00] [ 5.52081080e-04 9.99987693e-01 4.93044398e-03 2.44153838e-01] [-6.06037381e-03 -4.92700841e-03 9.99969498e-01 -2.89989695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.113133365 meters Centerline goodness [0,1] 0.2779718771566597 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 9.99983395e-01 -5.35466740e-04 5.73794289e-03 1.06863516e+00] [ 5.06131000e-04 9.99986801e-01 5.11282136e-03 2.43059469e-01] [-5.74060491e-03 -5.10983231e-03 9.99970467e-01 -2.90570877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.143133365 meters Centerline goodness [0,1] 0.2795344704276024 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 9.99984212e-01 -5.31104172e-04 5.59399330e-03 1.06924666e+00] [ 5.02334715e-04 9.99986648e-01 5.14306953e-03 2.42783160e-01] [-5.59665012e-03 -5.14017828e-03 9.99971128e-01 -2.91067823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.173133365 meters Centerline goodness [0,1] 0.2807734086465349 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 9.99984724e-01 -5.37595910e-04 5.50117724e-03 1.06945285e+00] [ 5.09197421e-04 9.99986545e-01 5.16235580e-03 2.42524359e-01] [-5.50387848e-03 -5.15947575e-03 9.99971543e-01 -2.91042600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.203133365 meters Centerline goodness [0,1] 0.2810483082339136 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 9.99983919e-01 -4.27565583e-04 5.65492424e-03 1.06879591e+00] [ 3.96481332e-04 9.99984814e-01 5.49682579e-03 2.40883808e-01] [-5.65718862e-03 -5.49449533e-03 9.99968903e-01 -2.90519136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.233133365 meters Centerline goodness [0,1] 0.28084040931852816 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 9.99984119e-01 -3.95898734e-04 5.62186852e-03 1.06892648e+00] [ 3.64189064e-04 9.99984027e-01 5.64031868e-03 2.40114032e-01] [-5.62401171e-03 -5.63818168e-03 9.99968290e-01 -2.90592156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26313336499999 meters Centerline goodness [0,1] 0.2805108490258682 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 9.99984943e-01 -2.87468243e-04 5.48008688e-03 1.06935238e+00] [ 2.54454143e-04 9.99981822e-01 6.02412092e-03 2.38307938e-01] [-5.48171901e-03 -6.02263578e-03 9.99966839e-01 -2.90682731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29313336499999 meters Centerline goodness [0,1] 0.2773706896551724 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 9.99985193e-01 -2.37457551e-04 5.43666935e-03 1.06948480e+00] [ 2.04083100e-04 9.99981138e-01 6.13849986e-03 2.37866880e-01] [-5.43802444e-03 -6.13729944e-03 9.99966380e-01 -2.90700824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32313336499999 meters Centerline goodness [0,1] 0.2799922055989781 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 9.99985369e-01 -2.27858495e-04 5.40454304e-03 1.06955928e+00] [ 1.94612651e-04 9.99981062e-01 6.15119080e-03 2.37861960e-01] [-5.40584229e-03 -6.15004901e-03 9.99966476e-01 -2.90685217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35313336499999 meters Centerline goodness [0,1] 0.28008771739366434 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 9.99986263e-01 -3.57995518e-04 5.22936127e-03 1.07019179e+00] [ 3.28307923e-04 9.99983833e-01 5.67685332e-03 2.40039212e-01] [-5.23130901e-03 -5.67505849e-03 9.99970213e-01 -2.91167955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38313336499999 meters Centerline goodness [0,1] 0.27901984170009764 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 9.99986737e-01 -4.37003674e-04 5.13178723e-03 1.07067366e+00] [ 4.10190430e-04 9.99986266e-01 5.22482366e-03 2.42357230e-01] [-5.13400002e-03 -5.22264935e-03 9.99973183e-01 -2.91761783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.413133365 meters Centerline goodness [0,1] 0.27987824763561253 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 9.99986067e-01 2.26155688e-04 5.27391220e-03 1.07044184e+00] [-2.53037029e-04 9.99986979e-01 5.09692992e-03 2.46550039e-01] [-5.27269082e-03 -5.09819340e-03 9.99973103e-01 -2.92163308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.443133365 meters Centerline goodness [0,1] 0.27614963582295393 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 9.99986242e-01 2.08447139e-04 5.24131536e-03 1.07055468e+00] [-2.33121574e-04 9.99988892e-01 4.70750968e-03 2.48991161e-01] [-5.24027587e-03 -4.70866678e-03 9.99975184e-01 -2.92383379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.473133365 meters Centerline goodness [0,1] 0.2799183354328656 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 9.99986352e-01 4.91604299e-05 5.22438181e-03 1.07058849e+00] [-7.14576107e-05 9.99990890e-01 4.26780701e-03 2.50963070e-01] [-5.22412441e-03 -4.26812208e-03 9.99977246e-01 -2.92446314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.503133365 meters Centerline goodness [0,1] 0.2820156577351417 Centerline is valid? [False, False] Translation: X:1.05, Y:0.25, Z:-0.29 [[ 0.9999712 0.00656554 0.00380723 1.0497248 ] [-0.00657012 0.9999777 0.0011933 0.25020398] [-0.00379931 -0.00121828 0.99999204 -0.29228587] [ 0. 0. 0. 1. ]] SLAMing on 64.533133365 meters Centerline goodness [0,1] 0.27876269822279265 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 0.9999901 -0.00147699 0.00419796 1.06888728] [ 0.00146842 0.99999683 0.00204373 0.2565886 ] [-0.00420097 -0.00203754 0.9999891 -0.29145997] [ 0. 0. 0. 1. ]] SLAMing on 64.563133365 meters Centerline goodness [0,1] 0.27785264073027605 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 0.99998902 -0.00145609 0.00445405 1.06785852] [ 0.00144693 0.99999683 0.00205937 0.25703619] [-0.00445703 -0.0020529 0.99998796 -0.290722 ] [ 0. 0. 0. 1. ]] SLAMing on 64.593133365 meters Centerline goodness [0,1] 0.27680324508598186 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 0.99998806 -0.0014288 0.00467266 1.06713248] [ 0.00141859 0.9999966 0.00218579 0.25648351] [-0.00467577 -0.00217913 0.99998669 -0.29035064] [ 0. 0. 0. 1. ]] SLAMing on 64.623133365 meters Centerline goodness [0,1] 0.28044794980173426 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 0.99998711 -0.00138355 0.00488463 1.06640807] [ 0.00137187 0.99999619 0.00239361 0.25535146] [-0.00488792 -0.00238688 0.99998521 -0.28990927] [ 0. 0. 0. 1. ]] SLAMing on 64.65313336499999 meters Centerline goodness [0,1] 0.2789771989789296 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 0.99998716 -0.00128788 0.0049007 1.06633936] [ 0.00127353 0.99999489 0.00293151 0.25239716] [-0.00490445 -0.00292523 0.99998369 -0.28970319] [ 0. 0. 0. 1. ]] SLAMing on 64.68313336499999 meters Centerline goodness [0,1] 0.2769523151347616 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 0.9999889 -0.00120003 0.00455695 1.06746187] [ 0.00118548 0.9999942 0.00319444 0.25099527] [-0.00456076 -0.003189 0.99998451 -0.29016985] [ 0. 0. 0. 1. ]] SLAMing on 64.71313336499999 meters Centerline goodness [0,1] 0.27775973674525345 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 0.99999148 -0.0011284 0.00397039 1.06981038] [ 0.00111407 0.99999287 0.00360809 0.24805186] [-0.00397443 -0.00360364 0.99998561 -0.29169117] [ 0. 0. 0. 1. ]] SLAMing on 64.74313336499999 meters Centerline goodness [0,1] 0.27943132509103596 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 9.99991438e-01 -9.98841614e-04 4.01564139e-03 1.06976836e+00] [ 9.82988717e-04 9.99991724e-01 3.94782419e-03 2.46367689e-01] [-4.01955141e-03 -3.94384307e-03 9.99984145e-01 -2.91775396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77313336499999 meters Centerline goodness [0,1] 0.27669231434252617 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 9.99990768e-01 -8.30765785e-04 4.21595856e-03 1.06910614e+00] [ 8.12796122e-04 9.99990586e-01 4.26222082e-03 2.45095701e-01] [-4.21945978e-03 -4.25875476e-03 9.99982029e-01 -2.91434098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.803133365 meters Centerline goodness [0,1] 0.27849362236611297 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 9.99989536e-01 -5.58012252e-04 4.54051823e-03 1.06826174e+00] [ 5.37073193e-04 9.99989223e-01 4.61151436e-03 2.43845081e-01] [-4.54304258e-03 -4.60902752e-03 9.99979059e-01 -2.91294974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.833133365 meters Centerline goodness [0,1] 0.2762021928688595 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 9.99990442e-01 -5.02535088e-04 4.34312624e-03 1.06904170e+00] [ 4.82626758e-04 9.99989378e-01 4.58370411e-03 2.44113308e-01] [-4.34538358e-03 -4.58156419e-03 9.99980063e-01 -2.91921300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.863133365 meters Centerline goodness [0,1] 0.2783177854611085 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 9.99991106e-01 -5.02057615e-04 4.18755341e-03 1.06979617e+00] [ 4.83442716e-04 9.99990004e-01 4.44512068e-03 2.44728228e-01] [-4.18974325e-03 -4.44305670e-03 9.99981352e-01 -2.92693907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.893133365 meters Centerline goodness [0,1] 0.27531549503447683 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 9.99992471e-01 -3.83868721e-04 3.86136666e-03 1.07097603e+00] [ 3.67304432e-04 9.99990732e-01 4.28954272e-03 2.45924178e-01] [-3.86297750e-03 -4.28809213e-03 9.99983345e-01 -2.93596259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.923133365 meters Centerline goodness [0,1] 0.27709429204886316 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 9.99992427e-01 -3.68417451e-04 3.87422935e-03 1.07101393e+00] [ 3.51933045e-04 9.99990887e-01 4.25470786e-03 2.46284040e-01] [-3.87576155e-03 -4.25331217e-03 9.99983444e-01 -2.93727095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.953133365 meters Centerline goodness [0,1] 0.2745322312622742 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 9.99991549e-01 -4.18361306e-04 4.08980805e-03 1.07038604e+00] [ 4.01594657e-04 9.99991516e-01 4.09957958e-03 2.47133335e-01] [-4.09148845e-03 -4.09790249e-03 9.99983233e-01 -2.93570981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.983133365 meters Centerline goodness [0,1] 0.27638223628600533 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 9.99991309e-01 -4.89863041e-04 4.14033498e-03 1.07017713e+00] [ 4.73421276e-04 9.99992003e-01 3.97116693e-03 2.47624221e-01] [-4.14224720e-03 -3.96917230e-03 9.99983544e-01 -2.93440552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01313336499999 meters Centerline goodness [0,1] 0.27662210629279427 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 9.99991427e-01 -5.61231675e-04 4.10254130e-03 1.07035870e+00] [ 5.45463125e-04 9.99992464e-01 3.84371413e-03 2.48140242e-01] [-4.10466760e-03 -3.84144340e-03 9.99984197e-01 -2.93614369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04313336499999 meters Centerline goodness [0,1] 0.2765498299764583 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 9.99991610e-01 -6.65597944e-04 4.04195491e-03 1.07088686e+00] [ 6.50574242e-04 9.99992880e-01 3.71711735e-03 2.48748375e-01] [-4.04440024e-03 -3.71445657e-03 9.99984923e-01 -2.94236282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07313336499999 meters Centerline goodness [0,1] 0.27842667247766395 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 9.99991203e-01 -6.83560342e-04 4.13842115e-03 1.07060404e+00] [ 6.68072322e-04 9.99992773e-01 3.74272115e-03 2.48656167e-01] [-4.14094962e-03 -3.73992346e-03 9.99984433e-01 -2.94089066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10313336499999 meters Centerline goodness [0,1] 0.2780999543884798 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 9.99990199e-01 -7.33211476e-04 4.36621420e-03 1.06979050e+00] [ 7.16508145e-04 9.99992424e-01 3.82592290e-03 2.48096929e-01] [-4.36898634e-03 -3.82275697e-03 9.99983149e-01 -2.93515907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13313336499999 meters Centerline goodness [0,1] 0.2768284789644013 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 0.99998986 -0.00124728 0.00432634 1.06977123] [ 0.00123157 0.99999264 0.00363362 0.24737779] [-0.00433084 -0.00362825 0.99998404 -0.29318817] [ 0. 0. 0. 1. ]] SLAMing on 65.163133365 meters Centerline goodness [0,1] 0.261922736783072 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 0.99999097 -0.00126462 0.00405616 1.07071299] [ 0.00124938 0.99999216 0.0037576 0.24657374] [-0.00406088 -0.0037525 0.99998471 -0.29365204] [ 0. 0. 0. 1. ]] SLAMing on 65.193133365 meters Centerline goodness [0,1] 0.2788186170561616 Centerline is valid? [False, False] Translation: X:1.05, Y:0.24, Z:-0.29 [[ 9.99986658e-01 4.29806475e-03 2.86526038e-03 1.04881900e+00] [-4.29964773e-03 9.99990607e-01 5.46541063e-04 2.42499643e-01] [-2.86288440e-03 -5.58853382e-04 9.99995746e-01 -2.93777476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.223133365 meters Centerline goodness [0,1] 0.2757768820699519 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 0.99998838 -0.00360457 0.00320152 1.067411 ] [ 0.00359878 0.99999188 0.00181225 0.24698224] [-0.00320803 -0.00180071 0.99999323 -0.29229525] [ 0. 0. 0. 1. ]] SLAMing on 65.253133365 meters Centerline goodness [0,1] 0.27739205901497066 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 0.99998857 -0.00354178 0.00321089 1.06729092] [ 0.00353543 0.99999179 0.00198153 0.24617498] [-0.00321788 -0.00197016 0.99999288 -0.292094 ] [ 0. 0. 0. 1. ]] SLAMing on 65.283133365 meters Centerline goodness [0,1] 0.2765694459503415 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 0.99998893 -0.00349293 0.00315179 1.06742444] [ 0.00348632 0.99999172 0.00209903 0.2455909 ] [-0.00315909 -0.00208801 0.99999283 -0.2920813 ] [ 0. 0. 0. 1. ]] SLAMing on 65.313133365 meters Centerline goodness [0,1] 0.27695340424149206 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 0.9999894 -0.00333808 0.00317215 1.06757699] [ 0.00333017 0.99999134 0.00249525 0.24360025] [-0.00318045 -0.00248466 0.99999186 -0.29235305] [ 0. 0. 0. 1. ]] SLAMing on 65.343133365 meters Centerline goodness [0,1] 0.2772817137022312 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 0.99998965 -0.00314296 0.00328843 1.06753009] [ 0.00313363 0.99999106 0.00283839 0.24236418] [-0.00329732 -0.00282806 0.99999056 -0.29270588] [ 0. 0. 0. 1. ]] SLAMing on 65.373133365 meters Centerline goodness [0,1] 0.2759849620792316 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 0.99998981 -0.00306294 0.00331773 1.06752965] [ 0.00305343 0.99999123 0.00286662 0.24254433] [-0.00332648 -0.00285646 0.99999039 -0.2928722 ] [ 0. 0. 0. 1. ]] SLAMing on 65.40313336499999 meters Centerline goodness [0,1] 0.2617400328634437 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 0.99999011 -0.00300852 0.00327495 1.06767483] [ 0.00299934 0.99999157 0.0028043 0.24311851] [-0.00328336 -0.00279445 0.99999071 -0.29301095] [ 0. 0. 0. 1. ]] SLAMing on 65.43313336499999 meters Centerline goodness [0,1] 0.27661099407075995 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 0.99999003 -0.00298048 0.00332463 1.06753553] [ 0.00297148 0.99999192 0.0027085 0.24382769] [-0.00333267 -0.0026986 0.99999081 -0.29302554] [ 0. 0. 0. 1. ]] SLAMing on 65.46313336499999 meters Centerline goodness [0,1] 0.2626409366869037 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 0.99999037 -0.00256901 0.00355719 1.06688362] [ 0.00255947 0.99999312 0.00268466 0.24553651] [-0.00356406 -0.00267553 0.99999007 -0.29304325] [ 0. 0. 0. 1. ]] SLAMing on 65.49313336499999 meters Centerline goodness [0,1] 0.2750027041644132 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 0.99999069 -0.00254233 0.00348558 1.06722749] [ 0.00253388 0.99999385 0.00242583 0.24730993] [-0.00349173 -0.00241698 0.99999098 -0.29344574] [ 0. 0. 0. 1. ]] SLAMing on 65.52313336499999 meters Centerline goodness [0,1] 0.2738398000217368 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 0.99999308 -0.00234853 0.00288409 1.06904672] [ 0.002343 0.99999542 0.00191643 0.25114477] [-0.00288858 -0.00190966 0.999994 -0.29444085] [ 0. 0. 0. 1. ]] SLAMing on 65.553133365 meters Centerline goodness [0,1] 0.2740768191132231 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 0.99999242 -0.00249251 0.00299102 1.06872237] [ 0.00248787 0.9999957 0.00155441 0.25267241] [-0.00299488 -0.00154695 0.99999432 -0.29439413] [ 0. 0. 0. 1. ]] SLAMing on 65.583133365 meters Centerline goodness [0,1] 0.2723294556010485 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 0.99999142 -0.00259109 0.00323317 1.06777744] [ 0.00258669 0.99999572 0.00136451 0.25337258] [-0.0032367 -0.00135613 0.99999384 -0.29380001] [ 0. 0. 0. 1. ]] SLAMing on 65.613133365 meters Centerline goodness [0,1] 0.2741928540680155 Centerline is valid? [False, False] Translation: X:1.06, Y:0.25, Z:-0.29 [[ 0.99998704 -0.00279041 0.0042594 1.06432268] [ 0.00278488 0.99999527 0.00130424 0.25340513] [-0.00426302 -0.00129236 0.99999008 -0.29201212] [ 0. 0. 0. 1. ]] SLAMing on 65.643133365 meters Centerline goodness [0,1] 0.27712248865845757 Centerline is valid? [False, False] Translation: X:1.06, Y:0.25, Z:-0.29 [[ 0.99998668 -0.00277459 0.00435318 1.06398002] [ 0.00276845 0.99999516 0.00141622 0.25288271] [-0.00435709 -0.00140415 0.99998952 -0.29174983] [ 0. 0. 0. 1. ]] SLAMing on 65.673133365 meters Centerline goodness [0,1] 0.276874376653224 Centerline is valid? [False, False] Translation: X:1.06, Y:0.25, Z:-0.29 [[ 0.99998755 -0.00276628 0.00415352 1.06464236] [ 0.00275969 0.99999492 0.00159233 0.25177594] [-0.0041579 -0.00158085 0.99999011 -0.29201353] [ 0. 0. 0. 1. ]] SLAMing on 65.703133365 meters Centerline goodness [0,1] 0.261074722054641 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 0.99999066 -0.00343429 0.00262462 1.06920263] [ 0.00343096 0.99999331 0.00127065 0.25056605] [-0.00262896 -0.00126163 0.99999575 -0.2934654 ] [ 0. 0. 0. 1. ]] SLAMing on 65.733133365 meters Centerline goodness [0,1] 0.26301553641753583 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 0.9999913 -0.00336726 0.00246015 1.06964533] [ 0.00336349 0.99999316 0.0015369 0.24921894] [-0.00246531 -0.00152861 0.99999579 -0.29350995] [ 0. 0. 0. 1. ]] SLAMing on 65.76313336499999 meters Centerline goodness [0,1] 0.279213996605301 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 0.99998965 -0.00336094 0.00306816 1.06771726] [ 0.0033544 0.9999921 0.0021342 0.24569365] [-0.00307531 -0.00212389 0.99999302 -0.29240155] [ 0. 0. 0. 1. ]] SLAMing on 65.79313336499999 meters Centerline goodness [0,1] 0.26383715894326554 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 0.99998901 -0.00330765 0.00332111 1.06663662] [ 0.00329922 0.99999133 0.0025406 0.2432745 ] [-0.00332949 -0.00252962 0.99999126 -0.29146258] [ 0. 0. 0. 1. ]] SLAMing on 65.82313336499999 meters Centerline goodness [0,1] 0.2792244367417678 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 0.99998928 -0.00318252 0.00336448 1.06632611] [ 0.00317241 0.99999045 0.00300679 0.2408338 ] [-0.00337401 -0.00299608 0.99998982 -0.29101673] [ 0. 0. 0. 1. ]] SLAMing on 65.85313336499999 meters Centerline goodness [0,1] 0.2794692494788047 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 0.9999903 -0.00286802 0.00334393 1.06690709] [ 0.00285523 0.99998862 0.00382223 0.23697976] [-0.00335485 -0.00381265 0.9999871 -0.29179548] [ 0. 0. 0. 1. ]] SLAMing on 65.88313336499999 meters Centerline goodness [0,1] 0.26045562003008815 Centerline is valid? [False, False] Translation: X:1.09, Y:0.23, Z:-0.29 [[ 0.99998394 0.00519443 0.00226645 1.08763487] [-0.00520132 0.99998183 0.00304831 0.2326098 ] [-0.00225057 -0.00306005 0.99999279 -0.29087664] [ 0. 0. 0. 1. ]] SLAMing on 65.913133365 meters Centerline goodness [0,1] 0.26045562003008815 Centerline is valid? [False, False] Translation: X:1.09, Y:0.23, Z:-0.29 [[ 0.99998394 0.00519443 0.00226645 1.08763487] [-0.00520132 0.99998183 0.00304831 0.2326098 ] [-0.00225057 -0.00306005 0.99999279 -0.29087664] [ 0. 0. 0. 1. ]] SLAMing on 65.943133365 meters Centerline goodness [0,1] 0.2784276209940427 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 9.99995212e-01 -3.06793555e-03 4.04514840e-04 1.06872671e+00] [ 3.06624237e-03 9.99986804e-01 4.12191512e-03 2.35134976e-01] [-4.17155272e-04 -4.12065504e-03 9.99991423e-01 -2.92151900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.973133365 meters Centerline goodness [0,1] 0.27583149517754424 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:-0.29 [[ 9.99997177e-01 -2.36724929e-03 -2.07606821e-04 1.07061354e+00] [ 2.36813705e-03 9.99987579e-01 4.38556816e-03 2.35912177e-01] [ 1.97222509e-04 -4.38604742e-03 9.99990362e-01 -2.93107507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.003133365 meters Centerline goodness [0,1] 0.2778662941702862 Centerline is valid? [False, False] Translation: X:1.05, Y:0.23, Z:-0.29 [[ 9.99979370e-01 6.39919248e-03 -5.57117256e-04 1.04983218e+00] [-6.39712518e-03 9.99972926e-01 3.63661383e-03 2.32407868e-01] [ 5.80373564e-04 -3.63297486e-03 9.99993232e-01 -2.94076965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.033133365 meters Centerline goodness [0,1] 0.2761167934259988 Centerline is valid? [False, False] Translation: X:1.05, Y:0.24, Z:-0.30 [[ 9.99975291e-01 6.98588634e-03 -7.83500909e-04 1.05107096e+00] [-6.98320528e-03 9.99969925e-01 3.37395779e-03 2.36254746e-01] [ 8.07047431e-04 -3.36840308e-03 9.99994001e-01 -2.95588471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.063133365 meters Centerline goodness [0,1] 0.27271738894083364 Centerline is valid? [False, False] Translation: X:1.05, Y:0.24, Z:-0.30 [[ 9.99975508e-01 6.92752891e-03 -9.96092654e-04 1.05190195e+00] [-6.92467700e-03 9.99971995e-01 2.83859755e-03 2.39076655e-01] [ 1.01572923e-03 -2.83163041e-03 9.99995475e-01 -2.96389829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.093133365 meters Centerline goodness [0,1] 0.27207745792449156 Centerline is valid? [False, False] Translation: X:1.05, Y:0.24, Z:-0.30 [[ 0.99997144 0.00740296 -0.00151871 1.05325237] [-0.00739906 0.99996936 0.00255626 0.24384201] [ 0.00153759 -0.00254495 0.99999558 -0.2969806 ] [ 0. 0. 0. 1. ]] SLAMing on 66.123133365 meters Centerline goodness [0,1] 0.2625907095989224 Centerline is valid? [False, False] Translation: X:1.05, Y:0.25, Z:-0.30 [[ 0.99997215 0.00730658 -0.0015208 1.05323252] [-0.00730327 0.99997097 0.00217273 0.24607573] [ 0.00153663 -0.00216156 0.99999648 -0.2970541 ] [ 0. 0. 0. 1. ]] SLAMing on 66.15313336499999 meters Centerline goodness [0,1] 0.27388077567632274 Centerline is valid? [False, False] Translation: X:1.05, Y:0.25, Z:-0.30 [[ 0.99997334 0.00716318 -0.00141837 1.05283354] [-0.00716059 0.9999727 0.0018257 0.24772068] [ 0.00143141 -0.00181549 0.99999733 -0.29683287] [ 0. 0. 0. 1. ]] SLAMing on 66.18313336499999 meters Centerline goodness [0,1] 0.26024943897807695 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.30 [[ 9.99998973e-01 -1.37325851e-03 -4.11148309e-04 1.07172185e+00] [ 1.37416160e-03 9.99996626e-01 2.20436166e-03 2.55884165e-01] [ 4.08119763e-04 -2.20492438e-03 9.99997486e-01 -2.95479735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21313336499999 meters Centerline goodness [0,1] 0.27398446122881814 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.30 [[ 9.99998913e-01 -1.45254698e-03 -2.53082238e-04 1.07115060e+00] [ 1.45306528e-03 9.99996823e-01 2.05993445e-03 2.56719826e-01] [ 2.50089283e-04 -2.06029996e-03 9.99997846e-01 -2.95185393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24313336499999 meters Centerline goodness [0,1] 0.27584029954719613 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 9.99998899e-01 -1.48037134e-03 -9.80631095e-05 1.07066849e+00] [ 1.48056016e-03 9.99996994e-01 1.95428870e-03 2.57710254e-01] [ 9.51697418e-05 -1.95443174e-03 9.99998086e-01 -2.94983869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27313336499999 meters Centerline goodness [0,1] 0.27725761953381267 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 9.99998345e-01 -1.77835041e-03 3.85238010e-04 1.06922560e+00] [ 1.77771134e-03 9.99997054e-01 1.65293436e-03 2.58857509e-01] [-3.88176371e-04 -1.65224678e-03 9.99998560e-01 -2.94369094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.303133365 meters Centerline goodness [0,1] 0.2765080879483065 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 9.99998117e-01 -1.91425016e-03 3.20240605e-04 1.06910014e+00] [ 1.91374286e-03 9.99996925e-01 1.57700395e-03 2.58796252e-01] [-3.23258400e-04 -1.57638812e-03 9.99998705e-01 -2.93821544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.333133365 meters Centerline goodness [0,1] 0.27890623299153117 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 9.99998005e-01 -1.99504347e-03 1.01762278e-04 1.06947120e+00] [ 1.99488075e-03 9.99996770e-01 1.57483625e-03 2.58580808e-01] [-1.04903816e-04 -1.57463010e-03 9.99998755e-01 -2.93531035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.363133365 meters Centerline goodness [0,1] 0.27803784101548046 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 9.99997914e-01 -2.02532406e-03 -2.66119024e-04 1.07040473e+00] [ 2.02576639e-03 9.99996549e-01 1.67256064e-03 2.58079428e-01] [ 2.62730629e-04 -1.67309625e-03 9.99998566e-01 -2.93570338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.393133365 meters Centerline goodness [0,1] 0.2615474188122655 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 0.99999576 -0.00265293 -0.00120216 1.07312526] [ 0.00265477 0.9999953 0.00153081 0.25660546] [ 0.0011981 -0.001534 0.99999811 -0.29417657] [ 0. 0. 0. 1. ]] SLAMing on 66.423133365 meters Centerline goodness [0,1] 0.27791541704698575 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 0.99999523 -0.00279335 -0.00131512 1.07350743] [ 0.00279554 0.9999947 0.00167036 0.2550315 ] [ 0.00131045 -0.00167403 0.99999774 -0.29420574] [ 0. 0. 0. 1. ]] SLAMing on 66.453133365 meters Centerline goodness [0,1] 0.27957952707723244 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 9.99995077e-01 -3.09909139e-03 -4.91768066e-04 1.07143062e+00] [ 3.10007237e-03 9.99993181e-01 2.00673368e-03 2.51922236e-01] [ 4.85545662e-04 -2.00824832e-03 9.99997866e-01 -2.93683564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.483133365 meters Centerline goodness [0,1] 0.26626290793429486 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 9.99995484e-01 -2.98265392e-03 -3.67625580e-04 1.07110556e+00] [ 2.98350603e-03 9.99992813e-01 2.33954232e-03 2.50498109e-01] [ 3.60644893e-04 -2.34062857e-03 9.99997196e-01 -2.93552767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51313336499999 meters Centerline goodness [0,1] 0.2639207372474365 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 9.99995515e-01 -2.95733731e-03 -4.72645754e-04 1.07162195e+00] [ 2.95853001e-03 9.99992390e-01 2.54299955e-03 2.49079311e-01] [ 4.65121650e-04 -2.54438648e-03 9.99996655e-01 -2.93888054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54313336499999 meters Centerline goodness [0,1] 0.2654561269979341 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.29 [[ 9.99995228e-01 -3.01965039e-03 -6.53041521e-04 1.07224974e+00] [ 3.02120503e-03 9.99992573e-01 2.39287952e-03 2.49559274e-01] [ 6.45811011e-04 -2.39484108e-03 9.99996924e-01 -2.94283584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57313336499999 meters Centerline goodness [0,1] 0.25625441393626813 Centerline is valid? [False, False] Translation: X:1.09, Y:0.25, Z:-0.29 [[ 9.99985610e-01 5.28571500e-03 -9.17217653e-04 1.09360855e+00] [-5.28446502e-03 9.99985112e-01 1.35991362e-03 2.48513399e-01] [ 9.24392114e-04 -1.35504705e-03 9.99998655e-01 -2.93654320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60313336499999 meters Centerline goodness [0,1] 0.27812377509690345 Centerline is valid? [False, False] Translation: X:1.05, Y:0.25, Z:-0.29 [[ 0.99997297 0.00630662 -0.00377902 1.04901277] [-0.00629844 0.99997781 0.00217122 0.24780318] [ 0.00379263 -0.00214736 0.9999905 -0.29307279] [ 0. 0. 0. 1. ]] SLAMing on 66.63313336499999 meters Centerline goodness [0,1] 0.277945223430743 Centerline is valid? [False, False] Translation: X:1.05, Y:0.25, Z:-0.29 [[ 0.99997288 0.00638397 -0.00367207 1.04866613] [-0.00637738 0.99997804 0.00180403 0.25037362] [ 0.00368351 -0.00178056 0.99999163 -0.29304733] [ 0. 0. 0. 1. ]] SLAMing on 66.663133365 meters Centerline goodness [0,1] 0.27517822423849647 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 0.99999413 -0.00170737 -0.00296917 1.06787489] [ 0.0017149 0.99999532 0.00253397 0.25634027] [ 0.00296483 -0.00253904 0.99999238 -0.29226068] [ 0. 0. 0. 1. ]] SLAMing on 66.693133365 meters Centerline goodness [0,1] 0.2638194759957595 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 0.99999485 -0.00168742 -0.00272974 1.06724255] [ 0.00169447 0.99999523 0.00258402 0.25607968] [ 0.00272536 -0.00258863 0.99999294 -0.29218685] [ 0. 0. 0. 1. ]] SLAMing on 66.723133365 meters Centerline goodness [0,1] 0.26391663048198 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 0.99999485 -0.00169477 -0.00272397 1.0675217 ] [ 0.0017019 0.99999513 0.00261731 0.25577751] [ 0.00271952 -0.00262193 0.99999286 -0.29265638] [ 0. 0. 0. 1. ]] SLAMing on 66.753133365 meters Centerline goodness [0,1] 0.2606116615444132 Centerline is valid? [False, False] Translation: X:1.09, Y:0.25, Z:-0.29 [[ 0.99997669 0.00586956 -0.00348938 1.08840901] [-0.00586489 0.9999819 0.0013456 0.25195939] [ 0.00349721 -0.0013251 0.99999301 -0.29183794] [ 0. 0. 0. 1. ]] SLAMing on 66.783133365 meters Centerline goodness [0,1] 0.262362607583411 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 0.99999134 -0.0021572 -0.00356034 1.06911699] [ 0.00216672 0.99999408 0.00267406 0.25541613] [ 0.00355455 -0.00268175 0.99999009 -0.29369004] [ 0. 0. 0. 1. ]] SLAMing on 66.813133365 meters Centerline goodness [0,1] 0.26338520302971113 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 0.99999149 -0.00213818 -0.00352922 1.06898243] [ 0.00214753 0.99999419 0.00264709 0.25576726] [ 0.00352354 -0.00265464 0.99999027 -0.29361806] [ 0. 0. 0. 1. ]] SLAMing on 66.843133365 meters Centerline goodness [0,1] 0.2590129355803792 Centerline is valid? [False, False] Translation: X:1.09, Y:0.25, Z:-0.29 [[ 0.99997424 0.00615206 -0.00369833 1.08884259] [-0.00614537 0.99997947 0.00181765 0.25367479] [ 0.00370944 -0.00179488 0.99999151 -0.29226176] [ 0. 0. 0. 1. ]] SLAMing on 66.873133365 meters Centerline goodness [0,1] 0.2646457617535771 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 0.99999224 -0.00161111 -0.00359482 1.06949221] [ 0.00162287 0.99999334 0.00327001 0.25767313] [ 0.00358953 -0.00327582 0.99998819 -0.29463568] [ 0. 0. 0. 1. ]] SLAMing on 66.90313336499999 meters Centerline goodness [0,1] 0.2628325660809613 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 0.99999235 -0.001642 -0.00355035 1.06951345] [ 0.00165324 0.99999363 0.00316461 0.25806715] [ 0.00354513 -0.00317046 0.99998869 -0.29490446] [ 0. 0. 0. 1. ]] SLAMing on 66.93313336499999 meters Centerline goodness [0,1] 0.2764440785197383 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 0.9999928 -0.00169775 -0.00339357 1.06907789] [ 0.00170808 0.99999391 0.0030437 0.25830515] [ 0.00338838 -0.00304948 0.99998961 -0.2948772 ] [ 0. 0. 0. 1. ]] SLAMing on 66.96313336499999 meters Centerline goodness [0,1] 0.2624387506205884 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 0.99999305 -0.00170486 -0.00331687 1.06894579] [ 0.00171484 0.99999401 0.00300594 0.25857763] [ 0.00331172 -0.00301161 0.99998998 -0.29499018] [ 0. 0. 0. 1. ]] SLAMing on 66.99313336499999 meters Centerline goodness [0,1] 0.2618133172226298 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.30 [[ 0.99999329 -0.00170631 -0.0032409 1.06883979] [ 0.00171595 0.9999941 0.00297592 0.2588015 ] [ 0.0032358 -0.00298146 0.99999032 -0.29515018] [ 0. 0. 0. 1. ]] SLAMing on 67.02313336499999 meters Centerline goodness [0,1] 0.26391145190287435 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.30 [[ 0.99999371 -0.00172002 -0.0031031 1.06842441] [ 0.00172953 0.99999381 0.00306449 0.25799782] [ 0.00309781 -0.00306983 0.99999049 -0.29500132] [ 0. 0. 0. 1. ]] SLAMing on 67.053133365 meters Centerline goodness [0,1] 0.2650234485767259 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 0.9999935 -0.00169618 -0.00318216 1.06849352] [ 0.0017065 0.99999328 0.00324346 0.25693398] [ 0.00317664 -0.00324887 0.99998968 -0.29473215] [ 0. 0. 0. 1. ]] SLAMing on 67.083133365 meters Centerline goodness [0,1] 0.2631032693305656 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 0.99999277 -0.00162854 -0.00343724 1.06912735] [ 0.00164051 0.99999259 0.00348239 0.25576555] [ 0.00343154 -0.00348801 0.99998803 -0.29471379] [ 0. 0. 0. 1. ]] SLAMing on 67.113133365 meters Centerline goodness [0,1] 0.26566175829920713 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.30 [[ 0.99999179 -0.00156228 -0.00373779 1.07004163] [ 0.00157607 0.99999195 0.00368959 0.25477673] [ 0.003732 -0.00369545 0.99998621 -0.2950062 ] [ 0. 0. 0. 1. ]] SLAMing on 67.143133365 meters Centerline goodness [0,1] 0.2643850499782703 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:-0.30 [[ 0.99999178 -0.00158413 -0.00373344 1.07008298] [ 0.00159769 0.99999213 0.00363213 0.2549724 ] [ 0.00372766 -0.00363806 0.99998643 -0.29511178] [ 0. 0. 0. 1. ]] SLAMing on 67.173133365 meters Centerline goodness [0,1] 0.2660504675736076 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 0.99999484 -0.00143858 -0.00287333 1.06767975] [ 0.00144862 0.99999284 0.00349449 0.25637377] [ 0.00286828 -0.00349864 0.99998977 -0.29454728] [ 0. 0. 0. 1. ]] SLAMing on 67.203133365 meters Centerline goodness [0,1] 0.265771460958277 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 0.99999595 -0.00140287 -0.0024782 1.06655315] [ 0.00141114 0.99999343 0.00333842 0.25755598] [ 0.0024735 -0.00334191 0.99999136 -0.2942962 ] [ 0. 0. 0. 1. ]] SLAMing on 67.233133365 meters Centerline goodness [0,1] 0.26521550790556636 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 0.99999602 -0.00141229 -0.0024424 1.06648057] [ 0.00141979 0.99999428 0.00306968 0.25916146] [ 0.00243805 -0.00307313 0.99999231 -0.29445633] [ 0. 0. 0. 1. ]] SLAMing on 67.26313336499999 meters Centerline goodness [0,1] 0.26271533602121555 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.29 [[ 0.99999557 -0.00143047 -0.00261105 1.06701773] [ 0.00143773 0.9999951 0.00278181 0.26082289] [ 0.00260705 -0.00278555 0.99999272 -0.29482301] [ 0. 0. 0. 1. ]] SLAMing on 67.29313336499999 meters Centerline goodness [0,1] 0.25860399044359783 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.30 [[ 0.99999354 -0.00131884 -0.00334254 1.06923475] [ 0.00132699 0.99999615 0.00243899 0.26307645] [ 0.00333931 -0.00244341 0.99999144 -0.29585794] [ 0. 0. 0. 1. ]] SLAMing on 67.32313336499999 meters Centerline goodness [0,1] 0.2578692233114295 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.30 [[ 0.99999318 -0.00137364 -0.00342789 1.069503 ] [ 0.00138149 0.99999643 0.00228723 0.26373762] [ 0.00342473 -0.00229195 0.99999151 -0.29603867] [ 0. 0. 0. 1. ]] SLAMing on 67.35313336499999 meters Centerline goodness [0,1] 0.2597051118280036 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.30 [[ 0.99999263 -0.00142599 -0.00356371 1.06983047] [ 0.00143387 0.99999653 0.00220859 0.26394366] [ 0.00356054 -0.00221368 0.99999121 -0.29603506] [ 0. 0. 0. 1. ]] SLAMing on 67.38313336499999 meters Centerline goodness [0,1] 0.26081686543581306 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:-0.30 [[ 0.99999188 -0.00148194 -0.00374829 1.07038635] [ 0.00148964 0.99999678 0.00205216 0.26492697] [ 0.00374524 -0.00205773 0.99999087 -0.29625088] [ 0. 0. 0. 1. ]] SLAMing on 67.413133365 meters Centerline goodness [0,1] 0.2623393008635879 Centerline is valid? [False, False] Translation: X:1.07, Y:0.27, Z:-0.30 [[ 0.99999222 -0.00153516 -0.0036328 1.07011498] [ 0.00154201 0.99999704 0.00188418 0.26591976] [ 0.00362989 -0.00188977 0.99999163 -0.29626809] [ 0. 0. 0. 1. ]] SLAMing on 67.443133365 meters Centerline goodness [0,1] 0.2556433044264165 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.30 [[ 9.99976536e-01 6.46753292e-03 -2.25816414e-03 1.08987676e+00] [-6.46621366e-03 9.99978919e-01 5.91032609e-04 2.66382290e-01] [ 2.26193905e-03 -5.76416969e-04 9.99997276e-01 -2.95827540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.473133365 meters Centerline goodness [0,1] 0.2587505919834675 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.30 [[ 9.99977030e-01 6.35874008e-03 -2.34633725e-03 1.09004222e+00] [-6.35790789e-03 9.99979723e-01 3.61966021e-04 2.67417847e-01] [ 2.34859132e-03 -3.47039910e-04 9.99997182e-01 -2.95750453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.503133365 meters Centerline goodness [0,1] 0.25690863984467693 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.30 [[ 9.99977608e-01 6.22711110e-03 -2.45095754e-03 1.09030926e+00] [-6.22682715e-03 9.99980606e-01 1.23466663e-04 2.68400052e-01] [ 2.45167884e-03 -1.08202209e-04 9.99996989e-01 -2.95782525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.533133365 meters Centerline goodness [0,1] 0.2635690968443961 Centerline is valid? [False, False] Translation: X:1.07, Y:0.27, Z:-0.30 [[ 9.99994670e-01 -2.17382837e-03 -2.43586820e-03 1.07020720e+00] [ 2.17616919e-03 9.99997173e-01 9.58740469e-04 2.73884236e-01] [ 2.43377717e-03 -9.64036221e-04 9.99996574e-01 -2.97464817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.563133365 meters Centerline goodness [0,1] 0.25686542254589595 Centerline is valid? [False, False] Translation: X:1.07, Y:0.27, Z:-0.30 [[ 9.99993988e-01 -2.27701316e-03 -2.61532111e-03 1.07072521e+00] [ 2.27894475e-03 9.99997132e-01 7.35827221e-04 2.74936772e-01] [ 2.61363812e-03 -7.41782969e-04 9.99996309e-01 -2.97571285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.593133365 meters Centerline goodness [0,1] 0.25614057867514983 Centerline is valid? [False, False] Translation: X:1.07, Y:0.28, Z:-0.30 [[ 9.99993338e-01 -2.35618059e-03 -2.78781457e-03 1.07122504e+00] [ 2.35774014e-03 9.99997066e-01 5.56264018e-04 2.75873794e-01] [ 2.78649574e-03 -5.62833254e-04 9.99995959e-01 -2.97740421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.623133365 meters Centerline goodness [0,1] 0.2742717386557191 Centerline is valid? [False, False] Translation: X:1.07, Y:0.28, Z:-0.30 [[ 9.99993472e-01 -2.48206927e-03 -2.62604192e-03 1.07033021e+00] [ 2.48295040e-03 9.99996862e-01 3.32328437e-04 2.77005789e-01] [ 2.62520881e-03 -3.38846599e-04 9.99996497e-01 -2.96849325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65313336499999 meters Centerline goodness [0,1] 0.256343919108294 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.30 [[ 9.99985531e-01 5.29659386e-03 -9.40222021e-04 1.08932289e+00] [-5.29745850e-03 9.99985546e-01 -9.19520662e-04 2.75005375e-01] [ 9.35338103e-04 9.24488145e-04 9.99999135e-01 -2.95549836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68313336499999 meters Centerline goodness [0,1] 0.26049746500844995 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.30 [[ 9.99985964e-01 5.23034666e-03 -8.46180242e-04 1.08893760e+00] [-5.23114483e-03 9.99985872e-01 -9.43816046e-04 2.74922020e-01] [ 8.41231802e-04 9.48229290e-04 9.99999197e-01 -2.95240028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71313336499999 meters Centerline goodness [0,1] 0.26333573125803855 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.29 [[ 9.99985974e-01 5.22750480e-03 -8.51341814e-04 1.08883910e+00] [-5.22823303e-03 9.99985967e-01 -8.55426638e-04 2.74450379e-01] [ 8.46858121e-04 8.59865653e-04 9.99999272e-01 -2.94999299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74313336499999 meters Centerline goodness [0,1] 0.2630219637121278 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.30 [[ 9.99986108e-01 5.15274174e-03 -1.11029951e-03 1.08953918e+00] [-5.15352092e-03 9.99986475e-01 -7.00068110e-04 2.73304268e-01] [ 1.10667722e-03 7.05780336e-04 9.99999139e-01 -2.95037455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77313336499999 meters Centerline goodness [0,1] 0.2612722292273577 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.30 [[ 9.99986127e-01 5.12904104e-03 -1.19939666e-03 1.08990687e+00] [-5.12982811e-03 9.99986628e-01 -6.54069546e-04 2.72819077e-01] [ 1.19602588e-03 6.60213171e-04 9.99999067e-01 -2.95284037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.803133365 meters Centerline goodness [0,1] 0.2612722292273577 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.30 [[ 9.99986127e-01 5.12904104e-03 -1.19939666e-03 1.08990687e+00] [-5.12982811e-03 9.99986628e-01 -6.54069546e-04 2.72819077e-01] [ 1.19602588e-03 6.60213171e-04 9.99999067e-01 -2.95284037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.833133365 meters Centerline goodness [0,1] 0.2581056269575548 Centerline is valid? [False, False] Translation: X:1.11, Y:0.28, Z:-0.29 [[ 9.99994384e-01 -2.93499857e-03 -1.61781068e-03 1.10901939e+00] [ 2.93519669e-03 9.99995685e-01 1.20101513e-04 2.78587289e-01] [ 1.61745120e-03 -1.24849431e-04 9.99998684e-01 -2.94149976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.863133365 meters Centerline goodness [0,1] 0.254926877598053 Centerline is valid? [False, False] Translation: X:1.11, Y:0.28, Z:-0.29 [[ 9.99994430e-01 -2.93430406e-03 -1.59035698e-03 1.10901610e+00] [ 2.93439537e-03 9.99995693e-01 5.50823613e-05 2.78997629e-01] [ 1.59018850e-03 -5.97487907e-05 9.99998734e-01 -2.94275837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.893133365 meters Centerline goodness [0,1] 0.25834991779873673 Centerline is valid? [False, False] Translation: X:1.11, Y:0.28, Z:-0.29 [[ 9.99994424e-01 -2.96324135e-03 -1.53961121e-03 1.10899734e+00] [ 2.96308617e-03 9.99995605e-01 -1.03063983e-04 2.79857353e-01] [ 1.53990984e-03 9.85014072e-05 9.99998809e-01 -2.94487675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.923133365 meters Centerline goodness [0,1] 0.25839994800805877 Centerline is valid? [False, False] Translation: X:1.11, Y:0.28, Z:-0.29 [[ 9.99994156e-01 -3.07345852e-03 -1.49710038e-03 1.10898315e+00] [ 3.07274027e-03 9.99995163e-01 -4.81824288e-04 2.81624736e-01] [ 1.49857401e-03 4.77221272e-04 9.99998763e-01 -2.94725326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.953133365 meters Centerline goodness [0,1] 0.258983006875081 Centerline is valid? [False, False] Translation: X:1.11, Y:0.28, Z:-0.29 [[ 9.99994092e-01 -3.08579062e-03 -1.51453390e-03 1.10907608e+00] [ 3.08490449e-03 9.99995069e-01 -5.87069172e-04 2.82291906e-01] [ 1.51633801e-03 5.82393511e-04 9.99998681e-01 -2.94868965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.983133365 meters Centerline goodness [0,1] 0.25782414307004475 Centerline is valid? [False, False] Translation: X:1.11, Y:0.28, Z:-0.29 [[ 9.99994329e-01 -3.07387857e-03 -1.37563189e-03 1.10878002e+00] [ 3.07295817e-03 9.99995054e-01 -6.70687257e-04 2.83004559e-01] [ 1.37768669e-03 6.66456194e-04 9.99998829e-01 -2.94969279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01313336499999 meters Centerline goodness [0,1] 0.2590219297296127 Centerline is valid? [False, False] Translation: X:1.11, Y:0.28, Z:-0.29 [[ 9.99994903e-01 -3.06218601e-03 -9.03730988e-04 1.10749138e+00] [ 3.06153448e-03 9.99995053e-01 -7.21432464e-04 2.83406380e-01] [ 9.05935678e-04 7.18661983e-04 9.99999331e-01 -2.94759643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04313336499999 meters Centerline goodness [0,1] 0.26434105153203347 Centerline is valid? [False, False] Translation: X:1.11, Y:0.28, Z:-0.29 [[ 9.99994838e-01 -3.09253297e-03 -8.71952241e-04 1.10737583e+00] [ 3.09187254e-03 9.99994933e-01 -7.57744951e-04 2.83383453e-01] [ 8.74291174e-04 7.55045074e-04 9.99999333e-01 -2.94659864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07313336499999 meters Centerline goodness [0,1] 0.2596910142792139 Centerline is valid? [False, False] Translation: X:1.11, Y:0.28, Z:-0.29 [[ 9.99994459e-01 -3.15076477e-03 -1.07497297e-03 1.10797557e+00] [ 3.14965331e-03 9.99994505e-01 -1.03407368e-03 2.84801436e-01] [ 1.07822518e-03 1.03068216e-03 9.99998888e-01 -2.94990447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10313336499999 meters Centerline goodness [0,1] 0.2613611701896784 Centerline is valid? [False, False] Translation: X:1.11, Y:0.29, Z:-0.30 [[ 0.99999431 -0.00315365 -0.00120032 1.10843562] [ 0.00315223 0.99999433 -0.00118594 0.28584585] [ 0.00120405 0.00118215 0.99999858 -0.29534871] [ 0. 0. 0. 1. ]] SLAMing on 68.13313336499999 meters Centerline goodness [0,1] 0.2610056740363921 Centerline is valid? [False, False] Translation: X:1.11, Y:0.29, Z:-0.30 [[ 0.99999416 -0.00313787 -0.00135676 1.10901502] [ 0.00313603 0.99999417 -0.00135457 0.28706111] [ 0.001361 0.0013503 0.99999816 -0.29576278] [ 0. 0. 0. 1. ]] SLAMing on 68.163133365 meters Centerline goodness [0,1] 0.2528654065329119 Centerline is valid? [False, False] Translation: X:1.13, Y:0.29, Z:-0.30 [[ 9.99984803e-01 5.40296986e-03 -1.09621828e-03 1.13074884e+00] [-5.40550497e-03 9.99982692e-01 -2.32297104e-03 2.87257815e-01] [ 1.08364836e-03 2.32886135e-03 9.99996701e-01 -2.95580422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.193133365 meters Centerline goodness [0,1] 0.2565773803079189 Centerline is valid? [False, False] Translation: X:1.11, Y:0.29, Z:-0.30 [[ 0.99999519 -0.00268856 -0.00154461 1.11151092] [ 0.00268657 0.99999555 -0.00129388 0.29124157] [ 0.00154808 0.00128972 0.99999797 -0.29722255] [ 0. 0. 0. 1. ]] SLAMing on 68.223133365 meters Centerline goodness [0,1] 0.2554180566017432 Centerline is valid? [False, False] Translation: X:1.11, Y:0.29, Z:-0.30 [[ 0.99999471 -0.00270625 -0.00180374 1.11233505] [ 0.00270365 0.99999531 -0.00144195 0.29204651] [ 0.00180764 0.00143707 0.99999733 -0.29763873] [ 0. 0. 0. 1. ]] SLAMing on 68.253133365 meters Centerline goodness [0,1] 0.26206233754887187 Centerline is valid? [False, False] Translation: X:1.07, Y:0.29, Z:-0.30 [[ 9.99986246e-01 -1.83912363e-03 -4.91186176e-03 1.06886524e+00] [ 1.83416684e-03 9.99997804e-01 -1.01346003e-03 2.90201159e-01] [ 4.91371486e-03 1.00443692e-03 9.99987423e-01 -2.97388519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.283133365 meters Centerline goodness [0,1] 0.2621924428822495 Centerline is valid? [False, False] Translation: X:1.07, Y:0.29, Z:-0.30 [[ 0.99998673 -0.00184373 -0.00480992 1.06857695] [ 0.00183808 0.99999762 -0.00117834 0.29123625] [ 0.00481208 0.00116948 0.99998774 -0.29737062] [ 0. 0. 0. 1. ]] SLAMing on 68.313133365 meters Centerline goodness [0,1] 0.2571644204851752 Centerline is valid? [False, False] Translation: X:1.11, Y:0.30, Z:-0.30 [[ 9.99997751e-01 -5.43893146e-04 -2.04996859e-03 1.11018678e+00] [ 5.43366208e-04 9.99999819e-01 -2.57594797e-04 2.97131573e-01] [ 2.05010833e-03 2.56480334e-04 9.99997866e-01 -2.96746927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.343133365 meters Centerline goodness [0,1] 0.255470199818739 Centerline is valid? [False, False] Translation: X:1.11, Y:0.30, Z:-0.30 [[ 9.99998272e-01 -5.27938479e-04 -1.78232914e-03 1.10939764e+00] [ 5.27342879e-04 9.99999805e-01 -3.34623376e-04 2.97797767e-01] [ 1.78250545e-03 3.33682900e-04 9.99998356e-01 -2.96560582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.373133365 meters Centerline goodness [0,1] 0.25699353775426115 Centerline is valid? [False, False] Translation: X:1.11, Y:0.30, Z:-0.30 [[ 9.99998472e-01 -5.12374840e-04 -1.67123724e-03 1.10902953e+00] [ 5.11799504e-04 9.99999810e-01 -3.44667099e-04 2.98020950e-01] [ 1.67141352e-03 3.43811234e-04 9.99998544e-01 -2.96429010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40313336499999 meters Centerline goodness [0,1] 0.261564707683559 Centerline is valid? [False, False] Translation: X:1.11, Y:0.30, Z:-0.30 [[ 9.99998593e-01 -5.21895156e-04 -1.59427749e-03 1.10894339e+00] [ 5.21363758e-04 9.99999808e-01 -3.33713179e-04 2.97844763e-01] [ 1.59445135e-03 3.32881511e-04 9.99998673e-01 -2.96595343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43313336499999 meters Centerline goodness [0,1] 0.25396348658099677 Centerline is valid? [False, False] Translation: X:1.15, Y:0.30, Z:-0.30 [[ 9.99998243e-01 -1.83904890e-03 -3.62204091e-04 1.15447553e+00] [ 1.83850880e-03 9.99997206e-01 -1.48585710e-03 3.00399229e-01] [ 3.64935642e-04 1.48518858e-03 9.99998831e-01 -2.97565800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46313336499999 meters Centerline goodness [0,1] 0.2584630055047462 Centerline is valid? [False, False] Translation: X:1.15, Y:0.30, Z:-0.30 [[ 9.99998485e-01 -1.69519024e-03 -3.96105836e-04 1.15457129e+00] [ 1.69473640e-03 9.99997910e-01 -1.14327673e-03 2.99100892e-01] [ 3.98043080e-04 1.14260370e-03 9.99999268e-01 -2.97545056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49313336499999 meters Centerline goodness [0,1] 0.25708296414755905 Centerline is valid? [False, False] Translation: X:1.15, Y:0.30, Z:-0.30 [[ 9.99998578e-01 -1.64764115e-03 -3.60207319e-04 1.15437952e+00] [ 1.64725211e-03 9.99998063e-01 -1.07767021e-03 2.99025885e-01] [ 3.61982235e-04 1.07707532e-03 9.99999354e-01 -2.97321074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52313336499999 meters Centerline goodness [0,1] 0.25863676779944045 Centerline is valid? [False, False] Translation: X:1.15, Y:0.30, Z:-0.30 [[ 9.99998572e-01 -1.65984728e-03 -3.18763694e-04 1.15425057e+00] [ 1.65950082e-03 9.99998035e-01 -1.08410249e-03 2.98980604e-01] [ 3.20562512e-04 1.08357195e-03 9.99999362e-01 -2.97269428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.553133365 meters Centerline goodness [0,1] 0.2588850098662099 Centerline is valid? [False, False] Translation: X:1.16, Y:0.30, Z:-0.30 [[ 9.99998377e-01 -1.72154286e-03 -5.30678206e-04 1.15501907e+00] [ 1.72088589e-03 9.99997755e-01 -1.23596139e-03 2.99405360e-01] [ 5.32804775e-04 1.23504614e-03 9.99999095e-01 -2.97749996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.583133365 meters Centerline goodness [0,1] 0.2611855849582173 Centerline is valid? [False, False] Translation: X:1.16, Y:0.30, Z:-0.30 [[ 9.99998314e-01 -1.74249462e-03 -5.79067658e-04 1.15526013e+00] [ 1.74170672e-03 9.99997561e-01 -1.35836346e-03 3.00063339e-01] [ 5.81433187e-04 1.35735261e-03 9.99998910e-01 -2.98056208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.613133365 meters Centerline goodness [0,1] 0.2558234749068029 Centerline is valid? [False, False] Translation: X:1.16, Y:0.30, Z:-0.30 [[ 9.99998366e-01 -1.72138556e-03 -5.51978183e-04 1.15527505e+00] [ 1.72058020e-03 9.99997460e-01 -1.45622196e-03 3.00820884e-01] [ 5.54483500e-04 1.45526986e-03 9.99998787e-01 -2.98241425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.643133365 meters Centerline goodness [0,1] 0.25779995660663924 Centerline is valid? [False, False] Translation: X:1.16, Y:0.30, Z:-0.30 [[ 9.99998353e-01 -1.75995688e-03 -4.44012892e-04 1.15511294e+00] [ 1.75923284e-03 9.99997131e-01 -1.62583801e-03 3.01794978e-01] [ 4.46873023e-04 1.62505421e-03 9.99998580e-01 -2.98486143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.673133365 meters Centerline goodness [0,1] 0.258080610872489 Centerline is valid? [False, False] Translation: X:1.15, Y:0.30, Z:-0.30 [[ 9.99998099e-01 -1.93672987e-03 -2.25842027e-04 1.15463288e+00] [ 1.93625965e-03 9.99995995e-01 -2.06401067e-03 3.03684945e-01] [ 2.29838554e-04 2.06356946e-03 9.99997844e-01 -2.98654171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.703133365 meters Centerline goodness [0,1] 0.26006218878427445 Centerline is valid? [False, False] Translation: X:1.15, Y:0.30, Z:-0.30 [[ 9.99997969e-01 -2.01202758e-03 -1.15832462e-04 1.15435732e+00] [ 2.01175930e-03 9.99995397e-01 -2.27140920e-03 3.04642489e-01] [ 1.20402066e-04 2.27117156e-03 9.99997414e-01 -2.98698187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.733133365 meters Centerline goodness [0,1] 0.26241867416915776 Centerline is valid? [False, False] Translation: X:1.15, Y:0.31, Z:-0.30 [[ 9.99997789e-01 -2.09816735e-03 -1.39596134e-04 1.15443490e+00] [ 2.09777699e-03 9.99994046e-01 -2.74004533e-03 3.07500844e-01] [ 1.45344376e-04 2.73974643e-03 9.99996236e-01 -2.98876503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76313336499999 meters Centerline goodness [0,1] 0.2617243631613324 Centerline is valid? [False, False] Translation: X:1.15, Y:0.31, Z:-0.30 [[ 9.99997650e-01 -2.16540667e-03 -1.02039263e-04 1.15434682e+00] [ 2.16509035e-03 9.99993143e-01 -3.00434043e-03 3.09027498e-01] [ 1.08544182e-04 3.00411244e-03 9.99995482e-01 -2.98935786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79313336499999 meters Centerline goodness [0,1] 0.2563963807957055 Centerline is valid? [False, False] Translation: X:1.15, Y:0.31, Z:-0.30 [[ 9.99997356e-01 -2.29955250e-03 -1.09548003e-05 1.15405777e+00] [ 2.29950221e-03 9.99991621e-01 -3.38676455e-03 3.10930641e-01] [ 1.87427514e-05 3.38673040e-03 9.99994265e-01 -2.98888264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82313336499999 meters Centerline goodness [0,1] 0.2597925643635104 Centerline is valid? [False, False] Translation: X:1.15, Y:0.31, Z:-0.30 [[ 9.99996580e-01 -2.61127759e-03 -1.46442013e-04 1.15419190e+00] [ 2.61063761e-03 9.99987721e-01 -4.21224180e-03 3.14853151e-01] [ 1.57439548e-04 4.21184508e-03 9.99991118e-01 -2.98724999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85313336499999 meters Centerline goodness [0,1] 0.27557650375525844 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 0.99999358 -0.00223821 -0.00279992 1.11015115] [ 0.00222642 0.99998867 -0.00420782 0.3139144 ] [ 0.00280931 0.00420156 0.99998723 -0.29818267] [ 0. 0. 0. 1. ]] SLAMing on 68.88313336499999 meters Centerline goodness [0,1] 0.2524110552546981 Centerline is valid? [False, False] Translation: X:1.15, Y:0.32, Z:-0.30 [[ 0.99999753 -0.00146076 -0.00167587 1.15486706] [ 0.00145501 0.99999307 -0.0034274 0.32007248] [ 0.00168086 0.00342496 0.99999272 -0.29863547] [ 0. 0. 0. 1. ]] SLAMing on 68.913133365 meters Centerline goodness [0,1] 0.2633298971333319 Centerline is valid? [False, False] Translation: X:1.11, Y:0.32, Z:-0.30 [[ 0.99999081 -0.00132146 -0.00407733 1.10982393] [ 0.00130577 0.99999174 -0.00384851 0.32146179] [ 0.00408238 0.00384315 0.99998428 -0.29752964] [ 0. 0. 0. 1. ]] SLAMing on 68.943133365 meters Centerline goodness [0,1] 0.26081474718490505 Centerline is valid? [False, False] Translation: X:1.11, Y:0.32, Z:-0.30 [[ 0.99999027 -0.00141154 -0.00417964 1.10975049] [ 0.0013948 0.99999101 -0.0040039 0.32220952] [ 0.00418525 0.00399803 0.99998325 -0.29698564] [ 0. 0. 0. 1. ]] SLAMing on 68.973133365 meters Centerline goodness [0,1] 0.26072528000349326 Centerline is valid? [False, False] Translation: X:1.11, Y:0.32, Z:-0.30 [[ 0.99999 -0.00143746 -0.00423516 1.10968935] [ 0.00142058 0.99999105 -0.00398639 0.32221402] [ 0.00424085 0.00398033 0.99998309 -0.29658041] [ 0. 0. 0. 1. ]] SLAMing on 69.003133365 meters Centerline goodness [0,1] 0.25931949775551366 Centerline is valid? [False, False] Translation: X:1.11, Y:0.32, Z:-0.30 [[ 0.99998724 -0.00185213 -0.004699 1.11081382] [ 0.00183338 0.99999035 -0.00399148 0.32094764] [ 0.00470635 0.00398282 0.99998099 -0.2964135 ] [ 0. 0. 0. 1. ]] SLAMing on 69.033133365 meters Centerline goodness [0,1] 0.26121986803998 Centerline is valid? [False, False] Translation: X:1.11, Y:0.32, Z:-0.30 [[ 0.99998615 -0.00189071 -0.00491247 1.11150619] [ 0.00187239 0.99999128 -0.00373177 0.31914994] [ 0.00491949 0.00372252 0.99998097 -0.29658708] [ 0. 0. 0. 1. ]] SLAMing on 69.063133365 meters Centerline goodness [0,1] 0.25549165441494426 Centerline is valid? [False, False] Translation: X:1.11, Y:0.32, Z:-0.30 [[ 0.99998624 -0.00184487 -0.00491177 1.11149279] [ 0.00182844 0.99999273 -0.0033458 0.31700557] [ 0.00491791 0.00333677 0.99998234 -0.29644766] [ 0. 0. 0. 1. ]] SLAMing on 69.093133365 meters Centerline goodness [0,1] 0.2601701703868886 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 0.99999029 -0.00192941 -0.00396227 1.1086836 ] [ 0.00191843 0.99999431 -0.00277323 0.31343614] [ 0.0039676 0.0027656 0.9999883 -0.29523437] [ 0. 0. 0. 1. ]] SLAMing on 69.123133365 meters Centerline goodness [0,1] 0.27543764270957916 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.29 [[ 0.99999077 -0.00183778 -0.00388399 1.10827148] [ 0.00182829 0.99999534 -0.00244499 0.31171254] [ 0.00388846 0.00243787 0.99998947 -0.29478092] [ 0. 0. 0. 1. ]] SLAMing on 69.15313336499999 meters Centerline goodness [0,1] 0.2613984403849078 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 0.99999152 -0.00167658 -0.00376052 1.10818853] [ 0.00166946 0.99999681 -0.00189594 0.30866766] [ 0.00376369 0.00188964 0.99999113 -0.29501879] [ 0. 0. 0. 1. ]] SLAMing on 69.18313336499999 meters Centerline goodness [0,1] 0.25985171094442405 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 0.99999195 -0.00155324 -0.00369969 1.10814171] [ 0.00154719 0.99999746 -0.00163842 0.30756566] [ 0.00370223 0.00163269 0.99999181 -0.29515319] [ 0. 0. 0. 1. ]] SLAMing on 69.21313336499999 meters Centerline goodness [0,1] 0.27337739733448907 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 0.99999192 -0.0014647 -0.00374251 1.10839852] [ 0.00145912 0.99999782 -0.00149386 0.30704619] [ 0.00374469 0.00148839 0.99999188 -0.2954271 ] [ 0. 0. 0. 1. ]] SLAMing on 69.24313336499999 meters Centerline goodness [0,1] 0.27366219278368487 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 0.99998843 -0.00119163 -0.00466123 1.1111261 ] [ 0.00118454 0.99999814 -0.00152479 0.30773897] [ 0.00466304 0.00151925 0.99998797 -0.2965854 ] [ 0. 0. 0. 1. ]] SLAMing on 69.27313336499999 meters Centerline goodness [0,1] 0.26206190507307936 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 0.99998692 -0.001163 -0.00497985 1.11217279] [ 0.00115442 0.99999784 -0.00172582 0.30882834] [ 0.00498184 0.00172005 0.99998611 -0.29719938] [ 0. 0. 0. 1. ]] SLAMing on 69.303133365 meters Centerline goodness [0,1] 0.25840681189488246 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 9.99988220e-01 -7.22577803e-04 -4.79980485e-03 1.11175508e+00] [ 7.14285339e-04 9.99998250e-01 -1.72915657e-03 3.10174005e-01] [ 4.80104590e-03 1.72570777e-03 9.99986986e-01 -2.97459651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.333133365 meters Centerline goodness [0,1] 0.25969623883710313 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 9.99988677e-01 -6.67782597e-04 -4.71158817e-03 1.11158009e+00] [ 6.59299778e-04 9.99998160e-01 -1.80173956e-03 3.10874322e-01] [ 4.71278267e-03 1.79861281e-03 9.99987277e-01 -2.97632855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.363133365 meters Centerline goodness [0,1] 0.25803461729140176 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 9.99988911e-01 -6.20693309e-04 -4.66826625e-03 1.11151957e+00] [ 6.12154953e-04 9.99998138e-01 -1.83022725e-03 3.11249673e-01] [ 4.66939356e-03 1.82734925e-03 9.99987429e-01 -2.97777182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.393133365 meters Centerline goodness [0,1] 0.2558940799167895 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 9.99989275e-01 -4.90653744e-04 -4.60543781e-03 1.11133804e+00] [ 4.83660931e-04 9.99998729e-01 -1.51937278e-03 3.09826600e-01] [ 4.60617744e-03 1.51712901e-03 9.99988241e-01 -2.97719559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.423133365 meters Centerline goodness [0,1] 0.26057132933923766 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 9.99989779e-01 -4.22109248e-04 -4.50148970e-03 1.11103910e+00] [ 4.16389938e-04 9.99999105e-01 -1.27139865e-03 3.08506964e-01] [ 4.50202234e-03 1.26951128e-03 9.99989060e-01 -2.97593350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.453133365 meters Centerline goodness [0,1] 0.262891324280662 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 9.99991729e-01 -5.20981169e-04 -4.03356896e-03 1.11001052e+00] [ 5.17409055e-04 9.99999473e-01 -8.86589220e-04 3.05831132e-01] [ 4.03402874e-03 8.84494882e-04 9.99991472e-01 -2.97476911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.483133365 meters Centerline goodness [0,1] 0.2611629982801036 Centerline is valid? [False, False] Translation: X:1.11, Y:0.30, Z:-0.30 [[ 9.99991755e-01 -4.36916055e-04 -4.03729985e-03 1.11011601e+00] [ 4.34365120e-04 9.99999706e-01 -6.32697191e-04 3.04680965e-01] [ 4.03757509e-03 6.30938312e-04 9.99991650e-01 -2.97551625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51313336499999 meters Centerline goodness [0,1] 0.2734140626710754 Centerline is valid? [False, False] Translation: X:1.11, Y:0.30, Z:-0.30 [[ 9.99991524e-01 -3.67397783e-04 -4.10090611e-03 1.11031697e+00] [ 3.65386630e-04 9.99999813e-01 -4.91155056e-04 3.04148146e-01] [ 4.10108579e-03 4.89652476e-04 9.99991471e-01 -2.97628317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54313336499999 meters Centerline goodness [0,1] 0.25722549637909664 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 9.99988867e-01 -2.66807312e-04 -4.71121304e-03 1.11225726e+00] [ 2.64167164e-04 9.99999808e-01 -5.61010050e-04 3.05020701e-01] [ 4.71136181e-03 5.59759256e-04 9.99988745e-01 -2.98567176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57313336499999 meters Centerline goodness [0,1] 0.25849646252007463 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 9.99988220e-01 -2.53108586e-04 -4.84723647e-03 1.11285708e+00] [ 2.50021118e-04 9.99999766e-01 -6.37549557e-04 3.05555154e-01] [ 4.84739670e-03 6.36330135e-04 9.99988049e-01 -2.99093967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60313336499999 meters Centerline goodness [0,1] 0.26201533406352684 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 9.99988403e-01 -2.89359255e-04 -4.80737897e-03 1.11293422e+00] [ 2.85490872e-04 9.99999635e-01 -8.05342826e-04 3.06408140e-01] [ 4.80761025e-03 8.03961023e-04 9.99988120e-01 -2.99490379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63313336499999 meters Centerline goodness [0,1] 0.25816993464052285 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 9.99988427e-01 -2.89584225e-04 -4.80219364e-03 1.11302879e+00] [ 2.85568654e-04 9.99999609e-01 -8.36859732e-04 3.06592357e-01] [ 4.80243410e-03 8.35478692e-04 9.99988119e-01 -2.99689089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.663133365 meters Centerline goodness [0,1] 0.2601670337338363 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 9.99988492e-01 -2.83840921e-04 -4.78913055e-03 1.11300257e+00] [ 2.79765700e-04 9.99999598e-01 -8.51579862e-04 3.06784335e-01] [ 4.78937034e-03 8.50230227e-04 9.99988169e-01 -2.99725124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.693133365 meters Centerline goodness [0,1] 0.25800270023082617 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 9.99987945e-01 -2.17270882e-04 -4.90533282e-03 1.11324239e+00] [ 2.13246086e-04 9.99999640e-01 -8.21002123e-04 3.07188519e-01] [ 4.90550943e-03 8.19946183e-04 9.99987632e-01 -2.99708434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.723133365 meters Centerline goodness [0,1] 0.25800270023082617 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 9.99987945e-01 -2.17270882e-04 -4.90533282e-03 1.11324239e+00] [ 2.13246086e-04 9.99999640e-01 -8.21002123e-04 3.07188519e-01] [ 4.90550943e-03 8.19946183e-04 9.99987632e-01 -2.99708434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.753133365 meters Centerline goodness [0,1] 0.2588458435980727 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 9.99987796e-01 -2.48265596e-04 -4.93410776e-03 1.11337726e+00] [ 2.43788114e-04 9.99999558e-01 -9.08036015e-04 3.07569848e-01] [ 4.93433102e-03 9.06822057e-04 9.99987415e-01 -2.99841857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.783133365 meters Centerline goodness [0,1] 0.2503722887665911 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 9.99988554e-01 -3.78690276e-04 -4.76960274e-03 1.11300334e+00] [ 3.73247444e-04 9.99999278e-01 -1.14198824e-03 3.08461500e-01] [ 4.77003176e-03 1.14019493e-03 9.99987973e-01 -2.99892898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.813133365 meters Centerline goodness [0,1] 0.25860979807001105 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 9.99988978e-01 -4.38496078e-04 -4.67454166e-03 1.11268248e+00] [ 4.32488106e-04 9.99999079e-01 -1.28618717e-03 3.09179263e-01] [ 4.67510135e-03 1.28415131e-03 9.99988247e-01 -2.99754095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.843133365 meters Centerline goodness [0,1] 0.2555930589813492 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 9.99988653e-01 -4.90543637e-04 -4.73851608e-03 1.11279872e+00] [ 4.83713944e-04 9.99998843e-01 -1.44235333e-03 3.10029093e-01] [ 4.73921814e-03 1.44004487e-03 9.99987733e-01 -2.99740867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87313336499999 meters Centerline goodness [0,1] 0.25682454883054273 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 9.99987127e-01 -6.52240661e-04 -5.03201562e-03 1.11400073e+00] [ 6.43009700e-04 9.99998108e-01 -1.83584573e-03 3.11842148e-01] [ 5.03320351e-03 1.83258646e-03 9.99985654e-01 -3.00612547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90313336499999 meters Centerline goodness [0,1] 0.25699529288702927 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 9.99986663e-01 -7.25325768e-04 -5.11353654e-03 1.11430852e+00] [ 7.15147733e-04 9.99997760e-01 -1.99195778e-03 3.12495611e-01] [ 5.11496990e-03 1.98827428e-03 9.99984942e-01 -3.00821981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93313336499999 meters Centerline goodness [0,1] 0.25620949149593286 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 9.99987298e-01 -7.78880418e-04 -4.97975273e-03 1.11382149e+00] [ 7.68331913e-04 9.99997458e-01 -2.11984114e-03 3.13176405e-01] [ 4.98139117e-03 2.11598811e-03 9.99985354e-01 -3.00566673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96313336499999 meters Centerline goodness [0,1] 0.25930677568061233 Centerline is valid? [False, False] Translation: X:1.11, Y:0.31, Z:-0.30 [[ 9.99988766e-01 -8.96303372e-04 -4.65450578e-03 1.11239898e+00] [ 8.85244708e-04 9.99996782e-01 -2.37742206e-03 3.14552644e-01] [ 4.65662169e-03 2.37327498e-03 9.99986342e-01 -2.99470883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99313336499999 meters Centerline goodness [0,1] 0.2589132091908962 Centerline is valid? [False, False] Translation: X:1.11, Y:0.32, Z:-0.30 [[ 9.99988747e-01 -9.69685531e-04 -4.64388492e-03 1.11223844e+00] [ 9.57965793e-04 9.99996353e-01 -2.52525219e-03 3.15210846e-01] [ 4.64631668e-03 2.52077509e-03 9.99986029e-01 -2.99236236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02313336499999 meters Centerline goodness [0,1] 0.25383623468729855 Centerline is valid? [False, False] Translation: X:1.13, Y:0.32, Z:-0.30 [[ 0.99994758 -0.00908745 -0.00471799 1.1315804 ] [ 0.0090796 0.99995736 -0.0016824 0.32215792] [ 0.00473307 0.00163947 0.99998745 -0.29836665] [ 0. 0. 0. 1. ]] SLAMing on 70.053133365 meters Centerline goodness [0,1] 0.2563714575992737 Centerline is valid? [False, False] Translation: X:1.11, Y:0.32, Z:-0.30 [[ 9.99989210e-01 -7.05191132e-04 -4.59149792e-03 1.11205250e+00] [ 6.92390504e-04 9.99995871e-01 -2.78889117e-03 3.19144860e-01] [ 4.59344566e-03 2.78568197e-03 9.99985570e-01 -2.99443431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.083133365 meters Centerline goodness [0,1] 0.25748034915533935 Centerline is valid? [False, False] Translation: X:1.11, Y:0.32, Z:-0.30 [[ 9.99990225e-01 -7.65685829e-04 -4.35475502e-03 1.11121582e+00] [ 7.52553384e-04 9.99995167e-01 -3.01649580e-03 3.20463985e-01] [ 4.35704366e-03 3.01318913e-03 9.99985968e-01 -2.99047300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.113133365 meters Centerline goodness [0,1] 0.25732095318485815 Centerline is valid? [False, False] Translation: X:1.11, Y:0.32, Z:-0.30 [[ 9.99991611e-01 -9.17092598e-04 -3.99211359e-03 1.10974243e+00] [ 9.03212276e-04 9.99993546e-01 -3.47735099e-03 3.22975112e-01] [ 3.99527688e-03 3.47371610e-03 9.99985985e-01 -2.98135472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.143133365 meters Centerline goodness [0,1] 0.2730985977021537 Centerline is valid? [False, False] Translation: X:1.11, Y:0.32, Z:-0.30 [[ 9.99991332e-01 -1.03327425e-03 -4.03339605e-03 1.10984716e+00] [ 1.01819291e-03 9.99992490e-01 -3.73938349e-03 3.24081116e-01] [ 4.03722957e-03 3.73524430e-03 9.99984874e-01 -2.98162695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.173133365 meters Centerline goodness [0,1] 0.2718116444290417 Centerline is valid? [False, False] Translation: X:1.11, Y:0.33, Z:-0.30 [[ 0.99999092 -0.0011314 -0.00410753 1.1101028 ] [ 0.00111503 0.99999144 -0.00398559 0.32525519] [ 0.004112 0.00398097 0.99998362 -0.29832628] [ 0. 0. 0. 1. ]] SLAMing on 70.203133365 meters Centerline goodness [0,1] 0.27281240472145996 Centerline is valid? [False, False] Translation: X:1.11, Y:0.33, Z:-0.30 [[ 0.99999063 -0.00114709 -0.0041741 1.11032935] [ 0.00112996 0.99999094 -0.0041037 0.32611723] [ 0.00417877 0.00409894 0.99998287 -0.29848943] [ 0. 0. 0. 1. ]] SLAMing on 70.233133365 meters Centerline goodness [0,1] 0.26072807740703774 Centerline is valid? [False, False] Translation: X:1.11, Y:0.33, Z:-0.30 [[ 0.99998982 -0.00113664 -0.00436607 1.1112429 ] [ 0.00111815 0.99999041 -0.00423316 0.32738651] [ 0.00437084 0.00422823 0.99998151 -0.2992022 ] [ 0. 0. 0. 1. ]] SLAMing on 70.26313336499999 meters Centerline goodness [0,1] 0.27335624986315765 Centerline is valid? [False, False] Translation: X:1.11, Y:0.33, Z:-0.30 [[ 0.99998901 -0.00121358 -0.00452948 1.11179131] [ 0.00119361 0.99998957 -0.0044076 0.32807587] [ 0.00453478 0.00440214 0.99998003 -0.2994843 ] [ 0. 0. 0. 1. ]] SLAMing on 70.29313336499999 meters Centerline goodness [0,1] 0.25838853530761574 Centerline is valid? [False, False] Translation: X:1.13, Y:0.34, Z:-0.30 [[ 0.99994288 -0.00804354 -0.00703905 1.13052721] [ 0.00801363 0.99995879 -0.0042668 0.33798502] [ 0.00707308 0.00421014 0.99996612 -0.29793987] [ 0. 0. 0. 1. ]] SLAMing on 70.32313336499999 meters Centerline goodness [0,1] 0.2568420597518267 Centerline is valid? [False, False] Translation: X:1.13, Y:0.34, Z:-0.30 [[ 9.99963652e-01 -4.34457866e-03 -7.33623104e-03 1.13152367e+00] [ 4.33892810e-03 9.99990278e-01 -7.85966603e-04 3.39171130e-01] [ 7.33957442e-03 7.54106655e-04 9.99972781e-01 -2.98391391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35313336499999 meters Centerline goodness [0,1] 0.25243784307394257 Centerline is valid? [False, False] Translation: X:1.13, Y:0.34, Z:-0.30 [[ 9.99972685e-01 -5.81588955e-04 -7.36829092e-03 1.13167031e+00] [ 6.01292684e-04 9.99996249e-01 2.67219176e-03 3.41217139e-01] [ 7.36670916e-03 -2.67654927e-03 9.99969283e-01 -2.98510806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38313336499999 meters Centerline goodness [0,1] 0.255709536761214 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99973794e-01 -3.31312555e-04 -7.23200415e-03 1.13108098e+00] [ 3.45804231e-04 9.99997935e-01 2.00266728e-03 3.46777099e-01] [ 7.23132570e-03 -2.00511565e-03 9.99971843e-01 -2.98438098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.413133365 meters Centerline goodness [0,1] 0.25717124589597373 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99973494e-01 -5.12582328e-04 -7.26287196e-03 1.13103413e+00] [ 5.23466429e-04 9.99998743e-01 1.49677302e-03 3.49043011e-01] [ 7.26209561e-03 -1.50053522e-03 9.99972505e-01 -2.98393219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.443133365 meters Centerline goodness [0,1] 0.2548888409238075 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99974477e-01 -7.20715115e-04 -7.10810018e-03 1.13033330e+00] [ 7.27664718e-04 9.99999260e-01 9.75164233e-04 3.51467189e-01] [ 7.10739210e-03 -9.80311658e-04 9.99974262e-01 -2.98009665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.473133365 meters Centerline goodness [0,1] 0.25847623182114177 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99975115e-01 -7.28770634e-04 -7.01694076e-03 1.12997782e+00] [ 7.35683713e-04 9.99999247e-01 9.82667713e-04 3.51457310e-01] [ 7.01621934e-03 -9.87805509e-04 9.99974898e-01 -2.97776424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.503133365 meters Centerline goodness [0,1] 0.27022086824067026 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99975315e-01 -7.51327799e-04 -6.98601310e-03 1.12991466e+00] [ 7.58450061e-04 9.99999195e-01 1.01690969e-03 3.51111120e-01] [ 6.98524345e-03 -1.02218313e-03 9.99975080e-01 -2.97742165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.533133365 meters Centerline goodness [0,1] 0.25897279916572524 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99974038e-01 -8.55112880e-04 -7.15482337e-03 1.13049955e+00] [ 8.62752548e-04 9.99999061e-01 1.06474637e-03 3.50219513e-01] [ 7.15390617e-03 -1.07089157e-03 9.99973837e-01 -2.97960938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.563133365 meters Centerline goodness [0,1] 0.27129303216259737 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99972981e-01 -8.11816861e-04 -7.30604547e-03 1.13088943e+00] [ 8.20493304e-04 9.99998962e-01 1.18465137e-03 3.49708689e-01] [ 7.30507617e-03 -1.19061392e-03 9.99972609e-01 -2.97954295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.593133365 meters Centerline goodness [0,1] 0.25841382596266294 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99972101e-01 -7.40199677e-04 -7.43305097e-03 1.13123453e+00] [ 7.49830572e-04 9.99998883e-01 1.29298211e-03 3.49500433e-01] [ 7.43208561e-03 -1.29851957e-03 9.99971539e-01 -2.98054725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62313336499999 meters Centerline goodness [0,1] 0.25935556566772844 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99971356e-01 -6.64168590e-04 -7.53968199e-03 1.13147558e+00] [ 6.74889274e-04 9.99998765e-01 1.41944617e-03 3.49066403e-01] [ 7.53872993e-03 -1.42449396e-03 9.99970569e-01 -2.98025827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65313336499999 meters Centerline goodness [0,1] 0.2589625909248354 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99973980e-01 -6.96880883e-04 -7.18015304e-03 1.13015126e+00] [ 7.07670284e-04 9.99998624e-01 1.50023902e-03 3.48247119e-01] [ 7.17909768e-03 -1.50528116e-03 9.99973097e-01 -2.97237332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68313336499999 meters Centerline goodness [0,1] 0.256043956043956 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99975477e-01 -6.92250680e-04 -6.96893878e-03 1.12939481e+00] [ 7.02622469e-04 9.99998649e-01 1.48594983e-03 3.48403420e-01] [ 6.96790071e-03 -1.49080993e-03 9.99974613e-01 -2.96915510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71313336499999 meters Centerline goodness [0,1] 0.25646255582274136 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99976713e-01 -6.82176319e-04 -6.79034534e-03 1.12884162e+00] [ 6.92223694e-04 9.99998669e-01 1.47741564e-03 3.48591731e-01] [ 6.78932845e-03 -1.48208167e-03 9.99975854e-01 -2.96748505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74313336499999 meters Centerline goodness [0,1] 0.26728546259292685 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99976995e-01 -7.10926239e-04 -6.74562902e-03 1.12871951e+00] [ 7.20277923e-04 9.99998783e-01 1.38400431e-03 3.49118467e-01] [ 6.74463689e-03 -1.38883120e-03 9.99976290e-01 -2.96775654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77313336499999 meters Centerline goodness [0,1] 0.2583071154592078 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99976330e-01 -7.31497122e-04 -6.84134418e-03 1.12926145e+00] [ 7.40216142e-04 9.99998917e-01 1.27201482e-03 3.49870057e-01] [ 6.84040630e-03 -1.27704878e-03 9.99975789e-01 -2.97315924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.803133365 meters Centerline goodness [0,1] 0.27193780318780314 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99979410e-01 -7.88244316e-04 -6.36849829e-03 1.12763151e+00] [ 7.96351668e-04 9.99998876e-01 1.27060437e-03 3.49576754e-01] [ 6.36748959e-03 -1.27564977e-03 9.99978914e-01 -2.96470704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.833133365 meters Centerline goodness [0,1] 0.26287044692980543 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99979514e-01 -7.99775518e-04 -6.35075183e-03 1.12739391e+00] [ 8.08112844e-04 9.99998815e-01 1.31035184e-03 3.49235302e-01] [ 6.34969632e-03 -1.31545712e-03 9.99978975e-01 -2.96098131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.863133365 meters Centerline goodness [0,1] 0.27112355162088275 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99978153e-01 -8.08956066e-04 -6.56044188e-03 1.12803086e+00] [ 8.17478680e-04 9.99998825e-01 1.29651385e-03 3.49215724e-01] [ 6.55938535e-03 -1.30184855e-03 9.99977640e-01 -2.96316207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.893133365 meters Centerline goodness [0,1] 0.2582462654347638 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99974804e-01 -8.59748338e-04 -7.04646038e-03 1.12963614e+00] [ 8.67499447e-04 9.99999022e-01 1.09701780e-03 3.50193495e-01] [ 7.04551032e-03 -1.10310296e-03 9.99974572e-01 -2.97104842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.923133365 meters Centerline goodness [0,1] 0.2683930195297276 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99970344e-01 -9.35963543e-04 -7.64431251e-03 1.13175971e+00] [ 9.40953988e-04 9.99999347e-01 6.49260722e-04 3.52658781e-01] [ 7.64369983e-03 -6.56434414e-04 9.99970571e-01 -2.98418774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.953133365 meters Centerline goodness [0,1] 0.2723173441380212 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99972236e-01 -9.74729230e-04 -7.38761160e-03 1.13081324e+00] [ 9.78572520e-04 9.99999388e-01 5.16637604e-04 3.53474944e-01] [ 7.38710350e-03 -5.23852574e-04 9.99972578e-01 -2.97920862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.983133365 meters Centerline goodness [0,1] 0.26927813668085476 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99978291e-01 -9.74633853e-04 -6.51674627e-03 1.12756089e+00] [ 9.79227700e-04 9.99999274e-01 7.01776008e-04 3.53104252e-01] [ 6.51605757e-03 -7.08142151e-04 9.99978520e-01 -2.95875285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01313336499999 meters Centerline goodness [0,1] 0.26979155416351663 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99977570e-01 -1.07112310e-03 -6.61157547e-03 1.12786842e+00] [ 1.07697567e-03 9.99999031e-01 8.81703065e-04 3.51554629e-01] [ 6.61062465e-03 -8.88803794e-04 9.99977755e-01 -2.95859648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04313336499999 meters Centerline goodness [0,1] 0.2592624616315766 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99972147e-01 -1.34516960e-03 -7.34134020e-03 1.13018979e+00] [ 1.35259798e-03 9.99998578e-01 1.00698448e-03 3.49443542e-01] [ 7.33997519e-03 -1.01688632e-03 9.99972545e-01 -2.96632392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07313336499999 meters Centerline goodness [0,1] 0.2742785884617909 Centerline is valid? [False, False] Translation: X:1.11, Y:0.34, Z:-0.30 [[ 0.99994767 0.00334793 -0.00966651 1.11147658] [-0.00337236 0.99999116 -0.00251193 0.33899314] [ 0.00965801 0.00254439 0.99995012 -0.29707227] [ 0. 0. 0. 1. ]] SLAMing on 71.10313336499999 meters Centerline goodness [0,1] 0.2741513221048957 Centerline is valid? [False, False] Translation: X:1.11, Y:0.34, Z:-0.30 [[ 0.99995138 0.00326243 -0.0093057 1.1105224 ] [-0.00328097 0.99999266 -0.0019782 0.3356053 ] [ 0.00929917 0.00200863 0.99995474 -0.29664323] [ 0. 0. 0. 1. ]] SLAMing on 71.13313336499999 meters Centerline goodness [0,1] 0.2741364712012332 Centerline is valid? [False, False] Translation: X:1.11, Y:0.33, Z:-0.30 [[ 0.99996001 0.00302968 -0.00841391 1.10799643] [-0.00304051 0.99999456 -0.00127488 0.32959161] [ 0.00841 0.00130041 0.99996379 -0.29569042] [ 0. 0. 0. 1. ]] SLAMing on 71.163133365 meters Centerline goodness [0,1] 0.27650813707762356 Centerline is valid? [False, False] Translation: X:1.11, Y:0.33, Z:-0.30 [[ 9.99959691e-01 3.17455002e-03 -8.39871197e-03 1.10808436e+00] [-3.18183981e-03 9.99994573e-01 -8.54746386e-04 3.27499008e-01] [ 8.39595296e-03 8.81435288e-04 9.99964365e-01 -2.95821348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.193133365 meters Centerline goodness [0,1] 0.2595161709876008 Centerline is valid? [False, False] Translation: X:1.11, Y:0.33, Z:-0.30 [[ 9.99949096e-01 3.51132790e-03 -9.45914611e-03 1.11168298e+00] [-3.51557666e-03 9.99993727e-01 -4.32579286e-04 3.25660777e-01] [ 9.45756785e-03 4.65811619e-04 9.99955168e-01 -2.97654347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.223133365 meters Centerline goodness [0,1] 0.2585344640139161 Centerline is valid? [False, False] Translation: X:1.11, Y:0.33, Z:-0.30 [[ 9.99940463e-01 3.73277808e-03 -1.02536428e-02 1.11415834e+00] [-3.73659054e-03 9.99992957e-01 -3.52683227e-04 3.25731707e-01] [ 1.02522541e-02 3.90975894e-04 9.99947368e-01 -2.98762625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.253133365 meters Centerline goodness [0,1] 0.2731198743674751 Centerline is valid? [False, False] Translation: X:1.11, Y:0.33, Z:-0.30 [[ 9.99936940e-01 3.87766477e-03 -1.05394799e-02 1.11497813e+00] [-3.88185412e-03 9.99992394e-01 -3.77063994e-04 3.26173314e-01] [ 1.05379376e-02 4.17952940e-04 9.99944387e-01 -2.99144900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.283133365 meters Centerline goodness [0,1] 0.25898843491657086 Centerline is valid? [False, False] Translation: X:1.11, Y:0.33, Z:-0.30 [[ 9.99937994e-01 4.00055340e-03 -1.03924888e-02 1.11450052e+00] [-4.00456929e-03 9.99991915e-01 -3.65641614e-04 3.26417404e-01] [ 1.03909420e-02 4.07236384e-04 9.99945930e-01 -2.99010694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.313133365 meters Centerline goodness [0,1] 0.2559662775616083 Centerline is valid? [False, False] Translation: X:1.11, Y:0.33, Z:-0.30 [[ 9.99941104e-01 4.27279636e-03 -9.97656493e-03 1.11325014e+00] [-4.27484037e-03 9.99990846e-01 -1.83565048e-04 3.25913808e-01] [ 9.97568927e-03 2.26202459e-04 9.99950216e-01 -2.98777618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.343133365 meters Centerline goodness [0,1] 0.25590134548517374 Centerline is valid? [False, False] Translation: X:1.11, Y:0.33, Z:-0.30 [[ 9.99942089e-01 4.34024286e-03 -9.84787827e-03 1.11295166e+00] [-4.34094860e-03 9.99990577e-01 -5.02907395e-05 3.25322039e-01] [ 9.84756720e-03 9.30369606e-05 9.99951507e-01 -2.98851997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37313336499999 meters Centerline goodness [0,1] 0.2560176474404723 Centerline is valid? [False, False] Translation: X:1.11, Y:0.32, Z:-0.30 [[ 9.99942774e-01 4.57405927e-03 -9.67090523e-03 1.11263776e+00] [-4.57017914e-03 9.99989467e-01 4.23278294e-04 3.23428432e-01] [ 9.67273947e-03 -3.79056302e-04 9.99953146e-01 -2.99016534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40313336499999 meters Centerline goodness [0,1] 0.2729553437029604 Centerline is valid? [False, False] Translation: X:1.11, Y:0.32, Z:-0.30 [[ 9.99943206e-01 4.63211595e-03 -9.59830952e-03 1.11239654e+00] [-4.62656613e-03 9.99989117e-01 6.00331447e-04 3.22415357e-01] [ 9.60098587e-03 -5.55890138e-04 9.99953755e-01 -2.98894011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43313336499999 meters Centerline goodness [0,1] 0.25545621027685017 Centerline is valid? [False, False] Translation: X:1.13, Y:0.33, Z:-0.30 [[ 0.99995353 -0.0035649 -0.0089572 1.13152563] [ 0.0035793 0.99999233 0.00159172 0.32675513] [ 0.00895146 -0.00162371 0.99995862 -0.2980186 ] [ 0. 0. 0. 1. ]] SLAMing on 71.46313336499999 meters Centerline goodness [0,1] 0.27312852335795135 Centerline is valid? [False, False] Translation: X:1.11, Y:0.32, Z:-0.30 [[ 9.99949363e-01 4.96181474e-03 -8.75505376e-03 1.11133128e+00] [-4.95393573e-03 9.99987305e-01 9.21395702e-04 3.20264114e-01] [ 8.75951441e-03 -8.77977072e-04 9.99961249e-01 -2.98936335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49313336499999 meters Centerline goodness [0,1] 0.2598124348732199 Centerline is valid? [False, False] Translation: X:1.11, Y:0.32, Z:-0.30 [[ 9.99949775e-01 5.00493582e-03 -8.68322363e-03 1.11104199e+00] [-4.99638250e-03 9.99987012e-01 1.00645309e-03 3.20062413e-01] [ 8.68814808e-03 -9.63017839e-04 9.99961794e-01 -2.98726957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52313336499999 meters Centerline goodness [0,1] 0.26134317022892484 Centerline is valid? [False, False] Translation: X:1.11, Y:0.32, Z:-0.30 [[ 9.99950107e-01 5.06343271e-03 -8.61078420e-03 1.11071288e+00] [-5.05398895e-03 9.99986603e-01 1.11814293e-03 3.19669845e-01] [ 8.61633048e-03 -1.07456834e-03 9.99962301e-01 -2.98454109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.553133365 meters Centerline goodness [0,1] 0.2741703370982512 Centerline is valid? [False, False] Translation: X:1.11, Y:0.32, Z:-0.30 [[ 9.99953419e-01 5.03535734e-03 -8.23439563e-03 1.10949884e+00] [-5.02645883e-03 9.99986761e-01 1.10098938e-03 3.19457863e-01] [ 8.23983049e-03 -1.05954824e-03 9.99965491e-01 -2.97929287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.583133365 meters Centerline goodness [0,1] 0.2726164031534475 Centerline is valid? [False, False] Translation: X:1.11, Y:0.32, Z:-0.30 [[ 9.99954621e-01 4.96937832e-03 -8.12783394e-03 1.10908784e+00] [-4.96155011e-03 9.99987208e-01 9.83017165e-04 3.19735244e-01] [ 8.13261495e-03 -9.42645901e-04 9.99966485e-01 -2.97701535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.613133365 meters Centerline goodness [0,1] 0.2726164031534475 Centerline is valid? [False, False] Translation: X:1.11, Y:0.32, Z:-0.30 [[ 9.99954621e-01 4.96937832e-03 -8.12783394e-03 1.10908784e+00] [-4.96155011e-03 9.99987208e-01 9.83017165e-04 3.19735244e-01] [ 8.13261495e-03 -9.42645901e-04 9.99966485e-01 -2.97701535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.643133365 meters Centerline goodness [0,1] 0.27363790775663077 Centerline is valid? [False, False] Translation: X:1.11, Y:0.32, Z:-0.30 [[ 9.99956463e-01 5.02742434e-03 -7.86109507e-03 1.10855874e+00] [-5.02205530e-03 9.99987143e-01 7.02579458e-04 3.21863369e-01] [ 7.86452616e-03 -6.63070016e-04 9.99968854e-01 -2.98058742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.673133365 meters Centerline goodness [0,1] 0.27029197872571364 Centerline is valid? [False, False] Translation: X:1.11, Y:0.32, Z:-0.30 [[ 9.99956856e-01 5.00921460e-03 -7.82262680e-03 1.10864631e+00] [-5.00555378e-03 9.99987353e-01 4.87486869e-04 3.23219285e-01] [ 7.82496980e-03 -4.48309258e-04 9.99969284e-01 -2.98457883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.703133365 meters Centerline goodness [0,1] 0.25985480550438833 Centerline is valid? [False, False] Translation: X:1.11, Y:0.32, Z:-0.30 [[ 9.99957830e-01 4.89454982e-03 -7.77053983e-03 1.10871156e+00] [-4.89348975e-03 9.99988015e-01 1.55429094e-04 3.24750183e-01] [ 7.77120745e-03 -1.17397482e-04 9.99969797e-01 -2.98843697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.733133365 meters Centerline goodness [0,1] 0.2725075660258225 Centerline is valid? [False, False] Translation: X:1.11, Y:0.33, Z:-0.30 [[ 9.99957519e-01 4.68207936e-03 -7.93968229e-03 1.10930047e+00] [-4.68485116e-03 9.99988971e-01 -3.30544749e-04 3.26593891e-01] [ 7.93804708e-03 3.67726937e-04 9.99968426e-01 -2.99295371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76313336499999 meters Centerline goodness [0,1] 0.2746190110733472 Centerline is valid? [False, False] Translation: X:1.11, Y:0.33, Z:-0.30 [[ 9.99956311e-01 4.64832748e-03 -8.10986409e-03 1.10976951e+00] [-4.65166583e-03 9.99989104e-01 -3.92826463e-04 3.26798216e-01] [ 8.10794974e-03 4.30533678e-04 9.99967037e-01 -2.99409768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79313336499999 meters Centerline goodness [0,1] 0.2735904399782727 Centerline is valid? [False, False] Translation: X:1.13, Y:0.33, Z:-0.30 [[ 9.99961782e-01 -3.92993424e-03 -7.80968302e-03 1.12945999e+00] [ 3.93424531e-03 9.99992117e-01 5.36730357e-04 3.30954997e-01] [ 7.80751214e-03 -5.67435053e-04 9.99969360e-01 -2.98219804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82313336499999 meters Centerline goodness [0,1] 0.2691619413121752 Centerline is valid? [False, False] Translation: X:1.15, Y:0.33, Z:-0.30 [[ 9.99971128e-01 3.54623529e-03 -6.72068489e-03 1.14768020e+00] [-3.55251156e-03 9.99993265e-01 -9.22166207e-04 3.27511485e-01] [ 6.71736940e-03 9.46014893e-04 9.99976991e-01 -2.96380150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85313336499999 meters Centerline goodness [0,1] 0.27140282693184536 Centerline is valid? [False, False] Translation: X:1.15, Y:0.33, Z:-0.30 [[ 9.99972371e-01 3.54715722e-03 -6.53266289e-03 1.14707065e+00] [-3.55300528e-03 9.99993297e-01 -8.83815195e-04 3.27267072e-01] [ 6.52948407e-03 9.07001362e-04 9.99978271e-01 -2.96095374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88313336499999 meters Centerline goodness [0,1] 0.27346511323471656 Centerline is valid? [False, False] Translation: X:1.15, Y:0.33, Z:-0.30 [[ 9.99972799e-01 3.59598667e-03 -6.43968998e-03 1.14693216e+00] [-3.60201085e-03 9.99993086e-01 -9.24123923e-04 3.27974936e-01] [ 6.43632231e-03 9.47294620e-04 9.99978838e-01 -2.96244604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.913133365 meters Centerline goodness [0,1] 0.275173212685507 Centerline is valid? [False, False] Translation: X:1.15, Y:0.33, Z:-0.30 [[ 0.99997259 0.00353295 -0.00650608 1.14713769] [-0.00354067 0.99999304 -0.00117571 0.32923494] [ 0.00650188 0.00119871 0.99997814 -0.29642595] [ 0. 0. 0. 1. ]] SLAMing on 71.943133365 meters Centerline goodness [0,1] 0.2720774126057013 Centerline is valid? [False, False] Translation: X:1.15, Y:0.33, Z:-0.30 [[ 0.99996681 0.00353646 -0.00733926 1.14934109] [-0.00355074 0.99999183 -0.00193338 0.33326747] [ 0.00733236 0.00195937 0.9999712 -0.29717617] [ 0. 0. 0. 1. ]] SLAMing on 71.973133365 meters Centerline goodness [0,1] 0.27012019858897307 Centerline is valid? [False, False] Translation: X:1.15, Y:0.34, Z:-0.30 [[ 0.99996369 0.00344902 -0.00779221 1.15052521] [-0.00346865 0.99999084 -0.00250604 0.33625116] [ 0.0077835 0.00253297 0.9999665 -0.29760032] [ 0. 0. 0. 1. ]] SLAMing on 72.003133365 meters Centerline goodness [0,1] 0.2670859993493113 Centerline is valid? [False, False] Translation: X:1.15, Y:0.34, Z:-0.30 [[ 0.99995884 0.00346727 -0.00838415 1.15220365] [-0.0034925 0.99998941 -0.00299653 0.33930825] [ 0.00837367 0.00302568 0.99996036 -0.2982901 ] [ 0. 0. 0. 1. ]] SLAMing on 72.033133365 meters Centerline goodness [0,1] 0.27087942175008217 Centerline is valid? [False, False] Translation: X:1.14, Y:0.35, Z:-0.30 [[ 0.99993705 -0.00330805 -0.01072177 1.13591445] [ 0.00329252 0.9999935 -0.00146634 0.34929263] [ 0.01072655 0.00143094 0.99994145 -0.30137548] [ 0. 0. 0. 1. ]] SLAMing on 72.063133365 meters Centerline goodness [0,1] 0.26676951826340145 Centerline is valid? [False, False] Translation: X:1.14, Y:0.35, Z:-0.30 [[ 0.99993636 -0.00349459 -0.01072635 1.13588893] [ 0.00347368 0.99999203 -0.0019674 0.35158974] [ 0.01073314 0.00193002 0.99994054 -0.3014146 ] [ 0. 0. 0. 1. ]] SLAMing on 72.093133365 meters Centerline goodness [0,1] 0.26885745375408054 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 0.99993784 -0.00379327 -0.01048501 1.13449793] [ 0.00376714 0.99998975 -0.00251076 0.35391418] [ 0.01049443 0.00247111 0.99994188 -0.30010151] [ 0. 0. 0. 1. ]] SLAMing on 72.12313336499999 meters Centerline goodness [0,1] 0.2698931051749287 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 0.99993682 -0.00383003 -0.01056795 1.13436941] [ 0.0038035 0.99998957 -0.00252896 0.35420142] [ 0.01057752 0.00248861 0.99994096 -0.29952141] [ 0. 0. 0. 1. ]] SLAMing on 72.15313336499999 meters Centerline goodness [0,1] 0.26788768374791627 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 0.99993502 -0.00383847 -0.01073437 1.13469621] [ 0.00381221 0.99998969 -0.0024659 0.35415237] [ 0.01074373 0.00242481 0.99993934 -0.29928809] [ 0. 0. 0. 1. ]] SLAMing on 72.18313336499999 meters Centerline goodness [0,1] 0.27158641089216584 Centerline is valid? [False, False] Translation: X:1.14, Y:0.35, Z:-0.30 [[ 0.9999295 -0.00426239 -0.01108288 1.13592282] [ 0.00423389 0.99998767 -0.00259354 0.35380883] [ 0.0110938 0.00254643 0.99993522 -0.29968763] [ 0. 0. 0. 1. ]] SLAMing on 72.21313336499999 meters Centerline goodness [0,1] 0.26956540559258935 Centerline is valid? [False, False] Translation: X:1.14, Y:0.35, Z:-0.30 [[ 0.99992846 -0.00430973 -0.01115829 1.13623559] [ 0.00428177 0.99998764 -0.00252856 0.35317743] [ 0.01116905 0.0024806 0.99993455 -0.29979005] [ 0. 0. 0. 1. ]] SLAMing on 72.24313336499999 meters Centerline goodness [0,1] 0.2679194862290418 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 0.99993354 -0.00434241 -0.01068006 1.13464917] [ 0.00431731 0.99998787 -0.00237219 0.35237488] [ 0.01069023 0.00232592 0.99994015 -0.29893418] [ 0. 0. 0. 1. ]] SLAMing on 72.27313336499999 meters Centerline goodness [0,1] 0.27249385294949624 Centerline is valid? [False, False] Translation: X:1.12, Y:0.35, Z:-0.30 [[ 0.9999417 0.00387111 -0.01008058 1.11560008] [-0.00390604 0.99998643 -0.00344698 0.34656838] [ 0.0100671 0.00348616 0.99994325 -0.30049294] [ 0. 0. 0. 1. ]] SLAMing on 72.303133365 meters Centerline goodness [0,1] 0.2733105683276421 Centerline is valid? [False, False] Translation: X:1.12, Y:0.35, Z:-0.30 [[ 0.99993953 0.00380579 -0.01031739 1.11659605] [-0.00384412 0.99998578 -0.00369758 0.34785808] [ 0.01030317 0.00373701 0.99993994 -0.30125878] [ 0. 0. 0. 1. ]] SLAMing on 72.333133365 meters Centerline goodness [0,1] 0.27113279132791324 Centerline is valid? [False, False] Translation: X:1.12, Y:0.35, Z:-0.30 [[ 0.99993706 0.00376241 -0.01056984 1.11757361] [-0.00380472 0.99998482 -0.00398535 0.34940241] [ 0.01055468 0.00402531 0.9999362 -0.30198559] [ 0. 0. 0. 1. ]] SLAMing on 72.363133365 meters Centerline goodness [0,1] 0.2709327548806941 Centerline is valid? [False, False] Translation: X:1.12, Y:0.35, Z:-0.30 [[ 0.99993569 0.00368269 -0.01072671 1.11810636] [-0.00373024 0.99998329 -0.00441602 0.35158742] [ 0.01071027 0.00445575 0.99993272 -0.30241919] [ 0. 0. 0. 1. ]] SLAMing on 72.393133365 meters Centerline goodness [0,1] 0.2733031871900736 Centerline is valid? [False, False] Translation: X:1.12, Y:0.36, Z:-0.30 [[ 0.99994049 0.00389795 -0.01018906 1.11647526] [-0.00394907 0.9999797 -0.00500139 0.35605417] [ 0.01016936 0.00504133 0.99993558 -0.30209811] [ 0. 0. 0. 1. ]] SLAMing on 72.423133365 meters Centerline goodness [0,1] 0.26736410698878343 Centerline is valid? [False, False] Translation: X:1.14, Y:0.36, Z:-0.30 [[ 0.99994858 -0.00193097 -0.00995547 1.1376169 ] [ 0.00191018 0.99999598 -0.00209756 0.36270835] [ 0.00995948 0.00207844 0.99994824 -0.30207055] [ 0. 0. 0. 1. ]] SLAMing on 72.453133365 meters Centerline goodness [0,1] 0.2754577789487551 Centerline is valid? [False, False] Translation: X:1.09, Y:0.36, Z:-0.30 [[ 0.99991968 -0.00158067 -0.01257532 1.09406884] [ 0.0015451 0.99999478 -0.00283826 0.36373521] [ 0.01257974 0.0028186 0.9999169 -0.30234162] [ 0. 0. 0. 1. ]] SLAMing on 72.483133365 meters Centerline goodness [0,1] 0.2683444052539329 Centerline is valid? [False, False] Translation: X:1.11, Y:0.36, Z:-0.30 [[ 0.99990489 0.00587153 -0.01247921 1.11439315] [-0.00592423 0.99997367 -0.00419039 0.36200168] [ 0.01245428 0.00426392 0.99991335 -0.30077804] [ 0. 0. 0. 1. ]] SLAMing on 72.51313336499999 meters Centerline goodness [0,1] 0.26817838246409675 Centerline is valid? [False, False] Translation: X:1.11, Y:0.36, Z:-0.30 [[ 0.99990405 0.00578519 -0.01258636 1.11437409] [-0.00583839 0.99997416 -0.00419385 0.36169825] [ 0.01256177 0.00426694 0.99991199 -0.30023774] [ 0. 0. 0. 1. ]] SLAMing on 72.54313336499999 meters Centerline goodness [0,1] 0.27407536636427077 Centerline is valid? [False, False] Translation: X:1.09, Y:0.36, Z:-0.30 [[ 0.99992313 -0.00254847 -0.01213398 1.09268496] [ 0.00250737 0.99999107 -0.00340078 0.36387168] [ 0.01214254 0.0033701 0.9999206 -0.30118363] [ 0. 0. 0. 1. ]] SLAMing on 72.57313336499999 meters Centerline goodness [0,1] 0.2724161829680326 Centerline is valid? [False, False] Translation: X:1.09, Y:0.36, Z:-0.30 [[ 0.99993138 -0.0026662 -0.0114072 1.09059554] [ 0.00263119 0.99999179 -0.00308302 0.36208691] [ 0.01141533 0.00305279 0.99993018 -0.30028929] [ 0. 0. 0. 1. ]] SLAMing on 72.60313336499999 meters Centerline goodness [0,1] 0.2709404293921983 Centerline is valid? [False, False] Translation: X:1.09, Y:0.36, Z:-0.30 [[ 0.9999325 -0.00265516 -0.01131136 1.09027407] [ 0.00262238 0.99999232 -0.00291226 0.36110025] [ 0.01131901 0.0028824 0.99993178 -0.30003321] [ 0. 0. 0. 1. ]] SLAMing on 72.63313336499999 meters Centerline goodness [0,1] 0.2734900056367342 Centerline is valid? [False, False] Translation: X:1.09, Y:0.36, Z:-0.30 [[ 0.99992802 -0.00262517 -0.01170702 1.09152087] [ 0.00259402 0.99999306 -0.00267551 0.35957065] [ 0.01171396 0.00264495 0.99992789 -0.3004164 ] [ 0. 0. 0. 1. ]] SLAMing on 72.663133365 meters Centerline goodness [0,1] 0.27345075016307896 Centerline is valid? [False, False] Translation: X:1.09, Y:0.36, Z:-0.30 [[ 0.9999247 -0.00255791 -0.01200245 1.09240584] [ 0.00252732 0.99999352 -0.0025627 0.35914578] [ 0.01200892 0.00253217 0.99992468 -0.30069892] [ 0. 0. 0. 1. ]] SLAMing on 72.693133365 meters Centerline goodness [0,1] 0.27694800928562047 Centerline is valid? [False, False] Translation: X:1.09, Y:0.36, Z:-0.30 [[ 0.99992281 -0.0024972 -0.01217137 1.09290841] [ 0.0024677 0.99999398 -0.00243832 0.35860281] [ 0.01217739 0.00240809 0.99992295 -0.30086424] [ 0. 0. 0. 1. ]] SLAMing on 72.723133365 meters Centerline goodness [0,1] 0.2753357353422863 Centerline is valid? [False, False] Translation: X:1.09, Y:0.36, Z:-0.30 [[ 0.99992466 -0.00236082 -0.0120456 1.09280996] [ 0.00233462 0.99999488 -0.00218856 0.35749157] [ 0.0120507 0.00216028 0.99992505 -0.3012104 ] [ 0. 0. 0. 1. ]] SLAMing on 72.753133365 meters Centerline goodness [0,1] 0.27297820086501057 Centerline is valid? [False, False] Translation: X:1.09, Y:0.36, Z:-0.30 [[ 0.99992654 -0.0023222 -0.01189594 1.09243588] [ 0.0022968 0.99999505 -0.0021482 0.35732957] [ 0.01190087 0.00212072 0.99992693 -0.30122784] [ 0. 0. 0. 1. ]] SLAMing on 72.783133365 meters Centerline goodness [0,1] 0.2639642376632959 Centerline is valid? [False, False] Translation: X:1.09, Y:0.36, Z:-0.30 [[ 0.99992733 -0.00225736 -0.0118424 1.09240769] [ 0.00223306 0.99999537 -0.00206501 0.35704568] [ 0.011847 0.00203842 0.99992774 -0.30142732] [ 0. 0. 0. 1. ]] SLAMing on 72.813133365 meters Centerline goodness [0,1] 0.26290305070024966 Centerline is valid? [False, False] Translation: X:1.09, Y:0.36, Z:-0.30 [[ 0.99992567 -0.00212829 -0.0120052 1.09281217] [ 0.00210659 0.99999613 -0.00181982 0.35603523] [ 0.01200903 0.00179439 0.99992628 -0.30145489] [ 0. 0. 0. 1. ]] SLAMing on 72.843133365 meters Centerline goodness [0,1] 0.27292120156726163 Centerline is valid? [False, False] Translation: X:1.09, Y:0.35, Z:-0.30 [[ 0.99992706 -0.00205291 -0.01190186 1.09244145] [ 0.0020351 0.99999679 -0.00150844 0.35417868] [ 0.01190492 0.00148411 0.99992803 -0.30117964] [ 0. 0. 0. 1. ]] SLAMing on 72.87313336499999 meters Centerline goodness [0,1] 0.26045389948753284 Centerline is valid? [False, False] Translation: X:1.11, Y:0.35, Z:-0.30 [[ 0.99991132 0.00532669 -0.01220557 1.11175428] [-0.00535793 0.99998245 -0.00252798 0.34988794] [ 0.01219189 0.00259315 0.99992231 -0.29944973] [ 0. 0. 0. 1. ]] SLAMing on 72.90313336499999 meters Centerline goodness [0,1] 0.27242388124390504 Centerline is valid? [False, False] Translation: X:1.11, Y:0.35, Z:-0.30 [[ 0.99991025 0.00540386 -0.01225965 1.11198842] [-0.0054329 0.99998251 -0.00233686 0.34903007] [ 0.0122468 0.00240326 0.99992212 -0.2995883 ] [ 0. 0. 0. 1. ]] SLAMing on 72.93313336499999 meters Centerline goodness [0,1] 0.27618839471096057 Centerline is valid? [False, False] Translation: X:1.11, Y:0.35, Z:-0.30 [[ 0.99991039 0.00547307 -0.0122167 1.11202404] [-0.00550007 0.9999825 -0.00217707 0.34837918] [ 0.01220457 0.00224407 0.999923 -0.29977913] [ 0. 0. 0. 1. ]] SLAMing on 72.96313336499999 meters Centerline goodness [0,1] 0.2747963948311435 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 0.99992619 -0.0030986 -0.01174809 1.13088152] [ 0.00308287 0.99999433 -0.001357 0.35278836] [ 0.01175223 0.00132068 0.99993007 -0.29836889] [ 0. 0. 0. 1. ]] SLAMing on 72.99313336499999 meters Centerline goodness [0,1] 0.272870969837386 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 0.99992434 -0.00311297 -0.01190052 1.13107202] [ 0.00309611 0.99999418 -0.00143488 0.35314889] [ 0.01190492 0.00139793 0.99992816 -0.29815712] [ 0. 0. 0. 1. ]] SLAMing on 73.02313336499999 meters Centerline goodness [0,1] 0.2711868088896613 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 0.99992285 -0.0030825 -0.01203334 1.13150657] [ 0.00306443 0.99999415 -0.00151956 0.35399607] [ 0.01203795 0.00148257 0.99992644 -0.2983911 ] [ 0. 0. 0. 1. ]] SLAMing on 73.053133365 meters Centerline goodness [0,1] 0.2718806177037535 Centerline is valid? [False, False] Translation: X:1.13, Y:0.36, Z:-0.30 [[ 0.99992002 -0.00310369 -0.0122609 1.13225239] [ 0.00308258 0.99999373 -0.00174031 0.355368 ] [ 0.01226623 0.00170238 0.99992332 -0.29878111] [ 0. 0. 0. 1. ]] SLAMing on 73.083133365 meters Centerline goodness [0,1] 0.2708355818421223 Centerline is valid? [False, False] Translation: X:1.13, Y:0.36, Z:-0.30 [[ 0.99991727 -0.00317043 -0.01246628 1.13285169] [ 0.00314533 0.99999299 -0.00203198 0.35684102] [ 0.01247264 0.0019926 0.99992023 -0.29904205] [ 0. 0. 0. 1. ]] SLAMing on 73.113133365 meters Centerline goodness [0,1] 0.271876016039883 Centerline is valid? [False, False] Translation: X:1.13, Y:0.36, Z:-0.30 [[ 0.99991333 -0.0033286 -0.01273819 1.1335053 ] [ 0.00329497 0.99999103 -0.00266061 0.35998434] [ 0.01274693 0.00261841 0.99991533 -0.29926667] [ 0. 0. 0. 1. ]] SLAMing on 73.143133365 meters Centerline goodness [0,1] 0.27202724393735633 Centerline is valid? [False, False] Translation: X:1.13, Y:0.36, Z:-0.30 [[ 0.99991341 -0.0034092 -0.01270997 1.13344057] [ 0.00337201 0.99998997 -0.00294666 0.36150654] [ 0.01271988 0.00290355 0.99991488 -0.29937962] [ 0. 0. 0. 1. ]] SLAMing on 73.173133365 meters Centerline goodness [0,1] 0.2707338676575428 Centerline is valid? [False, False] Translation: X:1.13, Y:0.36, Z:-0.30 [[ 0.99991643 -0.00360408 -0.0124151 1.13235699] [ 0.003563 0.99998811 -0.00332989 0.36307456] [ 0.01242695 0.00328538 0.99991739 -0.29879691] [ 0. 0. 0. 1. ]] SLAMing on 73.203133365 meters Centerline goodness [0,1] 0.272656165127648 Centerline is valid? [False, False] Translation: X:1.13, Y:0.36, Z:-0.30 [[ 0.9999183 -0.00366197 -0.01224693 1.13169917] [ 0.00362032 0.99998759 -0.00342118 0.36338221] [ 0.01225931 0.00337656 0.99991915 -0.29838131] [ 0. 0. 0. 1. ]] SLAMing on 73.233133365 meters Centerline goodness [0,1] 0.27478067303915155 Centerline is valid? [False, False] Translation: X:1.13, Y:0.36, Z:-0.30 [[ 0.99991797 -0.00372579 -0.01225472 1.13159755] [ 0.00368179 0.9999867 -0.00361082 0.36441238] [ 0.01226801 0.0035654 0.99991839 -0.29822695] [ 0. 0. 0. 1. ]] SLAMing on 73.26313336499999 meters Centerline goodness [0,1] 0.274206583229583 Centerline is valid? [False, False] Translation: X:1.13, Y:0.37, Z:-0.30 [[ 9.99917172e-01 7.08744763e-05 -1.28703110e-02 1.13337785e+00] [-7.25764120e-05 9.99999989e-01 -1.31770330e-04 3.66657814e-01] [ 1.28703015e-02 1.32693496e-04 9.99917165e-01 -2.98704094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29313336499999 meters Centerline goodness [0,1] 0.27424427747684776 Centerline is valid? [False, False] Translation: X:1.13, Y:0.37, Z:-0.30 [[ 9.99916382e-01 -2.88065216e-05 -1.29316391e-02 1.13364809e+00] [ 2.09065464e-05 9.99999813e-01 -6.11037618e-04 3.69298729e-01] [ 1.29316543e-02 6.10716169e-04 9.99916196e-01 -2.99044440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32313336499999 meters Centerline goodness [0,1] 0.27408279380027467 Centerline is valid? [False, False] Translation: X:1.13, Y:0.37, Z:-0.30 [[ 9.99917030e-01 -1.66291674e-04 -1.28804324e-02 1.13342105e+00] [ 1.46770774e-04 9.99998839e-01 -1.51647742e-03 3.74324294e-01] [ 1.28806696e-02 1.51446113e-03 9.99915894e-01 -2.99167568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35313336499999 meters Centerline goodness [0,1] 0.2626069996749377 Centerline is valid? [False, False] Translation: X:1.13, Y:0.38, Z:-0.30 [[ 9.99918985e-01 -2.42206996e-04 -1.27265377e-02 1.13276353e+00] [ 2.16862040e-04 9.99997991e-01 -1.99284671e-03 3.77149804e-01] [ 1.27269948e-02 1.98992536e-03 9.99917028e-01 -2.98859653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38313336499999 meters Centerline goodness [0,1] 0.27115806865366643 Centerline is valid? [False, False] Translation: X:1.13, Y:0.38, Z:-0.30 [[ 9.99922768e-01 -2.70233778e-04 -1.24252101e-02 1.13168631e+00] [ 2.40179723e-04 9.99997042e-01 -2.42022513e-03 3.80003871e-01] [ 1.24258274e-02 2.41705392e-03 9.99919875e-01 -2.98440634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.413133365 meters Centerline goodness [0,1] 0.27348288692095124 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:-0.30 [[ 9.99922151e-01 -5.33136519e-04 -1.24662582e-02 1.13154429e+00] [ 4.89750688e-04 9.99993814e-01 -3.48305476e-03 3.85846704e-01] [ 1.24680380e-02 3.47667825e-03 9.99916227e-01 -2.98322077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.443133365 meters Centerline goodness [0,1] 0.271718356354791 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:-0.30 [[ 9.99922871e-01 -7.52274209e-04 -1.23970357e-02 1.13141403e+00] [ 7.01982352e-04 9.99991509e-01 -4.06061698e-03 3.88591047e-01] [ 1.23999851e-02 4.05160129e-03 9.99914909e-01 -2.98503603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.473133365 meters Centerline goodness [0,1] 0.27352665226593353 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:-0.30 [[ 9.99923213e-01 -9.53498145e-04 -1.23555186e-02 1.13111927e+00] [ 8.93824416e-04 9.99987915e-01 -4.83434502e-03 3.93706692e-01] [ 1.23599788e-02 4.82293014e-03 9.99911981e-01 -2.98301638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.503133365 meters Centerline goodness [0,1] 0.2656672776468535 Centerline is valid? [False, False] Translation: X:1.13, Y:0.40, Z:-0.30 [[ 9.99925145e-01 -1.06857835e-03 -1.21886390e-02 1.13047703e+00] [ 1.00610401e-03 9.99986332e-01 -5.13060162e-03 3.95434673e-01] [ 1.21939549e-02 5.11795453e-03 9.99912553e-01 -2.97880030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.533133365 meters Centerline goodness [0,1] 0.2656672776468535 Centerline is valid? [False, False] Translation: X:1.13, Y:0.40, Z:-0.30 [[ 9.99925145e-01 -1.06857835e-03 -1.21886390e-02 1.13047703e+00] [ 1.00610401e-03 9.99986332e-01 -5.13060162e-03 3.95434673e-01] [ 1.21939549e-02 5.11795453e-03 9.99912553e-01 -2.97880030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.563133365 meters Centerline goodness [0,1] 0.27012127894156557 Centerline is valid? [False, False] Translation: X:1.13, Y:0.40, Z:-0.30 [[ 0.99992349 -0.00165772 -0.01225832 1.13007687] [ 0.0015879 0.99998247 -0.00570352 0.39712419] [ 0.01226756 0.00568362 0.9999086 -0.29680397] [ 0. 0. 0. 1. ]] SLAMing on 73.593133365 meters Centerline goodness [0,1] 0.270089720030267 Centerline is valid? [False, False] Translation: X:1.13, Y:0.40, Z:-0.30 [[ 0.99991956 -0.001778 -0.01255837 1.13072914] [ 0.00170566 0.99998191 -0.00576874 0.39717269] [ 0.0125684 0.00574685 0.9999045 -0.29656844] [ 0. 0. 0. 1. ]] SLAMing on 73.62313336499999 meters Centerline goodness [0,1] 0.26499293555048364 Centerline is valid? [False, False] Translation: X:1.13, Y:0.40, Z:-0.30 [[ 0.99991658 -0.00186647 -0.0127807 1.1311231 ] [ 0.00179291 0.99998178 -0.00576468 0.39697284] [ 0.01279123 0.00574129 0.99990171 -0.29618399] [ 0. 0. 0. 1. ]] SLAMing on 73.65313336499999 meters Centerline goodness [0,1] 0.27372972972972975 Centerline is valid? [False, False] Translation: X:1.13, Y:0.40, Z:-0.30 [[ 0.99991835 -0.00242973 -0.0125454 1.13015664] [ 0.00235628 0.99998002 -0.00586591 0.39587009] [ 0.0125594 0.00583587 0.9999041 -0.29522113] [ 0. 0. 0. 1. ]] SLAMing on 73.68313336499999 meters Centerline goodness [0,1] 0.2766377012590201 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:-0.29 [[ 0.9999219 -0.00249674 -0.01224568 1.12932228] [ 0.00242702 0.99998078 -0.00570513 0.39462315] [ 0.01225969 0.00567497 0.99990874 -0.29488954] [ 0. 0. 0. 1. ]] SLAMing on 73.71313336499999 meters Centerline goodness [0,1] 0.2768120339864748 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:-0.29 [[ 0.99992508 -0.00270885 -0.01193704 1.12856637] [ 0.00264234 0.99998092 -0.00558445 0.39281051] [ 0.01195194 0.00555249 0.99991316 -0.29469798] [ 0. 0. 0. 1. ]] SLAMing on 73.74313336499999 meters Centerline goodness [0,1] 0.2753963083604778 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:-0.29 [[ 0.99992466 -0.00263787 -0.01198801 1.12876013] [ 0.00257311 0.99998203 -0.00541485 0.3919942 ] [ 0.01200208 0.0053836 0.99991348 -0.29478428] [ 0. 0. 0. 1. ]] SLAMing on 73.77313336499999 meters Centerline goodness [0,1] 0.27807883926230226 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:-0.29 [[ 0.99992221 -0.00258209 -0.01220253 1.12940685] [ 0.00251776 0.99998287 -0.0052846 0.39130888] [ 0.01221596 0.00525346 0.99991158 -0.29499673] [ 0. 0. 0. 1. ]] SLAMing on 73.803133365 meters Centerline goodness [0,1] 0.27641870165985927 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:-0.30 [[ 0.99991924 -0.0024968 -0.01246118 1.13028775] [ 0.00243353 0.99998409 -0.00508956 0.39031254] [ 0.01247369 0.00505883 0.9999094 -0.29542871] [ 0. 0. 0. 1. ]] SLAMing on 73.833133365 meters Centerline goodness [0,1] 0.2779333275002187 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:-0.30 [[ 0.99991519 -0.00228859 -0.01282117 1.13126357] [ 0.00223065 0.99998724 -0.00453215 0.38745708] [ 0.01283138 0.00450317 0.99990753 -0.29557446] [ 0. 0. 0. 1. ]] SLAMing on 73.863133365 meters Centerline goodness [0,1] 0.2738641280830809 Centerline is valid? [False, False] Translation: X:1.13, Y:0.38, Z:-0.30 [[ 0.99991296 -0.0020519 -0.01303338 1.13213338] [ 0.0020038 0.99999114 -0.00370232 0.38308223] [ 0.01304086 0.00367589 0.99990821 -0.29602006] [ 0. 0. 0. 1. ]] SLAMing on 73.893133365 meters Centerline goodness [0,1] 0.2761832227178762 Centerline is valid? [False, False] Translation: X:1.13, Y:0.38, Z:-0.30 [[ 0.99991282 -0.00188188 -0.01306962 1.13247715] [ 0.00184042 0.99999324 -0.00318349 0.38043882] [ 0.01307552 0.00315916 0.99990952 -0.29632252] [ 0. 0. 0. 1. ]] SLAMing on 73.923133365 meters Centerline goodness [0,1] 0.2764238266361756 Centerline is valid? [False, False] Translation: X:1.13, Y:0.38, Z:-0.30 [[ 0.99991448 -0.00174147 -0.01296131 1.13239274] [ 0.00170712 0.999995 -0.0026609 0.37752167] [ 0.01296588 0.00263854 0.99991246 -0.29651923] [ 0. 0. 0. 1. ]] SLAMing on 73.953133365 meters Centerline goodness [0,1] 0.2748080010413503 Centerline is valid? [False, False] Translation: X:1.13, Y:0.37, Z:-0.30 [[ 0.99991601 -0.00150867 -0.01287268 1.13198353] [ 0.00148551 0.99999726 -0.00180875 0.37251629] [ 0.01287537 0.00178948 0.99991551 -0.29612812] [ 0. 0. 0. 1. ]] SLAMing on 73.983133365 meters Centerline goodness [0,1] 0.2776338984526323 Centerline is valid? [False, False] Translation: X:1.13, Y:0.37, Z:-0.30 [[ 0.99991617 -0.00128533 -0.01288388 1.13189111] [ 0.0012686 0.99999834 -0.00130711 0.37034623] [ 0.01288553 0.00129066 0.99991615 -0.29586304] [ 0. 0. 0. 1. ]] SLAMing on 74.01313336499999 meters Centerline goodness [0,1] 0.28004812951214175 Centerline is valid? [False, False] Translation: X:1.13, Y:0.37, Z:-0.30 [[ 9.99917980e-01 -1.04802074e-03 -1.27646029e-02 1.13178065e+00] [ 1.03830868e-03 9.99999166e-01 -7.67461850e-04 3.68060483e-01] [ 1.27653965e-02 7.54145305e-04 9.99918235e-01 -2.96107123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04313336499999 meters Centerline goodness [0,1] 0.27781522471787956 Centerline is valid? [False, False] Translation: X:1.13, Y:0.36, Z:-0.30 [[ 9.99921534e-01 -6.30032222e-04 -1.25111630e-02 1.13159941e+00] [ 6.33305022e-04 9.99999766e-01 2.57630314e-04 3.63011071e-01] [ 1.25109977e-02 -2.65533481e-04 9.99921699e-01 -2.96636582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07313336499999 meters Centerline goodness [0,1] 0.27744320034786385 Centerline is valid? [False, False] Translation: X:1.13, Y:0.36, Z:-0.30 [[ 9.99922542e-01 -4.59938296e-04 -1.24377926e-02 1.13161448e+00] [ 4.69142251e-04 9.99999618e-01 7.37091538e-04 3.60444665e-01] [ 1.24374488e-02 -7.42869538e-04 9.99922376e-01 -2.96931633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10313336499999 meters Centerline goodness [0,1] 0.277232035895537 Centerline is valid? [False, False] Translation: X:1.13, Y:0.36, Z:-0.30 [[ 9.99917058e-01 -4.69671441e-05 -1.28792427e-02 1.13323402e+00] [ 6.80256486e-05 9.99998662e-01 1.63463999e-03 3.55957656e-01] [ 1.28791487e-02 -1.63538053e-03 9.99915723e-01 -2.97813720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13313336499999 meters Centerline goodness [0,1] 0.2759345997050915 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99914509e-01 9.29248299e-05 -1.30754030e-02 1.13402082e+00] [-6.76583036e-05 9.99998130e-01 1.93279984e-03 3.54448547e-01] [ 1.30755581e-02 -1.93174994e-03 9.99912645e-01 -2.98332585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.163133365 meters Centerline goodness [0,1] 0.2760754914352962 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99917283e-01 5.63031041e-04 -1.28495124e-02 1.13377771e+00] [-5.31615722e-04 9.99996862e-01 2.44814939e-03 3.52857637e-01] [ 1.28508504e-02 -2.44111588e-03 9.99914445e-01 -2.98905119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.193133365 meters Centerline goodness [0,1] 0.2744104081455052 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99920847e-01 7.31339508e-04 -1.25604365e-02 1.13319072e+00] [-6.99856425e-04 9.99996603e-01 2.51074035e-03 3.53213080e-01] [ 1.25622300e-02 -2.50175111e-03 9.99917962e-01 -2.99180697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.223133365 meters Centerline goodness [0,1] 0.27520341121698644 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99923365e-01 8.11240978e-04 -1.23533962e-02 1.13282936e+00] [-7.82180865e-04 9.99996916e-01 2.35704851e-03 3.54505948e-01] [ 1.23552703e-02 -2.34720529e-03 9.99920916e-01 -2.99524094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.253133365 meters Centerline goodness [0,1] 0.27435270488582286 Centerline is valid? [False, False] Translation: X:1.13, Y:0.36, Z:-0.30 [[ 9.99919694e-01 8.18871740e-04 -1.26465063e-02 1.13382188e+00] [-7.96921871e-04 9.99998168e-01 1.74058870e-03 3.57623132e-01] [ 1.26479085e-02 -1.73037064e-03 9.99918515e-01 -3.00381000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.283133365 meters Centerline goodness [0,1] 0.2732807166307917 Centerline is valid? [False, False] Translation: X:1.13, Y:0.36, Z:-0.30 [[ 9.99919243e-01 7.49040461e-04 -1.26865018e-02 1.13395365e+00] [-7.30572525e-04 9.99998667e-01 1.46028722e-03 3.59051858e-01] [ 1.26875787e-02 -1.45090088e-03 9.99918457e-01 -3.00590660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.313133365 meters Centerline goodness [0,1] 0.27751375137513756 Centerline is valid? [False, False] Translation: X:1.13, Y:0.36, Z:-0.30 [[ 9.99920552e-01 7.09351030e-04 -1.25851554e-02 1.13360695e+00] [-6.93829780e-04 9.99998993e-01 1.23762159e-03 3.60517205e-01] [ 1.25860206e-02 -1.22879131e-03 9.99920038e-01 -3.00477680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.343133365 meters Centerline goodness [0,1] 0.27384970494087935 Centerline is valid? [False, False] Translation: X:1.13, Y:0.36, Z:-0.30 [[ 9.99924343e-01 5.98052961e-04 -1.22861568e-02 1.13249180e+00] [-5.87310744e-04 9.99999442e-01 8.77924474e-04 3.62701299e-01] [ 1.22866750e-02 -8.70642262e-04 9.99924137e-01 -2.99847052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37313336499999 meters Centerline goodness [0,1] 0.27312775330396477 Centerline is valid? [False, False] Translation: X:1.13, Y:0.36, Z:-0.30 [[ 9.99928576e-01 3.79125036e-04 -1.19456413e-02 1.13143584e+00] [-3.71846073e-04 9.99999744e-01 6.11555624e-04 3.63389750e-01] [ 1.19458701e-02 -6.07070004e-04 9.99928461e-01 -2.99431779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40313336499999 meters Centerline goodness [0,1] 0.2754079836589235 Centerline is valid? [False, False] Translation: X:1.13, Y:0.36, Z:-0.30 [[ 9.99932412e-01 2.00825644e-04 -1.16246295e-02 1.13019915e+00] [-1.95839483e-04 9.99999888e-01 4.30067513e-04 3.63708804e-01] [ 1.16247145e-02 -4.27761884e-04 9.99932339e-01 -2.98647279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43313336499999 meters Centerline goodness [0,1] 0.27531245917345293 Centerline is valid? [False, False] Translation: X:1.13, Y:0.37, Z:-0.30 [[ 9.99937773e-01 -1.20484449e-05 -1.11556755e-02 1.12846101e+00] [ 1.35540593e-05 9.99999991e-01 1.34888381e-04 3.65154287e-01] [ 1.11556738e-02 -1.35031193e-04 9.99937764e-01 -2.97549835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46313336499999 meters Centerline goodness [0,1] 0.2745587564856826 Centerline is valid? [False, False] Translation: X:1.13, Y:0.37, Z:-0.30 [[ 9.99935562e-01 -8.85773184e-05 -1.13518433e-02 1.12914928e+00] [ 8.79465891e-05 9.99999995e-01 -5.60610260e-05 3.66277601e-01] [ 1.13518482e-02 5.50590576e-05 9.99935564e-01 -2.97886585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49313336499999 meters Centerline goodness [0,1] 0.27228324577779706 Centerline is valid? [False, False] Translation: X:1.13, Y:0.37, Z:-0.30 [[ 9.99924119e-01 -2.99541470e-04 -1.23152612e-02 1.13212110e+00] [ 2.92544064e-04 9.99999795e-01 -5.69987379e-04 3.68737804e-01] [ 1.23154294e-02 5.66341372e-04 9.99924002e-01 -2.99038155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52313336499999 meters Centerline goodness [0,1] 0.2717008988666464 Centerline is valid? [False, False] Translation: X:1.13, Y:0.37, Z:-0.30 [[ 9.99919552e-01 -3.91737836e-04 -1.26781486e-02 1.13323739e+00] [ 3.82298377e-04 9.99999648e-01 -7.46960540e-04 3.69459060e-01] [ 1.26784368e-02 7.42053613e-04 9.99919350e-01 -2.99449012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.553133365 meters Centerline goodness [0,1] 0.2790713042712073 Centerline is valid? [False, False] Translation: X:1.09, Y:0.37, Z:-0.30 [[ 9.99882224e-01 -4.88990351e-04 -1.53394778e-02 1.08906695e+00] [ 4.67895549e-04 9.99998940e-01 -1.37875558e-03 3.66280890e-01] [ 1.53401357e-02 1.37141592e-03 9.99881393e-01 -2.98984438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.583133365 meters Centerline goodness [0,1] 0.2735560330793775 Centerline is valid? [False, False] Translation: X:1.11, Y:0.37, Z:-0.30 [[ 9.99866537e-01 -9.20173149e-03 -1.34994860e-02 1.10775533e+00] [ 9.19902637e-03 9.99957654e-01 -2.62468936e-04 3.68859318e-01] [ 1.35013295e-02 1.38251779e-04 9.99908843e-01 -2.97056754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.613133365 meters Centerline goodness [0,1] 0.27535727492223694 Centerline is valid? [False, False] Translation: X:1.11, Y:0.37, Z:-0.30 [[ 9.99873042e-01 -9.13573845e-03 -1.30552026e-02 1.10627981e+00] [ 9.13901641e-03 9.99958220e-01 1.91446760e-04 3.66531308e-01] [ 1.30529081e-02 -3.10734165e-04 9.99914759e-01 -2.96149027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.643133365 meters Centerline goodness [0,1] 0.2752381159011521 Centerline is valid? [False, False] Translation: X:1.10, Y:0.36, Z:-0.30 [[ 9.99881491e-01 -9.34814355e-03 -1.22317351e-02 1.10416048e+00] [ 9.35843249e-03 9.99955901e-01 7.84199793e-04 3.61814782e-01] [ 1.22238648e-02 -8.98576725e-04 9.99924882e-01 -2.95530465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.673133365 meters Centerline goodness [0,1] 0.27368761453055945 Centerline is valid? [False, False] Translation: X:1.12, Y:0.36, Z:-0.29 [[ 9.99908207e-01 -2.13828435e-03 -1.33792620e-02 1.12424235e+00] [ 2.13807448e-03 9.99997714e-01 -2.99899464e-05 3.56292966e-01] [ 1.33792956e-02 1.38133481e-06 9.99910493e-01 -2.94045980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.703133365 meters Centerline goodness [0,1] 0.2732476509342262 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99904146e-01 -1.90505370e-03 -1.37138426e-02 1.12586410e+00] [ 1.91329572e-03 9.99997997e-01 5.87905231e-04 3.53159960e-01] [ 1.37126952e-02 -6.14087514e-04 9.99905788e-01 -2.95268240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.733133365 meters Centerline goodness [0,1] 0.27184591799278823 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 9.99905451e-01 -1.77227819e-03 -1.36362780e-02 1.12566223e+00] [ 1.78451214e-03 9.99998016e-01 8.85046411e-04 3.51825840e-01] [ 1.36346824e-02 -9.09296834e-04 9.99906630e-01 -2.95219100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76313336499999 meters Centerline goodness [0,1] 0.27365690195654524 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 0.99990832 -0.00165682 -0.01343914 1.12506152] [ 0.00167248 0.99999794 0.0011543 0.35053976] [ 0.0134372 -0.00117667 0.99990902 -0.29500452] [ 0. 0. 0. 1. ]] SLAMing on 74.79313336499999 meters Centerline goodness [0,1] 0.273626563920516 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 0.99990918 -0.00149021 -0.01339479 1.12512934] [ 0.00151261 0.99999747 0.00166217 0.34773159] [ 0.01339228 -0.00168228 0.9999089 -0.29524968] [ 0. 0. 0. 1. ]] SLAMing on 74.82313336499999 meters Centerline goodness [0,1] 0.2749685042790738 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:-0.30 [[ 0.99990744 -0.00139435 -0.01353426 1.12579718] [ 0.00142125 0.99999703 0.001978 0.34600902] [ 0.01353146 -0.00199706 0.99990645 -0.29576468] [ 0. 0. 0. 1. ]] SLAMing on 74.85313336499999 meters Centerline goodness [0,1] 0.27661009573542206 Centerline is valid? [False, False] Translation: X:1.13, Y:0.34, Z:-0.30 [[ 0.99990209 -0.00117535 -0.01394374 1.12744036] [ 0.00121283 0.99999567 0.00267941 0.34251107] [ 0.01394053 -0.00269606 0.99989919 -0.29676681] [ 0. 0. 0. 1. ]] SLAMing on 74.88313336499999 meters Centerline goodness [0,1] 0.27611256544502616 Centerline is valid? [False, False] Translation: X:1.13, Y:0.34, Z:-0.30 [[ 9.99901543e-01 -1.06663380e-03 -1.39916555e-02 1.12775980e+00] [ 1.10867009e-03 9.99994894e-01 2.99697035e-03 3.41009352e-01] [ 1.39883874e-02 -3.01218741e-03 9.99897621e-01 -2.97031858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.913133365 meters Centerline goodness [0,1] 0.27343158259213574 Centerline is valid? [False, False] Translation: X:1.13, Y:0.34, Z:-0.30 [[ 9.99902738e-01 -9.81725004e-04 -1.39122722e-02 1.12763364e+00] [ 1.02740515e-03 9.99994104e-01 3.27667580e-03 3.39536960e-01] [ 1.39089733e-02 -3.29065064e-03 9.99897851e-01 -2.97074519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.943133365 meters Centerline goodness [0,1] 0.27831559625008195 Centerline is valid? [False, False] Translation: X:1.13, Y:0.34, Z:-0.30 [[ 9.99905164e-01 -8.94530185e-04 -1.37427591e-02 1.12695662e+00] [ 9.45112321e-04 9.99992802e-01 3.67458551e-03 3.37046307e-01] [ 1.37393731e-02 -3.68722548e-03 9.99898812e-01 -2.96577783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.973133365 meters Centerline goodness [0,1] 0.27535445209197296 Centerline is valid? [False, False] Translation: X:1.13, Y:0.34, Z:-0.30 [[ 9.99903732e-01 -8.43667135e-04 -1.38497600e-02 1.12736216e+00] [ 8.96846489e-04 9.99992248e-01 3.83396941e-03 3.36163731e-01] [ 1.38464180e-02 -3.84602143e-03 9.99896737e-01 -2.96820368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.003133365 meters Centerline goodness [0,1] 0.2757705032213129 Centerline is valid? [False, False] Translation: X:1.13, Y:0.33, Z:-0.30 [[ 9.99899208e-01 -7.01906049e-04 -1.41803001e-02 1.12870304e+00] [ 7.60991729e-04 9.99991050e-01 4.16177792e-03 3.34656068e-01] [ 1.41772520e-02 -4.17214954e-03 9.99890793e-01 -2.97730836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.033133365 meters Centerline goodness [0,1] 0.2761923462931448 Centerline is valid? [False, False] Translation: X:1.13, Y:0.33, Z:-0.30 [[ 9.99898579e-01 -6.49496918e-04 -1.42270960e-02 1.12891067e+00] [ 7.10514963e-04 9.99990570e-01 4.28422693e-03 3.34094791e-01] [ 1.42241793e-02 -4.29390098e-03 9.99889611e-01 -2.97890116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.063133365 meters Centerline goodness [0,1] 0.27534527077070536 Centerline is valid? [False, False] Translation: X:1.13, Y:0.33, Z:-0.30 [[ 9.99899485e-01 -6.13363312e-04 -1.41648413e-02 1.12868750e+00] [ 6.75517613e-04 9.99990164e-01 4.38356021e-03 3.33537146e-01] [ 1.41620132e-02 -4.39268820e-03 9.99890065e-01 -2.97768699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.093133365 meters Centerline goodness [0,1] 0.2598518710457559 Centerline is valid? [False, False] Translation: X:1.15, Y:0.33, Z:-0.30 [[ 0.99989002 0.00689459 -0.01313077 1.14774526] [-0.00685483 0.99997179 0.00307062 0.32891451] [ 0.01315157 -0.00298027 0.99990907 -0.295861 ] [ 0. 0. 0. 1. ]] SLAMing on 75.12313336499999 meters Centerline goodness [0,1] 0.2773725825174672 Centerline is valid? [False, False] Translation: X:1.13, Y:0.33, Z:-0.30 [[ 0.99991428 -0.001635 -0.01299073 1.12545791] [ 0.0016822 0.99999202 0.00362289 0.33153134] [ 0.0129847 -0.00364443 0.99990905 -0.29663903] [ 0. 0. 0. 1. ]] SLAMing on 75.15313336499999 meters Centerline goodness [0,1] 0.2758537968334278 Centerline is valid? [False, False] Translation: X:1.13, Y:0.33, Z:-0.30 [[ 0.99991656 -0.001541 -0.01282557 1.12522707] [ 0.0015904 0.99999135 0.00384261 0.33063042] [ 0.01281954 -0.00386269 0.99991037 -0.29687347] [ 0. 0. 0. 1. ]] SLAMing on 75.18313336499999 meters Centerline goodness [0,1] 0.27347611202635913 Centerline is valid? [False, False] Translation: X:1.12, Y:0.33, Z:-0.30 [[ 0.9999182 -0.00154959 -0.012696 1.12497676] [ 0.00159858 0.99999131 0.00384924 0.33036514] [ 0.01268992 -0.00386923 0.99991199 -0.29698213] [ 0. 0. 0. 1. ]] SLAMing on 75.21313336499999 meters Centerline goodness [0,1] 0.27219446787344015 Centerline is valid? [False, False] Translation: X:1.12, Y:0.33, Z:-0.30 [[ 0.99992041 -0.00158722 -0.0125161 1.12439857] [ 0.00163458 0.99999154 0.00377469 0.33051129] [ 0.01251 -0.00379485 0.99991455 -0.29679529] [ 0. 0. 0. 1. ]] SLAMing on 75.24313336499999 meters Centerline goodness [0,1] 0.27367237988198934 Centerline is valid? [False, False] Translation: X:1.12, Y:0.33, Z:-0.30 [[ 0.99992771 -0.00116669 -0.01196702 1.12261275] [ 0.00121321 0.99999173 0.00388144 0.33192209] [ 0.01196239 -0.00389567 0.99992086 -0.29623337] [ 0. 0. 0. 1. ]] SLAMing on 75.27313336499999 meters Centerline goodness [0,1] 0.26379504504504503 Centerline is valid? [False, False] Translation: X:1.12, Y:0.33, Z:-0.30 [[ 0.99992714 -0.00112409 -0.01201844 1.12289076] [ 0.00116815 0.99999262 0.00365913 0.33356881] [ 0.01201423 -0.00367291 0.99992108 -0.29659728] [ 0. 0. 0. 1. ]] SLAMing on 75.303133365 meters Centerline goodness [0,1] 0.2728239404526811 Centerline is valid? [False, False] Translation: X:1.12, Y:0.34, Z:-0.30 [[ 0.99992652 -0.0011734 -0.01206518 1.12330172] [ 0.00121431 0.99999354 0.0033842 0.33501229] [ 0.01206113 -0.0033986 0.99992149 -0.29722136] [ 0. 0. 0. 1. ]] SLAMing on 75.333133365 meters Centerline goodness [0,1] 0.2749738948833972 Centerline is valid? [False, False] Translation: X:1.12, Y:0.34, Z:-0.30 [[ 0.9999248 -0.00134334 -0.0121894 1.12399749] [ 0.00137791 0.99999505 0.00282802 0.33726375] [ 0.01218554 -0.00284461 0.99992171 -0.29813917] [ 0. 0. 0. 1. ]] SLAMing on 75.363133365 meters Centerline goodness [0,1] 0.26160145586897177 Centerline is valid? [False, False] Translation: X:1.12, Y:0.34, Z:-0.30 [[ 0.9999237 -0.00134851 -0.01227896 1.12423802] [ 0.00138224 0.99999529 0.00273917 0.33786635] [ 0.01227521 -0.00275593 0.99992086 -0.29822755] [ 0. 0. 0. 1. ]] SLAMing on 75.393133365 meters Centerline goodness [0,1] 0.2737572860043225 Centerline is valid? [False, False] Translation: X:1.12, Y:0.34, Z:-0.30 [[ 0.9999254 -0.00130952 -0.01214445 1.12386418] [ 0.00134317 0.99999528 0.00276296 0.33813531] [ 0.01214077 -0.00277907 0.99992244 -0.29817582] [ 0. 0. 0. 1. ]] SLAMing on 75.423133365 meters Centerline goodness [0,1] 0.2737572860043225 Centerline is valid? [False, False] Translation: X:1.12, Y:0.34, Z:-0.30 [[ 0.9999254 -0.00130952 -0.01214445 1.12386418] [ 0.00134317 0.99999528 0.00276296 0.33813531] [ 0.01214077 -0.00277907 0.99992244 -0.29817582] [ 0. 0. 0. 1. ]] SLAMing on 75.453133365 meters Centerline goodness [0,1] 0.2615724687933426 Centerline is valid? [False, False] Translation: X:1.12, Y:0.34, Z:-0.30 [[ 0.99992519 -0.00131072 -0.01216162 1.12394575] [ 0.00134482 0.99999519 0.00279581 0.33783314] [ 0.0121579 -0.00281196 0.99992214 -0.29821474] [ 0. 0. 0. 1. ]] SLAMing on 75.483133365 meters Centerline goodness [0,1] 0.25663925297695533 Centerline is valid? [False, False] Translation: X:1.14, Y:0.33, Z:-0.30 [[ 0.99990784 0.00623483 -0.01205988 1.14396971] [-0.00621482 0.99997925 0.00169648 0.33458476] [ 0.0120702 -0.00162137 0.99992584 -0.29683879] [ 0. 0. 0. 1. ]] SLAMing on 75.51313336499999 meters Centerline goodness [0,1] 0.2734463523054127 Centerline is valid? [False, False] Translation: X:1.12, Y:0.34, Z:-0.30 [[ 0.99991038 -0.00220094 -0.0132055 1.12249003] [ 0.0022363 0.99999395 0.00266327 0.33581797] [ 0.01319956 -0.00269257 0.99990926 -0.29737545] [ 0. 0. 0. 1. ]] SLAMing on 75.54313336499999 meters Centerline goodness [0,1] 0.273531077137506 Centerline is valid? [False, False] Translation: X:1.12, Y:0.33, Z:-0.30 [[ 0.99991032 -0.00213553 -0.01322066 1.12242436] [ 0.0021739 0.99999346 0.00288891 0.33478142] [ 0.0132144 -0.0029174 0.99990843 -0.29712543] [ 0. 0. 0. 1. ]] SLAMing on 75.57313336499999 meters Centerline goodness [0,1] 0.2735087489636514 Centerline is valid? [False, False] Translation: X:1.12, Y:0.33, Z:-0.30 [[ 0.99990924 -0.00208952 -0.01330936 1.12267279] [ 0.0021313 0.99999284 0.00312533 0.33344961] [ 0.01330273 -0.00315341 0.99990654 -0.29710152] [ 0. 0. 0. 1. ]] SLAMing on 75.60313336499999 meters Centerline goodness [0,1] 0.27276086153311163 Centerline is valid? [False, False] Translation: X:1.12, Y:0.33, Z:-0.30 [[ 0.99990025 -0.00256769 -0.01388865 1.12462012] [ 0.00261038 0.99999192 0.00305641 0.33117661] [ 0.01388069 -0.00309236 0.99989888 -0.29782547] [ 0. 0. 0. 1. ]] SLAMing on 75.63313336499999 meters Centerline goodness [0,1] 0.2727569260209629 Centerline is valid? [False, False] Translation: X:1.12, Y:0.33, Z:-0.30 [[ 0.99990057 -0.00247695 -0.01388195 1.1244985 ] [ 0.00252633 0.99999054 0.00354049 0.32871899] [ 0.01387305 -0.0035752 0.99989737 -0.29752471] [ 0. 0. 0. 1. ]] SLAMing on 75.663133365 meters Centerline goodness [0,1] 0.27672900880381934 Centerline is valid? [False, False] Translation: X:1.12, Y:0.33, Z:-0.30 [[ 0.99990318 -0.00238611 -0.01370891 1.12379027] [ 0.00243837 0.99998982 0.00379718 0.32764278] [ 0.01369971 -0.00383024 0.99989882 -0.2969637 ] [ 0. 0. 0. 1. ]] SLAMing on 75.693133365 meters Centerline goodness [0,1] 0.27293682722626944 Centerline is valid? [False, False] Translation: X:1.12, Y:0.33, Z:-0.30 [[ 0.99990523 -0.00233811 -0.01356698 1.12321463] [ 0.00239265 0.99998912 0.00400518 0.32652884] [ 0.01355747 -0.00403726 0.99989994 -0.2964883 ] [ 0. 0. 0. 1. ]] SLAMing on 75.723133365 meters Centerline goodness [0,1] 0.2740038693128709 Centerline is valid? [False, False] Translation: X:1.12, Y:0.33, Z:-0.30 [[ 0.99990633 -0.00235158 -0.01348356 1.12287186] [ 0.00240761 0.99998853 0.00414073 0.32550342] [ 0.01347367 -0.0041728 0.99990052 -0.29619409] [ 0. 0. 0. 1. ]] SLAMing on 75.753133365 meters Centerline goodness [0,1] 0.2632628726287263 Centerline is valid? [False, False] Translation: X:1.12, Y:0.32, Z:-0.30 [[ 0.99990408 -0.00225587 -0.01366508 1.12334758] [ 0.00231855 0.99998686 0.00457259 0.32324501] [ 0.01365459 -0.00460383 0.99989617 -0.29619331] [ 0. 0. 0. 1. ]] SLAMing on 75.783133365 meters Centerline goodness [0,1] 0.2751355132016087 Centerline is valid? [False, False] Translation: X:1.12, Y:0.32, Z:-0.30 [[ 0.99990205 -0.00197953 -0.01385547 1.12415911] [ 0.00205494 0.99998314 0.00543065 0.31915685] [ 0.01384449 -0.00545859 0.99988926 -0.29658766] [ 0. 0. 0. 1. ]] SLAMing on 75.813133365 meters Centerline goodness [0,1] 0.27941338869624754 Centerline is valid? [False, False] Translation: X:1.12, Y:0.32, Z:-0.30 [[ 0.99990272 -0.0019718 -0.013808 1.12404202] [ 0.00205353 0.99998044 0.00590746 0.31590705] [ 0.01379608 -0.00593524 0.99988721 -0.29641991] [ 0. 0. 0. 1. ]] SLAMing on 75.843133365 meters Centerline goodness [0,1] 0.2742932766363656 Centerline is valid? [False, False] Translation: X:1.15, Y:0.31, Z:-0.30 [[ 0.9999137 0.00305181 -0.01277832 1.14601957] [-0.00301964 0.99999222 0.00253673 0.31176479] [ 0.01278596 -0.00249792 0.99991514 -0.29617268] [ 0. 0. 0. 1. ]] SLAMing on 75.87313336499999 meters Centerline goodness [0,1] 0.2737346575877174 Centerline is valid? [False, False] Translation: X:1.15, Y:0.31, Z:-0.30 [[ 0.99991781 0.00317431 -0.01242132 1.14507825] [-0.00313503 0.99999003 0.00317984 0.30814239] [ 0.01243129 -0.00314063 0.9999178 -0.29588565] [ 0. 0. 0. 1. ]] SLAMing on 75.90313336499999 meters Centerline goodness [0,1] 0.2730371744805713 Centerline is valid? [False, False] Translation: X:1.14, Y:0.30, Z:-0.30 [[ 0.99992425 0.00360299 -0.01176915 1.14326546] [-0.00355243 0.99998438 0.00431397 0.30302505] [ 0.01178451 -0.00427184 0.99992144 -0.29530239] [ 0. 0. 0. 1. ]] SLAMing on 75.93313336499999 meters Centerline goodness [0,1] 0.27564921704099976 Centerline is valid? [False, False] Translation: X:1.14, Y:0.30, Z:-0.30 [[ 0.99992577 0.003889 -0.01154644 1.14292456] [-0.00383175 0.99998028 0.00497634 0.29964801] [ 0.01156556 -0.00493172 0.99992095 -0.29555486] [ 0. 0. 0. 1. ]] SLAMing on 75.96313336499999 meters Centerline goodness [0,1] 0.278299414796052 Centerline is valid? [False, False] Translation: X:1.14, Y:0.30, Z:-0.30 [[ 0.9999253 0.00401507 -0.01154423 1.14311217] [-0.00395468 0.9999784 0.00524991 0.29830123] [ 0.01156506 -0.00520386 0.99991958 -0.29593124] [ 0. 0. 0. 1. ]] SLAMing on 75.99313336499999 meters Centerline goodness [0,1] 0.2777180943193528 Centerline is valid? [False, False] Translation: X:1.14, Y:0.30, Z:-0.30 [[ 0.99992342 0.00414897 -0.01165909 1.14360538] [-0.00408531 0.99997665 0.00547885 0.29730128] [ 0.01168155 -0.0054308 0.99991702 -0.29636575] [ 0. 0. 0. 1. ]] SLAMing on 76.02313336499999 meters Centerline goodness [0,1] 0.2764784096606142 Centerline is valid? [False, False] Translation: X:1.14, Y:0.30, Z:-0.30 [[ 0.99991686 0.0044469 -0.01210374 1.14496346] [-0.00437628 0.99997329 0.0058546 0.29596968] [ 0.01212945 -0.00580115 0.99990961 -0.29696792] [ 0. 0. 0. 1. ]] SLAMing on 76.053133365 meters Centerline goodness [0,1] 0.2766139095028568 Centerline is valid? [False, False] Translation: X:1.15, Y:0.30, Z:-0.30 [[ 0.9999163 0.00449923 -0.01213021 1.14509392] [-0.00442688 0.99997229 0.00598541 0.29510578] [ 0.0121568 -0.00593121 0.99990851 -0.29711652] [ 0. 0. 0. 1. ]] SLAMing on 76.083133365 meters Centerline goodness [0,1] 0.2763310122023095 Centerline is valid? [False, False] Translation: X:1.14, Y:0.29, Z:-0.30 [[ 0.99991752 0.00451983 -0.01202182 1.14463938] [-0.00444655 0.99997141 0.00611534 0.29401946] [ 0.01204911 -0.00606138 0.99990904 -0.29683142] [ 0. 0. 0. 1. ]] SLAMing on 76.113133365 meters Centerline goodness [0,1] 0.2633213184522517 Centerline is valid? [False, False] Translation: X:1.14, Y:0.29, Z:-0.30 [[ 0.99991828 0.00470369 -0.01188708 1.1442971 ] [-0.00462481 0.99996716 0.0066548 0.2911859 ] [ 0.011918 -0.00659928 0.9999072 -0.29679466] [ 0. 0. 0. 1. ]] SLAMing on 76.143133365 meters Centerline goodness [0,1] 0.26266513870570174 Centerline is valid? [False, False] Translation: X:1.14, Y:0.29, Z:-0.30 [[ 0.99991656 0.00483638 -0.01197852 1.14472183] [-0.00475243 0.99996402 0.00702665 0.28944149] [ 0.01201207 -0.00696914 0.99990357 -0.29707959] [ 0. 0. 0. 1. ]] SLAMing on 76.173133365 meters Centerline goodness [0,1] 0.26344435770665275 Centerline is valid? [False, False] Translation: X:1.15, Y:0.29, Z:-0.30 [[ 0.9999139 0.00493668 -0.0121586 1.14531765] [-0.00484751 0.99996122 0.00735262 0.28774237] [ 0.01219442 -0.00729305 0.99989905 -0.29729818] [ 0. 0. 0. 1. ]] SLAMing on 76.203133365 meters Centerline goodness [0,1] 0.27726033373323156 Centerline is valid? [False, False] Translation: X:1.15, Y:0.29, Z:-0.30 [[ 0.9999193 0.00152919 -0.01261197 1.14655633] [-0.00147758 0.9999905 0.0041002 0.28606624] [ 0.01261812 -0.00408123 0.99991206 -0.29771476] [ 0. 0. 0. 1. ]] SLAMing on 76.233133365 meters Centerline goodness [0,1] 0.26341442186344055 Centerline is valid? [False, False] Translation: X:1.15, Y:0.29, Z:-0.30 [[ 0.9999172 0.00161185 -0.01276706 1.14709562] [-0.00155726 0.99998961 0.00428507 0.28525901] [ 0.01277383 -0.00426483 0.99990932 -0.29797616] [ 0. 0. 0. 1. ]] SLAMing on 76.26313336499999 meters Centerline goodness [0,1] 0.26311555603869985 Centerline is valid? [False, False] Translation: X:1.15, Y:0.28, Z:-0.30 [[ 0.99991804 0.00175893 -0.0126818 1.14727973] [-0.00170131 0.99998819 0.00455335 0.2842181 ] [ 0.01268966 -0.0045314 0.99990922 -0.29864656] [ 0. 0. 0. 1. ]] SLAMing on 76.29313336499999 meters Centerline goodness [0,1] 0.26140100380754583 Centerline is valid? [False, False] Translation: X:1.15, Y:0.28, Z:-0.30 [[ 0.99992006 0.00179839 -0.01251591 1.14679383] [-0.00174009 0.99998759 0.00466722 0.28356467] [ 0.01252415 -0.00464507 0.99991078 -0.29851202] [ 0. 0. 0. 1. ]] SLAMing on 76.32313336499999 meters Centerline goodness [0,1] 0.2587335298196949 Centerline is valid? [False, False] Translation: X:1.15, Y:0.28, Z:-0.30 [[ 0.99992077 0.00179316 -0.01245912 1.14654635] [-0.00173451 0.99998737 0.0047172 0.28307221] [ 0.01246742 -0.00469522 0.99991126 -0.29835855] [ 0. 0. 0. 1. ]] SLAMing on 76.35313336499999 meters Centerline goodness [0,1] 0.2770864479817079 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.30 [[ 0.99988643 0.00153228 -0.01499247 1.10093926] [-0.0014642 0.99998857 0.00455043 0.27886583] [ 0.01499927 -0.00452796 0.99987725 -0.29757661] [ 0. 0. 0. 1. ]] SLAMing on 76.38313336499999 meters Centerline goodness [0,1] 0.2609399274987053 Centerline is valid? [False, False] Translation: X:1.15, Y:0.28, Z:-0.30 [[ 0.99990823 0.00193398 -0.01340838 1.14543154] [-0.00186896 0.99998644 0.00486018 0.28243582] [ 0.0134176 -0.00483467 0.99989829 -0.29756142] [ 0. 0. 0. 1. ]] SLAMing on 76.413133365 meters Centerline goodness [0,1] 0.25996447448228055 Centerline is valid? [False, False] Translation: X:1.15, Y:0.28, Z:-0.30 [[ 0.99990742 0.0018916 -0.01347495 1.1456047 ] [-0.00182867 0.99998737 0.00468103 0.28355655] [ 0.01348364 -0.00465596 0.99989825 -0.2976349 ] [ 0. 0. 0. 1. ]] SLAMing on 76.443133365 meters Centerline goodness [0,1] 0.2772118902105102 Centerline is valid? [False, False] Translation: X:1.15, Y:0.29, Z:-0.30 [[ 0.99990871 0.00185747 -0.01338374 1.14515727] [-0.00179964 0.999989 0.00433215 0.28591479] [ 0.01339163 -0.00430767 0.99990105 -0.29734974] [ 0. 0. 0. 1. ]] SLAMing on 76.473133365 meters Centerline goodness [0,1] 0.27498909725250764 Centerline is valid? [False, False] Translation: X:1.14, Y:0.29, Z:-0.30 [[ 0.99991223 0.00174619 -0.01313318 1.14438862] [-0.00169299 0.99999032 0.00406061 0.28714774] [ 0.01314015 -0.00403802 0.99990551 -0.29712372] [ 0. 0. 0. 1. ]] SLAMing on 76.503133365 meters Centerline goodness [0,1] 0.27149604261467786 Centerline is valid? [False, False] Translation: X:1.16, Y:0.29, Z:-0.30 [[ 0.99988896 0.00966429 -0.01134337 1.16377398] [-0.00963579 0.99995029 0.00256408 0.2865002 ] [ 0.01136758 -0.00245449 0.99993237 -0.29594512] [ 0. 0. 0. 1. ]] SLAMing on 76.533133365 meters Centerline goodness [0,1] 0.2620891636836967 Centerline is valid? [False, False] Translation: X:1.15, Y:0.29, Z:-0.30 [[ 0.99996141 0.00310247 -0.00821855 1.14614028] [-0.00307809 0.99999083 0.0029771 0.29119177] [ 0.00822771 -0.00295169 0.9999618 -0.29860283] [ 0. 0. 0. 1. ]] SLAMing on 76.563133365 meters Centerline goodness [0,1] 0.27319810099266295 Centerline is valid? [False, False] Translation: X:1.15, Y:0.29, Z:-0.30 [[ 0.99996199 0.00295881 -0.00820192 1.14582131] [-0.00293784 0.99999239 0.00256793 0.29350337] [ 0.00820946 -0.00254374 0.99996307 -0.29823858] [ 0. 0. 0. 1. ]] SLAMing on 76.593133365 meters Centerline goodness [0,1] 0.26257418879695016 Centerline is valid? [False, False] Translation: X:1.15, Y:0.29, Z:-0.30 [[ 0.99996271 0.00292297 -0.0081265 1.14546259] [-0.00290272 0.99999266 0.00250152 0.29391455] [ 0.00813375 -0.00247784 0.99996385 -0.29796277] [ 0. 0. 0. 1. ]] SLAMing on 76.62313336499999 meters Centerline goodness [0,1] 0.2751012277244874 Centerline is valid? [False, False] Translation: X:1.15, Y:0.29, Z:-0.30 [[ 0.99996347 0.00290197 -0.0080397 1.14509713] [-0.00288131 0.99999252 0.00257939 0.29335332] [ 0.00804713 -0.00255613 0.99996435 -0.29764606] [ 0. 0. 0. 1. ]] SLAMing on 76.65313336499999 meters Centerline goodness [0,1] 0.2773258714561506 Centerline is valid? [False, False] Translation: X:1.15, Y:0.29, Z:-0.30 [[ 0.99996362 0.00283448 -0.0080455 1.14513615] [-0.00281262 0.99999233 0.00272639 0.29216683] [ 0.00805316 -0.00270366 0.99996392 -0.29761439] [ 0. 0. 0. 1. ]] SLAMing on 76.68313336499999 meters Centerline goodness [0,1] 0.26224964815416263 Centerline is valid? [False, False] Translation: X:1.15, Y:0.29, Z:-0.30 [[ 0.99996471 0.00236679 -0.00806091 1.14532531] [-0.00234334 0.999993 0.00291696 0.28935122] [ 0.00806776 -0.00289797 0.99996326 -0.29761261] [ 0. 0. 0. 1. ]] SLAMing on 76.71313336499999 meters Centerline goodness [0,1] 0.27694786812421057 Centerline is valid? [False, False] Translation: X:1.15, Y:0.29, Z:-0.30 [[ 0.99996345 0.00240829 -0.00820308 1.14575864] [-0.0023816 0.99999185 0.00326132 0.28741562] [ 0.00821087 -0.00324167 0.99996104 -0.29770344] [ 0. 0. 0. 1. ]] SLAMing on 76.74313336499999 meters Centerline goodness [0,1] 0.278200752603483 Centerline is valid? [False, False] Translation: X:1.15, Y:0.29, Z:-0.30 [[ 0.99996238 0.00248763 -0.00830906 1.14608602] [-0.00245777 0.99999049 0.0036024 0.28556086] [ 0.00831794 -0.00358184 0.99995899 -0.29772115] [ 0. 0. 0. 1. ]] SLAMing on 76.77313336499999 meters Centerline goodness [0,1] 0.2791678503529206 Centerline is valid? [False, False] Translation: X:1.15, Y:0.28, Z:-0.30 [[ 0.99996247 0.00255978 -0.00827682 1.1459333 ] [-0.00252571 0.99998831 0.00412376 0.28242913] [ 0.00828728 -0.0041027 0.99995724 -0.29745832] [ 0. 0. 0. 1. ]] SLAMing on 76.803133365 meters Centerline goodness [0,1] 0.2788576913846892 Centerline is valid? [False, False] Translation: X:1.15, Y:0.28, Z:-0.30 [[ 0.99996255 0.00265773 -0.00823663 1.14580245] [-0.00262197 0.9999871 0.0043493 0.28136771] [ 0.00824808 -0.00432754 0.99995662 -0.29739018] [ 0. 0. 0. 1. ]] SLAMing on 76.833133365 meters Centerline goodness [0,1] 0.27451191888685145 Centerline is valid? [False, False] Translation: X:1.15, Y:0.28, Z:-0.30 [[ 0.99996285 0.0027736 -0.00816156 1.14559688] [-0.00273723 0.99998629 0.00446474 0.28104605] [ 0.00817383 -0.00444223 0.99995673 -0.29740265] [ 0. 0. 0. 1. ]] SLAMing on 76.863133365 meters Centerline goodness [0,1] 0.276967803523388 Centerline is valid? [False, False] Translation: X:1.15, Y:0.28, Z:-0.30 [[ 0.99996231 0.00284958 -0.00820115 1.14581747] [-0.00281273 0.99998591 0.00450154 0.28106584] [ 0.00821386 -0.0044783 0.99995624 -0.29765033] [ 0. 0. 0. 1. ]] SLAMing on 76.893133365 meters Centerline goodness [0,1] 0.2749138659559254 Centerline is valid? [False, False] Translation: X:1.15, Y:0.28, Z:-0.30 [[ 0.99995757 0.00307845 -0.00868231 1.14741433] [-0.00303821 0.9999846 0.00464514 0.28050596] [ 0.00869647 -0.00461856 0.99995152 -0.29853518] [ 0. 0. 0. 1. ]] SLAMing on 76.923133365 meters Centerline goodness [0,1] 0.27902556259558664 Centerline is valid? [False, False] Translation: X:1.15, Y:0.28, Z:-0.30 [[ 0.9999566 0.00311349 -0.00878038 1.14798497] [-0.00307177 0.99998395 0.00476144 0.27967955] [ 0.00879507 -0.00473426 0.99995012 -0.29912014] [ 0. 0. 0. 1. ]] SLAMing on 76.953133365 meters Centerline goodness [0,1] 0.2718953405941871 Centerline is valid? [False, False] Translation: X:1.19, Y:0.28, Z:-0.30 [[ 0.9999692 0.00289465 -0.00729508 1.19323647] [-0.00286171 0.99998568 0.00452129 0.28106416] [ 0.00730807 -0.00450028 0.99996317 -0.29981484] [ 0. 0. 0. 1. ]] SLAMing on 76.983133365 meters Centerline goodness [0,1] 0.2745408074857044 Centerline is valid? [False, False] Translation: X:1.19, Y:0.28, Z:-0.30 [[ 0.99996927 0.00300301 -0.00724183 1.19317868] [-0.00296807 0.99998392 0.0048312 0.27947328] [ 0.00725623 -0.00480956 0.99996211 -0.29990341] [ 0. 0. 0. 1. ]] SLAMing on 77.01313336499999 meters Centerline goodness [0,1] 0.278972783143108 Centerline is valid? [False, False] Translation: X:1.15, Y:0.27, Z:-0.30 [[ 0.99995202 0.00258611 -0.00944837 1.14716042] [-0.00254096 0.99998531 0.00478766 0.27348617] [ 0.00946061 -0.00476342 0.9999439 -0.29873574] [ 0. 0. 0. 1. ]] SLAMing on 77.04313336499999 meters Centerline goodness [0,1] 0.26150052987866856 Centerline is valid? [False, False] Translation: X:1.17, Y:0.27, Z:-0.30 [[ 0.99991896 0.00835298 -0.00960759 1.17033971] [-0.00833049 0.99996247 0.00237907 0.26802291] [ 0.0096271 -0.00229884 0.99995102 -0.29900683] [ 0. 0. 0. 1. ]] SLAMing on 77.07313336499999 meters Centerline goodness [0,1] 0.25962366517395796 Centerline is valid? [False, False] Translation: X:1.17, Y:0.27, Z:-0.30 [[ 0.99991608 0.0084476 -0.00982222 1.17113025] [-0.00842129 0.99996085 0.00271738 0.26611408] [ 0.00984479 -0.00263444 0.99994807 -0.29940499] [ 0. 0. 0. 1. ]] SLAMing on 77.10313336499999 meters Centerline goodness [0,1] 0.27753294305948384 Centerline is valid? [False, False] Translation: X:1.15, Y:0.27, Z:-0.30 [[ 9.99939652e-01 -3.70076702e-04 -1.09797810e-02 1.14971102e+00] [ 4.06568582e-04 9.99994401e-01 3.32150678e-03 2.67250397e-01] [ 1.09784903e-02 -3.32577037e-03 9.99934204e-01 -2.99879876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13313336499999 meters Centerline goodness [0,1] 0.2596153846153846 Centerline is valid? [False, False] Translation: X:1.17, Y:0.26, Z:-0.30 [[ 0.99991586 0.00803617 -0.01018264 1.17019725] [-0.00801113 0.99996479 0.00249694 0.26426962] [ 0.01020235 -0.00241515 0.99994504 -0.29903253] [ 0. 0. 0. 1. ]] SLAMing on 77.163133365 meters Centerline goodness [0,1] 0.2721674346496705 Centerline is valid? [False, False] Translation: X:1.17, Y:0.26, Z:-0.30 [[ 0.9999126 0.00852392 -0.0101062 1.17021602] [-0.00849707 0.99996026 0.00269634 0.26473814] [ 0.01012879 -0.00261023 0.9999453 -0.2995064 ] [ 0. 0. 0. 1. ]] SLAMing on 77.193133365 meters Centerline goodness [0,1] 0.274773210642823 Centerline is valid? [False, False] Translation: X:1.15, Y:0.27, Z:-0.30 [[ 9.99946055e-01 4.82176324e-04 -1.03756828e-02 1.15092571e+00] [-4.42341734e-04 9.99992525e-01 3.84117835e-03 2.68068346e-01] [ 1.03774573e-02 -3.83638154e-03 9.99938793e-01 -3.01148417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.223133365 meters Centerline goodness [0,1] 0.2755142060310267 Centerline is valid? [False, False] Translation: X:1.15, Y:0.27, Z:-0.30 [[ 9.99947046e-01 5.10834698e-04 -1.02783491e-02 1.15060593e+00] [-4.70717670e-04 9.99992264e-01 3.90510210e-03 2.67704788e-01] [ 1.02802644e-02 -3.90005711e-03 9.99939551e-01 -3.01064114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.253133365 meters Centerline goodness [0,1] 0.27442746439239796 Centerline is valid? [False, False] Translation: X:1.15, Y:0.27, Z:-0.30 [[ 9.99947600e-01 5.42082082e-04 -1.02226709e-02 1.15036475e+00] [-5.00357747e-04 9.99991537e-01 4.08366523e-03 2.66608711e-01] [ 1.02247981e-02 -4.07833626e-03 9.99939409e-01 -3.00865132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.283133365 meters Centerline goodness [0,1] 0.2617471443406023 Centerline is valid? [False, False] Translation: X:1.15, Y:0.26, Z:-0.30 [[ 9.99949005e-01 4.23605721e-04 -1.00900282e-02 1.15003243e+00] [-3.77079486e-04 9.99989291e-01 4.61256666e-03 2.62506732e-01] [ 1.00918740e-02 -4.60852670e-03 9.99938456e-01 -3.00639816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.313133365 meters Centerline goodness [0,1] 0.2617340639823258 Centerline is valid? [False, False] Translation: X:1.15, Y:0.26, Z:-0.30 [[ 9.99949430e-01 5.75550974e-04 -1.00402165e-02 1.14994467e+00] [-5.23702453e-04 9.99986519e-01 5.16594889e-03 2.59631942e-01] [ 1.00430544e-02 -5.16042956e-03 9.99936251e-01 -3.00553566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.343133365 meters Centerline goodness [0,1] 0.2617340639823258 Centerline is valid? [False, False] Translation: X:1.15, Y:0.26, Z:-0.30 [[ 9.99949430e-01 5.75550974e-04 -1.00402165e-02 1.14994467e+00] [-5.23702453e-04 9.99986519e-01 5.16594889e-03 2.59631942e-01] [ 1.00430544e-02 -5.16042956e-03 9.99936251e-01 -3.00553566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37313336499999 meters Centerline goodness [0,1] 0.2621548456957228 Centerline is valid? [False, False] Translation: X:1.15, Y:0.26, Z:-0.30 [[ 9.99953852e-01 7.80037792e-04 -9.57520420e-03 1.14888731e+00] [-7.22683690e-04 9.99981788e-01 5.99185617e-03 2.55268650e-01] [ 9.57970369e-03 -5.98465982e-03 9.99936205e-01 -3.00416091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40313336499999 meters Centerline goodness [0,1] 0.2740710281991906 Centerline is valid? [False, False] Translation: X:1.15, Y:0.25, Z:-0.30 [[ 9.99954070e-01 8.99918570e-04 -9.54192778e-03 1.14877272e+00] [-8.39588503e-04 9.99979646e-01 6.32475054e-03 2.53631833e-01] [ 9.54742533e-03 -6.31644875e-03 9.99934472e-01 -3.00315060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43313336499999 meters Centerline goodness [0,1] 0.2737150741635046 Centerline is valid? [False, False] Translation: X:1.15, Y:0.25, Z:-0.30 [[ 9.99953133e-01 1.00194308e-03 -9.62953876e-03 1.14904587e+00] [-9.38353467e-04 9.99977741e-01 6.60584988e-03 2.52166460e-01] [ 9.63594310e-03 -6.59650437e-03 9.99931815e-01 -3.00376530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46313336499999 meters Centerline goodness [0,1] 0.27498867338353006 Centerline is valid? [False, False] Translation: X:1.15, Y:0.25, Z:-0.30 [[ 9.99952410e-01 1.08673178e-03 -9.69514152e-03 1.14927485e+00] [-1.02047417e-03 9.99976111e-01 6.83643632e-03 2.50963457e-01] [ 9.70233928e-03 -6.82621734e-03 9.99929631e-01 -3.00452864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49313336499999 meters Centerline goodness [0,1] 0.2773800689685276 Centerline is valid? [False, False] Translation: X:1.13, Y:0.24, Z:-0.30 [[ 0.99995035 0.00694663 -0.00714479 1.1337216 ] [-0.00690761 0.99996117 0.00547156 0.24453059] [ 0.00718252 -0.00542194 0.99995951 -0.30418812] [ 0. 0. 0. 1. ]] SLAMing on 77.52313336499999 meters Centerline goodness [0,1] 0.2754374594944913 Centerline is valid? [False, False] Translation: X:1.15, Y:0.25, Z:-0.30 [[ 9.99973538e-01 -5.77667286e-04 -7.25190690e-03 1.15247834e+00] [ 6.26965049e-04 9.99976700e-01 6.79747160e-03 2.47746112e-01] [ 7.24781125e-03 -6.80183841e-03 9.99950601e-01 -3.03308384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.553133365 meters Centerline goodness [0,1] 0.2737171194480379 Centerline is valid? [False, False] Translation: X:1.15, Y:0.25, Z:-0.30 [[ 9.99973115e-01 -5.30682782e-04 -7.31351337e-03 1.15284268e+00] [ 5.81484402e-04 9.99975708e-01 6.94589257e-03 2.46881229e-01] [ 7.30964965e-03 -6.94995853e-03 9.99949132e-01 -3.03638575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.583133365 meters Centerline goodness [0,1] 0.2770893465569999 Centerline is valid? [False, False] Translation: X:1.15, Y:0.25, Z:-0.30 [[ 9.99973484e-01 -4.74414608e-04 -7.26683478e-03 1.15267675e+00] [ 5.26286150e-04 9.99974387e-01 7.13787223e-03 2.45759190e-01] [ 7.26326234e-03 -7.14150739e-03 9.99948121e-01 -3.03531040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.613133365 meters Centerline goodness [0,1] 0.27776931281426176 Centerline is valid? [False, False] Translation: X:1.15, Y:0.24, Z:-0.30 [[ 9.99976357e-01 -3.61923540e-04 -6.86694052e-03 1.15149086e+00] [ 4.15340094e-04 9.99969657e-01 7.77896886e-03 2.42038366e-01] [ 6.86391676e-03 -7.78163705e-03 9.99946165e-01 -3.02959310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.643133365 meters Centerline goodness [0,1] 0.2773107422975257 Centerline is valid? [False, False] Translation: X:1.15, Y:0.24, Z:-0.30 [[ 9.99976583e-01 -2.93386433e-04 -6.83713283e-03 1.15145715e+00] [ 3.49552840e-04 9.99966194e-01 8.21516004e-03 2.39507912e-01] [ 6.83449147e-03 -8.21735761e-03 9.99942881e-01 -3.02873660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.673133365 meters Centerline goodness [0,1] 0.2766090983854911 Centerline is valid? [False, False] Translation: X:1.15, Y:0.24, Z:-0.30 [[ 9.99975464e-01 -2.25270677e-04 -7.00154171e-03 1.15195731e+00] [ 2.86337640e-04 9.99961920e-01 8.72215256e-03 2.36536414e-01] [ 6.99931025e-03 -8.72394335e-03 9.99937449e-01 -3.02911181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.703133365 meters Centerline goodness [0,1] 0.27759051864738504 Centerline is valid? [False, False] Translation: X:1.16, Y:0.23, Z:-0.31 [[ 0.99996551 -0.00277647 -0.00782703 1.15585608] [ 0.00283107 0.99997168 0.0069738 0.23004312] [ 0.00780745 -0.00699572 0.99994505 -0.3050926 ] [ 0. 0. 0. 1. ]] SLAMing on 77.733133365 meters Centerline goodness [0,1] 0.27602984106389883 Centerline is valid? [False, False] Translation: X:1.16, Y:0.23, Z:-0.31 [[ 0.99996073 -0.00265781 -0.00845376 1.15780005] [ 0.00272172 0.99996773 0.00755816 0.22682202] [ 0.0084334 -0.00758087 0.9999357 -0.30568086] [ 0. 0. 0. 1. ]] SLAMing on 77.76313336499999 meters Centerline goodness [0,1] 0.2782828063155147 Centerline is valid? [False, False] Translation: X:1.16, Y:0.22, Z:-0.31 [[ 0.99995828 -0.00244161 -0.00880215 1.15890578] [ 0.00251433 0.99996272 0.00826101 0.22322894] [ 0.00878166 -0.00828279 0.99992714 -0.30598957] [ 0. 0. 0. 1. ]] SLAMing on 77.79313336499999 meters Centerline goodness [0,1] 0.2784455391351943 Centerline is valid? [False, False] Translation: X:1.16, Y:0.22, Z:-0.31 [[ 0.99995812 -0.00222211 -0.00887824 1.15915932] [ 0.00230197 0.99995689 0.00899531 0.21942094] [ 0.00885787 -0.00901537 0.99992013 -0.30593704] [ 0. 0. 0. 1. ]] SLAMing on 77.82313336499999 meters Centerline goodness [0,1] 0.27809556952389236 Centerline is valid? [False, False] Translation: X:1.16, Y:0.22, Z:-0.31 [[ 0.99995839 -0.00199709 -0.00890097 1.15915387] [ 0.00208323 0.99995099 0.00967863 0.21593808] [ 0.0088812 -0.00969677 0.99991354 -0.30571118] [ 0. 0. 0. 1. ]] SLAMing on 77.85313336499999 meters Centerline goodness [0,1] 0.27801588164908086 Centerline is valid? [False, False] Translation: X:1.16, Y:0.21, Z:-0.31 [[ 0.99995946 -0.00165471 -0.00885049 1.15906853] [ 0.00174845 0.99994235 0.010594 0.21143711] [ 0.00883245 -0.01060904 0.99990471 -0.30559944] [ 0. 0. 0. 1. ]] SLAMing on 77.88313336499999 meters Centerline goodness [0,1] 0.2761324229435458 Centerline is valid? [False, False] Translation: X:1.18, Y:0.21, Z:-0.30 [[ 0.99993938 0.00681245 -0.00864983 1.17943715] [-0.00672848 0.99993032 0.00969978 0.20746004] [ 0.0087153 -0.00964099 0.99991554 -0.30447141] [ 0. 0. 0. 1. ]] SLAMing on 77.913133365 meters Centerline goodness [0,1] 0.2781976112920739 Centerline is valid? [False, False] Translation: X:1.18, Y:0.21, Z:-0.30 [[ 0.99993923 0.00686337 -0.00862762 1.17954422] [-0.00677902 0.99992932 0.00976773 0.20719279] [ 0.00869405 -0.00970865 0.99991507 -0.3047667 ] [ 0. 0. 0. 1. ]] SLAMing on 77.943133365 meters Centerline goodness [0,1] 0.2766178636403015 Centerline is valid? [False, False] Translation: X:1.18, Y:0.21, Z:-0.30 [[ 0.99993937 0.00689916 -0.00858244 1.17943117] [-0.00681537 0.99992921 0.00975361 0.20744046] [ 0.00864912 -0.00969453 0.9999156 -0.30481681] [ 0. 0. 0. 1. ]] SLAMing on 77.973133365 meters Centerline goodness [0,1] 0.27603951796764736 Centerline is valid? [False, False] Translation: X:1.18, Y:0.21, Z:-0.30 [[ 0.99994219 0.00699084 -0.00816982 1.17808662] [-0.00691026 0.99992762 0.0098493 0.20728314] [ 0.00823808 -0.00979227 0.99991812 -0.30424565] [ 0. 0. 0. 1. ]] SLAMing on 78.003133365 meters Centerline goodness [0,1] 0.27740657714323025 Centerline is valid? [False, False] Translation: X:1.18, Y:0.21, Z:-0.30 [[ 0.99994366 0.00700715 -0.00797366 1.17730066] [-0.00692772 0.99992654 0.00994564 0.20666283] [ 0.00804277 -0.00988984 0.99991875 -0.30368771] [ 0. 0. 0. 1. ]] SLAMing on 78.033133365 meters Centerline goodness [0,1] 0.2760779910608252 Centerline is valid? [False, False] Translation: X:1.18, Y:0.21, Z:-0.30 [[ 0.99994568 0.00701161 -0.00771139 1.17646202] [-0.00693386 0.99992532 0.01006367 0.20575214] [ 0.00778137 -0.01000966 0.99991963 -0.30331215] [ 0. 0. 0. 1. ]] SLAMing on 78.063133365 meters Centerline goodness [0,1] 0.2790140139049321 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.30 [[ 0.99994649 0.00705457 -0.00756672 1.17599715] [-0.00697712 0.9999235 0.01021351 0.20493945] [ 0.00763819 -0.01016017 0.99991921 -0.30308525] [ 0. 0. 0. 1. ]] SLAMing on 78.093133365 meters Centerline goodness [0,1] 0.2776129102133651 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.30 [[ 0.99994783 0.00725177 -0.00719313 1.17502294] [-0.00717438 0.99991672 0.01072769 0.20277336] [ 0.00727033 -0.01067553 0.99991658 -0.30285776] [ 0. 0. 0. 1. ]] SLAMing on 78.12313336499999 meters Centerline goodness [0,1] 0.2790884253436836 Centerline is valid? [False, False] Translation: X:1.17, Y:0.20, Z:-0.30 [[ 0.99996938 0.00410448 -0.00666283 1.17356292] [-0.00405399 0.99996309 0.00757489 0.20222814] [ 0.00669368 -0.00754764 0.99994911 -0.30264643] [ 0. 0. 0. 1. ]] SLAMing on 78.15313336499999 meters Centerline goodness [0,1] 0.277965807515404 Centerline is valid? [False, False] Translation: X:1.17, Y:0.20, Z:-0.30 [[ 0.9999691 0.00413431 -0.00668588 1.17360509] [-0.00408222 0.99996137 0.00778483 0.20085896] [ 0.00671781 -0.0077573 0.99994735 -0.3025406 ] [ 0. 0. 0. 1. ]] SLAMing on 78.18313336499999 meters Centerline goodness [0,1] 0.2760436903682597 Centerline is valid? [False, False] Translation: X:1.17, Y:0.20, Z:-0.30 [[ 0.99997611 0.00128497 -0.00679241 1.17428604] [-0.00125224 0.9999876 0.0048201 0.2007367 ] [ 0.00679852 -0.00481148 0.99996531 -0.30315988] [ 0. 0. 0. 1. ]] SLAMing on 78.21313336499999 meters Centerline goodness [0,1] 0.2762180373185902 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.30 [[ 0.99997354 0.00133322 -0.00715166 1.17579728] [-0.00129743 0.99998662 0.0050069 0.19967897] [ 0.00715824 -0.00499749 0.99996189 -0.30422372] [ 0. 0. 0. 1. ]] SLAMing on 78.24313336499999 meters Centerline goodness [0,1] 0.27502641167719544 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.30 [[ 0.99997352 0.00138425 -0.00714429 1.17583409] [-0.00134799 0.9999862 0.00507824 0.19954856] [ 0.00715122 -0.00506848 0.99996158 -0.304296 ] [ 0. 0. 0. 1. ]] SLAMing on 78.27313336499999 meters Centerline goodness [0,1] 0.2771120951636711 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.30 [[ 0.99997397 0.00139395 -0.00707875 1.17576884] [-0.00135811 0.99998625 0.00506553 0.19969378] [ 0.00708571 -0.00505578 0.99996212 -0.30445183] [ 0. 0. 0. 1. ]] SLAMing on 78.303133365 meters Centerline goodness [0,1] 0.277993872096308 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.30 [[ 0.99997318 0.00133191 -0.00720198 1.17625142] [-0.00129629 0.99998692 0.00494831 0.20001452] [ 0.00720848 -0.00493884 0.99996182 -0.30475434] [ 0. 0. 0. 1. ]] SLAMing on 78.333133365 meters Centerline goodness [0,1] 0.27544168459482365 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99997026 0.00126488 -0.00760788 1.17787629] [-0.00122832 0.99998769 0.00480771 0.20037152] [ 0.00761387 -0.00479822 0.9999595 -0.30590548] [ 0. 0. 0. 1. ]] SLAMing on 78.363133365 meters Centerline goodness [0,1] 0.27360994239109326 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99997007 0.00131372 -0.00762503 1.17809513] [-0.00127668 0.99998737 0.00486096 0.20032692] [ 0.00763132 -0.00485107 0.99995911 -0.30624397] [ 0. 0. 0. 1. ]] SLAMing on 78.393133365 meters Centerline goodness [0,1] 0.27703955837751737 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99997081 0.00137622 -0.00751597 1.17783732] [-0.00133847 0.99998648 0.00502535 0.19964316] [ 0.00752278 -0.00501514 0.99995913 -0.30623416] [ 0. 0. 0. 1. ]] SLAMing on 78.423133365 meters Centerline goodness [0,1] 0.27729352800174334 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 9.99973907e-01 1.21214001e-03 -7.12157627e-03 1.17685656e+00] [-1.17429187e-03 9.99985179e-01 5.31635391e-03 1.96854015e-01] [ 7.12791489e-03 -5.30785238e-03 9.99960509e-01 -3.05976463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.453133365 meters Centerline goodness [0,1] 0.27694050004355775 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 9.99972326e-01 1.19397493e-03 -7.34311456e-03 1.17763540e+00] [-1.15312212e-03 9.99983850e-01 5.56513751e-03 1.95026687e-01] [ 7.34964060e-03 -5.55651600e-03 9.99957553e-01 -3.06336785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.483133365 meters Centerline goodness [0,1] 0.27434145075479044 Centerline is valid? [False, False] Translation: X:1.18, Y:0.19, Z:-0.31 [[ 9.99968184e-01 1.18457173e-03 -7.88851743e-03 1.17931140e+00] [-1.13843791e-03 9.99982240e-01 5.85014910e-03 1.93119566e-01] [ 7.89530725e-03 -5.84098238e-03 9.99951772e-01 -3.06888908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51313336499999 meters Centerline goodness [0,1] 0.27457818016417945 Centerline is valid? [False, False] Translation: X:1.18, Y:0.19, Z:-0.31 [[ 0.9999617 0.00134506 -0.00864846 1.18159057] [-0.00128735 0.99997689 0.00667539 0.1886628 ] [ 0.00865723 -0.006664 0.99994032 -0.30752209] [ 0. 0. 0. 1. ]] SLAMing on 78.54313336499999 meters Centerline goodness [0,1] 0.2755150726523531 Centerline is valid? [False, False] Translation: X:1.18, Y:0.19, Z:-0.31 [[ 0.99996272 0.00153671 -0.00849661 1.18110576] [-0.00147548 0.99997293 0.00720881 0.18614192] [ 0.00850746 -0.00719601 0.99993792 -0.30724847] [ 0. 0. 0. 1. ]] SLAMing on 78.57313336499999 meters Centerline goodness [0,1] 0.2767009236373097 Centerline is valid? [False, False] Translation: X:1.18, Y:0.18, Z:-0.31 [[ 0.99996497 0.00171292 -0.00819333 1.18011314] [-0.00164962 0.99996879 0.00772582 0.18357023] [ 0.0082063 -0.00771204 0.99993659 -0.30671239] [ 0. 0. 0. 1. ]] SLAMing on 78.60313336499999 meters Centerline goodness [0,1] 0.27625342435969913 Centerline is valid? [False, False] Translation: X:1.18, Y:0.18, Z:-0.31 [[ 0.99996561 0.00187584 -0.00807887 1.17959918] [-0.00180979 0.99996494 0.00817593 0.18130876] [ 0.00809392 -0.00816102 0.99993394 -0.30626505] [ 0. 0. 0. 1. ]] SLAMing on 78.63313336499999 meters Centerline goodness [0,1] 0.2781923624028887 Centerline is valid? [False, False] Translation: X:1.18, Y:0.18, Z:-0.31 [[ 0.99996279 0.00204049 -0.00838146 1.18052347] [-0.00196871 0.9999614 0.00856275 0.17910413] [ 0.00839861 -0.00854593 0.99992821 -0.30659603] [ 0. 0. 0. 1. ]] SLAMing on 78.663133365 meters Centerline goodness [0,1] 0.2761259101015826 Centerline is valid? [False, False] Translation: X:1.18, Y:0.18, Z:-0.31 [[ 0.99996244 0.00212273 -0.00840358 1.18059165] [-0.00204985 0.99996031 0.0086706 0.17863537] [ 0.00842165 -0.00865305 0.9999271 -0.30666439] [ 0. 0. 0. 1. ]] SLAMing on 78.693133365 meters Centerline goodness [0,1] 0.2756000952360339 Centerline is valid? [False, False] Translation: X:1.18, Y:0.18, Z:-0.31 [[ 0.99996514 0.00222692 -0.00804794 1.17962842] [-0.00215653 0.99995943 0.00874526 0.1785595 ] [ 0.00806709 -0.0087276 0.99992937 -0.30651806] [ 0. 0. 0. 1. ]] SLAMing on 78.723133365 meters Centerline goodness [0,1] 0.2767316017316017 Centerline is valid? [False, False] Translation: X:1.18, Y:0.18, Z:-0.31 [[ 0.99996932 0.00238198 -0.00746232 1.17788022] [-0.00231557 0.99995776 0.00889424 0.17829537] [ 0.00748319 -0.00887669 0.9999326 -0.30600782] [ 0. 0. 0. 1. ]] SLAMing on 78.753133365 meters Centerline goodness [0,1] 0.28026086956521734 Centerline is valid? [False, False] Translation: X:1.17, Y:0.18, Z:-0.31 [[ 0.99997642 0.00264529 -0.00633773 1.17479131] [-0.00258797 0.99995582 0.00903609 0.17839999] [ 0.00636135 -0.00901947 0.99993909 -0.3054137 ] [ 0. 0. 0. 1. ]] SLAMing on 78.783133365 meters Centerline goodness [0,1] 0.27848513111944995 Centerline is valid? [False, False] Translation: X:1.17, Y:0.18, Z:-0.31 [[ 0.99997736 0.00264742 -0.00618627 1.1744165 ] [-0.00259196 0.99995654 0.00895556 0.17893838] [ 0.00620971 -0.00893933 0.99994076 -0.30545179] [ 0. 0. 0. 1. ]] SLAMing on 78.813133365 meters Centerline goodness [0,1] 0.27629476048550816 Centerline is valid? [False, False] Translation: X:1.17, Y:0.18, Z:-0.31 [[ 0.99997808 0.00261509 -0.00608275 1.17427301] [-0.00256126 0.99995763 0.00884181 0.17949167] [ 0.00610561 -0.00882604 0.99994241 -0.30567863] [ 0. 0. 0. 1. ]] SLAMing on 78.843133365 meters Centerline goodness [0,1] 0.2774492602941495 Centerline is valid? [False, False] Translation: X:1.17, Y:0.18, Z:-0.31 [[ 0.99997908 0.00260723 -0.00591966 1.17406562] [-0.00255467 0.9999574 0.00886988 0.17914658] [ 0.00594253 -0.00885458 0.99994314 -0.30600191] [ 0. 0. 0. 1. ]] SLAMing on 78.87313336499999 meters Centerline goodness [0,1] 0.2763981861369035 Centerline is valid? [False, False] Translation: X:1.17, Y:0.18, Z:-0.31 [[ 0.99997981 0.00263389 -0.00578371 1.17363327] [-0.00258175 0.99995613 0.00900393 0.17841441] [ 0.00580717 -0.00898881 0.99994274 -0.30582718] [ 0. 0. 0. 1. ]] SLAMing on 78.90313336499999 meters Centerline goodness [0,1] 0.2815817583327883 Centerline is valid? [False, False] Translation: X:1.17, Y:0.18, Z:-0.31 [[ 0.99998094 0.00265634 -0.00557336 1.1729844 ] [-0.00260521 0.99995464 0.00916094 0.17750447] [ 0.00559744 -0.00914625 0.99994251 -0.30551515] [ 0. 0. 0. 1. ]] SLAMing on 78.93313336499999 meters Centerline goodness [0,1] 0.2772742965648196 Centerline is valid? [False, False] Translation: X:1.19, Y:0.18, Z:-0.31 [[ 0.9999497 0.00913946 -0.00413167 1.19469977] [-0.0091137 0.99993918 0.00621126 0.17652576] [ 0.00418819 -0.00617329 0.99997217 -0.30588557] [ 0. 0. 0. 1. ]] SLAMing on 78.96313336499999 meters Centerline goodness [0,1] 0.28180329658334247 Centerline is valid? [False, False] Translation: X:1.17, Y:0.18, Z:-0.31 [[ 9.99988657e-01 -7.23474681e-04 -4.70761138e-03 1.17334731e+00] [ 7.53156368e-04 9.99979831e-01 6.30632691e-03 1.78463184e-01] [ 4.70295397e-03 -6.30980094e-03 9.99969034e-01 -3.06903720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99313336499999 meters Centerline goodness [0,1] 0.28052454752357214 Centerline is valid? [False, False] Translation: X:1.17, Y:0.18, Z:-0.31 [[ 9.99987675e-01 -8.48306710e-04 -4.89182169e-03 1.17405298e+00] [ 8.77694656e-04 9.99981563e-01 6.00855268e-03 1.79737698e-01] [ 4.88663441e-03 -6.01277215e-03 9.99969983e-01 -3.07394943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02313336499999 meters Centerline goodness [0,1] 0.2800782098631327 Centerline is valid? [False, False] Translation: X:1.17, Y:0.18, Z:-0.31 [[ 9.99987164e-01 -9.92992313e-04 -4.96846687e-03 1.17460832e+00] [ 1.02070674e-03 9.99983918e-01 5.57864155e-03 1.81834220e-01] [ 4.96284742e-03 -5.58364129e-03 9.99972096e-01 -3.08100616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.053133365 meters Centerline goodness [0,1] 0.2751071944151171 Centerline is valid? [False, False] Translation: X:1.20, Y:0.18, Z:-0.31 [[ 0.99995957 0.00784132 -0.00440164 1.19501197] [-0.00782226 0.99996003 0.00433035 0.18261263] [ 0.00443542 -0.00429575 0.99998094 -0.30727679] [ 0. 0. 0. 1. ]] SLAMing on 79.083133365 meters Centerline goodness [0,1] 0.2759859715558233 Centerline is valid? [False, False] Translation: X:1.20, Y:0.19, Z:-0.31 [[ 0.99996005 0.00778104 -0.00439912 1.19507213] [-0.00776498 0.99996317 0.00365534 0.18706551] [ 0.0044274 -0.00362104 0.99998364 -0.30761374] [ 0. 0. 0. 1. ]] SLAMing on 79.113133365 meters Centerline goodness [0,1] 0.2751874515211583 Centerline is valid? [False, False] Translation: X:1.20, Y:0.19, Z:-0.31 [[ 0.9999607 0.00762555 -0.00452119 1.19554997] [-0.00761088 0.99996574 0.00325379 0.18913636] [ 0.00454585 -0.00321926 0.99998449 -0.30799055] [ 0. 0. 0. 1. ]] SLAMing on 79.143133365 meters Centerline goodness [0,1] 0.2781863542683588 Centerline is valid? [False, False] Translation: X:1.18, Y:0.19, Z:-0.31 [[ 9.99982385e-01 -1.05800006e-03 -5.84040832e-03 1.17655752e+00] [ 1.08331598e-03 9.99990025e-01 4.33315485e-03 1.93386464e-01] [ 5.83576558e-03 -4.33940553e-03 9.99973556e-01 -3.09747636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.173133365 meters Centerline goodness [0,1] 0.2761668947242675 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99997431 -0.00162198 -0.00698143 1.18004158] [ 0.00164698 0.99999225 0.0035757 0.19542498] [ 0.00697558 -0.00358711 0.99996924 -0.31105968] [ 0. 0. 0. 1. ]] SLAMing on 79.203133365 meters Centerline goodness [0,1] 0.27582474673131874 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.9999722 -0.00173872 -0.00725123 1.18084858] [ 0.00176318 0.99999277 0.00336819 0.19629226] [ 0.00724532 -0.00338088 0.99996804 -0.31137205] [ 0. 0. 0. 1. ]] SLAMing on 79.233133365 meters Centerline goodness [0,1] 0.27582474673131874 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.9999722 -0.00173872 -0.00725123 1.18084858] [ 0.00176318 0.99999277 0.00336819 0.19629226] [ 0.00724532 -0.00338088 0.99996804 -0.31137205] [ 0. 0. 0. 1. ]] SLAMing on 79.26313336499999 meters Centerline goodness [0,1] 0.2752014596320511 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.9999714 -0.00180109 -0.00734532 1.18107701] [ 0.0018248 0.99999314 0.00322377 0.19713398] [ 0.00733947 -0.00323708 0.99996783 -0.31141726] [ 0. 0. 0. 1. ]] SLAMing on 79.29313336499999 meters Centerline goodness [0,1] 0.27712724434035907 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.9999715 -0.00182806 -0.00732542 1.18083547] [ 0.00185133 0.99999326 0.0031706 0.19767245] [ 0.00731957 -0.00318407 0.99996814 -0.31110209] [ 0. 0. 0. 1. ]] SLAMing on 79.32313336499999 meters Centerline goodness [0,1] 0.2761394683203955 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99997349 -0.00192763 -0.00702138 1.17964374] [ 0.00194891 0.99999353 0.00302517 0.19860489] [ 0.0070155 -0.00303877 0.99997077 -0.31029357] [ 0. 0. 0. 1. ]] SLAMing on 79.35313336499999 meters Centerline goodness [0,1] 0.27770276156459617 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99997313 -0.00201399 -0.00704888 1.17977031] [ 0.00203425 0.99999382 0.00286901 0.19928377] [ 0.00704306 -0.00288328 0.99997104 -0.31042567] [ 0. 0. 0. 1. ]] SLAMing on 79.38313336499999 meters Centerline goodness [0,1] 0.27645169690131066 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99997135 -0.00213367 -0.00726245 1.18048214] [ 0.00215313 0.99999411 0.00267204 0.2000412 ] [ 0.00725671 -0.0026876 0.99997006 -0.31077417] [ 0. 0. 0. 1. ]] SLAMing on 79.413133365 meters Centerline goodness [0,1] 0.2780561122244489 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99996966 -0.00222163 -0.00746587 1.18109171] [ 0.00224048 0.99999432 0.00251798 0.20072896] [ 0.00746023 -0.00253463 0.99996896 -0.31098317] [ 0. 0. 0. 1. ]] SLAMing on 79.443133365 meters Centerline goodness [0,1] 0.2767320176295621 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99996743 -0.00241709 -0.00770074 1.18153676] [ 0.00243496 0.99999436 0.00231204 0.20147593] [ 0.00769511 -0.00233071 0.99996768 -0.3107568 ] [ 0. 0. 0. 1. ]] SLAMing on 79.473133365 meters Centerline goodness [0,1] 0.2772807418533272 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99996758 -0.00245584 -0.00766882 1.18128891] [ 0.00247389 0.99999419 0.00234471 0.20112086] [ 0.00766302 -0.00236361 0.99996785 -0.31044171] [ 0. 0. 0. 1. ]] SLAMing on 79.503133365 meters Centerline goodness [0,1] 0.2791087320756359 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99996752 -0.00249415 -0.0076638 1.1810938 ] [ 0.00251272 0.99999393 0.00241462 0.20059985] [ 0.00765773 -0.0024338 0.99996772 -0.31010363] [ 0. 0. 0. 1. ]] SLAMing on 79.533133365 meters Centerline goodness [0,1] 0.2794130434782609 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99996744 -0.00251539 -0.00766699 1.18098799] [ 0.00253452 0.99999369 0.00248753 0.20016618] [ 0.00766069 -0.00250688 0.99996751 -0.30990637] [ 0. 0. 0. 1. ]] SLAMing on 79.563133365 meters Centerline goodness [0,1] 0.27993015387973375 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99996903 -0.00266828 -0.00740438 1.1802969 ] [ 0.00268885 0.99999255 0.00276943 0.19805234] [ 0.00739693 -0.00278926 0.99996875 -0.30965233] [ 0. 0. 0. 1. ]] SLAMing on 79.593133365 meters Centerline goodness [0,1] 0.2769407282331039 Centerline is valid? [False, False] Translation: X:1.20, Y:0.19, Z:-0.31 [[ 0.99996213 0.00499745 -0.00712504 1.19898819] [-0.00498746 0.99998655 0.00141974 0.19228009] [ 0.00713204 -0.00138415 0.99997361 -0.30798503] [ 0. 0. 0. 1. ]] SLAMing on 79.62313336499999 meters Centerline goodness [0,1] 0.2745300913950681 Centerline is valid? [False, False] Translation: X:1.20, Y:0.19, Z:-0.31 [[ 0.99996175 0.00508003 -0.00711987 1.19889008] [-0.00506695 0.99998545 0.00185313 0.18984478] [ 0.00712918 -0.00181698 0.99997294 -0.30773671] [ 0. 0. 0. 1. ]] SLAMing on 79.65313336499999 meters Centerline goodness [0,1] 0.281817784765898 Centerline is valid? [False, False] Translation: X:1.18, Y:0.19, Z:-0.31 [[ 0.99996199 -0.00410657 -0.00769073 1.17733837] [ 0.00412624 0.99998825 0.00254397 0.19075264] [ 0.0076802 -0.00257561 0.99996719 -0.30808649] [ 0. 0. 0. 1. ]] SLAMing on 79.68313336499999 meters Centerline goodness [0,1] 0.28121264804954904 Centerline is valid? [False, False] Translation: X:1.18, Y:0.19, Z:-0.31 [[ 0.99996389 -0.003999 -0.00749801 1.17640997] [ 0.00402168 0.99998738 0.00301224 0.18751858] [ 0.00748587 -0.00304229 0.99996735 -0.30725383] [ 0. 0. 0. 1. ]] SLAMing on 79.71313336499999 meters Centerline goodness [0,1] 0.2838332274390377 Centerline is valid? [False, False] Translation: X:1.18, Y:0.19, Z:-0.31 [[ 0.9999666 -0.00383597 -0.00721674 1.17553488] [ 0.00385925 0.99998739 0.0032143 0.18700268] [ 0.00720432 -0.00324204 0.99996879 -0.30692723] [ 0. 0. 0. 1. ]] SLAMing on 79.74313336499999 meters Centerline goodness [0,1] 0.2763129550644091 Centerline is valid? [False, False] Translation: X:1.20, Y:0.18, Z:-0.31 [[ 0.9999661 0.00544762 -0.0061741 1.19648833] [-0.00542982 0.99998107 0.00289505 0.184494 ] [ 0.00618976 -0.00286143 0.99997675 -0.30641321] [ 0. 0. 0. 1. ]] SLAMing on 79.77313336499999 meters Centerline goodness [0,1] 0.28025739914200287 Centerline is valid? [False, False] Translation: X:1.20, Y:0.19, Z:-0.31 [[ 0.99996475 0.00555291 -0.00629813 1.19697503] [-0.00553523 0.9999807 0.00282185 0.18529369] [ 0.00631368 -0.00278689 0.99997619 -0.30677557] [ 0. 0. 0. 1. ]] SLAMing on 79.803133365 meters Centerline goodness [0,1] 0.27877065891641006 Centerline is valid? [False, False] Translation: X:1.20, Y:0.19, Z:-0.31 [[ 0.99995818 0.00573296 -0.00712481 1.19971722] [-0.00571558 0.99998065 0.00245697 0.1870266 ] [ 0.00713876 -0.00241614 0.9999716 -0.30808619] [ 0. 0. 0. 1. ]] SLAMing on 79.833133365 meters Centerline goodness [0,1] 0.2851229661595368 Centerline is valid? [False, False] Translation: X:1.18, Y:0.19, Z:-0.31 [[ 0.99995926 -0.00296441 -0.00852549 1.17976983] [ 0.00299034 0.99999094 0.00303102 0.19024485] [ 0.00851643 -0.00305639 0.99995906 -0.3086998 ] [ 0. 0. 0. 1. ]] SLAMing on 79.863133365 meters Centerline goodness [0,1] 0.2771988868034432 Centerline is valid? [False, False] Translation: X:1.20, Y:0.19, Z:-0.31 [[ 0.99995543 0.00582138 -0.0074333 1.2002271 ] [-0.00580582 0.99998091 0.00211261 0.18843345] [ 0.00744545 -0.00206936 0.99997014 -0.3080949 ] [ 0. 0. 0. 1. ]] SLAMing on 79.893133365 meters Centerline goodness [0,1] 0.281879781420765 Centerline is valid? [False, False] Translation: X:1.18, Y:0.19, Z:-0.31 [[ 0.99997448 -0.00219642 -0.00679848 1.17855093] [ 0.00222123 0.9999909 0.00364351 0.19135752] [ 0.00679042 -0.00365851 0.99997025 -0.30930904] [ 0. 0. 0. 1. ]] SLAMing on 79.923133365 meters Centerline goodness [0,1] 0.28112998763262387 Centerline is valid? [False, False] Translation: X:1.18, Y:0.19, Z:-0.31 [[ 0.99997423 -0.0021737 -0.0068428 1.17856568] [ 0.00219915 0.99999068 0.00371402 0.19099462] [ 0.00683467 -0.00372897 0.99996969 -0.3091333 ] [ 0. 0. 0. 1. ]] SLAMing on 79.953133365 meters Centerline goodness [0,1] 0.28140112403607376 Centerline is valid? [False, False] Translation: X:1.18, Y:0.19, Z:-0.31 [[ 0.99997372 -0.00218147 -0.00691352 1.17868451] [ 0.0022074 0.99999055 0.00374555 0.19070748] [ 0.00690528 -0.00376071 0.99996909 -0.30903065] [ 0. 0. 0. 1. ]] SLAMing on 79.983133365 meters Centerline goodness [0,1] 0.2815318741985263 Centerline is valid? [False, False] Translation: X:1.18, Y:0.19, Z:-0.31 [[ 0.99997223 -0.00219987 -0.00712041 1.17933075] [ 0.00222665 0.99999047 0.00375609 0.19041708] [ 0.00711208 -0.00377184 0.9999676 -0.30927144] [ 0. 0. 0. 1. ]] SLAMing on 80.01313336499999 meters Centerline goodness [0,1] 0.2785890713697621 Centerline is valid? [False, False] Translation: X:1.18, Y:0.19, Z:-0.31 [[ 0.9999662 -0.00232304 -0.00788703 1.1819383 ] [ 0.00234995 0.99999144 0.00340459 0.1921745 ] [ 0.00787905 -0.00342301 0.9999631 -0.31061266] [ 0. 0. 0. 1. ]] SLAMing on 80.04313336499999 meters Centerline goodness [0,1] 0.27705496503799276 Centerline is valid? [False, False] Translation: X:1.18, Y:0.19, Z:-0.31 [[ 0.99996342 -0.00234325 -0.00822646 1.18323666] [ 0.00236932 0.9999922 0.00316045 0.19386875] [ 0.00821899 -0.00317983 0.99996117 -0.31148055] [ 0. 0. 0. 1. ]] SLAMing on 80.07313336499999 meters Centerline goodness [0,1] 0.27822703360723444 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99996095 -0.00239735 -0.00850575 1.18417996] [ 0.00242149 0.99999307 0.00282808 0.19591633] [ 0.00849891 -0.00284857 0.99995983 -0.31201125] [ 0. 0. 0. 1. ]] SLAMing on 80.10313336499999 meters Centerline goodness [0,1] 0.27790571366500105 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99995896 -0.00260845 -0.00867554 1.18452921] [ 0.00262789 0.99999406 0.00222964 0.19892912] [ 0.00866967 -0.00225235 0.99995988 -0.31203794] [ 0. 0. 0. 1. ]] SLAMing on 80.13313336499999 meters Centerline goodness [0,1] 0.2794677219455981 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99995865 -0.0027118 -0.00868022 1.18414546] [ 0.00272967 0.99999418 0.00204725 0.19958969] [ 0.00867462 -0.00207086 0.99996023 -0.3113913 ] [ 0. 0. 0. 1. ]] SLAMing on 80.163133365 meters Centerline goodness [0,1] 0.2781435439857929 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99995954 -0.00275672 -0.00856256 1.1836009 ] [ 0.00277407 0.99999412 0.00201494 0.19969246] [ 0.00855696 -0.00203861 0.99996131 -0.31096424] [ 0. 0. 0. 1. ]] SLAMing on 80.193133365 meters Centerline goodness [0,1] 0.27687359696080127 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99996003 -0.0027389 -0.00851052 1.1831026 ] [ 0.00275688 0.99999399 0.00210216 0.19944477] [ 0.00850471 -0.00212554 0.99996158 -0.31032934] [ 0. 0. 0. 1. ]] SLAMing on 80.223133365 meters Centerline goodness [0,1] 0.2843465773097176 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.9999601 -0.00272375 -0.00850816 1.1829052 ] [ 0.00274216 0.99999392 0.00215258 0.19942959] [ 0.00850225 -0.00217582 0.99996149 -0.30998737] [ 0. 0. 0. 1. ]] SLAMing on 80.253133365 meters Centerline goodness [0,1] 0.2835478943923194 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99995681 -0.00287207 -0.00883931 1.18398691] [ 0.00289059 0.99999365 0.00208318 0.19956308] [ 0.00883327 -0.00210864 0.99995876 -0.3103629 ] [ 0. 0. 0. 1. ]] SLAMing on 80.283133365 meters Centerline goodness [0,1] 0.283414304699244 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99995598 -0.00294694 -0.00890767 1.18417825] [ 0.00296509 0.99999355 0.00202504 0.19954161] [ 0.00890165 -0.00205136 0.99995828 -0.31037613] [ 0. 0. 0. 1. ]] SLAMing on 80.313133365 meters Centerline goodness [0,1] 0.2838697034359622 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99995528 -0.00317338 -0.00890904 1.1841012 ] [ 0.00318882 0.99999344 0.00171933 0.20055854] [ 0.00890353 -0.00174767 0.99995884 -0.31022536] [ 0. 0. 0. 1. ]] SLAMing on 80.343133365 meters Centerline goodness [0,1] 0.28120941909791364 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99995477 -0.00320279 -0.008956 1.18406464] [ 0.00321775 0.99999345 0.00165705 0.20102532] [ 0.00895063 -0.00168579 0.99995852 -0.30998664] [ 0. 0. 0. 1. ]] SLAMing on 80.37313336499999 meters Centerline goodness [0,1] 0.2858332420291443 Centerline is valid? [False, False] Translation: X:1.16, Y:0.20, Z:-0.31 [[ 9.99948706e-01 4.61883085e-03 -9.01396849e-03 1.16475127e+00] [-4.61328288e-03 9.99989156e-01 6.36181259e-04 1.96238708e-01] [ 9.01680916e-03 -5.94564641e-04 9.99959171e-01 -3.11280612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40313336499999 meters Centerline goodness [0,1] 0.2783755864503078 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.9999569 -0.00317076 -0.00872561 1.18418211] [ 0.00318448 0.99999371 0.0015588 0.20158316] [ 0.00872061 -0.00158651 0.99996072 -0.30990542] [ 0. 0. 0. 1. ]] SLAMing on 80.43313336499999 meters Centerline goodness [0,1] 0.28373754872239065 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99995841 -0.00327211 -0.00851345 1.18318835] [ 0.00328527 0.99999343 0.00153317 0.20138394] [ 0.00850838 -0.00156107 0.99996258 -0.30905365] [ 0. 0. 0. 1. ]] SLAMing on 80.46313336499999 meters Centerline goodness [0,1] 0.28295666507612893 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99995895 -0.00328231 -0.00844495 1.18295015] [ 0.0032952 0.99999343 0.00151206 0.20156795] [ 0.00843993 -0.00153982 0.9999632 -0.30893867] [ 0. 0. 0. 1. ]] SLAMing on 80.49313336499999 meters Centerline goodness [0,1] 0.2865812394944225 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99995889 -0.00330485 -0.00844369 1.18308819] [ 0.00331701 0.99999348 0.00142639 0.20207589] [ 0.00843892 -0.00145434 0.99996333 -0.30917547] [ 0. 0. 0. 1. ]] SLAMing on 80.52313336499999 meters Centerline goodness [0,1] 0.2816974746159854 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:-0.31 [[ 0.99995802 -0.00337081 -0.00852002 1.18343807] [ 0.00338119 0.99999356 0.00120404 0.20315557] [ 0.00851591 -0.00123279 0.99996298 -0.30945968] [ 0. 0. 0. 1. ]] SLAMing on 80.553133365 meters Centerline goodness [0,1] 0.28228690318805405 Centerline is valid? [False, False] Translation: X:1.18, Y:0.21, Z:-0.31 [[ 9.99957868e-01 -3.39034762e-03 -8.53035719e-03 1.18345982e+00] [ 3.39678582e-03 9.99993957e-01 7.40364308e-04 2.05598422e-01] [ 8.52779555e-03 -7.69308911e-04 9.99963342e-01 -3.09516049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.583133365 meters Centerline goodness [0,1] 0.2806899980545168 Centerline is valid? [False, False] Translation: X:1.18, Y:0.21, Z:-0.31 [[ 9.99957476e-01 -3.36884827e-03 -8.58473996e-03 1.18361513e+00] [ 3.37291573e-03 9.99994206e-01 4.59367548e-04 2.07462311e-01] [ 8.58314268e-03 -4.88303618e-04 9.99963045e-01 -3.09644228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.613133365 meters Centerline goodness [0,1] 0.28086180124223603 Centerline is valid? [False, False] Translation: X:1.18, Y:0.21, Z:-0.31 [[ 9.99956963e-01 -3.29004458e-03 -8.67454506e-03 1.18382208e+00] [ 3.29174941e-03 9.99994566e-01 1.82262745e-04 2.09442057e-01] [ 8.67389827e-03 -2.10809330e-04 9.99962359e-01 -3.09765433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.643133365 meters Centerline goodness [0,1] 0.28128043633530286 Centerline is valid? [False, False] Translation: X:1.18, Y:0.21, Z:-0.31 [[ 9.99961180e-01 -2.87041040e-03 -8.33067568e-03 1.18278741e+00] [ 2.87013655e-03 9.99995880e-01 -4.48273807e-05 2.12377699e-01] [ 8.33077003e-03 2.09154637e-05 9.99965298e-01 -3.09634259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.673133365 meters Centerline goodness [0,1] 0.2834791313052183 Centerline is valid? [False, False] Translation: X:1.18, Y:0.21, Z:-0.31 [[ 9.99961389e-01 -2.93415627e-03 -8.28317836e-03 1.18259743e+00] [ 2.93153729e-03 9.99995649e-01 -3.28305183e-04 2.13889075e-01] [ 8.28410562e-03 3.04010060e-04 9.99965640e-01 -3.09592887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.703133365 meters Centerline goodness [0,1] 0.28114539918370873 Centerline is valid? [False, False] Translation: X:1.18, Y:0.22, Z:-0.31 [[ 9.99961686e-01 -2.93607568e-03 -8.24654494e-03 1.18247606e+00] [ 2.93206945e-03 9.99995578e-01 -4.97855600e-04 2.15062920e-01] [ 8.24797021e-03 4.73657083e-04 9.99965873e-01 -3.09617822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.733133365 meters Centerline goodness [0,1] 0.2823939064200217 Centerline is valid? [False, False] Translation: X:1.18, Y:0.22, Z:-0.31 [[ 9.99961797e-01 -2.98450463e-03 -8.21562823e-03 1.18233061e+00] [ 2.97907463e-03 9.99995336e-01 -6.73093974e-04 2.16095975e-01] [ 8.21759876e-03 6.48593291e-04 9.99966025e-01 -3.09539027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76313336499999 meters Centerline goodness [0,1] 0.2819094492475881 Centerline is valid? [False, False] Translation: X:1.18, Y:0.22, Z:-0.31 [[ 9.99961081e-01 -3.06741165e-03 -8.27213134e-03 1.18218704e+00] [ 3.06084194e-03 9.99994990e-01 -8.06740310e-04 2.16611991e-01] [ 8.27456450e-03 7.81389226e-04 9.99965460e-01 -3.09088977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79313336499999 meters Centerline goodness [0,1] 0.2842278203723987 Centerline is valid? [False, False] Translation: X:1.18, Y:0.22, Z:-0.31 [[ 9.99960003e-01 -3.10770878e-03 -8.38651754e-03 1.18226161e+00] [ 3.10087463e-03 9.99994850e-01 -8.27777543e-04 2.16523406e-01] [ 8.38904683e-03 8.01738895e-04 9.99964490e-01 -3.08742882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82313336499999 meters Centerline goodness [0,1] 0.28041790140814604 Centerline is valid? [False, False] Translation: X:1.20, Y:0.21, Z:-0.31 [[ 0.99995745 0.00510984 -0.00768004 1.20228165] [-0.00512531 0.99998487 -0.00199572 0.21481513] [ 0.00766973 0.002035 0.99996852 -0.30767389] [ 0. 0. 0. 1. ]] SLAMing on 80.85313336499999 meters Centerline goodness [0,1] 0.2806207599107008 Centerline is valid? [False, False] Translation: X:1.20, Y:0.22, Z:-0.31 [[ 0.99995697 0.00510846 -0.00774292 1.2023751 ] [-0.00512433 0.99998481 -0.00203066 0.21530347] [ 0.00773243 0.00207025 0.99996796 -0.30759663] [ 0. 0. 0. 1. ]] SLAMing on 80.88313336499999 meters Centerline goodness [0,1] 0.28069226608977826 Centerline is valid? [False, False] Translation: X:1.20, Y:0.22, Z:-0.31 [[ 0.99995865 0.00503321 -0.00757374 1.20178735] [-0.00505039 0.99998472 -0.00224976 0.21668302] [ 0.00756231 0.00228792 0.99996879 -0.30726905] [ 0. 0. 0. 1. ]] SLAMing on 80.913133365 meters Centerline goodness [0,1] 0.27709675334467976 Centerline is valid? [False, False] Translation: X:1.20, Y:0.22, Z:-0.31 [[ 0.9999581 0.00487684 -0.00774696 1.20219643] [-0.00489696 0.99998468 -0.00258086 0.21800573] [ 0.00773426 0.00261869 0.99996666 -0.30722033] [ 0. 0. 0. 1. ]] SLAMing on 80.943133365 meters Centerline goodness [0,1] 0.2752824706768535 Centerline is valid? [False, False] Translation: X:1.20, Y:0.22, Z:-0.31 [[ 0.99995587 0.00471236 -0.00812682 1.20328754] [-0.00473696 0.99998425 -0.00300996 0.21994284] [ 0.00811251 0.00304832 0.99996245 -0.30755529] [ 0. 0. 0. 1. ]] SLAMing on 80.973133365 meters Centerline goodness [0,1] 0.2769827007599541 Centerline is valid? [False, False] Translation: X:1.21, Y:0.22, Z:-0.31 [[ 0.99994525 0.00488369 -0.00925451 1.20650462] [-0.00491705 0.99998148 -0.00358602 0.22469205] [ 0.00923682 0.00363133 0.99995075 -0.30863358] [ 0. 0. 0. 1. ]] SLAMing on 81.003133365 meters Centerline goodness [0,1] 0.27658792764366447 Centerline is valid? [False, False] Translation: X:1.21, Y:0.23, Z:-0.31 [[ 0.99994646 0.00475351 -0.00919151 1.20651069] [-0.0047911 0.99998023 -0.00407262 0.22736472] [ 0.00917197 0.00411644 0.99994946 -0.30895056] [ 0. 0. 0. 1. ]] SLAMing on 81.033133365 meters Centerline goodness [0,1] 0.27518528093760775 Centerline is valid? [False, False] Translation: X:1.21, Y:0.23, Z:-0.31 [[ 0.99994913 0.00462155 -0.00896582 1.20584255] [-0.0046621 0.99997897 -0.0045072 0.22974224] [ 0.0089448 0.00454877 0.99994965 -0.30882585] [ 0. 0. 0. 1. ]] SLAMing on 81.063133365 meters Centerline goodness [0,1] 0.27359586830213045 Centerline is valid? [False, False] Translation: X:1.20, Y:0.23, Z:-0.31 [[ 0.99995319 0.00442413 -0.00860476 1.20469768] [-0.00446869 0.99997667 -0.00516626 0.23362712] [ 0.00858171 0.00520447 0.99994963 -0.30847339] [ 0. 0. 0. 1. ]] SLAMing on 81.093133365 meters Centerline goodness [0,1] 0.27546900973640465 Centerline is valid? [False, False] Translation: X:1.20, Y:0.23, Z:-0.31 [[ 0.99995359 0.00432893 -0.0086073 1.20474525] [-0.0043755 0.99997585 -0.00539886 0.23486564] [ 0.00858372 0.00543627 0.99994838 -0.30856325] [ 0. 0. 0. 1. ]] SLAMing on 81.12313336499999 meters Centerline goodness [0,1] 0.273690330082036 Centerline is valid? [False, False] Translation: X:1.21, Y:0.24, Z:-0.31 [[ 0.99995223 0.00420625 -0.00882293 1.205439 ] [-0.00425571 0.99997529 -0.00559469 0.23564864] [ 0.00879918 0.00563197 0.99994543 -0.30881362] [ 0. 0. 0. 1. ]] SLAMing on 81.15313336499999 meters Centerline goodness [0,1] 0.273690330082036 Centerline is valid? [False, False] Translation: X:1.21, Y:0.24, Z:-0.31 [[ 0.99995223 0.00420625 -0.00882293 1.205439 ] [-0.00425571 0.99997529 -0.00559469 0.23564864] [ 0.00879918 0.00563197 0.99994543 -0.30881362] [ 0. 0. 0. 1. ]] SLAMing on 81.18313336499999 meters Centerline goodness [0,1] 0.2785957707095421 Centerline is valid? [False, False] Translation: X:1.19, Y:0.24, Z:-0.31 [[ 0.9999355 -0.00458666 -0.01038987 1.1850842 ] [ 0.0045379 0.9999786 -0.00471159 0.23837471] [ 0.01041126 0.00466414 0.99993492 -0.30963237] [ 0. 0. 0. 1. ]] SLAMing on 81.21313336499999 meters Centerline goodness [0,1] 0.2780785874268815 Centerline is valid? [False, False] Translation: X:1.19, Y:0.24, Z:-0.31 [[ 0.99993286 -0.00488079 -0.01050973 1.18527675] [ 0.00483135 0.99997717 -0.00472471 0.23754953] [ 0.01053255 0.00467362 0.99993361 -0.30934737] [ 0. 0. 0. 1. ]] SLAMing on 81.24313336499999 meters Centerline goodness [0,1] 0.2776125881714596 Centerline is valid? [False, False] Translation: X:1.18, Y:0.24, Z:-0.31 [[ 0.99993492 -0.00489519 -0.01030477 1.18436268] [ 0.004848 0.99997767 -0.00459854 0.23676302] [ 0.01032705 0.00454828 0.99993633 -0.30856534] [ 0. 0. 0. 1. ]] SLAMing on 81.27313336499999 meters Centerline goodness [0,1] 0.2800670454298091 Centerline is valid? [False, False] Translation: X:1.18, Y:0.24, Z:-0.31 [[ 0.99993653 -0.00486184 -0.0101635 1.18356586] [ 0.00481689 0.99997853 -0.0044421 0.23602828] [ 0.01018488 0.00439287 0.99993848 -0.30775867] [ 0. 0. 0. 1. ]] SLAMing on 81.303133365 meters Centerline goodness [0,1] 0.2811126104557524 Centerline is valid? [False, False] Translation: X:1.18, Y:0.24, Z:-0.31 [[ 0.99993703 -0.00479411 -0.01014662 1.18340848] [ 0.00475098 0.9999796 -0.00427043 0.23536604] [ 0.01016689 0.00422196 0.9999394 -0.30754792] [ 0. 0. 0. 1. ]] SLAMing on 81.333133365 meters Centerline goodness [0,1] 0.2786089153110777 Centerline is valid? [False, False] Translation: X:1.18, Y:0.23, Z:-0.31 [[ 0.9999346 -0.00474198 -0.01040716 1.18439113] [ 0.00469977 0.99998065 -0.00407611 0.23424171] [ 0.01042629 0.00402693 0.99993754 -0.30807898] [ 0. 0. 0. 1. ]] SLAMing on 81.363133365 meters Centerline goodness [0,1] 0.27722557872626086 Centerline is valid? [False, False] Translation: X:1.18, Y:0.23, Z:-0.31 [[ 0.99993278 -0.00471256 -0.01059366 1.18499384] [ 0.00467116 0.99998137 -0.00392904 0.23323888] [ 0.01061198 0.00387929 0.99993617 -0.30829501] [ 0. 0. 0. 1. ]] SLAMing on 81.393133365 meters Centerline goodness [0,1] 0.2793001134479448 Centerline is valid? [False, False] Translation: X:1.18, Y:0.23, Z:-0.31 [[ 0.99993374 -0.00462905 -0.0105398 1.18485175] [ 0.0045902 0.99998259 -0.00370721 0.23210267] [ 0.01055677 0.00365858 0.99993758 -0.30827395] [ 0. 0. 0. 1. ]] SLAMing on 81.423133365 meters Centerline goodness [0,1] 0.2750258220003443 Centerline is valid? [False, False] Translation: X:1.20, Y:0.23, Z:-0.31 [[ 0.99995447 0.00353736 -0.00886272 1.20406231] [-0.00357705 0.99998363 -0.00446676 0.22694213] [ 0.00884678 0.00449826 0.99995075 -0.30671329] [ 0. 0. 0. 1. ]] SLAMing on 81.453133365 meters Centerline goodness [0,1] 0.2752924387554325 Centerline is valid? [False, False] Translation: X:1.20, Y:0.23, Z:-0.31 [[ 0.99995359 0.00356924 -0.00894835 1.20418245] [-0.0036077 0.99998431 -0.00428514 0.22583662] [ 0.00893291 0.00431722 0.99995078 -0.30655859] [ 0. 0. 0. 1. ]] SLAMing on 81.483133365 meters Centerline goodness [0,1] 0.27411670870249416 Centerline is valid? [False, False] Translation: X:1.21, Y:0.22, Z:-0.31 [[ 0.99995064 0.00361105 -0.0092559 1.20506569] [-0.00364898 0.999985 -0.00408412 0.22456098] [ 0.00924102 0.00411769 0.99994882 -0.30673761] [ 0. 0. 0. 1. ]] SLAMing on 81.51313336499999 meters Centerline goodness [0,1] 0.2825268994653113 Centerline is valid? [False, False] Translation: X:1.16, Y:0.22, Z:-0.31 [[ 0.99992153 0.00274489 -0.0122231 1.16068353] [-0.00279783 0.99998677 -0.00431597 0.22037569] [ 0.0122111 0.00434983 0.99991598 -0.30603401] [ 0. 0. 0. 1. ]] SLAMing on 81.54313336499999 meters Centerline goodness [0,1] 0.27659113086848097 Centerline is valid? [False, False] Translation: X:1.18, Y:0.22, Z:-0.31 [[ 0.99992167 -0.00538424 -0.01129843 1.18110701] [ 0.00534904 0.99998075 -0.00314317 0.22110433] [ 0.01131514 0.00308248 0.99993123 -0.3051768 ] [ 0. 0. 0. 1. ]] SLAMing on 81.57313336499999 meters Centerline goodness [0,1] 0.2761119548709048 Centerline is valid? [False, False] Translation: X:1.18, Y:0.22, Z:-0.30 [[ 0.9999246 -0.0052506 -0.01110047 1.18050569] [ 0.0052199 0.99998248 -0.00279319 0.21949082] [ 0.01111494 0.00273503 0.99993449 -0.30493671] [ 0. 0. 0. 1. ]] SLAMing on 81.60313336499999 meters Centerline goodness [0,1] 0.27962728028347694 Centerline is valid? [False, False] Translation: X:1.18, Y:0.22, Z:-0.30 [[ 0.99992536 -0.00515412 -0.01107724 1.18045438] [ 0.00512626 0.99998363 -0.00254185 0.21826449] [ 0.01109016 0.00248487 0.99993541 -0.30488672] [ 0. 0. 0. 1. ]] SLAMing on 81.63313336499999 meters Centerline goodness [0,1] 0.27464257218640153 Centerline is valid? [False, False] Translation: X:1.20, Y:0.21, Z:-0.30 [[ 0.99992704 0.00340085 -0.01159079 1.20218379] [-0.00343633 0.99998947 -0.00304229 0.21333199] [ 0.01158032 0.0030819 0.9999282 -0.30433065] [ 0. 0. 0. 1. ]] SLAMing on 81.663133365 meters Centerline goodness [0,1] 0.2754454716695174 Centerline is valid? [False, False] Translation: X:1.20, Y:0.21, Z:-0.30 [[ 0.9999279 0.00344415 -0.0115035 1.2018871 ] [-0.00347874 0.99998948 -0.00298822 0.21312861] [ 0.01149309 0.00302803 0.99992937 -0.30416875] [ 0. 0. 0. 1. ]] SLAMing on 81.693133365 meters Centerline goodness [0,1] 0.27687951234274355 Centerline is valid? [False, False] Translation: X:1.20, Y:0.21, Z:-0.30 [[ 0.99992975 0.00350189 -0.01132357 1.2011511 ] [-0.00353521 0.99998948 -0.00292389 0.21297179] [ 0.01131321 0.00296371 0.99993161 -0.30369135] [ 0. 0. 0. 1. ]] SLAMing on 81.723133365 meters Centerline goodness [0,1] 0.27747324458365963 Centerline is valid? [False, False] Translation: X:1.20, Y:0.21, Z:-0.30 [[ 0.99993211 0.00372013 -0.0110423 1.20042972] [-0.00375183 0.9999889 -0.0028519 0.21334584] [ 0.01103157 0.00289314 0.99993497 -0.30366639] [ 0. 0. 0. 1. ]] SLAMing on 81.753133365 meters Centerline goodness [0,1] 0.2749886538004366 Centerline is valid? [False, False] Translation: X:1.20, Y:0.21, Z:-0.30 [[ 0.99993222 0.00370533 -0.01103775 1.20054407] [-0.00373809 0.99998866 -0.00294937 0.21379663] [ 0.0110267 0.00299043 0.99993473 -0.30392753] [ 0. 0. 0. 1. ]] SLAMing on 81.783133365 meters Centerline goodness [0,1] 0.2770346564752888 Centerline is valid? [False, False] Translation: X:1.20, Y:0.21, Z:-0.30 [[ 0.99993227 0.00366769 -0.01104555 1.20064313] [-0.00370104 0.99998865 -0.00300059 0.21372897] [ 0.01103442 0.00304126 0.99993449 -0.3040843 ] [ 0. 0. 0. 1. ]] SLAMing on 81.813133365 meters Centerline goodness [0,1] 0.2751734422615574 Centerline is valid? [False, False] Translation: X:1.20, Y:0.21, Z:-0.30 [[ 0.9999321 0.00368677 -0.01105464 1.20059946] [-0.00371936 0.99998879 -0.00292887 0.21323536] [ 0.01104372 0.00296979 0.99993461 -0.30399177] [ 0. 0. 0. 1. ]] SLAMing on 81.843133365 meters Centerline goodness [0,1] 0.2783981266668112 Centerline is valid? [False, False] Translation: X:1.20, Y:0.21, Z:-0.30 [[ 0.99993295 0.00379608 -0.01093978 1.20022402] [-0.00382542 0.99998914 -0.00266256 0.21203452] [ 0.01092955 0.00270423 0.99993661 -0.30384214] [ 0. 0. 0. 1. ]] SLAMing on 81.87313336499999 meters Centerline goodness [0,1] 0.27746716941880123 Centerline is valid? [False, False] Translation: X:1.20, Y:0.21, Z:-0.30 [[ 0.99993175 0.00400778 -0.01097416 1.20026836] [-0.00402901 0.99999005 -0.00191293 0.2081915 ] [ 0.01096638 0.00195701 0.99993795 -0.3036838 ] [ 0. 0. 0. 1. ]] SLAMing on 81.90313336499999 meters Centerline goodness [0,1] 0.2768372617962408 Centerline is valid? [False, False] Translation: X:1.20, Y:0.21, Z:-0.30 [[ 0.99992827 0.00404487 -0.0112737 1.2011033 ] [-0.00406182 0.99999065 -0.00148075 0.20533617] [ 0.01126761 0.00152643 0.99993535 -0.3038012 ] [ 0. 0. 0. 1. ]] SLAMing on 81.93313336499999 meters Centerline goodness [0,1] 0.27706003691238734 Centerline is valid? [False, False] Translation: X:1.20, Y:0.20, Z:-0.30 [[ 9.99924040e-01 4.07490945e-03 -1.16322403e-02 1.20187517e+00] [-4.08683471e-03 9.99991147e-01 -1.00160407e-03 2.02154913e-01] [ 1.16280559e-02 1.04906703e-03 9.99931842e-01 -3.03604202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96313336499999 meters Centerline goodness [0,1] 0.27874904984254534 Centerline is valid? [False, False] Translation: X:1.20, Y:0.20, Z:-0.30 [[ 9.99921173e-01 4.13815511e-03 -1.18542876e-02 1.20235683e+00] [-4.13933029e-03 9.99991430e-01 -7.46017810e-05 1.96456202e-01] [ 1.18538772e-02 1.23664712e-04 9.99929733e-01 -3.03380725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99313336499999 meters Centerline goodness [0,1] 0.2777572369994997 Centerline is valid? [False, False] Translation: X:1.20, Y:0.19, Z:-0.30 [[ 9.99919647e-01 4.31685118e-03 -1.19190513e-02 1.20252998e+00] [-4.31185305e-03 9.99990605e-01 4.45005027e-04 1.93843050e-01] [ 1.19208603e-02 -3.93576072e-04 9.99928867e-01 -3.03327053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02313336499999 meters Centerline goodness [0,1] 0.27527691149585976 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:-0.30 [[ 0.99992557 -0.00362809 -0.01164834 1.22289577] [ 0.00364405 0.99999245 0.0013496 0.19607144] [ 0.01164336 -0.00139195 0.99993124 -0.30257551] [ 0. 0. 0. 1. ]] SLAMing on 82.053133365 meters Centerline goodness [0,1] 0.28135391662445774 Centerline is valid? [False, False] Translation: X:1.18, Y:0.19, Z:-0.30 [[ 0.99987712 -0.00371464 -0.01522946 1.17848411] [ 0.00374393 0.9999912 0.00189485 0.18656673] [ 0.01522228 -0.00195163 0.99988223 -0.30091118] [ 0. 0. 0. 1. ]] SLAMing on 82.083133365 meters Centerline goodness [0,1] 0.2782200182696072 Centerline is valid? [False, False] Translation: X:1.20, Y:0.18, Z:-0.30 [[ 9.99871454e-01 4.96251723e-03 -1.52462757e-02 1.19916744e+00] [-4.94425784e-03 9.99987014e-01 1.23508930e-03 1.82271549e-01] [ 1.52522068e-02 -1.15954901e-03 9.99883006e-01 -2.99425469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.113133365 meters Centerline goodness [0,1] 0.2800237420035613 Centerline is valid? [False, False] Translation: X:1.18, Y:0.18, Z:-0.30 [[ 0.99987667 -0.00304137 -0.01540771 1.17970697] [ 0.00308637 0.99999104 0.00289764 0.18489454] [ 0.01539876 -0.00294483 0.9998771 -0.30083059] [ 0. 0. 0. 1. ]] SLAMing on 82.143133365 meters Centerline goodness [0,1] 0.2777158835222928 Centerline is valid? [False, False] Translation: X:1.18, Y:0.18, Z:-0.30 [[ 0.99988094 -0.00282479 -0.01516986 1.17904139] [ 0.00287201 0.9999911 0.00309133 0.18450803] [ 0.01516099 -0.00313453 0.99988015 -0.30068556] [ 0. 0. 0. 1. ]] SLAMing on 82.173133365 meters Centerline goodness [0,1] 0.2796074154852781 Centerline is valid? [False, False] Translation: X:1.18, Y:0.18, Z:-0.30 [[ 0.9998883 -0.00271826 -0.01469675 1.17781963] [ 0.00276423 0.99999135 0.00310864 0.1846928 ] [ 0.01468817 -0.00314892 0.99988716 -0.30055976] [ 0. 0. 0. 1. ]] SLAMing on 82.203133365 meters Centerline goodness [0,1] 0.27631550396007376 Centerline is valid? [False, False] Translation: X:1.20, Y:0.18, Z:-0.30 [[ 0.99989384 0.00622 -0.01317671 1.19677727] [-0.006197 0.9999792 0.00178619 0.1837774 ] [ 0.01318754 -0.00170435 0.99991159 -0.29896842] [ 0. 0. 0. 1. ]] SLAMing on 82.233133365 meters Centerline goodness [0,1] 0.27894713810607386 Centerline is valid? [False, False] Translation: X:1.20, Y:0.19, Z:-0.30 [[ 0.99989388 0.00617441 -0.01319478 1.19690197] [-0.00615452 0.99997986 0.001548 0.1850215 ] [ 0.01320407 -0.00146663 0.99991175 -0.29920203] [ 0. 0. 0. 1. ]] SLAMing on 82.26313336499999 meters Centerline goodness [0,1] 0.2739513205592957 Centerline is valid? [False, False] Translation: X:1.22, Y:0.19, Z:-0.30 [[ 9.99895676e-01 -1.60069869e-04 -1.44433646e-02 1.21542632e+00] [ 1.97155124e-04 9.99996688e-01 2.56624534e-03 1.93553032e-01] [ 1.44429060e-02 -2.56882521e-03 9.99892396e-01 -2.97427695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29313336499999 meters Centerline goodness [0,1] 0.277662796017516 Centerline is valid? [False, False] Translation: X:1.21, Y:0.20, Z:-0.30 [[ 9.99898096e-01 -2.49212534e-04 -1.42736221e-02 1.21494043e+00] [ 2.81910051e-04 9.99997341e-01 2.28879899e-03 1.95034248e-01] [ 1.42730137e-02 -2.29258963e-03 9.99895507e-01 -2.97359580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32313336499999 meters Centerline goodness [0,1] 0.2750178737786251 Centerline is valid? [False, False] Translation: X:1.21, Y:0.20, Z:-0.30 [[ 9.99900421e-01 -3.38009197e-04 -1.41079107e-02 1.21442838e+00] [ 3.66028861e-04 9.99997966e-01 1.98356111e-03 1.96722992e-01] [ 1.41072115e-02 -1.98852749e-03 9.99898511e-01 -2.97259108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35313336499999 meters Centerline goodness [0,1] 0.277415414148906 Centerline is valid? [False, False] Translation: X:1.21, Y:0.20, Z:-0.30 [[ 9.99902602e-01 -4.24869996e-04 -1.39501396e-02 1.21405415e+00] [ 4.47910353e-04 9.99998541e-01 1.64853920e-03 1.98566113e-01] [ 1.39494189e-02 -1.65462705e-03 9.99901333e-01 -2.97335829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38313336499999 meters Centerline goodness [0,1] 0.28075307365781776 Centerline is valid? [False, False] Translation: X:1.21, Y:0.20, Z:-0.30 [[ 9.99899866e-01 -7.16789699e-04 -1.41330601e-02 1.21447749e+00] [ 7.27326272e-04 9.99999461e-01 7.40400768e-04 2.02974835e-01] [ 1.41325218e-02 -7.50605975e-04 9.99899849e-01 -2.97499666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.413133365 meters Centerline goodness [0,1] 0.27971109652002624 Centerline is valid? [False, False] Translation: X:1.21, Y:0.21, Z:-0.30 [[ 9.99898094e-01 -8.72878965e-04 -1.42491772e-02 1.21468396e+00] [ 8.77175919e-04 9.99999572e-01 2.95310952e-04 2.05181289e-01] [ 1.42489133e-02 -3.07779893e-04 9.99898432e-01 -2.97503083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.443133365 meters Centerline goodness [0,1] 0.27222867466769907 Centerline is valid? [False, False] Translation: X:1.26, Y:0.21, Z:-0.30 [[ 9.99924399e-01 1.86534695e-04 -1.22947851e-02 1.25934189e+00] [-1.82658144e-04 9.99999933e-01 3.16422590e-04 2.11913622e-01] [ 1.22948433e-02 -3.14152926e-04 9.99924366e-01 -2.97809024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.473133365 meters Centerline goodness [0,1] 0.2770585301325006 Centerline is valid? [False, False] Translation: X:1.26, Y:0.21, Z:-0.30 [[ 9.99927159e-01 1.29253936e-04 -1.20689718e-02 1.25862708e+00] [-1.27588831e-04 9.99999982e-01 1.38735593e-04 2.13066026e-01] [ 1.20689895e-02 -1.37185621e-04 9.99927158e-01 -2.97571591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.503133365 meters Centerline goodness [0,1] 0.27730873575691806 Centerline is valid? [False, False] Translation: X:1.26, Y:0.21, Z:-0.30 [[ 9.99937751e-01 -2.07217776e-04 -1.11557991e-02 1.25576403e+00] [ 2.06267001e-04 9.99999975e-01 -8.63775161e-05 2.13548722e-01] [ 1.11558167e-02 8.40710659e-05 9.99937768e-01 -2.96331762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.533133365 meters Centerline goodness [0,1] 0.2753392203316821 Centerline is valid? [False, False] Translation: X:1.26, Y:0.21, Z:-0.30 [[ 9.99938313e-01 -2.97044485e-04 -1.11032203e-02 1.25547074e+00] [ 2.96275392e-04 9.99999954e-01 -7.09124173e-05 2.13192096e-01] [ 1.11032408e-02 6.76184320e-05 9.99938355e-01 -2.96017537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.563133365 meters Centerline goodness [0,1] 0.2815341597128955 Centerline is valid? [False, False] Translation: X:1.21, Y:0.21, Z:-0.30 [[ 9.99905956e-01 -1.29642984e-03 -1.36528122e-02 1.21082343e+00] [ 1.29551130e-03 9.99999158e-01 -7.61222105e-05 2.09895157e-01] [ 1.36528994e-02 5.84276791e-05 9.99906793e-01 -2.95760693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.593133365 meters Centerline goodness [0,1] 0.2746223564954683 Centerline is valid? [False, False] Translation: X:1.26, Y:0.22, Z:-0.30 [[ 9.99898786e-01 -5.79492454e-04 -1.42155801e-02 1.25797790e+00] [ 5.78641282e-04 9.99999831e-01 -6.39890113e-05 2.15218089e-01] [ 1.42156148e-02 5.57568132e-05 9.99898951e-01 -2.96779662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62313336499999 meters Centerline goodness [0,1] 0.27902035093868427 Centerline is valid? [False, False] Translation: X:1.21, Y:0.21, Z:-0.30 [[ 9.99854124e-01 -1.54340057e-03 -1.70102502e-02 1.21362135e+00] [ 1.53621122e-03 9.99998725e-01 -4.35706771e-04 2.12498306e-01] [ 1.70109010e-02 4.09511875e-04 9.99855220e-01 -2.96855607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65313336499999 meters Centerline goodness [0,1] 0.2777280370362283 Centerline is valid? [False, False] Translation: X:1.21, Y:0.21, Z:-0.30 [[ 9.99853804e-01 -1.60028144e-03 -1.70237758e-02 1.21381652e+00] [ 1.59113117e-03 9.99998582e-01 -5.51030006e-04 2.12859946e-01] [ 1.70246334e-02 5.23862387e-04 9.99854933e-01 -2.97141694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68313336499999 meters Centerline goodness [0,1] 0.2746600848705292 Centerline is valid? [False, False] Translation: X:1.21, Y:0.21, Z:-0.30 [[ 9.99854064e-01 -1.61915076e-03 -1.70067546e-02 1.21371826e+00] [ 1.60838826e-03 9.99998498e-01 -6.46495528e-04 2.13456950e-01] [ 1.70077758e-02 6.19047716e-04 9.99855166e-01 -2.97117510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71313336499999 meters Centerline goodness [0,1] 0.27903738195743943 Centerline is valid? [False, False] Translation: X:1.21, Y:0.21, Z:-0.30 [[ 9.99854162e-01 -1.58700979e-03 -1.70040094e-02 1.21358980e+00] [ 1.57593527e-03 9.99998537e-01 -6.64668265e-04 2.13879686e-01] [ 1.70050393e-02 6.37774113e-04 9.99855200e-01 -2.96939122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74313336499999 meters Centerline goodness [0,1] 0.27699234383156435 Centerline is valid? [False, False] Translation: X:1.21, Y:0.21, Z:-0.30 [[ 9.99853598e-01 -1.59174540e-03 -1.70366707e-02 1.21365389e+00] [ 1.57988873e-03 9.99998500e-01 -7.09386697e-04 2.14185556e-01] [ 1.70377743e-02 6.82366797e-04 9.99854614e-01 -2.96932862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77313336499999 meters Centerline goodness [0,1] 0.2777098436544676 Centerline is valid? [False, False] Translation: X:1.21, Y:0.21, Z:-0.30 [[ 9.99851054e-01 -1.61255866e-03 -1.71834179e-02 1.21417613e+00] [ 1.59964831e-03 9.99998428e-01 -7.65044104e-04 2.14412598e-01] [ 1.71846246e-02 7.37442729e-04 9.99852061e-01 -2.97240368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.803133365 meters Centerline goodness [0,1] 0.2738602678668023 Centerline is valid? [False, False] Translation: X:1.21, Y:0.21, Z:-0.30 [[ 9.99848532e-01 -1.66517951e-03 -1.73245581e-02 1.21499559e+00] [ 1.65068865e-03 9.99998276e-01 -8.50700395e-04 2.14627993e-01] [ 1.73259448e-02 8.21974090e-04 9.99849557e-01 -2.98040376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.833133365 meters Centerline goodness [0,1] 0.2765734951308251 Centerline is valid? [False, False] Translation: X:1.21, Y:0.21, Z:-0.30 [[ 9.99850376e-01 -1.68262466e-03 -1.72160915e-02 1.21468896e+00] [ 1.66852372e-03 9.99998261e-01 -8.33387298e-04 2.14345232e-01] [ 1.72174639e-02 8.04537146e-04 9.99851445e-01 -2.97955929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.863133365 meters Centerline goodness [0,1] 0.27746104969971275 Centerline is valid? [False, False] Translation: X:1.21, Y:0.21, Z:-0.30 [[ 9.99853043e-01 -1.65941072e-03 -1.70627690e-02 1.21401309e+00] [ 1.64754082e-03 9.99998391e-01 -7.09694131e-04 2.13604816e-01] [ 1.70639192e-02 6.81478228e-04 9.99854168e-01 -2.97437065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.893133365 meters Centerline goodness [0,1] 0.27731347819480323 Centerline is valid? [False, False] Translation: X:1.21, Y:0.21, Z:-0.30 [[ 9.99851293e-01 -1.62131048e-03 -1.71686682e-02 1.21396972e+00] [ 1.61363351e-03 9.99998592e-01 -4.60993599e-04 2.12201495e-01] [ 1.71693915e-02 4.33221108e-04 9.99852501e-01 -2.96943530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.923133365 meters Centerline goodness [0,1] 0.27821734568980594 Centerline is valid? [False, False] Translation: X:1.21, Y:0.21, Z:-0.30 [[ 9.99846276e-01 -1.59040877e-03 -1.74612301e-02 1.21487790e+00] [ 1.58471634e-03 9.99998687e-01 -3.39835507e-04 2.11576734e-01] [ 1.74617477e-02 3.12112169e-04 9.99847483e-01 -2.97262463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.953133365 meters Centerline goodness [0,1] 0.27823540979308237 Centerline is valid? [False, False] Translation: X:1.22, Y:0.21, Z:-0.30 [[ 9.99837019e-01 -1.66484468e-03 -1.79767548e-02 1.21654007e+00] [ 1.65883271e-03 9.99998563e-01 -3.49336538e-04 2.11086179e-01] [ 1.79773105e-02 3.19459174e-04 9.99838344e-01 -2.97940565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.983133365 meters Centerline goodness [0,1] 0.2794825774820522 Centerline is valid? [False, False] Translation: X:1.22, Y:0.21, Z:-0.30 [[ 9.99836266e-01 -1.68697455e-03 -1.80165089e-02 1.21643115e+00] [ 1.68064099e-03 9.99998520e-01 -3.66677100e-04 2.11035359e-01] [ 1.80171008e-02 3.36337779e-04 9.99837622e-01 -2.97615052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01313336499999 meters Centerline goodness [0,1] 0.27990530261513846 Centerline is valid? [False, False] Translation: X:1.22, Y:0.21, Z:-0.30 [[ 9.99837090e-01 -1.61970980e-03 -1.79769442e-02 1.21597787e+00] [ 1.61513249e-03 9.99998659e-01 -2.69137241e-04 2.10819613e-01] [ 1.79773561e-02 2.40058249e-04 9.99838365e-01 -2.97081074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04313336499999 meters Centerline goodness [0,1] 0.27990530261513846 Centerline is valid? [False, False] Translation: X:1.22, Y:0.21, Z:-0.30 [[ 9.99837090e-01 -1.61970980e-03 -1.79769442e-02 1.21597787e+00] [ 1.61513249e-03 9.99998659e-01 -2.69137241e-04 2.10819613e-01] [ 1.79773561e-02 2.40058249e-04 9.99838365e-01 -2.97081074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07313336499999 meters Centerline goodness [0,1] 0.2734620856145191 Centerline is valid? [False, False] Translation: X:1.26, Y:0.21, Z:-0.30 [[ 9.99880697e-01 -3.48217992e-04 -1.54424781e-02 1.25888692e+00] [ 3.54205837e-04 9.99999863e-01 3.85018131e-04 2.13412033e-01] [ 1.54423419e-02 -3.90442013e-04 9.99880684e-01 -2.96450001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10313336499999 meters Centerline goodness [0,1] 0.2818617265589116 Centerline is valid? [False, False] Translation: X:1.23, Y:0.21, Z:-0.30 [[ 0.99990483 0.00571235 -0.01255753 1.23282252] [-0.00573042 0.9999826 -0.00140351 0.2078938 ] [ 0.01254929 0.00147534 0.99992017 -0.29547696] [ 0. 0. 0. 1. ]] SLAMing on 83.13313336499999 meters Centerline goodness [0,1] 0.28109664332918927 Centerline is valid? [False, False] Translation: X:1.23, Y:0.21, Z:-0.29 [[ 0.99990917 0.0056468 -0.01223782 1.23170188] [-0.00566426 0.99998299 -0.00139239 0.20727271] [ 0.01222975 0.00146158 0.99992415 -0.29489223] [ 0. 0. 0. 1. ]] SLAMing on 83.163133365 meters Centerline goodness [0,1] 0.2785316970759475 Centerline is valid? [False, False] Translation: X:1.25, Y:0.21, Z:-0.29 [[ 9.99932160e-01 -1.90495086e-03 -1.14911917e-02 1.24971252e+00] [ 1.90302835e-03 9.99998173e-01 -1.78234819e-04 2.11693820e-01] [ 1.14915102e-02 1.56354664e-04 9.99933958e-01 -2.93407836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.193133365 meters Centerline goodness [0,1] 0.2806792206378579 Centerline is valid? [False, False] Translation: X:1.25, Y:0.21, Z:-0.29 [[ 9.99933092e-01 -1.81263561e-03 -1.14247706e-02 1.24964671e+00] [ 1.81156535e-03 9.99998354e-01 -1.04027036e-04 2.11830404e-01] [ 1.14249403e-02 8.33233574e-05 9.99934730e-01 -2.93596785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.223133365 meters Centerline goodness [0,1] 0.2826759728715349 Centerline is valid? [False, False] Translation: X:1.25, Y:0.21, Z:-0.29 [[ 9.99933935e-01 -1.77548122e-03 -1.13566514e-02 1.24959378e+00] [ 1.77401853e-03 9.99998417e-01 -1.38868979e-04 2.12291352e-01] [ 1.13568800e-02 1.18712894e-04 9.99935502e-01 -2.93816601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.253133365 meters Centerline goodness [0,1] 0.28089765118967136 Centerline is valid? [False, False] Translation: X:1.25, Y:0.21, Z:-0.29 [[ 9.99933422e-01 -1.78366755e-03 -1.14004142e-02 1.24970280e+00] [ 1.78152655e-03 9.99998393e-01 -1.97953003e-04 2.12540535e-01] [ 1.14007490e-02 1.77629683e-04 9.99934994e-01 -2.93839587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.283133365 meters Centerline goodness [0,1] 0.2819265013966481 Centerline is valid? [False, False] Translation: X:1.25, Y:0.21, Z:-0.29 [[ 9.99932948e-01 -1.83926097e-03 -1.14331034e-02 1.24967861e+00] [ 1.83605875e-03 9.99998272e-01 -2.90573063e-04 2.12617862e-01] [ 1.14336181e-02 2.69561731e-04 9.99934598e-01 -2.93720992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.313133365 meters Centerline goodness [0,1] 0.2793925680967714 Centerline is valid? [False, False] Translation: X:1.25, Y:0.21, Z:-0.29 [[ 9.99930608e-01 -1.80822027e-03 -1.16408856e-02 1.25030746e+00] [ 1.80457210e-03 9.99998319e-01 -3.23889363e-04 2.12853236e-01] [ 1.16414517e-02 3.02860070e-04 9.99932190e-01 -2.94018548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.343133365 meters Centerline goodness [0,1] 0.28109875735775014 Centerline is valid? [False, False] Translation: X:1.25, Y:0.21, Z:-0.29 [[ 9.99929309e-01 -1.71880408e-03 -1.17653410e-02 1.25083436e+00] [ 1.71561153e-03 9.99998489e-01 -2.81439418e-04 2.13241684e-01] [ 1.17658070e-02 2.61234768e-04 9.99930746e-01 -2.94450626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37313336499999 meters Centerline goodness [0,1] 0.28214929045296777 Centerline is valid? [False, False] Translation: X:1.25, Y:0.21, Z:-0.30 [[ 9.99929015e-01 -1.68316111e-03 -1.17954210e-02 1.25123191e+00] [ 1.67994309e-03 9.99998549e-01 -2.82722432e-04 2.13508765e-01] [ 1.17958798e-02 2.62886727e-04 9.99930392e-01 -2.95023225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40313336499999 meters Centerline goodness [0,1] 0.27972990690966304 Centerline is valid? [False, False] Translation: X:1.25, Y:0.21, Z:-0.30 [[ 9.99921525e-01 -1.76244797e-03 -1.24031506e-02 1.25268429e+00] [ 1.75952227e-03 9.99998422e-01 -2.46791930e-04 2.12629561e-01] [ 1.24035659e-02 2.24948943e-04 9.99923048e-01 -2.95072353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43313336499999 meters Centerline goodness [0,1] 0.2799878067367779 Centerline is valid? [False, False] Translation: X:1.25, Y:0.21, Z:-0.29 [[ 9.99917515e-01 -1.73889335e-03 -1.27255797e-02 1.25324626e+00] [ 1.73881710e-03 9.99998488e-01 -1.70559595e-05 2.11258154e-01] [ 1.27255901e-02 -5.07290308e-06 9.99919026e-01 -2.94712496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46313336499999 meters Centerline goodness [0,1] 0.2761793422961183 Centerline is valid? [False, False] Translation: X:1.25, Y:0.21, Z:-0.29 [[ 9.99915257e-01 -1.67996838e-03 -1.29095851e-02 1.25346228e+00] [ 1.68332513e-03 9.99998552e-01 2.49157829e-04 2.09982469e-01] [ 1.29091479e-02 -2.70867744e-04 9.99916637e-01 -2.94308128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49313336499999 meters Centerline goodness [0,1] 0.28005330187648825 Centerline is valid? [False, False] Translation: X:1.25, Y:0.21, Z:-0.29 [[ 9.99924062e-01 -1.72519107e-03 -1.22022187e-02 1.25130064e+00] [ 1.73270721e-03 9.99998316e-01 6.05420073e-04 2.08057510e-01] [ 1.22011537e-02 -6.26516971e-04 9.99925367e-01 -2.93353964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52313336499999 meters Centerline goodness [0,1] 0.2800863817812971 Centerline is valid? [False, False] Translation: X:1.25, Y:0.21, Z:-0.29 [[ 9.99925687e-01 -1.71040622e-03 -1.20704585e-02 1.25085138e+00] [ 1.71977455e-03 9.99998228e-01 7.65799707e-04 2.07148436e-01] [ 1.20691273e-02 -7.86501266e-04 9.99926856e-01 -2.93075246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.553133365 meters Centerline goodness [0,1] 0.2808807147069745 Centerline is valid? [False, False] Translation: X:1.25, Y:0.21, Z:-0.29 [[ 9.99924852e-01 -1.71360097e-03 -1.21389732e-02 1.25102156e+00] [ 1.72457941e-03 9.99998113e-01 8.93986630e-04 2.06197216e-01] [ 1.21374184e-02 -9.14854072e-04 9.99925920e-01 -2.93101188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.583133365 meters Centerline goodness [0,1] 0.27787977622740134 Centerline is valid? [False, False] Translation: X:1.27, Y:0.20, Z:-0.29 [[ 9.99906994e-01 6.08846370e-03 -1.22038459e-02 1.27111202e+00] [-6.09481968e-03 9.99981309e-01 -4.83693407e-04 2.02545977e-01] [ 1.22006729e-02 5.58028661e-04 9.99925413e-01 -2.91645471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.613133365 meters Centerline goodness [0,1] 0.2779365285534918 Centerline is valid? [False, False] Translation: X:1.27, Y:0.20, Z:-0.29 [[ 9.99903309e-01 6.10735562e-03 -1.24928845e-02 1.27167162e+00] [-6.11018491e-03 9.99981315e-01 -1.88316522e-04 2.00732259e-01] [ 1.24915010e-02 2.64632148e-04 9.99921943e-01 -2.91359839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.643133365 meters Centerline goodness [0,1] 0.27794012598220663 Centerline is valid? [False, False] Translation: X:1.27, Y:0.20, Z:-0.29 [[ 9.99902579e-01 6.09364524e-03 -1.25578843e-02 1.27183445e+00] [-6.09548259e-03 9.99981417e-01 -1.08040914e-04 1.99973122e-01] [ 1.25569926e-02 1.84576754e-04 9.99921141e-01 -2.91353952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.673133365 meters Centerline goodness [0,1] 0.2807866736438165 Centerline is valid? [False, False] Translation: X:1.27, Y:0.20, Z:-0.29 [[ 9.99903614e-01 6.06364682e-03 -1.24898184e-02 1.27157632e+00] [-6.06454026e-03 9.99981610e-01 -3.36603632e-05 1.99151337e-01] [ 1.24893846e-02 1.09402125e-04 9.99921999e-01 -2.91192735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.703133365 meters Centerline goodness [0,1] 0.2792492810655366 Centerline is valid? [False, False] Translation: X:1.29, Y:0.20, Z:-0.29 [[ 9.99927261e-01 -1.62660671e-03 -1.19509855e-02 1.28994059e+00] [ 1.64125585e-03 9.99997914e-01 1.21606316e-03 2.02823463e-01] [ 1.19489825e-02 -1.23558933e-03 9.99927845e-01 -2.89243494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.733133365 meters Centerline goodness [0,1] 0.2813144805716644 Centerline is valid? [False, False] Translation: X:1.29, Y:0.20, Z:-0.29 [[ 0.99993248 -0.00138625 -0.01153764 1.28855862] [ 0.00140521 0.99999767 0.00163569 0.20145192] [ 0.01153535 -0.0016518 0.9999321 -0.2885772 ] [ 0. 0. 0. 1. ]] SLAMing on 83.76313336499999 meters Centerline goodness [0,1] 0.2775452073712831 Centerline is valid? [False, False] Translation: X:1.29, Y:0.20, Z:-0.29 [[ 0.99993543 -0.00133874 -0.01128455 1.28792165] [ 0.00135835 0.99999758 0.00172978 0.20095435] [ 0.01128221 -0.00174499 0.99993483 -0.2885435 ] [ 0. 0. 0. 1. ]] SLAMing on 83.79313336499999 meters Centerline goodness [0,1] 0.2833843681455904 Centerline is valid? [False, False] Translation: X:1.29, Y:0.20, Z:-0.29 [[ 0.99993869 -0.00134875 -0.01099122 1.28718614] [ 0.00136758 0.99999761 0.00170578 0.20084618] [ 0.01098889 -0.00172071 0.99993814 -0.28849595] [ 0. 0. 0. 1. ]] SLAMing on 83.82313336499999 meters Centerline goodness [0,1] 0.28267345030765556 Centerline is valid? [False, False] Translation: X:1.29, Y:0.20, Z:-0.29 [[ 9.99945395e-01 -1.18162804e-03 -1.03831977e-02 1.28580154e+00] [ 1.19735432e-03 9.99998145e-01 1.50850313e-03 2.02586975e-01] [ 1.03813960e-02 -1.52085312e-03 9.99944955e-01 -2.88681513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85313336499999 meters Centerline goodness [0,1] 0.28326509163364055 Centerline is valid? [False, False] Translation: X:1.29, Y:0.20, Z:-0.29 [[ 9.99944071e-01 -1.09991229e-03 -1.05187960e-02 1.28632612e+00] [ 1.11318392e-03 9.99998592e-01 1.25593523e-03 2.04615563e-01] [ 1.05173998e-02 -1.26757435e-03 9.99943887e-01 -2.89133980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88313336499999 meters Centerline goodness [0,1] 0.2776688992742231 Centerline is valid? [False, False] Translation: X:1.31, Y:0.20, Z:-0.29 [[ 9.99907840e-01 8.16882139e-03 -1.08435189e-02 1.30928727e+00] [-8.16145707e-03 9.99966433e-01 7.23222581e-04 2.04982433e-01] [ 1.08490628e-02 -6.34657015e-04 9.99940946e-01 -2.89130351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.913133365 meters Centerline goodness [0,1] 0.28314400157594066 Centerline is valid? [False, False] Translation: X:1.29, Y:0.21, Z:-0.29 [[ 9.99927281e-01 -1.76305426e-04 -1.20582658e-02 1.28969071e+00] [ 1.96269133e-04 9.99998612e-01 1.65444019e-03 2.10378078e-01] [ 1.20579574e-02 -1.65668655e-03 9.99925928e-01 -2.90541292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.943133365 meters Centerline goodness [0,1] 0.28078699668816454 Centerline is valid? [False, False] Translation: X:1.29, Y:0.21, Z:-0.29 [[ 9.99926890e-01 -1.89918036e-04 -1.20904139e-02 1.28982849e+00] [ 2.02845505e-04 9.99999409e-01 1.06801567e-03 2.13571223e-01] [ 1.20902039e-02 -1.07039007e-03 9.99926338e-01 -2.90883393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.973133365 meters Centerline goodness [0,1] 0.2764213614010871 Centerline is valid? [False, False] Translation: X:1.29, Y:0.21, Z:-0.29 [[ 9.99926137e-01 -2.04780389e-04 -1.21523128e-02 1.28993961e+00] [ 2.16255093e-04 9.99999532e-01 9.42933763e-04 2.14372995e-01] [ 1.21521140e-02 -9.45492114e-04 9.99925713e-01 -2.90892892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.003133365 meters Centerline goodness [0,1] 0.2817673500712641 Centerline is valid? [False, False] Translation: X:1.24, Y:0.21, Z:-0.29 [[ 9.99889409e-01 -6.91126872e-04 -1.48557046e-02 1.24498490e+00] [ 7.10599271e-04 9.99998895e-01 1.30553058e-03 2.10806349e-01] [ 1.48547859e-02 -1.31594265e-03 9.99888796e-01 -2.90307844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.033133365 meters Centerline goodness [0,1] 0.2781817787136128 Centerline is valid? [False, False] Translation: X:1.25, Y:0.21, Z:-0.29 [[ 9.99884051e-01 -7.95502583e-04 -1.52069699e-02 1.24585133e+00] [ 8.16021324e-04 9.99998765e-01 1.34314112e-03 2.10272447e-01] [ 1.52058826e-02 -1.35539460e-03 9.99883465e-01 -2.90362316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.063133365 meters Centerline goodness [0,1] 0.28105403456639066 Centerline is valid? [False, False] Translation: X:1.25, Y:0.21, Z:-0.29 [[ 9.99884349e-01 -8.10835223e-04 -1.51865131e-02 1.24578394e+00] [ 8.34504561e-04 9.99998447e-01 1.55230413e-03 2.08842857e-01] [ 1.51852309e-02 -1.56479782e-03 9.99883473e-01 -2.90281348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.093133365 meters Centerline goodness [0,1] 0.28192172833591045 Centerline is valid? [False, False] Translation: X:1.24, Y:0.20, Z:-0.29 [[ 0.99989281 -0.00144606 -0.01456979 1.24395195] [ 0.00147246 0.99999729 0.00180115 0.20461062] [ 0.01456714 -0.00182241 0.99989223 -0.28942176] [ 0. 0. 0. 1. ]] SLAMing on 84.12313336499999 meters Centerline goodness [0,1] 0.2832312857989334 Centerline is valid? [False, False] Translation: X:1.24, Y:0.20, Z:-0.29 [[ 0.99989115 -0.00138816 -0.01468888 1.24414476] [ 0.00142243 0.99999629 0.0023232 0.20171852] [ 0.0146856 -0.00234384 0.99988941 -0.28916524] [ 0. 0. 0. 1. ]] SLAMing on 84.15313336499999 meters Centerline goodness [0,1] 0.28194650817236255 Centerline is valid? [False, False] Translation: X:1.25, Y:0.20, Z:-0.29 [[ 0.99988401 -0.00137586 -0.01516823 1.24536901] [ 0.00141807 0.99999515 0.00277275 0.19893169] [ 0.01516435 -0.00279394 0.99988111 -0.28919296] [ 0. 0. 0. 1. ]] SLAMing on 84.18313336499999 meters Centerline goodness [0,1] 0.27950903216012835 Centerline is valid? [False, False] Translation: X:1.25, Y:0.20, Z:-0.29 [[ 0.99987468 -0.00139505 -0.01576975 1.24695762] [ 0.00144473 0.99999403 0.00313949 0.1963348 ] [ 0.01576527 -0.00316188 0.99987072 -0.28936676] [ 0. 0. 0. 1. ]] SLAMing on 84.21313336499999 meters Centerline goodness [0,1] 0.277939810313911 Centerline is valid? [False, False] Translation: X:1.25, Y:0.19, Z:-0.29 [[ 0.99986138 -0.0015439 -0.01657808 1.24924169] [ 0.00160292 0.99999242 0.0035476 0.19235628] [ 0.01657248 -0.00357368 0.99985628 -0.28978787] [ 0. 0. 0. 1. ]] SLAMing on 84.24313336499999 meters Centerline goodness [0,1] 0.27779096106137413 Centerline is valid? [False, False] Translation: X:1.25, Y:0.19, Z:-0.29 [[ 0.99986208 -0.00144649 -0.01654497 1.24920246] [ 0.00150946 0.99999166 0.00379404 0.19110901] [ 0.01653934 -0.00381849 0.99985592 -0.28985127] [ 0. 0. 0. 1. ]] SLAMing on 84.27313336499999 meters Centerline goodness [0,1] 0.2792689022667507 Centerline is valid? [False, False] Translation: X:1.25, Y:0.19, Z:-0.29 [[ 0.99986362 -0.00132078 -0.01646209 1.24895559] [ 0.00138708 0.99999097 0.004017 0.19036664] [ 0.01645664 -0.00403929 0.99985642 -0.28977303] [ 0. 0. 0. 1. ]] SLAMing on 84.303133365 meters Centerline goodness [0,1] 0.28249902144130823 Centerline is valid? [False, False] Translation: X:1.25, Y:0.19, Z:-0.29 [[ 9.99871510e-01 -1.03212546e-03 -1.59968488e-02 1.24759021e+00] [ 1.10080874e-03 9.99990212e-01 4.28533995e-03 1.89915203e-01] [ 1.59922692e-02 -4.30239879e-03 9.99862859e-01 -2.89339446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.333133365 meters Centerline goodness [0,1] 0.27644542390458904 Centerline is valid? [False, False] Translation: X:1.25, Y:0.19, Z:-0.29 [[ 9.99873742e-01 -1.02264366e-03 -1.58573404e-02 1.24711845e+00] [ 1.09031960e-03 9.99990333e-01 4.25974127e-03 1.89944494e-01] [ 1.58528309e-02 -4.27649301e-03 9.99865191e-01 -2.89133177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.363133365 meters Centerline goodness [0,1] 0.27904404588926723 Centerline is valid? [False, False] Translation: X:1.25, Y:0.19, Z:-0.29 [[ 9.99874794e-01 -1.04894474e-03 -1.57890966e-02 1.24689579e+00] [ 1.11586490e-03 9.99990430e-01 4.23016543e-03 1.89838043e-01] [ 1.57845083e-02 -4.24725429e-03 9.99866396e-01 -2.89072899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.393133365 meters Centerline goodness [0,1] 0.2774384321512594 Centerline is valid? [False, False] Translation: X:1.25, Y:0.19, Z:-0.29 [[ 9.99874456e-01 -1.08182998e-03 -1.58083158e-02 1.24700511e+00] [ 1.14832265e-03 9.99990530e-01 4.19771149e-03 1.89676221e-01] [ 1.58036249e-02 -4.21533753e-03 9.99866229e-01 -2.89196785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.423133365 meters Centerline goodness [0,1] 0.2806753812636166 Centerline is valid? [False, False] Translation: X:1.25, Y:0.19, Z:-0.29 [[ 9.99874086e-01 -1.01094361e-03 -1.58363361e-02 1.24709800e+00] [ 1.08121041e-03 9.99989607e-01 4.42912866e-03 1.88455581e-01] [ 1.58316939e-02 -4.44569338e-03 9.99864787e-01 -2.89287186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.453133365 meters Centerline goodness [0,1] 0.2828822541600331 Centerline is valid? [False, False] Translation: X:1.25, Y:0.19, Z:-0.29 [[ 9.99875103e-01 -9.73916525e-04 -1.57743587e-02 1.24677744e+00] [ 1.04712183e-03 9.99988719e-01 4.63318389e-03 1.87316757e-01] [ 1.57696684e-02 -4.64912289e-03 9.99864842e-01 -2.88985068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48313336499999 meters Centerline goodness [0,1] 0.28267503705641295 Centerline is valid? [False, False] Translation: X:1.25, Y:0.19, Z:-0.29 [[ 9.99876301e-01 -9.28579210e-04 -1.57009923e-02 1.24631015e+00] [ 1.00586008e-03 9.99987416e-01 4.91485665e-03 1.85730259e-01] [ 1.56962308e-02 -4.93004169e-03 9.99864652e-01 -2.88480187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51313336499999 meters Centerline goodness [0,1] 0.2801690507152146 Centerline is valid? [False, False] Translation: X:1.25, Y:0.18, Z:-0.29 [[ 9.99876563e-01 -8.82148616e-04 -1.56869837e-02 1.24603954e+00] [ 9.63599395e-04 9.99986091e-01 5.18545220e-03 1.84143027e-01] [ 1.56821912e-02 -5.19992809e-03 9.99863505e-01 -2.88024547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54313336499999 meters Centerline goodness [0,1] 0.28573614602688824 Centerline is valid? [False, False] Translation: X:1.25, Y:0.18, Z:-0.29 [[ 9.99877065e-01 -6.99696066e-04 -1.56641210e-02 1.24582748e+00] [ 7.91868379e-04 9.99982406e-01 5.87886648e-03 1.80644976e-01] [ 1.56597320e-02 -5.89054768e-03 9.99860027e-01 -2.87659587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57313336499999 meters Centerline goodness [0,1] 0.28314221179741117 Centerline is valid? [False, False] Translation: X:1.25, Y:0.18, Z:-0.29 [[ 9.99878251e-01 -5.43467942e-04 -1.55944934e-02 1.24560538e+00] [ 6.41699487e-04 9.99979982e-01 6.29480520e-03 1.78719982e-01] [ 1.55907602e-02 -6.30404579e-03 9.99858584e-01 -2.87535710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60313336499999 meters Centerline goodness [0,1] 0.2806392398229133 Centerline is valid? [False, False] Translation: X:1.25, Y:0.18, Z:-0.29 [[ 9.99880029e-01 -3.23202849e-04 -1.54861928e-02 1.24533601e+00] [ 4.29191438e-04 9.99976506e-01 6.84123553e-03 1.75900170e-01] [ 1.54836178e-02 -6.84706133e-03 9.99856677e-01 -2.87435581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63313336499999 meters Centerline goodness [0,1] 0.28186082877247853 Centerline is valid? [False, False] Translation: X:1.25, Y:0.18, Z:-0.29 [[ 9.99880222e-01 -3.03640226e-04 -1.54741234e-02 1.24531913e+00] [ 4.10447518e-04 9.99976113e-01 6.89960779e-03 1.75390474e-01] [ 1.54716588e-02 -6.90513269e-03 9.99856463e-01 -2.87457067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.663133365 meters Centerline goodness [0,1] 0.28355901946270734 Centerline is valid? [False, False] Translation: X:1.25, Y:0.17, Z:-0.29 [[ 9.99878507e-01 -2.49108385e-04 -1.55855442e-02 1.24567704e+00] [ 3.58021048e-04 9.99975536e-01 6.98565667e-03 1.74934614e-01] [ 1.55834227e-02 -6.99038791e-03 9.99854135e-01 -2.87604109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.693133365 meters Centerline goodness [0,1] 0.28002767627408165 Centerline is valid? [False, False] Translation: X:1.25, Y:0.17, Z:-0.29 [[ 9.99876785e-01 -1.16641173e-04 -1.56971660e-02 1.24613025e+00] [ 2.29113742e-04 9.99974315e-01 7.16354366e-03 1.74259992e-01] [ 1.56959273e-02 -7.16625744e-03 9.99851130e-01 -2.87934883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.723133365 meters Centerline goodness [0,1] 0.2775954396268786 Centerline is valid? [False, False] Translation: X:1.25, Y:0.17, Z:-0.29 [[ 9.99875672e-01 1.52001585e-04 -1.57676327e-02 1.24674254e+00] [-3.28338694e-05 9.99971439e-01 7.55772656e-03 1.72562877e-01] [ 1.57683312e-02 -7.55626921e-03 9.99847120e-01 -2.88684968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.753133365 meters Centerline goodness [0,1] 0.28296541654862817 Centerline is valid? [False, False] Translation: X:1.25, Y:0.17, Z:-0.29 [[ 9.99874128e-01 2.17928998e-04 -1.58644546e-02 1.24715603e+00] [-9.52170015e-05 9.99970077e-01 7.73537219e-03 1.71563455e-01] [ 1.58656656e-02 -7.73288796e-03 9.99844229e-01 -2.88965232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.783133365 meters Centerline goodness [0,1] 0.28307893589184474 Centerline is valid? [False, False] Translation: X:1.25, Y:0.17, Z:-0.29 [[ 9.99870650e-01 3.12264143e-04 -1.60806020e-02 1.24770178e+00] [-1.84131031e-04 9.99968230e-01 7.96904295e-03 1.70391856e-01] [ 1.60825796e-02 -7.96505121e-03 9.99838941e-01 -2.89016368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.813133365 meters Centerline goodness [0,1] 0.2793587001145178 Centerline is valid? [False, False] Translation: X:1.25, Y:0.17, Z:-0.29 [[ 9.99869165e-01 4.30870805e-04 -1.61699254e-02 1.24789118e+00] [-2.98388501e-04 9.99966379e-01 8.19464866e-03 1.69365789e-01] [ 1.61729126e-02 -8.18875160e-03 9.99835677e-01 -2.88957121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.843133365 meters Centerline goodness [0,1] 0.2811534948458092 Centerline is valid? [False, False] Translation: X:1.25, Y:0.17, Z:-0.29 [[ 9.99876871e-01 5.12974443e-04 -1.56837183e-02 1.24662245e+00] [-3.83620978e-04 9.99965899e-01 8.24952376e-03 1.69104011e-01] [ 1.56874152e-02 -8.24249140e-03 9.99842971e-01 -2.88795545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87313336499999 meters Centerline goodness [0,1] 0.28281485034117415 Centerline is valid? [False, False] Translation: X:1.25, Y:0.17, Z:-0.29 [[ 9.99879511e-01 4.63650193e-04 -1.55160669e-02 1.24629884e+00] [-3.38318276e-04 9.99967305e-01 8.07920737e-03 1.69885874e-01] [ 1.55193055e-02 -8.07298454e-03 9.99846977e-01 -2.88966124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90313336499999 meters Centerline goodness [0,1] 0.2818162068216381 Centerline is valid? [False, False] Translation: X:1.25, Y:0.17, Z:-0.29 [[ 9.99880914e-01 4.22639785e-04 -1.54265931e-02 1.24635558e+00] [-3.01503833e-04 9.99969112e-01 7.85389244e-03 1.71181039e-01] [ 1.54294359e-02 -7.84830597e-03 9.99850157e-01 -2.89492110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93313336499999 meters Centerline goodness [0,1] 0.2783186223606784 Centerline is valid? [False, False] Translation: X:1.25, Y:0.18, Z:-0.29 [[ 9.99868129e-01 5.39460992e-04 -1.62306551e-02 1.24884858e+00] [-4.20830363e-04 9.99973182e-01 7.31157528e-03 1.75006102e-01] [ 1.62341641e-02 -7.30378074e-03 9.99841541e-01 -2.90688058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96313336499999 meters Centerline goodness [0,1] 0.2783186223606784 Centerline is valid? [False, False] Translation: X:1.25, Y:0.18, Z:-0.29 [[ 9.99868129e-01 5.39460992e-04 -1.62306551e-02 1.24884858e+00] [-4.20830363e-04 9.99973182e-01 7.31157528e-03 1.75006102e-01] [ 1.62341641e-02 -7.30378074e-03 9.99841541e-01 -2.90688058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99313336499999 meters Centerline goodness [0,1] 0.2785160334611363 Centerline is valid? [False, False] Translation: X:1.25, Y:0.18, Z:-0.29 [[ 9.99862276e-01 3.48361826e-04 -1.65924128e-02 1.24993346e+00] [-2.36434514e-04 9.99977210e-01 6.74717641e-03 1.77669917e-01] [ 1.65943851e-02 -6.74232414e-03 9.99839571e-01 -2.91164297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02313336499999 meters Centerline goodness [0,1] 0.2799022708928688 Centerline is valid? [False, False] Translation: X:1.25, Y:0.18, Z:-0.29 [[ 9.99859404e-01 1.34187705e-04 -1.67676357e-02 1.25039921e+00] [-3.02961023e-05 9.99980804e-01 6.19606056e-03 1.80208591e-01] [ 1.67681453e-02 -6.19468143e-03 9.99840215e-01 -2.91379398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.053133365 meters Centerline goodness [0,1] 0.2808978931017131 Centerline is valid? [False, False] Translation: X:1.25, Y:0.18, Z:-0.29 [[ 9.99858655e-01 -1.42120572e-05 -1.68127605e-02 1.25038370e+00] [ 1.11274515e-04 9.99983334e-01 5.77222080e-03 1.82428880e-01] [ 1.68123983e-02 -5.77327576e-03 9.99841994e-01 -2.91317710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.083133365 meters Centerline goodness [0,1] 0.28078592145146875 Centerline is valid? [False, False] Translation: X:1.25, Y:0.19, Z:-0.29 [[ 9.99865979e-01 -1.28946474e-04 -1.63709373e-02 1.24856631e+00] [ 2.17202271e-04 9.99985454e-01 5.38934092e-03 1.85123006e-01] [ 1.63700042e-02 -5.39217444e-03 9.99851463e-01 -2.90220079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.113133365 meters Centerline goodness [0,1] 0.2785103388546065 Centerline is valid? [False, False] Translation: X:1.25, Y:0.19, Z:-0.29 [[ 9.99873956e-01 -2.63752811e-04 -1.58745925e-02 1.24694869e+00] [ 3.47877769e-04 9.99985911e-01 5.29681794e-03 1.85352750e-01] [ 1.58729718e-02 -5.30167273e-03 9.99859961e-01 -2.89480555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.143133365 meters Centerline goodness [0,1] 0.2788177127188721 Centerline is valid? [False, False] Translation: X:1.24, Y:0.19, Z:-0.29 [[ 9.99884266e-01 -5.18358364e-04 -1.52047777e-02 1.24488001e+00] [ 5.96630538e-04 9.99986593e-01 5.14378277e-03 1.85469474e-01] [ 1.52019075e-02 -5.15225910e-03 9.99871170e-01 -2.88672863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.173133365 meters Centerline goodness [0,1] 0.27993495934959345 Centerline is valid? [False, False] Translation: X:1.24, Y:0.19, Z:-0.29 [[ 9.99891758e-01 -8.08722564e-04 -1.46907373e-02 1.24318124e+00] [ 8.82662087e-04 9.99986974e-01 5.02728460e-03 1.85574245e-01] [ 1.46864802e-02 -5.03970739e-03 9.99879447e-01 -2.87819820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.203133365 meters Centerline goodness [0,1] 0.2808053284892522 Centerline is valid? [False, False] Translation: X:1.24, Y:0.19, Z:-0.29 [[ 9.99890669e-01 -8.17728661e-04 -1.47641650e-02 1.24329830e+00] [ 8.93216945e-04 9.99986560e-01 5.10706958e-03 1.85134699e-01] [ 1.47597904e-02 -5.11969882e-03 9.99877961e-01 -2.87709549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23313336499999 meters Centerline goodness [0,1] 0.2797680858428522 Centerline is valid? [False, False] Translation: X:1.24, Y:0.18, Z:-0.29 [[ 9.99889237e-01 -8.30604025e-04 -1.48601715e-02 1.24358253e+00] [ 9.08698795e-04 9.99985809e-01 5.24932752e-03 1.84160561e-01] [ 1.48556005e-02 -5.26224951e-03 9.99875802e-01 -2.87713918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26313336499999 meters Centerline goodness [0,1] 0.2860846258622962 Centerline is valid? [False, False] Translation: X:1.22, Y:0.18, Z:-0.29 [[ 0.99987598 0.00433363 -0.01514114 1.22062793] [-0.0043028 0.9999886 0.00206846 0.17929345] [ 0.01514993 -0.00200306 0.99988323 -0.28771168] [ 0. 0. 0. 1. ]] SLAMing on 85.29313336499999 meters Centerline goodness [0,1] 0.2809971004457523 Centerline is valid? [False, False] Translation: X:1.24, Y:0.18, Z:-0.29 [[ 0.99989296 -0.00429061 -0.01398792 1.24185126] [ 0.0043255 0.99998761 0.00246487 0.17961168] [ 0.01397717 -0.00252511 0.99989913 -0.28724324] [ 0. 0. 0. 1. ]] SLAMing on 85.32313336499999 meters Centerline goodness [0,1] 0.28304750341478224 Centerline is valid? [False, False] Translation: X:1.24, Y:0.18, Z:-0.29 [[ 0.99989415 -0.00416712 -0.01393984 1.24160707] [ 0.00420663 0.99998721 0.00280615 0.17798571] [ 0.01392797 -0.0028645 0.9998989 -0.28700435] [ 0. 0. 0. 1. ]] SLAMing on 85.35313336499999 meters Centerline goodness [0,1] 0.2882559929623928 Centerline is valid? [False, False] Translation: X:1.22, Y:0.17, Z:-0.29 [[ 0.99989925 0.00366296 -0.01371394 1.22179811] [-0.00363289 0.99999094 0.00221708 0.17081993] [ 0.01372194 -0.00216704 0.9999035 -0.28841582] [ 0. 0. 0. 1. ]] SLAMing on 85.38313336499999 meters Centerline goodness [0,1] 0.2814922585828755 Centerline is valid? [False, False] Translation: X:1.24, Y:0.18, Z:-0.29 [[ 0.99988165 -0.00269912 -0.01514583 1.24036242] [ 0.00274775 0.99999114 0.00319045 0.17635015] [ 0.01513708 -0.00323169 0.99988021 -0.28749541] [ 0. 0. 0. 1. ]] SLAMing on 85.413133365 meters Centerline goodness [0,1] 0.28165520842398395 Centerline is valid? [False, False] Translation: X:1.24, Y:0.18, Z:-0.29 [[ 0.99988309 -0.00270547 -0.01504924 1.24039206] [ 0.00275169 0.99999156 0.00305082 0.1770959 ] [ 0.01504086 -0.00309187 0.9998821 -0.28798172] [ 0. 0. 0. 1. ]] SLAMing on 85.443133365 meters Centerline goodness [0,1] 0.27904811398380325 Centerline is valid? [False, False] Translation: X:1.24, Y:0.18, Z:-0.29 [[ 0.99988428 -0.00270874 -0.01496986 1.24035359] [ 0.00275288 0.99999192 0.00292899 0.17778104] [ 0.0149618 -0.00296986 0.99988366 -0.28828396] [ 0. 0. 0. 1. ]] SLAMing on 85.473133365 meters Centerline goodness [0,1] 0.2779442516222217 Centerline is valid? [False, False] Translation: X:1.24, Y:0.18, Z:-0.29 [[ 0.99988539 -0.00272912 -0.01489139 1.24021389] [ 0.00277056 0.99999234 0.00276311 0.17873301] [ 0.01488374 -0.00280405 0.9998853 -0.28840304] [ 0. 0. 0. 1. ]] SLAMing on 85.503133365 meters Centerline goodness [0,1] 0.2819231020017823 Centerline is valid? [False, False] Translation: X:1.24, Y:0.18, Z:-0.29 [[ 0.99988636 -0.00278878 -0.01481495 1.23992729] [ 0.00282569 0.99999295 0.00247143 0.18032907] [ 0.01480795 -0.00251301 0.9998872 -0.28832197] [ 0. 0. 0. 1. ]] SLAMing on 85.533133365 meters Centerline goodness [0,1] 0.28039933300127773 Centerline is valid? [False, False] Translation: X:1.24, Y:0.18, Z:-0.29 [[ 0.99988446 -0.00286076 -0.01492932 1.24034186] [ 0.00289524 0.99999319 0.00228828 0.18118059] [ 0.01492267 -0.00233124 0.99988593 -0.28856922] [ 0. 0. 0. 1. ]] SLAMing on 85.563133365 meters Centerline goodness [0,1] 0.275633006944744 Centerline is valid? [False, False] Translation: X:1.24, Y:0.18, Z:-0.29 [[ 0.99988096 -0.00291967 -0.01515043 1.24114127] [ 0.0029526 0.99999333 0.00215156 0.18184552] [ 0.01514405 -0.00219604 0.99988291 -0.28905995] [ 0. 0. 0. 1. ]] SLAMing on 85.593133365 meters Centerline goodness [0,1] 0.28778081461235916 Centerline is valid? [False, False] Translation: X:1.20, Y:0.18, Z:-0.29 [[ 0.99982463 -0.00360905 -0.01837618 1.1964186 ] [ 0.00365537 0.99999022 0.00248767 0.17888771] [ 0.01836702 -0.00255441 0.99982805 -0.2886325 ] [ 0. 0. 0. 1. ]] SLAMing on 85.62313336499999 meters Centerline goodness [0,1] 0.2822427871529668 Centerline is valid? [False, False] Translation: X:1.24, Y:0.18, Z:-0.29 [[ 0.99984886 -0.00345007 -0.01703994 1.24073995] [ 0.00347949 0.99999251 0.00169677 0.18381596] [ 0.01703396 -0.00175581 0.99985337 -0.28822118] [ 0. 0. 0. 1. ]] SLAMing on 85.65313336499999 meters Centerline goodness [0,1] 0.2824179890724656 Centerline is valid? [False, False] Translation: X:1.24, Y:0.18, Z:-0.29 [[ 0.99984977 -0.00347983 -0.0169801 1.24021208] [ 0.00350866 0.99999245 0.00166864 0.18398165] [ 0.01697416 -0.00172797 0.99985444 -0.2876059 ] [ 0. 0. 0. 1. ]] SLAMing on 85.68313336499999 meters Centerline goodness [0,1] 0.28374213153896244 Centerline is valid? [False, False] Translation: X:1.24, Y:0.18, Z:-0.29 [[ 0.99985095 -0.00346938 -0.01691288 1.23963519] [ 0.00349933 0.99999236 0.00174175 0.18375338] [ 0.0169067 -0.00180068 0.99985545 -0.28692779] [ 0. 0. 0. 1. ]] SLAMing on 85.71313336499999 meters Centerline goodness [0,1] 0.2857017850892545 Centerline is valid? [False, False] Translation: X:1.24, Y:0.18, Z:-0.29 [[ 0.99984997 -0.00356137 -0.01695145 1.23948578] [ 0.0035906 0.99999212 0.00169418 0.18361586] [ 0.01694528 -0.00175479 0.99985488 -0.28649917] [ 0. 0. 0. 1. ]] SLAMing on 85.74313336499999 meters Centerline goodness [0,1] 0.2833935018050542 Centerline is valid? [False, False] Translation: X:1.24, Y:0.18, Z:-0.29 [[ 0.99984595 -0.00368571 -0.01716099 1.24013577] [ 0.00371228 0.99999196 0.00151649 0.18401173] [ 0.01715526 -0.00157997 0.99985159 -0.28675448] [ 0. 0. 0. 1. ]] SLAMing on 85.77313336499999 meters Centerline goodness [0,1] 0.28530171093510703 Centerline is valid? [False, False] Translation: X:1.24, Y:0.18, Z:-0.29 [[ 0.99984342 -0.00379014 -0.01728509 1.2405554 ] [ 0.0038129 0.99999191 0.00128388 0.18498401] [ 0.01728008 -0.00134959 0.99984978 -0.28700594] [ 0. 0. 0. 1. ]] SLAMing on 85.803133365 meters Centerline goodness [0,1] 0.2794498661369721 Centerline is valid? [False, False] Translation: X:1.26, Y:0.19, Z:-0.29 [[ 9.99862278e-01 5.14575927e-03 -1.57780369e-02 1.26126709e+00] [-5.13960706e-03 9.99986699e-01 4.30446573e-04 1.87293294e-01] [ 1.57800420e-02 -3.49294381e-04 9.99875426e-01 -2.86401448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.833133365 meters Centerline goodness [0,1] 0.284487456134615 Centerline is valid? [False, False] Translation: X:1.24, Y:0.19, Z:-0.29 [[ 0.99989991 -0.00276906 -0.01387459 1.24021949] [ 0.00278898 0.99999511 0.00141658 0.19324154] [ 0.0138706 -0.00145514 0.99990274 -0.28806483] [ 0. 0. 0. 1. ]] SLAMing on 85.863133365 meters Centerline goodness [0,1] 0.28265956063954245 Centerline is valid? [False, False] Translation: X:1.24, Y:0.19, Z:-0.29 [[ 9.99903102e-01 -2.86371327e-03 -1.36229506e-02 1.23927070e+00] [ 2.87981659e-03 9.99995177e-01 1.16260321e-03 1.94534778e-01] [ 1.36195556e-02 -1.20172216e-03 9.99906527e-01 -2.87558745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.893133365 meters Centerline goodness [0,1] 0.2853494564980137 Centerline is valid? [False, False] Translation: X:1.24, Y:0.20, Z:-0.29 [[ 9.99904102e-01 -2.98471005e-03 -1.35232737e-02 1.23889438e+00] [ 2.99735884e-03 9.99995089e-01 9.15162899e-04 1.95542983e-01] [ 1.35204758e-02 -9.55609241e-04 9.99908138e-01 -2.87346992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.923133365 meters Centerline goodness [0,1] 0.2859703188861933 Centerline is valid? [False, False] Translation: X:1.24, Y:0.20, Z:-0.29 [[ 9.99900039e-01 -3.07103051e-03 -1.38014759e-02 1.23963124e+00] [ 3.08212251e-03 9.99994944e-01 7.82484461e-04 1.96212956e-01] [ 1.37990031e-02 -8.24944083e-04 9.99904449e-01 -2.87533444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.953133365 meters Centerline goodness [0,1] 0.2853200157707977 Centerline is valid? [False, False] Translation: X:1.24, Y:0.20, Z:-0.29 [[ 9.99900041e-01 -3.03318164e-03 -1.38096681e-02 1.23955996e+00] [ 3.04563466e-03 9.99994974e-01 8.80819999e-04 1.95905851e-01] [ 1.38069270e-02 -9.22791157e-04 9.99904254e-01 -2.87379088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98313336499999 meters Centerline goodness [0,1] 0.2827109386852771 Centerline is valid? [False, False] Translation: X:1.26, Y:0.19, Z:-0.29 [[ 9.99916309e-01 4.86519179e-03 -1.19877324e-02 1.25827001e+00] [-4.87209727e-03 9.99987982e-01 -5.46908450e-04 1.92609543e-01] [ 1.19849275e-02 6.05268077e-04 9.99927995e-01 -2.86266572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01313336499999 meters Centerline goodness [0,1] 0.281437125748503 Centerline is valid? [False, False] Translation: X:1.26, Y:0.19, Z:-0.29 [[ 9.99921902e-01 4.70951404e-03 -1.15762811e-02 1.25711095e+00] [-4.71402244e-03 9.99988823e-01 -3.62195342e-04 1.90532212e-01] [ 1.15744460e-02 4.16737904e-04 9.99932927e-01 -2.85863991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04313336499999 meters Centerline goodness [0,1] 0.2831765935214211 Centerline is valid? [False, False] Translation: X:1.26, Y:0.19, Z:-0.29 [[ 9.99918500e-01 4.75548902e-03 -1.18481135e-02 1.25811034e+00] [-4.75812335e-03 9.99988661e-01 -1.94163344e-04 1.89688960e-01] [ 1.18470558e-02 2.50522306e-04 9.99929790e-01 -2.86440421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07313336499999 meters Centerline goodness [0,1] 0.28395250360151914 Centerline is valid? [False, False] Translation: X:1.26, Y:0.19, Z:-0.29 [[ 9.99914722e-01 4.83761595e-03 -1.21304203e-02 1.25918466e+00] [-4.83774443e-03 9.99988298e-01 1.87514814e-05 1.88816456e-01] [ 1.21303691e-02 3.99339911e-05 9.99926424e-01 -2.87082824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10313336499999 meters Centerline goodness [0,1] 0.28116181131420137 Centerline is valid? [False, False] Translation: X:1.26, Y:0.19, Z:-0.29 [[ 9.99911535e-01 4.87840123e-03 -1.23742724e-02 1.26009509e+00] [-4.87675878e-03 9.99988095e-01 1.62901765e-04 1.88087199e-01] [ 1.23749198e-02 -1.02541012e-04 9.99923422e-01 -2.87583466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13313336499999 meters Centerline goodness [0,1] 0.2816457073234411 Centerline is valid? [False, False] Translation: X:1.26, Y:0.19, Z:-0.29 [[ 9.99910712e-01 4.90489060e-03 -1.24302281e-02 1.26050393e+00] [-4.90144516e-03 9.99987941e-01 3.07631005e-04 1.87135172e-01] [ 1.24315871e-02 -2.46677456e-04 9.99922694e-01 -2.87989219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.163133365 meters Centerline goodness [0,1] 0.2827819630964079 Centerline is valid? [False, False] Translation: X:1.26, Y:0.18, Z:-0.29 [[ 9.99908528e-01 5.01201274e-03 -1.25624747e-02 1.26061904e+00] [-5.00310473e-03 9.99987210e-01 7.40423863e-04 1.84510336e-01] [ 1.25660250e-02 -6.77504758e-04 9.99920815e-01 -2.87688297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.193133365 meters Centerline goodness [0,1] 0.27778615268655105 Centerline is valid? [False, False] Translation: X:1.28, Y:0.19, Z:-0.29 [[ 0.99991982 -0.00258456 -0.01239654 1.28053445] [ 0.00260838 0.99999478 0.00190586 0.18782348] [ 0.01239155 -0.00193804 0.99992134 -0.2863699 ] [ 0. 0. 0. 1. ]] SLAMing on 86.223133365 meters Centerline goodness [0,1] 0.2816204672245467 Centerline is valid? [False, False] Translation: X:1.26, Y:0.18, Z:-0.29 [[ 9.99915683e-01 4.51677183e-03 -1.21748122e-02 1.26351730e+00] [-4.50130796e-03 9.99989028e-01 1.29725570e-03 1.77085550e-01] [ 1.21805380e-02 -1.24234374e-03 9.99925043e-01 -2.88876026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.253133365 meters Centerline goodness [0,1] 0.2816867679714373 Centerline is valid? [False, False] Translation: X:1.26, Y:0.17, Z:-0.29 [[ 0.99991243 0.00461763 -0.01240237 1.26426323] [-0.00459626 0.9999879 0.00175076 0.17438756] [ 0.0124103 -0.0016936 0.99992156 -0.28916689] [ 0. 0. 0. 1. ]] SLAMing on 86.283133365 meters Centerline goodness [0,1] 0.2824229478181264 Centerline is valid? [False, False] Translation: X:1.26, Y:0.17, Z:-0.29 [[ 0.99991203 0.00477031 -0.01237683 1.26430511] [-0.00474239 0.99998615 0.00228415 0.17131721] [ 0.01238755 -0.00222526 0.9999208 -0.2892742 ] [ 0. 0. 0. 1. ]] SLAMing on 86.313133365 meters Centerline goodness [0,1] 0.28269663904135056 Centerline is valid? [False, False] Translation: X:1.26, Y:0.17, Z:-0.29 [[ 0.9999137 0.00495081 -0.01216926 1.26361812] [-0.00491587 0.99998371 0.00289909 0.1680231 ] [ 0.01218341 -0.00283902 0.99992175 -0.28891805] [ 0. 0. 0. 1. ]] SLAMing on 86.343133365 meters Centerline goodness [0,1] 0.2797844482437726 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.29 [[ 0.99993739 -0.00320415 -0.01072152 1.28369838] [ 0.00324949 0.99998584 0.00421462 0.16418168] [ 0.01070786 -0.00424919 0.99993364 -0.28799501] [ 0. 0. 0. 1. ]] SLAMing on 86.37313336499999 meters Centerline goodness [0,1] 0.2824748101238276 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.29 [[ 0.99993624 -0.00298489 -0.01089101 1.28418467] [ 0.00303857 0.9999833 0.00491579 0.16038645] [ 0.01087616 -0.00494857 0.99992861 -0.28802246] [ 0. 0. 0. 1. ]] SLAMing on 86.40313336499999 meters Centerline goodness [0,1] 0.27992449719034085 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.29 [[ 0.99993445 -0.00284151 -0.01109128 1.28489309] [ 0.00290263 0.99998067 0.00549818 0.15685622] [ 0.01107545 -0.00553002 0.99992337 -0.28828725] [ 0. 0. 0. 1. ]] SLAMing on 86.43313336499999 meters Centerline goodness [0,1] 0.2793011510198773 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.29 [[ 0.99993617 -0.00259936 -0.01099559 1.28476184] [ 0.00267024 0.99997572 0.00643626 0.14848175] [ 0.0109786 -0.00646521 0.99991883 -0.28822129] [ 0. 0. 0. 1. ]] SLAMing on 86.46313336499999 meters Centerline goodness [0,1] 0.28148470665070213 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.29 [[ 0.99993726 -0.0023553 -0.0109516 1.28461147] [ 0.00243268 0.99997213 0.00705792 0.14545583] [ 0.01093467 -0.00708412 0.99991512 -0.28809109] [ 0. 0. 0. 1. ]] SLAMing on 86.49313336499999 meters Centerline goodness [0,1] 0.2845225844590896 Centerline is valid? [False, False] Translation: X:1.28, Y:0.14, Z:-0.29 [[ 0.9999373 -0.00220206 -0.01097942 1.28480265] [ 0.00228412 0.99996951 0.0074678 0.14336243] [ 0.01096264 -0.00749241 0.99991184 -0.28821762] [ 0. 0. 0. 1. ]] SLAMing on 86.52313336499999 meters Centerline goodness [0,1] 0.28211044119887685 Centerline is valid? [False, False] Translation: X:1.31, Y:0.14, Z:-0.29 [[ 0.99991479 0.00676858 -0.01116235 1.3050554 ] [-0.00669574 0.99995613 0.00654975 0.13722999] [ 0.01120619 -0.00647445 0.99991625 -0.28655048] [ 0. 0. 0. 1. ]] SLAMing on 86.553133365 meters Centerline goodness [0,1] 0.28221994728932065 Centerline is valid? [False, False] Translation: X:1.30, Y:0.14, Z:-0.29 [[ 0.99991664 0.00685683 -0.01094028 1.30440006] [-0.00678475 0.99995512 0.00661192 0.13695041] [ 0.01098513 -0.00653714 0.99991829 -0.28634694] [ 0. 0. 0. 1. ]] SLAMing on 86.583133365 meters Centerline goodness [0,1] 0.27942065273700567 Centerline is valid? [False, False] Translation: X:1.30, Y:0.14, Z:-0.29 [[ 0.99991929 0.00700112 -0.01060166 1.30357105] [-0.00693065 0.99995374 0.0066691 0.13700463] [ 0.01064786 -0.00659509 0.99992156 -0.28633117] [ 0. 0. 0. 1. ]] SLAMing on 86.613133365 meters Centerline goodness [0,1] 0.2821419276481305 Centerline is valid? [False, False] Translation: X:1.30, Y:0.14, Z:-0.29 [[ 0.99992026 0.00759758 -0.01008742 1.30243576] [-0.00752785 0.99994763 0.00693277 0.137527 ] [ 0.01013957 -0.00685628 0.99992509 -0.28658533] [ 0. 0. 0. 1. ]] SLAMing on 86.643133365 meters Centerline goodness [0,1] 0.2818007746203055 Centerline is valid? [False, False] Translation: X:1.30, Y:0.14, Z:-0.29 [[ 0.99992274 0.00768446 -0.00977051 1.30168488] [-0.00761842 0.99994801 0.00677815 0.13877473] [ 0.00982209 -0.00670319 0.99992929 -0.28665731] [ 0. 0. 0. 1. ]] SLAMing on 86.673133365 meters Centerline goodness [0,1] 0.28427590715920237 Centerline is valid? [False, False] Translation: X:1.30, Y:0.14, Z:-0.29 [[ 0.99992552 0.00775824 -0.00942127 1.30079958] [-0.00769667 0.9999489 0.00655386 0.14042948] [ 0.00947164 -0.00648086 0.99993414 -0.28662437] [ 0. 0. 0. 1. ]] SLAMing on 86.703133365 meters Centerline goodness [0,1] 0.28644838263390215 Centerline is valid? [False, False] Translation: X:1.30, Y:0.14, Z:-0.29 [[ 0.99992553 0.00826111 -0.00898292 1.2997888 ] [-0.00820411 0.9999461 0.00636366 0.1439206 ] [ 0.00903501 -0.00628949 0.9999394 -0.28698347] [ 0. 0. 0. 1. ]] SLAMing on 86.73313336499999 meters Centerline goodness [0,1] 0.28077098193959626 Centerline is valid? [False, False] Translation: X:1.32, Y:0.15, Z:-0.29 [[ 0.99994896 0.00206506 -0.00989028 1.31774909] [-0.00199293 0.99997138 0.00729804 0.15358115] [ 0.00990506 -0.00727796 0.99992446 -0.28549707] [ 0. 0. 0. 1. ]] SLAMing on 86.76313336499999 meters Centerline goodness [0,1] 0.28105215064290845 Centerline is valid? [False, False] Translation: X:1.32, Y:0.16, Z:-0.29 [[ 0.99995083 0.00193331 -0.00972625 1.31740452] [-0.00186715 0.99997509 0.00680722 0.15626844] [ 0.00973917 -0.00678872 0.99992953 -0.28570904] [ 0. 0. 0. 1. ]] SLAMing on 86.79313336499999 meters Centerline goodness [0,1] 0.280283491189666 Centerline is valid? [False, False] Translation: X:1.32, Y:0.16, Z:-0.29 [[ 0.99995265 0.00170936 -0.00957954 1.31695028] [-0.00165249 0.99998098 0.00594201 0.1614869 ] [ 0.00958951 -0.0059259 0.99993646 -0.28583789] [ 0. 0. 0. 1. ]] SLAMing on 86.82313336499999 meters Centerline goodness [0,1] 0.28067471344216743 Centerline is valid? [False, False] Translation: X:1.32, Y:0.16, Z:-0.29 [[ 0.99995418 0.00154458 -0.00944682 1.31663324] [-0.0014928 0.99998384 0.0054862 0.1639632 ] [ 0.00945514 -0.00547184 0.99994033 -0.28593672] [ 0. 0. 0. 1. ]] SLAMing on 86.85313336499999 meters Centerline goodness [0,1] 0.28067471344216743 Centerline is valid? [False, False] Translation: X:1.32, Y:0.16, Z:-0.29 [[ 0.99995418 0.00154458 -0.00944682 1.31663324] [-0.0014928 0.99998384 0.0054862 0.1639632 ] [ 0.00945514 -0.00547184 0.99994033 -0.28593672] [ 0. 0. 0. 1. ]] SLAMing on 86.88313336499999 meters Centerline goodness [0,1] 0.2830991447023914 Centerline is valid? [False, False] Translation: X:1.32, Y:0.17, Z:-0.29 [[ 0.99995487 0.00137162 -0.0094004 1.31646586] [-0.00132423 0.99998639 0.00504581 0.16616804] [ 0.00940719 -0.00503314 0.99994308 -0.28590341] [ 0. 0. 0. 1. ]] SLAMing on 86.913133365 meters Centerline goodness [0,1] 0.2809562064398463 Centerline is valid? [False, False] Translation: X:1.32, Y:0.17, Z:-0.29 [[ 9.99954183e-01 1.15549735e-03 -9.50240818e-03 1.31662637e+00] [-1.11175322e-03 9.99988768e-01 4.60747305e-03 1.68156429e-01] [ 9.50762537e-03 -4.59669762e-03 9.99944236e-01 -2.85807764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.943133365 meters Centerline goodness [0,1] 0.280404600489506 Centerline is valid? [False, False] Translation: X:1.32, Y:0.17, Z:-0.29 [[ 9.99948333e-01 6.85625576e-04 -1.01420710e-02 1.31803477e+00] [-6.45980162e-04 9.99992140e-01 3.91176528e-03 1.70899369e-01] [ 1.01446733e-02 -3.90501159e-03 9.99940916e-01 -2.85727799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.973133365 meters Centerline goodness [0,1] 0.2797008778584589 Centerline is valid? [False, False] Translation: X:1.32, Y:0.17, Z:-0.29 [[ 9.99947042e-01 5.80612546e-04 -1.02750100e-02 1.31826124e+00] [-5.41967331e-04 9.99992771e-01 3.76347266e-03 1.71665908e-01] [ 1.02771209e-02 -3.75770463e-03 9.99940128e-01 -2.85557269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.003133365 meters Centerline goodness [0,1] 0.2809184584885519 Centerline is valid? [False, False] Translation: X:1.32, Y:0.17, Z:-0.29 [[ 9.99947246e-01 5.25699807e-04 -1.02581118e-02 1.31810767e+00] [-4.87818781e-04 9.99993055e-01 3.69494015e-03 1.72119277e-01] [ 1.02599830e-02 -3.68974113e-03 9.99940558e-01 -2.85387262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.033133365 meters Centerline goodness [0,1] 0.27947371832263923 Centerline is valid? [False, False] Translation: X:1.32, Y:0.17, Z:-0.29 [[ 9.99947293e-01 4.10541557e-04 -1.02588284e-02 1.31805084e+00] [-3.73717846e-04 9.99993482e-01 3.59112479e-03 1.72352642e-01] [ 1.02602359e-02 -3.58710160e-03 9.99940928e-01 -2.85241839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.063133365 meters Centerline goodness [0,1] 0.2794720072826582 Centerline is valid? [False, False] Translation: X:1.32, Y:0.17, Z:-0.29 [[ 9.99944238e-01 -1.44192220e-04 -1.05593448e-02 1.31886361e+00] [ 1.78186366e-04 9.99994805e-01 3.21847234e-03 1.72309027e-01] [ 1.05588258e-02 -3.22017440e-03 9.99939069e-01 -2.85288084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.093133365 meters Centerline goodness [0,1] 0.27900099296291503 Centerline is valid? [False, False] Translation: X:1.32, Y:0.17, Z:-0.29 [[ 9.99939848e-01 -2.90122541e-04 -1.09643413e-02 1.31991449e+00] [ 3.25476989e-04 9.99994754e-01 3.22284678e-03 1.71667248e-01] [ 1.09633488e-02 -3.22622156e-03 9.99934696e-01 -2.85420302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12313336499999 meters Centerline goodness [0,1] 0.28037686809616635 Centerline is valid? [False, False] Translation: X:1.32, Y:0.17, Z:-0.29 [[ 9.99936198e-01 -3.37437621e-04 -1.12909377e-02 1.32088464e+00] [ 3.75179526e-04 9.99994349e-01 3.34072118e-03 1.70721910e-01] [ 1.12897466e-02 -3.34474417e-03 9.99930675e-01 -2.85721363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15313336499999 meters Centerline goodness [0,1] 0.2798265114859858 Centerline is valid? [False, False] Translation: X:1.32, Y:0.17, Z:-0.29 [[ 9.99928358e-01 -7.07596157e-04 -1.19490195e-02 1.32292090e+00] [ 7.48006881e-04 9.99994015e-01 3.37779764e-03 1.68904927e-01] [ 1.19465579e-02 -3.38649360e-03 9.99922903e-01 -2.86402219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18313336499999 meters Centerline goodness [0,1] 0.28121807551024847 Centerline is valid? [False, False] Translation: X:1.32, Y:0.17, Z:-0.29 [[ 9.99927997e-01 -7.85436230e-04 -1.19743239e-02 1.32303063e+00] [ 8.26930632e-04 9.99993670e-01 3.46072414e-03 1.67845957e-01] [ 1.19715299e-02 -3.47037689e-03 9.99922316e-01 -2.86402862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21313336499999 meters Centerline goodness [0,1] 0.28279826037546163 Centerline is valid? [False, False] Translation: X:1.32, Y:0.17, Z:-0.29 [[ 9.99926947e-01 -8.00097653e-04 -1.20606753e-02 1.32319964e+00] [ 8.43248393e-04 9.99993261e-01 3.57314409e-03 1.66906532e-01] [ 1.20577351e-02 -3.58305321e-03 9.99920883e-01 -2.86349197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24313336499999 meters Centerline goodness [0,1] 0.2830304491746498 Centerline is valid? [False, False] Translation: X:1.32, Y:0.17, Z:-0.29 [[ 9.99925662e-01 -7.28321218e-04 -1.21712600e-02 1.32349667e+00] [ 7.74139410e-04 9.99992631e-01 3.76017041e-03 1.66089940e-01] [ 1.21684316e-02 -3.76931314e-03 9.99918857e-01 -2.86394662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27313336499999 meters Centerline goodness [0,1] 0.283225115323233 Centerline is valid? [False, False] Translation: X:1.32, Y:0.16, Z:-0.29 [[ 9.99926738e-01 -5.04098720e-04 -1.20939537e-02 1.32319998e+00] [ 5.55167099e-04 9.99990943e-01 4.21965169e-03 1.64341468e-01] [ 1.20917171e-02 -4.22605672e-03 9.99917962e-01 -2.86138811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.303133365 meters Centerline goodness [0,1] 0.2823084655390936 Centerline is valid? [False, False] Translation: X:1.32, Y:0.16, Z:-0.29 [[ 9.99929058e-01 -4.75644779e-04 -1.19018140e-02 1.32245621e+00] [ 5.27094412e-04 9.99990530e-01 4.32007629e-03 1.63672664e-01] [ 1.18996465e-02 -4.32604319e-03 9.99919839e-01 -2.85631645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.333133365 meters Centerline goodness [0,1] 0.2810663764961915 Centerline is valid? [False, False] Translation: X:1.32, Y:0.16, Z:-0.28 [[ 9.99933529e-01 -4.49407462e-04 -1.15210961e-02 1.32106880e+00] [ 5.00316702e-04 9.99990123e-01 4.41628315e-03 1.62975265e-01] [ 1.15189976e-02 -4.42175379e-03 9.99923877e-01 -2.84868291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.363133365 meters Centerline goodness [0,1] 0.28376337732256585 Centerline is valid? [False, False] Translation: X:1.32, Y:0.16, Z:-0.28 [[ 9.99938829e-01 -3.96789891e-04 -1.10535339e-02 1.31955227e+00] [ 4.47147220e-04 9.99989532e-01 4.55366855e-03 1.62290271e-01] [ 1.10516113e-02 -4.55833255e-03 9.99928539e-01 -2.84183073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.393133365 meters Centerline goodness [0,1] 0.2835133660665575 Centerline is valid? [False, False] Translation: X:1.32, Y:0.16, Z:-0.28 [[ 9.99939785e-01 -3.62450760e-04 -1.09678968e-02 1.31949640e+00] [ 4.13720958e-04 9.99988997e-01 4.67266191e-03 1.61480573e-01] [ 1.09660825e-02 -4.67691820e-03 9.99928933e-01 -2.84432160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.423133365 meters Centerline goodness [0,1] 0.27982317377077603 Centerline is valid? [False, False] Translation: X:1.32, Y:0.16, Z:-0.29 [[ 9.99936759e-01 -3.19947504e-04 -1.12416939e-02 1.32058041e+00] [ 3.72958959e-04 9.99988820e-01 4.71383105e-03 1.61420858e-01] [ 1.12400601e-02 -4.71772564e-03 9.99925699e-01 -2.85171966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.453133365 meters Centerline goodness [0,1] 0.2821364570129813 Centerline is valid? [False, False] Translation: X:1.32, Y:0.16, Z:-0.29 [[ 9.99933607e-01 -1.67762732e-04 -1.15218417e-02 1.32161175e+00] [ 2.25523305e-04 9.99987414e-01 5.01202093e-03 1.60395986e-01] [ 1.15208558e-02 -5.01428661e-03 9.99921060e-01 -2.85769077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48313336499999 meters Centerline goodness [0,1] 0.28151041666666665 Centerline is valid? [False, False] Translation: X:1.32, Y:0.16, Z:-0.29 [[ 9.99933962e-01 -1.40688561e-04 -1.14913547e-02 1.32143278e+00] [ 2.00176028e-04 9.99986586e-01 5.17572883e-03 1.59340056e-01] [ 1.14904724e-02 -5.17768733e-03 9.99920577e-01 -2.85582376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51313336499999 meters Centerline goodness [0,1] 0.28292779252693245 Centerline is valid? [False, False] Translation: X:1.32, Y:0.16, Z:-0.29 [[ 9.99934053e-01 -1.55987834e-04 -1.14832494e-02 1.32123617e+00] [ 2.17326147e-04 9.99985716e-01 5.34049271e-03 1.58040263e-01] [ 1.14822523e-02 -5.34263613e-03 9.99919804e-01 -2.85252102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54313336499999 meters Centerline goodness [0,1] 0.2802343241484053 Centerline is valid? [False, False] Translation: X:1.34, Y:0.16, Z:-0.28 [[ 0.99992406 0.00667008 -0.01036227 1.34219266] [-0.00664199 0.99997418 0.00274266 0.15523269] [ 0.0103803 -0.00267363 0.99994255 -0.28477642] [ 0. 0. 0. 1. ]] SLAMing on 87.57313336499999 meters Centerline goodness [0,1] 0.27678609925408526 Centerline is valid? [False, False] Translation: X:1.34, Y:0.15, Z:-0.28 [[ 0.9999234 0.00676634 -0.01036369 1.34216715] [-0.00673484 0.9999726 0.00307152 0.15358956] [ 0.01038418 -0.00300149 0.99994158 -0.2847336 ] [ 0. 0. 0. 1. ]] SLAMing on 87.60313336499999 meters Centerline goodness [0,1] 0.2792624728850326 Centerline is valid? [False, False] Translation: X:1.34, Y:0.15, Z:-0.29 [[ 0.99991963 0.00696405 -0.01059421 1.34302057] [-0.00692512 0.99996915 0.0037071 0.15042033] [ 0.0106197 -0.00363344 0.99993701 -0.28515335] [ 0. 0. 0. 1. ]] SLAMing on 87.63313336499999 meters Centerline goodness [0,1] 0.28126156324140783 Centerline is valid? [False, False] Translation: X:1.34, Y:0.15, Z:-0.29 [[ 0.99991874 0.00699961 -0.01065473 1.3432977 ] [-0.00695833 0.99996816 0.0039066 0.14913676] [ 0.01068174 -0.00383215 0.99993561 -0.28532994] [ 0. 0. 0. 1. ]] SLAMing on 87.663133365 meters Centerline goodness [0,1] 0.2815174546484026 Centerline is valid? [False, False] Translation: X:1.34, Y:0.15, Z:-0.29 [[ 0.99991931 0.00700319 -0.01059815 1.34323385] [-0.00696178 0.99996801 0.00393872 0.14881317] [ 0.01062539 -0.00386462 0.99993608 -0.28545471] [ 0. 0. 0. 1. ]] SLAMing on 87.693133365 meters Centerline goodness [0,1] 0.28248612264522055 Centerline is valid? [False, False] Translation: X:1.34, Y:0.15, Z:-0.29 [[ 0.99992522 0.00722359 -0.00986814 1.34140955] [-0.00718515 0.99996648 0.00392514 0.14993504] [ 0.00989616 -0.00385395 0.9999436 -0.28529657] [ 0. 0. 0. 1. ]] SLAMing on 87.723133365 meters Centerline goodness [0,1] 0.2792028969794219 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.28 [[ 9.99939755e-01 1.03116991e-03 -1.09281159e-02 1.35782429e+00] [-9.76337290e-04 9.99986914e-01 5.02172071e-03 1.56877486e-01] [ 1.09331512e-02 -5.01074864e-03 9.99927677e-01 -2.82875401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.753133365 meters Centerline goodness [0,1] 0.28173996593440187 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.28 [[ 9.99940364e-01 9.77613851e-04 -1.08771487e-02 1.35764313e+00] [-9.25850908e-04 9.99988229e-01 4.76288877e-03 1.58294733e-01] [ 1.08816769e-02 -4.75253412e-03 9.99929499e-01 -2.82846063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.783133365 meters Centerline goodness [0,1] 0.28114981134544503 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.28 [[ 9.99939831e-01 8.65032624e-04 -1.09354990e-02 1.35793015e+00] [-8.16356808e-04 9.99989744e-01 4.45485513e-03 1.59620650e-01] [ 1.09392404e-02 -4.44565982e-03 9.99930282e-01 -2.83152688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.813133365 meters Centerline goodness [0,1] 0.28026019951540027 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.28 [[ 9.99938681e-01 7.07337575e-04 -1.10514356e-02 1.35843249e+00] [-6.62397926e-04 9.99991500e-01 4.06953960e-03 1.61202182e-01] [ 1.10542202e-02 -4.06196961e-03 9.99930650e-01 -2.83605579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.843133365 meters Centerline goodness [0,1] 0.27948500467584436 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.28 [[ 9.99939692e-01 6.72295354e-04 -1.09618054e-02 1.35814033e+00] [-6.28819910e-04 9.99991926e-01 3.96904862e-03 1.61731355e-01] [ 1.09643853e-02 -3.96191626e-03 9.99932040e-01 -2.83524655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87313336499999 meters Centerline goodness [0,1] 0.275785382705387 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.28 [[ 9.99940755e-01 6.59284920e-04 -1.08651618e-02 1.35783880e+00] [-6.16857626e-04 9.99992174e-01 3.90778165e-03 1.62193578e-01] [ 1.08676531e-02 -3.90084787e-03 9.99933337e-01 -2.83424924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90313336499999 meters Centerline goodness [0,1] 0.278221431361486 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.28 [[ 9.99941066e-01 6.64185960e-04 -1.08362136e-02 1.35779044e+00] [-6.21953683e-04 9.99992201e-01 3.90023240e-03 1.62382395e-01] [ 1.08387196e-02 -3.89326292e-03 9.99933680e-01 -2.83478988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93313336499999 meters Centerline goodness [0,1] 0.27829557713052855 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.28 [[ 9.99937364e-01 6.06015980e-04 -1.11759156e-02 1.35888416e+00] [-5.61034917e-04 9.99991732e-01 4.02751732e-03 1.61383728e-01] [ 1.11782639e-02 -4.02099498e-03 9.99929437e-01 -2.83873780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96313336499999 meters Centerline goodness [0,1] 0.2747864354128915 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.28 [[ 9.99937101e-01 6.10977136e-04 -1.11990996e-02 1.35894514e+00] [-5.64470316e-04 9.99991207e-01 4.15541907e-03 1.60468476e-01] [ 1.12015400e-02 -4.14883614e-03 9.99928654e-01 -2.83864230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99313336499999 meters Centerline goodness [0,1] 0.27573862411041616 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.28 [[ 9.99937156e-01 6.38516531e-04 -1.11926566e-02 1.35874844e+00] [-5.90099987e-04 9.99990458e-01 4.32851082e-03 1.59391003e-01] [ 1.11953136e-02 -4.32163402e-03 9.99927992e-01 -2.83542816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02313336499999 meters Centerline goodness [0,1] 0.2803536816429645 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.28 [[ 9.99940151e-01 8.33334755e-04 -1.09087364e-02 1.35776456e+00] [-7.80661740e-04 9.99988022e-01 4.83188453e-03 1.57220175e-01] [ 1.09126323e-02 -4.82307931e-03 9.99928824e-01 -2.83004007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.053133365 meters Centerline goodness [0,1] 0.27893696940747337 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.28 [[ 9.99942283e-01 9.07403288e-04 -1.07054336e-02 1.35723816e+00] [-8.53888144e-04 9.99987123e-01 5.00238904e-03 1.56497569e-01] [ 1.07098349e-02 -4.99295908e-03 9.99930182e-01 -2.82901636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.083133365 meters Centerline goodness [0,1] 0.27632400766729126 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.28 [[ 9.99943765e-01 9.09985287e-04 -1.05658825e-02 1.35697810e+00] [-8.56397930e-04 9.99986755e-01 5.07515232e-03 1.55856987e-01] [ 1.05703609e-02 -5.06581832e-03 9.99931300e-01 -2.83014389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.113133365 meters Centerline goodness [0,1] 0.27735649318383127 Centerline is valid? [False, False] Translation: X:1.36, Y:0.15, Z:-0.28 [[ 9.99944495e-01 8.67214486e-04 -1.05002191e-02 1.35690015e+00] [-8.13354513e-04 9.99986497e-01 5.13259842e-03 1.54909933e-01] [ 1.05045284e-02 -5.12377313e-03 9.99931699e-01 -2.83123919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.143133365 meters Centerline goodness [0,1] 0.2818282632803496 Centerline is valid? [False, False] Translation: X:1.36, Y:0.15, Z:-0.28 [[ 9.99944460e-01 8.92021204e-04 -1.05014838e-02 1.35707759e+00] [-8.37393964e-04 9.99986103e-01 5.20510754e-03 1.54543325e-01] [ 1.05059809e-02 -5.19602457e-03 9.99931310e-01 -2.83408317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.173133365 meters Centerline goodness [0,1] 0.2853330392589325 Centerline is valid? [False, False] Translation: X:1.34, Y:0.15, Z:-0.29 [[ 0.99989928 0.00868836 -0.01122217 1.33762051] [-0.00863999 0.9999532 0.0043521 0.14906321] [ 0.01125945 -0.0042547 0.99992756 -0.28501143] [ 0. 0. 0. 1. ]] SLAMing on 88.203133365 meters Centerline goodness [0,1] 0.2837799347078285 Centerline is valid? [False, False] Translation: X:1.34, Y:0.15, Z:-0.29 [[ 0.99989741 0.00865794 -0.01141087 1.33831155] [-0.00860866 0.99995344 0.00436097 0.14874908] [ 0.0114481 -0.00426229 0.99992538 -0.28541095] [ 0. 0. 0. 1. ]] SLAMing on 88.23313336499999 meters Centerline goodness [0,1] 0.2813562276649525 Centerline is valid? [False, False] Translation: X:1.34, Y:0.15, Z:-0.29 [[ 9.99920940e-01 5.07088383e-03 -1.15065505e-02 1.33843483e+00] [-5.06271152e-03 9.99986911e-01 7.39248829e-04 1.48927905e-01] [ 1.15101485e-02 -6.80936038e-04 9.99933524e-01 -2.85491068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26313336499999 meters Centerline goodness [0,1] 0.284429368639895 Centerline is valid? [False, False] Translation: X:1.34, Y:0.15, Z:-0.29 [[ 9.99921170e-01 5.16484805e-03 -1.14445716e-02 1.33812921e+00] [-5.15381065e-03 9.99986225e-01 9.93704753e-04 1.47852895e-01] [ 1.14495463e-02 -9.34643264e-04 9.99934015e-01 -2.85251147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29313336499999 meters Centerline goodness [0,1] 0.2820300045858537 Centerline is valid? [False, False] Translation: X:1.34, Y:0.15, Z:-0.29 [[ 9.99921353e-01 5.20645374e-03 -1.14096840e-02 1.33818259e+00] [-5.19387780e-03 9.99985871e-01 1.13157051e-03 1.47269519e-01] [ 1.14154142e-02 -1.07222101e-03 9.99934267e-01 -2.85472833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32313336499999 meters Centerline goodness [0,1] 0.28165391573486775 Centerline is valid? [False, False] Translation: X:1.34, Y:0.15, Z:-0.29 [[ 9.99918961e-01 5.06315926e-03 -1.16805765e-02 1.33944118e+00] [-5.05112747e-03 9.99986682e-01 1.05934005e-03 1.47030372e-01] [ 1.16857846e-02 -1.00025412e-03 9.99931219e-01 -2.86449617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35313336499999 meters Centerline goodness [0,1] 0.2782267674907374 Centerline is valid? [False, False] Translation: X:1.34, Y:0.15, Z:-0.29 [[ 9.99917799e-01 4.97627007e-03 -1.18165995e-02 1.33982952e+00] [-4.96430694e-03 9.99987135e-01 1.04151693e-03 1.46594076e-01] [ 1.18216303e-02 -9.82770090e-04 9.99929639e-01 -2.86551686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38313336499999 meters Centerline goodness [0,1] 0.28172766180452447 Centerline is valid? [False, False] Translation: X:1.34, Y:0.15, Z:-0.29 [[ 9.99916088e-01 4.97881927e-03 -1.19594448e-02 1.34003354e+00] [-4.96524115e-03 9.99986995e-01 1.16477072e-03 1.45743012e-01] [ 1.19650885e-02 -1.10529145e-03 9.99927805e-01 -2.86350015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.413133365 meters Centerline goodness [0,1] 0.27820724398506036 Centerline is valid? [False, False] Translation: X:1.34, Y:0.14, Z:-0.29 [[ 9.99912446e-01 5.01368924e-03 -1.22459275e-02 1.34058737e+00] [-4.99729280e-03 9.99986576e-01 1.36916252e-03 1.44696377e-01] [ 1.22526276e-02 -1.30784616e-03 9.99924078e-01 -2.86131203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.443133365 meters Centerline goodness [0,1] 0.2828510229061024 Centerline is valid? [False, False] Translation: X:1.34, Y:0.14, Z:-0.29 [[ 0.99990836 0.00513326 -0.01252662 1.34108308] [-0.00511143 0.99998536 0.00177387 0.14288033] [ 0.01253555 -0.00170968 0.99991997 -0.28585219] [ 0. 0. 0. 1. ]] SLAMing on 88.473133365 meters Centerline goodness [0,1] 0.2796209558504641 Centerline is valid? [False, False] Translation: X:1.36, Y:0.15, Z:-0.28 [[ 0.99991801 -0.00219218 -0.01261651 1.35968378] [ 0.00222915 0.99999326 0.00291752 0.14711546] [ 0.01261003 -0.0029454 0.99991615 -0.28395854] [ 0. 0. 0. 1. ]] SLAMing on 88.503133365 meters Centerline goodness [0,1] 0.27843553169844804 Centerline is valid? [False, False] Translation: X:1.36, Y:0.15, Z:-0.28 [[ 0.9999209 -0.00216241 -0.01239045 1.35901187] [ 0.00219894 0.99999327 0.00293564 0.1470832 ] [ 0.01238402 -0.00296265 0.99991893 -0.28375323] [ 0. 0. 0. 1. ]] SLAMing on 88.533133365 meters Centerline goodness [0,1] 0.28055567633375367 Centerline is valid? [False, False] Translation: X:1.36, Y:0.15, Z:-0.28 [[ 0.99992429 -0.00217431 -0.01211171 1.35817079] [ 0.00220834 0.99999365 0.00279681 0.14794846] [ 0.01210555 -0.00282335 0.99992274 -0.28347785] [ 0. 0. 0. 1. ]] SLAMing on 88.563133365 meters Centerline goodness [0,1] 0.2785324911309164 Centerline is valid? [False, False] Translation: X:1.36, Y:0.15, Z:-0.28 [[ 0.99992705 -0.00221156 -0.01187469 1.3576833 ] [ 0.00224127 0.99999439 0.0024893 0.14970541] [ 0.01186912 -0.00251573 0.99992639 -0.2836246 ] [ 0. 0. 0. 1. ]] SLAMing on 88.593133365 meters Centerline goodness [0,1] 0.2804280948048009 Centerline is valid? [False, False] Translation: X:1.36, Y:0.15, Z:-0.28 [[ 0.99992749 -0.00186445 -0.01189727 1.35798881] [ 0.00188941 0.99999604 0.00208718 0.15320516] [ 0.01189333 -0.00210951 0.99992705 -0.2842638 ] [ 0. 0. 0. 1. ]] SLAMing on 88.62313336499999 meters Centerline goodness [0,1] 0.27986754393559 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.28 [[ 0.99992653 -0.00192512 -0.01196807 1.35835377] [ 0.0019453 0.99999671 0.00167445 0.15543063] [ 0.0119648 -0.0016976 0.99992698 -0.28470885] [ 0. 0. 0. 1. ]] SLAMing on 88.65313336499999 meters Centerline goodness [0,1] 0.28111592656314655 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.28 [[ 0.99992614 -0.00192951 -0.0119996 1.35851566] [ 0.00194642 0.99999713 0.00139813 0.15724473] [ 0.01199687 -0.00142139 0.99992702 -0.28494387] [ 0. 0. 0. 1. ]] SLAMing on 88.68313336499999 meters Centerline goodness [0,1] 0.28074366882411717 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.29 [[ 9.99926908e-01 -1.90919230e-03 -1.19387671e-02 1.35844254e+00] [ 1.92363581e-03 9.99997432e-01 1.19843265e-03 1.58746094e-01] [ 1.19364484e-02 -1.22131089e-03 9.99928012e-01 -2.85145087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71313336499999 meters Centerline goodness [0,1] 0.2783072899781711 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.29 [[ 9.99927600e-01 -1.96975450e-03 -1.18707815e-02 1.35839005e+00] [ 1.98147964e-03 9.99997561e-01 9.76050191e-04 1.59968896e-01] [ 1.18688299e-02 -9.99501236e-04 9.99929063e-01 -2.85361876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74313336499999 meters Centerline goodness [0,1] 0.28037707980364046 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.29 [[ 9.99929315e-01 -2.09808165e-03 -1.17031258e-02 1.35799030e+00] [ 2.10707132e-03 9.99997494e-01 7.55865309e-04 1.60578981e-01] [ 1.17015106e-02 -7.80471202e-04 9.99931230e-01 -2.85372732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77313336499999 meters Centerline goodness [0,1] 0.28037707980364046 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.29 [[ 9.99929315e-01 -2.09808165e-03 -1.17031258e-02 1.35799030e+00] [ 2.10707132e-03 9.99997494e-01 7.55865309e-04 1.60578981e-01] [ 1.17015106e-02 -7.80471202e-04 9.99931230e-01 -2.85372732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.803133365 meters Centerline goodness [0,1] 0.27774535866346794 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.29 [[ 9.99929550e-01 -2.11545962e-03 -1.16799320e-02 1.35791918e+00] [ 2.12412287e-03 9.99997478e-01 7.29365611e-04 1.60676526e-01] [ 1.16783596e-02 -7.54123838e-04 9.99931521e-01 -2.85363382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.833133365 meters Centerline goodness [0,1] 0.2768287152020388 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.29 [[ 9.99929863e-01 -2.09169318e-03 -1.16573726e-02 1.35786619e+00] [ 2.09995395e-03 9.99997553e-01 6.96435110e-04 1.61167840e-01] [ 1.16558874e-02 -7.20866210e-04 9.99931808e-01 -2.85408157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.863133365 meters Centerline goodness [0,1] 0.2832897603485839 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.29 [[ 9.99930293e-01 -2.07024525e-03 -1.16242371e-02 1.35788422e+00] [ 2.07781884e-03 9.99997637e-01 6.39495140e-04 1.61863676e-01] [ 1.16228858e-02 -6.63603621e-04 9.99932232e-01 -2.85604803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.893133365 meters Centerline goodness [0,1] 0.2835628977421323 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.29 [[ 9.99930135e-01 -2.10212058e-03 -1.16321233e-02 1.35803492e+00] [ 2.10766281e-03 9.99997671e-01 4.64220302e-04 1.62946967e-01] [ 1.16311204e-02 -4.88704463e-04 9.99932237e-01 -2.85820495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.923133365 meters Centerline goodness [0,1] 0.28192692474989123 Centerline is valid? [False, False] Translation: X:1.36, Y:0.17, Z:-0.29 [[ 9.99938633e-01 -2.03634922e-03 -1.08895860e-02 1.35600313e+00] [ 2.03686180e-03 9.99997925e-01 3.59804586e-05 1.65858062e-01] [ 1.08894901e-02 -5.81588323e-05 9.99940706e-01 -2.85436647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.953133365 meters Centerline goodness [0,1] 0.2820518410324606 Centerline is valid? [False, False] Translation: X:1.36, Y:0.17, Z:-0.29 [[ 9.99941231e-01 -2.11481744e-03 -1.06330602e-02 1.35526007e+00] [ 2.11071611e-03 9.99997694e-01 -3.96921736e-04 1.68266864e-01] [ 1.06338751e-02 3.74455037e-04 9.99943389e-01 -2.85310148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98313336499999 meters Centerline goodness [0,1] 0.2825688873386816 Centerline is valid? [False, False] Translation: X:1.36, Y:0.17, Z:-0.29 [[ 9.99941773e-01 -2.11251596e-03 -1.05824675e-02 1.35516269e+00] [ 2.10392174e-03 9.99997448e-01 -8.23186209e-04 1.71097763e-01] [ 1.05841795e-02 8.00873593e-04 9.99943665e-01 -2.85530073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01313336499999 meters Centerline goodness [0,1] 0.2769814411656931 Centerline is valid? [False, False] Translation: X:1.36, Y:0.17, Z:-0.29 [[ 0.99993795 0.00145673 -0.01104447 1.35645095] [-0.00142973 0.99999597 0.00245258 0.17313081] [ 0.011048 -0.00243664 0.999936 -0.28584554] [ 0. 0. 0. 1. ]] SLAMing on 89.04313336499999 meters Centerline goodness [0,1] 0.2778522619150593 Centerline is valid? [False, False] Translation: X:1.36, Y:0.18, Z:-0.29 [[ 9.99938576e-01 1.35710086e-03 -1.10001322e-02 1.35649767e+00] [-1.33628415e-03 9.99997303e-01 1.89953427e-03 1.76402372e-01] [ 1.10026803e-02 -1.88471829e-03 9.99937692e-01 -2.86259217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07313336499999 meters Centerline goodness [0,1] 0.27755862846243873 Centerline is valid? [False, False] Translation: X:1.36, Y:0.18, Z:-0.29 [[ 9.99939786e-01 1.23208142e-03 -1.09044455e-02 1.35637541e+00] [-1.21719286e-03 9.99998318e-01 1.37189709e-03 1.79341317e-01] [ 1.09061174e-02 -1.35854167e-03 9.99939604e-01 -2.86549782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10313336499999 meters Centerline goodness [0,1] 0.28010175240248725 Centerline is valid? [False, False] Translation: X:1.36, Y:0.18, Z:-0.29 [[ 9.99942098e-01 9.37081961e-04 -1.07201961e-02 1.35578219e+00] [-9.31758094e-04 9.99999440e-01 5.01604031e-04 1.83920978e-01] [ 1.07206601e-02 -4.91586358e-04 9.99942411e-01 -2.86537347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13313336499999 meters Centerline goodness [0,1] 0.27706517271960374 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99942145e-01 7.97265608e-04 -1.07271509e-02 1.35561083e+00] [-7.95048997e-04 9.99999662e-01 2.10898449e-04 1.85329368e-01] [ 1.07273154e-02 -2.02357637e-04 9.99942440e-01 -2.86241879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.163133365 meters Centerline goodness [0,1] 0.28325310914120183 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99941458e-01 7.17784369e-04 -1.07965826e-02 1.35570004e+00] [-7.16659398e-04 9.99999737e-01 1.08065473e-04 1.85726292e-01] [ 1.07966573e-02 -1.00321674e-04 9.99941709e-01 -2.86131771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.193133365 meters Centerline goodness [0,1] 0.2763385520283712 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99940179e-01 5.61882363e-04 -1.09234539e-02 1.35599877e+00] [-5.61850248e-04 9.99999842e-01 6.00884730e-06 1.85752770e-01] [ 1.09234556e-02 1.28857438e-07 9.99940337e-01 -2.86100142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.223133365 meters Centerline goodness [0,1] 0.28034807517034854 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99936606e-01 1.68623813e-04 -1.12586017e-02 1.35723153e+00] [-1.71944664e-04 9.99999942e-01 -2.93993938e-04 1.85897951e-01] [ 1.12585514e-02 2.95911157e-04 9.99936577e-01 -2.86724632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.253133365 meters Centerline goodness [0,1] 0.2804605676865364 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99934253e-01 1.06177485e-04 -1.14664163e-02 1.35781019e+00] [-1.10451039e-04 9.99999925e-01 -3.72069257e-04 1.86238902e-01] [ 1.14663759e-02 3.73311272e-04 9.99934189e-01 -2.86853839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.283133365 meters Centerline goodness [0,1] 0.2788652666148129 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99932977e-01 6.75478194e-05 -1.15774498e-02 1.35815551e+00] [-7.27784951e-05 9.99999895e-01 -4.51377892e-04 1.86788353e-01] [ 1.15774181e-02 4.52190228e-04 9.99932877e-01 -2.86990782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.313133365 meters Centerline goodness [0,1] 0.2800450567541808 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99931183e-01 5.65606402e-05 -1.17313762e-02 1.35863855e+00] [-6.24105461e-05 9.99999874e-01 -4.98289206e-04 1.87217864e-01] [ 1.17313466e-02 4.98987077e-04 9.99931061e-01 -2.87196476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.343133365 meters Centerline goodness [0,1] 0.2795502886660589 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99930212e-01 3.99626958e-05 -1.18139911e-02 1.35896121e+00] [-4.65535912e-05 9.99999843e-01 -5.57614496e-04 1.87598742e-01] [ 1.18139670e-02 5.58125565e-04 9.99930057e-01 -2.87414691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37313336499999 meters Centerline goodness [0,1] 0.27800650054171183 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99928579e-01 -1.07916604e-04 -1.19509812e-02 1.35950773e+00] [ 9.67395061e-05 9.99999557e-01 -9.35819303e-04 1.89322229e-01] [ 1.19510769e-02 9.34596334e-04 9.99928147e-01 -2.87802910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40313336499999 meters Centerline goodness [0,1] 0.2809697919387133 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99928082e-01 -1.82924173e-04 -1.19915281e-02 1.35976475e+00] [ 1.68936673e-04 9.99999304e-01 -1.16745108e-03 1.90509451e-01] [ 1.19917333e-02 1.16534131e-03 9.99927418e-01 -2.88121973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43313336499999 meters Centerline goodness [0,1] 0.2795031055900621 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99927682e-01 -2.59545499e-04 -1.20234724e-02 1.35999195e+00] [ 2.42490786e-04 9.99998963e-01 -1.41988775e-03 1.91904044e-01] [ 1.20238284e-02 1.41686948e-03 9.99926707e-01 -2.88444760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46313336499999 meters Centerline goodness [0,1] 0.279240940573637 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99928592e-01 -3.23567897e-04 -1.19459434e-02 1.35989756e+00] [ 3.04409527e-04 9.99998665e-01 -1.60553875e-03 1.92922125e-01] [ 1.19464470e-02 1.60178765e-03 9.99927356e-01 -2.88632630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49313336499999 meters Centerline goodness [0,1] 0.281486804285341 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99934671e-01 -4.99754903e-04 -1.14194184e-02 1.35812150e+00] [ 4.77808507e-04 9.99998034e-01 -1.92449629e-03 1.94242803e-01] [ 1.14203577e-02 1.91891427e-03 9.99932944e-01 -2.87789887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52313336499999 meters Centerline goodness [0,1] 0.2799071099921868 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99939144e-01 -5.32308151e-04 -1.10192636e-02 1.35660991e+00] [ 5.10927775e-04 9.99997982e-01 -1.94299692e-03 1.94367709e-01] [ 1.10202756e-02 1.93724863e-03 9.99937398e-01 -2.86918829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.553133365 meters Centerline goodness [0,1] 0.2787448168624741 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99940900e-01 -5.13717749e-04 -1.08596716e-02 1.35581876e+00] [ 4.93565855e-04 9.99998152e-01 -1.85826194e-03 1.94147167e-01] [ 1.08606061e-02 1.85279215e-03 9.99939305e-01 -2.86236722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.583133365 meters Centerline goodness [0,1] 0.2835095367847411 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99936271e-01 -4.74933688e-04 -1.12795172e-02 1.35716233e+00] [ 4.57365509e-04 9.99998679e-01 -1.56005785e-03 1.92906708e-01] [ 1.12802432e-02 1.55479957e-03 9.99935167e-01 -2.86773348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.613133365 meters Centerline goodness [0,1] 0.28182015638575153 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99933985e-01 -4.61519290e-04 -1.14809864e-02 1.35780278e+00] [ 4.45688516e-04 9.99998947e-01 -1.38138916e-03 1.91882080e-01] [ 1.14816118e-02 1.37618102e-03 9.99933137e-01 -2.86996778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.643133365 meters Centerline goodness [0,1] 0.28003028991778456 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99933630e-01 -4.75894456e-04 -1.15112704e-02 1.35764768e+00] [ 4.62213621e-04 9.99999184e-01 -1.19110431e-03 1.90504734e-01] [ 1.15118278e-02 1.18570459e-03 9.99933034e-01 -2.86568821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.673133365 meters Centerline goodness [0,1] 0.2840505114392271 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99934461e-01 -4.59267083e-04 -1.14395546e-02 1.35709311e+00] [ 4.48342776e-04 9.99999441e-01 -9.57505357e-04 1.89026560e-01] [ 1.14399879e-02 9.52313761e-04 9.99934108e-01 -2.85879642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.703133365 meters Centerline goodness [0,1] 0.284628120779051 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99936830e-01 -3.78276479e-04 -1.12335778e-02 1.35633942e+00] [ 3.70554630e-04 9.99999694e-01 -6.89463389e-04 1.87703829e-01] [ 1.12338352e-02 6.85257181e-04 9.99936664e-01 -2.85409213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73313336499999 meters Centerline goodness [0,1] 0.2831075056003828 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99937785e-01 -2.52144560e-04 -1.11517853e-02 1.35616474e+00] [ 2.47697412e-04 9.99999889e-01 -4.00162874e-04 1.86495962e-01] [ 1.11518850e-02 3.97375709e-04 9.99937737e-01 -2.85464523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76313336499999 meters Centerline goodness [0,1] 0.28544959128065395 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99938772e-01 -1.87417041e-04 -1.10642000e-02 1.35609692e+00] [ 1.84631537e-04 9.99999951e-01 -2.52779183e-04 1.85792837e-01] [ 1.10642468e-02 2.50720906e-04 9.99938758e-01 -2.85660534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79313336499999 meters Centerline goodness [0,1] 0.2795403986954925 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99935609e-01 -1.45982624e-04 -1.13470696e-02 1.35720969e+00] [ 1.41921193e-04 9.99999926e-01 -3.58732160e-04 1.86151716e-01] [ 1.13471212e-02 3.57098671e-04 9.99935556e-01 -2.86389948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82313336499999 meters Centerline goodness [0,1] 0.2837199172383753 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99932419e-01 -1.34253630e-04 -1.16249671e-02 1.35821171e+00] [ 1.27232207e-04 9.99999809e-01 -6.04732515e-04 1.87594514e-01] [ 1.16250460e-02 6.03212576e-04 9.99932245e-01 -2.87026496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85313336499999 meters Centerline goodness [0,1] 0.2823011357443376 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99928094e-01 7.40483782e-04 -1.19690803e-02 1.35946753e+00] [-7.45672564e-04 9.99999630e-01 -4.29058723e-04 1.90457576e-01] [ 1.19687581e-02 4.37952886e-04 9.99928276e-01 -2.88028674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88313336499999 meters Centerline goodness [0,1] 0.28205687845122984 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99926451e-01 7.64617603e-04 -1.21040802e-02 1.36023412e+00] [-7.74595449e-04 9.99999364e-01 -8.19670870e-04 1.92867653e-01] [ 1.21034457e-02 8.28986349e-04 9.99926407e-01 -2.88909401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.913133365 meters Centerline goodness [0,1] 0.2748272373038255 Centerline is valid? [False, False] Translation: X:1.36, Y:0.20, Z:-0.29 [[ 9.99923274e-01 6.74640453e-04 -1.23689508e-02 1.36136505e+00] [-6.90684801e-04 9.99998926e-01 -1.29292122e-03 1.95238338e-01] [ 1.23680652e-02 1.30136506e-03 9.99922666e-01 -2.89858866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.943133365 meters Centerline goodness [0,1] 0.2763428077380309 Centerline is valid? [False, False] Translation: X:1.36, Y:0.20, Z:-0.29 [[ 9.99922403e-01 5.35988927e-04 -1.24458717e-02 1.36187086e+00] [-5.57431100e-04 9.99998366e-01 -1.71942904e-03 1.97245353e-01] [ 1.24449297e-02 1.72623333e-03 9.99921069e-01 -2.90469216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.973133365 meters Centerline goodness [0,1] 0.2787371245563923 Centerline is valid? [False, False] Translation: X:1.36, Y:0.20, Z:-0.29 [[ 9.99923827e-01 4.29704894e-04 -1.23350998e-02 1.36167503e+00] [-4.54991865e-04 9.99997801e-01 -2.04726817e-03 1.98937128e-01] [ 1.23341930e-02 2.05272460e-03 9.99921824e-01 -2.90704688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.003133365 meters Centerline goodness [0,1] 0.27687289380454505 Centerline is valid? [False, False] Translation: X:1.36, Y:0.20, Z:-0.29 [[ 9.99925683e-01 3.76525189e-04 -1.21855407e-02 1.36126649e+00] [-4.03858558e-04 9.99997408e-01 -2.24071567e-03 2.00104582e-01] [ 1.21846654e-02 2.24547038e-03 9.99923243e-01 -2.90691756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.033133365 meters Centerline goodness [0,1] 0.28227652200449027 Centerline is valid? [False, False] Translation: X:1.36, Y:0.20, Z:-0.29 [[ 9.99924221e-01 1.08845087e-04 -1.23101877e-02 1.36158716e+00] [-1.38909976e-04 9.99997010e-01 -2.44144840e-03 2.00339734e-01] [ 1.23098851e-02 2.44297340e-03 9.99921246e-01 -2.90701461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.063133365 meters Centerline goodness [0,1] 0.2779524315417471 Centerline is valid? [False, False] Translation: X:1.36, Y:0.20, Z:-0.29 [[ 9.99918061e-01 -4.54576809e-05 -1.28011235e-02 1.36290223e+00] [ 1.45763483e-05 9.99997090e-01 -2.41247534e-03 1.99531051e-01] [ 1.28011959e-02 2.41209107e-03 9.99915152e-01 -2.90900682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.093133365 meters Centerline goodness [0,1] 0.28168431141898664 Centerline is valid? [False, False] Translation: X:1.36, Y:0.20, Z:-0.29 [[ 9.99914169e-01 -5.44031207e-05 -1.31015628e-02 1.36375767e+00] [ 2.57958872e-05 9.99997615e-01 -2.18365689e-03 1.98215229e-01] [ 1.31016504e-02 2.18313150e-03 9.99911786e-01 -2.91095012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12313336499999 meters Centerline goodness [0,1] 0.27994622256917334 Centerline is valid? [False, False] Translation: X:1.36, Y:0.20, Z:-0.29 [[ 9.99912529e-01 2.50488289e-05 -1.32262825e-02 1.36416458e+00] [-4.91945538e-05 9.99998333e-01 -1.82526446e-03 1.96562566e-01] [ 1.32262148e-02 1.82575547e-03 9.99910863e-01 -2.91225477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15313336499999 meters Centerline goodness [0,1] 0.2809123649459784 Centerline is valid? [False, False] Translation: X:1.36, Y:0.20, Z:-0.29 [[ 9.99913165e-01 6.22436832e-05 -1.31779329e-02 1.36411815e+00] [-8.25808276e-05 9.99998807e-01 -1.54273420e-03 1.95072445e-01] [ 1.31778212e-02 1.54368848e-03 9.99911977e-01 -2.91241979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18313336499999 meters Centerline goodness [0,1] 0.28246028620191677 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99914523e-01 3.20753001e-05 -1.30746220e-02 1.36378903e+00] [-5.00981613e-05 9.99999049e-01 -1.37813617e-03 1.93790504e-01] [ 1.30745653e-02 1.37867339e-03 9.99913574e-01 -2.91015346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21313336499999 meters Centerline goodness [0,1] 0.2805499533754039 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99918369e-01 4.76355184e-06 -1.27771121e-02 1.36266556e+00] [-1.83004224e-05 9.99999439e-01 -1.05934575e-03 1.91545296e-01] [ 1.27770999e-02 1.05949310e-03 9.99917808e-01 -2.90238661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24313336499999 meters Centerline goodness [0,1] 0.27532461948576836 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.29 [[ 9.99921730e-01 1.25692146e-04 -1.25106802e-02 1.36183281e+00] [-1.36561747e-04 9.99999614e-01 -8.67975277e-04 1.90997642e-01] [ 1.25105663e-02 8.69615821e-04 9.99921362e-01 -2.89921503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27313336499999 meters Centerline goodness [0,1] 0.2818762675273132 Centerline is valid? [False, False] Translation: X:1.31, Y:0.19, Z:-0.29 [[ 9.99898298e-01 5.10325136e-05 -1.42615366e-02 1.31467158e+00] [-5.04026523e-05 9.99999998e-01 4.45244587e-05 1.87281777e-01] [ 1.42615388e-02 -4.38011112e-05 9.99898298e-01 -2.89074673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.303133365 meters Centerline goodness [0,1] 0.2827704761075812 Centerline is valid? [False, False] Translation: X:1.31, Y:0.19, Z:-0.29 [[ 9.99900228e-01 3.94235140e-05 -1.41256226e-02 1.31445247e+00] [-3.91486103e-05 9.99999999e-01 1.97378702e-05 1.87288386e-01] [ 1.41256234e-02 -1.91829024e-05 9.99900228e-01 -2.89246256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.333133365 meters Centerline goodness [0,1] 0.27502423263327946 Centerline is valid? [False, False] Translation: X:1.32, Y:0.19, Z:-0.29 [[ 9.99896190e-01 -3.44110995e-05 -1.44085882e-02 1.31564951e+00] [ 3.28331767e-05 9.99999993e-01 -1.09749193e-04 1.87120213e-01] [ 1.44085919e-02 1.09264720e-04 9.99896185e-01 -2.90117428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.363133365 meters Centerline goodness [0,1] 0.2843972713205326 Centerline is valid? [False, False] Translation: X:1.30, Y:0.18, Z:-0.29 [[ 9.99861916e-01 7.78388295e-03 -1.46819967e-02 1.29615528e+00] [-7.80151804e-03 9.99968913e-01 -1.14424432e-03 1.81609770e-01] [ 1.46726336e-02 1.25862818e-03 9.99891559e-01 -2.91936196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.393133365 meters Centerline goodness [0,1] 0.2777958211540543 Centerline is valid? [False, False] Translation: X:1.31, Y:0.19, Z:-0.29 [[ 9.99888207e-01 6.66622275e-04 -1.49374837e-02 1.31460480e+00] [-6.66343446e-04 9.99999778e-01 2.36434209e-05 1.87185147e-01] [ 1.49374962e-02 -1.36872834e-05 9.99888429e-01 -2.90322076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.423133365 meters Centerline goodness [0,1] 0.28259208314228945 Centerline is valid? [False, False] Translation: X:1.31, Y:0.19, Z:-0.29 [[ 9.99889516e-01 6.56807633e-04 -1.48500850e-02 1.31455321e+00] [-6.57781870e-04 9.99999782e-01 -6.07205647e-05 1.87630760e-01] [ 1.48500419e-02 7.04819727e-05 9.99889730e-01 -2.90615180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.453133365 meters Centerline goodness [0,1] 0.2848802756622698 Centerline is valid? [False, False] Translation: X:1.31, Y:0.19, Z:-0.29 [[ 9.99891944e-01 6.32132634e-04 -1.46867666e-02 1.31428950e+00] [-6.35145300e-04 9.99999778e-01 -2.00464490e-04 1.88307987e-01] [ 1.46866367e-02 2.09771060e-04 9.99892124e-01 -2.90862710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48313336499999 meters Centerline goodness [0,1] 0.2825165967854647 Centerline is valid? [False, False] Translation: X:1.31, Y:0.19, Z:-0.29 [[ 9.99904407e-01 7.16187755e-04 -1.38081468e-02 1.31210799e+00] [-7.22145827e-04 9.99999648e-01 -4.26508435e-04 1.90059794e-01] [ 1.38078365e-02 4.36439159e-04 9.99904572e-01 -2.90771551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51313336499999 meters Centerline goodness [0,1] 0.2809414016618088 Centerline is valid? [False, False] Translation: X:1.31, Y:0.19, Z:-0.29 [[ 9.99909622e-01 7.04820187e-04 -1.34257927e-02 1.31112138e+00] [-7.12529478e-04 9.99999584e-01 -5.69440233e-04 1.91084554e-01] [ 1.34253858e-02 5.78955041e-04 9.99909708e-01 -2.90684877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54313336499999 meters Centerline goodness [0,1] 0.28225595963111183 Centerline is valid? [False, False] Translation: X:1.31, Y:0.19, Z:-0.29 [[ 9.99912835e-01 6.72490054e-04 -1.31859610e-02 1.31059225e+00] [-6.82279641e-04 9.99999495e-01 -7.37940600e-04 1.92106818e-01] [ 1.31854580e-02 7.46872791e-04 9.99912789e-01 -2.90823147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57313336499999 meters Centerline goodness [0,1] 0.2831479711530107 Centerline is valid? [False, False] Translation: X:1.31, Y:0.19, Z:-0.29 [[ 9.99912663e-01 6.05526266e-04 -1.32022820e-02 1.31089614e+00] [-6.18233399e-04 9.99999350e-01 -9.58435171e-04 1.93238245e-01] [ 1.32016931e-02 9.66513555e-04 9.99912387e-01 -2.91308652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60313336499999 meters Centerline goodness [0,1] 0.2849087238897665 Centerline is valid? [False, False] Translation: X:1.31, Y:0.19, Z:-0.29 [[ 9.99910798e-01 5.41286268e-04 -1.33455408e-02 1.31162240e+00] [-5.56649104e-04 9.99999187e-01 -1.14747103e-03 1.94125299e-01] [ 1.33449089e-02 1.15479746e-03 9.99910286e-01 -2.92004960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63313336499999 meters Centerline goodness [0,1] 0.27817480942480943 Centerline is valid? [False, False] Translation: X:1.33, Y:0.20, Z:-0.29 [[ 9.99876770e-01 -6.70080046e-03 -1.41966396e-02 1.33110513e+00] [ 6.69736564e-03 9.99977530e-01 -2.89474671e-04 2.00389453e-01] [ 1.41982604e-02 1.94358913e-04 9.99899181e-01 -2.90857149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.663133365 meters Centerline goodness [0,1] 0.27817480942480943 Centerline is valid? [False, False] Translation: X:1.33, Y:0.20, Z:-0.29 [[ 9.99876770e-01 -6.70080046e-03 -1.41966396e-02 1.33110513e+00] [ 6.69736564e-03 9.99977530e-01 -2.89474671e-04 2.00389453e-01] [ 1.41982604e-02 1.94358913e-04 9.99899181e-01 -2.90857149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.693133365 meters Centerline goodness [0,1] 0.2806347276792498 Centerline is valid? [False, False] Translation: X:1.33, Y:0.20, Z:-0.29 [[ 9.99877508e-01 -6.78569253e-03 -1.41039889e-02 1.33063767e+00] [ 6.77976161e-03 9.99976908e-01 -4.68285062e-04 2.01114998e-01] [ 1.41068409e-02 3.72606018e-04 9.99900424e-01 -2.90514679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.723133365 meters Centerline goodness [0,1] 0.27841620944398837 Centerline is valid? [False, False] Translation: X:1.33, Y:0.20, Z:-0.29 [[ 9.99877782e-01 -6.81839192e-03 -1.40687537e-02 1.33028368e+00] [ 6.81100871e-03 9.99976641e-01 -5.72642476e-04 2.01711381e-01] [ 1.40723295e-02 4.76750086e-04 9.99900866e-01 -2.90101216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.753133365 meters Centerline goodness [0,1] 0.28110669187802917 Centerline is valid? [False, False] Translation: X:1.33, Y:0.20, Z:-0.29 [[ 9.99877291e-01 -6.83529541e-03 -1.40954312e-02 1.33037958e+00] [ 6.82626038e-03 9.99976463e-01 -6.89002414e-04 2.02506744e-01] [ 1.40998090e-02 5.92698783e-04 9.99900417e-01 -2.90202023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.783133365 meters Centerline goodness [0,1] 0.27484257741740703 Centerline is valid? [False, False] Translation: X:1.35, Y:0.20, Z:-0.29 [[ 0.99989626 0.00180277 -0.01429074 1.35136349] [-0.00182874 0.9999967 -0.00180448 0.20205623] [ 0.01428744 0.00183043 0.99989625 -0.28924637] [ 0. 0. 0. 1. ]] SLAMing on 90.813133365 meters Centerline goodness [0,1] 0.2773385180384532 Centerline is valid? [False, False] Translation: X:1.35, Y:0.20, Z:-0.29 [[ 0.99989366 0.00174433 -0.01447851 1.3522671 ] [-0.00177541 0.99999615 -0.00213418 0.203929 ] [ 0.01447473 0.00215966 0.9998929 -0.29007404] [ 0. 0. 0. 1. ]] SLAMing on 90.843133365 meters Centerline goodness [0,1] 0.276684027402589 Centerline is valid? [False, False] Translation: X:1.35, Y:0.21, Z:-0.29 [[ 0.99989335 0.00165784 -0.01450967 1.35255056] [-0.0016936 0.99999556 -0.00245304 0.2055627 ] [ 0.01450554 0.00247735 0.99989172 -0.29047102] [ 0. 0. 0. 1. ]] SLAMing on 90.87313336499999 meters Centerline goodness [0,1] 0.2793477314290691 Centerline is valid? [False, False] Translation: X:1.35, Y:0.21, Z:-0.29 [[ 0.99989713 0.00151421 -0.01426296 1.35189351] [-0.00155605 0.99999452 -0.00292222 0.20790107] [ 0.01425846 0.00294411 0.99989401 -0.29049788] [ 0. 0. 0. 1. ]] SLAMing on 90.90313336499999 meters Centerline goodness [0,1] 0.2812882630750394 Centerline is valid? [False, False] Translation: X:1.35, Y:0.21, Z:-0.29 [[ 0.99989672 0.0014432 -0.01429898 1.35210599] [-0.00148814 0.99999399 -0.00313289 0.20904687] [ 0.01429438 0.00315384 0.99989286 -0.29077022] [ 0. 0. 0. 1. ]] SLAMing on 90.93313336499999 meters Centerline goodness [0,1] 0.27555958862673924 Centerline is valid? [False, False] Translation: X:1.37, Y:0.21, Z:-0.29 [[ 9.99881087e-01 -4.07021156e-03 -1.48743350e-02 1.37472104e+00] [ 4.06481303e-03 9.99991661e-01 -3.93157046e-04 2.14389394e-01] [ 1.48758112e-02 3.32648904e-04 9.99889294e-01 -2.90725801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96313336499999 meters Centerline goodness [0,1] 0.275923886045055 Centerline is valid? [False, False] Translation: X:1.37, Y:0.22, Z:-0.29 [[ 9.99880284e-01 -4.13859938e-03 -1.49093592e-02 1.37495538e+00] [ 4.12989621e-03 9.99991283e-01 -6.14480148e-04 2.15753483e-01] [ 1.49117724e-02 5.52832479e-04 9.99888661e-01 -2.91026441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99313336499999 meters Centerline goodness [0,1] 0.27904853017916165 Centerline is valid? [False, False] Translation: X:1.37, Y:0.22, Z:-0.29 [[ 9.99881128e-01 -4.22386123e-03 -1.48286782e-02 1.37467218e+00] [ 4.21188132e-03 9.99990778e-01 -8.39025509e-04 2.16995964e-01] [ 1.48320854e-02 7.76469140e-04 9.99889697e-01 -2.90923431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02313336499999 meters Centerline goodness [0,1] 0.2793625255468104 Centerline is valid? [False, False] Translation: X:1.37, Y:0.22, Z:-0.29 [[ 9.99884427e-01 -4.30166522e-03 -1.45817698e-02 1.37386255e+00] [ 4.28680252e-03 9.99990260e-01 -1.05036875e-03 2.18244938e-01] [ 1.45861461e-02 9.87738187e-04 9.99893129e-01 -2.90605491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.053133365 meters Centerline goodness [0,1] 0.27917645012609793 Centerline is valid? [False, False] Translation: X:1.37, Y:0.22, Z:-0.29 [[ 0.99988781 -0.00446318 -0.01429823 1.37275804] [ 0.00444129 0.99998892 -0.00156208 0.22123076] [ 0.01430505 0.0014984 0.99989655 -0.29003737] [ 0. 0. 0. 1. ]] SLAMing on 91.083133365 meters Centerline goodness [0,1] 0.2835788133546985 Centerline is valid? [False, False] Translation: X:1.37, Y:0.22, Z:-0.29 [[ 0.99988729 -0.00458082 -0.01429738 1.37269461] [ 0.0045543 0.99998785 -0.0018871 0.22293633] [ 0.01430585 0.00182177 0.99989601 -0.29000051] [ 0. 0. 0. 1. ]] SLAMing on 91.113133365 meters Centerline goodness [0,1] 0.27946896117158815 Centerline is valid? [False, False] Translation: X:1.39, Y:0.22, Z:-0.29 [[ 0.99990476 0.00365586 -0.01330823 1.39213405] [-0.00370057 0.99998759 -0.00333633 0.22324678] [ 0.01329586 0.00338526 0.99990588 -0.2888523 ] [ 0. 0. 0. 1. ]] SLAMing on 91.143133365 meters Centerline goodness [0,1] 0.27904147385344025 Centerline is valid? [False, False] Translation: X:1.39, Y:0.22, Z:-0.29 [[ 0.99990592 0.00354196 -0.01325186 1.39176849] [-0.00359038 0.99998696 -0.00363229 0.22475102] [ 0.01323882 0.00367953 0.99990559 -0.28850012] [ 0. 0. 0. 1. ]] SLAMing on 91.173133365 meters Centerline goodness [0,1] 0.280161468845628 Centerline is valid? [False, False] Translation: X:1.39, Y:0.23, Z:-0.29 [[ 0.99990901 0.00330097 -0.01307945 1.39119223] [-0.00335625 0.99998552 -0.00420695 0.22741713] [ 0.01306538 0.00425046 0.99990561 -0.28830029] [ 0. 0. 0. 1. ]] SLAMing on 91.203133365 meters Centerline goodness [0,1] 0.2836832751925229 Centerline is valid? [False, False] Translation: X:1.39, Y:0.23, Z:-0.29 [[ 0.99990909 0.00320554 -0.01309748 1.39121009] [-0.00326322 0.99998506 -0.00438527 0.22809578] [ 0.01308323 0.00442761 0.99990461 -0.28827418] [ 0. 0. 0. 1. ]] SLAMing on 91.23313336499999 meters Centerline goodness [0,1] 0.2803031953126701 Centerline is valid? [False, False] Translation: X:1.41, Y:0.23, Z:-0.29 [[ 0.99989876 -0.00438769 -0.01353595 1.41007194] [ 0.0043416 0.99998468 -0.00343323 0.23416835] [ 0.01355081 0.00337411 0.99990249 -0.28653349] [ 0. 0. 0. 1. ]] SLAMing on 91.26313336499999 meters Centerline goodness [0,1] 0.28014438863156976 Centerline is valid? [False, False] Translation: X:1.41, Y:0.23, Z:-0.29 [[ 0.99989722 -0.00440152 -0.01364493 1.4103697 ] [ 0.00435496 0.9999846 -0.00343997 0.23424923] [ 0.01365986 0.0033802 0.99990099 -0.28660112] [ 0. 0. 0. 1. ]] SLAMing on 91.29313336499999 meters Centerline goodness [0,1] 0.28073032000347353 Centerline is valid? [False, False] Translation: X:1.41, Y:0.23, Z:-0.29 [[ 0.99989627 -0.00438549 -0.01371896 1.41048017] [ 0.00434037 0.99998508 -0.00331663 0.23359581] [ 0.0137333 0.00325674 0.99990039 -0.28648697] [ 0. 0. 0. 1. ]] SLAMing on 91.32313336499999 meters Centerline goodness [0,1] 0.27905566385098546 Centerline is valid? [False, False] Translation: X:1.41, Y:0.23, Z:-0.29 [[ 0.99989645 -0.00465294 -0.01361798 1.40997995] [ 0.00461005 0.99998432 -0.00317904 0.2316771 ] [ 0.01363255 0.00311593 0.99990222 -0.28590758] [ 0. 0. 0. 1. ]] SLAMing on 91.35313336499999 meters Centerline goodness [0,1] 0.28103736875285323 Centerline is valid? [False, False] Translation: X:1.41, Y:0.23, Z:-0.29 [[ 0.99989899 -0.00458363 -0.01345384 1.40944918] [ 0.00454639 0.99998575 -0.00279735 0.22963559] [ 0.01346647 0.0027359 0.99990558 -0.28560355] [ 0. 0. 0. 1. ]] SLAMing on 91.38313336499999 meters Centerline goodness [0,1] 0.28211138603116725 Centerline is valid? [False, False] Translation: X:1.41, Y:0.23, Z:-0.29 [[ 0.99990186 -0.00448138 -0.01327341 1.4088602 ] [ 0.00445078 0.99998737 -0.00233399 0.22723758] [ 0.0132837 0.00227469 0.99990918 -0.28525206] [ 0. 0. 0. 1. ]] SLAMing on 91.413133365 meters Centerline goodness [0,1] 0.2828911572028642 Centerline is valid? [False, False] Translation: X:1.41, Y:0.22, Z:-0.28 [[ 0.99990405 -0.00445718 -0.01311553 1.4083341 ] [ 0.00443235 0.99998833 -0.00192131 0.22474391] [ 0.01312394 0.001863 0.99991214 -0.2849089 ] [ 0. 0. 0. 1. ]] SLAMing on 91.443133365 meters Centerline goodness [0,1] 0.2810583569896201 Centerline is valid? [False, False] Translation: X:1.41, Y:0.22, Z:-0.28 [[ 0.99990162 -0.00450642 -0.01328297 1.40877523] [ 0.00448657 0.99998877 -0.00152395 0.22186712] [ 0.01328969 0.00146421 0.99991062 -0.28486951] [ 0. 0. 0. 1. ]] SLAMing on 91.473133365 meters Centerline goodness [0,1] 0.28355843140660963 Centerline is valid? [False, False] Translation: X:1.41, Y:0.22, Z:-0.29 [[ 9.99898731e-01 -4.48726828e-03 -1.35052527e-02 1.40951383e+00] [ 4.47373128e-03 9.99989460e-01 -1.03239529e-03 2.18667058e-01] [ 1.35097430e-02 9.71871869e-04 9.99908267e-01 -2.85124473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.503133365 meters Centerline goodness [0,1] 0.2820701921825517 Centerline is valid? [False, False] Translation: X:1.41, Y:0.22, Z:-0.29 [[ 9.99894472e-01 -4.39232113e-03 -1.38474389e-02 1.41062941e+00] [ 4.38609897e-03 9.99990266e-01 -4.79674599e-04 2.15470095e-01] [ 1.38494110e-02 4.18887742e-04 9.99904005e-01 -2.85546322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.533133365 meters Centerline goodness [0,1] 0.2836479902557856 Centerline is valid? [False, False] Translation: X:1.41, Y:0.21, Z:-0.29 [[ 9.99892330e-01 -4.19964950e-03 -1.40603094e-02 1.41133718e+00] [ 4.20196976e-03 9.99991163e-01 1.35483715e-04 2.12355619e-01] [ 1.40596162e-02 -1.94550122e-04 9.99901140e-01 -2.85793155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.563133365 meters Centerline goodness [0,1] 0.28232464408762925 Centerline is valid? [False, False] Translation: X:1.41, Y:0.21, Z:-0.29 [[ 9.99892008e-01 -4.03391298e-03 -1.41315271e-02 1.41160827e+00] [ 4.04309445e-03 9.99991634e-01 6.21206691e-04 2.09905032e-01] [ 1.41289030e-02 -6.78274704e-04 9.99899952e-01 -2.85910933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.593133365 meters Centerline goodness [0,1] 0.28451453875182686 Centerline is valid? [False, False] Translation: X:1.41, Y:0.21, Z:-0.29 [[ 0.99989426 -0.00369916 -0.01406394 1.41138372] [ 0.00371971 0.99999205 0.00143549 0.20608956] [ 0.01405852 -0.00148765 0.99990007 -0.28573479] [ 0. 0. 0. 1. ]] SLAMing on 91.62313336499999 meters Centerline goodness [0,1] 0.2805268393961676 Centerline is valid? [False, False] Translation: X:1.43, Y:0.20, Z:-0.28 [[ 9.99892029e-01 4.49969936e-03 -1.39886992e-02 1.43121987e+00] [-4.49676199e-03 9.99989860e-01 2.41428222e-04 2.00989794e-01] [ 1.39896438e-02 -1.78498304e-04 9.99902124e-01 -2.84247696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65313336499999 meters Centerline goodness [0,1] 0.2842366030683645 Centerline is valid? [False, False] Translation: X:1.43, Y:0.20, Z:-0.28 [[ 9.99889974e-01 4.54374057e-03 -1.41207126e-02 1.43178894e+00] [-4.53872958e-03 9.99989625e-01 3.86895124e-04 2.00072363e-01] [ 1.41223241e-02 -3.22762459e-04 9.99900223e-01 -2.84664995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68313336499999 meters Centerline goodness [0,1] 0.28556189315104286 Centerline is valid? [False, False] Translation: X:1.43, Y:0.20, Z:-0.29 [[ 9.99889021e-01 4.60246080e-03 -1.41690583e-02 1.43211959e+00] [-4.59488521e-03 9.99989283e-01 5.67165138e-04 1.99037522e-01] [ 1.41715168e-02 -5.01996998e-04 9.99899453e-01 -2.85054136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71313336499999 meters Centerline goodness [0,1] 0.28462808481056656 Centerline is valid? [False, False] Translation: X:1.43, Y:0.20, Z:-0.29 [[ 9.99887489e-01 4.67202954e-03 -1.42541976e-02 1.43246252e+00] [-4.66141645e-03 9.99988833e-01 7.77692187e-04 1.97925835e-01] [ 1.42576718e-02 -7.11159936e-04 9.99898101e-01 -2.85282073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74313336499999 meters Centerline goodness [0,1] 0.2827784628031237 Centerline is valid? [False, False] Translation: X:1.43, Y:0.20, Z:-0.29 [[ 9.99886297e-01 4.78327251e-03 -1.43008325e-02 1.43272992e+00] [-4.76770051e-03 9.99988004e-01 1.12278257e-03 1.96217050e-01] [ 1.43060315e-02 -1.05447282e-03 9.99897107e-01 -2.85529347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77313336499999 meters Centerline goodness [0,1] 0.2830629967299738 Centerline is valid? [False, False] Translation: X:1.43, Y:0.19, Z:-0.29 [[ 9.99885942e-01 4.82763721e-03 -1.43107131e-02 1.43279218e+00] [-4.80696338e-03 9.99987353e-01 1.47868585e-03 1.94199838e-01] [ 1.43176706e-02 -1.40972612e-03 9.99896503e-01 -2.85541765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.803133365 meters Centerline goodness [0,1] 0.28916559073899817 Centerline is valid? [False, False] Translation: X:1.41, Y:0.19, Z:-0.29 [[ 9.99860423e-01 -6.24480375e-03 -1.54963728e-02 1.41193394e+00] [ 6.26163870e-03 9.99979857e-01 1.03809834e-03 1.91864458e-01] [ 1.54895780e-02 -1.13498614e-03 9.99879385e-01 -2.86055078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.833133365 meters Centerline goodness [0,1] 0.28268566493955094 Centerline is valid? [False, False] Translation: X:1.43, Y:0.19, Z:-0.29 [[ 9.99885284e-01 -2.04014131e-04 -1.51451827e-02 1.43415410e+00] [ 1.80396259e-04 9.99998766e-01 -1.56078108e-03 1.88199137e-01] [ 1.51454824e-02 1.55786990e-03 9.99884087e-01 -2.86203970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.863133365 meters Centerline goodness [0,1] 0.2841933731667572 Centerline is valid? [False, False] Translation: X:1.44, Y:0.19, Z:-0.29 [[ 9.99879838e-01 -1.69941752e-04 -1.55010162e-02 1.43503771e+00] [ 1.52734330e-04 9.99999371e-01 -1.11126056e-03 1.85793661e-01] [ 1.55011953e-02 1.10875949e-03 9.99879235e-01 -2.86258993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.893133365 meters Centerline goodness [0,1] 0.2838007715982487 Centerline is valid? [False, False] Translation: X:1.44, Y:0.18, Z:-0.29 [[ 9.99875295e-01 -1.11298662e-04 -1.57918342e-02 1.43593869e+00] [ 1.00466194e-04 9.99999759e-01 -6.86745385e-04 1.83571791e-01] [ 1.57919069e-02 6.85073199e-04 9.99875065e-01 -2.86593390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.923133365 meters Centerline goodness [0,1] 0.2823557452709584 Centerline is valid? [False, False] Translation: X:1.44, Y:0.18, Z:-0.29 [[ 9.99874174e-01 -8.01374518e-05 -1.58628718e-02 1.43608729e+00] [ 7.47117824e-05 9.99999939e-01 -3.42628070e-04 1.81573934e-01] [ 1.58628983e-02 3.41399815e-04 9.99874118e-01 -2.86514491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.953133365 meters Centerline goodness [0,1] 0.28156031430791817 Centerline is valid? [False, False] Translation: X:1.44, Y:0.18, Z:-0.29 [[ 9.99875386e-01 -8.17765131e-05 -1.57862367e-02 1.43567693e+00] [ 8.14465580e-05 9.99999996e-01 -2.15443481e-05 1.79391251e-01] [ 1.57862384e-02 2.02559287e-05 9.99875389e-01 -2.86115303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98313336499999 meters Centerline goodness [0,1] 0.28471740638002774 Centerline is valid? [False, False] Translation: X:1.43, Y:0.18, Z:-0.29 [[ 9.99877906e-01 -9.07708156e-05 -1.56257645e-02 1.43494174e+00] [ 9.54711367e-05 9.99999950e-01 3.00060143e-04 1.77179846e-01] [ 1.56257365e-02 -3.01515317e-04 9.99877865e-01 -2.85547594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01313336499999 meters Centerline goodness [0,1] 0.28869345639775346 Centerline is valid? [False, False] Translation: X:1.43, Y:0.17, Z:-0.28 [[ 9.99883043e-01 -1.61897142e-04 -1.52929446e-02 1.43376954e+00] [ 1.75037107e-04 9.99999617e-01 8.57882868e-04 1.73423637e-01] [ 1.52927998e-02 -8.60459366e-04 9.99882688e-01 -2.84872342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04313336499999 meters Centerline goodness [0,1] 0.2905947501526118 Centerline is valid? [False, False] Translation: X:1.43, Y:0.17, Z:-0.28 [[ 9.99882753e-01 -8.13439515e-05 -1.53125564e-02 1.43386866e+00] [ 9.81039604e-05 9.99999397e-01 1.09377918e-03 1.72270408e-01] [ 1.53124582e-02 -1.09515316e-03 9.99882158e-01 -2.84924024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07313336499999 meters Centerline goodness [0,1] 0.28823081110506266 Centerline is valid? [False, False] Translation: X:1.43, Y:0.17, Z:-0.28 [[ 9.99883764e-01 -4.40324136e-05 -1.52465581e-02 1.43375519e+00] [ 6.28486632e-05 9.99999237e-01 1.23365403e-03 1.71439061e-01] [ 1.52464921e-02 -1.23446886e-03 9.99883003e-01 -2.84998823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10313336499999 meters Centerline goodness [0,1] 0.28957537386748167 Centerline is valid? [False, False] Translation: X:1.43, Y:0.17, Z:-0.28 [[ 9.99883531e-01 -6.62897882e-05 -1.52617411e-02 1.43375226e+00] [ 8.55953058e-05 9.99999197e-01 1.26431194e-03 1.70995694e-01] [ 1.52616451e-02 -1.26547102e-03 9.99882734e-01 -2.84908325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13313336499999 meters Centerline goodness [0,1] 0.2912364368218411 Centerline is valid? [False, False] Translation: X:1.43, Y:0.17, Z:-0.28 [[ 9.99883292e-01 -1.17839074e-04 -1.52770546e-02 1.43377211e+00] [ 1.35965223e-04 9.99999288e-01 1.18546175e-03 1.71171494e-01] [ 1.52769041e-02 -1.18740054e-03 9.99882596e-01 -2.84892704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.163133365 meters Centerline goodness [0,1] 0.2860473147988257 Centerline is valid? [False, False] Translation: X:1.45, Y:0.17, Z:-0.28 [[ 9.99859292e-01 8.19890195e-03 -1.46346886e-02 1.45348627e+00] [-8.20144450e-03 9.99966361e-01 -1.13725912e-04 1.68394389e-01] [ 1.46332639e-02 2.33735497e-04 9.99892901e-01 -2.83637443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.193133365 meters Centerline goodness [0,1] 0.2899516929331789 Centerline is valid? [False, False] Translation: X:1.43, Y:0.17, Z:-0.29 [[ 9.99889193e-01 -3.07475488e-04 -1.48831002e-02 1.43362936e+00] [ 3.21307718e-04 9.99999519e-01 9.27009509e-04 1.74265793e-01] [ 1.48828080e-02 -9.31688845e-04 9.99888811e-01 -2.85140552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.223133365 meters Centerline goodness [0,1] 0.2861937551426963 Centerline is valid? [False, False] Translation: X:1.43, Y:0.18, Z:-0.29 [[ 9.99887888e-01 -3.31475519e-04 -1.49700474e-02 1.43394343e+00] [ 3.39078851e-04 9.99999815e-01 5.05367674e-04 1.77574248e-01] [ 1.49698771e-02 -5.10387042e-04 9.99887815e-01 -2.85303963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.253133365 meters Centerline goodness [0,1] 0.2898796701264226 Centerline is valid? [False, False] Translation: X:1.43, Y:0.18, Z:-0.29 [[ 9.99886466e-01 -4.91023133e-04 -1.50603393e-02 1.43438840e+00] [ 4.92864636e-04 9.99999872e-01 1.18563682e-04 1.79386656e-01] [ 1.50602792e-02 -1.25972930e-04 9.99886580e-01 -2.85691891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.283133365 meters Centerline goodness [0,1] 0.2887156822189807 Centerline is valid? [False, False] Translation: X:1.44, Y:0.18, Z:-0.29 [[ 9.99883230e-01 -6.69810943e-04 -1.52668966e-02 1.43500419e+00] [ 6.66430560e-04 9.99999752e-01 -2.26505562e-04 1.80756984e-01] [ 1.52670446e-02 2.16304786e-04 9.99883428e-01 -2.85913068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.313133365 meters Centerline goodness [0,1] 0.2911689837477971 Centerline is valid? [False, False] Translation: X:1.44, Y:0.18, Z:-0.29 [[ 9.99880716e-01 -8.46070263e-04 -1.54219979e-02 1.43537808e+00] [ 8.37724142e-04 9.99999499e-01 -5.47634917e-04 1.82061625e-01] [ 1.54224535e-02 5.34650213e-04 9.99880924e-01 -2.85910079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.343133365 meters Centerline goodness [0,1] 0.28871818240999936 Centerline is valid? [False, False] Translation: X:1.43, Y:0.18, Z:-0.29 [[ 9.99882654e-01 -9.47333244e-04 -1.52898858e-02 1.43486780e+00] [ 9.35972803e-04 9.99999281e-01 -7.50142460e-04 1.83172168e-01] [ 1.52905854e-02 7.35743517e-04 9.99882821e-01 -2.85611924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37313336499999 meters Centerline goodness [0,1] 0.2924330464415221 Centerline is valid? [False, False] Translation: X:1.43, Y:0.18, Z:-0.29 [[ 9.99887064e-01 -1.01597030e-03 -1.49942396e-02 1.43387983e+00] [ 1.00273503e-03 9.99999101e-01 -8.90181688e-04 1.84057129e-01] [ 1.49951305e-02 8.75045905e-04 9.99887184e-01 -2.85195484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40313336499999 meters Centerline goodness [0,1] 0.2874355307068869 Centerline is valid? [False, False] Translation: X:1.43, Y:0.19, Z:-0.28 [[ 9.99892625e-01 -1.53417222e-03 -1.45734193e-02 1.43268482e+00] [ 1.51343714e-03 9.99997827e-01 -1.43372320e-03 1.85955928e-01] [ 1.45755872e-02 1.41151331e-03 9.99892774e-01 -2.84860041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43313336499999 meters Centerline goodness [0,1] 0.290591409547848 Centerline is valid? [False, False] Translation: X:1.43, Y:0.19, Z:-0.28 [[ 0.99989189 -0.00169517 -0.01460588 1.43283774] [ 0.00167094 0.99999721 -0.00167125 0.18688604] [ 0.01460868 0.00164666 0.99989193 -0.2849841 ] [ 0. 0. 0. 1. ]] SLAMing on 92.46313336499999 meters Centerline goodness [0,1] 0.28974904480722474 Centerline is valid? [False, False] Translation: X:1.43, Y:0.19, Z:-0.29 [[ 0.99988907 -0.00183954 -0.01478068 1.43335592] [ 0.00181155 0.99999654 -0.00190705 0.18802048] [ 0.01478414 0.00188006 0.99988894 -0.28516986] [ 0. 0. 0. 1. ]] SLAMing on 92.49313336499999 meters Centerline goodness [0,1] 0.29141358968756825 Centerline is valid? [False, False] Translation: X:1.43, Y:0.19, Z:-0.29 [[ 0.99988748 -0.0019382 -0.01487534 1.43360382] [ 0.00190699 0.99999595 -0.00211198 0.18913342] [ 0.01487938 0.00208337 0.99988713 -0.28523837] [ 0. 0. 0. 1. ]] SLAMing on 92.52313336499999 meters Centerline goodness [0,1] 0.28763767236146043 Centerline is valid? [False, False] Translation: X:1.43, Y:0.19, Z:-0.29 [[ 0.99988608 -0.00207005 -0.01495149 1.43382752] [ 0.00203491 0.99999513 -0.00236535 0.19038823] [ 0.01495631 0.00233465 0.99988542 -0.2853154 ] [ 0. 0. 0. 1. ]] SLAMing on 92.553133365 meters Centerline goodness [0,1] 0.2858344113842173 Centerline is valid? [False, False] Translation: X:1.43, Y:0.19, Z:-0.29 [[ 0.9998827 -0.00223376 -0.01515235 1.43452565] [ 0.00219445 0.99999418 -0.00261098 0.19142082] [ 0.01515809 0.00257742 0.99988179 -0.28566745] [ 0. 0. 0. 1. ]] SLAMing on 92.583133365 meters Centerline goodness [0,1] 0.2858344113842173 Centerline is valid? [False, False] Translation: X:1.43, Y:0.19, Z:-0.29 [[ 0.9998827 -0.00223376 -0.01515235 1.43452565] [ 0.00219445 0.99999418 -0.00261098 0.19142082] [ 0.01515809 0.00257742 0.99988179 -0.28566745] [ 0. 0. 0. 1. ]] SLAMing on 92.613133365 meters Centerline goodness [0,1] 0.28504379798853685 Centerline is valid? [False, False] Translation: X:1.44, Y:0.19, Z:-0.29 [[ 0.99987915 -0.00255266 -0.01533539 1.43527116] [ 0.00250586 0.99999215 -0.00307019 0.19328455] [ 0.0153431 0.00303139 0.99987769 -0.28617285] [ 0. 0. 0. 1. ]] SLAMing on 92.643133365 meters Centerline goodness [0,1] 0.2912598029578173 Centerline is valid? [False, False] Translation: X:1.44, Y:0.19, Z:-0.29 [[ 0.99988034 -0.00263733 -0.01524271 1.43508277] [ 0.00258762 0.99999127 -0.00327992 0.19443577] [ 0.01525123 0.00324009 0.99987844 -0.28625214] [ 0. 0. 0. 1. ]] SLAMing on 92.673133365 meters Centerline goodness [0,1] 0.2863606841307642 Centerline is valid? [False, False] Translation: X:1.43, Y:0.20, Z:-0.29 [[ 0.99988123 -0.00272658 -0.01516875 1.43491396] [ 0.00267361 0.99999026 -0.00351092 0.19580684] [ 0.01517817 0.00346995 0.99987878 -0.2862515 ] [ 0. 0. 0. 1. ]] SLAMing on 92.703133365 meters Centerline goodness [0,1] 0.28845485356739375 Centerline is valid? [False, False] Translation: X:1.43, Y:0.20, Z:-0.29 [[ 0.99988207 -0.00284163 -0.015092 1.43469765] [ 0.00278482 0.99998896 -0.0037838 0.19719123] [ 0.01510258 0.00374132 0.99987895 -0.28617049] [ 0. 0. 0. 1. ]] SLAMing on 92.73313336499999 meters Centerline goodness [0,1] 0.28715250714471297 Centerline is valid? [False, False] Translation: X:1.43, Y:0.20, Z:-0.29 [[ 0.99988126 -0.00295513 -0.01512369 1.43471505] [ 0.00289423 0.99998762 -0.00404757 0.19840348] [ 0.01513547 0.00400331 0.99987744 -0.28606681] [ 0. 0. 0. 1. ]] SLAMing on 92.76313336499999 meters Centerline goodness [0,1] 0.28690142984226175 Centerline is valid? [False, False] Translation: X:1.44, Y:0.20, Z:-0.29 [[ 0.9998791 -0.00308366 -0.01524084 1.43500192] [ 0.00301824 0.99998614 -0.00431345 0.19954535] [ 0.01525393 0.00426692 0.99987455 -0.28609251] [ 0. 0. 0. 1. ]] SLAMing on 92.79313336499999 meters Centerline goodness [0,1] 0.2887123727673243 Centerline is valid? [False, False] Translation: X:1.44, Y:0.20, Z:-0.29 [[ 0.99987671 -0.00313752 -0.01538595 1.43546204] [ 0.0030693 0.99998536 -0.00445533 0.20031363] [ 0.0153997 0.00440756 0.9998717 -0.28626007] [ 0. 0. 0. 1. ]] SLAMing on 92.82313336499999 meters Centerline goodness [0,1] 0.28844481169000613 Centerline is valid? [False, False] Translation: X:1.44, Y:0.20, Z:-0.29 [[ 0.99987432 -0.00316248 -0.01553517 1.43593223] [ 0.00309234 0.99998493 -0.00453642 0.20083908] [ 0.01554928 0.00448781 0.99986903 -0.28646849] [ 0. 0. 0. 1. ]] SLAMing on 92.85313336499999 meters Centerline goodness [0,1] 0.2844894609536973 Centerline is valid? [False, False] Translation: X:1.44, Y:0.20, Z:-0.29 [[ 0.99987394 -0.00321715 -0.01554823 1.43599707] [ 0.00314616 0.99998453 -0.00458784 0.20101214] [ 0.01556275 0.00453835 0.99986859 -0.28654865] [ 0. 0. 0. 1. ]] SLAMing on 92.88313336499999 meters Centerline goodness [0,1] 0.2896613385088427 Centerline is valid? [False, False] Translation: X:1.44, Y:0.20, Z:-0.29 [[ 0.99987321 -0.0032081 -0.01559747 1.43606607] [ 0.00313785 0.99998483 -0.00452614 0.20059444] [ 0.01561175 0.00447662 0.99986811 -0.28648201] [ 0. 0. 0. 1. ]] SLAMing on 92.913133365 meters Centerline goodness [0,1] 0.28874345549738223 Centerline is valid? [False, False] Translation: X:1.44, Y:0.20, Z:-0.29 [[ 0.99987405 -0.00319249 -0.01554619 1.43606291] [ 0.00312363 0.99998521 -0.00445152 0.20017643] [ 0.01556017 0.0044024 0.99986924 -0.28670316] [ 0. 0. 0. 1. ]] SLAMing on 92.943133365 meters Centerline goodness [0,1] 0.2901564622868914 Centerline is valid? [False, False] Translation: X:1.44, Y:0.20, Z:-0.29 [[ 0.999874 -0.00316293 -0.01555575 1.43609187] [ 0.00309564 0.99998575 -0.00434829 0.19968712] [ 0.01556928 0.00429959 0.99986955 -0.28674346] [ 0. 0. 0. 1. ]] SLAMing on 92.973133365 meters Centerline goodness [0,1] 0.2858506116075301 Centerline is valid? [False, False] Translation: X:1.44, Y:0.20, Z:-0.29 [[ 0.99987408 -0.00312495 -0.01555806 1.43619048] [ 0.00305931 0.99998633 -0.00424059 0.19917327] [ 0.0155711 0.00419246 0.99986997 -0.28693339] [ 0. 0. 0. 1. ]] SLAMing on 93.003133365 meters Centerline goodness [0,1] 0.28401650856760086 Centerline is valid? [False, False] Translation: X:1.44, Y:0.20, Z:-0.29 [[ 0.9998727 -0.00307081 -0.01565739 1.43651396] [ 0.00300653 0.99998696 -0.00412749 0.1987069 ] [ 0.01566986 0.00407989 0.9998689 -0.28710497] [ 0. 0. 0. 1. ]] SLAMing on 93.033133365 meters Centerline goodness [0,1] 0.28272138693510573 Centerline is valid? [False, False] Translation: X:1.44, Y:0.20, Z:-0.29 [[ 0.99986502 -0.00301774 -0.01615064 1.43800498] [ 0.0029557 0.99998817 -0.00386387 0.19723615] [ 0.01616211 0.00381561 0.9998621 -0.28761867] [ 0. 0. 0. 1. ]] SLAMing on 93.063133365 meters Centerline goodness [0,1] 0.2863836525738085 Centerline is valid? [False, False] Translation: X:1.44, Y:0.20, Z:-0.29 [[ 0.99986266 -0.00298336 -0.01630211 1.43849213] [ 0.00292318 0.99998883 -0.00371423 0.1962734 ] [ 0.016313 0.00366606 0.99986021 -0.28781282] [ 0. 0. 0. 1. ]] SLAMing on 93.093133365 meters Centerline goodness [0,1] 0.2824491552781664 Centerline is valid? [False, False] Translation: X:1.44, Y:0.20, Z:-0.29 [[ 0.9998601 -0.00293726 -0.01646665 1.43888548] [ 0.00287899 0.99998951 -0.00356127 0.19537956] [ 0.01647693 0.00351337 0.99985807 -0.28784708] [ 0. 0. 0. 1. ]] SLAMing on 93.12313336499999 meters Centerline goodness [0,1] 0.28548397638395673 Centerline is valid? [False, False] Translation: X:1.42, Y:0.19, Z:-0.29 [[ 0.99984622 0.00533504 -0.01670578 1.41807209] [-0.00540784 0.99997607 -0.0043156 0.19110502] [ 0.01668236 0.00440528 0.99985114 -0.28913735] [ 0. 0. 0. 1. ]] SLAMing on 93.15313336499999 meters Centerline goodness [0,1] 0.2837281822512885 Centerline is valid? [False, False] Translation: X:1.44, Y:0.19, Z:-0.29 [[ 0.99986299 -0.00246359 -0.01636849 1.43734661] [ 0.00241291 0.99999224 -0.00311517 0.19447967] [ 0.01637604 0.00307525 0.99986117 -0.28730835] [ 0. 0. 0. 1. ]] SLAMing on 93.18313336499999 meters Centerline goodness [0,1] 0.28600925905801033 Centerline is valid? [False, False] Translation: X:1.44, Y:0.19, Z:-0.29 [[ 0.99986417 -0.00246345 -0.0162964 1.43708975] [ 0.00241258 0.99999216 -0.00314032 0.19460144] [ 0.016304 0.00310058 0.99986227 -0.28717477] [ 0. 0. 0. 1. ]] SLAMing on 93.21313336499999 meters Centerline goodness [0,1] 0.287602403058438 Centerline is valid? [False, False] Translation: X:1.44, Y:0.20, Z:-0.29 [[ 0.99986375 -0.00251242 -0.01631474 1.43708225] [ 0.00245942 0.99999164 -0.00326789 0.19515593] [ 0.01632281 0.00322732 0.99986157 -0.28705283] [ 0. 0. 0. 1. ]] SLAMing on 93.24313336499999 meters Centerline goodness [0,1] 0.2842260612900426 Centerline is valid? [False, False] Translation: X:1.44, Y:0.20, Z:-0.29 [[ 0.99986249 -0.0025304 -0.01638873 1.43718907] [ 0.00247576 0.99999131 -0.00335342 0.19561821] [ 0.01639708 0.00331238 0.99986007 -0.28693716] [ 0. 0. 0. 1. ]] SLAMing on 93.27313336499999 meters Centerline goodness [0,1] 0.28613850655684403 Centerline is valid? [False, False] Translation: X:1.44, Y:0.20, Z:-0.29 [[ 0.99986322 -0.00257047 -0.01633827 1.43682514] [ 0.00251148 0.99999026 -0.00362955 0.19720754] [ 0.01634744 0.00358802 0.99985993 -0.2865075 ] [ 0. 0. 0. 1. ]] SLAMing on 93.303133365 meters Centerline goodness [0,1] 0.2828842077944548 Centerline is valid? [False, False] Translation: X:1.44, Y:0.20, Z:-0.29 [[ 0.99986342 -0.0026201 -0.01631827 1.43672481] [ 0.00255715 0.99998921 -0.00387703 0.19856184] [ 0.01632825 0.00383477 0.99985933 -0.28636729] [ 0. 0. 0. 1. ]] SLAMing on 93.333133365 meters Centerline goodness [0,1] 0.28775953169191637 Centerline is valid? [False, False] Translation: X:1.42, Y:0.20, Z:-0.29 [[ 0.9998427 0.00588643 -0.01673082 1.41561767] [-0.00596811 0.9999705 -0.00483621 0.19686215] [ 0.01670186 0.0049353 0.99984833 -0.28750768] [ 0. 0. 0. 1. ]] SLAMing on 93.363133365 meters Centerline goodness [0,1] 0.2861566643405443 Centerline is valid? [False, False] Translation: X:1.42, Y:0.20, Z:-0.29 [[ 0.99984327 0.0058207 -0.01672017 1.41567615] [-0.00590758 0.99996928 -0.0051513 0.19858093] [ 0.01668967 0.00524927 0.99984694 -0.28762254] [ 0. 0. 0. 1. ]] SLAMing on 93.393133365 meters Centerline goodness [0,1] 0.2854567960216291 Centerline is valid? [False, False] Translation: X:1.42, Y:0.20, Z:-0.29 [[ 0.99984516 0.00578533 -0.0166191 1.41536159] [-0.00587739 0.99996763 -0.0054957 0.20057627] [ 0.01658677 0.00559253 0.99984679 -0.28743552] [ 0. 0. 0. 1. ]] SLAMing on 93.423133365 meters Centerline goodness [0,1] 0.28816672862860016 Centerline is valid? [False, False] Translation: X:1.41, Y:0.20, Z:-0.29 [[ 0.99985 0.00576549 -0.01633195 1.41453275] [-0.00586192 0.99996563 -0.005863 0.20270261] [ 0.01629758 0.00595786 0.99984944 -0.28710089] [ 0. 0. 0. 1. ]] SLAMing on 93.453133365 meters Centerline goodness [0,1] 0.2860118466445356 Centerline is valid? [False, False] Translation: X:1.43, Y:0.21, Z:-0.28 [[ 9.99857585e-01 -2.80765043e-05 -1.68762750e-02 1.43142864e+00] [-4.18417255e-05 9.99991418e-01 -4.14262212e-03 2.11315946e-01] [ 1.68762465e-02 4.14273828e-03 9.99849004e-01 -2.83863737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48313336499999 meters Centerline goodness [0,1] 0.28418387222438646 Centerline is valid? [False, False] Translation: X:1.43, Y:0.21, Z:-0.28 [[ 9.99857747e-01 -9.24705635e-05 -1.68664602e-02 1.43150621e+00] [ 1.64791626e-05 9.99989850e-01 -4.50555752e-03 2.13372957e-01] [ 1.68667056e-02 4.50463865e-03 9.99847600e-01 -2.84020621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51313336499999 meters Centerline goodness [0,1] 0.28909063134233903 Centerline is valid? [False, False] Translation: X:1.43, Y:0.22, Z:-0.28 [[ 9.99857824e-01 -1.56571022e-04 -1.68614349e-02 1.43176312e+00] [ 7.53001346e-05 9.99988379e-01 -4.82045413e-03 2.15158672e-01] [ 1.68619937e-02 4.81849911e-03 9.99846216e-01 -2.84443548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54313336499999 meters Centerline goodness [0,1] 0.28770548838827525 Centerline is valid? [False, False] Translation: X:1.43, Y:0.22, Z:-0.28 [[ 9.99859119e-01 -1.69912795e-04 -1.67843390e-02 1.43174677e+00] [ 8.54224416e-05 9.99987323e-01 -5.03446899e-03 2.16532903e-01] [ 1.67849816e-02 5.03232597e-03 9.99846458e-01 -2.84702645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57313336499999 meters Centerline goodness [0,1] 0.2835392190739461 Centerline is valid? [False, False] Translation: X:1.43, Y:0.22, Z:-0.28 [[ 9.99864753e-01 -1.45008564e-04 -1.64455219e-02 1.43089924e+00] [ 6.04824355e-05 9.99986788e-01 -5.14014652e-03 2.17400899e-01] [ 1.64460500e-02 5.13845667e-03 9.99851551e-01 -2.84643537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60313336499999 meters Centerline goodness [0,1] 0.28549476235823734 Centerline is valid? [False, False] Translation: X:1.43, Y:0.22, Z:-0.28 [[ 9.99871259e-01 -1.01069395e-04 -1.60454248e-02 1.42957103e+00] [ 1.70144920e-05 9.99986278e-01 -5.23860899e-03 2.18326024e-01] [ 1.60457341e-02 5.23766156e-03 9.99857541e-01 -2.84044793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63313336499999 meters Centerline goodness [0,1] 0.28606436502428867 Centerline is valid? [False, False] Translation: X:1.43, Y:0.22, Z:-0.28 [[ 9.99879012e-01 -6.24134014e-06 -1.55551198e-02 1.42817708e+00] [-7.94157256e-05 9.99984838e-01 -5.50605612e-03 2.20304761e-01] [ 1.55549183e-02 5.50662528e-03 9.99863852e-01 -2.83613199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.663133365 meters Centerline goodness [0,1] 0.2842139244592704 Centerline is valid? [False, False] Translation: X:1.43, Y:0.22, Z:-0.28 [[ 9.99877423e-01 -5.05672607e-05 -1.56568564e-02 1.42862095e+00] [-3.96031094e-05 9.99983417e-01 -5.75879823e-03 2.21655295e-01] [ 1.56568880e-02 5.75871239e-03 9.99860840e-01 -2.83936394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.693133365 meters Centerline goodness [0,1] 0.28671966636257007 Centerline is valid? [False, False] Translation: X:1.43, Y:0.22, Z:-0.28 [[ 9.99876371e-01 -1.13463003e-04 -1.57235354e-02 1.42888832e+00] [ 1.84556469e-05 9.99981744e-01 -6.04237939e-03 2.23179286e-01] [ 1.57239339e-02 6.04134219e-03 9.99858120e-01 -2.84112012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.723133365 meters Centerline goodness [0,1] 0.28722662716737823 Centerline is valid? [False, False] Translation: X:1.43, Y:0.22, Z:-0.28 [[ 9.99875686e-01 -1.78872774e-04 -1.57664200e-02 1.42909232e+00] [ 7.94849836e-05 9.99980125e-01 -6.30416518e-03 2.24522743e-01] [ 1.57672343e-02 6.30212829e-03 9.99855828e-01 -2.84312641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.753133365 meters Centerline goodness [0,1] 0.2879051555362193 Centerline is valid? [False, False] Translation: X:1.43, Y:0.23, Z:-0.28 [[ 9.99875234e-01 -1.75013129e-04 -1.57951357e-02 1.42924868e+00] [ 7.31689950e-05 9.99979208e-01 -6.44816391e-03 2.25539050e-01] [ 1.57959358e-02 6.44620369e-03 9.99854457e-01 -2.84477884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.783133365 meters Centerline goodness [0,1] 0.28348560593001204 Centerline is valid? [False, False] Translation: X:1.45, Y:0.23, Z:-0.28 [[ 0.99984578 -0.00578904 -0.01657998 1.44984954] [ 0.00573127 0.99997735 -0.00352974 0.22941225] [ 0.01660004 0.00343417 0.99985631 -0.28306382] [ 0. 0. 0. 1. ]] SLAMing on 93.813133365 meters Centerline goodness [0,1] 0.2852785289345592 Centerline is valid? [False, False] Translation: X:1.45, Y:0.23, Z:-0.28 [[ 0.9998438 -0.00574927 -0.01671312 1.45030057] [ 0.00569053 0.99997747 -0.00356007 0.2298795 ] [ 0.01673321 0.00346441 0.99985399 -0.28326661] [ 0. 0. 0. 1. ]] SLAMing on 93.843133365 meters Centerline goodness [0,1] 0.2819501045777002 Centerline is valid? [False, False] Translation: X:1.45, Y:0.23, Z:-0.28 [[ 0.99983785 -0.00582482 -0.01703928 1.4516359 ] [ 0.00576234 0.9999765 -0.00371343 0.23008164] [ 0.01706051 0.00361464 0.99984793 -0.28417435] [ 0. 0. 0. 1. ]] SLAMing on 93.87313336499999 meters Centerline goodness [0,1] 0.2855403613279127 Centerline is valid? [False, False] Translation: X:1.45, Y:0.23, Z:-0.28 [[ 0.99983554 -0.00585558 -0.0171638 1.45212512] [ 0.00579164 0.99997611 -0.00377261 0.23015741] [ 0.01718548 0.00367258 0.99984557 -0.28448743] [ 0. 0. 0. 1. ]] SLAMing on 93.90313336499999 meters Centerline goodness [0,1] 0.2873100885342661 Centerline is valid? [False, False] Translation: X:1.45, Y:0.23, Z:-0.28 [[ 0.99983319 -0.00582044 -0.01731238 1.45243917] [ 0.0057561 0.99997635 -0.00376379 0.23029627] [ 0.01733388 0.00366351 0.99984305 -0.28446889] [ 0. 0. 0. 1. ]] SLAMing on 93.93313336499999 meters Centerline goodness [0,1] 0.2815334773218142 Centerline is valid? [False, False] Translation: X:1.47, Y:0.23, Z:-0.28 [[ 0.99984969 0.00288687 -0.01709588 1.47326673] [-0.00296125 0.99998625 -0.00432737 0.22725409] [ 0.01708316 0.00437734 0.99984449 -0.28353689] [ 0. 0. 0. 1. ]] SLAMing on 93.96313336499999 meters Centerline goodness [0,1] 0.283756786102063 Centerline is valid? [False, False] Translation: X:1.47, Y:0.23, Z:-0.28 [[ 0.99984762 0.00294274 -0.01720717 1.47360037] [-0.00301773 0.99998606 -0.00433351 0.22754879] [ 0.01719418 0.00438478 0.99984255 -0.28362701] [ 0. 0. 0. 1. ]] SLAMing on 93.99313336499999 meters Centerline goodness [0,1] 0.2838442167419243 Centerline is valid? [False, False] Translation: X:1.47, Y:0.23, Z:-0.28 [[ 0.99984611 0.00294461 -0.01729435 1.47399888] [-0.00302123 0.99998573 -0.00440632 0.22783783] [ 0.01728113 0.00445789 0.99984073 -0.2839618 ] [ 0. 0. 0. 1. ]] SLAMing on 94.02313336499999 meters Centerline goodness [0,1] 0.2845656353784304 Centerline is valid? [False, False] Translation: X:1.47, Y:0.23, Z:-0.28 [[ 0.99984533 0.00304979 -0.0173208 1.47417869] [-0.00312586 0.99998558 -0.0043664 0.22775974] [ 0.01730724 0.00441987 0.99984045 -0.28418696] [ 0. 0. 0. 1. ]] SLAMing on 94.053133365 meters Centerline goodness [0,1] 0.28254284230569504 Centerline is valid? [False, False] Translation: X:1.49, Y:0.23, Z:-0.28 [[ 9.99850694e-01 -2.74402193e-03 -1.70604538e-02 1.49499737e+00] [ 2.72094311e-03 9.99995352e-01 -1.37583197e-03 2.30020588e-01] [ 1.70641498e-02 1.32920603e-03 9.99853513e-01 -2.83455893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.083133365 meters Centerline goodness [0,1] 0.28249400479616305 Centerline is valid? [False, False] Translation: X:1.50, Y:0.23, Z:-0.28 [[ 9.99850168e-01 -2.63071600e-03 -1.71090927e-02 1.49505951e+00] [ 2.61078885e-03 9.99995887e-01 -1.18694279e-03 2.29299065e-01] [ 1.71121449e-02 1.14209672e-03 9.99852924e-01 -2.83399208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.113133365 meters Centerline goodness [0,1] 0.28300817438692094 Centerline is valid? [False, False] Translation: X:1.49, Y:0.23, Z:-0.28 [[ 9.99851363e-01 -2.52759910e-03 -1.70547159e-02 1.49480266e+00] [ 2.51181819e-03 9.99996397e-01 -9.46667625e-04 2.28083695e-01] [ 1.70570472e-02 9.03688569e-04 9.99854110e-01 -2.83178383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.143133365 meters Centerline goodness [0,1] 0.2855957009917428 Centerline is valid? [False, False] Translation: X:1.49, Y:0.23, Z:-0.28 [[ 9.99852169e-01 -2.43454302e-03 -1.70209741e-02 1.49451787e+00] [ 2.42395429e-03 9.99996856e-01 -6.42701890e-04 2.26311613e-01] [ 1.70224852e-02 6.01348815e-04 9.99854926e-01 -2.82833524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.173133365 meters Centerline goodness [0,1] 0.28351466979390627 Centerline is valid? [False, False] Translation: X:1.49, Y:0.22, Z:-0.28 [[ 9.99854037e-01 -2.29450301e-03 -1.69304245e-02 1.49404945e+00] [ 2.29037968e-03 9.99997343e-01 -2.62931506e-04 2.24228362e-01] [ 1.69309828e-02 2.24116027e-04 9.99856636e-01 -2.82424794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.203133365 meters Centerline goodness [0,1] 0.28332282540165665 Centerline is valid? [False, False] Translation: X:1.49, Y:0.22, Z:-0.28 [[ 9.99858491e-01 -1.89032581e-03 -1.67160142e-02 1.49339671e+00] [ 1.90155157e-03 9.99997977e-01 6.55688686e-04 2.20056337e-01] [ 1.67147409e-02 -6.87382263e-04 9.99860063e-01 -2.82174365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23313336499999 meters Centerline goodness [0,1] 0.2838207219715376 Centerline is valid? [False, False] Translation: X:1.49, Y:0.22, Z:-0.28 [[ 9.99860747e-01 -1.69942449e-03 -1.66011748e-02 1.49325397e+00] [ 1.71730070e-03 9.99997961e-01 1.06260738e-03 2.18244222e-01] [ 1.65993351e-02 -1.09096862e-03 9.99861626e-01 -2.82359571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26313336499999 meters Centerline goodness [0,1] 0.28513260462483125 Centerline is valid? [False, False] Translation: X:1.49, Y:0.22, Z:-0.28 [[ 9.99862153e-01 -1.54483247e-03 -1.65314148e-02 1.49309090e+00] [ 1.56822276e-03 9.99997787e-01 1.40202971e-03 2.16590049e-01] [ 1.65292124e-02 -1.42776138e-03 9.99862364e-01 -2.82353497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29313336499999 meters Centerline goodness [0,1] 0.28421670762739515 Centerline is valid? [False, False] Translation: X:1.49, Y:0.22, Z:-0.28 [[ 9.99863434e-01 -1.42265577e-03 -1.64648223e-02 1.49293728e+00] [ 1.44979364e-03 9.99997610e-01 1.63641515e-03 2.15445855e-01] [ 1.64624549e-02 -1.66006226e-03 9.99863107e-01 -2.82367855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32313336499999 meters Centerline goodness [0,1] 0.28047360248447206 Centerline is valid? [False, False] Translation: X:1.51, Y:0.21, Z:-0.28 [[ 9.99843222e-01 7.01283242e-03 -1.62589153e-02 1.51278240e+00] [-7.00587439e-03 9.99975341e-01 4.84870530e-04 2.11133909e-01] [ 1.62619147e-02 -3.70886594e-04 9.99867698e-01 -2.80754843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35313336499999 meters Centerline goodness [0,1] 0.2837393595018832 Centerline is valid? [False, False] Translation: X:1.49, Y:0.21, Z:-0.28 [[ 9.99864754e-01 -1.01848967e-03 -1.64145024e-02 1.49384323e+00] [ 1.05125412e-03 9.99997472e-01 1.98756270e-03 2.13897946e-01] [ 1.64124366e-02 -2.00454971e-03 9.99863298e-01 -2.82598951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38313336499999 meters Centerline goodness [0,1] 0.28511407175200276 Centerline is valid? [False, False] Translation: X:1.49, Y:0.21, Z:-0.28 [[ 9.99868930e-01 -8.63297984e-04 -1.61671767e-02 1.49320337e+00] [ 8.99328030e-04 9.99997128e-01 2.22145463e-03 2.12973300e-01] [ 1.61652125e-02 -2.23570306e-03 9.99866835e-01 -2.82512002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.413133365 meters Centerline goodness [0,1] 0.2864620820519531 Centerline is valid? [False, False] Translation: X:1.49, Y:0.21, Z:-0.28 [[ 9.99870942e-01 -6.59046000e-04 -1.60519687e-02 1.49275906e+00] [ 7.02898678e-04 9.99996036e-01 2.72643040e-03 2.10258167e-01] [ 1.60501082e-02 -2.73736144e-03 9.99867442e-01 -2.82253852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.443133365 meters Centerline goodness [0,1] 0.28265760893081215 Centerline is valid? [False, False] Translation: X:1.49, Y:0.21, Z:-0.28 [[ 9.99866813e-01 -5.78859121e-04 -1.63101657e-02 1.49352080e+00] [ 6.28164828e-04 9.99995248e-01 3.01804381e-03 2.08545071e-01] [ 1.63083412e-02 -3.02788732e-03 9.99862425e-01 -2.82483346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.473133365 meters Centerline goodness [0,1] 0.28265760893081215 Centerline is valid? [False, False] Translation: X:1.49, Y:0.21, Z:-0.28 [[ 9.99866813e-01 -5.78859121e-04 -1.63101657e-02 1.49352080e+00] [ 6.28164828e-04 9.99995248e-01 3.01804381e-03 2.08545071e-01] [ 1.63083412e-02 -3.02788732e-03 9.99862425e-01 -2.82483346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.503133365 meters Centerline goodness [0,1] 0.28300698997091134 Centerline is valid? [False, False] Translation: X:1.49, Y:0.21, Z:-0.28 [[ 9.99863399e-01 -4.68024085e-04 -1.65216203e-02 1.49438043e+00] [ 5.23419231e-04 9.99994256e-01 3.34872328e-03 2.06836168e-01] [ 1.65199581e-02 -3.35691358e-03 9.99857901e-01 -2.83048212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.533133365 meters Centerline goodness [0,1] 0.28718117854001757 Centerline is valid? [False, False] Translation: X:1.48, Y:0.20, Z:-0.28 [[ 0.99983226 0.00722118 -0.01683152 1.47537158] [-0.0071814 0.99997128 0.00242255 0.19974758] [ 0.01684853 -0.00230127 0.99985541 -0.2849174 ] [ 0. 0. 0. 1. ]] SLAMing on 94.563133365 meters Centerline goodness [0,1] 0.2838833427786739 Centerline is valid? [False, False] Translation: X:1.49, Y:0.20, Z:-0.28 [[ 9.99871911e-01 -6.53656364e-04 -1.59917007e-02 1.49492218e+00] [ 7.09323680e-04 9.99993709e-01 3.47558858e-03 2.02728118e-01] [ 1.59893283e-02 -3.48648668e-03 9.99866084e-01 -2.83941691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.593133365 meters Centerline goodness [0,1] 0.283815583057347 Centerline is valid? [False, False] Translation: X:1.49, Y:0.20, Z:-0.28 [[ 9.99875201e-01 -5.01799005e-04 -1.57902227e-02 1.49417340e+00] [ 5.63996672e-04 9.99992100e-01 3.93479223e-03 2.00297678e-01] [ 1.57881235e-02 -3.94320680e-03 9.99867584e-01 -2.83437853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62313336499999 meters Centerline goodness [0,1] 0.2842219098085865 Centerline is valid? [False, False] Translation: X:1.49, Y:0.20, Z:-0.28 [[ 9.99875554e-01 -4.03307123e-04 -1.57706708e-02 1.49402274e+00] [ 4.69444432e-04 9.99991111e-01 4.19021326e-03 1.99045369e-01] [ 1.57688407e-02 -4.19709526e-03 9.99866855e-01 -2.83265193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65313336499999 meters Centerline goodness [0,1] 0.28842658491185813 Centerline is valid? [False, False] Translation: X:1.47, Y:0.19, Z:-0.28 [[ 0.99985215 0.0072154 -0.01560822 1.47455149] [-0.00716586 0.99996912 0.00322762 0.19233464] [ 0.01563102 -0.0031153 0.99987297 -0.28490435] [ 0. 0. 0. 1. ]] SLAMing on 94.68313336499999 meters Centerline goodness [0,1] 0.2852474729871035 Centerline is valid? [False, False] Translation: X:1.47, Y:0.19, Z:-0.28 [[ 0.99985267 0.00727867 -0.01554508 1.47441946] [-0.00722689 0.99996816 0.00338426 0.19152266] [ 0.01556922 -0.00327142 0.99987344 -0.28493744] [ 0. 0. 0. 1. ]] SLAMing on 94.71313336499999 meters Centerline goodness [0,1] 0.2848905522433526 Centerline is valid? [False, False] Translation: X:1.47, Y:0.19, Z:-0.29 [[ 0.99985328 0.00730704 -0.01549254 1.47438993] [-0.00725412 0.99996767 0.00346975 0.1909912 ] [ 0.01551739 -0.00335686 0.99987396 -0.28512559] [ 0. 0. 0. 1. ]] SLAMing on 94.74313336499999 meters Centerline goodness [0,1] 0.2853583371582191 Centerline is valid? [False, False] Translation: X:1.47, Y:0.19, Z:-0.29 [[ 0.99985384 0.00728455 -0.0154672 1.47458539] [-0.00723249 0.999968 0.00341878 0.19104121] [ 0.01549161 -0.00330641 0.99987453 -0.28556326] [ 0. 0. 0. 1. ]] SLAMing on 94.77313336499999 meters Centerline goodness [0,1] 0.28543965046422715 Centerline is valid? [False, False] Translation: X:1.47, Y:0.19, Z:-0.29 [[ 0.99985511 0.00724028 -0.01540549 1.47468419] [-0.00718961 0.99996857 0.00334156 0.19121982] [ 0.0154292 -0.00323031 0.99987574 -0.28597827] [ 0. 0. 0. 1. ]] SLAMing on 94.803133365 meters Centerline goodness [0,1] 0.2851413500730181 Centerline is valid? [False, False] Translation: X:1.47, Y:0.19, Z:-0.29 [[ 0.99985562 0.00723149 -0.0153765 1.47467983] [-0.00718141 0.99996874 0.00330961 0.191305 ] [ 0.01539995 -0.0031987 0.9998763 -0.28612739] [ 0. 0. 0. 1. ]] SLAMing on 94.833133365 meters Centerline goodness [0,1] 0.28247783028027706 Centerline is valid? [False, False] Translation: X:1.49, Y:0.20, Z:-0.28 [[ 9.99890928e-01 -4.42586979e-04 -1.47626862e-02 1.49402495e+00] [ 5.08364382e-04 9.99989960e-01 4.45219777e-03 1.95014634e-01] [ 1.47605675e-02 -4.45921698e-03 9.99881113e-01 -2.84541297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.863133365 meters Centerline goodness [0,1] 0.2836354186968102 Centerline is valid? [False, False] Translation: X:1.49, Y:0.19, Z:-0.28 [[ 9.99889449e-01 -4.07155600e-04 -1.48635186e-02 1.49419240e+00] [ 4.75081031e-04 9.99989460e-01 4.56669806e-03 1.94398292e-01] [ 1.48615026e-02 -4.57325459e-03 9.99879103e-01 -2.84427408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.893133365 meters Centerline goodness [0,1] 0.2830715910321673 Centerline is valid? [False, False] Translation: X:1.49, Y:0.19, Z:-0.28 [[ 9.99887977e-01 -3.92094936e-04 -1.49626317e-02 1.49442224e+00] [ 4.62396169e-04 9.99988870e-01 4.69528351e-03 1.93521264e-01] [ 1.49606242e-02 -4.70167619e-03 9.99877029e-01 -2.84394151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.923133365 meters Centerline goodness [0,1] 0.28613524250229183 Centerline is valid? [False, False] Translation: X:1.49, Y:0.19, Z:-0.28 [[ 9.99886659e-01 -3.50221416e-04 -1.50514379e-02 1.49459443e+00] [ 4.23293482e-04 9.99988140e-01 4.85191140e-03 1.92569950e-01] [ 1.50495601e-02 -4.85773265e-03 9.99874949e-01 -2.84314875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.953133365 meters Centerline goodness [0,1] 0.28442437923250563 Centerline is valid? [False, False] Translation: X:1.49, Y:0.19, Z:-0.28 [[ 9.99885266e-01 -3.37245180e-04 -1.51440443e-02 1.49489947e+00] [ 4.12331400e-04 9.99987637e-01 4.95528660e-03 1.91876298e-01] [ 1.51421860e-02 -4.96096242e-03 9.99873043e-01 -2.84425743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98313336499999 meters Centerline goodness [0,1] 0.28472071288850254 Centerline is valid? [False, False] Translation: X:1.50, Y:0.19, Z:-0.28 [[ 9.99883065e-01 -2.73518145e-04 -1.52899406e-02 1.49536628e+00] [ 3.52150502e-04 9.99986727e-01 5.14029522e-03 1.90931682e-01] [ 1.52883317e-02 -5.14507850e-03 9.99869889e-01 -2.84614201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01313336499999 meters Centerline goodness [0,1] 0.28337649337366444 Centerline is valid? [False, False] Translation: X:1.50, Y:0.19, Z:-0.29 [[ 9.99878704e-01 -1.17581999e-04 -1.55744394e-02 1.49632968e+00] [ 2.05109923e-04 9.99984195e-01 5.61849456e-03 1.88460124e-01] [ 1.55735326e-02 -5.62100753e-03 9.99862925e-01 -2.85038816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04313336499999 meters Centerline goodness [0,1] 0.2832343634866282 Centerline is valid? [False, False] Translation: X:1.50, Y:0.19, Z:-0.28 [[ 9.99879665e-01 -1.35890010e-05 -1.55130773e-02 1.49598587e+00] [ 1.05721861e-04 9.99982363e-01 5.93824009e-03 1.86753414e-01] [ 1.55127230e-02 -5.93916558e-03 9.99862031e-01 -2.84684285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07313336499999 meters Centerline goodness [0,1] 0.283437554281744 Centerline is valid? [False, False] Translation: X:1.50, Y:0.18, Z:-0.28 [[ 9.99880160e-01 8.27608007e-05 -1.54808876e-02 1.49569032e+00] [ 1.42879480e-05 9.99980351e-01 6.26872391e-03 1.84935217e-01] [ 1.54811022e-02 -6.26819386e-03 9.99860513e-01 -2.84288268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10313336499999 meters Centerline goodness [0,1] 0.28660361285249336 Centerline is valid? [False, False] Translation: X:1.50, Y:0.18, Z:-0.28 [[ 9.99878411e-01 1.87295622e-04 -1.55925742e-02 1.49586516e+00] [-8.48478559e-05 9.99978409e-01 6.57069436e-03 1.83342176e-01] [ 1.55934682e-02 -6.56857244e-03 9.99856839e-01 -2.84117988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13313336499999 meters Centerline goodness [0,1] 0.2872117857298523 Centerline is valid? [False, False] Translation: X:1.50, Y:0.18, Z:-0.28 [[ 9.99877629e-01 2.91837053e-04 -1.56410150e-02 1.49603991e+00] [-1.84193784e-04 9.99976294e-01 6.88311410e-03 1.81712504e-01] [ 1.56426530e-02 -6.87939083e-03 9.99853980e-01 -2.84195463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.163133365 meters Centerline goodness [0,1] 0.2874975362985349 Centerline is valid? [False, False] Translation: X:1.50, Y:0.18, Z:-0.28 [[ 9.99878290e-01 4.17376250e-04 -1.55958630e-02 1.49608515e+00] [-3.04832356e-04 9.99973904e-01 7.21794637e-03 1.80028812e-01] [ 1.55984686e-02 -7.21231375e-03 9.99852324e-01 -2.84422506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.193133365 meters Centerline goodness [0,1] 0.2833639209759258 Centerline is valid? [False, False] Translation: X:1.52, Y:0.18, Z:-0.28 [[ 0.99987714 0.00762095 -0.0136973 1.5166594 ] [-0.00755286 0.9999589 0.00501585 0.17501458] [ 0.01373497 -0.00491178 0.99989361 -0.28438349] [ 0. 0. 0. 1. ]] SLAMing on 95.223133365 meters Centerline goodness [0,1] 0.28478978363569685 Centerline is valid? [False, False] Translation: X:1.52, Y:0.17, Z:-0.28 [[ 0.99987825 0.00777252 -0.01353044 1.51609996] [-0.00770053 0.99995596 0.00536481 0.1733643 ] [ 0.01357155 -0.00525996 0.99989407 -0.28413256] [ 0. 0. 0. 1. ]] SLAMing on 95.253133365 meters Centerline goodness [0,1] 0.2849900337984227 Centerline is valid? [False, False] Translation: X:1.52, Y:0.17, Z:-0.28 [[ 0.99987901 0.00791265 -0.01339247 1.51566868] [-0.00783673 0.99995298 0.00571195 0.17170863] [ 0.01343703 -0.00560631 0.999894 -0.28398112] [ 0. 0. 0. 1. ]] SLAMing on 95.283133365 meters Centerline goodness [0,1] 0.2857018894938933 Centerline is valid? [False, False] Translation: X:1.52, Y:0.17, Z:-0.28 [[ 0.99987839 0.00805387 -0.01335407 1.51556607] [-0.00797356 0.99994987 0.00605588 0.17000394] [ 0.01340217 -0.00594867 0.99989249 -0.28397793] [ 0. 0. 0. 1. ]] SLAMing on 95.313133365 meters Centerline goodness [0,1] 0.28841023398206866 Centerline is valid? [False, False] Translation: X:1.51, Y:0.17, Z:-0.28 [[ 0.99990281 0.00508185 -0.01298221 1.51466649] [-0.00504143 0.99998235 0.00314487 0.16864277] [ 0.01299796 -0.00307912 0.99991078 -0.28406262] [ 0. 0. 0. 1. ]] SLAMing on 95.343133365 meters Centerline goodness [0,1] 0.2860437289241814 Centerline is valid? [False, False] Translation: X:1.52, Y:0.17, Z:-0.28 [[ 0.99989941 0.00516194 -0.01321041 1.51536473] [-0.00511683 0.99998097 0.00344592 0.16687263] [ 0.01322795 -0.00337798 0.9999068 -0.28428065] [ 0. 0. 0. 1. ]] SLAMing on 95.37313336499999 meters Centerline goodness [0,1] 0.284033065042419 Centerline is valid? [False, False] Translation: X:1.52, Y:0.16, Z:-0.29 [[ 0.99989386 0.00543263 -0.01351872 1.5166086 ] [-0.00537875 0.99997746 0.0040186 0.16432945] [ 0.01354024 -0.00394546 0.99990054 -0.28508736] [ 0. 0. 0. 1. ]] SLAMing on 95.40313336499999 meters Centerline goodness [0,1] 0.2803724218194358 Centerline is valid? [False, False] Translation: X:1.52, Y:0.16, Z:-0.29 [[ 0.99989398 0.00554493 -0.01346418 1.51658982] [-0.00548916 0.99997622 0.0041753 0.16371246] [ 0.01348701 -0.00410095 0.99990064 -0.28527819] [ 0. 0. 0. 1. ]] SLAMing on 95.43313336499999 meters Centerline goodness [0,1] 0.2861657839098498 Centerline is valid? [False, False] Translation: X:1.50, Y:0.17, Z:-0.29 [[ 0.99991083 -0.00319338 -0.01296642 1.49605992] [ 0.00325973 0.99998169 0.00509906 0.16647182] [ 0.0129499 -0.00514087 0.99990293 -0.28671857] [ 0. 0. 0. 1. ]] SLAMing on 95.46313336499999 meters Centerline goodness [0,1] 0.28109774500927 Centerline is valid? [False, False] Translation: X:1.52, Y:0.16, Z:-0.29 [[ 0.99991753 0.0051854 -0.01174887 1.51563018] [-0.00514419 0.99998052 0.00353581 0.16322434] [ 0.01176698 -0.00347508 0.99992473 -0.28555286] [ 0. 0. 0. 1. ]] SLAMing on 95.49313336499999 meters Centerline goodness [0,1] 0.2834269845746643 Centerline is valid? [False, False] Translation: X:1.52, Y:0.16, Z:-0.29 [[ 0.99991778 0.00525423 -0.01169767 1.51560765] [-0.00521159 0.99997968 0.00367235 0.1625045 ] [ 0.01171673 -0.00361108 0.99992484 -0.28573587] [ 0. 0. 0. 1. ]] SLAMing on 95.52313336499999 meters Centerline goodness [0,1] 0.28176855422208746 Centerline is valid? [False, False] Translation: X:1.52, Y:0.16, Z:-0.29 [[ 0.99991617 0.00535451 -0.01178866 1.51615421] [-0.00530989 0.99997863 0.00381327 0.16204332] [ 0.01180882 -0.00375035 0.99992324 -0.28632679] [ 0. 0. 0. 1. ]] SLAMing on 95.553133365 meters Centerline goodness [0,1] 0.2813265947986031 Centerline is valid? [False, False] Translation: X:1.52, Y:0.16, Z:-0.29 [[ 0.99991067 0.00554248 -0.01216311 1.51768432] [-0.00549309 0.99997655 0.00409031 0.160973 ] [ 0.0121855 -0.00402313 0.99991766 -0.28739255] [ 0. 0. 0. 1. ]] SLAMing on 95.583133365 meters Centerline goodness [0,1] 0.2836088124194851 Centerline is valid? [False, False] Translation: X:1.52, Y:0.16, Z:-0.29 [[ 0.99990846 0.00557763 -0.01232693 1.51823492] [-0.00552534 0.99997561 0.00427244 0.15976523] [ 0.01235046 -0.00420394 0.99991489 -0.28767101] [ 0. 0. 0. 1. ]] SLAMing on 95.613133365 meters Centerline goodness [0,1] 0.283274145406218 Centerline is valid? [False, False] Translation: X:1.52, Y:0.16, Z:-0.29 [[ 0.99990732 0.00564178 -0.01239072 1.51841637] [-0.00558557 0.99997398 0.00456604 0.15799656] [ 0.01241616 -0.00449641 0.99991281 -0.28769781] [ 0. 0. 0. 1. ]] SLAMing on 95.643133365 meters Centerline goodness [0,1] 0.2807693973920201 Centerline is valid? [False, False] Translation: X:1.52, Y:0.16, Z:-0.29 [[ 0.99990742 0.00577199 -0.01232253 1.51801485] [-0.00571065 0.99997116 0.00500667 0.15571848] [ 0.01235108 -0.00493584 0.99991154 -0.28725606] [ 0. 0. 0. 1. ]] SLAMing on 95.673133365 meters Centerline goodness [0,1] 0.2826058772687986 Centerline is valid? [False, False] Translation: X:1.52, Y:0.15, Z:-0.29 [[ 0.9999305 0.00285376 -0.01143903 1.51543449] [-0.0028274 0.99999331 0.00232042 0.1538577 ] [ 0.01144557 -0.00228791 0.99993188 -0.28673389] [ 0. 0. 0. 1. ]] SLAMing on 95.703133365 meters Centerline goodness [0,1] 0.28433310882742735 Centerline is valid? [False, False] Translation: X:1.52, Y:0.15, Z:-0.29 [[ 0.99993111 0.00298038 -0.01135279 1.51513717] [-0.00294827 0.99999161 0.00284365 0.15106752] [ 0.01136117 -0.00280999 0.99993151 -0.28647427] [ 0. 0. 0. 1. ]] SLAMing on 95.73313336499999 meters Centerline goodness [0,1] 0.28336515098923987 Centerline is valid? [False, False] Translation: X:1.52, Y:0.15, Z:-0.29 [[ 0.99992984 0.00281862 -0.01150492 1.51566683] [-0.00277963 0.99999035 0.00340304 0.14582652] [ 0.01151441 -0.00337082 0.99992803 -0.28649734] [ 0. 0. 0. 1. ]] SLAMing on 95.76313336499999 meters Centerline goodness [0,1] 0.2846774369848939 Centerline is valid? [False, False] Translation: X:1.52, Y:0.14, Z:-0.29 [[ 0.99992839 0.00296341 -0.01159444 1.51593084] [-0.00291927 0.99998843 0.0038227 0.14373437] [ 0.01160564 -0.00378858 0.99992548 -0.2865446 ] [ 0. 0. 0. 1. ]] SLAMing on 95.79313336499999 meters Centerline goodness [0,1] 0.2872810896868919 Centerline is valid? [False, False] Translation: X:1.52, Y:0.14, Z:-0.29 [[ 0.99992921 0.00311013 -0.01148524 1.51563068] [-0.00306255 0.99998667 0.00415814 0.14227621] [ 0.01149802 -0.00412267 0.9999254 -0.2864572 ] [ 0. 0. 0. 1. ]] SLAMing on 95.82313336499999 meters Centerline goodness [0,1] 0.28351772802508934 Centerline is valid? [False, False] Translation: X:1.54, Y:0.15, Z:-0.29 [[ 0.99993344 -0.00409681 -0.01078534 1.53504996] [ 0.00415609 0.99997635 0.00547984 0.14570714] [ 0.01076263 -0.0055243 0.99992682 -0.28535836] [ 0. 0. 0. 1. ]] SLAMing on 95.85313336499999 meters Centerline goodness [0,1] 0.2830229630594261 Centerline is valid? [False, False] Translation: X:1.53, Y:0.14, Z:-0.29 [[ 0.99993487 -0.00401989 -0.01068203 1.53479061] [ 0.00408101 0.99997539 0.00570609 0.14449404] [ 0.01065883 -0.00574931 0.99992666 -0.28528609] [ 0. 0. 0. 1. ]] SLAMing on 95.88313336499999 meters Centerline goodness [0,1] 0.28470409051349 Centerline is valid? [False, False] Translation: X:1.54, Y:0.14, Z:-0.29 [[ 0.99993352 -0.0039388 -0.01083698 1.53509471] [ 0.00400507 0.99997337 0.00609992 0.14161006] [ 0.01081267 -0.00614291 0.99992267 -0.2851056 ] [ 0. 0. 0. 1. ]] SLAMing on 95.913133365 meters Centerline goodness [0,1] 0.2833369541603302 Centerline is valid? [False, False] Translation: X:1.54, Y:0.14, Z:-0.29 [[ 0.99993398 -0.0037822 -0.01085024 1.53521456] [ 0.00385294 0.99997141 0.0065066 0.13970125] [ 0.01082532 -0.00654798 0.99991997 -0.28519811] [ 0. 0. 0. 1. ]] SLAMing on 95.943133365 meters Centerline goodness [0,1] 0.2858171660519826 Centerline is valid? [False, False] Translation: X:1.54, Y:0.14, Z:-0.29 [[ 0.99993562 -0.00360119 -0.01076076 1.53500039] [ 0.00367643 0.99996888 0.00698025 0.13756034] [ 0.01073529 -0.00701936 0.99991774 -0.28516598] [ 0. 0. 0. 1. ]] SLAMing on 95.973133365 meters Centerline goodness [0,1] 0.28526591107236265 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.28 [[ 0.99993834 -0.00339486 -0.01057286 1.53443031] [ 0.00347534 0.99996505 0.00760357 0.13456879] [ 0.01054668 -0.00763985 0.9999152 -0.284895 ] [ 0. 0. 0. 1. ]] SLAMing on 96.003133365 meters Centerline goodness [0,1] 0.28279674796747967 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.28 [[ 0.99993986 -0.00330329 -0.01045731 1.53395515] [ 0.00338913 0.99996063 0.00820122 0.13100541] [ 0.0104298 -0.00823617 0.99991169 -0.28441851] [ 0. 0. 0. 1. ]] SLAMing on 96.033133365 meters Centerline goodness [0,1] 0.2841845140032949 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.28 [[ 0.99994172 -0.00338446 -0.01025198 1.53323906] [ 0.00347406 0.99995581 0.00873502 0.12711857] [ 0.01022196 -0.00877012 0.99990929 -0.28383527] [ 0. 0. 0. 1. ]] SLAMing on 96.063133365 meters Centerline goodness [0,1] 0.2865650153785747 Centerline is valid? [False, False] Translation: X:1.53, Y:0.12, Z:-0.28 [[ 0.9999257 -0.00677216 -0.01013572 1.53356541] [ 0.00683749 0.99995598 0.00642482 0.11922877] [ 0.01009176 -0.00649364 0.99992799 -0.28438159] [ 0. 0. 0. 1. ]] SLAMing on 96.093133365 meters Centerline goodness [0,1] 0.28686882032987604 Centerline is valid? [False, False] Translation: X:1.52, Y:0.11, Z:-0.29 [[ 9.99955651e-01 -2.91437365e-04 -9.41334286e-03 1.51700806e+00] [ 3.43943760e-04 9.99984391e-01 5.57673206e-03 1.09414102e-01] [ 9.41157066e-03 -5.57972240e-03 9.99940143e-01 -2.87540023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12313336499999 meters Centerline goodness [0,1] 0.2843139395262526 Centerline is valid? [False, False] Translation: X:1.54, Y:0.10, Z:-0.29 [[ 0.99992219 0.00649585 -0.01065021 1.53944795] [-0.00646168 0.99997388 0.0032392 0.10300258] [ 0.01067097 -0.00317013 0.99993804 -0.28712191] [ 0. 0. 0. 1. ]] SLAMing on 96.15313336499999 meters Centerline goodness [0,1] 0.2835242367492705 Centerline is valid? [False, False] Translation: X:1.54, Y:0.10, Z:-0.29 [[ 9.99936059e-01 3.38074765e-03 -1.07911143e-02 1.54017138e+00] [-3.37748205e-03 9.99994245e-01 3.20829298e-04 1.00859930e-01] [ 1.07921369e-02 -2.84361989e-04 9.99941723e-01 -2.87719939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18313336499999 meters Centerline goodness [0,1] 0.2832726559264023 Centerline is valid? [False, False] Translation: X:1.54, Y:0.10, Z:-0.29 [[ 9.99934183e-01 3.54457788e-03 -1.09117326e-02 1.54044580e+00] [-3.53596585e-03 9.99993422e-01 8.08435968e-04 9.81138206e-02] [ 1.09145263e-02 -7.69799245e-04 9.99940138e-01 -2.87664267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21313336499999 meters Centerline goodness [0,1] 0.2807514988853055 Centerline is valid? [False, False] Translation: X:1.54, Y:0.10, Z:-0.29 [[ 9.99933032e-01 3.69102395e-03 -1.09685193e-02 1.54060821e+00] [-3.67779223e-03 9.99992485e-01 1.22626265e-03 9.58800477e-02] [ 1.09729630e-02 -1.18584059e-03 9.99939092e-01 -2.87667042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24313336499999 meters Centerline goodness [0,1] 0.28251855085115674 Centerline is valid? [False, False] Translation: X:1.54, Y:0.09, Z:-0.29 [[ 0.99993235 0.00392044 -0.01095122 1.54090265] [-0.00390123 0.99999081 0.0017754 0.09309255] [ 0.01095808 -0.00173256 0.99993846 -0.28818157] [ 0. 0. 0. 1. ]] SLAMing on 96.27313336499999 meters Centerline goodness [0,1] 0.28557057254078644 Centerline is valid? [False, False] Translation: X:1.54, Y:0.09, Z:-0.29 [[ 0.99993066 0.00394282 -0.01109593 1.54152614] [-0.00392199 0.99999051 0.00189874 0.09222426] [ 0.01110332 -0.00185509 0.99993664 -0.28861543] [ 0. 0. 0. 1. ]] SLAMing on 96.303133365 meters Centerline goodness [0,1] 0.2798980539536491 Centerline is valid? [False, False] Translation: X:1.56, Y:0.10, Z:-0.29 [[ 0.99993289 -0.00338656 -0.0110792 1.56155505] [ 0.00341582 0.99999073 0.00262283 0.09634888] [ 0.01107022 -0.0026605 0.99993518 -0.2878677 ] [ 0. 0. 0. 1. ]] SLAMing on 96.333133365 meters Centerline goodness [0,1] 0.28432653772434224 Centerline is valid? [False, False] Translation: X:1.56, Y:0.10, Z:-0.29 [[ 0.99993502 -0.00332105 -0.01090544 1.56102283] [ 0.00335153 0.99999053 0.00277758 0.0956198 ] [ 0.01089611 -0.00281395 0.99993668 -0.28767563] [ 0. 0. 0. 1. ]] SLAMing on 96.363133365 meters Centerline goodness [0,1] 0.2842642917949054 Centerline is valid? [False, False] Translation: X:1.56, Y:0.10, Z:-0.29 [[ 0.99993784 -0.00328428 -0.0106548 1.56019004] [ 0.00331505 0.99999038 0.00287088 0.0952098 ] [ 0.01064527 -0.00290602 0.99993911 -0.28732856] [ 0. 0. 0. 1. ]] SLAMing on 96.393133365 meters Centerline goodness [0,1] 0.2842642917949054 Centerline is valid? [False, False] Translation: X:1.56, Y:0.10, Z:-0.29 [[ 0.99993784 -0.00328428 -0.0106548 1.56019004] [ 0.00331505 0.99999038 0.00287088 0.0952098 ] [ 0.01064527 -0.00290602 0.99993911 -0.28732856] [ 0. 0. 0. 1. ]] SLAMing on 96.423133365 meters Centerline goodness [0,1] 0.2849018926897031 Centerline is valid? [False, False] Translation: X:1.56, Y:0.09, Z:-0.29 [[ 0.99994229 -0.00353114 -0.01014645 1.55857761] [ 0.00356049 0.99998952 0.00287655 0.09434981] [ 0.01013619 -0.00291251 0.99994439 -0.28661455] [ 0. 0. 0. 1. ]] SLAMing on 96.453133365 meters Centerline goodness [0,1] 0.28151441892591955 Centerline is valid? [False, False] Translation: X:1.56, Y:0.09, Z:-0.29 [[ 0.99994114 -0.00360503 -0.01023291 1.55873544] [ 0.00363525 0.99998908 0.0029355 0.09377184] [ 0.01022221 -0.00297252 0.99994333 -0.28657248] [ 0. 0. 0. 1. ]] SLAMing on 96.48313336499999 meters Centerline goodness [0,1] 0.28312703583061893 Centerline is valid? [False, False] Translation: X:1.56, Y:0.09, Z:-0.29 [[ 0.99994052 -0.00363875 -0.01028153 1.55881215] [ 0.00367045 0.99998856 0.00306582 0.09299078] [ 0.01027026 -0.00310337 0.99994244 -0.28652908] [ 0. 0. 0. 1. ]] SLAMing on 96.51313336499999 meters Centerline goodness [0,1] 0.28403536593313494 Centerline is valid? [False, False] Translation: X:1.56, Y:0.09, Z:-0.29 [[ 0.99994111 -0.00367984 -0.01020942 1.55852561] [ 0.0037125 0.99998805 0.00318179 0.09232342] [ 0.01019759 -0.0032195 0.99994282 -0.28634443] [ 0. 0. 0. 1. ]] SLAMing on 96.54313336499999 meters Centerline goodness [0,1] 0.2862980293943188 Centerline is valid? [False, False] Translation: X:1.54, Y:0.09, Z:-0.29 [[ 0.99995761 0.00258954 -0.00883581 1.54008114] [-0.0025725 0.99999481 0.00194001 0.08649474] [ 0.00884078 -0.00191719 0.99995908 -0.28859321] [ 0. 0. 0. 1. ]] SLAMing on 96.57313336499999 meters Centerline goodness [0,1] 0.2599525555315937 Centerline is valid? [False, False] Translation: X:1.56, Y:0.09, Z:-0.29 [[ 0.99994064 -0.00563633 -0.00932448 1.56207081] [ 0.00565773 0.99998142 0.00226978 0.09044163] [ 0.00931151 -0.0023224 0.99995395 -0.28794992] [ 0. 0. 0. 1. ]] SLAMing on 96.60313336499999 meters Centerline goodness [0,1] 0.28460213271692436 Centerline is valid? [False, False] Translation: X:1.54, Y:0.09, Z:-0.29 [[ 9.99955083e-01 1.69606364e-03 -9.32495302e-03 1.54360063e+00] [-1.68393038e-03 9.99997726e-01 1.30885801e-03 8.59043771e-02] [ 9.32715172e-03 -1.29309665e-03 9.99955665e-01 -2.90232615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63313336499999 meters Centerline goodness [0,1] 0.26803763616914444 Centerline is valid? [False, False] Translation: X:1.54, Y:0.09, Z:-0.29 [[ 9.99955414e-01 1.66197660e-03 -9.29561524e-03 1.54373471e+00] [-1.64998639e-03 9.99997797e-01 1.29739811e-03 8.57897619e-02] [ 9.29775101e-03 -1.28200263e-03 9.99955953e-01 -2.90591743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.663133365 meters Centerline goodness [0,1] 0.28161567131836696 Centerline is valid? [False, False] Translation: X:1.54, Y:0.09, Z:-0.29 [[ 9.99956354e-01 1.59487184e-03 -9.20574733e-03 1.54344629e+00] [-1.58339637e-03 9.99997961e-01 1.25370964e-03 8.57396363e-02] [ 9.20772807e-03 -1.23907857e-03 9.99956840e-01 -2.90478786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.693133365 meters Centerline goodness [0,1] 0.27011242836519533 Centerline is valid? [False, False] Translation: X:1.54, Y:0.09, Z:-0.29 [[ 9.99957117e-01 1.57061183e-03 -9.12669270e-03 1.54308155e+00] [-1.55942124e-03 9.99998024e-01 1.23312576e-03 8.57426142e-02] [ 9.12861143e-03 -1.21884052e-03 9.99957591e-01 -2.90186107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.723133365 meters Centerline goodness [0,1] 0.2599654874892149 Centerline is valid? [False, False] Translation: X:1.56, Y:0.09, Z:-0.29 [[ 0.99994395 -0.00576633 -0.00887935 1.56301237] [ 0.00578757 0.99998045 0.00236755 0.09020353] [ 0.00886553 -0.00241881 0.99995778 -0.288806 ] [ 0. 0. 0. 1. ]] SLAMing on 96.753133365 meters Centerline goodness [0,1] 0.2836890277201337 Centerline is valid? [False, False] Translation: X:1.54, Y:0.08, Z:-0.29 [[ 9.99955148e-01 1.72282342e-03 -9.31308220e-03 1.54372289e+00] [-1.70853911e-03 9.99997352e-01 1.54152791e-03 8.47742823e-02] [ 9.31571332e-03 -1.52554700e-03 9.99955444e-01 -2.90625857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.783133365 meters Centerline goodness [0,1] 0.2859461712255149 Centerline is valid? [False, False] Translation: X:1.54, Y:0.08, Z:-0.29 [[ 0.99995308 0.00168361 -0.00953982 1.54449859] [-0.00166749 0.99999717 0.00169781 0.08356338] [ 0.00954265 -0.00168182 0.99995305 -0.291098 ] [ 0. 0. 0. 1. ]] SLAMing on 96.813133365 meters Centerline goodness [0,1] 0.28400140031507093 Centerline is valid? [False, False] Translation: X:1.55, Y:0.08, Z:-0.29 [[ 0.99995136 0.0016075 -0.00973062 1.54501136] [-0.00158907 0.99999693 0.0019015 0.08187729] [ 0.00973365 -0.00188595 0.99995085 -0.29116885] [ 0. 0. 0. 1. ]] SLAMing on 96.843133365 meters Centerline goodness [0,1] 0.284402466220648 Centerline is valid? [False, False] Translation: X:1.54, Y:0.08, Z:-0.29 [[ 0.99995097 0.001576 -0.00977586 1.54474279] [-0.00155428 0.99999631 0.00222809 0.07959372] [ 0.00977933 -0.00221278 0.99994973 -0.29059541] [ 0. 0. 0. 1. ]] SLAMing on 96.87313336499999 meters Centerline goodness [0,1] 0.2820629453938961 Centerline is valid? [False, False] Translation: X:1.54, Y:0.08, Z:-0.29 [[ 9.99951852e-01 1.50149268e-03 -9.69741523e-03 1.54416689e+00] [-1.47646252e-03 9.99995562e-01 2.58776043e-03 7.71023505e-02] [ 9.70125769e-03 -2.57331796e-03 9.99949631e-01 -2.89991116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90313336499999 meters Centerline goodness [0,1] 0.2663273042348099 Centerline is valid? [False, False] Translation: X:1.54, Y:0.07, Z:-0.29 [[ 9.99956841e-01 1.00451811e-03 -9.23622885e-03 1.54281144e+00] [-9.76937811e-04 9.99995052e-01 2.99012705e-03 7.19735204e-02] [ 9.23918679e-03 -2.98097478e-03 9.99952874e-01 -2.89514329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93313336499999 meters Centerline goodness [0,1] 0.2857330501981217 Centerline is valid? [False, False] Translation: X:1.54, Y:0.07, Z:-0.29 [[ 9.99956888e-01 1.01833345e-03 -9.22956923e-03 1.54274772e+00] [-9.85999250e-04 9.99993364e-01 3.50720009e-03 6.88547009e-02] [ 9.23307948e-03 -3.49794854e-03 9.99951256e-01 -2.89492345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96313336499999 meters Centerline goodness [0,1] 0.2850513105431728 Centerline is valid? [False, False] Translation: X:1.54, Y:0.07, Z:-0.29 [[ 9.99956042e-01 1.00383994e-03 -9.32238122e-03 1.54303010e+00] [-9.66903400e-04 9.99991669e-01 3.96579786e-03 6.58172026e-02] [ 9.32628458e-03 -3.95660969e-03 9.99948682e-01 -2.89635049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99313336499999 meters Centerline goodness [0,1] 0.28692919614995827 Centerline is valid? [False, False] Translation: X:1.54, Y:0.06, Z:-0.29 [[ 9.99954478e-01 1.11067962e-03 -9.47667566e-03 1.54335012e+00] [-1.06809679e-03 9.99989317e-01 4.49731325e-03 6.29034940e-02] [ 9.48156949e-03 -4.48698652e-03 9.99944982e-01 -2.89602958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02313336499999 meters Centerline goodness [0,1] 0.2852381159862315 Centerline is valid? [False, False] Translation: X:1.54, Y:0.06, Z:-0.29 [[ 9.99952401e-01 1.24934206e-03 -9.67650819e-03 1.54386839e+00] [-1.20102138e-03 9.99986790e-01 4.99780962e-03 6.02665473e-02] [ 9.68262434e-03 -4.98595004e-03 9.99940692e-01 -2.89682352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.053133365 meters Centerline goodness [0,1] 0.2834741702238871 Centerline is valid? [False, False] Translation: X:1.54, Y:0.06, Z:-0.29 [[ 9.99950821e-01 1.43419963e-03 -9.81315051e-03 1.54407412e+00] [-1.37836777e-03 9.99982840e-01 5.69389315e-03 5.60123005e-02] [ 9.82114829e-03 -5.68008700e-03 9.99935639e-01 -2.89460467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.083133365 meters Centerline goodness [0,1] 0.28562986956141123 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:-0.29 [[ 9.99950368e-01 1.51187140e-03 -9.84758663e-03 1.54407852e+00] [-1.45332896e-03 9.99981247e-01 5.94929737e-03 5.44505967e-02] [ 9.85639653e-03 -5.93469032e-03 9.99933813e-01 -2.89290394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.113133365 meters Centerline goodness [0,1] 0.2802751698178514 Centerline is valid? [False, False] Translation: X:1.56, Y:0.05, Z:-0.29 [[ 0.9999037 0.01021482 -0.00939409 1.56364312] [-0.01017172 0.99993757 0.00462475 0.04889724] [ 0.00944074 -0.00452875 0.99994518 -0.28808938] [ 0. 0. 0. 1. ]] SLAMing on 97.143133365 meters Centerline goodness [0,1] 0.2820818779424208 Centerline is valid? [False, False] Translation: X:1.56, Y:0.05, Z:-0.29 [[ 0.99990236 0.01029092 -0.00945295 1.56401301] [-0.01024628 0.99993618 0.00475894 0.04824578] [ 0.00950132 -0.00466162 0.999944 -0.28843734] [ 0. 0. 0. 1. ]] SLAMing on 97.173133365 meters Centerline goodness [0,1] 0.28342606276623494 Centerline is valid? [False, False] Translation: X:1.56, Y:0.05, Z:-0.29 [[ 0.99990029 0.01034025 -0.00961725 1.56472364] [-0.0102945 0.99993551 0.00479545 0.04820607] [ 0.00966622 -0.00469597 0.99994225 -0.28891959] [ 0. 0. 0. 1. ]] SLAMing on 97.203133365 meters Centerline goodness [0,1] 0.28353884362337156 Centerline is valid? [False, False] Translation: X:1.57, Y:0.05, Z:-0.29 [[ 0.9998981 0.01037404 -0.00980624 1.56548117] [-0.01032737 0.99993516 0.00479865 0.04832475] [ 0.00985538 -0.00469688 0.9999404 -0.28937716] [ 0. 0. 0. 1. ]] SLAMing on 97.23313336499999 meters Centerline goodness [0,1] 0.2820362658337672 Centerline is valid? [False, False] Translation: X:1.57, Y:0.05, Z:-0.29 [[ 0.99989343 0.0104479 -0.01019691 1.56707871] [-0.01039979 0.99993459 0.00475949 0.0485926 ] [ 0.01024597 -0.00465294 0.99993668 -0.29043963] [ 0. 0. 0. 1. ]] SLAMing on 97.26313336499999 meters Centerline goodness [0,1] 0.28071203733854333 Centerline is valid? [False, False] Translation: X:1.57, Y:0.05, Z:-0.29 [[ 0.99989315 0.01041497 -0.01025772 1.5674526 ] [-0.01036736 0.99993529 0.00468375 0.04887398] [ 0.01030584 -0.0045769 0.99993642 -0.29082898] [ 0. 0. 0. 1. ]] SLAMing on 97.29313336499999 meters Centerline goodness [0,1] 0.2828968708777545 Centerline is valid? [False, False] Translation: X:1.57, Y:0.05, Z:-0.29 [[ 0.99989376 0.01039833 -0.01021508 1.56742882] [-0.01035113 0.99993556 0.0046619 0.04891589] [ 0.01026289 -0.00455567 0.99993696 -0.29095549] [ 0. 0. 0. 1. ]] SLAMing on 97.32313336499999 meters Centerline goodness [0,1] 0.2818860391442086 Centerline is valid? [False, False] Translation: X:1.57, Y:0.05, Z:-0.29 [[ 0.99989423 0.01039038 -0.01017642 1.56743089] [-0.01034314 0.99993554 0.00468426 0.04870781] [ 0.01022443 -0.00457851 0.99993725 -0.29109679] [ 0. 0. 0. 1. ]] SLAMing on 97.35313336499999 meters Centerline goodness [0,1] 0.27996898089309175 Centerline is valid? [False, False] Translation: X:1.59, Y:0.05, Z:-0.29 [[ 0.99993933 0.00249729 -0.01072809 1.58853906] [-0.00244431 0.99998477 0.00494866 0.05106892] [ 0.01074029 -0.00492214 0.99993021 -0.29020621] [ 0. 0. 0. 1. ]] SLAMing on 97.38313336499999 meters Centerline goodness [0,1] 0.2859705541335783 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:-0.29 [[ 9.99911768e-01 4.93210527e-04 -1.32744888e-02 1.54322024e+00] [-4.26253747e-04 9.99987176e-01 5.04637618e-03 4.91684398e-02] [ 1.32768075e-02 -5.04027263e-03 9.99899156e-01 -2.89326900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.413133365 meters Centerline goodness [0,1] 0.264133837021047 Centerline is valid? [False, False] Translation: X:1.56, Y:0.04, Z:-0.29 [[ 0.99988271 0.00897856 -0.01240747 1.56219104] [-0.00893169 0.99995279 0.00382753 0.0436499 ] [ 0.01244125 -0.00371627 0.9999157 -0.288412 ] [ 0. 0. 0. 1. ]] SLAMing on 97.443133365 meters Centerline goodness [0,1] 0.2882485801372717 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:-0.29 [[ 9.99918524e-01 -3.99162420e-04 -1.27587716e-02 1.54119487e+00] [ 4.61942497e-04 9.99987800e-01 4.91797418e-03 4.65690931e-02] [ 1.27566529e-02 -4.92346730e-03 9.99906509e-01 -2.89012780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.473133365 meters Centerline goodness [0,1] 0.2874839159924105 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:-0.29 [[ 9.99917843e-01 -3.23241010e-04 -1.28142017e-02 1.54121991e+00] [ 3.89804222e-04 9.99986444e-01 5.19233039e-03 4.51695811e-02] [ 1.28123496e-02 -5.19689883e-03 9.99904413e-01 -2.88828320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.503133365 meters Centerline goodness [0,1] 0.2831449460872584 Centerline is valid? [False, False] Translation: X:1.54, Y:0.04, Z:-0.29 [[ 9.99915858e-01 -3.14035301e-04 -1.29683381e-02 1.54157125e+00] [ 3.83216346e-04 9.99985709e-01 5.33247117e-03 4.41856319e-02] [ 1.29664782e-02 -5.33699216e-03 9.99901689e-01 -2.88773238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.533133365 meters Centerline goodness [0,1] 0.285302341838518 Centerline is valid? [False, False] Translation: X:1.54, Y:0.04, Z:-0.29 [[ 9.99912196e-01 -2.52692636e-04 -1.32490200e-02 1.54226652e+00] [ 3.25765628e-04 9.99984748e-01 5.51348268e-03 4.31016285e-02] [ 1.32474247e-02 -5.51731465e-03 9.99897027e-01 -2.88765974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.563133365 meters Centerline goodness [0,1] 0.2852360664290061 Centerline is valid? [False, False] Translation: X:1.54, Y:0.04, Z:-0.29 [[ 9.99911709e-01 -1.86683128e-04 -1.32868334e-02 1.54238629e+00] [ 2.60410263e-04 9.99984579e-01 5.54737301e-03 4.32534654e-02] [ 1.32855929e-02 -5.55034325e-03 9.99896338e-01 -2.88802530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.593133365 meters Centerline goodness [0,1] 0.28413958038917275 Centerline is valid? [False, False] Translation: X:1.54, Y:0.04, Z:-0.29 [[ 9.99914424e-01 -1.24577153e-04 -1.30816221e-02 1.54175178e+00] [ 1.96831600e-04 9.99984733e-01 5.52221306e-03 4.38013622e-02] [ 1.30807344e-02 -5.52431536e-03 9.99899183e-01 -2.88528948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62313336499999 meters Centerline goodness [0,1] 0.2869943453675511 Centerline is valid? [False, False] Translation: X:1.54, Y:0.04, Z:-0.29 [[ 9.99917393e-01 -8.43200605e-05 -1.28530176e-02 1.54094891e+00] [ 1.54990372e-04 9.99984877e-01 5.49744704e-03 4.42528186e-02] [ 1.28523597e-02 -5.49898501e-03 9.99902284e-01 -2.88126195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65313336499999 meters Centerline goodness [0,1] 0.2828024926432404 Centerline is valid? [False, False] Translation: X:1.54, Y:0.04, Z:-0.29 [[ 9.99918190e-01 -5.39487794e-05 -1.27909965e-02 1.54057427e+00] [ 1.24742305e-04 9.99984680e-01 5.53390403e-03 4.41672584e-02] [ 1.27905020e-02 -5.53504688e-03 9.99902878e-01 -2.87777727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68313336499999 meters Centerline goodness [0,1] 0.2866108786610879 Centerline is valid? [False, False] Translation: X:1.54, Y:0.04, Z:-0.29 [[ 9.99916972e-01 -3.29633981e-05 -1.28859673e-02 1.54081233e+00] [ 1.06652252e-04 9.99983647e-01 5.71788954e-03 4.30385560e-02] [ 1.28855681e-02 -5.71878911e-03 9.99900624e-01 -2.87809691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71313336499999 meters Centerline goodness [0,1] 0.28232945669154663 Centerline is valid? [False, False] Translation: X:1.54, Y:0.04, Z:-0.29 [[ 9.99915937e-01 -3.95606812e-05 -1.29660236e-02 1.54085693e+00] [ 1.15718078e-04 9.99982748e-01 5.87291479e-03 4.19603809e-02] [ 1.29655676e-02 -5.87392149e-03 9.99898690e-01 -2.87594605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74313336499999 meters Centerline goodness [0,1] 0.28565206976896107 Centerline is valid? [False, False] Translation: X:1.54, Y:0.04, Z:-0.29 [[ 9.99917789e-01 -4.07755578e-05 -1.28223600e-02 1.54034267e+00] [ 1.18771378e-04 9.99981497e-01 6.08209492e-03 4.05786339e-02] [ 1.28218748e-02 -6.08311783e-03 9.99899293e-01 -2.87344749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77313336499999 meters Centerline goodness [0,1] 0.2806824317028399 Centerline is valid? [False, False] Translation: X:1.54, Y:0.04, Z:-0.29 [[ 9.99916745e-01 -5.73185022e-05 -1.29034517e-02 1.54026245e+00] [ 1.38945931e-04 9.99979986e-01 6.32520733e-03 3.90229626e-02] [ 1.29028309e-02 -6.32647361e-03 9.99896741e-01 -2.86935437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.803133365 meters Centerline goodness [0,1] 0.28664878655066395 Centerline is valid? [False, False] Translation: X:1.54, Y:0.04, Z:-0.29 [[ 9.99914626e-01 -1.92030760e-05 -1.30667964e-02 1.54057409e+00] [ 1.06134395e-04 9.99977868e-01 6.65218005e-03 3.71074660e-02] [ 1.30663795e-02 -6.65299896e-03 9.99892498e-01 -2.86869976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.833133365 meters Centerline goodness [0,1] 0.2894423627947983 Centerline is valid? [False, False] Translation: X:1.54, Y:0.04, Z:-0.29 [[ 9.99911423e-01 -8.69562221e-07 -1.33096552e-02 1.54116569e+00] [ 9.26896983e-05 9.99976203e-01 6.89814614e-03 3.56106597e-02] [ 1.33093325e-02 -6.89876879e-03 9.99887628e-01 -2.86931294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.863133365 meters Centerline goodness [0,1] 0.2825733428738698 Centerline is valid? [False, False] Translation: X:1.56, Y:0.03, Z:-0.29 [[ 0.99989675 0.00640653 -0.01286258 1.56320817] [-0.006358 0.99997253 0.00381073 0.03093616] [ 0.01288664 -0.00372856 0.99991001 -0.28715165] [ 0. 0. 0. 1. ]] SLAMing on 97.893133365 meters Centerline goodness [0,1] 0.28462143731421574 Centerline is valid? [False, False] Translation: X:1.56, Y:0.03, Z:-0.29 [[ 0.99989676 0.00642617 -0.01285202 1.56290481] [-0.0063762 0.99997197 0.00392553 0.03013607] [ 0.01287688 -0.00384317 0.9999097 -0.28670335] [ 0. 0. 0. 1. ]] SLAMing on 97.923133365 meters Centerline goodness [0,1] 0.27907678382863177 Centerline is valid? [False, False] Translation: X:1.58, Y:0.03, Z:-0.29 [[ 9.99917081e-01 -9.64365507e-04 -1.28413470e-02 1.58305847e+00] [ 1.02340938e-03 9.99988932e-01 4.59217278e-03 3.36148627e-02] [ 1.28367764e-02 -4.60493396e-03 9.99907002e-01 -2.85250083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.953133365 meters Centerline goodness [0,1] 0.28345116522649905 Centerline is valid? [False, False] Translation: X:1.56, Y:0.03, Z:-0.29 [[ 0.99989835 0.00646237 -0.01270957 1.56348174] [-0.00641514 0.99997238 0.00375384 0.02960689] [ 0.01273347 -0.00367192 0.99991218 -0.28717343] [ 0. 0. 0. 1. ]] SLAMing on 97.98313336499999 meters Centerline goodness [0,1] 0.2812587927190875 Centerline is valid? [False, False] Translation: X:1.56, Y:0.03, Z:-0.29 [[ 0.99989611 0.0064766 -0.01287691 1.56416651] [-0.00642884 0.99997231 0.0037472 0.02976586] [ 0.01290083 -0.00366402 0.99991007 -0.28762174] [ 0. 0. 0. 1. ]] SLAMing on 98.01313336499999 meters Centerline goodness [0,1] 0.28393345784650137 Centerline is valid? [False, False] Translation: X:1.56, Y:0.03, Z:-0.29 [[ 0.99989477 0.00647663 -0.01298101 1.56461189] [-0.00642822 0.99997224 0.00376682 0.02964111] [ 0.01300504 -0.00368298 0.99990865 -0.28790757] [ 0. 0. 0. 1. ]] SLAMing on 98.04313336499999 meters Centerline goodness [0,1] 0.28054072820379294 Centerline is valid? [False, False] Translation: X:1.56, Y:0.03, Z:-0.29 [[ 0.99989358 0.00648922 -0.01306627 1.56469549] [-0.00643956 0.99997189 0.00383947 0.02925355] [ 0.01309082 -0.00375492 0.99990726 -0.28771418] [ 0. 0. 0. 1. ]] SLAMing on 98.07313336499999 meters Centerline goodness [0,1] 0.2792683978949184 Centerline is valid? [False, False] Translation: X:1.56, Y:0.03, Z:-0.29 [[ 0.99989288 0.00652089 -0.01310404 1.56481981] [-0.0064699 0.99997135 0.00392943 0.02889347] [ 0.01312929 -0.00384423 0.99990642 -0.28776536] [ 0. 0. 0. 1. ]] SLAMing on 98.10313336499999 meters Centerline goodness [0,1] 0.28132736828389004 Centerline is valid? [False, False] Translation: X:1.57, Y:0.03, Z:-0.29 [[ 0.99989149 0.00654589 -0.01319716 1.56520283] [-0.00649327 0.99997081 0.00402634 0.02843737] [ 0.01322313 -0.00394021 0.99990481 -0.28801437] [ 0. 0. 0. 1. ]] SLAMing on 98.13313336499999 meters Centerline goodness [0,1] 0.28229727383226255 Centerline is valid? [False, False] Translation: X:1.57, Y:0.03, Z:-0.29 [[ 0.99989096 0.00655854 -0.013231 1.56535587] [-0.00650418 0.99997025 0.00414759 0.02760227] [ 0.01325781 -0.00406108 0.99990386 -0.28814915] [ 0. 0. 0. 1. ]] SLAMing on 98.163133365 meters Centerline goodness [0,1] 0.28364199550640223 Centerline is valid? [False, False] Translation: X:1.57, Y:0.03, Z:-0.29 [[ 0.99989112 0.00656673 -0.01321472 1.56537946] [-0.00650851 0.99996894 0.0044442 0.02546786] [ 0.01324349 -0.00435771 0.99990281 -0.28825751] [ 0. 0. 0. 1. ]] SLAMing on 98.193133365 meters Centerline goodness [0,1] 0.27884698555488274 Centerline is valid? [False, False] Translation: X:1.59, Y:0.03, Z:-0.29 [[ 9.99901489e-01 -6.40107618e-04 -1.40215137e-02 1.58501061e+00] [ 7.12229826e-04 9.99986540e-01 5.13929253e-03 2.85058254e-02] [ 1.40180352e-02 -5.14877279e-03 9.99888486e-01 -2.86587895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.223133365 meters Centerline goodness [0,1] 0.2818245186024222 Centerline is valid? [False, False] Translation: X:1.59, Y:0.03, Z:-0.29 [[ 9.99899639e-01 -5.73247687e-04 -1.41556819e-02 1.58519771e+00] [ 6.48239356e-04 9.99985779e-01 5.29361737e-03 2.79260295e-02] [ 1.41524461e-02 -5.30226236e-03 9.99885791e-01 -2.86390837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.253133365 meters Centerline goodness [0,1] 0.2787366240938902 Centerline is valid? [False, False] Translation: X:1.59, Y:0.03, Z:-0.29 [[ 9.99897688e-01 -5.21175897e-04 -1.42948540e-02 1.58556099e+00] [ 5.98413417e-04 9.99985244e-01 5.39942451e-03 2.76588105e-02] [ 1.42918290e-02 -5.40742631e-03 9.99883245e-01 -2.86444776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.283133365 meters Centerline goodness [0,1] 0.2787366240938902 Centerline is valid? [False, False] Translation: X:1.59, Y:0.03, Z:-0.29 [[ 9.99897688e-01 -5.21175897e-04 -1.42948540e-02 1.58556099e+00] [ 5.98413417e-04 9.99985244e-01 5.39942451e-03 2.76588105e-02] [ 1.42918290e-02 -5.40742631e-03 9.99883245e-01 -2.86444776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.313133365 meters Centerline goodness [0,1] 0.279953942079993 Centerline is valid? [False, False] Translation: X:1.59, Y:0.03, Z:-0.29 [[ 9.99895932e-01 -5.21076608e-04 -1.44171307e-02 1.58592930e+00] [ 5.99064779e-04 9.99985210e-01 5.40562026e-03 2.77077574e-02] [ 1.44141007e-02 -5.41369450e-03 9.99881456e-01 -2.86546997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.343133365 meters Centerline goodness [0,1] 0.2786330314790858 Centerline is valid? [False, False] Translation: X:1.59, Y:0.03, Z:-0.29 [[ 9.99893980e-01 -5.81566334e-04 -1.45495695e-02 1.58628526e+00] [ 6.58997484e-04 9.99985644e-01 5.31765787e-03 2.79432445e-02] [ 1.45462680e-02 -5.32668222e-03 9.99880009e-01 -2.86593531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37313336499999 meters Centerline goodness [0,1] 0.28296912786770956 Centerline is valid? [False, False] Translation: X:1.59, Y:0.03, Z:-0.29 [[ 9.99896910e-01 -6.74763796e-04 -1.43427151e-02 1.58535783e+00] [ 7.47107329e-04 9.99987024e-01 5.03916232e-03 2.93256052e-02] [ 1.43391287e-02 -5.04935838e-03 9.99884440e-01 -2.85867371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40313336499999 meters Centerline goodness [0,1] 0.281430975327258 Centerline is valid? [False, False] Translation: X:1.59, Y:0.03, Z:-0.29 [[ 9.99897861e-01 -6.87129492e-04 -1.42756603e-02 1.58504546e+00] [ 7.57241832e-04 9.99987676e-01 4.90649562e-03 3.03196232e-02] [ 1.42721130e-02 -4.91680460e-03 9.99886059e-01 -2.85607778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43313336499999 meters Centerline goodness [0,1] 0.2794601854258729 Centerline is valid? [False, False] Translation: X:1.59, Y:0.03, Z:-0.29 [[ 9.99898469e-01 -7.63241761e-04 -1.42291614e-02 1.58508289e+00] [ 8.29678158e-04 9.99988781e-01 4.66371277e-03 3.16591254e-02] [ 1.42254422e-02 -4.67504488e-03 9.99887884e-01 -2.85863657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46313336499999 meters Centerline goodness [0,1] 0.27647604061132547 Centerline is valid? [False, False] Translation: X:1.59, Y:0.03, Z:-0.29 [[ 9.99897082e-01 -9.07218042e-04 -1.43179331e-02 1.58535566e+00] [ 9.69532561e-04 9.99990087e-01 4.34585978e-03 3.30671388e-02] [ 1.43138485e-02 -4.35929421e-03 9.99888049e-01 -2.85903342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49313336499999 meters Centerline goodness [0,1] 0.2840351952372614 Centerline is valid? [False, False] Translation: X:1.56, Y:0.03, Z:-0.29 [[ 0.99987281 0.00656135 -0.0145365 1.56472544] [-0.00651471 0.99997349 0.00325304 0.0306249 ] [ 0.01455746 -0.00315792 0.99988905 -0.28699828] [ 0. 0. 0. 1. ]] SLAMing on 98.52313336499999 meters Centerline goodness [0,1] 0.2805510359041111 Centerline is valid? [False, False] Translation: X:1.58, Y:0.04, Z:-0.29 [[ 9.99894214e-01 -7.38920767e-04 -1.45263661e-02 1.58394231e+00] [ 7.93729114e-04 9.99992587e-01 3.76762211e-03 3.68004583e-02] [ 1.45234745e-02 -3.77875354e-03 9.99887389e-01 -2.85183216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.553133365 meters Centerline goodness [0,1] 0.28479020979020975 Centerline is valid? [False, False] Translation: X:1.58, Y:0.04, Z:-0.28 [[ 9.99897652e-01 -9.32077812e-04 -1.42764651e-02 1.58318067e+00] [ 9.73472529e-04 9.99995342e-01 2.89283272e-03 4.22591302e-02] [ 1.42737023e-02 -2.90643439e-03 9.99893901e-01 -2.84881814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.583133365 meters Centerline goodness [0,1] 0.28484030393416215 Centerline is valid? [False, False] Translation: X:1.58, Y:0.05, Z:-0.29 [[ 9.99894742e-01 -1.20184438e-03 -1.44589163e-02 1.58384444e+00] [ 1.23345873e-03 9.99996868e-01 2.17777668e-03 4.56827093e-02] [ 1.44562537e-02 -2.19538193e-03 9.99893093e-01 -2.85230423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.613133365 meters Centerline goodness [0,1] 0.28488397405198307 Centerline is valid? [False, False] Translation: X:1.58, Y:0.05, Z:-0.29 [[ 9.99889667e-01 -1.49232745e-03 -1.47792521e-02 1.58489038e+00] [ 1.51407361e-03 9.99997788e-01 1.46031860e-03 4.90574258e-02] [ 1.47770401e-02 -1.48253436e-03 9.99889715e-01 -2.85646146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.643133365 meters Centerline goodness [0,1] 0.282458548489008 Centerline is valid? [False, False] Translation: X:1.59, Y:0.05, Z:-0.29 [[ 9.99887476e-01 -1.70079357e-03 -1.49044386e-02 1.58541535e+00] [ 1.71434146e-03 9.99998129e-01 8.96254025e-04 5.19394632e-02] [ 1.49028864e-02 -9.21704472e-04 9.99888521e-01 -2.86030228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.673133365 meters Centerline goodness [0,1] 0.2832941381412769 Centerline is valid? [False, False] Translation: X:1.59, Y:0.05, Z:-0.29 [[ 9.99887714e-01 -1.88462361e-03 -1.48663478e-02 1.58528338e+00] [ 1.89052765e-03 9.99998140e-01 3.83097855e-04 5.46258485e-02] [ 1.48655981e-02 -4.11160080e-04 9.99889416e-01 -2.85977546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.703133365 meters Centerline goodness [0,1] 0.28022084672288483 Centerline is valid? [False, False] Translation: X:1.60, Y:0.06, Z:-0.29 [[ 0.99991812 0.00568436 -0.01146502 1.60395082] [-0.00570571 0.99998205 -0.00183039 0.05776015] [ 0.0114544 0.00189566 0.9999326 -0.28598066] [ 0. 0. 0. 1. ]] SLAMing on 98.73313336499999 meters Centerline goodness [0,1] 0.2863035223255205 Centerline is valid? [False, False] Translation: X:1.58, Y:0.07, Z:-0.29 [[ 9.99928550e-01 -3.18993946e-03 -1.15203907e-02 1.58466368e+00] [ 3.18073914e-03 9.99994608e-01 -8.16845596e-04 6.54122133e-02] [ 1.15229342e-02 7.80143875e-04 9.99933304e-01 -2.87379630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76313336499999 meters Centerline goodness [0,1] 0.2861598185466283 Centerline is valid? [False, False] Translation: X:1.58, Y:0.07, Z:-0.29 [[ 9.99926792e-01 -3.37809340e-03 -1.16189110e-02 1.58495624e+00] [ 3.36338574e-03 9.99993518e-01 -1.28514592e-03 6.77218004e-02] [ 1.16231770e-02 1.24597296e-03 9.99931672e-01 -2.87478118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79313336499999 meters Centerline goodness [0,1] 0.2873154789322454 Centerline is valid? [False, False] Translation: X:1.59, Y:0.07, Z:-0.29 [[ 0.99992498 -0.00354384 -0.01172539 1.58538926] [ 0.00352386 0.9999923 -0.00172494 0.07002548] [ 0.01173141 0.00168349 0.99992977 -0.28778581] [ 0. 0. 0. 1. ]] SLAMing on 98.82313336499999 meters Centerline goodness [0,1] 0.28083784194859096 Centerline is valid? [False, False] Translation: X:1.59, Y:0.07, Z:-0.29 [[ 0.99992099 -0.00384742 -0.01196691 1.58622781] [ 0.00381728 0.99998949 -0.00253969 0.07420945] [ 0.01197655 0.00249381 0.99992517 -0.28815897] [ 0. 0. 0. 1. ]] SLAMing on 98.85313336499999 meters Centerline goodness [0,1] 0.2815632781206019 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.29 [[ 0.99991915 -0.00399632 -0.01207178 1.58649757] [ 0.00396053 0.9999877 -0.00298731 0.07652391] [ 0.01208357 0.00293926 0.99992267 -0.28814591] [ 0. 0. 0. 1. ]] SLAMing on 98.88313336499999 meters Centerline goodness [0,1] 0.279268582284493 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.29 [[ 0.99991849 -0.00408037 -0.01209813 1.58663277] [ 0.00403916 0.99998597 -0.00342855 0.07906649] [ 0.01211195 0.0033794 0.99992094 -0.28816572] [ 0. 0. 0. 1. ]] SLAMing on 98.913133365 meters Centerline goodness [0,1] 0.28401412441693186 Centerline is valid? [False, False] Translation: X:1.58, Y:0.08, Z:-0.29 [[ 0.9999312 -0.00223171 -0.01151559 1.58382719] [ 0.00220829 0.99999547 -0.00204582 0.08367672] [ 0.0115201 0.00202025 0.9999316 -0.2867246 ] [ 0. 0. 0. 1. ]] SLAMing on 98.943133365 meters Centerline goodness [0,1] 0.2811230223912855 Centerline is valid? [False, False] Translation: X:1.58, Y:0.09, Z:-0.29 [[ 0.99993193 -0.00219884 -0.01145857 1.58382053] [ 0.00216949 0.99999434 -0.00257327 0.08702588] [ 0.01146417 0.00254824 0.99993104 -0.28684057] [ 0. 0. 0. 1. ]] SLAMing on 98.973133365 meters Centerline goodness [0,1] 0.2809702944610196 Centerline is valid? [False, False] Translation: X:1.58, Y:0.09, Z:-0.29 [[ 9.99931359e-01 1.12584503e-03 -1.16623341e-02 1.58398182e+00] [-1.13085626e-03 9.99999271e-01 -4.23108607e-04 9.45656012e-02] [ 1.16618492e-02 4.36267988e-04 9.99931903e-01 -2.86379924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.003133365 meters Centerline goodness [0,1] 0.2867764438321415 Centerline is valid? [False, False] Translation: X:1.58, Y:0.10, Z:-0.29 [[ 9.99934389e-01 1.44591052e-03 -1.13634313e-02 1.58335085e+00] [-1.45483522e-03 9.99998640e-01 -7.77161033e-04 9.80080901e-02] [ 1.13622921e-02 7.93641962e-04 9.99935132e-01 -2.86431735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.033133365 meters Centerline goodness [0,1] 0.2853086985957326 Centerline is valid? [False, False] Translation: X:1.58, Y:0.10, Z:-0.29 [[ 9.99938272e-01 1.77618452e-03 -1.09680218e-02 1.58235382e+00] [-1.78833417e-03 9.99997798e-01 -1.09802603e-03 1.01181602e-01] [ 1.09660474e-02 1.11757274e-03 9.99939247e-01 -2.86276104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.063133365 meters Centerline goodness [0,1] 0.28276339411243057 Centerline is valid? [False, False] Translation: X:1.58, Y:0.10, Z:-0.29 [[ 9.99939326e-01 2.00294923e-03 -1.08320071e-02 1.58207891e+00] [-2.01962532e-03 9.99996792e-01 -1.52880093e-03 1.04728885e-01] [ 1.08289102e-02 1.55058477e-03 9.99940163e-01 -2.86337963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.093133365 meters Centerline goodness [0,1] 0.27978102032458996 Centerline is valid? [False, False] Translation: X:1.58, Y:0.11, Z:-0.29 [[ 0.99994127 0.00211569 -0.01062925 1.58161815] [-0.00213699 0.99999573 -0.00199328 0.10799864] [ 0.01062499 0.00201587 0.99994152 -0.28631731] [ 0. 0. 0. 1. ]] SLAMing on 99.12313336499999 meters Centerline goodness [0,1] 0.28682052176947914 Centerline is valid? [False, False] Translation: X:1.56, Y:0.11, Z:-0.29 [[ 9.99937921e-01 -4.59260932e-03 -1.01519976e-02 1.56050417e+00] [ 4.59775120e-03 9.99989314e-01 4.83208003e-04 1.14986541e-01] [ 1.01496700e-02 -5.29854365e-04 9.99948350e-01 -2.87244851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15313336499999 meters Centerline goodness [0,1] 0.2854153497395209 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.29 [[ 9.99943645e-01 -4.19242623e-03 -9.75343959e-03 1.55946707e+00] [ 4.19273154e-03 9.99991210e-01 1.08557321e-05 1.19957553e-01] [ 9.75330835e-03 -5.17486741e-05 9.99952434e-01 -2.87212840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18313336499999 meters Centerline goodness [0,1] 0.28245678558293486 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.29 [[ 9.99944115e-01 -4.19378218e-03 -9.70458638e-03 1.55938728e+00] [ 4.18957287e-03 9.99991121e-01 -4.54032732e-04 1.22931128e-01] [ 9.70640432e-03 4.13349286e-04 9.99952806e-01 -2.87332318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21313336499999 meters Centerline goodness [0,1] 0.28293993974467346 Centerline is valid? [False, False] Translation: X:1.56, Y:0.13, Z:-0.29 [[ 9.99943653e-01 -4.28694910e-03 -9.71151317e-03 1.55956969e+00] [ 4.27769051e-03 9.99990376e-01 -9.73932732e-04 1.25847739e-01] [ 9.71559491e-03 9.32335006e-04 9.99952368e-01 -2.87610787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24313336499999 meters Centerline goodness [0,1] 0.2834813653779171 Centerline is valid? [False, False] Translation: X:1.56, Y:0.13, Z:-0.29 [[ 9.99942832e-01 -4.39960172e-03 -9.74557285e-03 1.55968139e+00] [ 4.38531901e-03 9.99989280e-01 -1.48644363e-03 1.28633549e-01] [ 9.75200813e-03 1.44362120e-03 9.99951406e-01 -2.87708121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27313336499999 meters Centerline goodness [0,1] 0.28364600769548487 Centerline is valid? [False, False] Translation: X:1.56, Y:0.13, Z:-0.29 [[ 0.99994031 -0.00457257 -0.00992275 1.56017044] [ 0.00455039 0.9999871 -0.00225705 0.13291434] [ 0.00993294 0.00221176 0.99994822 -0.28787096] [ 0. 0. 0. 1. ]] SLAMing on 99.303133365 meters Centerline goodness [0,1] 0.28449944539898653 Centerline is valid? [False, False] Translation: X:1.56, Y:0.13, Z:-0.29 [[ 0.99993957 -0.00464279 -0.00996472 1.56023872] [ 0.00461816 0.99998623 -0.00249331 0.13414201] [ 0.00997616 0.00244714 0.99994724 -0.28783944] [ 0. 0. 0. 1. ]] SLAMing on 99.333133365 meters Centerline goodness [0,1] 0.283939043798644 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 0.99993882 -0.00474024 -0.00999386 1.56032769] [ 0.00471311 0.99998515 -0.00273626 0.13526349] [ 0.01000668 0.00268899 0.99994632 -0.28788842] [ 0. 0. 0. 1. ]] SLAMing on 99.363133365 meters Centerline goodness [0,1] 0.2853397421892069 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 0.99993823 -0.00484524 -0.01000324 1.56037923] [ 0.00481584 0.99998402 -0.00296101 0.13622611] [ 0.01001742 0.00291265 0.99994558 -0.28799591] [ 0. 0. 0. 1. ]] SLAMing on 99.393133365 meters Centerline goodness [0,1] 0.2848892956764296 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 0.99993798 -0.00492092 -0.00999084 1.56021699] [ 0.00488987 0.99998315 -0.00313008 0.13699742] [ 0.01000608 0.00308103 0.99994519 -0.28779222] [ 0. 0. 0. 1. ]] SLAMing on 99.423133365 meters Centerline goodness [0,1] 0.28023198154496265 Centerline is valid? [False, False] Translation: X:1.58, Y:0.13, Z:-0.29 [[ 0.9999559 0.00350972 -0.00871076 1.57923457] [-0.00354832 0.99998394 -0.00441994 0.13414026] [ 0.00869511 0.00445065 0.99995229 -0.2869728 ] [ 0. 0. 0. 1. ]] SLAMing on 99.453133365 meters Centerline goodness [0,1] 0.2835211390635919 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 0.99994168 -0.00498131 -0.00958197 1.55952999] [ 0.0049552 0.99998395 -0.00274631 0.13742186] [ 0.0095955 0.00269867 0.99995032 -0.28835891] [ 0. 0. 0. 1. ]] SLAMing on 99.48313336499999 meters Centerline goodness [0,1] 0.2846523830345431 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 0.99994171 -0.00495531 -0.00959269 1.55952923] [ 0.00492996 0.9999843 -0.00266398 0.13701251] [ 0.00960574 0.00261654 0.99995044 -0.28832701] [ 0. 0. 0. 1. ]] SLAMing on 99.51313336499999 meters Centerline goodness [0,1] 0.2868899479304563 Centerline is valid? [False, False] Translation: X:1.54, Y:0.13, Z:-0.29 [[ 0.99995582 0.00244786 -0.00907543 1.54026835] [-0.00248194 0.9999899 -0.00374602 0.13181345] [ 0.00906617 0.00376838 0.9999518 -0.29009005] [ 0. 0. 0. 1. ]] SLAMing on 99.54313336499999 meters Centerline goodness [0,1] 0.2846524970661103 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 0.99994412 -0.00490046 -0.00936698 1.5599656 ] [ 0.00487322 0.99998384 -0.00292883 0.13637122] [ 0.00938118 0.00288302 0.99995184 -0.28860024] [ 0. 0. 0. 1. ]] SLAMing on 99.57313336499999 meters Centerline goodness [0,1] 0.28459006387199437 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 0.99994097 -0.00474054 -0.00977701 1.56102174] [ 0.00471253 0.99998473 -0.00288564 0.13675633] [ 0.00979054 0.0028394 0.99994804 -0.28874052] [ 0. 0. 0. 1. ]] SLAMing on 99.60313336499999 meters Centerline goodness [0,1] 0.28321815955213436 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 0.99994034 -0.00464766 -0.00988531 1.56139865] [ 0.00461947 0.99998521 -0.00287207 0.13715197] [ 0.00989851 0.00282624 0.99994701 -0.28894829] [ 0. 0. 0. 1. ]] SLAMing on 99.63313336499999 meters Centerline goodness [0,1] 0.2831769363694031 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 0.99993984 -0.00460072 -0.00995728 1.56168494] [ 0.00457178 0.99998526 -0.00292784 0.13769062] [ 0.00997061 0.00288214 0.99994614 -0.28915733] [ 0. 0. 0. 1. ]] SLAMing on 99.663133365 meters Centerline goodness [0,1] 0.28387252112244454 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 0.99993882 -0.00460155 -0.01005889 1.56205518] [ 0.00457158 0.99998505 -0.00300039 0.13802672] [ 0.01007255 0.00295422 0.99994491 -0.2893789 ] [ 0. 0. 0. 1. ]] SLAMing on 99.693133365 meters Centerline goodness [0,1] 0.28243092958852134 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 0.9999375 -0.00465832 -0.01016386 1.5623861 ] [ 0.00462664 0.99998437 -0.00313846 0.13849858] [ 0.01017832 0.00309124 0.99994342 -0.28953006] [ 0. 0. 0. 1. ]] SLAMing on 99.723133365 meters Centerline goodness [0,1] 0.28299630354424876 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 0.99994098 -0.00457191 -0.00985535 1.56128121] [ 0.0045413 0.9999848 -0.00312556 0.13869348] [ 0.00986949 0.00308062 0.99994655 -0.28896935] [ 0. 0. 0. 1. ]] SLAMing on 99.753133365 meters Centerline goodness [0,1] 0.28461622210125204 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 0.99994321 -0.00448346 -0.00966793 1.5605343 ] [ 0.00445423 0.99998545 -0.00304278 0.13867098] [ 0.00968143 0.00299955 0.99994863 -0.28848868] [ 0. 0. 0. 1. ]] SLAMing on 99.783133365 meters Centerline goodness [0,1] 0.2872200839748076 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 0.99994492 -0.00443442 -0.00951311 1.56012756] [ 0.0044059 0.99998574 -0.00301715 0.13881588] [ 0.00952635 0.00297507 0.9999502 -0.28844078] [ 0. 0. 0. 1. ]] SLAMing on 99.813133365 meters Centerline goodness [0,1] 0.28672736823673617 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 0.99994573 -0.00442956 -0.00942965 1.56001607] [ 0.00440089 0.99998564 -0.00305841 0.13915652] [ 0.00944306 0.00301674 0.99995086 -0.28858974] [ 0. 0. 0. 1. ]] SLAMing on 99.843133365 meters Centerline goodness [0,1] 0.2824598395756799 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 0.99994497 -0.00447238 -0.00948994 1.56032053] [ 0.00444219 0.99998502 -0.00319909 0.13978867] [ 0.0095041 0.00315676 0.99994985 -0.28882091] [ 0. 0. 0. 1. ]] SLAMing on 99.87313336499999 meters Centerline goodness [0,1] 0.27896210163652024 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 0.99994469 -0.00449724 -0.00950759 1.56037641] [ 0.00446504 0.99998424 -0.00340434 0.1409933 ] [ 0.00952275 0.0033617 0.99994901 -0.28891769] [ 0. 0. 0. 1. ]] SLAMing on 99.90313336499999 meters Centerline goodness [0,1] 0.28619815567501417 Centerline is valid? [False, False] Translation: X:1.54, Y:0.14, Z:-0.29 [[ 0.99995218 0.00431858 -0.00877445 1.53653068] [-0.00434786 0.99998503 -0.00332091 0.1387996 ] [ 0.00875997 0.0033589 0.99995599 -0.2889029 ] [ 0. 0. 0. 1. ]] SLAMing on 99.93313336499999 meters Centerline goodness [0,1] 0.2807702259789546 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 9.99962001e-01 -9.95909863e-04 -8.66054999e-03 1.55876759e+00] [ 9.89296167e-04 9.99999216e-01 -7.67908255e-04 1.43285983e-01] [ 8.66130796e-03 7.59311226e-04 9.99962202e-01 -2.89087220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96313336499999 meters Centerline goodness [0,1] 0.28501752781588174 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 9.99962108e-01 -1.08781837e-03 -8.63709060e-03 1.55880269e+00] [ 1.07911892e-03 9.99998906e-01 -1.01181633e-03 1.44381482e-01] [ 8.63818182e-03 1.00245754e-03 9.99962188e-01 -2.89258920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99313336499999 meters Centerline goodness [0,1] 0.28501856300502293 Centerline is valid? [False, False] Translation: X:1.56, Y:0.15, Z:-0.29 [[ 9.99962325e-01 -1.14440558e-03 -8.60463833e-03 1.55875031e+00] [ 1.13438452e-03 9.99998673e-01 -1.16940256e-03 1.45035357e-01] [ 8.60596518e-03 1.15959753e-03 9.99962296e-01 -2.89299219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02313336499999 meters Centerline goodness [0,1] 0.2804343602253837 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 9.99962395e-01 -1.11995225e-03 -8.59967893e-03 1.55868646e+00] [ 1.11030958e-03 9.99998750e-01 -1.12597540e-03 1.44908242e-01] [ 8.60092922e-03 1.11638475e-03 9.99962388e-01 -2.89263949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.053133365 meters Centerline goodness [0,1] 0.2818684296087569 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 9.99961973e-01 -1.04943220e-03 -8.65742713e-03 1.55893198e+00] [ 1.04133994e-03 9.99999017e-01 -9.39174216e-04 1.44020322e-01] [ 8.65840421e-03 9.30123177e-04 9.99962083e-01 -2.89451718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.083133365 meters Centerline goodness [0,1] 0.2847764449291167 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 9.99961252e-01 -9.66104354e-04 -8.74990032e-03 1.55912908e+00] [ 9.60796089e-04 9.99999352e-01 -6.10848940e-04 1.42276961e-01] [ 8.75048479e-03 6.02418401e-04 9.99961532e-01 -2.89378824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.113133365 meters Centerline goodness [0,1] 0.284020450342652 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 9.99960454e-01 -8.74606624e-04 -8.85014926e-03 1.55917222e+00] [ 8.73324051e-04 9.99999608e-01 -1.48784553e-04 1.39707077e-01] [ 8.85027591e-03 1.41049621e-04 9.99960826e-01 -2.89029746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.143133365 meters Centerline goodness [0,1] 0.2838791151367358 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 9.99958890e-01 -7.54304480e-04 -9.03596372e-03 1.55947535e+00] [ 7.57760800e-04 9.99999641e-01 3.79089549e-04 1.36768154e-01] [ 9.03567453e-03 -3.85921064e-04 9.99959103e-01 -2.88746716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.173133365 meters Centerline goodness [0,1] 0.2820801245998097 Centerline is valid? [False, False] Translation: X:1.56, Y:0.13, Z:-0.29 [[ 9.99955774e-01 -6.53949483e-04 -9.38202238e-03 1.56035329e+00] [ 6.62030958e-04 9.99999413e-01 8.58299032e-04 1.33971731e-01] [ 9.38145558e-03 -8.64472262e-04 9.99955620e-01 -2.88764290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.203133365 meters Centerline goodness [0,1] 0.2820801245998097 Centerline is valid? [False, False] Translation: X:1.56, Y:0.13, Z:-0.29 [[ 9.99955774e-01 -6.53949483e-04 -9.38202238e-03 1.56035329e+00] [ 6.62030958e-04 9.99999413e-01 8.58299032e-04 1.33971731e-01] [ 9.38145558e-03 -8.64472262e-04 9.99955620e-01 -2.88764290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23313336499999 meters Centerline goodness [0,1] 0.28542739893477687 Centerline is valid? [False, False] Translation: X:1.56, Y:0.13, Z:-0.29 [[ 9.99954586e-01 -3.07168660e-04 -9.52530597e-03 1.56039279e+00] [ 3.23235210e-04 9.99998528e-01 1.68522906e-03 1.29926913e-01] [ 9.52477430e-03 -1.68823144e-03 9.99953213e-01 -2.88179531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26313336499999 meters Centerline goodness [0,1] 0.28209506928081973 Centerline is valid? [False, False] Translation: X:1.58, Y:0.13, Z:-0.29 [[ 9.99929127e-01 8.59733542e-03 -8.23570571e-03 1.57990853e+00] [-8.59261652e-03 9.99962898e-01 6.08192757e-04 1.26072082e-01] [ 8.24062899e-03 -5.37383391e-04 9.99965901e-01 -2.87210637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29313336499999 meters Centerline goodness [0,1] 0.2820312669398729 Centerline is valid? [False, False] Translation: X:1.58, Y:0.13, Z:-0.29 [[ 9.99926063e-01 9.27619762e-03 -7.86267261e-03 1.57908190e+00] [-9.26904261e-03 9.99956594e-01 9.45950200e-04 1.26245147e-01] [ 7.87110615e-03 -8.73000811e-04 9.99968641e-01 -2.87382955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32313336499999 meters Centerline goodness [0,1] 0.2819809507354053 Centerline is valid? [False, False] Translation: X:1.58, Y:0.13, Z:-0.29 [[ 9.99922964e-01 9.36991191e-03 -8.14070459e-03 1.58004526e+00] [-9.36429834e-03 9.99955889e-01 7.27412202e-04 1.27704684e-01] [ 8.14716129e-03 -6.51124179e-04 9.99966599e-01 -2.87953614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35313336499999 meters Centerline goodness [0,1] 0.2824286025724875 Centerline is valid? [False, False] Translation: X:1.56, Y:0.13, Z:-0.29 [[ 9.99957563e-01 1.03745524e-03 -9.15405809e-03 1.56169967e+00] [-1.01825798e-03 9.99997273e-01 2.10154282e-03 1.32738319e-01] [ 9.15621339e-03 -2.09213244e-03 9.99955892e-01 -2.89574271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38313336499999 meters Centerline goodness [0,1] 0.28163769025916385 Centerline is valid? [False, False] Translation: X:1.56, Y:0.13, Z:-0.29 [[ 9.99956991e-01 1.08841274e-03 -9.21044506e-03 1.56195912e+00] [-1.07086574e-03 9.99997603e-01 1.90983745e-03 1.34093540e-01] [ 9.21250167e-03 -1.89989216e-03 9.99955759e-01 -2.89863348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.413133365 meters Centerline goodness [0,1] 0.28209323124577357 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 9.99959454e-01 1.08872037e-03 -8.93897589e-03 1.56130110e+00] [-1.07299863e-03 9.99997870e-01 1.76339301e-03 1.35019327e-01] [ 8.94087669e-03 -1.75373000e-03 9.99958492e-01 -2.89905024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.443133365 meters Centerline goodness [0,1] 0.28158899923605807 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 9.99961304e-01 1.07578273e-03 -8.73116314e-03 1.56074781e+00] [-1.06108150e-03 9.99998012e-01 1.68822301e-03 1.35482143e-01] [ 8.73296194e-03 -1.67889321e-03 9.99960458e-01 -2.89828237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.473133365 meters Centerline goodness [0,1] 0.28059404656391185 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 9.99963642e-01 1.02068484e-03 -8.46599580e-03 1.55973749e+00] [-1.00730814e-03 9.99998238e-01 1.58416356e-03 1.35932330e-01] [ 8.46759781e-03 -1.57557809e-03 9.99962908e-01 -2.89255842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.503133365 meters Centerline goodness [0,1] 0.2822209685818434 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.29 [[ 9.99963423e-01 9.92583286e-04 -8.49509676e-03 1.55973529e+00] [-9.78973843e-04 9.99998231e-01 1.60604345e-03 1.35673620e-01] [ 8.49667587e-03 -1.59766823e-03 9.99962626e-01 -2.89138465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.533133365 meters Centerline goodness [0,1] 0.28696303146398927 Centerline is valid? [False, False] Translation: X:1.51, Y:0.13, Z:-0.29 [[ 9.99941232e-01 -5.70763229e-04 -1.08261696e-02 1.51420582e+00] [ 5.91771593e-04 9.99997948e-01 1.93741268e-03 1.31530815e-01] [ 1.08250415e-02 -1.94370544e-03 9.99939518e-01 -2.88087512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.563133365 meters Centerline goodness [0,1] 0.2822428692092781 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.29 [[ 9.99925771e-01 7.78157070e-03 -9.37547133e-03 1.53330113e+00] [-7.77511263e-03 9.99969510e-01 7.25078607e-04 1.29101097e-01] [ 9.38082773e-03 -6.52129440e-04 9.99955786e-01 -2.87388274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59313336499999 meters Centerline goodness [0,1] 0.2867744963220047 Centerline is valid? [False, False] Translation: X:1.51, Y:0.13, Z:-0.29 [[ 9.99956124e-01 -9.32469695e-04 -9.32096504e-03 1.51316421e+00] [ 9.53914738e-04 9.99996908e-01 2.29655100e-03 1.31608838e-01] [ 9.31879475e-03 -2.30534164e-03 9.99953922e-01 -2.88897634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62313336499999 meters Centerline goodness [0,1] 0.2868659064097523 Centerline is valid? [False, False] Translation: X:1.51, Y:0.13, Z:-0.29 [[ 9.99958907e-01 -9.82630753e-04 -9.01211920e-03 1.51239206e+00] [ 1.00507515e-03 9.99996404e-01 2.48627717e-03 1.30383799e-01] [ 9.00964371e-03 -2.49523286e-03 9.99956299e-01 -2.88767369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65313336499999 meters Centerline goodness [0,1] 0.2826833747434374 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.29 [[ 9.99944085e-01 6.28828502e-03 -8.50201082e-03 1.53382724e+00] [-6.28774624e-03 9.99980228e-01 9.01004506e-05 1.28591046e-01] [ 8.50240929e-03 -3.66369262e-05 9.99963853e-01 -2.88726618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68313336499999 meters Centerline goodness [0,1] 0.28722428477833584 Centerline is valid? [False, False] Translation: X:1.51, Y:0.13, Z:-0.29 [[ 9.99949366e-01 -2.67411136e-03 -9.70121712e-03 1.51465219e+00] [ 2.68744182e-03 9.99995462e-01 1.36132629e-03 1.31246835e-01] [ 9.69753276e-03 -1.38732882e-03 9.99952015e-01 -2.90120914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71313336499999 meters Centerline goodness [0,1] 0.2858261891292049 Centerline is valid? [False, False] Translation: X:1.52, Y:0.13, Z:-0.29 [[ 9.99946698e-01 -2.70256924e-03 -9.96475427e-03 1.51536532e+00] [ 2.71629760e-03 9.99995380e-01 1.36441526e-03 1.31003263e-01] [ 9.96102081e-03 -1.39140977e-03 9.99949420e-01 -2.90266420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74313336499999 meters Centerline goodness [0,1] 0.2854735275449233 Centerline is valid? [False, False] Translation: X:1.52, Y:0.13, Z:-0.29 [[ 9.99946050e-01 -2.69746912e-03 -1.00309547e-02 1.51554165e+00] [ 2.71168416e-03 9.99995338e-01 1.40378682e-03 1.30704137e-01] [ 1.00271213e-02 -1.43091187e-03 9.99948703e-01 -2.90304014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77313336499999 meters Centerline goodness [0,1] 0.2859444746869897 Centerline is valid? [False, False] Translation: X:1.52, Y:0.13, Z:-0.29 [[ 9.99947787e-01 -2.65488589e-03 -9.86788735e-03 1.51510745e+00] [ 2.66969665e-03 9.99995329e-01 1.48803586e-03 1.30407841e-01] [ 9.86389069e-03 -1.51430243e-03 9.99950204e-01 -2.90230746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.803133365 meters Centerline goodness [0,1] 0.28694435945626995 Centerline is valid? [False, False] Translation: X:1.51, Y:0.13, Z:-0.29 [[ 9.99948908e-01 -2.63873889e-03 -9.75795063e-03 1.51478223e+00] [ 2.65339604e-03 9.99995371e-01 1.48943253e-03 1.30480314e-01] [ 9.75397523e-03 -1.51524814e-03 9.99951281e-01 -2.90118120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.833133365 meters Centerline goodness [0,1] 0.28189238210399037 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.29 [[ 9.99944272e-01 5.86141162e-03 -8.78046192e-03 1.53433605e+00] [-5.86123111e-03 9.99982822e-01 4.62907512e-05 1.27687999e-01] [ 8.78058241e-03 5.17614509e-06 9.99961450e-01 -2.89143898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.863133365 meters Centerline goodness [0,1] 0.28571740078499785 Centerline is valid? [False, False] Translation: X:1.52, Y:0.13, Z:-0.29 [[ 9.99946653e-01 -3.14486882e-03 -9.83873409e-03 1.51543186e+00] [ 3.15584473e-03 9.99994415e-01 1.10025459e-03 1.29879662e-01] [ 9.83521898e-03 -1.13124542e-03 9.99950993e-01 -2.90216468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.893133365 meters Centerline goodness [0,1] 0.28504337616593833 Centerline is valid? [False, False] Translation: X:1.52, Y:0.13, Z:-0.29 [[ 9.99944125e-01 -3.14569789e-03 -1.00921069e-02 1.51627995e+00] [ 3.15748022e-03 9.99994352e-01 1.15175894e-03 1.29325325e-01] [ 1.00884269e-02 -1.18356021e-03 9.99948410e-01 -2.90575505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.923133365 meters Centerline goodness [0,1] 0.2815848384082067 Centerline is valid? [False, False] Translation: X:1.52, Y:0.13, Z:-0.29 [[ 9.99942370e-01 -3.10826813e-03 -1.02759934e-02 1.51681187e+00] [ 3.12160477e-03 9.99994306e-01 1.28205910e-03 1.28512300e-01] [ 1.02719499e-02 -1.31406280e-03 9.99946379e-01 -2.90740833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.953133365 meters Centerline goodness [0,1] 0.28151078825615083 Centerline is valid? [False, False] Translation: X:1.52, Y:0.13, Z:-0.29 [[ 9.99942281e-01 -3.03503162e-03 -1.03065086e-02 1.51676435e+00] [ 3.05058630e-03 9.99994231e-01 1.49382462e-03 1.27435110e-01] [ 1.03019154e-02 -1.52517929e-03 9.99945771e-01 -2.90532411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98313336499999 meters Centerline goodness [0,1] 0.2833499847964902 Centerline is valid? [False, False] Translation: X:1.52, Y:0.13, Z:-0.29 [[ 0.99994449 -0.00288533 -0.01013371 1.51590032] [ 0.00290371 0.99999417 0.00179951 0.12624483] [ 0.01012846 -0.00182884 0.99994703 -0.28980739] [ 0. 0. 0. 1. ]] SLAMing on 101.01313336499999 meters Centerline goodness [0,1] 0.2871496909198139 Centerline is valid? [False, False] Translation: X:1.52, Y:0.12, Z:-0.29 [[ 0.99994678 -0.00269601 -0.00995822 1.51510409] [ 0.00271822 0.99999385 0.00221755 0.12448924] [ 0.00995218 -0.0022445 0.99994796 -0.28917575] [ 0. 0. 0. 1. ]] SLAMing on 101.04313336499999 meters Centerline goodness [0,1] 0.28120346189540935 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.29 [[ 9.99938211e-01 5.82447548e-03 -9.46836804e-03 1.53513854e+00] [-5.81681077e-03 9.99982732e-01 8.36844235e-04 1.21421786e-01] [ 9.47307872e-03 -7.81716821e-04 9.99954824e-01 -2.88294505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07313336499999 meters Centerline goodness [0,1] 0.28355938097722133 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.29 [[ 9.99937646e-01 5.81665633e-03 -9.53264225e-03 1.53549687e+00] [-5.80924989e-03 9.99982803e-01 8.04461045e-04 1.21564511e-01] [ 9.53715759e-03 -7.49033382e-04 9.99954240e-01 -2.88655578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10313336499999 meters Centerline goodness [0,1] 0.2822127033575632 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.29 [[ 9.99939303e-01 5.82986882e-03 -9.34896388e-03 1.53514620e+00] [-5.82304424e-03 9.99982759e-01 7.57036611e-04 1.22027158e-01] [ 9.35321612e-03 -7.02551231e-04 9.99956011e-01 -2.88831958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13313336499999 meters Centerline goodness [0,1] 0.28642964446670005 Centerline is valid? [False, False] Translation: X:1.53, Y:0.12, Z:-0.29 [[ 9.99943190e-01 5.89712195e-03 -8.87923280e-03 1.53373835e+00] [-5.89013130e-03 9.99982322e-01 8.13248390e-04 1.22113421e-01] [ 8.88387166e-03 -7.60902342e-04 9.99960248e-01 -2.88406429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.163133365 meters Centerline goodness [0,1] 0.28519472647370814 Centerline is valid? [False, False] Translation: X:1.53, Y:0.12, Z:-0.29 [[ 9.99950921e-01 5.79675580e-03 -8.03446122e-03 1.53079551e+00] [-5.79075678e-03 9.99982937e-01 7.69723360e-04 1.21995855e-01] [ 8.03878603e-03 -7.23159973e-04 9.99967427e-01 -2.86893159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.193133365 meters Centerline goodness [0,1] 0.2862743389815743 Centerline is valid? [False, False] Translation: X:1.53, Y:0.12, Z:-0.29 [[ 9.99948902e-01 5.71158728e-03 -8.34091948e-03 1.53171086e+00] [-5.70587655e-03 9.99983471e-01 7.08301374e-04 1.21967415e-01] [ 8.34482713e-03 -6.60672925e-04 9.99964963e-01 -2.87243215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.223133365 meters Centerline goodness [0,1] 0.2855215925160448 Centerline is valid? [False, False] Translation: X:1.53, Y:0.12, Z:-0.29 [[ 9.99943850e-01 5.55979874e-03 -9.02138547e-03 1.53378177e+00] [-5.55489436e-03 9.99984410e-01 5.68605563e-04 1.22299661e-01] [ 9.02440616e-03 -5.18460793e-04 9.99959145e-01 -2.88021278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.253133365 meters Centerline goodness [0,1] 0.2841838173104032 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.29 [[ 9.99938786e-01 5.45426649e-03 -9.62677484e-03 1.53550357e+00] [-5.44894349e-03 9.99984987e-01 5.79079268e-04 1.22007600e-01] [ 9.62978876e-03 -5.26588068e-04 9.99953494e-01 -2.88475707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.283133365 meters Centerline goodness [0,1] 0.28823516565113894 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.29 [[ 9.99938879e-01 5.45187320e-03 -9.61853406e-03 1.53534448e+00] [-5.44446676e-03 9.99984862e-01 7.96034377e-04 1.20822023e-01] [ 9.62272833e-03 -7.43617933e-04 9.99953424e-01 -2.88249788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.313133365 meters Centerline goodness [0,1] 0.2900689594588659 Centerline is valid? [False, False] Translation: X:1.53, Y:0.12, Z:-0.29 [[ 9.99960441e-01 2.69426530e-03 -8.47688095e-03 1.53011193e+00] [-2.70573006e-03 9.99995440e-01 -1.34129572e-03 1.16874031e-01] [ 8.47322849e-03 1.36417881e-03 9.99963171e-01 -2.85014267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34313336499999 meters Centerline goodness [0,1] 0.28738333006983874 Centerline is valid? [False, False] Translation: X:1.55, Y:0.12, Z:-0.28 [[ 9.99956578e-01 -5.31036379e-03 -7.65783392e-03 1.54986733e+00] [ 5.30755236e-03 9.99985840e-01 -3.87407567e-04 1.18645508e-01] [ 7.65978276e-03 3.46746391e-04 9.99970603e-01 -2.83510946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37313336499999 meters Centerline goodness [0,1] 0.28535106591042436 Centerline is valid? [False, False] Translation: X:1.55, Y:0.12, Z:-0.28 [[ 9.99957086e-01 -5.20147697e-03 -7.66618081e-03 1.54974083e+00] [ 5.20204662e-03 9.99986468e-01 5.43684719e-05 1.16453733e-01] [ 7.66579427e-03 -9.42459688e-05 9.99970613e-01 -2.83304016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40313336499999 meters Centerline goodness [0,1] 0.2861013569168076 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:-0.28 [[ 9.99956870e-01 -5.10977271e-03 -7.75553510e-03 1.54994112e+00] [ 5.11298579e-03 9.99986851e-01 3.94524986e-04 1.14665152e-01] [ 7.75341718e-03 -4.34161911e-04 9.99969848e-01 -2.83264174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43313336499999 meters Centerline goodness [0,1] 0.2861084557226037 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:-0.28 [[ 9.99956527e-01 -5.04487616e-03 -7.84173861e-03 1.55031583e+00] [ 5.05027558e-03 9.99987024e-01 6.68899849e-04 1.13027099e-01] [ 7.83826234e-03 -7.08473711e-04 9.99969029e-01 -2.83486544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46313336499999 meters Centerline goodness [0,1] 0.2868443866493281 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:-0.28 [[ 9.99956862e-01 -4.94212271e-03 -7.86442469e-03 1.55016089e+00] [ 4.95104410e-03 9.99987122e-01 1.11533392e-03 1.10289209e-01] [ 7.85881129e-03 -1.15422292e-03 9.99968453e-01 -2.83145877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49313336499999 meters Centerline goodness [0,1] 0.28912911084043846 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:-0.28 [[ 9.99957997e-01 -4.78271544e-03 -7.81850282e-03 1.54980777e+00] [ 4.79472032e-03 9.99987354e-01 1.51742249e-03 1.08512696e-01] [ 7.81114654e-03 -1.55484629e-03 9.99968284e-01 -2.82785076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52313336499999 meters Centerline goodness [0,1] 0.2832642128909625 Centerline is valid? [False, False] Translation: X:1.57, Y:0.10, Z:-0.28 [[ 9.99962392e-01 3.53720095e-03 -7.91851431e-03 1.56830673e+00] [-3.53440905e-03 9.99993687e-01 3.66545507e-04 1.02650985e-01] [ 7.91976087e-03 -3.38544454e-04 9.99968581e-01 -2.80970660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.553133365 meters Centerline goodness [0,1] 0.28436931867370785 Centerline is valid? [False, False] Translation: X:1.57, Y:0.10, Z:-0.28 [[ 9.99961280e-01 3.59801099e-03 -8.03077741e-03 1.56866749e+00] [-3.59294880e-03 9.99993338e-01 6.44686939e-04 1.01056806e-01] [ 8.03304350e-03 -6.15807805e-04 9.99967545e-01 -2.81100878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.583133365 meters Centerline goodness [0,1] 0.2851820564472458 Centerline is valid? [False, False] Translation: X:1.57, Y:0.10, Z:-0.28 [[ 9.99960296e-01 3.59316880e-03 -8.15450310e-03 1.56891205e+00] [-3.58661426e-03 9.99993233e-01 8.18276233e-04 9.97615245e-02] [ 8.15738813e-03 -7.88996687e-04 9.99966417e-01 -2.81028780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.613133365 meters Centerline goodness [0,1] 0.29304614038924115 Centerline is valid? [False, False] Translation: X:1.57, Y:0.10, Z:-0.28 [[ 9.99964876e-01 3.62642973e-03 -7.55612391e-03 1.56680215e+00] [-3.61803530e-03 9.99992823e-01 1.12431781e-03 9.80201198e-02] [ 7.56014694e-03 -1.09694000e-03 9.99970820e-01 -2.79847724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.643133365 meters Centerline goodness [0,1] 0.289633013486044 Centerline is valid? [False, False] Translation: X:1.57, Y:0.10, Z:-0.28 [[ 9.99967220e-01 3.70563641e-03 -7.19915044e-03 1.56571169e+00] [-3.69690390e-03 9.99992415e-01 1.22592137e-03 9.79316544e-02] [ 7.20363866e-03 -1.19926662e-03 9.99973334e-01 -2.79511089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.673133365 meters Centerline goodness [0,1] 0.2912476395415221 Centerline is valid? [False, False] Translation: X:1.57, Y:0.10, Z:-0.28 [[ 9.99969194e-01 3.70098817e-03 -6.92197679e-03 1.56511470e+00] [-3.69248748e-03 9.99992413e-01 1.24044919e-03 9.78419308e-02] [ 6.92651517e-03 -1.21485166e-03 9.99975273e-01 -2.79590206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.703133365 meters Centerline goodness [0,1] 0.2860882168429706 Centerline is valid? [False, False] Translation: X:1.59, Y:0.10, Z:-0.28 [[ 0.99997031 -0.00415577 -0.00648949 1.58557485] [ 0.00416679 0.9999899 0.0016852 0.10212614] [ 0.00648242 -0.00171219 0.99997752 -0.27896684] [ 0. 0. 0. 1. ]] SLAMing on 101.73313336499999 meters Centerline goodness [0,1] 0.2871586588316626 Centerline is valid? [False, False] Translation: X:1.59, Y:0.10, Z:-0.28 [[ 0.9999698 -0.00423841 -0.00651454 1.58560246] [ 0.00424928 0.9999896 0.0016565 0.10186999] [ 0.00650745 -0.00168414 0.99997741 -0.27893858] [ 0. 0. 0. 1. ]] SLAMing on 101.76313336499999 meters Centerline goodness [0,1] 0.2905542578969198 Centerline is valid? [False, False] Translation: X:1.57, Y:0.10, Z:-0.28 [[ 9.99987941e-01 2.00477534e-03 -4.48326750e-03 1.56761146e+00] [-2.00199311e-03 9.99997801e-01 6.24981095e-04 9.64368899e-02] [ 4.48451059e-03 -6.15998087e-04 9.99989755e-01 -2.81394112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79313336499999 meters Centerline goodness [0,1] 0.2882865314612585 Centerline is valid? [False, False] Translation: X:1.57, Y:0.09, Z:-0.28 [[ 9.99990203e-01 1.61959457e-03 -4.11963649e-03 1.56619128e+00] [-1.61671957e-03 9.99998447e-01 7.01111962e-04 9.47204897e-02] [ 4.12076561e-03 -6.94444796e-04 9.99991268e-01 -2.80482624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82313336499999 meters Centerline goodness [0,1] 0.2892415463115109 Centerline is valid? [False, False] Translation: X:1.57, Y:0.09, Z:-0.28 [[ 9.99988194e-01 1.42732103e-03 -4.64494621e-03 1.56756339e+00] [-1.42387886e-03 9.99998709e-01 7.44279629e-04 9.37863094e-02] [ 4.64600255e-03 -7.37657001e-04 9.99988935e-01 -2.80752704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85313336499999 meters Centerline goodness [0,1] 0.2920867435857839 Centerline is valid? [False, False] Translation: X:1.53, Y:0.09, Z:-0.28 [[ 9.99971741e-01 -7.75880131e-04 -7.47761324e-03 1.52513344e+00] [ 7.79188755e-04 9.99999600e-01 4.39567394e-04 9.17940840e-02] [ 7.47726919e-03 -4.45381445e-04 9.99971946e-01 -2.81373404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88313336499999 meters Centerline goodness [0,1] 0.28692222198008155 Centerline is valid? [False, False] Translation: X:1.53, Y:0.09, Z:-0.28 [[ 9.99968372e-01 -9.29972259e-04 -7.89873767e-03 1.52639498e+00] [ 9.33667257e-04 9.99999456e-01 4.64121483e-04 9.10880294e-02] [ 7.89830176e-03 -4.71481597e-04 9.99968697e-01 -2.81895458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.913133365 meters Centerline goodness [0,1] 0.2854414445698411 Centerline is valid? [False, False] Translation: X:1.53, Y:0.09, Z:-0.28 [[ 9.99970069e-01 -1.00936531e-03 -7.67083963e-03 1.52610248e+00] [ 1.01233769e-03 9.99999414e-01 3.83618453e-04 9.15118401e-02] [ 7.67044792e-03 -3.91372451e-04 9.99970505e-01 -2.82316969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.943133365 meters Centerline goodness [0,1] 0.28537180622448755 Centerline is valid? [False, False] Translation: X:1.53, Y:0.09, Z:-0.28 [[ 9.99970975e-01 -1.11066054e-03 -7.53764916e-03 1.52578307e+00] [ 1.11145109e-03 9.99999377e-01 1.00692014e-04 9.29721087e-02] [ 7.53753263e-03 -1.09066820e-04 9.99971586e-01 -2.82308948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.973133365 meters Centerline goodness [0,1] 0.28554710356933877 Centerline is valid? [False, False] Translation: X:1.53, Y:0.09, Z:-0.28 [[ 9.99971954e-01 -1.22394265e-03 -7.38872444e-03 1.52527312e+00] [ 1.22220136e-03 9.99999224e-01 -2.40179301e-04 9.47155992e-02] [ 7.38901268e-03 2.31142056e-04 9.99972674e-01 -2.82071420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.003133365 meters Centerline goodness [0,1] 0.29003694877456876 Centerline is valid? [False, False] Translation: X:1.53, Y:0.10, Z:-0.28 [[ 9.99972415e-01 -1.35632302e-03 -7.30267682e-03 1.52500934e+00] [ 1.35154629e-03 9.99998870e-01 -6.59001377e-04 9.68522614e-02] [ 7.30356238e-03 6.49113293e-04 9.99973118e-01 -2.81955147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.033133365 meters Centerline goodness [0,1] 0.2881752911303739 Centerline is valid? [False, False] Translation: X:1.52, Y:0.10, Z:-0.28 [[ 9.99973447e-01 -1.46597191e-03 -7.13840974e-03 1.52463070e+00] [ 1.45834732e-03 9.99998361e-01 -1.07319535e-03 9.90728532e-02] [ 7.13997132e-03 1.06275658e-03 9.99973945e-01 -2.81998318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.063133365 meters Centerline goodness [0,1] 0.2873385799382582 Centerline is valid? [False, False] Translation: X:1.52, Y:0.10, Z:-0.28 [[ 9.99973629e-01 -1.58873852e-03 -7.08638437e-03 1.52470324e+00] [ 1.57811830e-03 9.99997624e-01 -1.50401997e-03 1.01372740e-01] [ 7.08875702e-03 1.49279715e-03 9.99973760e-01 -2.82358551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09313336499999 meters Centerline goodness [0,1] 0.2873385799382582 Centerline is valid? [False, False] Translation: X:1.52, Y:0.10, Z:-0.28 [[ 9.99973629e-01 -1.58873852e-03 -7.08638437e-03 1.52470324e+00] [ 1.57811830e-03 9.99997624e-01 -1.50401997e-03 1.01372740e-01] [ 7.08875702e-03 1.49279715e-03 9.99973760e-01 -2.82358551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12313336499999 meters Centerline goodness [0,1] 0.2870494860562953 Centerline is valid? [False, False] Translation: X:1.52, Y:0.11, Z:-0.28 [[ 0.99997458 -0.00190701 -0.00686991 1.52440133] [ 0.00189062 0.99999535 -0.00239122 0.10583038] [ 0.00687444 0.00237817 0.99997354 -0.28271668] [ 0. 0. 0. 1. ]] SLAMing on 102.15313336499999 meters Centerline goodness [0,1] 0.28711432969796835 Centerline is valid? [False, False] Translation: X:1.52, Y:0.11, Z:-0.28 [[ 0.9999752 -0.00207289 -0.00673102 1.52393549] [ 0.00205431 0.99999406 -0.00276624 0.10760897] [ 0.00673672 0.00275235 0.99997352 -0.28254181] [ 0. 0. 0. 1. ]] SLAMing on 102.18313336499999 meters Centerline goodness [0,1] 0.2887069378511389 Centerline is valid? [False, False] Translation: X:1.52, Y:0.11, Z:-0.28 [[ 0.99997622 -0.00219311 -0.00653843 1.52331938] [ 0.00217336 0.99999306 -0.00302606 0.10888912] [ 0.00654502 0.00301177 0.99997405 -0.28233832] [ 0. 0. 0. 1. ]] SLAMing on 102.21313336499999 meters Centerline goodness [0,1] 0.2861760749772204 Centerline is valid? [False, False] Translation: X:1.52, Y:0.11, Z:-0.28 [[ 0.99997729 -0.00265672 -0.00619381 1.52219156] [ 0.00263556 0.99999067 -0.00342172 0.11024075] [ 0.00620284 0.00340531 0.99997496 -0.28192222] [ 0. 0. 0. 1. ]] SLAMing on 102.24313336499999 meters Centerline goodness [0,1] 0.2850473349760083 Centerline is valid? [False, False] Translation: X:1.52, Y:0.11, Z:-0.28 [[ 0.99997741 -0.0027764 -0.00612071 1.52199289] [ 0.00275533 0.99999026 -0.0034472 0.11022504] [ 0.00613022 0.00343025 0.99997533 -0.2819748 ] [ 0. 0. 0. 1. ]] SLAMing on 102.27313336499999 meters Centerline goodness [0,1] 0.287478184991274 Centerline is valid? [False, False] Translation: X:1.52, Y:0.11, Z:-0.28 [[ 0.99997731 -0.00286489 -0.00609705 1.52210135] [ 0.00284352 0.99998979 -0.00351063 0.11051558] [ 0.00610705 0.00349321 0.99997525 -0.28230399] [ 0. 0. 0. 1. ]] SLAMing on 102.303133365 meters Centerline goodness [0,1] 0.28651975553068776 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.28 [[ 0.99992185 -0.01074089 -0.00639765 1.54282966] [ 0.01072285 0.99993846 -0.00284706 0.11514159] [ 0.00642784 0.00277824 0.99997548 -0.28147792] [ 0. 0. 0. 1. ]] SLAMing on 102.333133365 meters Centerline goodness [0,1] 0.2846606393563179 Centerline is valid? [False, False] Translation: X:1.53, Y:0.11, Z:-0.28 [[ 0.99996781 -0.00342094 -0.00725819 1.52508331] [ 0.00338979 0.99998501 -0.00430007 0.1120562 ] [ 0.00727279 0.00427533 0.99996441 -0.28400732] [ 0. 0. 0. 1. ]] SLAMing on 102.363133365 meters Centerline goodness [0,1] 0.2840497151734852 Centerline is valid? [False, False] Translation: X:1.53, Y:0.11, Z:-0.28 [[ 0.9999647 -0.00354615 -0.00761732 1.52642245] [ 0.00351226 0.9999839 -0.00445785 0.11255976] [ 0.00763301 0.00443094 0.99996105 -0.28481971] [ 0. 0. 0. 1. ]] SLAMing on 102.393133365 meters Centerline goodness [0,1] 0.28581388761792714 Centerline is valid? [False, False] Translation: X:1.53, Y:0.11, Z:-0.29 [[ 0.99996234 -0.00375366 -0.00782527 1.52705488] [ 0.00371614 0.99998156 -0.00480343 0.11387793] [ 0.00784315 0.00477417 0.99995785 -0.28511361] [ 0. 0. 0. 1. ]] SLAMing on 102.423133365 meters Centerline goodness [0,1] 0.28839774150317465 Centerline is valid? [False, False] Translation: X:1.53, Y:0.11, Z:-0.28 [[ 0.999963 -0.00380402 -0.00771524 1.52667441] [ 0.00376564 0.99998049 -0.00498392 0.11484096] [ 0.00773405 0.00495468 0.99995782 -0.28492618] [ 0. 0. 0. 1. ]] SLAMing on 102.453133365 meters Centerline goodness [0,1] 0.28562731028484456 Centerline is valid? [False, False] Translation: X:1.53, Y:0.12, Z:-0.29 [[ 0.99996369 -0.00388969 -0.00758219 1.52640688] [ 0.00385016 0.99997896 -0.00522084 0.11599185] [ 0.00760234 0.00519145 0.99995763 -0.28500117] [ 0. 0. 0. 1. ]] SLAMing on 102.48313336499999 meters Centerline goodness [0,1] 0.28373041704639157 Centerline is valid? [False, False] Translation: X:1.53, Y:0.12, Z:-0.29 [[ 0.99996347 -0.00404889 -0.0075281 1.52670627] [ 0.00400643 0.99997603 -0.00564717 0.11795993] [ 0.00755078 0.00561681 0.99995572 -0.28568437] [ 0. 0. 0. 1. ]] SLAMing on 102.51313336499999 meters Centerline goodness [0,1] 0.2846845282035694 Centerline is valid? [False, False] Translation: X:1.53, Y:0.12, Z:-0.29 [[ 0.99996307 -0.0040653 -0.00757179 1.52700134] [ 0.00402208 0.99997559 -0.00571384 0.11834488] [ 0.00759483 0.00568317 0.99995501 -0.28601552] [ 0. 0. 0. 1. ]] SLAMing on 102.54313336499999 meters Centerline goodness [0,1] 0.2815993772030362 Centerline is valid? [False, False] Translation: X:1.53, Y:0.12, Z:-0.29 [[ 0.99996304 -0.00406463 -0.00757674 1.52711237] [ 0.00402086 0.99997519 -0.005783 0.11882677] [ 0.00760006 0.00575232 0.99995457 -0.28618461] [ 0. 0. 0. 1. ]] SLAMing on 102.57313336499999 meters Centerline goodness [0,1] 0.2846838650984469 Centerline is valid? [False, False] Translation: X:1.53, Y:0.12, Z:-0.29 [[ 0.99996388 -0.00407893 -0.00745727 1.52681247] [ 0.004035 0.99997447 -0.00589649 0.11947163] [ 0.00748113 0.00586619 0.99995481 -0.28616055] [ 0. 0. 0. 1. ]] SLAMing on 102.60313336499999 meters Centerline goodness [0,1] 0.28293413173652693 Centerline is valid? [False, False] Translation: X:1.53, Y:0.12, Z:-0.29 [[ 0.99996423 -0.0041127 -0.0073908 1.52661725] [ 0.00406827 0.99997363 -0.00601645 0.12005628] [ 0.00741535 0.00598617 0.99995459 -0.2860853 ] [ 0. 0. 0. 1. ]] SLAMing on 102.63313336499999 meters Centerline goodness [0,1] 0.28208232445520576 Centerline is valid? [False, False] Translation: X:1.53, Y:0.12, Z:-0.29 [[ 0.99996445 -0.0041629 -0.00733288 1.52659336] [ 0.00411743 0.99997227 -0.00620481 0.12095077] [ 0.00735851 0.0061744 0.99995386 -0.28625361] [ 0. 0. 0. 1. ]] SLAMing on 102.663133365 meters Centerline goodness [0,1] 0.2815865000755271 Centerline is valid? [False, False] Translation: X:1.53, Y:0.12, Z:-0.29 [[ 0.99996253 -0.00412493 -0.00761036 1.52781375] [ 0.00407633 0.99997127 -0.0063903 0.1223034 ] [ 0.0076365 0.00635904 0.99995062 -0.28713742] [ 0. 0. 0. 1. ]] SLAMing on 102.693133365 meters Centerline goodness [0,1] 0.2851639861585671 Centerline is valid? [False, False] Translation: X:1.53, Y:0.12, Z:-0.29 [[ 0.99996203 -0.00414289 -0.00766618 1.52821819] [ 0.00409285 0.99997029 -0.00653243 0.12314289] [ 0.00769302 0.00650081 0.99994928 -0.28758179] [ 0. 0. 0. 1. ]] SLAMing on 102.723133365 meters Centerline goodness [0,1] 0.28099566071544224 Centerline is valid? [False, False] Translation: X:1.53, Y:0.12, Z:-0.29 [[ 0.99996219 -0.00417538 -0.00762812 1.52830625] [ 0.00412445 0.99996918 -0.00668028 0.12383634] [ 0.00765578 0.00664857 0.99994859 -0.28785054] [ 0. 0. 0. 1. ]] SLAMing on 102.753133365 meters Centerline goodness [0,1] 0.28210298102981035 Centerline is valid? [False, False] Translation: X:1.53, Y:0.12, Z:-0.29 [[ 0.99996337 -0.00420158 -0.00745642 1.52778449] [ 0.00415076 0.99996814 -0.00681855 0.12451299] [ 0.00748483 0.00678735 0.99994895 -0.28766581] [ 0. 0. 0. 1. ]] SLAMing on 102.783133365 meters Centerline goodness [0,1] 0.28656943839791027 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.29 [[ 0.99996527 -0.00421016 -0.00719301 1.52705376] [ 0.00415987 0.9999669 -0.00699204 0.12560563] [ 0.00722221 0.00696187 0.99994968 -0.2875241 ] [ 0. 0. 0. 1. ]] SLAMing on 102.813133365 meters Centerline goodness [0,1] 0.2867812944912934 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.29 [[ 0.99996653 -0.00419827 -0.00702232 1.52660956] [ 0.00414817 0.99996596 -0.00713311 0.1266801 ] [ 0.00705203 0.00710374 0.9999499 -0.28743942] [ 0. 0. 0. 1. ]] SLAMing on 102.84313336499999 meters Centerline goodness [0,1] 0.2831158132073017 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.29 [[ 0.99996669 -0.00421707 -0.00698752 1.52670325] [ 0.00416537 0.99996396 -0.00739739 0.1283727 ] [ 0.00701846 0.00736804 0.99994823 -0.28774392] [ 0. 0. 0. 1. ]] SLAMing on 102.87313336499999 meters Centerline goodness [0,1] 0.282080148953214 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.29 [[ 0.99996615 -0.00427094 -0.00703219 1.52701654] [ 0.00421828 0.99996308 -0.00748658 0.12862203] [ 0.0070639 0.00745667 0.99994725 -0.28812277] [ 0. 0. 0. 1. ]] SLAMing on 102.90313336499999 meters Centerline goodness [0,1] 0.2848279015087192 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.29 [[ 0.9999665 -0.00428533 -0.00697318 1.52706831] [ 0.00423309 0.99996299 -0.00748973 0.12856754] [ 0.00700502 0.00745996 0.99994764 -0.28847863] [ 0. 0. 0. 1. ]] SLAMing on 102.93313336499999 meters Centerline goodness [0,1] 0.2850571691418058 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.29 [[ 0.99996895 -0.00424865 -0.00663648 1.52624221] [ 0.00419931 0.99996358 -0.00743035 0.12850222] [ 0.00666781 0.00740225 0.99995037 -0.28850171] [ 0. 0. 0. 1. ]] SLAMing on 102.96313336499999 meters Centerline goodness [0,1] 0.2857361159622773 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.29 [[ 0.99996952 -0.00427045 -0.00653572 1.52613072] [ 0.00422138 0.99996293 -0.0075041 0.12894261] [ 0.00656752 0.00747628 0.99995049 -0.28873767] [ 0. 0. 0. 1. ]] SLAMing on 102.99313336499999 meters Centerline goodness [0,1] 0.28101905873201094 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.29 [[ 0.99996892 -0.00429381 -0.00661303 1.52641329] [ 0.00424342 0.99996201 -0.00761433 0.12959923] [ 0.00664547 0.00758603 0.99994914 -0.28892736] [ 0. 0. 0. 1. ]] SLAMing on 103.02313336499999 meters Centerline goodness [0,1] 0.28341153979840106 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.29 [[ 0.99996723 -0.00437296 -0.00681351 1.52720444] [ 0.00431954 0.99995997 -0.00783533 0.13073544] [ 0.0068475 0.00780564 0.99994609 -0.2894341 ] [ 0. 0. 0. 1. ]] SLAMing on 103.053133365 meters Centerline goodness [0,1] 0.28168251424115753 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.29 [[ 0.99996464 -0.00447199 -0.00712155 1.52837605] [ 0.00441395 0.99995709 -0.00814439 0.13228529] [ 0.00715767 0.00811267 0.99994147 -0.29018227] [ 0. 0. 0. 1. ]] SLAMing on 103.083133365 meters Centerline goodness [0,1] 0.2838973822901695 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.29 [[ 0.99996103 -0.00464369 -0.00750782 1.52987475] [ 0.00457925 0.99995273 -0.00857683 0.13429426] [ 0.00754729 0.00854211 0.99993503 -0.29112249] [ 0. 0. 0. 1. ]] SLAMing on 103.113133365 meters Centerline goodness [0,1] 0.2827955351508954 Centerline is valid? [False, False] Translation: X:1.53, Y:0.14, Z:-0.29 [[ 0.99995795 -0.00481802 -0.0078033 1.53107897] [ 0.00474747 0.99994792 -0.00903452 0.13646369] [ 0.00784642 0.0089971 0.99992874 -0.29197663] [ 0. 0. 0. 1. ]] SLAMing on 103.143133365 meters Centerline goodness [0,1] 0.28418596460332834 Centerline is valid? [False, False] Translation: X:1.54, Y:0.14, Z:-0.29 [[ 0.99995824 -0.00279192 -0.00870177 1.53524517] [ 0.00272666 0.99996814 -0.00750192 0.14162468] [ 0.00872243 0.00747788 0.999934 -0.29451315] [ 0. 0. 0. 1. ]] SLAMing on 103.173133365 meters Centerline goodness [0,1] 0.2822232870148539 Centerline is valid? [False, False] Translation: X:1.56, Y:0.15, Z:-0.29 [[ 0.99990252 -0.0103424 -0.0093802 1.55504022] [ 0.01027827 0.99992365 -0.00685921 0.1483576 ] [ 0.00945042 0.00676213 0.99993248 -0.29301546] [ 0. 0. 0. 1. ]] SLAMing on 103.203133365 meters Centerline goodness [0,1] 0.28086661446097627 Centerline is valid? [False, False] Translation: X:1.55, Y:0.15, Z:-0.29 [[ 0.99990116 -0.01056176 -0.00928039 1.55497857] [ 0.01049395 0.99991811 -0.00732519 0.15044913] [ 0.009357 0.00722708 0.99993011 -0.29332182] [ 0. 0. 0. 1. ]] SLAMing on 103.23313336499999 meters Centerline goodness [0,1] 0.27884781855955676 Centerline is valid? [False, False] Translation: X:1.56, Y:0.15, Z:-0.29 [[ 0.99989906 -0.01077557 -0.00926104 1.5550758 ] [ 0.01070421 0.9999129 -0.00772082 0.15210205] [ 0.00934343 0.00762091 0.99992731 -0.29360307] [ 0. 0. 0. 1. ]] SLAMing on 103.26313336499999 meters Centerline goodness [0,1] 0.27670466767046675 Centerline is valid? [False, False] Translation: X:1.56, Y:0.15, Z:-0.29 [[ 0.99989692 -0.01096847 -0.00926462 1.55520832] [ 0.0108941 0.99990833 -0.00803997 0.15346164] [ 0.00935195 0.00793821 0.99992476 -0.29385489] [ 0. 0. 0. 1. ]] SLAMing on 103.29313336499999 meters Centerline goodness [0,1] 0.27644770959377696 Centerline is valid? [False, False] Translation: X:1.56, Y:0.15, Z:-0.29 [[ 0.99989578 -0.0110969 -0.00923504 1.5554247 ] [ 0.01102047 0.99990494 -0.00828559 0.1546679 ] [ 0.00932611 0.00818295 0.99992303 -0.29435247] [ 0. 0. 0. 1. ]] SLAMing on 103.32313336499999 meters Centerline goodness [0,1] 0.2783046507085657 Centerline is valid? [False, False] Translation: X:1.56, Y:0.16, Z:-0.30 [[ 0.99989317 -0.01142739 -0.00911375 1.55556058] [ 0.01134847 0.99989806 -0.00866492 0.15597475] [ 0.00921184 0.00856056 0.99992093 -0.29512494] [ 0. 0. 0. 1. ]] SLAMing on 103.35313336499999 meters Centerline goodness [0,1] 0.2804516522800593 Centerline is valid? [False, False] Translation: X:1.56, Y:0.16, Z:-0.30 [[ 0.99989357 -0.01149726 -0.00898143 1.55527234] [ 0.01141904 0.99989685 -0.00871166 0.15601581] [ 0.00908067 0.00860817 0.99992172 -0.29523416] [ 0. 0. 0. 1. ]] SLAMing on 103.38313336499999 meters Centerline goodness [0,1] 0.2796717171717171 Centerline is valid? [False, False] Translation: X:1.55, Y:0.16, Z:-0.30 [[ 0.9998955 -0.01154847 -0.00869564 1.55454232] [ 0.01147371 0.9998972 -0.00859899 0.15542438] [ 0.00879405 0.00849832 0.99992522 -0.29527091] [ 0. 0. 0. 1. ]] SLAMing on 103.413133365 meters Centerline goodness [0,1] 0.2820995490960031 Centerline is valid? [False, False] Translation: X:1.54, Y:0.15, Z:-0.30 [[ 0.99995678 -0.00362798 -0.00856058 1.53516468] [ 0.00354534 0.99994716 -0.00964899 0.15232019] [ 0.00859514 0.00961822 0.9999168 -0.29760573] [ 0. 0. 0. 1. ]] SLAMing on 103.443133365 meters Centerline goodness [0,1] 0.27959205815341215 Centerline is valid? [False, False] Translation: X:1.54, Y:0.15, Z:-0.30 [[ 0.99995523 -0.00365976 -0.00872616 1.53590892] [ 0.00357502 0.9999465 -0.00970677 0.15256164] [ 0.00876122 0.00967514 0.99991481 -0.29817339] [ 0. 0. 0. 1. ]] SLAMing on 103.473133365 meters Centerline goodness [0,1] 0.27679656309668466 Centerline is valid? [False, False] Translation: X:1.54, Y:0.15, Z:-0.30 [[ 0.99995339 -0.00372939 -0.00890543 1.53660518] [ 0.00364144 0.99994464 -0.00987188 0.15326926] [ 0.00894175 0.00983899 0.99991162 -0.29860334] [ 0. 0. 0. 1. ]] SLAMing on 103.503133365 meters Centerline goodness [0,1] 0.2801611234619533 Centerline is valid? [False, False] Translation: X:1.49, Y:0.16, Z:-0.30 [[ 0.99992658 -0.00342725 -0.01162256 1.49257064] [ 0.00332071 0.99995241 -0.00917317 0.1553664 ] [ 0.01165345 0.0091339 0.99989038 -0.29869456] [ 0. 0. 0. 1. ]] SLAMing on 103.533133365 meters Centerline goodness [0,1] 0.27798304716366007 Centerline is valid? [False, False] Translation: X:1.52, Y:0.16, Z:-0.30 [[ 0.99989226 -0.00875154 -0.01178444 1.51541472] [ 0.00867934 0.99994334 -0.00616388 0.15782391] [ 0.01183771 0.00606094 0.99991156 -0.29873044] [ 0. 0. 0. 1. ]] SLAMing on 103.563133365 meters Centerline goodness [0,1] 0.2782529215903897 Centerline is valid? [False, False] Translation: X:1.52, Y:0.16, Z:-0.30 [[ 0.99991771 -0.00499892 -0.01181451 1.51606723] [ 0.00496633 0.99998379 -0.00278616 0.15972269] [ 0.01182825 0.00272726 0.99992632 -0.29960031] [ 0. 0. 0. 1. ]] SLAMing on 103.59313336499999 meters Centerline goodness [0,1] 0.2778982992016661 Centerline is valid? [False, False] Translation: X:1.52, Y:0.16, Z:-0.30 [[ 0.99991654 -0.00503961 -0.0118962 1.51634175] [ 0.00500265 0.99998257 -0.00313433 0.16163367] [ 0.01191179 0.00307455 0.99992433 -0.29969997] [ 0. 0. 0. 1. ]] SLAMing on 103.62313336499999 meters Centerline goodness [0,1] 0.2774665624457182 Centerline is valid? [False, False] Translation: X:1.52, Y:0.16, Z:-0.30 [[ 0.9999161 -0.00507221 -0.01191901 1.51646881] [ 0.00503223 0.99998162 -0.00338222 0.16304929] [ 0.01193595 0.00332196 0.99992325 -0.29980569] [ 0. 0. 0. 1. ]] SLAMing on 103.65313336499999 meters Centerline goodness [0,1] 0.27709247274464666 Centerline is valid? [False, False] Translation: X:1.52, Y:0.16, Z:-0.30 [[ 0.99991581 -0.00506878 -0.01194458 1.51649944] [ 0.00502733 0.99998125 -0.0034973 0.16384008] [ 0.01196209 0.00343695 0.99992254 -0.29977728] [ 0. 0. 0. 1. ]] SLAMing on 103.68313336499999 meters Centerline goodness [0,1] 0.27871379564896437 Centerline is valid? [False, False] Translation: X:1.52, Y:0.16, Z:-0.30 [[ 0.99991942 -0.00492914 -0.01169839 1.51580849] [ 0.00489111 0.99998267 -0.00327724 0.16322095] [ 0.01171434 0.00321976 0.9999262 -0.29965709] [ 0. 0. 0. 1. ]] SLAMing on 103.71313336499999 meters Centerline goodness [0,1] 0.27970865504494846 Centerline is valid? [False, False] Translation: X:1.52, Y:0.16, Z:-0.30 [[ 0.99992036 -0.00490514 -0.01162844 1.51568344] [ 0.00486967 0.99998341 -0.00307718 0.16182917] [ 0.01164334 0.0030203 0.99992765 -0.29974753] [ 0. 0. 0. 1. ]] SLAMing on 103.74313336499999 meters Centerline goodness [0,1] 0.279 Centerline is valid? [False, False] Translation: X:1.52, Y:0.16, Z:-0.30 [[ 0.99992011 -0.00487055 -0.01166381 1.51596525] [ 0.00483816 0.99998437 -0.00280306 0.15999514] [ 0.01167728 0.00274641 0.99992805 -0.3001084 ] [ 0. 0. 0. 1. ]] SLAMing on 103.77313336499999 meters Centerline goodness [0,1] 0.27860305826407517 Centerline is valid? [False, False] Translation: X:1.52, Y:0.16, Z:-0.30 [[ 0.99991923 -0.00477584 -0.01177811 1.51645153] [ 0.00474753 0.99998578 -0.00243024 0.15799299] [ 0.01178955 0.00237413 0.99992768 -0.30053562] [ 0. 0. 0. 1. ]] SLAMing on 103.803133365 meters Centerline goodness [0,1] 0.2772410499120731 Centerline is valid? [False, False] Translation: X:1.52, Y:0.16, Z:-0.30 [[ 0.99991781 -0.00463239 -0.01195436 1.517115 ] [ 0.00460876 0.99998737 -0.00200337 0.15597034] [ 0.01196349 0.00194811 0.99992654 -0.30102172] [ 0. 0. 0. 1. ]] SLAMing on 103.833133365 meters Centerline goodness [0,1] 0.2787370713119216 Centerline is valid? [False, False] Translation: X:1.52, Y:0.15, Z:-0.30 [[ 0.9999176 -0.00448915 -0.01202651 1.51740794] [ 0.00446999 0.9999887 -0.00161977 0.1541589 ] [ 0.01203364 0.00156588 0.99992637 -0.30125915] [ 0. 0. 0. 1. ]] SLAMing on 103.863133365 meters Centerline goodness [0,1] 0.27393887028836805 Centerline is valid? [False, False] Translation: X:1.52, Y:0.15, Z:-0.30 [[ 9.99917712e-01 -4.31882076e-03 -1.20796351e-02 1.51743979e+00] [ 4.30581446e-03 9.99990122e-01 -1.10251313e-03 1.51328440e-01] [ 1.20842774e-02 1.05040974e-03 9.99926431e-01 -3.01138132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.893133365 meters Centerline goodness [0,1] 0.27456316551113413 Centerline is valid? [False, False] Translation: X:1.52, Y:0.15, Z:-0.30 [[ 9.99918471e-01 -4.20100881e-03 -1.20582905e-02 1.51736758e+00] [ 4.19092218e-03 9.99990847e-01 -8.61635557e-04 1.50273529e-01] [ 1.20617999e-02 8.11029951e-04 9.99926925e-01 -3.01145804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.923133365 meters Centerline goodness [0,1] 0.2787157728982591 Centerline is valid? [False, False] Translation: X:1.50, Y:0.15, Z:-0.30 [[ 9.99929206e-01 3.93845493e-03 -1.12281744e-02 1.49662281e+00] [-3.95356480e-03 9.99991308e-01 -1.32383102e-03 1.45835862e-01] [ 1.12228629e-02 1.36812862e-03 9.99936086e-01 -3.02813387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.953133365 meters Centerline goodness [0,1] 0.27947731841622236 Centerline is valid? [False, False] Translation: X:1.50, Y:0.15, Z:-0.30 [[ 9.99929369e-01 4.02287943e-03 -1.11836584e-02 1.49648595e+00] [-4.03651071e-03 9.99991137e-01 -1.19655174e-03 1.45522533e-01] [ 1.11787457e-02 1.24161018e-03 9.99936745e-01 -3.02775556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98313336499999 meters Centerline goodness [0,1] 0.2803222144603563 Centerline is valid? [False, False] Translation: X:1.50, Y:0.15, Z:-0.30 [[ 9.99928095e-01 4.02939155e-03 -1.12946087e-02 1.49691641e+00] [-4.04291630e-03 9.99991137e-01 -1.17487551e-03 1.45376792e-01] [ 1.12897746e-02 1.22045419e-03 9.99935524e-01 -3.03048994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01313336499999 meters Centerline goodness [0,1] 0.2803222144603563 Centerline is valid? [False, False] Translation: X:1.50, Y:0.15, Z:-0.30 [[ 9.99928095e-01 4.02939155e-03 -1.12946087e-02 1.49691641e+00] [-4.04291630e-03 9.99991137e-01 -1.17487551e-03 1.45376792e-01] [ 1.12897746e-02 1.22045419e-03 9.99935524e-01 -3.03048994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04313336499999 meters Centerline goodness [0,1] 0.27642982818167994 Centerline is valid? [False, False] Translation: X:1.50, Y:0.14, Z:-0.30 [[ 9.99921605e-01 3.88497455e-03 -1.19034025e-02 1.49882728e+00] [-3.89852362e-03 9.99991779e-01 -1.11525913e-03 1.44114616e-01] [ 1.18989719e-02 1.16157739e-03 9.99928530e-01 -3.03861681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07313336499999 meters Centerline goodness [0,1] 0.2775996335318369 Centerline is valid? [False, False] Translation: X:1.50, Y:0.14, Z:-0.30 [[ 9.99922048e-01 3.93431632e-03 -1.18498433e-02 1.49887813e+00] [-3.94558014e-03 9.99991786e-01 -9.27317820e-04 1.43171262e-01] [ 1.18460976e-02 9.74000041e-04 9.99929358e-01 -3.04238530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10313336499999 meters Centerline goodness [0,1] 0.27258798903778514 Centerline is valid? [False, False] Translation: X:1.52, Y:0.15, Z:-0.30 [[ 9.99925342e-01 -3.91534615e-03 -1.15749841e-02 1.51932824e+00] [ 3.91829472e-03 9.99992297e-01 2.32069775e-04 1.45439531e-01] [ 1.15739863e-02 -2.77406648e-04 9.99932981e-01 -3.03184558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13313336499999 meters Centerline goodness [0,1] 0.2772087763933285 Centerline is valid? [False, False] Translation: X:1.52, Y:0.14, Z:-0.30 [[ 9.99925295e-01 -3.81642016e-03 -1.16120135e-02 1.51966118e+00] [ 3.82263108e-03 9.99992562e-01 5.12722573e-04 1.44113594e-01] [ 1.16099704e-02 -5.57072714e-04 9.99932447e-01 -3.03639783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.163133365 meters Centerline goodness [0,1] 0.27630948752558016 Centerline is valid? [False, False] Translation: X:1.52, Y:0.14, Z:-0.30 [[ 9.99919265e-01 -3.90095460e-03 -1.20932630e-02 1.52094844e+00] [ 3.91061254e-03 9.99992053e-01 7.75077670e-04 1.41905796e-01] [ 1.20901433e-02 -8.22307160e-04 9.99926573e-01 -3.03951418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.193133365 meters Centerline goodness [0,1] 0.2751954728066007 Centerline is valid? [False, False] Translation: X:1.52, Y:0.14, Z:-0.30 [[ 9.99916224e-01 -3.86563693e-03 -1.23532308e-02 1.52177043e+00] [ 3.87842120e-03 9.99991968e-01 1.01110404e-03 1.40504802e-01] [ 1.23492230e-02 -1.05893036e-03 9.99923185e-01 -3.04347262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.223133365 meters Centerline goodness [0,1] 0.2763965689902904 Centerline is valid? [False, False] Translation: X:1.52, Y:0.14, Z:-0.30 [[ 9.99914074e-01 -3.76481800e-03 -1.25566791e-02 1.52247103e+00] [ 3.78173328e-03 9.99991973e-01 1.32364214e-03 1.39010569e-01] [ 1.25515950e-02 -1.37101442e-03 9.99920286e-01 -3.04762132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.253133365 meters Centerline goodness [0,1] 0.2728118173756948 Centerline is valid? [False, False] Translation: X:1.52, Y:0.14, Z:-0.31 [[ 0.99991331 -0.00367248 -0.01264437 1.52283816] [ 0.00369337 0.99999185 0.00162939 0.13750544] [ 0.01263828 -0.00167595 0.99991873 -0.30508325] [ 0. 0. 0. 1. ]] SLAMing on 104.283133365 meters Centerline goodness [0,1] 0.275721326067606 Centerline is valid? [False, False] Translation: X:1.52, Y:0.14, Z:-0.31 [[ 0.99991423 -0.00360685 -0.01259071 1.52282044] [ 0.00363108 0.9999916 0.00190156 0.13597736] [ 0.01258374 -0.00194711 0.99991893 -0.30526947] [ 0. 0. 0. 1. ]] SLAMing on 104.313133365 meters Centerline goodness [0,1] 0.27642838620451204 Centerline is valid? [False, False] Translation: X:1.52, Y:0.13, Z:-0.31 [[ 0.99991248 -0.00362253 -0.01272432 1.52325668] [ 0.00364949 0.99999114 0.002096 0.13446699] [ 0.01271661 -0.00214225 0.99991685 -0.30550376] [ 0. 0. 0. 1. ]] SLAMing on 104.34313336499999 meters Centerline goodness [0,1] 0.2757021554539517 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.31 [[ 0.99990497 -0.00359635 -0.01330851 1.52510619] [ 0.00363038 0.9999902 0.00253409 0.13181481] [ 0.01329927 -0.00258216 0.99990823 -0.30639407] [ 0. 0. 0. 1. ]] SLAMing on 104.37313336499999 meters Centerline goodness [0,1] 0.2748822367421364 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.31 [[ 0.99990264 -0.00348299 -0.0135125 1.52590936] [ 0.00352163 0.99998978 0.00283676 0.13047043] [ 0.01350248 -0.00288407 0.99990468 -0.3069695 ] [ 0. 0. 0. 1. ]] SLAMing on 104.40313336499999 meters Centerline goodness [0,1] 0.2759675024023762 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.31 [[ 0.99990132 -0.00338498 -0.01363391 1.52643983] [ 0.00342754 0.99998932 0.00309898 0.12929772] [ 0.01362327 -0.00314541 0.99990225 -0.3074026 ] [ 0. 0. 0. 1. ]] SLAMing on 104.43313336499999 meters Centerline goodness [0,1] 0.27287517896654956 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.31 [[ 0.99990112 -0.00332009 -0.01366472 1.52654516] [ 0.00336623 0.99998871 0.00335502 0.1279345 ] [ 0.01365343 -0.00340068 0.999901 -0.30747225] [ 0. 0. 0. 1. ]] SLAMing on 104.46313336499999 meters Centerline goodness [0,1] 0.2578651807202793 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.31 [[ 0.99990342 -0.00325351 -0.01351158 1.52605227] [ 0.00330221 0.99998813 0.00358392 0.12662613] [ 0.01349976 -0.00362819 0.99990229 -0.30731647] [ 0. 0. 0. 1. ]] SLAMing on 104.49313336499999 meters Centerline goodness [0,1] 0.27403919185781556 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.31 [[ 0.99990608 -0.00316175 -0.01333517 1.52533354] [ 0.0032135 0.99998738 0.00386114 0.12523675] [ 0.01332279 -0.00390363 0.99990363 -0.30687993] [ 0. 0. 0. 1. ]] SLAMing on 104.52313336499999 meters Centerline goodness [0,1] 0.279766860949209 Centerline is valid? [False, False] Translation: X:1.52, Y:0.12, Z:-0.31 [[ 0.99990975 -0.00288661 -0.01312105 1.52451541] [ 0.00294759 0.99998493 0.00463082 0.12167543] [ 0.01310749 -0.00466907 0.99990319 -0.30648048] [ 0. 0. 0. 1. ]] SLAMing on 104.553133365 meters Centerline goodness [0,1] 0.2733823847652024 Centerline is valid? [False, False] Translation: X:1.55, Y:0.12, Z:-0.31 [[ 0.99991472 0.00333467 -0.01262689 1.54657208] [-0.00331082 0.9999927 0.00190954 0.11584017] [ 0.01263317 -0.00186757 0.99991845 -0.30703333] [ 0. 0. 0. 1. ]] SLAMing on 104.583133365 meters Centerline goodness [0,1] 0.27634767799829696 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:-0.31 [[ 0.99991377 0.00344187 -0.0126731 1.54678366] [-0.00341146 0.99999125 0.00242054 0.11287775] [ 0.01268132 -0.0023771 0.99991676 -0.3072547 ] [ 0. 0. 0. 1. ]] SLAMing on 104.613133365 meters Centerline goodness [0,1] 0.2770530555069165 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:-0.31 [[ 0.99991175 0.00354421 -0.01280368 1.54709333] [-0.00350678 0.99998951 0.00294494 0.10983348] [ 0.01281399 -0.00289978 0.99991369 -0.30735201] [ 0. 0. 0. 1. ]] SLAMing on 104.643133365 meters Centerline goodness [0,1] 0.27697967001871926 Centerline is valid? [False, False] Translation: X:1.55, Y:0.10, Z:-0.31 [[ 0.99990429 0.0016737 -0.01373316 1.55086799] [-0.00164738 0.99999678 0.00192799 0.10240667] [ 0.01373635 -0.00190518 0.99990384 -0.30912194] [ 0. 0. 0. 1. ]] SLAMing on 104.673133365 meters Centerline goodness [0,1] 0.2772722289222673 Centerline is valid? [False, False] Translation: X:1.55, Y:0.10, Z:-0.31 [[ 0.99990207 0.00183056 -0.01387445 1.55106819] [-0.00179771 0.99999555 0.00238025 0.10005955] [ 0.01387874 -0.00235508 0.99990091 -0.30891954] [ 0. 0. 0. 1. ]] SLAMing on 104.703133365 meters Centerline goodness [0,1] 0.27349909035779263 Centerline is valid? [False, False] Translation: X:1.57, Y:0.10, Z:-0.31 [[ 0.99989573 -0.00588767 -0.01318548 1.57117102] [ 0.00593285 0.99997665 0.00339059 0.1007131 ] [ 0.01316521 -0.00346846 0.99990732 -0.30784292] [ 0. 0. 0. 1. ]] SLAMing on 104.73313336499999 meters Centerline goodness [0,1] 0.2772445685367769 Centerline is valid? [False, False] Translation: X:1.57, Y:0.10, Z:-0.31 [[ 0.99989636 -0.00575368 -0.01319699 1.57104021] [ 0.00580229 0.99997651 0.00364849 0.09956343] [ 0.01317569 -0.00372468 0.99990626 -0.30756269] [ 0. 0. 0. 1. ]] SLAMing on 104.76313336499999 meters Centerline goodness [0,1] 0.2800271977539919 Centerline is valid? [False, False] Translation: X:1.57, Y:0.10, Z:-0.31 [[ 0.99989572 -0.00560497 -0.0133091 1.57129605] [ 0.00565737 0.99997638 0.00390319 0.09855762] [ 0.01328691 -0.00397807 0.99990381 -0.30751868] [ 0. 0. 0. 1. ]] SLAMing on 104.79313336499999 meters Centerline goodness [0,1] 0.27909673748933284 Centerline is valid? [False, False] Translation: X:1.57, Y:0.10, Z:-0.31 [[ 0.99989248 -0.00524091 -0.01369554 1.57259954] [ 0.00530166 0.99997625 0.00440322 0.09669834] [ 0.01367214 -0.00447535 0.99989652 -0.3080994 ] [ 0. 0. 0. 1. ]] SLAMing on 104.82313336499999 meters Centerline goodness [0,1] 0.27616430055401664 Centerline is valid? [False, False] Translation: X:1.59, Y:0.09, Z:-0.31 [[ 0.99990773 0.00341099 -0.01314931 1.59247689] [-0.00336723 0.99998872 0.00334875 0.09093556] [ 0.01316058 -0.00330417 0.99990794 -0.30725716] [ 0. 0. 0. 1. ]] SLAMing on 104.85313336499999 meters Centerline goodness [0,1] 0.27841776846882227 Centerline is valid? [False, False] Translation: X:1.59, Y:0.09, Z:-0.31 [[ 0.99990822 0.00350689 -0.01308671 1.59229971] [-0.00346185 0.99998801 0.00346305 0.09051815] [ 0.0130987 -0.00341743 0.99990837 -0.30717705] [ 0. 0. 0. 1. ]] SLAMing on 104.88313336499999 meters Centerline goodness [0,1] 0.2786752473513703 Centerline is valid? [False, False] Translation: X:1.59, Y:0.09, Z:-0.31 [[ 0.99990721 0.00362789 -0.01313023 1.59238834] [-0.00358087 0.9999871 0.00360242 0.09014702] [ 0.01314313 -0.00355507 0.99990731 -0.30714807] [ 0. 0. 0. 1. ]] SLAMing on 104.913133365 meters Centerline goodness [0,1] 0.2796543253202316 Centerline is valid? [False, False] Translation: X:1.59, Y:0.09, Z:-0.31 [[ 0.99990492 0.00375459 -0.01326825 1.59288729] [-0.00370398 0.99998578 0.00383725 0.08930468] [ 0.01328247 -0.00378774 0.99990461 -0.30742438] [ 0. 0. 0. 1. ]] SLAMing on 104.943133365 meters Centerline goodness [0,1] 0.2789160175427112 Centerline is valid? [False, False] Translation: X:1.59, Y:0.09, Z:-0.31 [[ 0.99990078 0.00387182 -0.01354378 1.59376017] [-0.00381617 0.99998418 0.00413243 0.08789357] [ 0.01355957 -0.00408033 0.99989974 -0.30777796] [ 0. 0. 0. 1. ]] SLAMing on 104.973133365 meters Centerline goodness [0,1] 0.27670313007689806 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.31 [[ 0.99989898 0.00406528 -0.01362009 1.59358124] [-0.00400082 0.99998068 0.00475647 0.08426308] [ 0.01363916 -0.0047015 0.99989593 -0.30725132] [ 0. 0. 0. 1. ]] SLAMing on 105.003133365 meters Centerline goodness [0,1] 0.2799047244438617 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.31 [[ 0.99990132 0.00410389 -0.01343518 1.59283018] [-0.00403823 0.99997979 0.00491048 0.08322435] [ 0.01345506 -0.00485574 0.99989769 -0.30677529] [ 0. 0. 0. 1. ]] SLAMing on 105.033133365 meters Centerline goodness [0,1] 0.2807163136055908 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.31 [[ 0.99990362 0.00414918 -0.01324869 1.59216365] [-0.00408379 0.99997937 0.0049586 0.0830438 ] [ 0.01326899 -0.00490401 0.99989994 -0.30640625] [ 0. 0. 0. 1. ]] SLAMing on 105.063133365 meters Centerline goodness [0,1] 0.279621990877147 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.31 [[ 0.99990628 0.00418283 -0.01303593 1.59158014] [-0.00411888 0.99997937 0.00492849 0.08344764] [ 0.01305627 -0.00487434 0.99990288 -0.30628076] [ 0. 0. 0. 1. ]] SLAMing on 105.09313336499999 meters Centerline goodness [0,1] 0.2765257192676548 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.31 [[ 0.99990685 0.00417568 -0.01299469 1.5915143 ] [-0.00411287 0.99997975 0.00485617 0.08399192] [ 0.01301471 -0.00480227 0.99990377 -0.30633968] [ 0. 0. 0. 1. ]] SLAMing on 105.12313336499999 meters Centerline goodness [0,1] 0.2792422286876819 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.31 [[ 0.99990591 0.00414115 -0.01307732 1.59183126] [-0.00407928 0.99998038 0.00475395 0.0844974 ] [ 0.01309675 -0.00470016 0.99990319 -0.306532 ] [ 0. 0. 0. 1. ]] SLAMing on 105.15313336499999 meters Centerline goodness [0,1] 0.2754867525259096 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.31 [[ 0.99990339 0.00407687 -0.01328837 1.59249639] [-0.00401421 0.99998072 0.00473817 0.08434754] [ 0.01330743 -0.00468437 0.99990048 -0.30686859] [ 0. 0. 0. 1. ]] SLAMing on 105.18313336499999 meters Centerline goodness [0,1] 0.280894683699899 Centerline is valid? [False, False] Translation: X:1.57, Y:0.09, Z:-0.31 [[ 0.99989542 -0.00501143 -0.01356572 1.57155763] [ 0.00508859 0.99997104 0.00565948 0.08886726] [ 0.01353696 -0.00572792 0.99989196 -0.30731917] [ 0. 0. 0. 1. ]] SLAMing on 105.21313336499999 meters Centerline goodness [0,1] 0.27579175704989156 Centerline is valid? [False, False] Translation: X:1.59, Y:0.09, Z:-0.31 [[ 9.99932680e-01 1.12534148e-03 -1.15485868e-02 1.59237021e+00] [-1.09530902e-03 9.99996003e-01 2.60652738e-03 8.58599998e-02] [ 1.15514738e-02 -2.59370263e-03 9.99929916e-01 -3.07835626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24313336499999 meters Centerline goodness [0,1] 0.27899713905086376 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.31 [[ 9.99935297e-01 1.08365496e-03 -1.13237352e-02 1.59150793e+00] [-1.05265993e-03 9.99995685e-01 2.74277555e-03 8.48620811e-02] [ 1.13266585e-02 -2.73067804e-03 9.99932123e-01 -3.07382497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27313336499999 meters Centerline goodness [0,1] 0.2740878116104546 Centerline is valid? [False, False] Translation: X:1.61, Y:0.09, Z:-0.31 [[ 0.99992047 -0.00693692 -0.01053256 1.61174062] [ 0.00697603 0.99996889 0.00368174 0.08692445] [ 0.01050669 -0.00375492 0.99993775 -0.30615693] [ 0. 0. 0. 1. ]] SLAMing on 105.303133365 meters Centerline goodness [0,1] 0.27681736618670405 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.31 [[ 9.99956441e-01 6.16875354e-04 -9.31320555e-03 1.59027910e+00] [-5.87124603e-04 9.99994718e-01 3.19686566e-03 8.19876624e-02] [ 9.31512843e-03 -3.19125840e-03 9.99951521e-01 -3.07259253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.333133365 meters Centerline goodness [0,1] 0.2615137992288029 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.31 [[ 9.99958132e-01 5.64302738e-04 -9.13321960e-03 1.58965852e+00] [-5.33467175e-04 9.99994151e-01 3.37828274e-03 8.08072660e-02] [ 9.13507255e-03 -3.37326902e-03 9.99952585e-01 -3.07009334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.363133365 meters Centerline goodness [0,1] 0.27623163730818767 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.31 [[ 9.99958502e-01 5.66616532e-04 -9.09253367e-03 1.58950566e+00] [-5.33194162e-04 9.99993095e-01 3.67780700e-03 7.90685925e-02] [ 9.09455479e-03 -3.67280629e-03 9.99951899e-01 -3.07071040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.393133365 meters Centerline goodness [0,1] 0.2776997982279147 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.31 [[ 9.99956428e-01 4.73980705e-04 -9.32299206e-03 1.59009212e+00] [-4.36243045e-04 9.99991706e-01 4.04942273e-03 7.66198121e-02] [ 9.32483408e-03 -4.04517920e-03 9.99948341e-01 -3.07246054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.423133365 meters Centerline goodness [0,1] 0.27456155658319514 Centerline is valid? [False, False] Translation: X:1.59, Y:0.07, Z:-0.31 [[ 9.99952243e-01 -3.04758773e-03 -9.28566606e-03 1.59049973e+00] [ 3.05963406e-03 9.99994496e-01 1.28337444e-03 7.19478299e-02] [ 9.28170375e-03 -1.31172389e-03 9.99956064e-01 -3.07980363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.453133365 meters Centerline goodness [0,1] 0.27442238425722565 Centerline is valid? [False, False] Translation: X:1.59, Y:0.07, Z:-0.31 [[ 0.99995174 -0.0029398 -0.00937429 1.59058254] [ 0.00295662 0.99999404 0.00178061 0.069411 ] [ 0.009369 -0.00180824 0.99995448 -0.30790254] [ 0. 0. 0. 1. ]] SLAMing on 105.48313336499999 meters Centerline goodness [0,1] 0.27191801641408664 Centerline is valid? [False, False] Translation: X:1.61, Y:0.06, Z:-0.31 [[ 9.99947208e-01 3.61360196e-03 -9.61892251e-03 1.61209102e+00] [-3.62111171e-03 9.99993152e-01 -7.63424890e-04 6.32013020e-02] [ 9.61609793e-03 7.98215780e-04 9.99953446e-01 -3.08037120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51313336499999 meters Centerline goodness [0,1] 0.2720015703723091 Centerline is valid? [False, False] Translation: X:1.61, Y:0.06, Z:-0.31 [[ 9.99944086e-01 3.71249621e-03 -9.90161231e-03 1.61304134e+00] [-3.71727166e-03 9.99992983e-01 -4.63929716e-04 6.16603794e-02] [ 9.89982050e-03 5.00710758e-04 9.99950870e-01 -3.08496623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54313336499999 meters Centerline goodness [0,1] 0.27215258855585833 Centerline is valid? [False, False] Translation: X:1.61, Y:0.06, Z:-0.31 [[ 9.99941905e-01 3.72981552e-03 -1.01130788e-02 1.61378535e+00] [-3.73390063e-03 9.99992955e-01 -3.85091587e-04 6.10591270e-02] [ 1.01115712e-02 4.22830447e-04 9.99948787e-01 -3.08828295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57313336499999 meters Centerline goodness [0,1] 0.2748783096500993 Centerline is valid? [False, False] Translation: X:1.61, Y:0.06, Z:-0.31 [[ 9.99941678e-01 3.82453109e-03 -1.01001632e-02 1.61375127e+00] [-3.82806202e-03 9.99992618e-01 -3.30282040e-04 6.09666970e-02] [ 1.00988255e-02 3.68926829e-04 9.99948938e-01 -3.08748885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60313336499999 meters Centerline goodness [0,1] 0.27764747144830004 Centerline is valid? [False, False] Translation: X:1.61, Y:0.06, Z:-0.31 [[ 9.99943542e-01 3.99708059e-03 -9.84561653e-03 1.61299259e+00] [-4.00022490e-03 9.99991954e-01 -2.99688690e-04 6.14219061e-02] [ 9.84433944e-03 3.39056451e-04 9.99951486e-01 -3.08388449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63313336499999 meters Centerline goodness [0,1] 0.2748216150365471 Centerline is valid? [False, False] Translation: X:1.61, Y:0.06, Z:-0.31 [[ 9.99945812e-01 4.47914551e-03 -9.39731993e-03 1.61162602e+00] [-4.48194613e-03 9.99989918e-01 -2.76984762e-04 6.27322139e-02] [ 9.39598453e-03 3.19088035e-04 9.99955806e-01 -3.07712657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.663133365 meters Centerline goodness [0,1] 0.27708365243648936 Centerline is valid? [False, False] Translation: X:1.61, Y:0.06, Z:-0.31 [[ 9.99947243e-01 4.44520962e-03 -9.26023831e-03 1.61133219e+00] [-4.45041548e-03 9.99989950e-01 -5.41642692e-04 6.40656681e-02] [ 9.25773753e-03 5.82826025e-04 9.99956976e-01 -3.07666364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.693133365 meters Centerline goodness [0,1] 0.275512419663019 Centerline is valid? [False, False] Translation: X:1.61, Y:0.07, Z:-0.31 [[ 9.99947349e-01 4.39758900e-03 -9.27147422e-03 1.61151297e+00] [-4.40540669e-03 9.99989958e-01 -8.22944999e-04 6.54662073e-02] [ 9.26776214e-03 8.63746284e-04 9.99956680e-01 -3.07840795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.723133365 meters Centerline goodness [0,1] 0.2740532959326788 Centerline is valid? [False, False] Translation: X:1.61, Y:0.07, Z:-0.31 [[ 9.99948104e-01 4.36756923e-03 -9.20397263e-03 1.61158193e+00] [-4.37722818e-03 9.99989890e-01 -1.02954935e-03 6.66729138e-02] [ 9.19938295e-03 1.06978381e-03 9.99957113e-01 -3.08161938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.753133365 meters Centerline goodness [0,1] 0.27582897033158815 Centerline is valid? [False, False] Translation: X:1.59, Y:0.07, Z:-0.31 [[ 9.99952244e-01 -3.80690963e-03 -9.00097307e-03 1.59312808e+00] [ 3.81100625e-03 9.99992642e-01 4.38022278e-04 7.35396265e-02] [ 8.99923933e-03 -4.72304124e-04 9.99959394e-01 -3.09772791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.783133365 meters Centerline goodness [0,1] 0.2756548906512858 Centerline is valid? [False, False] Translation: X:1.59, Y:0.07, Z:-0.31 [[ 9.99953827e-01 -3.81194390e-03 -8.82111966e-03 1.59246717e+00] [ 3.81482696e-03 9.99992675e-01 3.10033094e-04 7.44161811e-02] [ 8.81987322e-03 -3.43669824e-04 9.99961045e-01 -3.09415784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.813133365 meters Centerline goodness [0,1] 0.27732136241800864 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.31 [[ 9.99954192e-01 -3.82478432e-03 -8.77416181e-03 1.59207007e+00] [ 3.82668760e-03 9.99992658e-01 2.00140074e-04 7.51624350e-02] [ 8.77333190e-03 -2.33706882e-04 9.99961486e-01 -3.08930791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84313336499999 meters Centerline goodness [0,1] 0.27804963299545615 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.31 [[ 9.99953419e-01 -3.87305976e-03 -8.84079852e-03 1.59227332e+00] [ 3.87391553e-03 9.99992493e-01 7.96760377e-05 7.58123524e-02] [ 8.84042356e-03 -1.13920833e-04 9.99960916e-01 -3.09045614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87313336499999 meters Centerline goodness [0,1] 0.2730721703123984 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.31 [[ 9.99952230e-01 -4.03267333e-03 -8.90372154e-03 1.59271996e+00] [ 4.03070050e-03 9.99991848e-01 -2.39507160e-04 7.71748616e-02] [ 8.90461482e-03 2.03607483e-04 9.99960332e-01 -3.09529833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90313336499999 meters Centerline goodness [0,1] 0.2730721703123984 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.31 [[ 9.99952230e-01 -4.03267333e-03 -8.90372154e-03 1.59271996e+00] [ 4.03070050e-03 9.99991848e-01 -2.39507160e-04 7.71748616e-02] [ 8.90461482e-03 2.03607483e-04 9.99960332e-01 -3.09529833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93313336499999 meters Centerline goodness [0,1] 0.27508748906386704 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.31 [[ 9.99952582e-01 -4.11379209e-03 -8.82667558e-03 1.59259391e+00] [ 4.11010396e-03 9.99991458e-01 -4.35938417e-04 7.80966838e-02] [ 8.82839355e-03 3.99639192e-04 9.99960949e-01 -3.09638899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96313336499999 meters Centerline goodness [0,1] 0.2743610917941586 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.31 [[ 9.99952692e-01 -4.16502399e-03 -8.79013107e-03 1.59248980e+00] [ 4.16015484e-03 9.99991183e-01 -5.72146156e-04 7.87998251e-02] [ 8.79243657e-03 5.35550783e-04 9.99961202e-01 -3.09635694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99313336499999 meters Centerline goodness [0,1] 0.27132417925890795 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.31 [[ 9.99952067e-01 -4.22465367e-03 -8.83261028e-03 1.59262445e+00] [ 4.21889394e-03 9.99990876e-01 -6.70628586e-04 7.92511810e-02] [ 8.83536287e-03 6.33332595e-04 9.99960767e-01 -3.09727419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02313336499999 meters Centerline goodness [0,1] 0.27015387278983705 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.31 [[ 9.99951699e-01 -4.26177718e-03 -8.85647228e-03 1.59269323e+00] [ 4.25598804e-03 9.99990717e-01 -6.72406128e-04 7.91985638e-02] [ 8.85925572e-03 6.34680610e-04 9.99960555e-01 -3.09813446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.053133365 meters Centerline goodness [0,1] 0.273966896854105 Centerline is valid? [False, False] Translation: X:1.57, Y:0.08, Z:-0.31 [[ 9.99956051e-01 3.38046748e-03 -8.74465126e-03 1.57211900e+00] [-3.39345534e-03 9.99993161e-01 -1.47082369e-03 7.53616292e-02] [ 8.73961938e-03 1.50043363e-03 9.99960683e-01 -3.11063144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.083133365 meters Centerline goodness [0,1] 0.27277663155608645 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.31 [[ 9.99948496e-01 -4.67649713e-03 -9.00757300e-03 1.59282728e+00] [ 4.67096943e-03 9.99988890e-01 -6.34612566e-04 7.68300011e-02] [ 9.01044069e-03 5.92505783e-04 9.99959230e-01 -3.09693863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.113133365 meters Centerline goodness [0,1] 0.2726242124310536 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.31 [[ 9.99944810e-01 -4.75075628e-03 -9.37056994e-03 1.59385072e+00] [ 4.74727595e-03 9.99988654e-01 -3.93618394e-04 7.53102332e-02] [ 9.37233361e-03 3.49111989e-04 9.99956018e-01 -3.10129298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.143133365 meters Centerline goodness [0,1] 0.27252207832051367 Centerline is valid? [False, False] Translation: X:1.60, Y:0.07, Z:-0.31 [[ 9.99932047e-01 -5.14170411e-03 -1.04625558e-02 1.59737260e+00] [ 5.14249726e-03 9.99986776e-01 4.89075715e-05 7.14253637e-02] [ 1.04621660e-02 -1.02707913e-04 9.99945265e-01 -3.11925817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.173133365 meters Centerline goodness [0,1] 0.2584683357879234 Centerline is valid? [False, False] Translation: X:1.62, Y:0.06, Z:-0.31 [[ 0.99994708 0.00191433 -0.01010798 1.61742761] [-0.00193324 0.9999964 -0.00186213 0.06477593] [ 0.01010438 0.00188157 0.99994718 -0.31189441] [ 0. 0. 0. 1. ]] SLAMing on 106.203133365 meters Centerline goodness [0,1] 0.27038786129695225 Centerline is valid? [False, False] Translation: X:1.62, Y:0.06, Z:-0.31 [[ 0.99994814 0.00197054 -0.0099914 1.61677712] [-0.00198798 0.99999652 -0.00173569 0.06428653] [ 0.00998794 0.00175546 0.99994858 -0.31128327] [ 0. 0. 0. 1. ]] SLAMing on 106.23313336499999 meters Centerline goodness [0,1] 0.2692920257445184 Centerline is valid? [False, False] Translation: X:1.62, Y:0.07, Z:-0.31 [[ 0.99994954 0.00196536 -0.0098516 1.61614277] [-0.00198425 0.99999621 -0.00190803 0.06521995] [ 0.00984782 0.00192749 0.99994965 -0.31064236] [ 0. 0. 0. 1. ]] SLAMing on 106.26313336499999 meters Centerline goodness [0,1] 0.2708615640162608 Centerline is valid? [False, False] Translation: X:1.62, Y:0.07, Z:-0.31 [[ 0.99995175 0.00196192 -0.0096252 1.61553194] [-0.00198499 0.99999518 -0.00238691 0.06791374] [ 0.00962047 0.0024059 0.99995083 -0.31030924] [ 0. 0. 0. 1. ]] SLAMing on 106.29313336499999 meters Centerline goodness [0,1] 0.27190030611580296 Centerline is valid? [False, False] Translation: X:1.62, Y:0.07, Z:-0.31 [[ 0.99995232 0.00200107 -0.00955839 1.61547731] [-0.00202982 0.99999344 -0.00299891 0.0715029 ] [ 0.00955233 0.00301817 0.99994982 -0.31028878] [ 0. 0. 0. 1. ]] SLAMing on 106.32313336499999 meters Centerline goodness [0,1] 0.2761210417673152 Centerline is valid? [False, False] Translation: X:1.60, Y:0.08, Z:-0.31 [[ 9.99972139e-01 -1.85556255e-03 -7.23031622e-03 1.59662677e+00] [ 1.85618564e-03 9.99998274e-01 7.94674513e-05 8.48542658e-02] [ 7.23015628e-03 -9.28860464e-05 9.99973858e-01 -3.11475817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35313336499999 meters Centerline goodness [0,1] 0.2742697408338389 Centerline is valid? [False, False] Translation: X:1.62, Y:0.08, Z:-0.31 [[ 9.99954099e-01 7.36549667e-03 -6.12782564e-03 1.61730198e+00] [-7.37020330e-03 9.99972562e-01 -7.45848327e-04 8.45111567e-02] [ 6.12216396e-03 7.90977412e-04 9.99980947e-01 -3.11472090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38313336499999 meters Centerline goodness [0,1] 0.271724346380535 Centerline is valid? [False, False] Translation: X:1.62, Y:0.09, Z:-0.31 [[ 9.99955084e-01 7.21201947e-03 -6.14950504e-03 1.61748635e+00] [-7.22043584e-03 9.99973024e-01 -1.34752408e-03 8.76711729e-02] [ 6.13962078e-03 1.39186566e-03 9.99980184e-01 -3.11573283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.413133365 meters Centerline goodness [0,1] 0.2718900966183575 Centerline is valid? [False, False] Translation: X:1.62, Y:0.09, Z:-0.31 [[ 0.9999568 0.00700204 -0.00611277 1.61741489] [-0.00701407 0.9999735 -0.00194893 0.09048448] [ 0.00609896 0.00199172 0.99997942 -0.31149934] [ 0. 0. 0. 1. ]] SLAMing on 106.443133365 meters Centerline goodness [0,1] 0.2746406458529328 Centerline is valid? [False, False] Translation: X:1.60, Y:0.10, Z:-0.31 [[ 9.99977081e-01 -1.59906963e-03 -6.57883899e-03 1.59776890e+00] [ 1.59164462e-03 9.99998091e-01 -1.13370110e-03 9.87611907e-02] [ 6.58063929e-03 1.12320394e-03 9.99977717e-01 -3.12198824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.473133365 meters Centerline goodness [0,1] 0.2732726158157457 Centerline is valid? [False, False] Translation: X:1.60, Y:0.10, Z:-0.31 [[ 9.99976725e-01 -1.70704423e-03 -6.60576464e-03 1.59771095e+00] [ 1.69733044e-03 9.99997470e-01 -1.47582828e-03 1.00571854e-01] [ 6.60826724e-03 1.46458176e-03 9.99977093e-01 -3.12013940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.503133365 meters Centerline goodness [0,1] 0.2710622710622711 Centerline is valid? [False, False] Translation: X:1.60, Y:0.10, Z:-0.31 [[ 0.99997364 -0.00204644 -0.00696667 1.59868529] [ 0.00203116 0.99999552 -0.00219868 0.10385908] [ 0.00697114 0.00218447 0.99997332 -0.31222358] [ 0. 0. 0. 1. ]] SLAMing on 106.533133365 meters Centerline goodness [0,1] 0.2720386574376388 Centerline is valid? [False, False] Translation: X:1.60, Y:0.11, Z:-0.31 [[ 0.99997271 -0.00217777 -0.00705913 1.59904475] [ 0.00216025 0.99999457 -0.0024887 0.1052629 ] [ 0.00706451 0.00247338 0.99997199 -0.31249842] [ 0. 0. 0. 1. ]] SLAMing on 106.563133365 meters Centerline goodness [0,1] 0.2736321658825579 Centerline is valid? [False, False] Translation: X:1.60, Y:0.11, Z:-0.31 [[ 0.99997241 -0.0022934 -0.00706567 1.59930188] [ 0.00227403 0.99999364 -0.00274826 0.10652475] [ 0.00707193 0.00273212 0.99997126 -0.31290243] [ 0. 0. 0. 1. ]] SLAMing on 106.59313336499999 meters Centerline goodness [0,1] 0.26849693516360185 Centerline is valid? [False, False] Translation: X:1.60, Y:0.11, Z:-0.31 [[ 0.9999722 -0.00241443 -0.00705449 1.59941694] [ 0.00239322 0.99999259 -0.00301378 0.10788237] [ 0.00706172 0.00299682 0.99997058 -0.3131648 ] [ 0. 0. 0. 1. ]] SLAMing on 106.62313336499999 meters Centerline goodness [0,1] 0.2707266255751367 Centerline is valid? [False, False] Translation: X:1.60, Y:0.11, Z:-0.31 [[ 0.99997151 -0.00253661 -0.00710931 1.59984698] [ 0.00251309 0.99999135 -0.00331479 0.10940881] [ 0.00711765 0.00329683 0.99996923 -0.31366195] [ 0. 0. 0. 1. ]] SLAMing on 106.65313336499999 meters Centerline goodness [0,1] 0.2686079944657025 Centerline is valid? [False, False] Translation: X:1.60, Y:0.11, Z:-0.31 [[ 0.99997103 -0.00263848 -0.00713993 1.60012077] [ 0.00261307 0.99999023 -0.00356541 0.11069122] [ 0.00714927 0.00354665 0.99996815 -0.31398461] [ 0. 0. 0. 1. ]] SLAMing on 106.68313336499999 meters Centerline goodness [0,1] 0.27111651539497117 Centerline is valid? [False, False] Translation: X:1.60, Y:0.11, Z:-0.31 [[ 0.99997102 -0.00272625 -0.00710827 1.60001746] [ 0.00269928 0.99998913 -0.00380057 0.11186498] [ 0.00711855 0.00378127 0.99996751 -0.31393177] [ 0. 0. 0. 1. ]] SLAMing on 106.71313336499999 meters Centerline goodness [0,1] 0.2701970976824778 Centerline is valid? [False, False] Translation: X:1.60, Y:0.11, Z:-0.31 [[ 0.99997299 -0.00285533 -0.00677228 1.59912404] [ 0.00282591 0.99998654 -0.00435073 0.11498167] [ 0.00678461 0.00433148 0.9999676 -0.31370258] [ 0. 0. 0. 1. ]] SLAMing on 106.74313336499999 meters Centerline goodness [0,1] 0.27107200418173105 Centerline is valid? [False, False] Translation: X:1.60, Y:0.12, Z:-0.31 [[ 0.99997398 -0.00296337 -0.00657725 1.59878353] [ 0.00293234 0.99998455 -0.00472287 0.11689313] [ 0.00659115 0.00470346 0.99996722 -0.31385515] [ 0. 0. 0. 1. ]] SLAMing on 106.77313336499999 meters Centerline goodness [0,1] 0.27080721172553934 Centerline is valid? [False, False] Translation: X:1.60, Y:0.12, Z:-0.31 [[ 0.99997465 -0.00304879 -0.0064348 1.59854018] [ 0.00301644 0.9999828 -0.00503074 0.11851466] [ 0.00645002 0.0050112 0.99996664 -0.31399728] [ 0. 0. 0. 1. ]] SLAMing on 106.803133365 meters Centerline goodness [0,1] 0.2736329325024137 Centerline is valid? [False, False] Translation: X:1.55, Y:0.12, Z:-0.31 [[ 0.99995628 -0.00351921 -0.00866287 1.5529973 ] [ 0.00347713 0.99998211 -0.00486782 0.12201659] [ 0.00867985 0.00483748 0.99995063 -0.31331555] [ 0. 0. 0. 1. ]] SLAMing on 106.833133365 meters Centerline goodness [0,1] 0.2740267972284759 Centerline is valid? [False, False] Translation: X:1.55, Y:0.12, Z:-0.31 [[ 0.99995548 -0.00359616 -0.00872393 1.55327709] [ 0.00355241 0.99998106 -0.00502516 0.1226999 ] [ 0.00874183 0.00499395 0.99994932 -0.31358834] [ 0. 0. 0. 1. ]] SLAMing on 106.863133365 meters Centerline goodness [0,1] 0.2719221898254929 Centerline is valid? [False, False] Translation: X:1.55, Y:0.12, Z:-0.31 [[ 0.99995399 -0.00359441 -0.00889364 1.55387499] [ 0.00354989 0.99998112 -0.00501661 0.12276146] [ 0.0089115 0.00498481 0.99994787 -0.31394042] [ 0. 0. 0. 1. ]] SLAMing on 106.893133365 meters Centerline goodness [0,1] 0.2708605522167059 Centerline is valid? [False, False] Translation: X:1.55, Y:0.12, Z:-0.31 [[ 0.99995178 -0.00359587 -0.00913803 1.55459076] [ 0.00355051 0.99998132 -0.00497541 0.12264671] [ 0.00915575 0.00494272 0.99994587 -0.31421248] [ 0. 0. 0. 1. ]] SLAMing on 106.923133365 meters Centerline goodness [0,1] 0.27219116518689024 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.31 [[ 0.99995095 -0.00359105 -0.00923029 1.55502545] [ 0.00354585 0.99998166 -0.00490888 0.12231719] [ 0.00924775 0.00487591 0.99994535 -0.31461026] [ 0. 0. 0. 1. ]] SLAMing on 106.953133365 meters Centerline goodness [0,1] 0.2737097485663873 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.32 [[ 0.99994947 -0.00364931 -0.00936743 1.55560269] [ 0.00360355 0.99998151 -0.00489742 0.12195245] [ 0.00938513 0.00486341 0.99994413 -0.31507839] [ 0. 0. 0. 1. ]] SLAMing on 106.98313336499999 meters Centerline goodness [0,1] 0.2585149789443826 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.32 [[ 0.99994443 -0.0038297 -0.00982215 1.55723499] [ 0.00377947 0.99997971 -0.00512693 0.12254899] [ 0.00984158 0.00508952 0.99993862 -0.31601943] [ 0. 0. 0. 1. ]] SLAMing on 107.01313336499999 meters Centerline goodness [0,1] 0.2700392498909725 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.32 [[ 0.99994248 -0.00381703 -0.01002289 1.55793276] [ 0.00376473 0.99997923 -0.00523199 0.12339727] [ 0.01004265 0.00519395 0.99993608 -0.31637329] [ 0. 0. 0. 1. ]] SLAMing on 107.04313336499999 meters Centerline goodness [0,1] 0.2700392498909725 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.32 [[ 0.99994248 -0.00381703 -0.01002289 1.55793276] [ 0.00376473 0.99997923 -0.00523199 0.12339727] [ 0.01004265 0.00519395 0.99993608 -0.31637329] [ 0. 0. 0. 1. ]] SLAMing on 107.07313336499999 meters Centerline goodness [0,1] 0.271153510303877 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.32 [[ 9.99952222e-01 9.92901426e-05 -9.77460502e-03 1.55689540e+00] [-1.13120813e-04 9.99998993e-01 -1.41441678e-03 1.23741070e-01] [ 9.77445475e-03 1.41545492e-03 9.99951227e-01 -3.15735744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10313336499999 meters Centerline goodness [0,1] 0.25564624087748844 Centerline is valid? [False, False] Translation: X:1.58, Y:0.12, Z:-0.32 [[ 9.99962127e-01 -5.08651348e-03 -7.06201586e-03 1.57905781e+00] [ 5.09692115e-03 9.99985950e-01 1.45653934e-03 1.24481513e-01] [ 7.05450794e-03 -1.49247872e-03 9.99974003e-01 -3.16313332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13313336499999 meters Centerline goodness [0,1] 0.2729887562102328 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.32 [[ 9.99984088e-01 2.63210836e-03 -4.98958953e-03 1.55707836e+00] [-2.62937236e-03 9.99996389e-01 5.54820774e-04 1.22150532e-01] [ 4.99103186e-03 -5.41692457e-04 9.99987398e-01 -3.17566196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.163133365 meters Centerline goodness [0,1] 0.27328444784940353 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.32 [[ 9.99986311e-01 2.52097074e-03 -4.58509998e-03 1.55591146e+00] [-2.52030668e-03 9.99996813e-01 1.50602501e-04 1.23948872e-01] [ 4.58546503e-03 -1.39044581e-04 9.99989477e-01 -3.17105414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.193133365 meters Centerline goodness [0,1] 0.2755084112970527 Centerline is valid? [False, False] Translation: X:1.56, Y:0.13, Z:-0.32 [[ 9.99986838e-01 2.50042610e-03 -4.48012213e-03 1.55564048e+00] [-2.50111987e-03 9.99996861e-01 -1.49258901e-04 1.25644844e-01] [ 4.47973485e-03 1.60462259e-04 9.99989953e-01 -3.16974687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.223133365 meters Centerline goodness [0,1] 0.27414689314687135 Centerline is valid? [False, False] Translation: X:1.57, Y:0.13, Z:-0.31 [[ 9.99970724e-01 -3.14023450e-03 -6.97778054e-03 1.57320316e+00] [ 3.14807699e-03 9.99994425e-01 1.11322389e-03 1.31152416e-01] [ 6.97424585e-03 -1.13515789e-03 9.99975035e-01 -3.14339828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.253133365 meters Centerline goodness [0,1] 0.27077183538808824 Centerline is valid? [False, False] Translation: X:1.58, Y:0.13, Z:-0.32 [[ 9.99965061e-01 -2.98277083e-03 -7.80893768e-03 1.57570908e+00] [ 2.98927778e-03 9.99995194e-01 8.21730583e-04 1.33609598e-01] [ 7.80644912e-03 -8.45044956e-04 9.99969172e-01 -3.15218055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.283133365 meters Centerline goodness [0,1] 0.2739833671665248 Centerline is valid? [False, False] Translation: X:1.58, Y:0.14, Z:-0.32 [[ 9.99964981e-01 -3.07763963e-03 -7.78240870e-03 1.57568947e+00] [ 3.08179569e-03 9.99995115e-01 5.22096178e-04 1.35041224e-01] [ 7.78076386e-03 -5.46061688e-04 9.99969580e-01 -3.15238878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.313133365 meters Centerline goodness [0,1] 0.2734717945358055 Centerline is valid? [False, False] Translation: X:1.58, Y:0.14, Z:-0.32 [[ 9.99966021e-01 -3.10347732e-03 -7.63709425e-03 1.57534573e+00] [ 3.10602445e-03 9.99995125e-01 3.21682083e-04 1.36135236e-01] [ 7.63605868e-03 -3.45392154e-04 9.99970785e-01 -3.15212317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34313336499999 meters Centerline goodness [0,1] 0.2728359636537542 Centerline is valid? [False, False] Translation: X:1.57, Y:0.14, Z:-0.32 [[ 9.99967401e-01 -3.11940784e-03 -7.44756334e-03 1.57479928e+00] [ 3.12029285e-03 9.99995126e-01 1.07215548e-04 1.37417421e-01] [ 7.44719259e-03 -1.30450631e-04 9.99972261e-01 -3.15048599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37313336499999 meters Centerline goodness [0,1] 0.2744112892655861 Centerline is valid? [False, False] Translation: X:1.57, Y:0.14, Z:-0.32 [[ 9.99967766e-01 -3.16620170e-03 -7.37854263e-03 1.57462076e+00] [ 3.16573773e-03 9.99994986e-01 -7.45593652e-05 1.38440299e-01] [ 7.37874171e-03 5.11984310e-05 9.99972775e-01 -3.15038217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40313336499999 meters Centerline goodness [0,1] 0.27359539538230104 Centerline is valid? [False, False] Translation: X:1.58, Y:0.14, Z:-0.32 [[ 9.99964862e-01 -3.26450938e-03 -7.72123800e-03 1.57581407e+00] [ 3.26222585e-03 9.99994631e-01 -3.08321697e-04 1.39476769e-01] [ 7.72220307e-03 2.83122441e-04 9.99970143e-01 -3.15678495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43313336499999 meters Centerline goodness [0,1] 0.2736303100894446 Centerline is valid? [False, False] Translation: X:1.58, Y:0.14, Z:-0.32 [[ 9.99962903e-01 -3.31845159e-03 -7.94865658e-03 1.57658002e+00] [ 3.31557720e-03 9.99994433e-01 -3.74769801e-04 1.39676079e-01] [ 7.94985598e-03 3.48401513e-04 9.99968339e-01 -3.16112772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46313336499999 meters Centerline goodness [0,1] 0.2768504355922059 Centerline is valid? [False, False] Translation: X:1.58, Y:0.14, Z:-0.32 [[ 9.99961266e-01 -3.31986667e-03 -8.15135860e-03 1.57726643e+00] [ 3.31751049e-03 9.99994451e-01 -3.02558310e-04 1.39327621e-01] [ 8.15231783e-03 2.75504373e-04 9.99966731e-01 -3.16569128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49313336499999 meters Centerline goodness [0,1] 0.2690948509485095 Centerline is valid? [False, False] Translation: X:1.62, Y:0.14, Z:-0.32 [[ 9.99975712e-01 -2.98453950e-03 -6.29832386e-03 1.62218661e+00] [ 2.98255689e-03 9.99995500e-01 -3.24152438e-04 1.36530831e-01] [ 6.29926296e-03 3.05359456e-04 9.99980113e-01 -3.17747224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52313336499999 meters Centerline goodness [0,1] 0.27128101886296996 Centerline is valid? [False, False] Translation: X:1.62, Y:0.13, Z:-0.32 [[ 9.99977572e-01 -2.94825327e-03 -6.01362092e-03 1.62134600e+00] [ 2.94818198e-03 9.99995654e-01 -2.07192870e-05 1.34944490e-01] [ 6.01365587e-03 2.98957346e-06 9.99981918e-01 -3.17549307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.553133365 meters Centerline goodness [0,1] 0.2725292913454419 Centerline is valid? [False, False] Translation: X:1.62, Y:0.13, Z:-0.32 [[ 9.99978380e-01 -2.99811112e-03 -5.85238270e-03 1.62074529e+00] [ 3.00002376e-03 9.99995449e-01 3.18062645e-04 1.32772395e-01] [ 5.85140248e-03 -3.35613055e-04 9.99982824e-01 -3.17256035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.583133365 meters Centerline goodness [0,1] 0.27195746356833395 Centerline is valid? [False, False] Translation: X:1.62, Y:0.13, Z:-0.32 [[ 9.99977865e-01 -3.05213689e-03 -5.91211740e-03 1.62085996e+00] [ 3.05626248e-03 9.99995092e-01 6.88910808e-04 1.30322784e-01] [ 5.90998574e-03 -7.06964542e-04 9.99982286e-01 -3.17338909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.613133365 meters Centerline goodness [0,1] 0.2724846894138233 Centerline is valid? [False, False] Translation: X:1.62, Y:0.13, Z:-0.32 [[ 9.99974399e-01 -3.07106357e-03 -6.46293481e-03 1.62238813e+00] [ 3.07831781e-03 9.99994643e-01 1.11278964e-03 1.27785137e-01] [ 6.45948274e-03 -1.13265612e-03 9.99978496e-01 -3.17916999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.643133365 meters Centerline goodness [0,1] 0.2554273717019112 Centerline is valid? [False, False] Translation: X:1.64, Y:0.12, Z:-0.32 [[ 9.99954525e-01 2.22722625e-03 -9.27293107e-03 1.64439927e+00] [-2.23351806e-03 9.99997282e-01 -6.68213135e-04 1.17750116e-01] [ 9.27141761e-03 6.88894007e-04 9.99956782e-01 -3.18053414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.673133365 meters Centerline goodness [0,1] 0.27119163946278724 Centerline is valid? [False, False] Translation: X:1.63, Y:0.12, Z:-0.32 [[ 9.99924516e-01 -6.36093499e-03 -1.05119745e-02 1.62503345e+00] [ 6.36775297e-03 9.99979536e-01 6.15249610e-04 1.21206014e-01] [ 1.05078458e-02 -6.82140825e-04 9.99944558e-01 -3.18588937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.703133365 meters Centerline goodness [0,1] 0.26759191096869184 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.32 [[ 9.99948897e-01 1.81679157e-03 -9.94496246e-03 1.64415934e+00] [-1.82118460e-03 9.99998248e-01 -4.32695627e-04 1.14303715e-01] [ 9.94415892e-03 4.50785127e-04 9.99950454e-01 -3.17635206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73313336499999 meters Centerline goodness [0,1] 0.26763932073666585 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.32 [[ 9.99948308e-01 1.92442916e-03 -9.98390345e-03 1.64421183e+00] [-1.92701546e-03 9.99998112e-01 -2.49433762e-04 1.13622315e-01] [ 9.98340458e-03 2.68660005e-04 9.99950128e-01 -3.17596005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76313336499999 meters Centerline goodness [0,1] 0.27198399964834397 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.32 [[ 9.99947837e-01 2.06198199e-03 -1.00035648e-02 1.64416608e+00] [-2.06235414e-03 9.99997873e-01 -2.68861185e-05 1.12827663e-01] [ 1.00034881e-02 4.75156094e-05 9.99949963e-01 -3.17435994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79313336499999 meters Centerline goodness [0,1] 0.2700933763853739 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.32 [[ 9.99947490e-01 2.15901398e-03 -1.00177551e-02 1.64421208e+00] [-2.15776885e-03 9.99997663e-01 1.35099120e-04 1.12156898e-01] [ 1.00180234e-02 -1.13476026e-04 9.99949812e-01 -3.17416905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82313336499999 meters Centerline goodness [0,1] 0.2700933763853739 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.32 [[ 9.99947490e-01 2.15901398e-03 -1.00177551e-02 1.64421208e+00] [-2.15776885e-03 9.99997663e-01 1.35099120e-04 1.12156898e-01] [ 1.00180234e-02 -1.13476026e-04 9.99949812e-01 -3.17416905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85313336499999 meters Centerline goodness [0,1] 0.2716503536315663 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.32 [[ 9.99950101e-01 2.35444287e-03 -9.70830655e-03 1.64331702e+00] [-2.35100461e-03 9.99997170e-01 3.65554015e-04 1.11272033e-01] [ 9.70913975e-03 -3.42711501e-04 9.99952806e-01 -3.17072097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88313336499999 meters Centerline goodness [0,1] 0.2700908455625437 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.32 [[ 9.99951388e-01 2.36579809e-03 -9.57211282e-03 1.64289281e+00] [-2.36287221e-03 9.99997158e-01 3.16965529e-04 1.11446976e-01] [ 9.57283550e-03 -2.94332441e-04 9.99954136e-01 -3.16866215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.913133365 meters Centerline goodness [0,1] 0.2708073719420214 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.32 [[ 9.99953603e-01 2.34798339e-03 -9.34235095e-03 1.64209489e+00] [-2.34611240e-03 9.99997226e-01 2.11223674e-04 1.11860463e-01] [ 9.34282098e-03 -1.89295668e-04 9.99956337e-01 -3.16380318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.943133365 meters Centerline goodness [0,1] 0.27303083873502254 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.32 [[ 9.99954340e-01 2.29165913e-03 -9.27715936e-03 1.64179163e+00] [-2.29121753e-03 9.99997373e-01 5.82286606e-05 1.12446615e-01] [ 9.27726844e-03 -3.69700117e-05 9.99956965e-01 -3.16076719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.973133365 meters Centerline goodness [0,1] 0.270921367893705 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.32 [[ 9.99954502e-01 2.23062786e-03 -9.27458668e-03 1.64176149e+00] [-2.23130351e-03 9.99997509e-01 -6.25033481e-05 1.12817735e-01] [ 9.27442416e-03 8.31949222e-05 9.99956988e-01 -3.16029830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.003133365 meters Centerline goodness [0,1] 0.2727946788790754 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.32 [[ 9.99956459e-01 2.16443972e-03 -9.07719468e-03 1.64097777e+00] [-2.16539331e-03 9.99997651e-01 -9.52267946e-05 1.12485342e-01] [ 9.07696725e-03 1.14878345e-04 9.99958797e-01 -3.15558264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.033133365 meters Centerline goodness [0,1] 0.2711484959137541 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.31 [[ 9.99957619e-01 2.15909031e-03 -8.94975327e-03 1.64023044e+00] [-2.15981617e-03 9.99997665e-01 -7.14394041e-05 1.12315810e-01] [ 8.94957813e-03 9.07661983e-05 9.99959948e-01 -3.14831581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.063133365 meters Centerline goodness [0,1] 0.2715512555712577 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.31 [[ 9.99959776e-01 2.20908101e-03 -8.69290311e-03 1.63911917e+00] [-2.20914386e-03 9.99997560e-01 2.37200058e-06 1.12202058e-01] [ 8.69288714e-03 1.68319684e-05 9.99962216e-01 -3.14049840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09313336499999 meters Centerline goodness [0,1] 0.2746201339930814 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.31 [[ 9.99961518e-01 2.25363973e-03 -8.47837685e-03 1.63809642e+00] [-2.25358593e-03 9.99997461e-01 1.58989999e-05 1.12436482e-01] [ 8.47839115e-03 3.20836277e-06 9.99964058e-01 -3.13216253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12313336499999 meters Centerline goodness [0,1] 0.27628546099290785 Centerline is valid? [False, False] Translation: X:1.62, Y:0.12, Z:-0.31 [[ 9.99946403e-01 -6.00158376e-03 -8.43636769e-03 1.61797465e+00] [ 6.01291179e-03 9.99981054e-01 1.31803858e-03 1.18567417e-01] [ 8.42829753e-03 -1.36869507e-03 9.99963545e-01 -3.13834024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15313336499999 meters Centerline goodness [0,1] 0.2760269315963769 Centerline is valid? [False, False] Translation: X:1.64, Y:0.12, Z:-0.31 [[ 9.99972499e-01 2.43343591e-03 -7.00569101e-03 1.63682268e+00] [-2.43357418e-03 9.99997039e-01 -1.12122254e-05 1.15177618e-01] [ 7.00564298e-03 2.82607858e-05 9.99975460e-01 -3.12996129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18313336499999 meters Centerline goodness [0,1] 0.2746992703608756 Centerline is valid? [False, False] Translation: X:1.64, Y:0.12, Z:-0.31 [[ 9.99974792e-01 2.29688933e-03 -6.71866321e-03 1.63606918e+00] [-2.29952947e-03 9.99997282e-01 -3.85256605e-04 1.16730529e-01] [ 6.71776006e-03 4.00696658e-04 9.99977355e-01 -3.12761996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21313336499999 meters Centerline goodness [0,1] 0.2728179983945501 Centerline is valid? [False, False] Translation: X:1.64, Y:0.12, Z:-0.31 [[ 9.99976168e-01 2.17288687e-03 -6.55303428e-03 1.63559527e+00] [-2.17789790e-03 9.99997341e-01 -7.57649854e-04 1.18364321e-01] [ 6.55137057e-03 7.71903637e-04 9.99978242e-01 -3.12591852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24313336499999 meters Centerline goodness [0,1] 0.272027485430982 Centerline is valid? [False, False] Translation: X:1.64, Y:0.12, Z:-0.31 [[ 9.99975821e-01 2.04279299e-03 -6.64709157e-03 1.63594823e+00] [-2.05015412e-03 9.99997293e-01 -1.10079485e-03 1.19926725e-01] [ 6.64482488e-03 1.11439580e-03 9.99977302e-01 -3.12779959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27313336499999 meters Centerline goodness [0,1] 0.27221570416720986 Centerline is valid? [False, False] Translation: X:1.64, Y:0.12, Z:-0.31 [[ 9.99970589e-01 1.96519080e-03 -7.41340610e-03 1.63893971e+00] [-1.97555737e-03 9.99997081e-01 -1.39129174e-03 1.21918935e-01] [ 7.41065030e-03 1.40589643e-03 9.99971552e-01 -3.14727801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.303133365 meters Centerline goodness [0,1] 0.2720880265642295 Centerline is valid? [False, False] Translation: X:1.64, Y:0.12, Z:-0.32 [[ 9.99967389e-01 1.95922138e-03 -7.83462887e-03 1.64031218e+00] [-1.96929823e-03 9.99997243e-01 -1.27868649e-03 1.21489878e-01] [ 7.83210204e-03 1.29407351e-03 9.99968491e-01 -3.15394787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.333133365 meters Centerline goodness [0,1] 0.2720641073100625 Centerline is valid? [False, False] Translation: X:1.64, Y:0.12, Z:-0.32 [[ 9.99963474e-01 1.87566478e-03 -8.33863688e-03 1.64173800e+00] [-1.88472478e-03 9.99997642e-01 -1.07878320e-03 1.20208374e-01] [ 8.33659378e-03 1.09445983e-03 9.99964651e-01 -3.15948565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.363133365 meters Centerline goodness [0,1] 0.26655844155844155 Centerline is valid? [False, False] Translation: X:1.64, Y:0.12, Z:-0.32 [[ 9.99959619e-01 1.68879832e-03 -8.82661441e-03 1.64292381e+00] [-1.69684215e-03 9.99998152e-01 -9.03906297e-04 1.18615475e-01] [ 8.82507158e-03 9.18847167e-04 9.99960636e-01 -3.16107004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.393133365 meters Centerline goodness [0,1] 0.26859638124473073 Centerline is valid? [False, False] Translation: X:1.64, Y:0.12, Z:-0.32 [[ 9.99957437e-01 1.46435337e-03 -9.10936208e-03 1.64371903e+00] [-1.47063909e-03 9.99998685e-01 -6.83367578e-04 1.16488885e-01] [ 9.10834941e-03 6.96735075e-04 9.99958275e-01 -3.16413003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.423133365 meters Centerline goodness [0,1] 0.26715452097628767 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.32 [[ 9.99955160e-01 1.35261743e-03 -9.37274257e-03 1.64444808e+00] [-1.35656451e-03 9.99998994e-01 -4.14778494e-04 1.14473278e-01] [ 9.37217210e-03 4.27474625e-04 9.99955989e-01 -3.16677807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.453133365 meters Centerline goodness [0,1] 0.2691326808640495 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.32 [[ 9.99956054e-01 1.26700792e-03 -9.28891753e-03 1.64435734e+00] [-1.26758066e-03 9.99999195e-01 -5.57717049e-05 1.12197951e-01] [ 9.28883938e-03 6.75437062e-05 9.99956856e-01 -3.16997798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48313336499999 meters Centerline goodness [0,1] 0.2691308996486941 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.32 [[ 9.99956399e-01 1.31191138e-03 -9.24551860e-03 1.64426686e+00] [-1.31123801e-03 9.99999137e-01 7.88933545e-05 1.11574871e-01] [ 9.24561412e-03 -6.67668393e-05 9.99957256e-01 -3.17052141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51313336499999 meters Centerline goodness [0,1] 0.2530853505391244 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.32 [[ 9.99956053e-01 1.31180225e-03 -9.28283947e-03 1.64448949e+00] [-1.31107603e-03 9.99999137e-01 8.43167581e-05 1.11555616e-01] [ 9.28294207e-03 -7.21425443e-05 9.99956910e-01 -3.17236360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54313336499999 meters Centerline goodness [0,1] 0.2660474805780999 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.32 [[ 9.99955609e-01 1.34331861e-03 -9.32602388e-03 1.64468639e+00] [-1.34226434e-03 9.99999092e-01 1.19304340e-04 1.11461115e-01] [ 9.32617567e-03 -1.06781054e-04 9.99956505e-01 -3.17375687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57313336499999 meters Centerline goodness [0,1] 0.26522107182392396 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.32 [[ 9.99956113e-01 1.32061185e-03 -9.27512521e-03 1.64454740e+00] [-1.32033574e-03 9.99999128e-01 3.58915313e-05 1.11848531e-01] [ 9.27516452e-03 -2.36436768e-05 9.99956984e-01 -3.17323115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60313336499999 meters Centerline goodness [0,1] 0.2685237865989759 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.32 [[ 9.99956438e-01 1.30546288e-03 -9.24218298e-03 1.64431811e+00] [-1.30632896e-03 9.99999143e-01 -8.76740263e-05 1.12517459e-01] [ 9.24206060e-03 9.97435384e-05 9.99957286e-01 -3.17019257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63313336499999 meters Centerline goodness [0,1] 0.2666075790656953 Centerline is valid? [False, False] Translation: X:1.66, Y:0.12, Z:-0.32 [[ 9.99936555e-01 -6.13355021e-03 -9.44807601e-03 1.66435182e+00] [ 6.14249953e-03 9.99980713e-01 9.18484148e-04 1.16339854e-01] [ 9.44226021e-03 -9.76460677e-04 9.99954944e-01 -3.15695058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.663133365 meters Centerline goodness [0,1] 0.2666075790656953 Centerline is valid? [False, False] Translation: X:1.66, Y:0.12, Z:-0.32 [[ 9.99936555e-01 -6.13355021e-03 -9.44807601e-03 1.66435182e+00] [ 6.14249953e-03 9.99980713e-01 9.18484148e-04 1.16339854e-01] [ 9.44226021e-03 -9.76460677e-04 9.99954944e-01 -3.15695058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.693133365 meters Centerline goodness [0,1] 0.2704434254119402 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.32 [[ 9.99959454e-01 1.93571941e-03 -8.79452084e-03 1.64302102e+00] [-1.93133237e-03 9.99998006e-01 5.07303079e-04 1.11239538e-01] [ 8.79548530e-03 -4.90297367e-04 9.99961199e-01 -3.17203156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.723133365 meters Centerline goodness [0,1] 0.26566769310838356 Centerline is valid? [False, False] Translation: X:1.66, Y:0.11, Z:-0.32 [[ 9.99950516e-01 -6.15969212e-03 -7.81173363e-03 1.66338367e+00] [ 6.17068210e-03 9.99980004e-01 1.38353453e-03 1.12402956e-01] [ 7.80305528e-03 -1.43166979e-03 9.99968531e-01 -3.16311562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.753133365 meters Centerline goodness [0,1] 0.2726164079822616 Centerline is valid? [False, False] Translation: X:1.62, Y:0.11, Z:-0.32 [[ 0.99993574 -0.00628584 -0.00943367 1.61668002] [ 0.00630646 0.99997779 0.00215749 0.11336417] [ 0.0094199 -0.00221684 0.99995317 -0.315025 ] [ 0. 0. 0. 1. ]] SLAMing on 108.783133365 meters Centerline goodness [0,1] 0.27064512583800415 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.31 [[ 9.99963422e-01 1.99456497e-03 -8.31725394e-03 1.63510181e+00] [-1.98681664e-03 9.99997585e-01 9.39756024e-04 1.07577439e-01] [ 8.31910826e-03 -9.23196791e-04 9.99964969e-01 -3.13753840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.813133365 meters Centerline goodness [0,1] 0.26946958765140583 Centerline is valid? [False, False] Translation: X:1.63, Y:0.11, Z:-0.31 [[ 9.99963919e-01 1.99350416e-03 -8.25748784e-03 1.63477409e+00] [-1.98579410e-03 9.99997585e-01 9.41800042e-04 1.07480578e-01] [ 8.25934538e-03 -9.25368391e-04 9.99965463e-01 -3.13413800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84313336499999 meters Centerline goodness [0,1] 0.2729246627919728 Centerline is valid? [False, False] Translation: X:1.63, Y:0.11, Z:-0.31 [[ 9.99963136e-01 1.99965808e-03 -8.35027649e-03 1.63497634e+00] [-1.99201725e-03 9.99997590e-01 9.23255852e-04 1.07466052e-01] [ 8.35210256e-03 -9.06587922e-04 9.99964710e-01 -3.13328495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87313336499999 meters Centerline goodness [0,1] 0.26964328622294065 Centerline is valid? [False, False] Translation: X:1.63, Y:0.11, Z:-0.31 [[ 9.99963801e-01 2.02994239e-03 -8.26290280e-03 1.63475723e+00] [-2.02224825e-03 9.99997514e-01 9.39415135e-04 1.07489578e-01] [ 8.26478921e-03 -9.22671489e-04 9.99965420e-01 -3.13314448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90313336499999 meters Centerline goodness [0,1] 0.2711816440264716 Centerline is valid? [False, False] Translation: X:1.63, Y:0.11, Z:-0.31 [[ 9.99964001e-01 2.00391663e-03 -8.24503804e-03 1.63472519e+00] [-1.99694750e-03 9.99997642e-01 8.53396939e-04 1.07942187e-01] [ 8.24672874e-03 -8.36901310e-04 9.99965645e-01 -3.13307098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93313336499999 meters Centerline goodness [0,1] 0.27086010498116 Centerline is valid? [False, False] Translation: X:1.63, Y:0.11, Z:-0.31 [[ 9.99963634e-01 1.96139338e-03 -8.29958477e-03 1.63495348e+00] [-1.95522683e-03 9.99997807e-01 7.51043288e-04 1.08326730e-01] [ 8.30103966e-03 -7.34788405e-04 9.99965276e-01 -3.13446363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96313336499999 meters Centerline goodness [0,1] 0.2719477158584994 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.31 [[ 9.99962586e-01 1.91656051e-03 -8.43521716e-03 1.63538016e+00] [-1.91112126e-03 9.99997961e-01 6.52839603e-04 1.08687115e-01] [ 8.43645117e-03 -6.36694455e-04 9.99964210e-01 -3.13598461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99313336499999 meters Centerline goodness [0,1] 0.2570381295276103 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.31 [[ 9.99960815e-01 1.86838184e-03 -8.65316141e-03 1.63614157e+00] [-1.86379918e-03 9.99998119e-01 5.37628289e-04 1.09237866e-01] [ 8.65414962e-03 -5.21479467e-04 9.99962416e-01 -3.13975807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02313336499999 meters Centerline goodness [0,1] 0.272737275267918 Centerline is valid? [False, False] Translation: X:1.59, Y:0.11, Z:-0.31 [[ 0.99991891 0.00272275 -0.01244059 1.59493312] [-0.00269923 0.99999454 0.00190701 0.11289715] [ 0.01244571 -0.00187327 0.99992079 -0.31474655] [ 0. 0. 0. 1. ]] SLAMing on 109.053133365 meters Centerline goodness [0,1] 0.2702159718734304 Centerline is valid? [False, False] Translation: X:1.60, Y:0.11, Z:-0.31 [[ 0.99991566 0.00266334 -0.012711 1.59576394] [-0.00264217 0.99999509 0.00168208 0.11402062] [ 0.01271542 -0.00164836 0.9999178 -0.3149778 ] [ 0. 0. 0. 1. ]] SLAMing on 109.083133365 meters Centerline goodness [0,1] 0.2715965725277608 Centerline is valid? [False, False] Translation: X:1.60, Y:0.12, Z:-0.32 [[ 9.99914202e-01 2.52901105e-03 -1.28526994e-02 1.59621836e+00] [-2.51232105e-03 9.99995980e-01 1.31454031e-03 1.15571801e-01] [ 1.28559722e-02 -1.28213741e-03 9.99916537e-01 -3.15097351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.113133365 meters Centerline goodness [0,1] 0.2533061171310069 Centerline is valid? [False, False] Translation: X:1.60, Y:0.12, Z:-0.32 [[ 9.99913176e-01 2.35417989e-03 -1.29652495e-02 1.59652308e+00] [-2.34248562e-03 9.99996836e-01 9.17082545e-04 1.17150397e-01] [ 1.29673674e-02 -8.86632010e-04 9.99915527e-01 -3.15091130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.143133365 meters Centerline goodness [0,1] 0.27334085728827817 Centerline is valid? [False, False] Translation: X:1.55, Y:0.12, Z:-0.31 [[ 9.99882549e-01 2.07887224e-03 -1.51844449e-02 1.55094489e+00] [-2.06332503e-03 9.99997331e-01 1.03948453e-03 1.20999758e-01] [ 1.51865653e-02 -1.00803200e-03 9.99884169e-01 -3.14193215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.173133365 meters Centerline goodness [0,1] 0.2714858733533525 Centerline is valid? [False, False] Translation: X:1.55, Y:0.12, Z:-0.31 [[ 9.99880661e-01 2.02597628e-03 -1.53153056e-02 1.55143820e+00] [-2.01382747e-03 9.99997645e-01 8.08627025e-04 1.22289200e-01] [ 1.53169078e-02 -7.77688142e-04 9.99882387e-01 -3.14422843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.203133365 meters Centerline goodness [0,1] 0.271550307783303 Centerline is valid? [False, False] Translation: X:1.55, Y:0.12, Z:-0.31 [[ 9.99884147e-01 2.26579604e-03 -1.50518945e-02 1.55091630e+00] [-2.25577811e-03 9.99997223e-01 6.82503953e-04 1.24258380e-01] [ 1.50533992e-02 -6.48471148e-04 9.99886481e-01 -3.14458368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23313336499999 meters Centerline goodness [0,1] 0.2686326961136122 Centerline is valid? [False, False] Translation: X:1.55, Y:0.13, Z:-0.31 [[ 9.99887837e-01 2.18144453e-03 -1.48173870e-02 1.55011857e+00] [-2.17653604e-03 9.99997571e-01 3.47383276e-04 1.25951270e-01] [ 1.48181088e-02 -3.15093736e-04 9.99890156e-01 -3.13972724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26313336499999 meters Centerline goodness [0,1] 0.27044474773076843 Centerline is valid? [False, False] Translation: X:1.55, Y:0.13, Z:-0.31 [[ 9.99890881e-01 2.03787503e-03 -1.46312681e-02 1.54929789e+00] [-2.03890469e-03 9.99997920e-01 -5.54574458e-05 1.27659649e-01] [ 1.46311246e-02 8.52831554e-05 9.99892956e-01 -3.13318452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29313336499999 meters Centerline goodness [0,1] 0.2727788940333712 Centerline is valid? [False, False] Translation: X:1.55, Y:0.13, Z:-0.31 [[ 9.99892159e-01 1.94188272e-03 -1.45567353e-02 1.54895667e+00] [-1.94829006e-03 9.99998011e-01 -4.25994551e-04 1.29523973e-01] [ 1.45558791e-02 4.54309354e-04 9.99893954e-01 -3.13020106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32313336499999 meters Centerline goodness [0,1] 0.2723320589841617 Centerline is valid? [False, False] Translation: X:1.55, Y:0.13, Z:-0.31 [[ 9.99889873e-01 1.93321009e-03 -1.47141267e-02 1.54942901e+00] [-1.94337207e-03 9.99997883e-01 -6.76360109e-04 1.31268613e-01] [ 1.47127880e-02 7.04880646e-04 9.99891513e-01 -3.13151079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35313336499999 meters Centerline goodness [0,1] 0.27037173672446346 Centerline is valid? [False, False] Translation: X:1.55, Y:0.13, Z:-0.31 [[ 9.99885607e-01 1.91110669e-03 -1.50039900e-02 1.55048479e+00] [-1.92440777e-03 9.99997768e-01 -8.72114970e-04 1.32648320e-01] [ 1.50022898e-02 9.00889002e-04 9.99887053e-01 -3.13692323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38313336499999 meters Centerline goodness [0,1] 0.2726756502937515 Centerline is valid? [False, False] Translation: X:1.55, Y:0.13, Z:-0.31 [[ 9.99883175e-01 1.71396371e-03 -1.51887388e-02 1.55128678e+00] [-1.73435981e-03 9.99997612e-01 -1.32977335e-03 1.34542797e-01] [ 1.51864234e-02 1.35596074e-03 9.99883760e-01 -3.14234996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.413133365 meters Centerline goodness [0,1] 0.2720722681758816 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.31 [[ 0.99988643 0.00160277 -0.01498557 1.55061999] [-0.00162696 0.99999739 -0.00160203 0.13573158] [ 0.01498297 0.00162623 0.99988643 -0.31392906] [ 0. 0. 0. 1. ]] SLAMing on 109.443133365 meters Centerline goodness [0,1] 0.27099683475697 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.31 [[ 9.99887441e-01 1.54826744e-03 -1.49234162e-02 1.55029522e+00] [-1.57544093e-03 9.99997122e-01 -1.80927824e-03 1.37005571e-01] [ 1.49205720e-02 1.83258555e-03 9.99887003e-01 -3.13665853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.473133365 meters Centerline goodness [0,1] 0.2718707646570192 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.31 [[ 9.99888377e-01 1.54075801e-03 -1.48613401e-02 1.55018996e+00] [-1.56946715e-03 9.99996925e-01 -1.92033094e-03 1.38030568e-01] [ 1.48583356e-02 1.94344097e-03 9.99887720e-01 -3.13775265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.503133365 meters Centerline goodness [0,1] 0.27144970414201186 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.31 [[ 9.99888852e-01 1.52326299e-03 -1.48311716e-02 1.55027081e+00] [-1.55319452e-03 9.99996780e-01 -2.00684091e-03 1.38782379e-01] [ 1.48280669e-02 2.02965355e-03 9.99887998e-01 -3.14053034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.533133365 meters Centerline goodness [0,1] 0.2731900452488688 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.31 [[ 9.99888477e-01 1.40768585e-03 -1.48678088e-02 1.55053614e+00] [-1.43975286e-03 9.99996660e-01 -2.14632533e-03 1.39216794e-01] [ 1.48647377e-02 2.16749194e-03 9.99887164e-01 -3.14357197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.563133365 meters Centerline goodness [0,1] 0.2708337848674657 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.32 [[ 9.99880558e-01 1.03467370e-03 -1.54207491e-02 1.55228877e+00] [-1.07364381e-03 9.99996251e-01 -2.51905767e-03 1.39883732e-01] [ 1.54180848e-02 2.53531318e-03 9.99877920e-01 -3.15080104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59313336499999 meters Centerline goodness [0,1] 0.2706603486501761 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.32 [[ 9.99877309e-01 9.94053021e-04 -1.56325957e-02 1.55306110e+00] [-1.03513470e-03 9.99996032e-01 -2.62007816e-03 1.40442423e-01] [ 1.56299291e-02 2.63593854e-03 9.99874371e-01 -3.15520774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62313336499999 meters Centerline goodness [0,1] 0.27201471296580115 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.32 [[ 9.99877449e-01 9.48587345e-04 -1.56264885e-02 1.55321637e+00] [-9.91702181e-04 9.99995723e-01 -2.75156885e-03 1.41132880e-01] [ 1.56238115e-02 2.76672846e-03 9.99874113e-01 -3.15798122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65313336499999 meters Centerline goodness [0,1] 0.27341102389750094 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.32 [[ 9.99880078e-01 9.09638559e-04 -1.54597109e-02 1.55267039e+00] [-9.54666758e-04 9.99995323e-01 -2.90548560e-03 1.42016363e-01] [ 1.54569956e-02 2.91989604e-03 9.99876270e-01 -3.15545144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68313336499999 meters Centerline goodness [0,1] 0.2732512272089762 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.32 [[ 9.99883169e-01 8.60796794e-04 -1.52613282e-02 1.55211907e+00] [-9.07284245e-04 9.99994969e-01 -3.03943282e-03 1.42659243e-01] [ 1.52586351e-02 3.05292408e-03 9.99878920e-01 -3.15449271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71313336499999 meters Centerline goodness [0,1] 0.2732512272089762 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.32 [[ 9.99883169e-01 8.60796794e-04 -1.52613282e-02 1.55211907e+00] [-9.07284245e-04 9.99994969e-01 -3.03943282e-03 1.42659243e-01] [ 1.52586351e-02 3.05292408e-03 9.99878920e-01 -3.15449271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74313336499999 meters Centerline goodness [0,1] 0.27290063786414154 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.32 [[ 9.99883640e-01 8.02412679e-04 -1.52335688e-02 1.55219396e+00] [-8.49746744e-04 9.99994831e-01 -3.10100256e-03 1.42951870e-01] [ 1.52310018e-02 3.11358640e-03 9.99879154e-01 -3.15737134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77313336499999 meters Centerline goodness [0,1] 0.25657481083190603 Centerline is valid? [False, False] Translation: X:1.57, Y:0.14, Z:-0.31 [[ 0.99986855 -0.00740585 -0.01442348 1.57278229] [ 0.00737415 0.99997028 -0.00224982 0.14467911] [ 0.01443972 0.00214317 0.99989345 -0.31467997] [ 0. 0. 0. 1. ]] SLAMing on 109.803133365 meters Centerline goodness [0,1] 0.27520664810148965 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.31 [[ 9.99885455e-01 -1.38054582e-03 -1.50721620e-02 1.54898406e+00] [ 1.30559973e-03 9.99986741e-01 -4.98119212e-03 1.42953410e-01] [ 1.50788390e-02 4.96094334e-03 9.99874001e-01 -3.14160109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.833133365 meters Centerline goodness [0,1] 0.2718220753527404 Centerline is valid? [False, False] Translation: X:1.57, Y:0.14, Z:-0.31 [[ 0.999838 -0.00986568 -0.01505483 1.57068681] [ 0.00979828 0.99994167 -0.00454422 0.14409316] [ 0.01509879 0.00439597 0.99987634 -0.31354072] [ 0. 0. 0. 1. ]] SLAMing on 109.863133365 meters Centerline goodness [0,1] 0.27358241758241764 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.32 [[ 0.99988286 -0.00184269 -0.01519414 1.55063683] [ 0.00176223 0.99998436 -0.00530733 0.13909072] [ 0.01520368 0.00527993 0.99987048 -0.31518734] [ 0. 0. 0. 1. ]] SLAMing on 109.893133365 meters Centerline goodness [0,1] 0.2751752039440232 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.32 [[ 0.99988351 -0.00177641 -0.01515921 1.55048003] [ 0.00169861 0.99998533 -0.00514355 0.13841691] [ 0.01516813 0.0051172 0.99987186 -0.31510013] [ 0. 0. 0. 1. ]] SLAMing on 109.923133365 meters Centerline goodness [0,1] 0.27393506237256926 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.31 [[ 0.99988697 -0.00165079 -0.01494371 1.54952062] [ 0.00157728 0.99998661 -0.00492937 0.13769942] [ 0.01495164 0.00490524 0.99987619 -0.31434881] [ 0. 0. 0. 1. ]] SLAMing on 109.953133365 meters Centerline goodness [0,1] 0.27563043717652236 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.31 [[ 0.99988947 -0.00163043 -0.01477818 1.54892706] [ 0.00155797 0.99998671 -0.00491357 0.13761042] [ 0.01478599 0.00489 0.99987872 -0.31399804] [ 0. 0. 0. 1. ]] SLAMing on 109.98313336499999 meters Centerline goodness [0,1] 0.27573142957252983 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.31 [[ 0.99989178 -0.00162533 -0.01462168 1.54827764] [ 0.0015527 0.99998641 -0.00497731 0.13799353] [ 0.01462957 0.00495407 0.99988071 -0.31350108] [ 0. 0. 0. 1. ]] SLAMing on 110.01313336499999 meters Centerline goodness [0,1] 0.2632629339649538 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.31 [[ 0.99989342 -0.00164387 -0.01450697 1.54790318] [ 0.00156977 0.99998567 -0.00511804 0.13877863] [ 0.01451517 0.00509472 0.99988167 -0.31329349] [ 0. 0. 0. 1. ]] SLAMing on 110.04313336499999 meters Centerline goodness [0,1] 0.2778561976179974 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.31 [[ 0.99989457 -0.00168417 -0.01442256 1.54774768] [ 0.00160726 0.99998443 -0.0053429 0.13999992] [ 0.01443133 0.00531916 0.99988171 -0.31332422] [ 0. 0. 0. 1. ]] SLAMing on 110.07313336499999 meters Centerline goodness [0,1] 0.27833480565371027 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.31 [[ 0.99989439 -0.00171158 -0.01443198 1.54786418] [ 0.00163175 0.99998331 -0.00554143 0.14112978] [ 0.01444122 0.00551729 0.9998805 -0.31345056] [ 0. 0. 0. 1. ]] SLAMing on 110.10313336499999 meters Centerline goodness [0,1] 0.27250897763163584 Centerline is valid? [False, False] Translation: X:1.59, Y:0.14, Z:-0.31 [[ 9.99919945e-01 -5.71164297e-04 -1.26403409e-02 1.59205795e+00] [ 5.04182372e-04 9.99985819e-01 -5.30161238e-03 1.40738677e-01] [ 1.26431897e-02 5.29481492e-03 9.99906053e-01 -3.13511587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13313336499999 meters Centerline goodness [0,1] 0.2743648457093011 Centerline is valid? [False, False] Translation: X:1.59, Y:0.14, Z:-0.31 [[ 9.99920112e-01 -6.30330390e-04 -1.26242379e-02 1.59191423e+00] [ 5.59580506e-04 9.99984124e-01 -5.60703788e-03 1.42499422e-01] [ 1.26275718e-02 5.59952567e-03 9.99904590e-01 -3.13285074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.163133365 meters Centerline goodness [0,1] 0.2759087731562391 Centerline is valid? [False, False] Translation: X:1.59, Y:0.15, Z:-0.31 [[ 9.99920695e-01 -7.44883698e-04 -1.25717763e-02 1.59143531e+00] [ 6.66705485e-04 9.99980423e-01 -6.22159531e-03 1.46043819e-01] [ 1.25761645e-02 6.21272023e-03 9.99901616e-01 -3.12643871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.193133365 meters Centerline goodness [0,1] 0.27960752176127934 Centerline is valid? [False, False] Translation: X:1.55, Y:0.15, Z:-0.31 [[ 9.99885669e-01 -1.06210815e-03 -1.50838046e-02 1.54647509e+00] [ 9.69056453e-04 9.99980465e-01 -6.17495053e-03 1.49795274e-01] [ 1.50900684e-02 6.15962748e-03 9.99867166e-01 -3.12146315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.223133365 meters Centerline goodness [0,1] 0.27697897170538366 Centerline is valid? [False, False] Translation: X:1.55, Y:0.15, Z:-0.31 [[ 9.99885849e-01 -1.15673749e-03 -1.50648826e-02 1.54667808e+00] [ 1.06113573e-03 9.99979260e-01 -6.35244897e-03 1.50603077e-01] [ 1.50719183e-02 6.33573795e-03 9.99866339e-01 -3.12561154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.253133365 meters Centerline goodness [0,1] 0.2735389963067565 Centerline is valid? [False, False] Translation: X:1.57, Y:0.15, Z:-0.31 [[ 0.99984892 -0.00944232 -0.01459379 1.56737243] [ 0.00935934 0.9999397 -0.0057439 0.1541796 ] [ 0.01464715 0.00560645 0.99987701 -0.31175136] [ 0. 0. 0. 1. ]] SLAMing on 110.283133365 meters Centerline goodness [0,1] 0.27433841570276907 Centerline is valid? [False, False] Translation: X:1.55, Y:0.15, Z:-0.31 [[ 9.99901501e-01 -1.58183870e-03 -1.39458445e-02 1.54749676e+00] [ 1.49021003e-03 9.99977253e-01 -6.57826542e-03 1.50589259e-01] [ 1.39559331e-02 6.55683523e-03 9.99881113e-01 -3.13571120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.313133365 meters Centerline goodness [0,1] 0.27874387606479234 Centerline is valid? [False, False] Translation: X:1.55, Y:0.15, Z:-0.31 [[ 9.99901141e-01 -1.54681491e-03 -1.39755398e-02 1.54758297e+00] [ 1.45762219e-03 9.99978521e-01 -6.38999264e-03 1.49728400e-01] [ 1.39851238e-02 6.36898987e-03 9.99881919e-01 -3.13708948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34313336499999 meters Centerline goodness [0,1] 0.25950957456026336 Centerline is valid? [False, False] Translation: X:1.57, Y:0.15, Z:-0.31 [[ 0.99983154 -0.01047945 -0.01506907 1.57161105] [ 0.01038779 0.99992715 -0.00614764 0.14972113] [ 0.0151324 0.00599007 0.99986756 -0.31352619] [ 0. 0. 0. 1. ]] SLAMing on 110.37313336499999 meters Centerline goodness [0,1] 0.2764386203269492 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.32 [[ 0.99987868 -0.00237144 -0.01539493 1.55150741] [ 0.00226572 0.99997376 -0.00688111 0.14484255] [ 0.01541084 0.0068454 0.99985781 -0.31503193] [ 0. 0. 0. 1. ]] SLAMing on 110.40313336499999 meters Centerline goodness [0,1] 0.2643917629772583 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.31 [[ 0.99987968 -0.00233095 -0.01533614 1.5512638 ] [ 0.00222758 0.99997471 -0.00675419 0.14418767] [ 0.01535149 0.00671921 0.99985958 -0.3149151 ] [ 0. 0. 0. 1. ]] SLAMing on 110.43313336499999 meters Centerline goodness [0,1] 0.2595559970630156 Centerline is valid? [False, False] Translation: X:1.57, Y:0.15, Z:-0.31 [[ 0.99984533 -0.01020136 -0.01432624 1.57088464] [ 0.01011974 0.99993221 -0.00575839 0.14693409] [ 0.01438401 0.00561252 0.99988079 -0.3133644 ] [ 0. 0. 0. 1. ]] SLAMing on 110.46313336499999 meters Centerline goodness [0,1] 0.2641122880432414 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.31 [[ 0.99990908 -0.00186217 -0.0133552 1.54927048] [ 0.00177841 0.99997869 -0.00628105 0.14428066] [ 0.01336662 0.00625673 0.99989109 -0.31454234] [ 0. 0. 0. 1. ]] SLAMing on 110.49313336499999 meters Centerline goodness [0,1] 0.26304765229533955 Centerline is valid? [False, False] Translation: X:1.55, Y:0.15, Z:-0.31 [[ 0.9999094 -0.00190988 -0.01332475 1.54916406] [ 0.00182345 0.99997724 -0.00649541 0.14546803] [ 0.01333685 0.00647052 0.99989012 -0.31443754] [ 0. 0. 0. 1. ]] SLAMing on 110.52313336499999 meters Centerline goodness [0,1] 0.2609874491625487 Centerline is valid? [False, False] Translation: X:1.55, Y:0.15, Z:-0.31 [[ 0.99990695 -0.00198107 -0.01349698 1.54974118] [ 0.00188525 0.99997296 -0.00710804 0.14880397] [ 0.0135107 0.00708194 0.99988365 -0.31451871] [ 0. 0. 0. 1. ]] SLAMing on 110.553133365 meters Centerline goodness [0,1] 0.26564627344196057 Centerline is valid? [False, False] Translation: X:1.55, Y:0.15, Z:-0.31 [[ 0.99990482 -0.00209388 -0.01363678 1.55013777] [ 0.00199128 0.99996965 -0.00753283 0.15100865] [ 0.01365214 0.00750496 0.99987864 -0.31452593] [ 0. 0. 0. 1. ]] SLAMing on 110.583133365 meters Centerline goodness [0,1] 0.2595451472929068 Centerline is valid? [False, False] Translation: X:1.55, Y:0.15, Z:-0.31 [[ 0.99990453 -0.00215151 -0.01364953 1.55011225] [ 0.00204335 0.99996645 -0.00793287 0.15329185] [ 0.01366614 0.00790422 0.99987537 -0.31436764] [ 0. 0. 0. 1. ]] SLAMing on 110.613133365 meters Centerline goodness [0,1] 0.2782892717786839 Centerline is valid? [False, False] Translation: X:1.55, Y:0.16, Z:-0.31 [[ 0.99990523 -0.00225932 -0.01358004 1.54982634] [ 0.00214612 0.99996288 -0.00834446 0.15547729] [ 0.01359838 0.00831453 0.99987297 -0.31409528] [ 0. 0. 0. 1. ]] SLAMing on 110.643133365 meters Centerline goodness [0,1] 0.27601780337740545 Centerline is valid? [False, False] Translation: X:1.55, Y:0.16, Z:-0.31 [[ 0.99990513 -0.00238604 -0.01356624 1.54980338] [ 0.00226709 0.99995892 -0.0087762 0.15770244] [ 0.01358662 0.00874461 0.99986946 -0.31403249] [ 0. 0. 0. 1. ]] SLAMing on 110.673133365 meters Centerline goodness [0,1] 0.28062684333318655 Centerline is valid? [False, False] Translation: X:1.55, Y:0.16, Z:-0.31 [[ 0.99990445 -0.00251079 -0.01359393 1.54991899] [ 0.00238693 0.99995556 -0.00911995 0.15942222] [ 0.01361623 0.00908663 0.99986601 -0.31410199] [ 0. 0. 0. 1. ]] SLAMing on 110.703133365 meters Centerline goodness [0,1] 0.26486852746388057 Centerline is valid? [False, False] Translation: X:1.55, Y:0.16, Z:-0.31 [[ 0.99990409 -0.00277615 -0.01356871 1.54994601] [ 0.00264411 0.99994907 -0.00973951 0.16231094] [ 0.01359506 0.0097027 0.99986051 -0.3142215 ] [ 0. 0. 0. 1. ]] SLAMing on 110.73313336499999 meters Centerline goodness [0,1] 0.27696003494212706 Centerline is valid? [False, False] Translation: X:1.55, Y:0.16, Z:-0.31 [[ 0.99990479 -0.00287714 -0.01349536 1.54970716] [ 0.00274301 0.99994676 -0.0099471 0.16332917] [ 0.01352326 0.00990913 0.99985946 -0.31414572] [ 0. 0. 0. 1. ]] SLAMing on 110.76313336499999 meters Centerline goodness [0,1] 0.27780704064612416 Centerline is valid? [False, False] Translation: X:1.55, Y:0.16, Z:-0.31 [[ 0.9999049 -0.00297348 -0.01346636 1.5496402 ] [ 0.00283693 0.99994449 -0.01014773 0.16434276] [ 0.01349579 0.01010856 0.99985783 -0.31416734] [ 0. 0. 0. 1. ]] SLAMing on 110.79313336499999 meters Centerline goodness [0,1] 0.2784490333919156 Centerline is valid? [False, False] Translation: X:1.55, Y:0.17, Z:-0.31 [[ 0.99990282 -0.00307797 -0.01359688 1.5500119 ] [ 0.00293716 0.99994198 -0.01036365 0.16537759] [ 0.01362799 0.01032271 0.99985385 -0.31426888] [ 0. 0. 0. 1. ]] SLAMing on 110.82313336499999 meters Centerline goodness [0,1] 0.26310542854047025 Centerline is valid? [False, False] Translation: X:1.57, Y:0.17, Z:-0.31 [[ 0.99984049 -0.01106366 -0.01402095 1.57064921] [ 0.01092859 0.99989349 -0.0096738 0.17027912] [ 0.01412648 0.00951903 0.9998549 -0.31288828] [ 0. 0. 0. 1. ]] SLAMing on 110.85313336499999 meters Centerline goodness [0,1] 0.27617506178779994 Centerline is valid? [False, False] Translation: X:1.55, Y:0.17, Z:-0.31 [[ 0.99989455 -0.00257547 -0.01429181 1.54981298] [ 0.00242512 0.99994165 -0.01052683 0.1694463 ] [ 0.01431809 0.01049106 0.99984245 -0.31409197] [ 0. 0. 0. 1. ]] SLAMing on 110.88313336499999 meters Centerline goodness [0,1] 0.2616628025394899 Centerline is valid? [False, False] Translation: X:1.57, Y:0.18, Z:-0.31 [[ 0.99983189 -0.01029938 -0.01516936 1.57013954] [ 0.01014725 0.99989779 -0.01007214 0.17778517] [ 0.01527154 0.00991652 0.99983421 -0.31221375] [ 0. 0. 0. 1. ]] SLAMing on 110.913133365 meters Centerline goodness [0,1] 0.27922952883744556 Centerline is valid? [False, False] Translation: X:1.55, Y:0.18, Z:-0.31 [[ 0.99987529 -0.00172539 -0.01569809 1.54839561] [ 0.00155342 0.99993873 -0.01096004 0.17753792] [ 0.01571604 0.01093429 0.99981671 -0.31284346] [ 0. 0. 0. 1. ]] SLAMing on 110.943133365 meters Centerline goodness [0,1] 0.2770831052228183 Centerline is valid? [False, False] Translation: X:1.57, Y:0.18, Z:-0.31 [[ 0.99983693 -0.00972084 -0.01521924 1.56819965] [ 0.0095691 0.99990409 -0.01001176 0.18260089] [ 0.01531511 0.0098645 0.99983406 -0.31122574] [ 0. 0. 0. 1. ]] SLAMing on 110.973133365 meters Centerline goodness [0,1] 0.27782155678136766 Centerline is valid? [False, False] Translation: X:1.57, Y:0.18, Z:-0.31 [[ 0.99983693 -0.00981558 -0.0151579 1.56781489] [ 0.00965972 0.99990007 -0.01032151 0.18436876] [ 0.0152577 0.0101734 0.99983184 -0.31082064] [ 0. 0. 0. 1. ]] SLAMing on 111.003133365 meters Centerline goodness [0,1] 0.2658496089483112 Centerline is valid? [False, False] Translation: X:1.57, Y:0.19, Z:-0.31 [[ 0.99983812 -0.0098805 -0.01503727 1.56737745] [ 0.00972312 0.99989756 -0.01050338 0.18543385] [ 0.0151395 0.01035547 0.99983177 -0.31061227] [ 0. 0. 0. 1. ]] SLAMing on 111.033133365 meters Centerline goodness [0,1] 0.26611631777174394 Centerline is valid? [False, False] Translation: X:1.57, Y:0.19, Z:-0.31 [[ 0.99983737 -0.00993933 -0.01504782 1.56746818] [ 0.00977988 0.99989565 -0.01063242 0.18616663] [ 0.01515193 0.01048353 0.99983024 -0.31076049] [ 0. 0. 0. 1. ]] SLAMing on 111.063133365 meters Centerline goodness [0,1] 0.26129755863841275 Centerline is valid? [False, False] Translation: X:1.57, Y:0.19, Z:-0.31 [[ 0.99983214 -0.01009806 -0.01528825 1.56833367] [ 0.00993485 0.99989325 -0.01071374 0.18632758] [ 0.0153948 0.01056005 0.99982573 -0.31131677] [ 0. 0. 0. 1. ]] SLAMing on 111.09313336499999 meters Centerline goodness [0,1] 0.27635520762721133 Centerline is valid? [False, False] Translation: X:1.57, Y:0.19, Z:-0.31 [[ 0.99983173 -0.01008721 -0.01532206 1.56849219] [ 0.00992512 0.99989437 -0.01061831 0.18586557] [ 0.01542756 0.01046445 0.99982623 -0.31150284] [ 0. 0. 0. 1. ]] SLAMing on 111.12313336499999 meters Centerline goodness [0,1] 0.26497695852534564 Centerline is valid? [False, False] Translation: X:1.57, Y:0.19, Z:-0.31 [[ 0.9998324 -0.01007045 -0.015289 1.56842735] [ 0.0099102 0.99989554 -0.01052161 0.18531682] [ 0.01539336 0.01036833 0.99982776 -0.31154216] [ 0. 0. 0. 1. ]] SLAMing on 111.15313336499999 meters Centerline goodness [0,1] 0.2610620433976666 Centerline is valid? [False, False] Translation: X:1.57, Y:0.18, Z:-0.31 [[ 0.99983344 -0.01003834 -0.01524192 1.56806701] [ 0.00988047 0.99989712 -0.01039799 0.1846004 ] [ 0.01534473 0.01024566 0.99982977 -0.31116597] [ 0. 0. 0. 1. ]] SLAMing on 111.18313336499999 meters Centerline goodness [0,1] 0.25571053602030414 Centerline is valid? [False, False] Translation: X:1.57, Y:0.18, Z:-0.31 [[ 0.99983559 -0.00999742 -0.01512758 1.56758215] [ 0.00984189 0.9998983 -0.01032113 0.18426118] [ 0.01522923 0.01017055 0.9998323 -0.31086996] [ 0. 0. 0. 1. ]] SLAMing on 111.21313336499999 meters Centerline goodness [0,1] 0.264468561734705 Centerline is valid? [False, False] Translation: X:1.57, Y:0.18, Z:-0.31 [[ 0.99983816 -0.00992518 -0.01500488 1.5669484 ] [ 0.0097732 0.99990054 -0.01016806 0.18355143] [ 0.01510431 0.01001977 0.99983572 -0.31033549] [ 0. 0. 0. 1. ]] SLAMing on 111.24313336499999 meters Centerline goodness [0,1] 0.26024180220927196 Centerline is valid? [False, False] Translation: X:1.57, Y:0.18, Z:-0.31 [[ 0.99984106 -0.00984508 -0.01486362 1.56641174] [ 0.00969722 0.99990311 -0.00998712 0.18244175] [ 0.0149605 0.0098414 0.99983965 -0.3099928 ] [ 0. 0. 0. 1. ]] SLAMing on 111.27313336499999 meters Centerline goodness [0,1] 0.2731722172674077 Centerline is valid? [False, False] Translation: X:1.57, Y:0.18, Z:-0.31 [[ 0.99984106 -0.00981487 -0.01488355 1.56654784] [ 0.00966766 0.99990396 -0.00993052 0.18207662] [ 0.01497959 0.00978505 0.99983992 -0.31013778] [ 0. 0. 0. 1. ]] SLAMing on 111.303133365 meters Centerline goodness [0,1] 0.27596613113330437 Centerline is valid? [False, False] Translation: X:1.57, Y:0.18, Z:-0.31 [[ 0.99983876 -0.00975255 -0.01507778 1.56714583] [ 0.00960502 0.99990559 -0.00982655 0.18159597] [ 0.01517219 0.00968015 0.99983804 -0.31035153] [ 0. 0. 0. 1. ]] SLAMing on 111.333133365 meters Centerline goodness [0,1] 0.26011997238045914 Centerline is valid? [False, False] Translation: X:1.57, Y:0.18, Z:-0.31 [[ 0.99983649 -0.00971544 -0.01525115 1.56776545] [ 0.00956685 0.99990635 -0.00978619 0.18138562] [ 0.0153448 0.00963868 0.9998358 -0.31065669] [ 0. 0. 0. 1. ]] SLAMing on 111.363133365 meters Centerline goodness [0,1] 0.27494139098723624 Centerline is valid? [False, False] Translation: X:1.57, Y:0.18, Z:-0.31 [[ 0.99983425 -0.00965587 -0.01543488 1.56820535] [ 0.00950538 0.99990686 -0.00979389 0.1816504 ] [ 0.01552801 0.00964555 0.99983291 -0.31060229] [ 0. 0. 0. 1. ]] SLAMing on 111.393133365 meters Centerline goodness [0,1] 0.27473794093340875 Centerline is valid? [False, False] Translation: X:1.57, Y:0.18, Z:-0.31 [[ 0.99986057 -0.00619394 -0.01550736 1.56806924] [ 0.0060966 0.99996146 -0.00631668 0.18097506] [ 0.01554589 0.00622126 0.9998598 -0.31034464] [ 0. 0. 0. 1. ]] SLAMing on 111.423133365 meters Centerline goodness [0,1] 0.2637431991294886 Centerline is valid? [False, False] Translation: X:1.57, Y:0.18, Z:-0.31 [[ 0.99985993 -0.0061852 -0.01555208 1.56810794] [ 0.00608435 0.99996021 -0.00652337 0.18218259] [ 0.01559181 0.00642783 0.99985778 -0.31015429] [ 0. 0. 0. 1. ]] SLAMing on 111.453133365 meters Centerline goodness [0,1] 0.2605032917532918 Centerline is valid? [False, False] Translation: X:1.57, Y:0.18, Z:-0.31 [[ 0.99986001 -0.00622424 -0.01553106 1.56782338] [ 0.0061189 0.99995801 -0.00682124 0.18373819] [ 0.01557286 0.00672525 0.99985612 -0.30971931] [ 0. 0. 0. 1. ]] SLAMing on 111.48313336499999 meters Centerline goodness [0,1] 0.27958913187541423 Centerline is valid? [False, False] Translation: X:1.54, Y:0.18, Z:-0.31 [[ 0.99987444 0.00304833 -0.01555015 1.54389427] [-0.00316056 0.9999691 -0.00719822 0.18434998] [ 0.01552773 0.00724646 0.99985318 -0.30960179] [ 0. 0. 0. 1. ]] SLAMing on 111.51313336499999 meters Centerline goodness [0,1] 0.2584643288996372 Centerline is valid? [False, False] Translation: X:1.56, Y:0.19, Z:-0.31 [[ 0.99987011 -0.00464012 -0.01543457 1.5640987 ] [ 0.00454334 0.99996984 -0.00629956 0.18891166] [ 0.01546334 0.00622861 0.99986104 -0.30835326] [ 0. 0. 0. 1. ]] SLAMing on 111.54313336499999 meters Centerline goodness [0,1] 0.27934102141680395 Centerline is valid? [False, False] Translation: X:1.52, Y:0.19, Z:-0.31 [[ 0.9998296 -0.00454247 -0.01789213 1.51888636] [ 0.00443137 0.99997069 -0.00624368 0.19173991] [ 0.01791997 0.00616333 0.99982043 -0.30785933] [ 0. 0. 0. 1. ]] SLAMing on 111.57313336499999 meters Centerline goodness [0,1] 0.2613089197417572 Centerline is valid? [False, False] Translation: X:1.56, Y:0.19, Z:-0.31 [[ 0.9998548 -0.00448778 -0.01643909 1.56372505] [ 0.00438505 0.99997066 -0.00628018 0.18963053] [ 0.01646679 0.00620718 0.99984515 -0.3079738 ] [ 0. 0. 0. 1. ]] SLAMing on 111.60313336499999 meters Centerline goodness [0,1] 0.2658241710105568 Centerline is valid? [False, False] Translation: X:1.54, Y:0.19, Z:-0.31 [[ 0.99985235 0.00422236 -0.01665667 1.5422111 ] [-0.00433199 0.99996916 -0.00655088 0.18607049] [ 0.0166285 0.00662207 0.99983981 -0.3087097 ] [ 0. 0. 0. 1. ]] SLAMing on 111.63313336499999 meters Centerline goodness [0,1] 0.2658241710105568 Centerline is valid? [False, False] Translation: X:1.54, Y:0.19, Z:-0.31 [[ 0.99985235 0.00422236 -0.01665667 1.5422111 ] [-0.00433199 0.99996916 -0.00655088 0.18607049] [ 0.0166285 0.00662207 0.99983981 -0.3087097 ] [ 0. 0. 0. 1. ]] SLAMing on 111.663133365 meters Centerline goodness [0,1] 0.26561098838608077 Centerline is valid? [False, False] Translation: X:1.54, Y:0.18, Z:-0.31 [[ 0.99985479 0.00433175 -0.01648156 1.54161558] [-0.00443609 0.99997032 -0.00629944 0.1849996 ] [ 0.01645379 0.00637164 0.99984433 -0.30846967] [ 0. 0. 0. 1. ]] SLAMing on 111.693133365 meters Centerline goodness [0,1] 0.2775187380163848 Centerline is valid? [False, False] Translation: X:1.54, Y:0.18, Z:-0.31 [[ 0.9998696 0.00408791 -0.01562287 1.53881089] [-0.00418496 0.99997212 -0.00618438 0.18284431] [ 0.01559716 0.00624896 0.99985883 -0.30730319] [ 0. 0. 0. 1. ]] SLAMing on 111.723133365 meters Centerline goodness [0,1] 0.27699766329628095 Centerline is valid? [False, False] Translation: X:1.54, Y:0.18, Z:-0.31 [[ 0.99987056 0.00410047 -0.01555824 1.53858047] [-0.004195 0.99997291 -0.00604805 0.18185687] [ 0.01553302 0.00611254 0.99986067 -0.30723901] [ 0. 0. 0. 1. ]] SLAMing on 111.753133365 meters Centerline goodness [0,1] 0.2645308427454387 Centerline is valid? [False, False] Translation: X:1.54, Y:0.18, Z:-0.31 [[ 0.99986987 0.0041156 -0.01559807 1.53869281] [-0.00420918 0.99997331 -0.00597108 0.18143472] [ 0.01557308 0.00603596 0.99986051 -0.3072919 ] [ 0. 0. 0. 1. ]] SLAMing on 111.783133365 meters Centerline goodness [0,1] 0.2670199665757762 Centerline is valid? [False, False] Translation: X:1.52, Y:0.19, Z:-0.31 [[ 0.99986766 -0.00385954 -0.01580397 1.51947579] [ 0.00378588 0.99998185 -0.00468793 0.18782139] [ 0.01582178 0.00462747 0.99986412 -0.30844891] [ 0. 0. 0. 1. ]] SLAMing on 111.813133365 meters Centerline goodness [0,1] 0.27549444093905706 Centerline is valid? [False, False] Translation: X:1.52, Y:0.19, Z:-0.31 [[ 0.99986836 -0.00387892 -0.01575458 1.51913597] [ 0.0038032 0.99998109 -0.0048333 0.18866151] [ 0.01577303 0.00477274 0.99986421 -0.30809666] [ 0. 0. 0. 1. ]] SLAMing on 111.84313336499999 meters Centerline goodness [0,1] 0.2662500272194761 Centerline is valid? [False, False] Translation: X:1.52, Y:0.19, Z:-0.31 [[ 0.9998678 -0.00395244 -0.01577192 1.51900847] [ 0.00387176 0.99997928 -0.00514265 0.19031958] [ 0.01579191 0.00508091 0.99986239 -0.3077724 ] [ 0. 0. 0. 1. ]] SLAMing on 111.87313336499999 meters Centerline goodness [0,1] 0.26636677293968647 Centerline is valid? [False, False] Translation: X:1.52, Y:0.19, Z:-0.31 [[ 9.99872587e-01 -1.02618282e-04 -1.59624237e-02 1.51964624e+00] [ 7.40995672e-05 9.99998400e-01 -1.78719677e-03 1.93381493e-01] [ 1.59625815e-02 1.78578625e-03 9.99870995e-01 -3.08080790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90313336499999 meters Centerline goodness [0,1] 0.26658385634588566 Centerline is valid? [False, False] Translation: X:1.52, Y:0.20, Z:-0.31 [[ 9.99870949e-01 -1.86333524e-04 -1.60639740e-02 1.52012039e+00] [ 1.50976361e-04 9.99997564e-01 -2.20220680e-03 1.95774652e-01] [ 1.60643452e-02 2.19949732e-03 9.99868541e-01 -3.08385582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93313336499999 meters Centerline goodness [0,1] 0.2652008567556935 Centerline is valid? [False, False] Translation: X:1.52, Y:0.20, Z:-0.31 [[ 9.99871560e-01 -3.43107990e-04 -1.60233037e-02 1.52020973e+00] [ 3.01344867e-04 9.99996552e-01 -2.60874069e-03 1.97792825e-01] [ 1.60241436e-02 2.60357708e-03 9.99868215e-01 -3.08664011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96313336499999 meters Centerline goodness [0,1] 0.2606970997528938 Centerline is valid? [False, False] Translation: X:1.52, Y:0.20, Z:-0.31 [[ 9.99872506e-01 -4.72996779e-04 -1.59608024e-02 1.52002523e+00] [ 4.26499523e-04 9.99995656e-01 -2.91649355e-03 1.99235379e-01] [ 1.59621126e-02 2.90931444e-03 9.99868365e-01 -3.08609010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99313336499999 meters Centerline goodness [0,1] 0.2766844126374586 Centerline is valid? [False, False] Translation: X:1.52, Y:0.20, Z:-0.31 [[ 9.99874957e-01 -6.08526677e-04 -1.58019182e-02 1.51943548e+00] [ 5.60012890e-04 9.99995117e-01 -3.07436353e-03 2.00079692e-01] [ 1.58037119e-02 3.06512982e-03 9.99870415e-01 -3.08396271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02313336499999 meters Centerline goodness [0,1] 0.2770926552439158 Centerline is valid? [False, False] Translation: X:1.52, Y:0.20, Z:-0.31 [[ 9.99874480e-01 -6.25364441e-04 -1.58314259e-02 1.51950406e+00] [ 5.79360017e-04 9.99995597e-01 -2.91031218e-03 1.99236591e-01] [ 1.58331762e-02 2.90077479e-03 9.99870440e-01 -3.08488106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.053133365 meters Centerline goodness [0,1] 0.2747027827374472 Centerline is valid? [False, False] Translation: X:1.52, Y:0.20, Z:-0.31 [[ 9.99869978e-01 -7.37312587e-04 -1.61085210e-02 1.52027685e+00] [ 6.92685116e-04 9.99995907e-01 -2.77583014e-03 1.98130303e-01] [ 1.61105017e-02 2.76431109e-03 9.99866396e-01 -3.08801179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.083133365 meters Centerline goodness [0,1] 0.25988245537657817 Centerline is valid? [False, False] Translation: X:1.52, Y:0.20, Z:-0.31 [[ 9.99866196e-01 -9.05707471e-04 -1.63330974e-02 1.52116626e+00] [ 8.63131171e-04 9.99996212e-01 -2.61361078e-03 1.96528001e-01] [ 1.63354027e-02 2.59916347e-03 9.99863190e-01 -3.09490511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.113133365 meters Centerline goodness [0,1] 0.2724326910530207 Centerline is valid? [False, False] Translation: X:1.52, Y:0.19, Z:-0.31 [[ 0.99986796 -0.00166228 -0.01616471 1.52107267] [ 0.0016191 0.99999509 -0.00268399 0.19379504] [ 0.01616909 0.00265747 0.99986574 -0.31016068] [ 0. 0. 0. 1. ]] SLAMing on 112.143133365 meters Centerline goodness [0,1] 0.27325517933940224 Centerline is valid? [False, False] Translation: X:1.52, Y:0.19, Z:-0.31 [[ 0.99987162 -0.00158613 -0.01594471 1.5203996 ] [ 0.00154953 0.99999614 -0.00230768 0.19183626] [ 0.01594831 0.00228268 0.99987021 -0.31003446] [ 0. 0. 0. 1. ]] SLAMing on 112.173133365 meters Centerline goodness [0,1] 0.27224253503961005 Centerline is valid? [False, False] Translation: X:1.52, Y:0.19, Z:-0.31 [[ 9.99872452e-01 -1.46951155e-03 -1.59034551e-02 1.52010133e+00] [ 1.43776329e-03 9.99996951e-01 -2.00756116e-03 1.90500461e-01] [ 1.59063567e-02 1.98443970e-03 9.99871517e-01 -3.09771774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.203133365 meters Centerline goodness [0,1] 0.2726780453994109 Centerline is valid? [False, False] Translation: X:1.52, Y:0.19, Z:-0.31 [[ 9.99871852e-01 -1.41367139e-03 -1.59461820e-02 1.52018555e+00] [ 1.38405792e-03 9.99997298e-01 -1.86797183e-03 1.89753829e-01] [ 1.59487796e-02 1.84566202e-03 9.99871107e-01 -3.09725041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23313336499999 meters Centerline goodness [0,1] 0.27421045734504 Centerline is valid? [False, False] Translation: X:1.52, Y:0.19, Z:-0.31 [[ 9.99868570e-01 -1.42366972e-03 -1.61497802e-02 1.52073180e+00] [ 1.39295756e-03 9.99997200e-01 -1.91279720e-03 1.89767031e-01] [ 1.61524582e-02 1.89004984e-03 9.99867754e-01 -3.09753349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26313336499999 meters Centerline goodness [0,1] 0.27144164560271944 Centerline is valid? [False, False] Translation: X:1.52, Y:0.19, Z:-0.31 [[ 9.99865915e-01 -1.44118812e-03 -1.63117777e-02 1.52126860e+00] [ 1.40768329e-03 9.99996876e-01 -2.06532236e-03 1.90336137e-01] [ 1.63147032e-02 2.04208361e-03 9.99864821e-01 -3.09914964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29313336499999 meters Centerline goodness [0,1] 0.27553807494810445 Centerline is valid? [False, False] Translation: X:1.52, Y:0.19, Z:-0.31 [[ 9.99868288e-01 -8.37111899e-04 -1.62081856e-02 1.52079763e+00] [ 8.04871679e-04 9.99997685e-01 -1.99555298e-03 1.91899739e-01] [ 1.62098186e-02 1.98224463e-03 9.99866647e-01 -3.09420053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32313336499999 meters Centerline goodness [0,1] 0.27271545842448397 Centerline is valid? [False, False] Translation: X:1.52, Y:0.19, Z:-0.31 [[ 9.99873957e-01 -6.01740920e-04 -1.58652973e-02 1.51973795e+00] [ 5.67728446e-04 9.99997531e-01 -2.14824503e-03 1.93610105e-01] [ 1.58665509e-02 2.13896708e-03 9.99871830e-01 -3.08906048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35313336499999 meters Centerline goodness [0,1] 0.2751121321518434 Centerline is valid? [False, False] Translation: X:1.52, Y:0.20, Z:-0.31 [[ 9.99880172e-01 -4.76786725e-04 -1.54730156e-02 1.51866199e+00] [ 4.40217301e-04 9.99997102e-01 -2.36675217e-03 1.95353758e-01] [ 1.54740992e-02 2.35965708e-03 9.99877485e-01 -3.08568114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38313336499999 meters Centerline goodness [0,1] 0.2648235165555677 Centerline is valid? [False, False] Translation: X:1.52, Y:0.20, Z:-0.31 [[ 9.99882858e-01 -4.60074604e-04 -1.52989645e-02 1.51829421e+00] [ 4.19583203e-04 9.99996401e-01 -2.64978042e-03 1.97057511e-01] [ 1.53001285e-02 2.64305083e-03 9.99879453e-01 -3.08537730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.413133365 meters Centerline goodness [0,1] 0.2762898347433481 Centerline is valid? [False, False] Translation: X:1.52, Y:0.20, Z:-0.31 [[ 9.99886220e-01 -4.69339238e-04 -1.50773893e-02 1.51782833e+00] [ 4.25654849e-04 9.99995703e-01 -2.90042284e-03 1.98487339e-01] [ 1.50786858e-02 2.89367506e-03 9.99882123e-01 -3.08587531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.443133365 meters Centerline goodness [0,1] 0.2773287776244606 Centerline is valid? [False, False] Translation: X:1.52, Y:0.20, Z:-0.31 [[ 9.99889164e-01 -5.37597587e-04 -1.48785384e-02 1.51727915e+00] [ 4.90565527e-04 9.99994873e-01 -3.16453638e-03 1.99773507e-01] [ 1.48801634e-02 3.15688674e-03 9.99884301e-01 -3.08425594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.473133365 meters Centerline goodness [0,1] 0.2727840872357391 Centerline is valid? [False, False] Translation: X:1.56, Y:0.20, Z:-0.31 [[ 9.99921762e-01 -3.39999095e-04 -1.25041705e-02 1.56063412e+00] [ 2.97351495e-04 9.99994134e-01 -3.41237107e-03 1.99064701e-01] [ 1.25052574e-02 3.40838596e-03 9.99915997e-01 -3.08138069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.503133365 meters Centerline goodness [0,1] 0.2752990482842923 Centerline is valid? [False, False] Translation: X:1.54, Y:0.21, Z:-0.31 [[ 0.99988547 -0.00822387 -0.01270495 1.54176806] [ 0.00819583 0.99996387 -0.00225761 0.20642957] [ 0.01272306 0.00215322 0.99991674 -0.30939406] [ 0. 0. 0. 1. ]] SLAMing on 112.533133365 meters Centerline goodness [0,1] 0.2595262838832597 Centerline is valid? [False, False] Translation: X:1.56, Y:0.20, Z:-0.31 [[ 9.99911680e-01 -1.50584608e-04 -1.32894357e-02 1.56137135e+00] [ 1.08061185e-04 9.99994873e-01 -3.20045156e-03 2.02552791e-01] [ 1.32898495e-02 3.19873282e-03 9.99906570e-01 -3.08280251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.563133365 meters Centerline goodness [0,1] 0.27459999128046386 Centerline is valid? [False, False] Translation: X:1.56, Y:0.21, Z:-0.31 [[ 9.99906071e-01 -2.54319290e-04 -1.37034602e-02 1.56277699e+00] [ 2.04506271e-04 9.99993368e-01 -3.63634733e-03 2.05274093e-01] [ 1.37042941e-02 3.63320332e-03 9.99899491e-01 -3.08929374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59313336499999 meters Centerline goodness [0,1] 0.2592182890855457 Centerline is valid? [False, False] Translation: X:1.56, Y:0.21, Z:-0.31 [[ 9.99904788e-01 -2.98966835e-04 -1.37958719e-02 1.56292274e+00] [ 2.46556361e-04 9.99992748e-01 -3.80054132e-03 2.06256211e-01] [ 1.37969080e-02 3.79677801e-03 9.99897610e-01 -3.08808016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62313336499999 meters Centerline goodness [0,1] 0.27547070786590566 Centerline is valid? [False, False] Translation: X:1.56, Y:0.21, Z:-0.31 [[ 9.99905615e-01 -3.60248342e-04 -1.37342786e-02 1.56250274e+00] [ 3.05103496e-04 9.99991885e-01 -4.01700896e-03 2.07515357e-01] [ 1.37356142e-02 4.01243944e-03 9.99897611e-01 -3.08383396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65313336499999 meters Centerline goodness [0,1] 0.27542289428190037 Centerline is valid? [False, False] Translation: X:1.56, Y:0.21, Z:-0.31 [[ 9.99906975e-01 -4.15681285e-04 -1.36333648e-02 1.56200664e+00] [ 3.58723593e-04 9.99991199e-01 -4.17999557e-03 2.08381964e-01] [ 1.36349824e-02 4.17471611e-03 9.99898324e-01 -3.07959949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68313336499999 meters Centerline goodness [0,1] 0.26074959261271047 Centerline is valid? [False, False] Translation: X:1.56, Y:0.21, Z:-0.31 [[ 9.99908153e-01 -5.09939266e-04 -1.35434451e-02 1.56156692e+00] [ 4.50718929e-04 9.99990327e-01 -4.37531222e-03 2.09237683e-01] [ 1.35455452e-02 4.36880607e-03 9.99898711e-01 -3.07598579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71313336499999 meters Centerline goodness [0,1] 0.2778631990510917 Centerline is valid? [False, False] Translation: X:1.56, Y:0.21, Z:-0.31 [[ 9.99911426e-01 -6.48532654e-04 -1.32936020e-02 1.56068370e+00] [ 5.86613976e-04 9.99988965e-01 -4.66115053e-03 2.10438177e-01] [ 1.32964783e-02 4.65293946e-03 9.99900772e-01 -3.07129088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74313336499999 meters Centerline goodness [0,1] 0.2783301507868572 Centerline is valid? [False, False] Translation: X:1.56, Y:0.21, Z:-0.31 [[ 9.99912539e-01 -6.96681001e-04 -1.32071575e-02 1.56047035e+00] [ 6.33507374e-04 9.99988342e-01 -4.78686744e-03 2.11137596e-01] [ 1.32103384e-02 4.77808194e-03 9.99901324e-01 -3.07139733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77313336499999 meters Centerline goodness [0,1] 0.2604144089470718 Centerline is valid? [False, False] Translation: X:1.58, Y:0.22, Z:-0.31 [[ 0.99988048 -0.00858165 -0.01286011 1.58025726] [ 0.00853479 0.99995675 -0.00369419 0.21543448] [ 0.01289126 0.00358399 0.99991048 -0.30562397] [ 0. 0. 0. 1. ]] SLAMing on 112.803133365 meters Centerline goodness [0,1] 0.27602323854453326 Centerline is valid? [False, False] Translation: X:1.56, Y:0.21, Z:-0.31 [[ 9.99918290e-01 -9.93440834e-05 -1.27829340e-02 1.55966251e+00] [ 3.96143269e-05 9.99989082e-01 -4.67278550e-03 2.14141332e-01] [ 1.27832587e-02 4.67189730e-03 9.99907377e-01 -3.07010131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.833133365 meters Centerline goodness [0,1] 0.2751056506774714 Centerline is valid? [False, False] Translation: X:1.56, Y:0.22, Z:-0.31 [[ 9.99916941e-01 -1.86062739e-04 -1.28870939e-02 1.55984060e+00] [ 1.21566554e-04 9.99987466e-01 -5.00531386e-03 2.15944400e-01] [ 1.28878637e-02 5.00333148e-03 9.99904430e-01 -3.06839211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.863133365 meters Centerline goodness [0,1] 0.2597413886776051 Centerline is valid? [False, False] Translation: X:1.56, Y:0.22, Z:-0.31 [[ 9.99915461e-01 -2.78342892e-04 -1.29997293e-02 1.56014561e+00] [ 2.07630320e-04 9.99985178e-01 -5.44057485e-03 2.18306326e-01] [ 1.30010509e-02 5.43741578e-03 9.99900699e-01 -3.06816396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.893133365 meters Centerline goodness [0,1] 0.26347644343812593 Centerline is valid? [False, False] Translation: X:1.56, Y:0.22, Z:-0.31 [[ 9.99922473e-01 -5.07309766e-05 -1.24517383e-02 1.55840809e+00] [-2.46350586e-05 9.99981684e-01 -6.05242373e-03 2.23375745e-01] [ 1.24518172e-02 6.05226126e-03 9.99904157e-01 -3.05983248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.923133365 meters Centerline goodness [0,1] 0.25886241386014563 Centerline is valid? [False, False] Translation: X:1.56, Y:0.23, Z:-0.31 [[ 9.99927800e-01 -7.15813180e-05 -1.20162505e-02 1.55696245e+00] [-5.77726310e-06 9.99979278e-01 -6.43767211e-03 2.25715354e-01] [ 1.20164623e-02 6.43727673e-03 9.99907079e-01 -3.05302017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.953133365 meters Centerline goodness [0,1] 0.27874997275916924 Centerline is valid? [False, False] Translation: X:1.56, Y:0.23, Z:-0.30 [[ 9.99933173e-01 -1.00525868e-04 -1.15602218e-02 1.55552588e+00] [ 2.24410389e-05 9.99977188e-01 -6.75454476e-03 2.27588546e-01] [ 1.15606371e-02 6.75383395e-03 9.99910365e-01 -3.04662575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98313336499999 meters Centerline goodness [0,1] 0.26320355709792864 Centerline is valid? [False, False] Translation: X:1.55, Y:0.23, Z:-0.30 [[ 9.99936293e-01 -1.32271606e-04 -1.12867859e-02 1.55470852e+00] [ 5.43192260e-05 9.99976148e-01 -6.90654415e-03 2.28469088e-01] [ 1.12874303e-02 6.90549107e-03 9.99912450e-01 -3.04425661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01313336499999 meters Centerline goodness [0,1] 0.2775801483666652 Centerline is valid? [False, False] Translation: X:1.55, Y:0.23, Z:-0.30 [[ 9.99937865e-01 -1.71918902e-04 -1.11461575e-02 1.55443879e+00] [ 9.41728347e-05 9.99975668e-01 -6.97529485e-03 2.28674690e-01] [ 1.11470855e-02 6.97381178e-03 9.99913550e-01 -3.04536651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04313336499999 meters Centerline goodness [0,1] 0.2611138726199995 Centerline is valid? [False, False] Translation: X:1.55, Y:0.23, Z:-0.30 [[ 9.99939222e-01 -1.67604207e-04 -1.10238414e-02 1.55420254e+00] [ 9.04940426e-05 9.99975531e-01 -6.99498119e-03 2.28726466e-01] [ 1.10247441e-02 6.99355845e-03 9.99914769e-01 -3.04664084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07313336499999 meters Centerline goodness [0,1] 0.2624937666673893 Centerline is valid? [False, False] Translation: X:1.55, Y:0.23, Z:-0.30 [[ 9.99941618e-01 -1.01604596e-04 -1.08051115e-02 1.55340748e+00] [ 2.53835633e-05 9.99975119e-01 -7.05406758e-03 2.29355858e-01] [ 1.08055594e-02 7.05338148e-03 9.99916741e-01 -3.04197104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10313336499999 meters Centerline goodness [0,1] 0.27943120976307634 Centerline is valid? [False, False] Translation: X:1.55, Y:0.23, Z:-0.30 [[ 9.99942047e-01 -3.90902247e-05 -1.07657769e-02 1.55300645e+00] [-3.73123651e-05 9.99974819e-01 -7.09650998e-03 2.29894861e-01] [ 1.07657832e-02 7.09650041e-03 9.99916865e-01 -3.03676792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13313336499999 meters Centerline goodness [0,1] 0.26576232743768125 Centerline is valid? [False, False] Translation: X:1.55, Y:0.23, Z:-0.30 [[ 9.99941722e-01 1.73033709e-05 -1.07959084e-02 1.55286859e+00] [-9.51318616e-05 9.99974013e-01 -7.20860105e-03 2.30725533e-01] [ 1.07955031e-02 7.20920798e-03 9.99915739e-01 -3.03304595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.163133365 meters Centerline goodness [0,1] 0.27916040673242315 Centerline is valid? [False, False] Translation: X:1.55, Y:0.23, Z:-0.30 [[ 9.99940087e-01 6.06557373e-05 -1.09462117e-02 1.55324024e+00] [-1.41852020e-04 9.99972483e-01 -7.41712800e-03 2.32041989e-01] [ 1.09454606e-02 7.41823635e-03 9.99912580e-01 -3.03279407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.193133365 meters Centerline goodness [0,1] 0.2817856675535395 Centerline is valid? [False, False] Translation: X:1.55, Y:0.24, Z:-0.30 [[ 0.99992964 0.0037423 -0.01125676 1.55451827] [-0.00379107 0.99998351 -0.00431455 0.23530983] [ 0.01124043 0.00435692 0.99992733 -0.30402493] [ 0. 0. 0. 1. ]] SLAMing on 113.223133365 meters Centerline goodness [0,1] 0.282826304565435 Centerline is valid? [False, False] Translation: X:1.56, Y:0.24, Z:-0.30 [[ 0.9999263 0.00390721 -0.01149501 1.55523911] [-0.00396002 0.99998169 -0.00457483 0.23749919] [ 0.01147693 0.00462001 0.99992346 -0.30429563] [ 0. 0. 0. 1. ]] SLAMing on 113.253133365 meters Centerline goodness [0,1] 0.2787094817126018 Centerline is valid? [False, False] Translation: X:1.56, Y:0.24, Z:-0.30 [[ 0.99992334 0.00402121 -0.01171043 1.5559314 ] [-0.00407907 0.99997957 -0.00492128 0.23998797] [ 0.0116904 0.00496867 0.99991932 -0.30456314] [ 0. 0. 0. 1. ]] SLAMing on 113.283133365 meters Centerline goodness [0,1] 0.27898770349844126 Centerline is valid? [False, False] Translation: X:1.56, Y:0.24, Z:-0.30 [[ 0.99992224 0.00415575 -0.01175795 1.55607465] [-0.00421791 0.99997724 -0.00526634 0.24248401] [ 0.0117358 0.00531552 0.999917 -0.30461008] [ 0. 0. 0. 1. ]] SLAMing on 113.313133365 meters Centerline goodness [0,1] 0.27779584932665413 Centerline is valid? [False, False] Translation: X:1.56, Y:0.25, Z:-0.30 [[ 0.9999202 0.0042717 -0.01188928 1.55643354] [-0.0043396 0.99997439 -0.00569134 0.24540048] [ 0.01186466 0.00574248 0.99991312 -0.30469594] [ 0. 0. 0. 1. ]] SLAMing on 113.34313336499999 meters Centerline goodness [0,1] 0.2796782000130813 Centerline is valid? [False, False] Translation: X:1.56, Y:0.25, Z:-0.31 [[ 0.99991193 0.00461747 -0.01244253 1.55818483] [-0.00469544 0.99996948 -0.00624453 0.25029628] [ 0.01241332 0.0063024 0.99990309 -0.3054031 ] [ 0. 0. 0. 1. ]] SLAMing on 113.37313336499999 meters Centerline goodness [0,1] 0.2774511084977569 Centerline is valid? [False, False] Translation: X:1.56, Y:0.25, Z:-0.31 [[ 0.99990956 0.00449008 -0.0126768 1.5591358 ] [-0.00457464 0.99996743 -0.00664964 0.25219633] [ 0.01264653 0.00670703 0.99989754 -0.30609628] [ 0. 0. 0. 1. ]] SLAMing on 113.40313336499999 meters Centerline goodness [0,1] 0.2802988682562356 Centerline is valid? [False, False] Translation: X:1.56, Y:0.25, Z:-0.31 [[ 0.99990706 0.00435813 -0.01291796 1.56006654] [-0.00444828 0.9999659 -0.00695773 0.25357867] [ 0.0128872 0.00701454 0.99989235 -0.3067642 ] [ 0. 0. 0. 1. ]] SLAMing on 113.43313336499999 meters Centerline goodness [0,1] 0.2784110761705101 Centerline is valid? [False, False] Translation: X:1.58, Y:0.26, Z:-0.31 [[ 0.99989394 -0.0031601 -0.01421714 1.57997587] [ 0.00307791 0.99997845 -0.00579958 0.25908879] [ 0.01423516 0.00575521 0.99988211 -0.305142 ] [ 0. 0. 0. 1. ]] SLAMing on 113.46313336499999 meters Centerline goodness [0,1] 0.27622090763849905 Centerline is valid? [False, False] Translation: X:1.58, Y:0.26, Z:-0.31 [[ 0.99989207 -0.00313073 -0.01435427 1.58052259] [ 0.00304801 0.99997864 -0.00578117 0.25934594] [ 0.01437206 0.0057368 0.99988026 -0.30553343] [ 0. 0. 0. 1. ]] SLAMing on 113.49313336499999 meters Centerline goodness [0,1] 0.2585907293974543 Centerline is valid? [False, False] Translation: X:1.58, Y:0.26, Z:-0.31 [[ 0.99989351 -0.00308881 -0.01426254 1.58009339] [ 0.00300815 0.99997938 -0.00567283 0.25890605] [ 0.01427977 0.00562933 0.99988219 -0.30521474] [ 0. 0. 0. 1. ]] SLAMing on 113.52313336499999 meters Centerline goodness [0,1] 0.2585907293974543 Centerline is valid? [False, False] Translation: X:1.58, Y:0.26, Z:-0.31 [[ 0.99989351 -0.00308881 -0.01426254 1.58009339] [ 0.00300815 0.99997938 -0.00567283 0.25890605] [ 0.01427977 0.00562933 0.99988219 -0.30521474] [ 0. 0. 0. 1. ]] SLAMing on 113.553133365 meters Centerline goodness [0,1] 0.2602142178457286 Centerline is valid? [False, False] Translation: X:1.58, Y:0.26, Z:-0.30 [[ 0.99989698 -0.00308438 -0.0140186 1.57928213] [ 0.00300714 0.9999802 -0.00552751 0.25785795] [ 0.01403537 0.00548478 0.99988646 -0.30484903] [ 0. 0. 0. 1. ]] SLAMing on 113.583133365 meters Centerline goodness [0,1] 0.26118737355059063 Centerline is valid? [False, False] Translation: X:1.58, Y:0.26, Z:-0.30 [[ 0.99989929 -0.00305469 -0.01385914 1.57868856] [ 0.00298167 0.99998158 -0.0052869 0.25632907] [ 0.01387504 0.00524505 0.99988998 -0.30451521] [ 0. 0. 0. 1. ]] SLAMing on 113.613133365 meters Centerline goodness [0,1] 0.2626007405793944 Centerline is valid? [False, False] Translation: X:1.58, Y:0.25, Z:-0.30 [[ 0.9999002 -0.00296025 -0.01381367 1.57854099] [ 0.00289294 0.99998386 -0.00488971 0.2541863 ] [ 0.01382792 0.00484926 0.99989263 -0.30448519] [ 0. 0. 0. 1. ]] SLAMing on 113.643133365 meters Centerline goodness [0,1] 0.25461254612546125 Centerline is valid? [False, False] Translation: X:1.58, Y:0.25, Z:-0.30 [[ 0.99990327 -0.00284613 -0.01361452 1.57817602] [ 0.00279131 0.99998793 -0.00404411 0.2491066 ] [ 0.01362587 0.00400571 0.99989914 -0.30464984] [ 0. 0. 0. 1. ]] SLAMing on 113.673133365 meters Centerline goodness [0,1] 0.2585683955110707 Centerline is valid? [False, False] Translation: X:1.58, Y:0.25, Z:-0.30 [[ 0.99990538 -0.00267177 -0.01349393 1.57789369] [ 0.00262424 0.9999903 -0.00353867 0.24655358] [ 0.01350325 0.00350293 0.99990269 -0.30467802] [ 0. 0. 0. 1. ]] SLAMing on 113.703133365 meters Centerline goodness [0,1] 0.27800570046640183 Centerline is valid? [False, False] Translation: X:1.58, Y:0.24, Z:-0.30 [[ 0.99990455 -0.00250984 -0.01358652 1.57821484] [ 0.00246771 0.9999921 -0.00311622 0.24440079] [ 0.01359423 0.0030824 0.99990284 -0.30485128] [ 0. 0. 0. 1. ]] SLAMing on 113.73313336499999 meters Centerline goodness [0,1] 0.27957338179300795 Centerline is valid? [False, False] Translation: X:1.58, Y:0.24, Z:-0.31 [[ 0.99990282 -0.00235001 -0.01374112 1.57871157] [ 0.00231218 0.9999935 -0.00276819 0.24274291] [ 0.01374753 0.00273615 0.99990175 -0.30505631] [ 0. 0. 0. 1. ]] SLAMing on 113.76313336499999 meters Centerline goodness [0,1] 0.27847853507894393 Centerline is valid? [False, False] Translation: X:1.58, Y:0.24, Z:-0.31 [[ 0.99990145 -0.00217489 -0.0138695 1.57918152] [ 0.00214126 0.99999473 -0.00243916 0.24134308] [ 0.01387473 0.00240922 0.99990084 -0.30531447] [ 0. 0. 0. 1. ]] SLAMing on 113.79313336499999 meters Centerline goodness [0,1] 0.2787718231564319 Centerline is valid? [False, False] Translation: X:1.58, Y:0.24, Z:-0.31 [[ 9.99896092e-01 -1.56699705e-03 -1.43299963e-02 1.58031948e+00] [ 1.54258477e-03 9.99997341e-01 -1.71447397e-03 2.38703587e-01] [ 1.43326447e-02 1.69219059e-03 9.99895850e-01 -3.05392446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82313336499999 meters Centerline goodness [0,1] 0.27951264905105067 Centerline is valid? [False, False] Translation: X:1.58, Y:0.24, Z:-0.31 [[ 9.99897903e-01 -1.36501539e-03 -1.42239343e-02 1.57998593e+00] [ 1.34346063e-03 9.99997935e-01 -1.52483142e-03 2.38146483e-01] [ 1.42259863e-02 1.50556644e-03 9.99897672e-01 -3.05245399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85313336499999 meters Centerline goodness [0,1] 0.28376492479454174 Centerline is valid? [False, False] Translation: X:1.53, Y:0.24, Z:-0.30 [[ 9.99871670e-01 -2.09474044e-04 -1.60187526e-02 1.53340952e+00] [ 2.00469967e-04 9.99999821e-01 -5.63699678e-04 2.36910198e-01] [ 1.60188678e-02 5.60416059e-04 9.99871533e-01 -3.04147024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88313336499999 meters Centerline goodness [0,1] 0.2561999483337639 Centerline is valid? [False, False] Translation: X:1.58, Y:0.24, Z:-0.30 [[ 9.99907416e-01 1.41119329e-03 -1.35339301e-02 1.57720157e+00] [-1.40843373e-03 9.99998985e-01 2.13427805e-04 2.37700716e-01] [ 1.35342175e-02 -1.94346401e-04 9.99908389e-01 -3.04012430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.913133365 meters Centerline goodness [0,1] 0.25973548861131524 Centerline is valid? [False, False] Translation: X:1.58, Y:0.24, Z:-0.30 [[ 9.99915471e-01 1.69687565e-03 -1.28907148e-02 1.57553459e+00] [-1.69405870e-03 9.99998539e-01 2.29441710e-04 2.38445277e-01] [ 1.28910853e-02 -2.07584688e-04 9.99916885e-01 -3.03790803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.943133365 meters Centerline goodness [0,1] 0.27986141186660896 Centerline is valid? [False, False] Translation: X:1.57, Y:0.24, Z:-0.30 [[ 9.99920298e-01 1.90980083e-03 -1.24799646e-02 1.57445489e+00] [-1.90811556e-03 9.99998169e-01 1.46943971e-04 2.39475355e-01] [ 1.24802224e-02 -1.23119045e-04 9.99922111e-01 -3.03681379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.973133365 meters Centerline goodness [0,1] 0.27876250189833596 Centerline is valid? [False, False] Translation: X:1.57, Y:0.24, Z:-0.30 [[ 9.99918863e-01 2.04440190e-03 -1.25733017e-02 1.57476481e+00] [-2.04443428e-03 9.99997910e-01 1.02776000e-05 2.40616902e-01] [ 1.25732964e-02 1.54285229e-05 9.99920953e-01 -3.03906316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.003133365 meters Centerline goodness [0,1] 0.2801132650838597 Centerline is valid? [False, False] Translation: X:1.58, Y:0.24, Z:-0.30 [[ 9.99916222e-01 2.11793742e-03 -1.27696017e-02 1.57536348e+00] [-2.11952870e-03 9.99997748e-01 -1.11083199e-04 2.41536311e-01] [ 1.27693377e-02 1.38139430e-04 9.99918459e-01 -3.04235984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.033133365 meters Centerline goodness [0,1] 0.2818683596221393 Centerline is valid? [False, False] Translation: X:1.58, Y:0.24, Z:-0.30 [[ 9.99915222e-01 2.27664897e-03 -1.28205308e-02 1.57547460e+00] [-2.27723376e-03 9.99997407e-01 -3.10150504e-05 2.41654368e-01] [ 1.28204269e-02 6.02077666e-05 9.99917813e-01 -3.04310268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.063133365 meters Centerline goodness [0,1] 0.2649730528511822 Centerline is valid? [False, False] Translation: X:1.57, Y:0.24, Z:-0.30 [[ 9.99918746e-01 2.30254502e-03 -1.25379258e-02 1.57462103e+00] [-2.30173443e-03 9.99997348e-01 7.90804361e-05 2.40937669e-01] [ 1.25380747e-02 -5.02150349e-05 9.99921394e-01 -3.04026103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09313336499999 meters Centerline goodness [0,1] 0.2792911699158318 Centerline is valid? [False, False] Translation: X:1.57, Y:0.24, Z:-0.30 [[ 9.99923367e-01 2.34307425e-03 -1.21560857e-02 1.57331157e+00] [-2.33949472e-03 9.99997216e-01 3.08675153e-04 2.39483462e-01] [ 1.21567751e-02 -2.80212400e-04 9.99926064e-01 -3.03378831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12313336499999 meters Centerline goodness [0,1] 0.28150821953553096 Centerline is valid? [False, False] Translation: X:1.57, Y:0.24, Z:-0.30 [[ 9.99928654e-01 2.35902152e-03 -1.17099085e-02 1.57200616e+00] [-2.35236323e-03 9.99997064e-01 5.82344066e-04 2.37719500e-01] [ 1.17112479e-02 -5.54756560e-04 9.99931267e-01 -3.02977990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15313336499999 meters Centerline goodness [0,1] 0.2814112850761157 Centerline is valid? [False, False] Translation: X:1.57, Y:0.24, Z:-0.30 [[ 9.99930389e-01 2.43918282e-03 -1.15441185e-02 1.57157620e+00] [-2.42848482e-03 9.99996609e-01 9.40633400e-04 2.35781642e-01] [ 1.15463738e-02 -9.12533206e-04 9.99932922e-01 -3.02884355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18313336499999 meters Centerline goodness [0,1] 0.282638042152935 Centerline is valid? [False, False] Translation: X:1.57, Y:0.23, Z:-0.30 [[ 9.99930218e-01 2.57397487e-03 -1.15296784e-02 1.57175012e+00] [-2.55814795e-03 9.99995766e-01 1.38724874e-03 2.33618795e-01] [ 1.15332003e-02 -1.35765731e-03 9.99932569e-01 -3.03214629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21313336499999 meters Centerline goodness [0,1] 0.2818517713540535 Centerline is valid? [False, False] Translation: X:1.57, Y:0.23, Z:-0.30 [[ 0.99992641 0.00262198 -0.01184456 1.57277252] [-0.00259836 0.99999461 0.00200941 0.22983599] [ 0.01184977 -0.00197848 0.99992783 -0.30360451] [ 0. 0. 0. 1. ]] SLAMing on 114.24313336499999 meters Centerline goodness [0,1] 0.2818517713540535 Centerline is valid? [False, False] Translation: X:1.57, Y:0.23, Z:-0.30 [[ 0.99992641 0.00262198 -0.01184456 1.57277252] [-0.00259836 0.99999461 0.00200941 0.22983599] [ 0.01184977 -0.00197848 0.99992783 -0.30360451] [ 0. 0. 0. 1. ]] SLAMing on 114.27313336499999 meters Centerline goodness [0,1] 0.28281926819181125 Centerline is valid? [False, False] Translation: X:1.57, Y:0.23, Z:-0.30 [[ 0.99992368 0.00279187 -0.01203467 1.57329046] [-0.00275923 0.99999247 0.00272788 0.22583955] [ 0.0120422 -0.00269447 0.99992386 -0.30369082] [ 0. 0. 0. 1. ]] SLAMing on 114.303133365 meters Centerline goodness [0,1] 0.28096342706007327 Centerline is valid? [False, False] Translation: X:1.57, Y:0.22, Z:-0.30 [[ 0.99992234 0.00293867 -0.01211076 1.57350081] [-0.00290057 0.99999079 0.00316241 0.22372138] [ 0.01211994 -0.00312703 0.99992166 -0.30370216] [ 0. 0. 0. 1. ]] SLAMing on 114.333133365 meters Centerline goodness [0,1] 0.2653535441278666 Centerline is valid? [False, False] Translation: X:1.57, Y:0.22, Z:-0.30 [[ 0.99992005 0.00309206 -0.01226113 1.57391854] [-0.003048 0.99998884 0.00361015 0.22141079] [ 0.01227216 -0.00357249 0.99991831 -0.30379884] [ 0. 0. 0. 1. ]] SLAMing on 114.363133365 meters Centerline goodness [0,1] 0.25831394847936595 Centerline is valid? [False, False] Translation: X:1.57, Y:0.22, Z:-0.30 [[ 0.99991617 0.00319406 -0.01254766 1.57479619] [-0.00314401 0.99998703 0.0040066 0.21907466] [ 0.01256029 -0.00396681 0.99991325 -0.3040812 ] [ 0. 0. 0. 1. ]] SLAMing on 114.393133365 meters Centerline goodness [0,1] 0.2599528577298186 Centerline is valid? [False, False] Translation: X:1.58, Y:0.22, Z:-0.30 [[ 0.99991265 0.00334071 -0.01278801 1.57556584] [-0.00328344 0.9999845 0.00449703 0.21640617] [ 0.01280284 -0.00445465 0.99990812 -0.30437798] [ 0. 0. 0. 1. ]] SLAMing on 114.423133365 meters Centerline goodness [0,1] 0.282385285069058 Centerline is valid? [False, False] Translation: X:1.58, Y:0.21, Z:-0.30 [[ 0.99991096 0.0035264 -0.01286981 1.57576289] [-0.00346244 0.99998156 0.00498878 0.213992 ] [ 0.01288717 -0.00494378 0.99990474 -0.30436999] [ 0. 0. 0. 1. ]] SLAMing on 114.453133365 meters Centerline goodness [0,1] 0.28359022433451786 Centerline is valid? [False, False] Translation: X:1.58, Y:0.21, Z:-0.30 [[ 0.99991093 0.00375332 -0.01280781 1.57557503] [-0.00368284 0.99997797 0.00552202 0.21164708] [ 0.01282826 -0.00547436 0.99990273 -0.30430059] [ 0. 0. 0. 1. ]] SLAMing on 114.48313336499999 meters Centerline goodness [0,1] 0.27862217438105485 Centerline is valid? [False, False] Translation: X:1.59, Y:0.21, Z:-0.30 [[ 0.99992992 -0.0037643 -0.01122468 1.59475326] [ 0.00384452 0.99996717 0.00713321 0.21175946] [ 0.01119746 -0.00717586 0.99991156 -0.30336391] [ 0. 0. 0. 1. ]] SLAMing on 114.51313336499999 meters Centerline goodness [0,1] 0.2825404439018009 Centerline is valid? [False, False] Translation: X:1.57, Y:0.20, Z:-0.30 [[ 0.99992783 0.00409938 -0.01129297 1.57476109] [-0.00402892 0.99997232 0.00625525 0.20428282] [ 0.0113183 -0.0062093 0.99991667 -0.3046013 ] [ 0. 0. 0. 1. ]] SLAMing on 114.54313336499999 meters Centerline goodness [0,1] 0.28103908504958874 Centerline is valid? [False, False] Translation: X:1.57, Y:0.20, Z:-0.30 [[ 0.99992723 0.00421389 -0.01130368 1.5747375 ] [-0.00413978 0.99996984 0.00657138 0.20258901] [ 0.01133103 -0.0065241 0.99991452 -0.30450931] [ 0. 0. 0. 1. ]] SLAMing on 114.57313336499999 meters Centerline goodness [0,1] 0.2606008212664793 Centerline is valid? [False, False] Translation: X:1.57, Y:0.20, Z:-0.30 [[ 0.99992714 0.00437269 -0.0112518 1.57468965] [-0.00429455 0.99996657 0.00695873 0.20054537] [ 0.01128185 -0.0069099 0.99991248 -0.30463681] [ 0. 0. 0. 1. ]] SLAMing on 114.60313336499999 meters Centerline goodness [0,1] 0.280128038757678 Centerline is valid? [False, False] Translation: X:1.57, Y:0.20, Z:-0.30 [[ 0.99992644 0.00456698 -0.01123681 1.57475342] [-0.00448344 0.99996221 0.00744835 0.19807086] [ 0.0112704 -0.00739742 0.99990912 -0.30476412] [ 0. 0. 0. 1. ]] SLAMing on 114.63313336499999 meters Centerline goodness [0,1] 0.27969480785395606 Centerline is valid? [False, False] Translation: X:1.57, Y:0.20, Z:-0.31 [[ 9.99936229e-01 1.42952071e-03 -1.12024256e-02 1.57496338e+00] [-1.38014590e-03 9.99989306e-01 4.41400232e-03 1.96135103e-01] [ 1.12086157e-02 -4.39825985e-03 9.99927508e-01 -3.05227949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.663133365 meters Centerline goodness [0,1] 0.284417714598141 Centerline is valid? [False, False] Translation: X:1.53, Y:0.19, Z:-0.30 [[ 9.99905501e-01 2.43907989e-04 -1.37451400e-02 1.52998142e+00] [-1.85776549e-04 9.99991035e-01 4.23035406e-03 1.90476730e-01] [ 1.37460486e-02 -4.22740077e-03 9.99896582e-01 -3.04792297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.693133365 meters Centerline goodness [0,1] 0.2817680756878743 Centerline is valid? [False, False] Translation: X:1.53, Y:0.18, Z:-0.31 [[ 9.99901352e-01 6.18649289e-04 -1.40322621e-02 1.53103686e+00] [-5.44241971e-04 9.99985776e-01 5.30578793e-03 1.84134337e-01] [ 1.40353450e-02 -5.29762757e-03 9.99887466e-01 -3.05330867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.723133365 meters Centerline goodness [0,1] 0.28076598141368625 Centerline is valid? [False, False] Translation: X:1.53, Y:0.18, Z:-0.31 [[ 9.99900827e-01 7.99538222e-04 -1.40604786e-02 1.53123503e+00] [-7.18342282e-04 9.99983044e-01 5.77886620e-03 1.81845988e-01] [ 1.40648606e-02 -5.76819286e-03 9.99884447e-01 -3.05512756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.753133365 meters Centerline goodness [0,1] 0.2779656635719363 Centerline is valid? [False, False] Translation: X:1.53, Y:0.18, Z:-0.31 [[ 9.99901475e-01 9.64562060e-04 -1.40039207e-02 1.53109283e+00] [-8.77772753e-04 9.99980380e-01 6.20232484e-03 1.79705112e-01] [ 1.40096284e-02 -6.18942150e-03 9.99882704e-01 -3.05435589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.783133365 meters Centerline goodness [0,1] 0.2787478980726944 Centerline is valid? [False, False] Translation: X:1.53, Y:0.18, Z:-0.31 [[ 9.99902516e-01 1.09848848e-03 -1.39194872e-02 1.53092715e+00] [-1.00746993e-03 9.99978079e-01 6.54425590e-03 1.77979083e-01] [ 1.39263708e-02 -6.52959448e-03 9.99881703e-01 -3.05479511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.813133365 meters Centerline goodness [0,1] 0.28255720463286904 Centerline is valid? [False, False] Translation: X:1.53, Y:0.18, Z:-0.31 [[ 9.99903402e-01 1.25117186e-03 -1.38427313e-02 1.53091638e+00] [-1.15621475e-03 9.99975763e-01 6.86558619e-03 1.76546864e-01] [ 1.38509859e-02 -6.84891782e-03 9.99880614e-01 -3.05766982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84313336499999 meters Centerline goodness [0,1] 0.2798739423242963 Centerline is valid? [False, False] Translation: X:1.53, Y:0.18, Z:-0.31 [[ 9.99902927e-01 1.39723447e-03 -1.38630669e-02 1.53117418e+00] [-1.29795822e-03 9.99973470e-01 7.16761874e-03 1.75179586e-01] [ 1.38727140e-02 -7.14892928e-03 9.99878213e-01 -3.06088036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87313336499999 meters Centerline goodness [0,1] 0.28134091797299055 Centerline is valid? [False, False] Translation: X:1.53, Y:0.17, Z:-0.31 [[ 0.99990095 0.0016426 -0.01397793 1.53157918] [-0.00153326 0.99996818 0.00782924 0.17167137] [ 0.01399034 -0.00780704 0.99987165 -0.30625281] [ 0. 0. 0. 1. ]] SLAMing on 114.90313336499999 meters Centerline goodness [0,1] 0.2811706215670524 Centerline is valid? [False, False] Translation: X:1.53, Y:0.17, Z:-0.31 [[ 9.99908715e-01 -6.46420842e-04 -1.34960586e-02 1.52924728e+00] [ 7.24788314e-04 9.99982902e-01 5.80260990e-03 1.68627579e-01] [ 1.34920769e-02 -5.81186200e-03 9.99892087e-01 -3.05065111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93313336499999 meters Centerline goodness [0,1] 0.28275922135609455 Centerline is valid? [False, False] Translation: X:1.53, Y:0.17, Z:-0.30 [[ 9.99908254e-01 -4.71707834e-04 -1.35373617e-02 1.52917955e+00] [ 5.58557803e-04 9.99979284e-01 6.41251211e-03 1.65469026e-01] [ 1.35340564e-02 -6.41948519e-03 9.99887803e-01 -3.04752248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96313336499999 meters Centerline goodness [0,1] 0.2784097040858172 Centerline is valid? [False, False] Translation: X:1.53, Y:0.16, Z:-0.30 [[ 9.99907558e-01 -3.10758705e-04 -1.35933764e-02 1.52912637e+00] [ 4.06337024e-04 9.99975213e-01 7.02904535e-03 1.62185228e-01] [ 1.35908551e-02 -7.03391906e-03 9.99882899e-01 -3.04414351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99313336499999 meters Centerline goodness [0,1] 0.28157831770822006 Centerline is valid? [False, False] Translation: X:1.53, Y:0.16, Z:-0.30 [[ 9.99906746e-01 -1.26226580e-04 -1.36558938e-02 1.52913288e+00] [ 2.31166472e-04 9.99970456e-01 7.68328057e-03 1.58794072e-01] [ 1.36545205e-02 -7.68572086e-03 9.99877234e-01 -3.04132354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02313336499999 meters Centerline goodness [0,1] 0.2823779654027304 Centerline is valid? [False, False] Translation: X:1.53, Y:0.16, Z:-0.30 [[ 9.99903911e-01 1.33859822e-05 -1.38625087e-02 1.52963111e+00] [ 1.01216943e-04 9.99965828e-01 8.26637831e-03 1.55586453e-01] [ 1.38621457e-02 -8.26698712e-03 9.99869740e-01 -3.04043394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.053133365 meters Centerline goodness [0,1] 0.28063831630001734 Centerline is valid? [False, False] Translation: X:1.53, Y:0.15, Z:-0.30 [[ 9.99900615e-01 1.55884047e-04 -1.40973382e-02 1.53039388e+00] [-3.14423615e-05 9.99961040e-01 8.82710872e-03 1.52397358e-01] [ 1.40981650e-02 -8.82578819e-03 9.99861664e-01 -3.04293799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.083133365 meters Centerline goodness [0,1] 0.2815246714820294 Centerline is valid? [False, False] Translation: X:1.53, Y:0.15, Z:-0.30 [[ 9.99899271e-01 3.15249811e-04 -1.41897506e-02 1.53056657e+00] [-1.82939181e-04 9.99956507e-01 9.32471263e-03 1.49732744e-01] [ 1.41920730e-02 -9.32117750e-03 9.99855840e-01 -3.04147337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.113133365 meters Centerline goodness [0,1] 0.2849418821005626 Centerline is valid? [False, False] Translation: X:1.53, Y:0.15, Z:-0.30 [[ 9.99898424e-01 6.32139793e-04 -1.42387364e-02 1.53024576e+00] [-4.88872416e-04 9.99949247e-01 1.00630384e-02 1.46338736e-01] [ 1.42443749e-02 -1.00550553e-02 9.99847985e-01 -3.03371870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.143133365 meters Centerline goodness [0,1] 0.28482674133706687 Centerline is valid? [False, False] Translation: X:1.53, Y:0.15, Z:-0.30 [[ 9.99898077e-01 8.02551129e-04 -1.42545209e-02 1.53030750e+00] [-6.55021489e-04 9.99946209e-01 1.03513287e-02 1.45324412e-01] [ 1.42620616e-02 -1.03409367e-02 9.99844817e-01 -3.03398366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.173133365 meters Centerline goodness [0,1] 0.2850690580611377 Centerline is valid? [False, False] Translation: X:1.53, Y:0.14, Z:-0.30 [[ 9.99896822e-01 9.32623257e-04 -1.43344341e-02 1.53061495e+00] [-7.81034656e-04 9.99943756e-01 1.05770993e-02 1.44375546e-01] [ 1.43434923e-02 -1.05648123e-02 9.99841312e-01 -3.03558437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20313336499999 meters Centerline goodness [0,1] 0.2839806880953416 Centerline is valid? [False, False] Translation: X:1.53, Y:0.14, Z:-0.30 [[ 9.99895756e-01 9.77766955e-04 -1.44055758e-02 1.53093489e+00] [-8.23285197e-04 9.99942138e-01 1.07257778e-02 1.43308871e-01] [ 1.44152296e-02 -1.07127998e-02 9.99838706e-01 -3.03776063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23313336499999 meters Centerline goodness [0,1] 0.27955174800969196 Centerline is valid? [False, False] Translation: X:1.53, Y:0.14, Z:-0.30 [[ 9.99893806e-01 9.85546172e-04 -1.45397823e-02 1.53131046e+00] [-8.27608686e-04 9.99940638e-01 1.08644589e-02 1.42059165e-01] [ 1.45496266e-02 -1.08512720e-02 9.99835266e-01 -3.03818580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26313336499999 meters Centerline goodness [0,1] 0.27885654975565455 Centerline is valid? [False, False] Translation: X:1.53, Y:0.14, Z:-0.30 [[ 9.99892595e-01 1.08397083e-03 -1.46158329e-02 1.53152922e+00] [-9.21412457e-04 9.99937699e-01 1.11242243e-02 1.40640067e-01] [ 1.46269807e-02 -1.11095623e-02 9.99831300e-01 -3.03858308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29313336499999 meters Centerline goodness [0,1] 0.28571116069475433 Centerline is valid? [False, False] Translation: X:1.53, Y:0.14, Z:-0.30 [[ 9.99892964e-01 1.23576180e-03 -1.45785064e-02 1.53129421e+00] [-1.06926643e-03 9.99934185e-01 1.14228773e-02 1.39443842e-01] [ 1.45916629e-02 -1.14060664e-02 9.99828478e-01 -3.03628002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32313336499999 meters Centerline goodness [0,1] 0.2817151263412946 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.30 [[ 0.99986533 0.01007139 -0.01295719 1.55074953] [-0.00993403 0.99989424 0.0106222 0.13568761] [ 0.0130628 -0.01049206 0.99985963 -0.30275335] [ 0. 0. 0. 1. ]] SLAMing on 115.35313336499999 meters Centerline goodness [0,1] 0.2811364029773239 Centerline is valid? [False, False] Translation: X:1.55, Y:0.13, Z:-0.30 [[ 0.99987343 0.01027382 -0.01214815 1.54802712] [-0.01014039 0.99988814 0.0109944 0.13394591] [ 0.01225974 -0.01086982 0.99986576 -0.30147972] [ 0. 0. 0. 1. ]] SLAMing on 115.38313336499999 meters Centerline goodness [0,1] 0.28683505132172515 Centerline is valid? [False, False] Translation: X:1.55, Y:0.13, Z:-0.30 [[ 0.9998742 0.0103162 -0.01204829 1.54758864] [-0.01018286 0.9998868 0.01107701 0.13345511] [ 0.0121612 -0.01095293 0.99986606 -0.30113455] [ 0. 0. 0. 1. ]] SLAMing on 115.413133365 meters Centerline goodness [0,1] 0.2859914967840401 Centerline is valid? [False, False] Translation: X:1.55, Y:0.13, Z:-0.30 [[ 0.99987296 0.01037879 -0.01209689 1.54784565] [-0.01024442 0.99988572 0.01111751 0.1334045 ] [ 0.01221089 -0.01099217 0.99986502 -0.30138495] [ 0. 0. 0. 1. ]] SLAMing on 115.443133365 meters Centerline goodness [0,1] 0.2859914967840401 Centerline is valid? [False, False] Translation: X:1.55, Y:0.13, Z:-0.30 [[ 0.99987296 0.01037879 -0.01209689 1.54784565] [-0.01024442 0.99988572 0.01111751 0.1334045 ] [ 0.01221089 -0.01099217 0.99986502 -0.30138495] [ 0. 0. 0. 1. ]] SLAMing on 115.473133365 meters Centerline goodness [0,1] 0.28259268884268884 Centerline is valid? [False, False] Translation: X:1.55, Y:0.13, Z:-0.30 [[ 0.99987101 0.01041882 -0.01222376 1.54847588] [-0.0102838 0.99988598 0.01105717 0.13391396] [ 0.01233757 -0.01093003 0.99986415 -0.3019178 ] [ 0. 0. 0. 1. ]] SLAMing on 115.503133365 meters Centerline goodness [0,1] 0.28507446461571906 Centerline is valid? [False, False] Translation: X:1.55, Y:0.13, Z:-0.30 [[ 0.99987079 0.01041022 -0.01224846 1.54873561] [-0.0102765 0.99988746 0.01092954 0.13460061] [ 0.01236086 -0.01080226 0.99986525 -0.30227886] [ 0. 0. 0. 1. ]] SLAMing on 115.533133365 meters Centerline goodness [0,1] 0.28695633130392884 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.30 [[ 0.99987246 0.01036241 -0.01215282 1.54864887] [-0.01023162 0.9998896 0.01077534 0.13529371] [ 0.01226314 -0.01064962 0.99986809 -0.30252902] [ 0. 0. 0. 1. ]] SLAMing on 115.563133365 meters Centerline goodness [0,1] 0.28356358098553247 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.30 [[ 0.99987304 0.01034495 -0.01211981 1.54860998] [-0.0102158 0.99989089 0.01066972 0.1358609 ] [ 0.01222886 -0.01054455 0.99986963 -0.30263452] [ 0. 0. 0. 1. ]] SLAMing on 115.59313336499999 meters Centerline goodness [0,1] 0.28147008472923485 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.30 [[ 0.99987431 0.01032572 -0.01203112 1.54839749] [-0.01019867 0.99989208 0.01057389 0.13649019] [ 0.012139 -0.01044986 0.99987171 -0.30267244] [ 0. 0. 0. 1. ]] SLAMing on 115.62313336499999 meters Centerline goodness [0,1] 0.2867267477469595 Centerline is valid? [False, False] Translation: X:1.53, Y:0.14, Z:-0.30 [[ 9.99912209e-01 1.57951861e-03 -1.31559446e-02 1.52929067e+00] [-1.42228377e-03 9.99927556e-01 1.19524131e-02 1.39570060e-01] [ 1.31738706e-02 -1.19326523e-02 9.99842018e-01 -3.04284427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65313336499999 meters Centerline goodness [0,1] 0.28124055768981737 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.30 [[ 0.99988454 0.00828881 -0.01273615 1.5517686 ] [-0.00817382 0.9999256 0.00905444 0.13831389] [ 0.01281025 -0.0089493 0.9998779 -0.30468221] [ 0. 0. 0. 1. ]] SLAMing on 115.68313336499999 meters Centerline goodness [0,1] 0.2787276598490225 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.31 [[ 0.99990847 0.00485382 -0.01262902 1.55179257] [-0.00478393 0.99997311 0.00555775 0.13878343] [ 0.01265566 -0.00549683 0.99990481 -0.30517419] [ 0. 0. 0. 1. ]] SLAMing on 115.71313336499999 meters Centerline goodness [0,1] 0.2805885779628471 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.30 [[ 0.99990751 0.00485441 -0.01270444 1.55186289] [-0.00478197 0.99997217 0.00572665 0.13769857] [ 0.01273189 -0.00566537 0.9999029 -0.30498732] [ 0. 0. 0. 1. ]] SLAMing on 115.74313336499999 meters Centerline goodness [0,1] 0.2801829661126144 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.30 [[ 0.99990656 0.00492881 -0.01275097 1.55188404] [-0.00485216 0.99997002 0.00603526 0.13618014] [ 0.01278034 -0.00597283 0.99990049 -0.30481358] [ 0. 0. 0. 1. ]] SLAMing on 115.77313336499999 meters Centerline goodness [0,1] 0.28647807699892636 Centerline is valid? [False, False] Translation: X:1.51, Y:0.13, Z:-0.30 [[ 0.99987981 0.00321991 -0.01516571 1.50620964] [-0.00312454 0.99997522 0.00630806 0.13152552] [ 0.01518565 -0.00625991 0.9998651 -0.30383641] [ 0. 0. 0. 1. ]] SLAMing on 115.803133365 meters Centerline goodness [0,1] 0.28498505704500343 Centerline is valid? [False, False] Translation: X:1.51, Y:0.13, Z:-0.30 [[ 9.99886987e-01 -5.99336306e-04 -1.50217784e-02 1.50587949e+00] [ 6.43668322e-04 9.99995452e-01 2.94652187e-03 1.28934142e-01] [ 1.50199441e-02 -2.95585791e-03 9.99882825e-01 -3.03774710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.833133365 meters Centerline goodness [0,1] 0.28203461796754836 Centerline is valid? [False, False] Translation: X:1.51, Y:0.13, Z:-0.30 [[ 9.99886867e-01 -5.57715715e-04 -1.50314028e-02 1.50568325e+00] [ 6.07438039e-04 9.99994359e-01 3.30353388e-03 1.26742813e-01] [ 1.50294756e-02 -3.31229079e-03 9.99881565e-01 -3.03350753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.863133365 meters Centerline goodness [0,1] 0.28747352562283024 Centerline is valid? [False, False] Translation: X:1.51, Y:0.12, Z:-0.30 [[ 9.99887941e-01 -4.59219038e-04 -1.49630857e-02 1.50527799e+00] [ 5.13829908e-04 9.99993221e-01 3.64606637e-03 1.24891997e-01] [ 1.49613099e-02 -3.65334628e-03 9.99881399e-01 -3.02882834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.893133365 meters Centerline goodness [0,1] 0.2838433609958506 Centerline is valid? [False, False] Translation: X:1.51, Y:0.12, Z:-0.30 [[ 9.99887689e-01 -3.18307146e-04 -1.49836147e-02 1.50529688e+00] [ 3.78414063e-04 9.99991893e-01 4.00884558e-03 1.23227162e-01] [ 1.49822172e-02 -4.01406535e-03 9.99879703e-01 -3.02836107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.923133365 meters Centerline goodness [0,1] 0.2845376912740041 Centerline is valid? [False, False] Translation: X:1.51, Y:0.12, Z:-0.30 [[ 9.99885497e-01 -2.26479181e-04 -1.51307870e-02 1.50601245e+00] [ 2.90485407e-04 9.99991019e-01 4.22813427e-03 1.22156318e-01] [ 1.51296935e-02 -4.23204541e-03 9.99876583e-01 -3.03375995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95313336499999 meters Centerline goodness [0,1] 0.2856022653016772 Centerline is valid? [False, False] Translation: X:1.51, Y:0.12, Z:-0.30 [[ 9.99880670e-01 -1.56539823e-04 -1.54473470e-02 1.50721379e+00] [ 2.25475023e-04 9.99990024e-01 4.46095086e-03 1.20799175e-01] [ 1.54464946e-02 -4.46390153e-03 9.99870731e-01 -3.04031336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98313336499999 meters Centerline goodness [0,1] 0.28270124679612496 Centerline is valid? [False, False] Translation: X:1.51, Y:0.12, Z:-0.30 [[ 9.99876593e-01 -9.06155414e-05 -1.57095947e-02 1.50818283e+00] [ 1.64946325e-04 9.99988798e-01 4.73032212e-03 1.19055026e-01] [ 1.57089901e-02 -4.73232960e-03 9.99865407e-01 -3.04513566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01313336499999 meters Centerline goodness [0,1] 0.28256377911655317 Centerline is valid? [False, False] Translation: X:1.51, Y:0.12, Z:-0.30 [[ 9.99874725e-01 1.61223855e-05 -1.58282887e-02 1.50847867e+00] [ 6.43963151e-05 9.99987062e-01 5.08648954e-03 1.16997874e-01] [ 1.58281659e-02 -5.08687161e-03 9.99861787e-01 -3.04468096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04313336499999 meters Centerline goodness [0,1] 0.28735908941665755 Centerline is valid? [False, False] Translation: X:1.51, Y:0.11, Z:-0.30 [[ 9.99872116e-01 2.88740903e-04 -1.59896587e-02 1.50892550e+00] [-1.95488184e-04 9.99982967e-01 5.83332025e-03 1.13093551e-01] [ 1.59910707e-02 -5.82944847e-03 9.99855141e-01 -3.04483294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07313336499999 meters Centerline goodness [0,1] 0.2845423802770808 Centerline is valid? [False, False] Translation: X:1.51, Y:0.11, Z:-0.30 [[ 9.99868729e-01 4.03879064e-04 -1.61975580e-02 1.50966512e+00] [-3.04411316e-04 9.99981086e-01 6.14290555e-03 1.11471921e-01] [ 1.61997326e-02 -6.13716845e-03 9.99849941e-01 -3.04825034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10313336499999 meters Centerline goodness [0,1] 0.2827867961840189 Centerline is valid? [False, False] Translation: X:1.51, Y:0.11, Z:-0.31 [[ 9.99865843e-01 4.96472759e-04 -1.63722346e-02 1.51029297e+00] [-3.91565785e-04 9.99979378e-01 6.41019807e-03 1.09932276e-01] [ 1.63750795e-02 -6.40292729e-03 9.99845418e-01 -3.05120051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13313336499999 meters Centerline goodness [0,1] 0.2870923793618705 Centerline is valid? [False, False] Translation: X:1.51, Y:0.11, Z:-0.31 [[ 9.99863835e-01 5.93780756e-04 -1.64911461e-02 1.51056143e+00] [-4.83755097e-04 9.99977605e-01 6.67498978e-03 1.08525179e-01] [ 1.64947402e-02 -6.66610321e-03 9.99841731e-01 -3.05062297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.163133365 meters Centerline goodness [0,1] 0.28391386540926966 Centerline is valid? [False, False] Translation: X:1.53, Y:0.10, Z:-0.30 [[ 0.99983452 0.00941077 -0.01556834 1.5299672 ] [-0.0093245 0.99994082 0.00560472 0.10435905] [ 0.01562016 -0.00545862 0.9998631 -0.30361259] [ 0. 0. 0. 1. ]] SLAMing on 116.193133365 meters Centerline goodness [0,1] 0.28597342425037153 Centerline is valid? [False, False] Translation: X:1.53, Y:0.10, Z:-0.30 [[ 0.99983613 0.00954214 -0.015384 1.52931323] [-0.0094541 0.99993857 0.00578528 0.10383971] [ 0.01543826 -0.00563889 0.99986492 -0.30324747] [ 0. 0. 0. 1. ]] SLAMing on 116.223133365 meters Centerline goodness [0,1] 0.2812607944732297 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:-0.30 [[ 0.99990504 0.00287817 -0.01347677 1.54664835] [-0.00277997 0.99996949 0.00729995 0.10816592] [ 0.01349737 -0.00726179 0.99988254 -0.30164217] [ 0. 0. 0. 1. ]] SLAMing on 116.253133365 meters Centerline goodness [0,1] 0.2836164074532006 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:-0.30 [[ 0.99990684 0.00286987 -0.01334457 1.54627131] [-0.00277268 0.99996954 0.00729635 0.10789325] [ 0.01336511 -0.00725867 0.99988434 -0.30149216] [ 0. 0. 0. 1. ]] SLAMing on 116.283133365 meters Centerline goodness [0,1] 0.28550045555121695 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:-0.30 [[ 0.99990722 0.00284928 -0.01332024 1.54616855] [-0.00275215 0.99996953 0.00730465 0.10749777] [ 0.01334064 -0.00726731 0.9998846 -0.30140927] [ 0. 0. 0. 1. ]] SLAMing on 116.313133365 meters Centerline goodness [0,1] 0.285469974455557 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:-0.30 [[ 0.99990751 0.00286446 -0.01329514 1.54599062] [-0.00276681 0.99996911 0.00735745 0.10704038] [ 0.01331581 -0.00731999 0.99988455 -0.30123299] [ 0. 0. 0. 1. ]] SLAMing on 116.34313336499999 meters Centerline goodness [0,1] 0.28435271234060944 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:-0.30 [[ 0.99990718 0.00291207 -0.01330993 1.54593762] [-0.002813 0.99996825 0.00745623 0.10661 ] [ 0.01333122 -0.0074181 0.99988362 -0.30109427] [ 0. 0. 0. 1. ]] SLAMing on 116.37313336499999 meters Centerline goodness [0,1] 0.28777056748399465 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:-0.30 [[ 0.99990559 0.00294327 -0.01342181 1.5461954 ] [-0.00284196 0.99996738 0.0075612 0.10611345] [ 0.01344363 -0.00752234 0.99988133 -0.30108135] [ 0. 0. 0. 1. ]] SLAMing on 116.40313336499999 meters Centerline goodness [0,1] 0.28477968892162386 Centerline is valid? [False, False] Translation: X:1.55, Y:0.10, Z:-0.30 [[ 0.99989439 0.00274689 -0.01427139 1.54880635] [-0.00263799 0.99996731 0.00764375 0.10468057] [ 0.01429192 -0.0076053 0.99986894 -0.30197108] [ 0. 0. 0. 1. ]] SLAMing on 116.43313336499999 meters Centerline goodness [0,1] 0.28477968892162386 Centerline is valid? [False, False] Translation: X:1.55, Y:0.10, Z:-0.30 [[ 0.99989439 0.00274689 -0.01427139 1.54880635] [-0.00263799 0.99996731 0.00764375 0.10468057] [ 0.01429192 -0.0076053 0.99986894 -0.30197108] [ 0. 0. 0. 1. ]] SLAMing on 116.46313336499999 meters Centerline goodness [0,1] 0.2833398429023999 Centerline is valid? [False, False] Translation: X:1.55, Y:0.10, Z:-0.30 [[ 0.99988936 0.00271728 -0.01462501 1.54983546] [-0.00260288 0.99996591 0.00783547 0.10323661] [ 0.0146458 -0.00779654 0.99986235 -0.30222312] [ 0. 0. 0. 1. ]] SLAMing on 116.49313336499999 meters Centerline goodness [0,1] 0.2913731428446025 Centerline is valid? [False, False] Translation: X:1.55, Y:0.10, Z:-0.30 [[ 0.99988934 0.00269036 -0.01463089 1.54963757] [-0.00256933 0.99996238 0.0082842 0.10046044] [ 0.01465263 -0.00824569 0.99985864 -0.30175259] [ 0. 0. 0. 1. ]] SLAMing on 116.52313336499999 meters Centerline goodness [0,1] 0.28686367886576636 Centerline is valid? [False, False] Translation: X:1.55, Y:0.10, Z:-0.30 [[ 0.99988949 0.00271165 -0.01461711 1.54951099] [-0.00258846 0.99996103 0.00844001 0.09960358] [ 0.01463942 -0.00840124 0.99985754 -0.30154845] [ 0. 0. 0. 1. ]] SLAMing on 116.553133365 meters Centerline goodness [0,1] 0.2851572654016117 Centerline is valid? [False, False] Translation: X:1.55, Y:0.10, Z:-0.30 [[ 0.99989079 0.00271626 -0.01452659 1.54926806] [-0.00259342 0.99996078 0.00846823 0.09943721] [ 0.01454902 -0.00842964 0.99985862 -0.3014993 ] [ 0. 0. 0. 1. ]] SLAMing on 116.583133365 meters Centerline goodness [0,1] 0.28725275202466505 Centerline is valid? [False, False] Translation: X:1.55, Y:0.10, Z:-0.30 [[ 0.9998914 0.00267094 -0.0144934 1.54916523] [-0.00254991 0.99996178 0.00836264 0.0998822 ] [ 0.01451518 -0.00832477 0.99985999 -0.30144462] [ 0. 0. 0. 1. ]] SLAMing on 116.613133365 meters Centerline goodness [0,1] 0.28553812871822604 Centerline is valid? [False, False] Translation: X:1.55, Y:0.10, Z:-0.30 [[ 0.99989259 0.00260085 -0.01442379 1.54893652] [-0.00248312 0.99996351 0.00817433 0.10074929] [ 0.01444453 -0.00813764 0.99986256 -0.30136578] [ 0. 0. 0. 1. ]] SLAMing on 116.643133365 meters Centerline goodness [0,1] 0.28843303104290197 Centerline is valid? [False, False] Translation: X:1.55, Y:0.10, Z:-0.30 [[ 0.99989377 0.002531 -0.01435417 1.54875909] [-0.00241654 0.99996519 0.00798629 0.10162968] [ 0.01437388 -0.00795076 0.99986508 -0.30134932] [ 0. 0. 0. 1. ]] SLAMing on 116.673133365 meters Centerline goodness [0,1] 0.2842806471148023 Centerline is valid? [False, False] Translation: X:1.55, Y:0.10, Z:-0.30 [[ 0.99989432 0.00242464 -0.01433416 1.54874311] [-0.00231607 0.99996854 0.0075859 0.10390197] [ 0.0143521 -0.0075519 0.99986848 -0.30146531] [ 0. 0. 0. 1. ]] SLAMing on 116.70313336499999 meters Centerline goodness [0,1] 0.2880870686452346 Centerline is valid? [False, False] Translation: X:1.55, Y:0.10, Z:-0.30 [[ 0.9998942 0.00234051 -0.01435684 1.54888817] [-0.00223429 0.99997005 0.00741026 0.10472324] [ 0.01437375 -0.0073774 0.99986948 -0.30163271] [ 0. 0. 0. 1. ]] SLAMing on 116.73313336499999 meters Centerline goodness [0,1] 0.283751325384632 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:-0.30 [[ 0.9998931 0.0022237 -0.01445121 1.54910951] [-0.00211894 0.99997139 0.00726085 0.10507517] [ 0.01446695 -0.00722945 0.99986921 -0.30162882] [ 0. 0. 0. 1. ]] SLAMing on 116.76313336499999 meters Centerline goodness [0,1] 0.2858664927158078 Centerline is valid? [False, False] Translation: X:1.55, Y:0.10, Z:-0.30 [[ 0.99988982 0.00215427 -0.01468712 1.54956008] [-0.00204746 0.99997138 0.00728336 0.10456802] [ 0.01470239 -0.00725249 0.99986561 -0.30144127] [ 0. 0. 0. 1. ]] SLAMing on 116.79313336499999 meters Centerline goodness [0,1] 0.2882373564729599 Centerline is valid? [False, False] Translation: X:1.55, Y:0.10, Z:-0.30 [[ 0.99988715 0.00214318 -0.01486944 1.54966872] [-0.00203341 0.9999706 0.00739334 0.10389202] [ 0.01488485 -0.00736227 0.99986211 -0.30092945] [ 0. 0. 0. 1. ]] SLAMing on 116.82313336499999 meters Centerline goodness [0,1] 0.2825903575368244 Centerline is valid? [False, False] Translation: X:1.57, Y:0.11, Z:-0.30 [[ 0.99986674 -0.00508392 -0.01551293 1.56964016] [ 0.00522026 0.99994799 0.0087613 0.1077177 ] [ 0.01546759 -0.00884112 0.99984128 -0.29901444] [ 0. 0. 0. 1. ]] SLAMing on 116.85313336499999 meters Centerline goodness [0,1] 0.28939400588002984 Centerline is valid? [False, False] Translation: X:1.55, Y:0.10, Z:-0.30 [[ 0.99988019 0.00240976 -0.01529051 1.5500278 ] [-0.00228869 0.99996593 0.00793061 0.10256732] [ 0.0153091 -0.00789466 0.99985164 -0.30062727] [ 0. 0. 0. 1. ]] SLAMing on 116.88313336499999 meters Centerline goodness [0,1] 0.2828843277921065 Centerline is valid? [False, False] Translation: X:1.57, Y:0.10, Z:-0.30 [[ 0.99984188 0.01087707 -0.01406805 1.56955567] [-0.01078883 0.99992174 0.00633305 0.10059269] [ 0.01413584 -0.00618027 0.99988098 -0.29985262] [ 0. 0. 0. 1. ]] SLAMing on 116.913133365 meters Centerline goodness [0,1] 0.28434532624793096 Centerline is valid? [False, False] Translation: X:1.57, Y:0.10, Z:-0.30 [[ 0.99984273 0.01077932 -0.01408243 1.56975903] [-0.01069451 0.9999243 0.00608375 0.10162252] [ 0.01414694 -0.00593219 0.99988233 -0.30007857] [ 0. 0. 0. 1. ]] SLAMing on 116.943133365 meters Centerline goodness [0,1] 0.2840057199809334 Centerline is valid? [False, False] Translation: X:1.57, Y:0.10, Z:-0.30 [[ 0.99984161 0.01075329 -0.01418165 1.57016735] [-0.01067194 0.99992624 0.00579924 0.10320535] [ 0.01424296 -0.00564697 0.99988262 -0.30035698] [ 0. 0. 0. 1. ]] SLAMing on 116.973133365 meters Centerline goodness [0,1] 0.2860244292888314 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:-0.30 [[ 0.99989269 0.00202423 -0.01450866 1.55058531] [-0.00192569 0.99997501 0.00680236 0.10860628] [ 0.01452207 -0.00677369 0.99987161 -0.30174137] [ 0. 0. 0. 1. ]] SLAMing on 117.003133365 meters Centerline goodness [0,1] 0.28857136557077023 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:-0.30 [[ 0.99989349 0.00201206 -0.01445524 1.55039545] [-0.00191746 0.99997668 0.00655456 0.11003502] [ 0.0144681 -0.00652615 0.99987403 -0.30168307] [ 0. 0. 0. 1. ]] SLAMing on 117.033133365 meters Centerline goodness [0,1] 0.28389867268153035 Centerline is valid? [False, False] Translation: X:1.57, Y:0.11, Z:-0.30 [[ 0.99985446 0.01086868 -0.01315031 1.57026924] [-0.01080057 0.99992794 0.00523961 0.10944178] [ 0.01320631 -0.00509682 0.9998998 -0.30086155] [ 0. 0. 0. 1. ]] SLAMing on 117.063133365 meters Centerline goodness [0,1] 0.28800069966765784 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:-0.30 [[ 0.9999202 0.00438997 -0.01184535 1.54772535] [-0.00429295 0.99995713 0.00820359 0.11404143] [ 0.01188086 -0.00815208 0.99989619 -0.30149325] [ 0. 0. 0. 1. ]] SLAMing on 117.09313336499999 meters Centerline goodness [0,1] 0.2841621305111579 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:-0.30 [[ 0.99992159 0.004429 -0.01171275 1.54743814] [-0.00433397 0.99995758 0.00812683 0.11484102] [ 0.01174825 -0.00807543 0.99989838 -0.30155792] [ 0. 0. 0. 1. ]] SLAMing on 117.12313336499999 meters Centerline goodness [0,1] 0.28676438606411203 Centerline is valid? [False, False] Translation: X:1.55, Y:0.12, Z:-0.30 [[ 0.99992319 0.00441917 -0.01157977 1.54708403] [-0.00432638 0.99995843 0.00802662 0.11554641] [ 0.01161476 -0.0079759 0.99990074 -0.30153911] [ 0. 0. 0. 1. ]] SLAMing on 117.15313336499999 meters Centerline goodness [0,1] 0.28812893081761004 Centerline is valid? [False, False] Translation: X:1.55, Y:0.12, Z:-0.30 [[ 0.9999243 0.00436122 -0.01150546 1.54682214] [-0.00427035 0.99995959 0.00791125 0.11606525] [ 0.01153949 -0.00786152 0.99990251 -0.30141931] [ 0. 0. 0. 1. ]] SLAMing on 117.18313336499999 meters Centerline goodness [0,1] 0.2880116959064327 Centerline is valid? [False, False] Translation: X:1.55, Y:0.12, Z:-0.30 [[ 0.99992493 0.00432036 -0.01146556 1.54655607] [-0.00423041 0.99996018 0.00785734 0.11622829] [ 0.01149904 -0.00780824 0.9999034 -0.30114045] [ 0. 0. 0. 1. ]] SLAMing on 117.21313336499999 meters Centerline goodness [0,1] 0.28239640496046325 Centerline is valid? [False, False] Translation: X:1.55, Y:0.12, Z:-0.30 [[ 9.99939992e-01 3.91912112e-04 -1.09480252e-02 1.54516362e+00] [-3.47870136e-04 9.99991841e-01 4.02443846e-03 1.16269814e-01] [ 1.09495131e-02 -4.02038847e-03 9.99931970e-01 -3.00906236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24313336499999 meters Centerline goodness [0,1] 0.28734453414793804 Centerline is valid? [False, False] Translation: X:1.55, Y:0.12, Z:-0.30 [[ 9.99938114e-01 3.18114670e-04 -1.11205316e-02 1.54561761e+00] [-2.71933774e-04 9.99991335e-01 4.15402520e-03 1.15066514e-01] [ 1.11217567e-02 -4.15074408e-03 9.99929536e-01 -3.00934296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27313336499999 meters Centerline goodness [0,1] 0.28834101281855307 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:-0.30 [[ 9.99934771e-01 2.68139439e-04 -1.14184563e-02 1.54640592e+00] [-2.19325933e-04 9.99990834e-01 4.27600308e-03 1.14083527e-01] [ 1.14194982e-02 -4.27321980e-03 9.99925665e-01 -3.01085640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.303133365 meters Centerline goodness [0,1] 0.28623929021876227 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:-0.30 [[ 9.99930391e-01 2.63387401e-04 -1.17959367e-02 1.54760773e+00] [-2.11396638e-04 9.99990260e-01 4.40854459e-03 1.13359027e-01] [ 1.17969829e-02 -4.40574410e-03 9.99920707e-01 -3.01571173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.333133365 meters Centerline goodness [0,1] 0.28623929021876227 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:-0.30 [[ 9.99930391e-01 2.63387401e-04 -1.17959367e-02 1.54760773e+00] [-2.11396638e-04 9.99990260e-01 4.40854459e-03 1.13359027e-01] [ 1.17969829e-02 -4.40574410e-03 9.99920707e-01 -3.01571173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.363133365 meters Centerline goodness [0,1] 0.27954555253740354 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:-0.30 [[ 9.99924746e-01 2.07559352e-04 -1.22661979e-02 1.54912672e+00] [-1.53220201e-04 9.99990172e-01 4.43076507e-03 1.13031572e-01] [ 1.22669970e-02 -4.42855220e-03 9.99914951e-01 -3.02168238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.393133365 meters Centerline goodness [0,1] 0.28458059746923514 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:-0.30 [[ 9.99919800e-01 1.16395025e-04 -1.26641102e-02 1.55040463e+00] [-6.14749686e-05 9.99990593e-01 4.33697200e-03 1.13096901e-01] [ 1.26644959e-02 -4.33584565e-03 9.99910401e-01 -3.02666442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.423133365 meters Centerline goodness [0,1] 0.2817689101941223 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:-0.30 [[ 9.99917792e-01 1.65784175e-05 -1.28222289e-02 1.55071359e+00] [ 3.82231113e-05 9.99990867e-01 4.27369028e-03 1.12884813e-01] [ 1.28221827e-02 -4.27382905e-03 9.99908659e-01 -3.02501595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45313336499999 meters Centerline goodness [0,1] 0.28716438897921515 Centerline is valid? [False, False] Translation: X:1.50, Y:0.11, Z:-0.30 [[ 9.99897027e-01 -1.03782202e-03 -1.43128927e-02 1.50312498e+00] [ 1.11175581e-03 9.99986077e-01 5.15854955e-03 1.09426401e-01] [ 1.43073397e-02 -5.17393079e-03 9.99884259e-01 -3.00724230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48313336499999 meters Centerline goodness [0,1] 0.28716438897921515 Centerline is valid? [False, False] Translation: X:1.50, Y:0.11, Z:-0.30 [[ 9.99897027e-01 -1.03782202e-03 -1.43128927e-02 1.50312498e+00] [ 1.11175581e-03 9.99986077e-01 5.15854955e-03 1.09426401e-01] [ 1.43073397e-02 -5.17393079e-03 9.99884259e-01 -3.00724230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51313336499999 meters Centerline goodness [0,1] 0.28414029902642557 Centerline is valid? [False, False] Translation: X:1.52, Y:0.11, Z:-0.30 [[ 0.99990018 0.00754173 -0.01194786 1.52162669] [-0.00749363 0.99996366 0.00406515 0.10609733] [ 0.01197808 -0.00397521 0.99992036 -0.29952408] [ 0. 0. 0. 1. ]] SLAMing on 117.54313336499999 meters Centerline goodness [0,1] 0.2847749663643071 Centerline is valid? [False, False] Translation: X:1.52, Y:0.11, Z:-0.30 [[ 9.99920543e-01 4.96097884e-03 -1.15885936e-02 1.52092756e+00] [-4.94578965e-03 9.99986873e-01 1.33899259e-03 1.06125397e-01] [ 1.15950842e-02 -1.28157145e-03 9.99931953e-01 -2.99796204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57313336499999 meters Centerline goodness [0,1] 0.28679270053826966 Centerline is valid? [False, False] Translation: X:1.52, Y:0.11, Z:-0.30 [[ 9.99920083e-01 4.97979246e-03 -1.16202133e-02 1.52089591e+00] [-4.96361588e-03 9.99986672e-01 1.42053192e-03 1.05528930e-01] [ 1.16271324e-02 -1.36274012e-03 9.99931474e-01 -2.99595149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60313336499999 meters Centerline goodness [0,1] 0.28406057157862485 Centerline is valid? [False, False] Translation: X:1.52, Y:0.10, Z:-0.30 [[ 0.99992025 0.00506194 -0.01157025 1.52073891] [-0.00504386 0.99998601 0.00159141 0.10482529] [ 0.01157814 -0.00153292 0.9999318 -0.29953378] [ 0. 0. 0. 1. ]] SLAMing on 117.63313336499999 meters Centerline goodness [0,1] 0.28360901601930144 Centerline is valid? [False, False] Translation: X:1.52, Y:0.10, Z:-0.30 [[ 0.99992099 0.00519272 -0.0114476 1.52044076] [-0.00517249 0.99998501 0.00179527 0.10419584] [ 0.01145675 -0.00173591 0.99993286 -0.29954351] [ 0. 0. 0. 1. ]] SLAMing on 117.663133365 meters Centerline goodness [0,1] 0.28404278541803096 Centerline is valid? [False, False] Translation: X:1.52, Y:0.10, Z:-0.30 [[ 0.99992169 0.00528771 -0.0113426 1.5201564 ] [-0.00526549 0.99998416 0.0019876 0.10338451] [ 0.01135293 -0.00192772 0.9999337 -0.29946493] [ 0. 0. 0. 1. ]] SLAMing on 117.693133365 meters Centerline goodness [0,1] 0.2824716267339218 Centerline is valid? [False, False] Translation: X:1.52, Y:0.10, Z:-0.30 [[ 0.99992349 0.00533548 -0.0111601 1.51961535] [-0.00531158 0.99998354 0.0021696 0.10194883] [ 0.01117149 -0.00211015 0.99993537 -0.29919531] [ 0. 0. 0. 1. ]] SLAMing on 117.723133365 meters Centerline goodness [0,1] 0.2849618637585506 Centerline is valid? [False, False] Translation: X:1.52, Y:0.10, Z:-0.30 [[ 0.99992561 0.00537906 -0.01094714 1.51901437] [-0.00535516 0.99998322 0.00221172 0.10179285] [ 0.01095886 -0.00215293 0.99993763 -0.2990306 ] [ 0. 0. 0. 1. ]] SLAMing on 117.753133365 meters Centerline goodness [0,1] 0.28010161245183096 Centerline is valid? [False, False] Translation: X:1.54, Y:0.11, Z:-0.30 [[ 9.99944419e-01 -1.40756591e-03 -1.04488167e-02 1.53723544e+00] [ 1.44320006e-03 9.99993166e-01 3.40359666e-03 1.07208667e-01] [ 1.04439545e-02 -3.41848721e-03 9.99939617e-01 -2.97624316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.783133365 meters Centerline goodness [0,1] 0.27864437454216395 Centerline is valid? [False, False] Translation: X:1.54, Y:0.11, Z:-0.30 [[ 9.99947012e-01 -1.35931289e-03 -1.02042011e-02 1.53679609e+00] [ 1.39267663e-03 9.99993706e-01 3.26321510e-03 1.08347802e-01] [ 1.01997012e-02 -3.27725335e-03 9.99942611e-01 -2.97909302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.813133365 meters Centerline goodness [0,1] 0.2791104393824895 Centerline is valid? [False, False] Translation: X:1.54, Y:0.11, Z:-0.30 [[ 9.99948701e-01 -1.38506484e-03 -1.00337458e-02 1.53660733e+00] [ 1.41472430e-03 9.99994650e-01 2.94947650e-03 1.10174417e-01] [ 1.00296069e-02 -2.96352018e-03 9.99945311e-01 -2.98294043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84313336499999 meters Centerline goodness [0,1] 0.27775146400275574 Centerline is valid? [False, False] Translation: X:1.54, Y:0.11, Z:-0.30 [[ 9.99949351e-01 -1.53199901e-03 -9.94732028e-03 1.53665390e+00] [ 1.55604152e-03 9.99995886e-01 2.40969399e-03 1.12789660e-01] [ 9.94358771e-03 -2.42505038e-03 9.99947621e-01 -2.98765886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87313336499999 meters Centerline goodness [0,1] 0.2797993556896067 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.30 [[ 0.99994878 -0.00160944 -0.00999223 1.53705507] [ 0.00162857 0.99999686 0.00190721 0.11557771] [ 0.00998913 -0.00192339 0.99994826 -0.29937584] [ 0. 0. 0. 1. ]] SLAMing on 117.90313336499999 meters Centerline goodness [0,1] 0.2797230036788574 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.30 [[ 9.99946903e-01 -1.60314605e-03 -1.01794083e-02 1.53785857e+00] [ 1.61805023e-03 9.99997631e-01 1.45608228e-03 1.18595284e-01] [ 1.01770499e-02 -1.47247576e-03 9.99947128e-01 -3.00160667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93313336499999 meters Centerline goodness [0,1] 0.27697709989443975 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.30 [[ 9.99944547e-01 -1.54901603e-03 -1.04165236e-02 1.53851227e+00] [ 1.55769602e-03 9.99998446e-01 8.25228798e-04 1.23761723e-01] [ 1.04152292e-02 -8.41408814e-04 9.99945406e-01 -3.00561742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96313336499999 meters Centerline goodness [0,1] 0.28207884518351145 Centerline is valid? [False, False] Translation: X:1.49, Y:0.12, Z:-0.30 [[ 9.99910803e-01 -3.36257411e-03 -1.29259250e-02 1.49297645e+00] [ 3.37108090e-03 9.99994115e-01 6.36386030e-04 1.21765431e-01] [ 1.29237090e-02 -6.79903605e-04 9.99916254e-01 -2.99380386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99313336499999 meters Centerline goodness [0,1] 0.2767649840914954 Centerline is valid? [False, False] Translation: X:1.54, Y:0.13, Z:-0.30 [[ 9.99932949e-01 -3.19186671e-03 -1.11314644e-02 1.53671694e+00] [ 3.18103857e-03 9.99994450e-01 -9.90320465e-04 1.27387676e-01] [ 1.11345636e-02 9.54844445e-04 9.99937553e-01 -2.99342031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02313336499999 meters Centerline goodness [0,1] 0.2801395247438413 Centerline is valid? [False, False] Translation: X:1.52, Y:0.12, Z:-0.30 [[ 0.99992736 0.00386832 -0.01141574 1.51762094] [-0.00389407 0.99998992 -0.00223449 0.12225992] [ 0.01140698 0.00227878 0.99993234 -0.30061667] [ 0. 0. 0. 1. ]] SLAMing on 118.053133365 meters Centerline goodness [0,1] 0.28106806741081203 Centerline is valid? [False, False] Translation: X:1.52, Y:0.12, Z:-0.30 [[ 0.99992751 0.00380761 -0.01142274 1.51757095] [-0.00383414 0.99999 -0.00230145 0.12263621] [ 0.01141386 0.00234508 0.99993211 -0.3005745 ] [ 0. 0. 0. 1. ]] SLAMing on 118.083133365 meters Centerline goodness [0,1] 0.27767455928102314 Centerline is valid? [False, False] Translation: X:1.54, Y:0.13, Z:-0.30 [[ 9.99932396e-01 -3.71395513e-03 -1.10186435e-02 1.53750748e+00] [ 3.70026190e-03 9.99992357e-01 -1.26285889e-03 1.27979244e-01] [ 1.10232495e-02 1.22200164e-03 9.99938495e-01 -2.99378555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.113133365 meters Centerline goodness [0,1] 0.2814999344434247 Centerline is valid? [False, False] Translation: X:1.54, Y:0.13, Z:-0.30 [[ 9.99928020e-01 -4.22183476e-03 -1.12307659e-02 1.53815148e+00] [ 4.20704719e-03 9.99990253e-01 -1.34000104e-03 1.26653703e-01] [ 1.12363137e-02 1.29265623e-03 9.99936035e-01 -2.99429414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.143133365 meters Centerline goodness [0,1] 0.2792847931102319 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.30 [[ 9.99923078e-01 -4.26458121e-03 -1.16469606e-02 1.53924391e+00] [ 4.25225178e-03 9.99990373e-01 -1.08315484e-03 1.24938581e-01] [ 1.16514677e-02 1.03354571e-03 9.99931585e-01 -2.99605739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.173133365 meters Centerline goodness [0,1] 0.2739637445304248 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 0.9999259 0.00219009 -0.01197493 1.5623126 ] [-0.00223501 0.99999051 -0.00373939 0.12203064] [ 0.01196662 0.00376587 0.99992131 -0.29997385] [ 0. 0. 0. 1. ]] SLAMing on 118.20313336499999 meters Centerline goodness [0,1] 0.28020453204553897 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.30 [[ 0.99988377 -0.00669255 -0.01369874 1.54242253] [ 0.00666272 0.99997533 -0.00222246 0.12215376] [ 0.01371327 0.00213093 0.9999037 -0.30070129] [ 0. 0. 0. 1. ]] SLAMing on 118.23313336499999 meters Centerline goodness [0,1] 0.27931117375816783 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.30 [[ 0.99988305 -0.00657943 -0.013806 1.54261391] [ 0.00655385 0.99997672 -0.00189712 0.12058348] [ 0.01381816 0.00180642 0.99990289 -0.30055547] [ 0. 0. 0. 1. ]] SLAMing on 118.26313336499999 meters Centerline goodness [0,1] 0.2811182361208714 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.30 [[ 0.99988593 -0.00648946 -0.01363869 1.54200717] [ 0.00646704 0.99997767 -0.00168691 0.11954231] [ 0.01364933 0.00159851 0.99990557 -0.30017717] [ 0. 0. 0. 1. ]] SLAMing on 118.29313336499999 meters Centerline goodness [0,1] 0.2796856873946637 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.30 [[ 0.99988989 -0.00643778 -0.0133703 1.54110394] [ 0.00641627 0.99997805 -0.00165076 0.11940758] [ 0.01338063 0.00156479 0.99990925 -0.29970005] [ 0. 0. 0. 1. ]] SLAMing on 118.32313336499999 meters Centerline goodness [0,1] 0.2809705978795497 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.30 [[ 0.99991172 -0.00251999 -0.01304604 1.53986055] [ 0.00254538 0.9999949 0.00192984 0.12073779] [ 0.01304111 -0.00196288 0.99991303 -0.29905982] [ 0. 0. 0. 1. ]] SLAMing on 118.35313336499999 meters Centerline goodness [0,1] 0.2788927787079519 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.30 [[ 0.99991773 -0.00202864 -0.01266534 1.53902587] [ 0.00205252 0.99999614 0.00187332 0.12294414] [ 0.01266149 -0.00189916 0.99991804 -0.29931775] [ 0. 0. 0. 1. ]] SLAMing on 118.38313336499999 meters Centerline goodness [0,1] 0.27911585365853664 Centerline is valid? [False, False] Translation: X:1.54, Y:0.13, Z:-0.30 [[ 0.99992265 -0.00165039 -0.01232787 1.53842517] [ 0.00167034 0.99999731 0.00160782 0.12589243] [ 0.01232518 -0.00162828 0.99992272 -0.29982523] [ 0. 0. 0. 1. ]] SLAMing on 118.413133365 meters Centerline goodness [0,1] 0.2815888422525359 Centerline is valid? [False, False] Translation: X:1.54, Y:0.13, Z:-0.30 [[ 9.99923916e-01 -1.46786723e-03 -1.22477384e-02 1.53852187e+00] [ 1.48153034e-03 9.99998290e-01 1.10656364e-03 1.29316165e-01] [ 1.22460931e-02 -1.12462485e-03 9.99924381e-01 -3.00523025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.443133365 meters Centerline goodness [0,1] 0.27862221932285214 Centerline is valid? [False, False] Translation: X:1.54, Y:0.13, Z:-0.30 [[ 9.99921893e-01 -1.36503869e-03 -1.24235675e-02 1.53924791e+00] [ 1.37185610e-03 9.99998913e-01 5.40242987e-04 1.32860936e-01] [ 1.24228165e-02 -5.57244137e-04 9.99922679e-01 -3.01258762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.473133365 meters Centerline goodness [0,1] 0.27804124608423253 Centerline is valid? [False, False] Translation: X:1.54, Y:0.14, Z:-0.30 [[ 9.99922427e-01 -1.29163640e-03 -1.23883318e-02 1.53931443e+00] [ 1.29164457e-03 9.99999166e-01 -7.34119684e-06 1.36358594e-01] [ 1.23883309e-02 -8.66069416e-06 9.99923262e-01 -3.01756448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.503133365 meters Centerline goodness [0,1] 0.2746564093698678 Centerline is valid? [False, False] Translation: X:1.54, Y:0.14, Z:-0.30 [[ 9.99921499e-01 -1.24739179e-03 -1.24675853e-02 1.53958963e+00] [ 1.24085446e-03 9.99999089e-01 -5.32067731e-04 1.39853532e-01] [ 1.24682377e-02 5.16555504e-04 9.99922135e-01 -3.02139834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.533133365 meters Centerline goodness [0,1] 0.275048439181916 Centerline is valid? [False, False] Translation: X:1.54, Y:0.14, Z:-0.30 [[ 9.99923313e-01 -1.31186457e-03 -1.23145254e-02 1.53920308e+00] [ 1.29994417e-03 9.99998679e-01 -9.75949420e-04 1.42533216e-01] [ 1.23157894e-02 9.59866381e-04 9.99923697e-01 -3.02276939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.563133365 meters Centerline goodness [0,1] 0.27378230294663275 Centerline is valid? [False, False] Translation: X:1.54, Y:0.15, Z:-0.30 [[ 9.99926607e-01 -1.51918214e-03 -1.20197055e-02 1.53812749e+00] [ 1.50072666e-03 9.99997681e-01 -1.54430634e-03 1.45573596e-01] [ 1.20220237e-02 1.52615471e-03 9.99926568e-01 -3.01862752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59313336499999 meters Centerline goodness [0,1] 0.2740320283161394 Centerline is valid? [False, False] Translation: X:1.54, Y:0.15, Z:-0.30 [[ 0.99992641 -0.00161985 -0.01202265 1.53807274] [ 0.00160004 0.99999735 -0.00165712 0.14599795] [ 0.0120253 0.00163776 0.99992635 -0.30179058] [ 0. 0. 0. 1. ]] SLAMing on 118.62313336499999 meters Centerline goodness [0,1] 0.27619851159570785 Centerline is valid? [False, False] Translation: X:1.54, Y:0.15, Z:-0.30 [[ 0.99992461 -0.00169638 -0.01216159 1.53837148] [ 0.00167641 0.99999723 -0.00165222 0.14589868] [ 0.01216436 0.0016317 0.99992468 -0.30172938] [ 0. 0. 0. 1. ]] SLAMing on 118.65313336499999 meters Centerline goodness [0,1] 0.2815603763721902 Centerline is valid? [False, False] Translation: X:1.54, Y:0.15, Z:-0.30 [[ 0.99992343 -0.00176125 -0.01224886 1.53847715] [ 0.00174192 0.99999722 -0.00158849 0.14553957] [ 0.01225163 0.00156704 0.99992372 -0.30157598] [ 0. 0. 0. 1. ]] SLAMing on 118.68313336499999 meters Centerline goodness [0,1] 0.2748327328872877 Centerline is valid? [False, False] Translation: X:1.58, Y:0.15, Z:-0.30 [[ 9.99950502e-01 -1.51812493e-03 -9.83306481e-03 1.58222897e+00] [ 1.49570995e-03 9.99996267e-01 -2.28650408e-03 1.48963165e-01] [ 9.83649931e-03 2.27168349e-03 9.99949040e-01 -3.01960817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71313336499999 meters Centerline goodness [0,1] 0.28118190534297915 Centerline is valid? [False, False] Translation: X:1.54, Y:0.14, Z:-0.30 [[ 0.99992432 -0.00361309 -0.01176002 1.53584798] [ 0.00358676 0.99999102 -0.00225889 0.14360897] [ 0.01176808 0.00221654 0.9999283 -0.30087202] [ 0. 0. 0. 1. ]] SLAMing on 118.74313336499999 meters Centerline goodness [0,1] 0.2856414688739667 Centerline is valid? [False, False] Translation: X:1.49, Y:0.14, Z:-0.30 [[ 0.99988945 -0.00664481 -0.013302 1.48987424] [ 0.00660752 0.99997412 -0.00284524 0.13640848] [ 0.01332057 0.00275703 0.99990748 -0.30001412] [ 0. 0. 0. 1. ]] SLAMing on 118.77313336499999 meters Centerline goodness [0,1] 0.2777729692301034 Centerline is valid? [False, False] Translation: X:1.53, Y:0.14, Z:-0.30 [[ 0.99991279 -0.00602151 -0.0117535 1.53472843] [ 0.00598561 0.99997732 -0.0030868 0.13730825] [ 0.01177182 0.00301618 0.99992616 -0.30022225] [ 0. 0. 0. 1. ]] SLAMing on 118.803133365 meters Centerline goodness [0,1] 0.2777729692301034 Centerline is valid? [False, False] Translation: X:1.53, Y:0.14, Z:-0.30 [[ 0.99991279 -0.00602151 -0.0117535 1.53472843] [ 0.00598561 0.99997732 -0.0030868 0.13730825] [ 0.01177182 0.00301618 0.99992616 -0.30022225] [ 0. 0. 0. 1. ]] SLAMing on 118.833133365 meters Centerline goodness [0,1] 0.27917480998914224 Centerline is valid? [False, False] Translation: X:1.54, Y:0.13, Z:-0.30 [[ 0.99989929 -0.00638216 -0.01267574 1.53762235] [ 0.00634708 0.99997592 -0.00280598 0.13359227] [ 0.01269334 0.00272525 0.99991572 -0.30114024] [ 0. 0. 0. 1. ]] SLAMing on 118.863133365 meters Centerline goodness [0,1] 0.28007244005149357 Centerline is valid? [False, False] Translation: X:1.54, Y:0.13, Z:-0.30 [[ 0.99989953 -0.00625803 -0.01271905 1.5377771 ] [ 0.00622849 0.99997782 -0.00236086 0.13122939] [ 0.01273354 0.0022814 0.99991632 -0.30117694] [ 0. 0. 0. 1. ]] SLAMing on 118.893133365 meters Centerline goodness [0,1] 0.28180784039201956 Centerline is valid? [False, False] Translation: X:1.54, Y:0.13, Z:-0.30 [[ 0.99990232 -0.00612062 -0.01256528 1.53728896] [ 0.0060962 0.99997946 -0.00198078 0.12940303] [ 0.01257715 0.00190398 0.99991909 -0.30092862] [ 0. 0. 0. 1. ]] SLAMing on 118.923133365 meters Centerline goodness [0,1] 0.2809994976301248 Centerline is valid? [False, False] Translation: X:1.54, Y:0.13, Z:-0.30 [[ 0.99990422 -0.00602652 -0.01245941 1.53692644] [ 0.0060047 0.99998037 -0.00178794 0.12858204] [ 0.01246994 0.00171296 0.99992078 -0.3007175 ] [ 0. 0. 0. 1. ]] SLAMing on 118.95313336499999 meters Centerline goodness [0,1] 0.2822517078297425 Centerline is valid? [False, False] Translation: X:1.54, Y:0.13, Z:-0.30 [[ 0.99990515 -0.00598928 -0.01240261 1.53673543] [ 0.00596785 0.99998064 -0.00176442 0.12856934] [ 0.01241293 0.00169023 0.99992153 -0.30064662] [ 0. 0. 0. 1. ]] SLAMing on 118.98313336499999 meters Centerline goodness [0,1] 0.279996515831192 Centerline is valid? [False, False] Translation: X:1.54, Y:0.13, Z:-0.30 [[ 0.99990402 -0.00593848 -0.01251731 1.53708791] [ 0.00591635 0.99998087 -0.00180423 0.12906334] [ 0.01252779 0.00173 0.99992003 -0.30084336] [ 0. 0. 0. 1. ]] SLAMing on 119.01313336499999 meters Centerline goodness [0,1] 0.28196463996860766 Centerline is valid? [False, False] Translation: X:1.54, Y:0.13, Z:-0.30 [[ 0.9999136 -0.00553215 -0.01192402 1.53569519] [ 0.00551294 0.99998345 -0.00164328 0.12986903] [ 0.01193291 0.0015774 0.99992756 -0.30095194] [ 0. 0. 0. 1. ]] SLAMing on 119.04313336499999 meters Centerline goodness [0,1] 0.28204180972662873 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.30 [[ 0.99991948 -0.00547506 -0.01144816 1.53424051] [ 0.00545669 0.99998378 -0.00163523 0.13007229] [ 0.01145693 0.00157263 0.99993313 -0.30045983] [ 0. 0. 0. 1. ]] SLAMing on 119.07313336499999 meters Centerline goodness [0,1] 0.28405721262864125 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.30 [[ 0.99992297 -0.00547258 -0.01114055 1.53320731] [ 0.0054549 0.99998382 -0.00161669 0.12984953] [ 0.01114922 0.00155579 0.99993664 -0.29998444] [ 0. 0. 0. 1. ]] SLAMing on 119.10313336499999 meters Centerline goodness [0,1] 0.2830951036190642 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.30 [[ 9.99922527e-01 -5.50317402e-03 -1.11649311e-02 1.53318978e+00] [ 5.48592967e-03 9.99983713e-01 -1.57454857e-03 1.29314720e-01] [ 1.11734143e-02 1.51317656e-03 9.99936431e-01 -2.99847585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13313336499999 meters Centerline goodness [0,1] 0.2787787247815299 Centerline is valid? [False, False] Translation: X:1.53, Y:0.13, Z:-0.30 [[ 0.99991678 -0.00560816 -0.01161824 1.53461906] [ 0.00558975 0.99998307 -0.00161715 0.1290507 ] [ 0.01162711 0.00155207 0.9999312 -0.30042764] [ 0. 0. 0. 1. ]] SLAMing on 119.163133365 meters Centerline goodness [0,1] 0.2808263816475496 Centerline is valid? [False, False] Translation: X:1.54, Y:0.13, Z:-0.30 [[ 9.99911162e-01 -5.63218169e-03 -1.20808688e-02 1.53616274e+00] [ 5.61393495e-03 9.99983050e-01 -1.54376439e-03 1.28511870e-01] [ 1.20893588e-02 1.47580603e-03 9.99925832e-01 -3.01149003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.193133365 meters Centerline goodness [0,1] 0.2802663832187249 Centerline is valid? [False, False] Translation: X:1.54, Y:0.13, Z:-0.30 [[ 9.99906433e-01 -5.73875939e-03 -1.24174174e-02 1.53718500e+00] [ 5.72256215e-03 9.99982729e-01 -1.33953487e-03 1.26931300e-01] [ 1.24248902e-02 1.26835009e-03 9.99922004e-01 -3.01467936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.223133365 meters Centerline goodness [0,1] 0.284855637881669 Centerline is valid? [False, False] Translation: X:1.54, Y:0.13, Z:-0.30 [[ 9.99906617e-01 -5.71957167e-03 -1.24114523e-02 1.53702245e+00] [ 5.70556211e-03 9.99983046e-01 -1.16387630e-03 1.25784306e-01] [ 1.24178987e-02 1.09295330e-03 9.99922298e-01 -3.01190284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.253133365 meters Centerline goodness [0,1] 0.284855637881669 Centerline is valid? [False, False] Translation: X:1.54, Y:0.13, Z:-0.30 [[ 9.99906617e-01 -5.71957167e-03 -1.24114523e-02 1.53702245e+00] [ 5.70556211e-03 9.99983046e-01 -1.16387630e-03 1.25784306e-01] [ 1.24178987e-02 1.09295330e-03 9.99922298e-01 -3.01190284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.283133365 meters Centerline goodness [0,1] 0.28447518664909965 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.30 [[ 9.99904573e-01 -5.68991923e-03 -1.25884484e-02 1.53725951e+00] [ 5.67769329e-03 9.99983375e-01 -1.00672898e-03 1.24745720e-01] [ 1.25939674e-02 9.35159566e-04 9.99920256e-01 -3.00862359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.313133365 meters Centerline goodness [0,1] 0.2828613164148517 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.30 [[ 9.99901971e-01 -5.61355279e-03 -1.28271864e-02 1.53769628e+00] [ 5.60410905e-03 9.99983999e-01 -7.72054262e-04 1.23478997e-01] [ 1.28313152e-02 7.00093627e-04 9.99917430e-01 -3.00652278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34313336499999 meters Centerline goodness [0,1] 0.28227437843951886 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.30 [[ 9.99900309e-01 -5.47443063e-03 -1.30154976e-02 1.53811242e+00] [ 5.46869463e-03 9.99984933e-01 -4.76255215e-04 1.22172874e-01] [ 1.30179088e-02 4.05029954e-04 9.99915181e-01 -3.00590407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37313336499999 meters Centerline goodness [0,1] 0.2814565217391304 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.30 [[ 9.99902347e-01 -5.26311247e-03 -1.29458955e-02 1.53788106e+00] [ 5.26352509e-03 9.99986148e-01 -2.19882697e-06 1.19969576e-01] [ 1.29457278e-02 -6.59424338e-05 9.99916198e-01 -3.00417898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40313336499999 meters Centerline goodness [0,1] 0.2814565217391304 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.30 [[ 9.99902347e-01 -5.26311247e-03 -1.29458955e-02 1.53788106e+00] [ 5.26352509e-03 9.99986148e-01 -2.19882697e-06 1.19969576e-01] [ 1.29457278e-02 -6.59424338e-05 9.99916198e-01 -3.00417898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43313336499999 meters Centerline goodness [0,1] 0.28097187033066984 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.30 [[ 9.99908962e-01 -5.11347726e-03 -1.24867608e-02 1.53674046e+00] [ 5.11858825e-03 9.99986829e-01 3.77388801e-04 1.17832971e-01] [ 1.24846665e-02 -4.41269031e-04 9.99921966e-01 -3.00326657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46313336499999 meters Centerline goodness [0,1] 0.2858233536199638 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.30 [[ 9.99913754e-01 -5.00803744e-03 -1.21409925e-02 1.53582525e+00] [ 5.01476609e-03 9.99987289e-01 5.23829849e-04 1.17417456e-01] [ 1.21382148e-02 -5.84668909e-04 9.99926158e-01 -3.00223553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49313336499999 meters Centerline goodness [0,1] 0.279831045406547 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 9.99937686e-01 3.90686900e-03 -1.04575976e-02 1.55516504e+00] [-3.91180711e-03 9.99992247e-01 -4.51790498e-04 1.15240912e-01] [ 1.04557515e-02 4.92670449e-04 9.99945216e-01 -2.99767114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52313336499999 meters Centerline goodness [0,1] 0.2864178161295243 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.30 [[ 9.99930152e-01 -4.44118785e-03 -1.09529072e-02 1.53659798e+00] [ 4.45666824e-03 9.99989104e-01 1.38935670e-03 1.18822785e-01] [ 1.09466174e-02 -1.43807313e-03 9.99939050e-01 -3.01847165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.553133365 meters Centerline goodness [0,1] 0.28613157780006104 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.30 [[ 9.99929327e-01 -4.41233330e-03 -1.10395779e-02 1.53706019e+00] [ 4.42822974e-03 9.99989193e-01 1.41592026e-03 1.18856429e-01] [ 1.10332111e-02 -1.46470598e-03 9.99938060e-01 -3.02310131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.583133365 meters Centerline goodness [0,1] 0.27763214439192097 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 9.99933129e-01 4.13872165e-03 -1.07985006e-02 1.55740898e+00] [-4.13725257e-03 9.99991429e-01 1.58380436e-04 1.16196049e-01] [ 1.07990636e-02 -1.13693720e-04 9.99941682e-01 -3.01691133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.613133365 meters Centerline goodness [0,1] 0.28202183898084754 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 9.99927420e-01 4.07965555e-03 -1.13362576e-02 1.55938473e+00] [-4.07815906e-03 9.99991672e-01 1.55122427e-04 1.15838944e-01] [ 1.13367960e-02 -1.08880107e-04 9.99935731e-01 -3.02848238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.643133365 meters Centerline goodness [0,1] 0.28596024758085603 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 9.99925108e-01 4.08941666e-03 -1.15349639e-02 1.55996362e+00] [-4.08721954e-03 9.99991624e-01 2.14042181e-04 1.15442247e-01] [ 1.15357426e-02 -1.66880221e-04 9.99933447e-01 -3.02996472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.673133365 meters Centerline goodness [0,1] 0.281484209158255 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 9.99925671e-01 4.08322940e-03 -1.14882074e-02 1.55970040e+00] [-4.08086266e-03 9.99991647e-01 2.29448309e-04 1.15279419e-01] [ 1.14890483e-02 -1.82549458e-04 9.99933982e-01 -3.02738739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70313336499999 meters Centerline goodness [0,1] 0.2836209138992456 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 9.99926987e-01 4.07413334e-03 -1.13763950e-02 1.55911525e+00] [-4.07247218e-03 9.99991693e-01 1.69180680e-04 1.15654796e-01] [ 1.13769898e-02 -1.22838275e-04 9.99935272e-01 -3.02227770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73313336499999 meters Centerline goodness [0,1] 0.28371437858922965 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 9.99928604e-01 4.08076370e-03 -1.12309772e-02 1.55864437e+00] [-4.08008855e-03 9.99991673e-01 8.30271659e-05 1.16333796e-01] [ 1.12312225e-02 -3.71978566e-05 9.99936927e-01 -3.02030266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76313336499999 meters Centerline goodness [0,1] 0.2805426926905267 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 9.99926660e-01 3.99458816e-03 -1.14332073e-02 1.55955928e+00] [-3.99921552e-03 9.99991930e-01 -3.81895730e-04 1.18898349e-01] [ 1.14315895e-02 4.27591582e-04 9.99934566e-01 -3.02835827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79313336499999 meters Centerline goodness [0,1] 0.2823123344766205 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 9.99925357e-01 3.88009147e-03 -1.15855494e-02 1.56018952e+00] [-3.88803570e-03 9.99992222e-01 -6.63256568e-04 1.20186739e-01] [ 1.15828858e-02 7.08252090e-04 9.99932665e-01 -3.03287587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82313336499999 meters Centerline goodness [0,1] 0.2823123344766205 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 9.99925357e-01 3.88009147e-03 -1.15855494e-02 1.56018952e+00] [-3.88803570e-03 9.99992222e-01 -6.63256568e-04 1.20186739e-01] [ 1.15828858e-02 7.08252090e-04 9.99932665e-01 -3.03287587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85313336499999 meters Centerline goodness [0,1] 0.2859296811834888 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 9.99923129e-01 3.81655272e-03 -1.17970436e-02 1.56081809e+00] [-3.82638870e-03 9.99992350e-01 -8.11308212e-04 1.20875308e-01] [ 1.17938569e-02 8.56385920e-04 9.99930083e-01 -3.03534790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88313336499999 meters Centerline goodness [0,1] 0.28117967803358146 Centerline is valid? [False, False] Translation: X:1.58, Y:0.13, Z:-0.30 [[ 9.99916267e-01 -3.51501832e-03 -1.24540714e-02 1.58023139e+00] [ 3.51570989e-03 9.99993819e-01 3.36360240e-05 1.26117923e-01] [ 1.24538762e-02 -7.74181094e-05 9.99922444e-01 -3.01535338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.913133365 meters Centerline goodness [0,1] 0.28632113687621796 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 9.99926926e-01 3.19968369e-03 -1.16578235e-02 1.56160286e+00] [-3.21264694e-03 9.99994242e-01 -1.09342123e-03 1.19282208e-01] [ 1.16542578e-02 1.13079380e-03 9.99931447e-01 -3.03266198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.943133365 meters Centerline goodness [0,1] 0.28422677274901087 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 9.99926375e-01 3.12682943e-03 -1.17246874e-02 1.56150260e+00] [-3.13862241e-03 9.99994587e-01 -9.87559936e-04 1.18248550e-01] [ 1.17215360e-02 1.02428659e-03 9.99930776e-01 -3.02824352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.973133365 meters Centerline goodness [0,1] 0.28494071922967745 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 9.99927529e-01 3.16336222e-03 -1.16159166e-02 1.56102319e+00] [-3.17201528e-03 9.99994705e-01 -7.26583619e-04 1.16761376e-01] [ 1.16135566e-02 7.63376828e-04 9.99932269e-01 -3.02442796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.003133365 meters Centerline goodness [0,1] 0.2897132553434779 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 9.99928952e-01 3.22125175e-03 -1.14766568e-02 1.56048640e+00] [-3.22704020e-03 9.99994675e-01 -4.85884252e-04 1.15616777e-01] [ 1.14750305e-02 5.22885364e-04 9.99934023e-01 -3.02080686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.033133365 meters Centerline goodness [0,1] 0.2856113379774201 Centerline is valid? [False, False] Translation: X:1.56, Y:0.11, Z:-0.30 [[ 9.99933654e-01 3.37443680e-03 -1.10136751e-02 1.55925330e+00] [-3.37606143e-03 9.99994293e-01 -1.28921740e-04 1.14360171e-01] [ 1.10131772e-02 1.66096030e-04 9.99939339e-01 -3.01812507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.063133365 meters Centerline goodness [0,1] 0.28336336597121203 Centerline is valid? [False, False] Translation: X:1.56, Y:0.11, Z:-0.30 [[ 9.99936033e-01 3.42438248e-03 -1.07797443e-02 1.55867090e+00] [-3.42538458e-03 9.99994131e-01 -7.44993076e-05 1.14226566e-01] [ 1.07794259e-02 1.11419312e-04 9.99941894e-01 -3.01787347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09313336499999 meters Centerline goodness [0,1] 0.28801387912860155 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.30 [[ 9.99929825e-01 -5.38151245e-03 -1.05539004e-02 1.53933751e+00] [ 5.39335014e-03 9.99984858e-01 1.09350102e-03 1.17758791e-01] [ 1.05478559e-02 -1.15034517e-03 9.99943708e-01 -3.03333953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12313336499999 meters Centerline goodness [0,1] 0.289371810663382 Centerline is valid? [False, False] Translation: X:1.54, Y:0.12, Z:-0.30 [[ 9.99929509e-01 -5.42056252e-03 -1.05637848e-02 1.53944916e+00] [ 5.43085477e-03 9.99984805e-01 9.45853312e-04 1.18371951e-01] [ 1.05584972e-02 -1.00315702e-03 9.99943754e-01 -3.03471537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15313336499999 meters Centerline goodness [0,1] 0.28777387011511824 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 9.99939727e-01 3.35964138e-03 -1.04525291e-02 1.55952196e+00] [-3.36632014e-03 9.99994141e-01 -6.21432734e-04 1.17031566e-01] [ 1.04503801e-02 6.56581837e-04 9.99945178e-01 -3.02270703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18313336499999 meters Centerline goodness [0,1] 0.28728510341216507 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 9.99938761e-01 3.38115980e-03 -1.05376050e-02 1.56007954e+00] [-3.38991927e-03 9.99993923e-01 -8.13507521e-04 1.18279924e-01] [ 1.05347904e-02 8.49179333e-04 9.99944147e-01 -3.02937694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21313336499999 meters Centerline goodness [0,1] 0.28668584880983516 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 9.99939249e-01 3.41107713e-03 -1.04815291e-02 1.56027580e+00] [-3.42171008e-03 9.99993649e-01 -9.96680596e-04 1.19661570e-01] [ 1.04780628e-02 1.03248480e-03 9.99944571e-01 -3.03546742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24313336499999 meters Centerline goodness [0,1] 0.28521814629911 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 9.99941916e-01 3.44488876e-03 -1.02126450e-02 1.55975569e+00] [-3.45656398e-03 9.99993392e-01 -1.12578145e-03 1.20691076e-01] [ 1.02086994e-02 1.16101672e-03 9.99947216e-01 -3.03753451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27313336499999 meters Centerline goodness [0,1] 0.2851078575760201 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 9.99944830e-01 3.42606780e-03 -9.92966670e-03 1.55908100e+00] [-3.43863354e-03 9.99993308e-01 -1.24867864e-03 1.21334032e-01] [ 9.92532220e-03 1.28275424e-03 9.99949920e-01 -3.03783608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.303133365 meters Centerline goodness [0,1] 0.284641994647869 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 0.99994393 0.00330415 -0.01006055 1.55971117] [-0.00332051 0.99999319 -0.00161042 0.12288402] [ 0.01005516 0.00164374 0.99994809 -0.30437446] [ 0. 0. 0. 1. ]] SLAMing on 120.333133365 meters Centerline goodness [0,1] 0.2832456636090944 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 0.99994326 0.00329935 -0.01012901 1.56010893] [-0.0033166 0.99999308 -0.00168746 0.12341321] [ 0.01012337 0.00172096 0.99994728 -0.30479541] [ 0. 0. 0. 1. ]] SLAMing on 120.363133365 meters Centerline goodness [0,1] 0.28649109014675056 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.31 [[ 0.99994307 0.0033236 -0.01013985 1.5603022 ] [-0.00334088 0.999993 -0.00168699 0.12363665] [ 0.01013417 0.00172077 0.99994717 -0.30510943] [ 0. 0. 0. 1. ]] SLAMing on 120.393133365 meters Centerline goodness [0,1] 0.2838629851523834 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.31 [[ 0.99994362 0.00333423 -0.01008163 1.56023289] [-0.00335109 0.99999302 -0.00165528 0.12356678] [ 0.01007604 0.00168897 0.99994781 -0.3052186 ] [ 0. 0. 0. 1. ]] SLAMing on 120.423133365 meters Centerline goodness [0,1] 0.283311238128355 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.31 [[ 0.99994438 0.0033323 -0.01000624 1.5599578 ] [-0.00334849 0.99999311 -0.00160133 0.12314148] [ 0.01000083 0.00163474 0.99994865 -0.30504964] [ 0. 0. 0. 1. ]] SLAMing on 120.45313336499999 meters Centerline goodness [0,1] 0.2869949274094805 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 0.99994485 0.00331591 -0.00996466 1.55968505] [-0.00333165 0.99999323 -0.0015628 0.12272773] [ 0.00995941 0.00159591 0.99994913 -0.30476745] [ 0. 0. 0. 1. ]] SLAMing on 120.48313336499999 meters Centerline goodness [0,1] 0.2843886819577861 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.30 [[ 0.99994471 0.00329107 -0.00998735 1.55972605] [-0.003307 0.99999328 -0.00157968 0.12277092] [ 0.00998208 0.00161262 0.99994888 -0.30475967] [ 0. 0. 0. 1. ]] SLAMing on 120.51313336499999 meters Centerline goodness [0,1] 0.283922983310153 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.31 [[ 0.99994359 0.0032397 -0.01011491 1.56031457] [-0.00325739 0.99999319 -0.00173301 0.12365282] [ 0.01010923 0.00176586 0.99994734 -0.30524907] [ 0. 0. 0. 1. ]] SLAMing on 120.54313336499999 meters Centerline goodness [0,1] 0.28463904705805354 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.31 [[ 0.99994124 0.00317206 -0.01036609 1.56138634] [-0.00319231 0.99999303 -0.00193782 0.12468303] [ 0.01035987 0.0019708 0.99994439 -0.30603909] [ 0. 0. 0. 1. ]] SLAMing on 120.57313336499999 meters Centerline goodness [0,1] 0.27913314300545033 Centerline is valid? [False, False] Translation: X:1.58, Y:0.13, Z:-0.30 [[ 9.99917523e-01 -2.82582451e-03 -1.25284703e-02 1.57995074e+00] [ 2.80989954e-03 9.99995222e-01 -1.28852234e-03 1.32432392e-01] [ 1.25320516e-02 1.25321232e-03 9.99920685e-01 -3.04633030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60313336499999 meters Centerline goodness [0,1] 0.287919270430808 Centerline is valid? [False, False] Translation: X:1.54, Y:0.13, Z:-0.30 [[ 9.99874045e-01 -3.48490979e-03 -1.54838295e-02 1.53597852e+00] [ 3.47474101e-03 9.99993729e-01 -6.83590128e-04 1.30749343e-01] [ 1.54861147e-02 6.29701729e-04 9.99879885e-01 -3.04511982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63313336499999 meters Centerline goodness [0,1] 0.2826718086489297 Centerline is valid? [False, False] Translation: X:1.56, Y:0.13, Z:-0.30 [[ 0.9998871 0.00496517 -0.01418187 1.5568251 ] [-0.00500299 0.99998402 -0.00263296 0.13401463] [ 0.01416857 0.00270362 0.99989597 -0.30404759] [ 0. 0. 0. 1. ]] SLAMing on 120.663133365 meters Centerline goodness [0,1] 0.28028960449535334 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.30 [[ 0.9998902 0.00485367 -0.01400106 1.55625293] [-0.00489593 0.99998356 -0.00298597 0.1359218 ] [ 0.01398634 0.00305419 0.99989752 -0.30392187] [ 0. 0. 0. 1. ]] SLAMing on 120.693133365 meters Centerline goodness [0,1] 0.2834211839222577 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.30 [[ 0.99989324 0.00483095 -0.01379008 1.55555918] [-0.00487549 0.999983 -0.00319862 0.13747782] [ 0.0137744 0.00326552 0.9998998 -0.30370647] [ 0. 0. 0. 1. ]] SLAMing on 120.723133365 meters Centerline goodness [0,1] 0.28439887677137077 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.30 [[ 0.99989655 0.00474187 -0.01357922 1.55504083] [-0.00478974 0.99998242 -0.00349446 0.13922003] [ 0.01356241 0.00355914 0.99990169 -0.30374657] [ 0. 0. 0. 1. ]] SLAMing on 120.753133365 meters Centerline goodness [0,1] 0.2803351786829804 Centerline is valid? [False, False] Translation: X:1.57, Y:0.15, Z:-0.30 [[ 0.99990798 -0.00248611 -0.01333643 1.57378405] [ 0.00245078 0.99999344 -0.00266535 0.14672638] [ 0.01334297 0.00263242 0.99990751 -0.30214532] [ 0. 0. 0. 1. ]] SLAMing on 120.783133365 meters Centerline goodness [0,1] 0.283611981887844 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.31 [[ 0.9999337 0.00311181 -0.01108632 1.55813154] [-0.00315662 0.99998691 -0.00402703 0.1433062 ] [ 0.01107364 0.00406176 0.99993044 -0.30556123] [ 0. 0. 0. 1. ]] SLAMing on 120.813133365 meters Centerline goodness [0,1] 0.28778300339057206 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.31 [[ 0.99993291 0.00299449 -0.01118954 1.55839344] [-0.00304298 0.99998605 -0.00431849 0.14467417] [ 0.01117646 0.00435225 0.99992807 -0.30563063] [ 0. 0. 0. 1. ]] SLAMing on 120.84313336499999 meters Centerline goodness [0,1] 0.28389545602429234 Centerline is valid? [False, False] Translation: X:1.58, Y:0.15, Z:-0.30 [[ 0.99992316 -0.00369396 -0.01183364 1.57634782] [ 0.00365594 0.99998809 -0.00323301 0.15240812] [ 0.01184545 0.0031895 0.99992475 -0.30352645] [ 0. 0. 0. 1. ]] SLAMing on 120.87313336499999 meters Centerline goodness [0,1] 0.28643720280940543 Centerline is valid? [False, False] Translation: X:1.58, Y:0.16, Z:-0.30 [[ 0.99992135 -0.00386419 -0.01193162 1.57677775] [ 0.00381735 0.99998493 -0.00394647 0.1568144 ] [ 0.01194669 0.00390061 0.99992103 -0.30401064] [ 0. 0. 0. 1. ]] SLAMing on 120.90313336499999 meters Centerline goodness [0,1] 0.28424903638858035 Centerline is valid? [False, False] Translation: X:1.58, Y:0.16, Z:-0.30 [[ 0.9999196 -0.00402215 -0.01202533 1.57711456] [ 0.00396936 0.99998239 -0.00441076 0.159174 ] [ 0.01204286 0.00436267 0.99991796 -0.30426885] [ 0. 0. 0. 1. ]] SLAMing on 120.93313336499999 meters Centerline goodness [0,1] 0.28466867076199187 Centerline is valid? [False, False] Translation: X:1.58, Y:0.16, Z:-0.30 [[ 0.99991963 -0.00419945 -0.01196221 1.57696238] [ 0.00414129 0.9999795 -0.00488281 0.16144325] [ 0.01198247 0.00483288 0.99991653 -0.30435346] [ 0. 0. 0. 1. ]] SLAMing on 120.96313336499999 meters Centerline goodness [0,1] 0.28438172685960295 Centerline is valid? [False, False] Translation: X:1.58, Y:0.16, Z:-0.30 [[ 0.99992116 -0.00436557 -0.01177367 1.5763813 ] [ 0.00430321 0.99997661 -0.00531653 0.16360582] [ 0.01179661 0.00526545 0.99991655 -0.30421724] [ 0. 0. 0. 1. ]] SLAMing on 120.99313336499999 meters Centerline goodness [0,1] 0.28478535078943934 Centerline is valid? [False, False] Translation: X:1.58, Y:0.17, Z:-0.30 [[ 0.99992349 -0.00447438 -0.01153253 1.57558995] [ 0.00440948 0.99997433 -0.00564676 0.16544097] [ 0.0115575 0.00559548 0.99991755 -0.3039561 ] [ 0. 0. 0. 1. ]] SLAMing on 121.02313336499999 meters Centerline goodness [0,1] 0.28795513297988873 Centerline is valid? [False, False] Translation: X:1.58, Y:0.17, Z:-0.30 [[ 0.99992348 -0.00458727 -0.0114889 1.57528507] [ 0.00451925 0.99997215 -0.00593894 0.16697078] [ 0.01151582 0.00588656 0.99991636 -0.30369391] [ 0. 0. 0. 1. ]] SLAMing on 121.053133365 meters Centerline goodness [0,1] 0.28428304429086804 Centerline is valid? [False, False] Translation: X:1.58, Y:0.17, Z:-0.30 [[ 0.99992265 -0.00482217 -0.01146475 1.57500218] [ 0.00474853 0.99996798 -0.00644178 0.16965249] [ 0.01149545 0.00638685 0.99991353 -0.30340103] [ 0. 0. 0. 1. ]] SLAMing on 121.083133365 meters Centerline goodness [0,1] 0.284695652173913 Centerline is valid? [False, False] Translation: X:1.57, Y:0.17, Z:-0.30 [[ 0.99992279 -0.00490249 -0.01141822 1.57480067] [ 0.00482699 0.99996637 -0.00663016 0.17069844] [ 0.01145034 0.00657453 0.99991283 -0.30327999] [ 0. 0. 0. 1. ]] SLAMing on 121.113133365 meters Centerline goodness [0,1] 0.2847470867782046 Centerline is valid? [False, False] Translation: X:1.57, Y:0.17, Z:-0.30 [[ 0.99992302 -0.00498565 -0.01136229 1.57452538] [ 0.00490821 0.99996461 -0.00683283 0.17175665] [ 0.01139595 0.00677653 0.9999121 -0.303063 ] [ 0. 0. 0. 1. ]] SLAMing on 121.143133365 meters Centerline goodness [0,1] 0.2847470867782046 Centerline is valid? [False, False] Translation: X:1.57, Y:0.17, Z:-0.30 [[ 0.99992302 -0.00498565 -0.01136229 1.57452538] [ 0.00490821 0.99996461 -0.00683283 0.17175665] [ 0.01139595 0.00677653 0.9999121 -0.303063 ] [ 0. 0. 0. 1. ]] SLAMing on 121.173133365 meters Centerline goodness [0,1] 0.2835468790580902 Centerline is valid? [False, False] Translation: X:1.57, Y:0.17, Z:-0.30 [[ 0.99992211 -0.0051123 -0.01138564 1.57457991] [ 0.00503175 0.99996219 -0.00709243 0.17285729] [ 0.01142147 0.00703458 0.99991003 -0.30310319] [ 0. 0. 0. 1. ]] SLAMing on 121.20313336499999 meters Centerline goodness [0,1] 0.285649093832848 Centerline is valid? [False, False] Translation: X:1.57, Y:0.17, Z:-0.30 [[ 0.99992128 -0.005197 -0.01142042 1.57476103] [ 0.00511393 0.99996034 -0.007291 0.17378427] [ 0.01145785 0.00723203 0.9999082 -0.30328503] [ 0. 0. 0. 1. ]] SLAMing on 121.23313336499999 meters Centerline goodness [0,1] 0.2881993829456686 Centerline is valid? [False, False] Translation: X:1.58, Y:0.17, Z:-0.30 [[ 0.99992052 -0.00526537 -0.01145595 1.57502253] [ 0.00517986 0.9999586 -0.00748164 0.17481159] [ 0.01149487 0.0074217 0.99990639 -0.30362348] [ 0. 0. 0. 1. ]] SLAMing on 121.26313336499999 meters Centerline goodness [0,1] 0.2846083788706739 Centerline is valid? [False, False] Translation: X:1.57, Y:0.18, Z:-0.30 [[ 0.99992073 -0.0053303 -0.01140713 1.57496316] [ 0.00524324 0.99995701 -0.00764827 0.17576933] [ 0.0114474 0.00758786 0.99990569 -0.30371354] [ 0. 0. 0. 1. ]] SLAMing on 121.29313336499999 meters Centerline goodness [0,1] 0.28813819073474034 Centerline is valid? [False, False] Translation: X:1.57, Y:0.18, Z:-0.30 [[ 0.99992192 -0.00538687 -0.01127577 1.57470282] [ 0.00529913 0.99995557 -0.00779631 0.17652435] [ 0.01131726 0.00773595 0.99990603 -0.30382102] [ 0. 0. 0. 1. ]] SLAMing on 121.32313336499999 meters Centerline goodness [0,1] 0.2883991228070175 Centerline is valid? [False, False] Translation: X:1.57, Y:0.18, Z:-0.30 [[ 0.99992091 -0.00550916 -0.01130621 1.57489261] [ 0.00541845 0.99995301 -0.00803851 0.17745043] [ 0.01134996 0.00797661 0.99990377 -0.30403144] [ 0. 0. 0. 1. ]] SLAMing on 121.35313336499999 meters Centerline goodness [0,1] 0.28535386489190484 Centerline is valid? [False, False] Translation: X:1.58, Y:0.18, Z:-0.30 [[ 0.99991864 -0.00579453 -0.0113634 1.57529862] [ 0.00569566 0.99994581 -0.00871402 0.18048388] [ 0.01141328 0.00864859 0.99989746 -0.30451244] [ 0. 0. 0. 1. ]] SLAMing on 121.38313336499999 meters Centerline goodness [0,1] 0.2869113603631126 Centerline is valid? [False, False] Translation: X:1.58, Y:0.18, Z:-0.30 [[ 0.99991643 -0.00594261 -0.0114809 1.57575997] [ 0.00583799 0.99994133 -0.00912492 0.18256345] [ 0.01153445 0.00905713 0.99989246 -0.30485482] [ 0. 0. 0. 1. ]] SLAMing on 121.413133365 meters Centerline goodness [0,1] 0.28251227796888856 Centerline is valid? [False, False] Translation: X:1.58, Y:0.18, Z:-0.31 [[ 0.99991144 -0.00607053 -0.01184334 1.57688424] [ 0.00595748 0.99993658 -0.00955749 0.18485408] [ 0.01190061 0.00948609 0.99988419 -0.30533542] [ 0. 0. 0. 1. ]] SLAMing on 121.443133365 meters Centerline goodness [0,1] 0.28097527175089865 Centerline is valid? [False, False] Translation: X:1.58, Y:0.19, Z:-0.31 [[ 0.99990603 -0.00624179 -0.01220554 1.57808835] [ 0.00611947 0.99993094 -0.01003322 0.18724188] [ 0.01226732 0.00995758 0.99987517 -0.3059161 ] [ 0. 0. 0. 1. ]] SLAMing on 121.473133365 meters Centerline goodness [0,1] 0.28328692019841617 Centerline is valid? [False, False] Translation: X:1.58, Y:0.19, Z:-0.31 [[ 0.99990022 -0.00642357 -0.01258137 1.57938079] [ 0.00629156 0.99992504 -0.01050428 0.18951295] [ 0.0126479 0.01042407 0.99986568 -0.30661417] [ 0. 0. 0. 1. ]] SLAMing on 121.503133365 meters Centerline goodness [0,1] 0.2827787583622061 Centerline is valid? [False, False] Translation: X:1.58, Y:0.19, Z:-0.31 [[ 0.9999063 -0.00329401 -0.01328685 1.58112176] [ 0.0031928 0.99996578 -0.00763188 0.1924713 ] [ 0.01331153 0.00758874 0.9998826 -0.30680857] [ 0. 0. 0. 1. ]] SLAMing on 121.533133365 meters Centerline goodness [0,1] 0.2893479607183933 Centerline is valid? [False, False] Translation: X:1.54, Y:0.19, Z:-0.31 [[ 0.99987196 -0.00417968 -0.01544675 1.53514317] [ 0.00406452 0.99996377 -0.0074797 0.19099038] [ 0.01547745 0.00741596 0.99985272 -0.30590819] [ 0. 0. 0. 1. ]] SLAMing on 121.563133365 meters Centerline goodness [0,1] 0.2828921632546616 Centerline is valid? [False, False] Translation: X:1.56, Y:0.20, Z:-0.30 [[ 0.99981442 -0.01215287 -0.01494742 1.55506848] [ 0.01205079 0.99990358 -0.00690001 0.19675405] [ 0.01502983 0.0067186 0.99986447 -0.30475261] [ 0. 0. 0. 1. ]] SLAMing on 121.59313336499999 meters Centerline goodness [0,1] 0.2821301672588613 Centerline is valid? [False, False] Translation: X:1.56, Y:0.20, Z:-0.30 [[ 0.99981133 -0.01223569 -0.01508642 1.55520704] [ 0.01213291 0.99990269 -0.00688558 0.19621023] [ 0.01516921 0.00670124 0.99986248 -0.30443298] [ 0. 0. 0. 1. ]] SLAMing on 121.62313336499999 meters Centerline goodness [0,1] 0.2836417339935714 Centerline is valid? [False, False] Translation: X:1.56, Y:0.20, Z:-0.30 [[ 0.99980996 -0.01229258 -0.01513068 1.55503937] [ 0.01219097 0.99990264 -0.00678956 0.19534385] [ 0.01521267 0.00660381 0.99986247 -0.30397507] [ 0. 0. 0. 1. ]] SLAMing on 121.65313336499999 meters Centerline goodness [0,1] 0.2821054902383777 Centerline is valid? [False, False] Translation: X:1.57, Y:0.19, Z:-0.30 [[ 0.99988502 -0.00423625 -0.01456054 1.57323232] [ 0.00411858 0.9999587 -0.00810204 0.19117271] [ 0.01459426 0.00804114 0.99986116 -0.30198989] [ 0. 0. 0. 1. ]] SLAMing on 121.68313336499999 meters Centerline goodness [0,1] 0.2862224744112961 Centerline is valid? [False, False] Translation: X:1.55, Y:0.19, Z:-0.30 [[ 0.99991006 0.00306319 -0.01305716 1.55429957] [-0.00317664 0.99995731 -0.00867651 0.18517752] [ 0.01303003 0.00871721 0.99987711 -0.30403077] [ 0. 0. 0. 1. ]] SLAMing on 121.71313336499999 meters Centerline goodness [0,1] 0.288282553340943 Centerline is valid? [False, False] Translation: X:1.55, Y:0.19, Z:-0.30 [[ 0.99990907 0.00307858 -0.01312876 1.55458308] [-0.00319219 0.99995757 -0.008641 0.18517256] [ 0.0131016 0.00868212 0.99987648 -0.30420049] [ 0. 0. 0. 1. ]] SLAMing on 121.74313336499999 meters Centerline goodness [0,1] 0.28566418237615077 Centerline is valid? [False, False] Translation: X:1.56, Y:0.19, Z:-0.30 [[ 0.99990583 0.00296538 -0.01339922 1.55551953] [-0.00308571 0.99995502 -0.0089688 0.18671949] [ 0.01337202 0.0090093 0.99987 -0.30469606] [ 0. 0. 0. 1. ]] SLAMing on 121.77313336499999 meters Centerline goodness [0,1] 0.2862737376389254 Centerline is valid? [False, False] Translation: X:1.56, Y:0.19, Z:-0.30 [[ 0.99990476 0.00291817 -0.01348872 1.55584017] [-0.00304176 0.9999535 -0.00915092 0.18765808] [ 0.01346139 0.00919108 0.99986715 -0.30490781] [ 0. 0. 0. 1. ]] SLAMing on 121.803133365 meters Centerline goodness [0,1] 0.2878466682693358 Centerline is valid? [False, False] Translation: X:1.56, Y:0.19, Z:-0.30 [[ 0.99990635 0.00291824 -0.0133706 1.55545639] [-0.00304243 0.99995233 -0.00927756 0.18854963] [ 0.01334289 0.00931737 0.99986757 -0.30477456] [ 0. 0. 0. 1. ]] SLAMing on 121.833133365 meters Centerline goodness [0,1] 0.28339702944497525 Centerline is valid? [False, False] Translation: X:1.57, Y:0.19, Z:-0.30 [[ 0.99991442 -0.0040176 -0.01245007 1.57223646] [ 0.00392335 0.99996354 -0.00758493 0.19465286] [ 0.01248009 0.00753543 0.99989373 -0.30235102] [ 0. 0. 0. 1. ]] SLAMing on 121.863133365 meters Centerline goodness [0,1] 0.28331707317073174 Centerline is valid? [False, False] Translation: X:1.57, Y:0.20, Z:-0.30 [[ 0.99991988 -0.00396601 -0.01202093 1.57086716] [ 0.00387475 0.99996357 -0.00760525 0.19516463] [ 0.01205066 0.00755806 0.99989882 -0.30180506] [ 0. 0. 0. 1. ]] SLAMing on 121.893133365 meters Centerline goodness [0,1] 0.2821349820571577 Centerline is valid? [False, False] Translation: X:1.57, Y:0.20, Z:-0.30 [[ 0.99992502 -0.00393022 -0.01159733 1.56937792] [ 0.00384224 0.99996374 -0.00759925 0.19532895] [ 0.01162677 0.00755412 0.99990387 -0.30105365] [ 0. 0. 0. 1. ]] SLAMing on 121.923133365 meters Centerline goodness [0,1] 0.2851810863008051 Centerline is valid? [False, False] Translation: X:1.57, Y:0.20, Z:-0.30 [[ 0.99992794 -0.00394067 -0.01133959 1.56848001] [ 0.00385401 0.99996328 -0.00765383 0.19562048] [ 0.01136934 0.00760958 0.99990641 -0.30062189] [ 0. 0. 0. 1. ]] SLAMing on 121.95313336499999 meters Centerline goodness [0,1] 0.28898470158236855 Centerline is valid? [False, False] Translation: X:1.57, Y:0.20, Z:-0.30 [[ 0.99992725 -0.00391692 -0.01140854 1.56850625] [ 0.00382916 0.99996299 -0.00770382 0.19613575] [ 0.01143829 0.00765958 0.99990524 -0.30041507] [ 0. 0. 0. 1. ]] SLAMing on 121.98313336499999 meters Centerline goodness [0,1] 0.28423990652992337 Centerline is valid? [False, False] Translation: X:1.57, Y:0.20, Z:-0.30 [[ 9.99929616e-01 -1.05811086e-04 -1.18639069e-02 1.56987044e+00] [ 5.73384745e-05 9.99991651e-01 -4.08598654e-03 1.97025147e-01] [ 1.18642402e-02 4.08501869e-03 9.99921273e-01 -3.00865609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01313336499999 meters Centerline goodness [0,1] 0.289224043715847 Centerline is valid? [False, False] Translation: X:1.57, Y:0.20, Z:-0.30 [[ 9.99932467e-01 -1.52359692e-04 -1.16206222e-02 1.56926733e+00] [ 1.02371951e-04 9.99990741e-01 -4.30211420e-03 1.98091402e-01] [ 1.16211701e-02 4.30063403e-03 9.99923224e-01 -3.00818435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04313336499999 meters Centerline goodness [0,1] 0.2871492069025623 Centerline is valid? [False, False] Translation: X:1.57, Y:0.20, Z:-0.30 [[ 9.99935467e-01 -2.16144145e-04 -1.13585172e-02 1.56837987e+00] [ 1.64664915e-04 9.99989713e-01 -4.53295372e-03 1.99092775e-01] [ 1.13593801e-02 4.53079084e-03 9.99925215e-01 -3.00434432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07313336499999 meters Centerline goodness [0,1] 0.287151787075556 Centerline is valid? [False, False] Translation: X:1.57, Y:0.20, Z:-0.30 [[ 9.99937760e-01 -2.17527285e-04 -1.11547741e-02 1.56775309e+00] [ 1.65399355e-04 9.99989064e-01 -4.67385938e-03 1.99902643e-01] [ 1.11556688e-02 4.67172349e-03 9.99926860e-01 -3.00229264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10313336499999 meters Centerline goodness [0,1] 0.2860360848188178 Centerline is valid? [False, False] Translation: X:1.57, Y:0.20, Z:-0.30 [[ 9.99935878e-01 -1.71104517e-04 -1.13230407e-02 1.56831916e+00] [ 1.16371819e-04 9.99988308e-01 -4.83422798e-03 2.01135486e-01] [ 1.13237355e-02 4.83260032e-03 9.99924207e-01 -3.00569815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13313336499999 meters Centerline goodness [0,1] 0.28413796093563704 Centerline is valid? [False, False] Translation: X:1.57, Y:0.20, Z:-0.30 [[ 9.99931478e-01 -1.22772142e-04 -1.17057052e-02 1.56954150e+00] [ 6.35642001e-05 9.99987205e-01 -5.05827932e-03 2.02799804e-01] [ 1.17061765e-02 5.05718866e-03 9.99918692e-01 -3.01126267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.163133365 meters Centerline goodness [0,1] 0.286147072926202 Centerline is valid? [False, False] Translation: X:1.57, Y:0.20, Z:-0.30 [[ 9.99925475e-01 -1.60698945e-04 -1.22073533e-02 1.57114333e+00] [ 9.41868587e-05 9.99985150e-01 -5.44890589e-03 2.04909838e-01] [ 1.22080477e-02 5.44735004e-03 9.99910641e-01 -3.01913230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.193133365 meters Centerline goodness [0,1] 0.2839629396576041 Centerline is valid? [False, False] Translation: X:1.57, Y:0.21, Z:-0.30 [[ 9.99918153e-01 -2.55033663e-04 -1.27915153e-02 1.57294575e+00] [ 1.78681962e-04 9.99982165e-01 -5.96972097e-03 2.07464313e-01] [ 1.27928096e-02 5.96694675e-03 9.99900365e-01 -3.02698114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.223133365 meters Centerline goodness [0,1] 0.2802971408827848 Centerline is valid? [False, False] Translation: X:1.58, Y:0.21, Z:-0.30 [[ 0.99990739 0.00263159 -0.01335218 1.57515991] [-0.00268392 0.99998878 -0.00390318 0.21314901] [ 0.01334175 0.00393866 0.99990324 -0.30389386] [ 0. 0. 0. 1. ]] SLAMing on 122.253133365 meters Centerline goodness [0,1] 0.2810347068763811 Centerline is valid? [False, False] Translation: X:1.57, Y:0.22, Z:-0.30 [[ 0.99990837 0.00268864 -0.01326708 1.57495178] [-0.00274579 0.99998702 -0.00429126 0.21616883] [ 0.01325537 0.0043273 0.99990278 -0.30405761] [ 0. 0. 0. 1. ]] SLAMing on 122.283133365 meters Centerline goodness [0,1] 0.2796488946684005 Centerline is valid? [False, False] Translation: X:1.58, Y:0.22, Z:-0.30 [[ 0.9999083 0.00264592 -0.0132815 1.57511808] [-0.00270845 0.99998532 -0.00469282 0.21879734] [ 0.01326889 0.00472836 0.99990078 -0.30437349] [ 0. 0. 0. 1. ]] SLAMing on 122.313133365 meters Centerline goodness [0,1] 0.2810463196315286 Centerline is valid? [False, False] Translation: X:1.58, Y:0.22, Z:-0.30 [[ 0.99990755 0.00249948 -0.01336567 1.57550225] [-0.0025683 0.99998352 -0.00513452 0.221021 ] [ 0.01335261 0.00516837 0.99989749 -0.3047344 ] [ 0. 0. 0. 1. ]] SLAMing on 122.34313336499999 meters Centerline goodness [0,1] 0.27974952331426595 Centerline is valid? [False, False] Translation: X:1.58, Y:0.22, Z:-0.30 [[ 0.99990722 0.00236746 -0.01341422 1.57565775] [-0.00244073 0.99998218 -0.00544843 0.22239479] [ 0.01340108 0.00548066 0.99989518 -0.30484666] [ 0. 0. 0. 1. ]] SLAMing on 122.37313336499999 meters Centerline goodness [0,1] 0.28207079492085585 Centerline is valid? [False, False] Translation: X:1.58, Y:0.22, Z:-0.30 [[ 0.99990746 0.00225319 -0.01341653 1.57564843] [-0.00232927 0.99998128 -0.0056575 0.22320141] [ 0.01340354 0.00568823 0.99989399 -0.30483863] [ 0. 0. 0. 1. ]] SLAMing on 122.40313336499999 meters Centerline goodness [0,1] 0.28191305100892006 Centerline is valid? [False, False] Translation: X:1.58, Y:0.22, Z:-0.30 [[ 0.99990747 0.00205956 -0.01344687 1.57554379] [-0.00213983 0.99997996 -0.00595757 0.22446782] [ 0.01343433 0.00598579 0.99989184 -0.30453274] [ 0. 0. 0. 1. ]] SLAMing on 122.43313336499999 meters Centerline goodness [0,1] 0.28191305100892006 Centerline is valid? [False, False] Translation: X:1.58, Y:0.22, Z:-0.30 [[ 0.99990747 0.00205956 -0.01344687 1.57554379] [-0.00213983 0.99997996 -0.00595757 0.22446782] [ 0.01343433 0.00598579 0.99989184 -0.30453274] [ 0. 0. 0. 1. ]] SLAMing on 122.46313336499999 meters Centerline goodness [0,1] 0.2857111587794948 Centerline is valid? [False, False] Translation: X:1.58, Y:0.23, Z:-0.30 [[ 0.99990541 0.00189275 -0.01362304 1.57571856] [-0.00197845 0.99997832 -0.00628023 0.22591485] [ 0.01361085 0.00630659 0.99988748 -0.30415693] [ 0. 0. 0. 1. ]] SLAMing on 122.49313336499999 meters Centerline goodness [0,1] 0.2816091954022989 Centerline is valid? [False, False] Translation: X:1.59, Y:0.23, Z:-0.30 [[ 0.99988713 -0.00537493 -0.01403015 1.59425714] [ 0.00530277 0.99997255 -0.00517553 0.23286284] [ 0.01405758 0.00510055 0.99988818 -0.30214424] [ 0. 0. 0. 1. ]] SLAMing on 122.52313336499999 meters Centerline goodness [0,1] 0.2810334372834373 Centerline is valid? [False, False] Translation: X:1.59, Y:0.23, Z:-0.30 [[ 0.99988561 -0.00541162 -0.01412388 1.5944654 ] [ 0.00533658 0.99997148 -0.00534489 0.23392639] [ 0.0141524 0.00526891 0.99988597 -0.30214099] [ 0. 0. 0. 1. ]] SLAMing on 122.553133365 meters Centerline goodness [0,1] 0.2822208685057871 Centerline is valid? [False, False] Translation: X:1.59, Y:0.24, Z:-0.30 [[ 0.99988501 -0.00545427 -0.01414987 1.59471169] [ 0.00537614 0.99997013 -0.00555327 0.23524837] [ 0.01417974 0.00547656 0.99988446 -0.30248927] [ 0. 0. 0. 1. ]] SLAMing on 122.583133365 meters Centerline goodness [0,1] 0.2848080498742207 Centerline is valid? [False, False] Translation: X:1.59, Y:0.24, Z:-0.30 [[ 0.99988418 -0.00552739 -0.01417991 1.59483534] [ 0.00544611 0.99996855 -0.00576458 0.23628519] [ 0.01421133 0.00568668 0.99988284 -0.30260845] [ 0. 0. 0. 1. ]] SLAMing on 122.613133365 meters Centerline goodness [0,1] 0.280466472303207 Centerline is valid? [False, False] Translation: X:1.61, Y:0.23, Z:-0.30 [[ 0.99990874 0.00276435 -0.01322355 1.61476588] [-0.00285668 0.99997164 -0.00696893 0.23441119] [ 0.01320391 0.00700607 0.99988828 -0.30161879] [ 0. 0. 0. 1. ]] SLAMing on 122.643133365 meters Centerline goodness [0,1] 0.2817899963142033 Centerline is valid? [False, False] Translation: X:1.61, Y:0.23, Z:-0.30 [[ 0.99991148 0.00269782 -0.0130287 1.61378686] [-0.00278961 0.99997139 -0.00703178 0.23460966] [ 0.01300935 0.0070675 0.9998904 -0.30081434] [ 0. 0. 0. 1. ]] SLAMing on 122.673133365 meters Centerline goodness [0,1] 0.28171362976760306 Centerline is valid? [False, False] Translation: X:1.61, Y:0.23, Z:-0.30 [[ 0.99991291 0.00269145 -0.01292045 1.61352256] [-0.00278291 0.99997116 -0.00706608 0.23493469] [ 0.01290106 0.00710142 0.99989156 -0.30081691] [ 0. 0. 0. 1. ]] SLAMing on 122.70313336499999 meters Centerline goodness [0,1] 0.28350740724555346 Centerline is valid? [False, False] Translation: X:1.61, Y:0.24, Z:-0.30 [[ 0.99991247 0.0026264 -0.0129672 1.61376439] [-0.00271985 0.99997042 -0.00719435 0.23552486] [ 0.01294792 0.00722898 0.99989004 -0.30100798] [ 0. 0. 0. 1. ]] SLAMing on 122.73313336499999 meters Centerline goodness [0,1] 0.2802817510047102 Centerline is valid? [False, False] Translation: X:1.63, Y:0.24, Z:-0.30 [[ 0.99990176 -0.00503752 -0.01308004 1.63336083] [ 0.00495361 0.999967 -0.00643969 0.24221235] [ 0.01311205 0.00637426 0.99989372 -0.2999553 ] [ 0. 0. 0. 1. ]] SLAMing on 122.76313336499999 meters Centerline goodness [0,1] 0.28152855190960546 Centerline is valid? [False, False] Translation: X:1.63, Y:0.24, Z:-0.30 [[ 0.99989965 -0.00513595 -0.01320284 1.63372567] [ 0.00504813 0.99996497 -0.00667626 0.2433382 ] [ 0.01323666 0.00660894 0.99989055 -0.30010766] [ 0. 0. 0. 1. ]] SLAMing on 122.79313336499999 meters Centerline goodness [0,1] 0.28016457340840195 Centerline is valid? [False, False] Translation: X:1.63, Y:0.24, Z:-0.30 [[ 0.99989651 -0.00524275 -0.01339738 1.63426413] [ 0.00514969 0.99996244 -0.00697101 0.24494914] [ 0.01343342 0.0069013 0.99988595 -0.30026859] [ 0. 0. 0. 1. ]] SLAMing on 122.82313336499999 meters Centerline goodness [0,1] 0.28443566962816713 Centerline is valid? [False, False] Translation: X:1.61, Y:0.24, Z:-0.30 [[ 0.99989218 0.00323548 -0.01432374 1.61345948] [-0.00334433 0.99996567 -0.00758145 0.24210823] [ 0.01429872 0.00762854 0.99986867 -0.30069644] [ 0. 0. 0. 1. ]] SLAMing on 122.85313336499999 meters Centerline goodness [0,1] 0.28005289743534156 Centerline is valid? [False, False] Translation: X:1.64, Y:0.25, Z:-0.30 [[ 0.99989953 -0.00251868 -0.01394936 1.63524354] [ 0.00245222 0.99998557 -0.00477932 0.2472699 ] [ 0.0139612 0.00474463 0.99989128 -0.30038265] [ 0. 0. 0. 1. ]] SLAMing on 122.88313336499999 meters Centerline goodness [0,1] 0.27981552519287967 Centerline is valid? [False, False] Translation: X:1.63, Y:0.25, Z:-0.30 [[ 0.99990415 -0.00279395 -0.01356008 1.63365758] [ 0.0027236 0.99998275 -0.00520357 0.24872698] [ 0.01357439 0.00516614 0.99989452 -0.29930287] [ 0. 0. 0. 1. ]] SLAMing on 122.913133365 meters Centerline goodness [0,1] 0.28333369591228486 Centerline is valid? [False, False] Translation: X:1.63, Y:0.25, Z:-0.30 [[ 0.99990671 -0.00287227 -0.01335342 1.63282845] [ 0.00280167 0.99998202 -0.00530259 0.24897753] [ 0.01336842 0.00526468 0.99989678 -0.2987825 ] [ 0. 0. 0. 1. ]] SLAMing on 122.943133365 meters Centerline goodness [0,1] 0.2820646055252447 Centerline is valid? [False, False] Translation: X:1.63, Y:0.25, Z:-0.30 [[ 0.99990783 -0.00288023 -0.01326816 1.63251923] [ 0.00281048 0.99998215 -0.00527248 0.24891443] [ 0.0132831 0.0052347 0.99989807 -0.29862702] [ 0. 0. 0. 1. ]] SLAMing on 122.973133365 meters Centerline goodness [0,1] 0.2843228906233015 Centerline is valid? [False, False] Translation: X:1.63, Y:0.25, Z:-0.30 [[ 0.99990752 -0.00281068 -0.01330574 1.6326061 ] [ 0.0027435 0.99998341 -0.00506428 0.24810708] [ 0.01331975 0.0050273 0.99989865 -0.29860819] [ 0. 0. 0. 1. ]] SLAMing on 123.003133365 meters Centerline goodness [0,1] 0.284587484705471 Centerline is valid? [False, False] Translation: X:1.63, Y:0.25, Z:-0.30 [[ 0.99990583 -0.00277005 -0.01344105 1.63293667] [ 0.00270576 0.99998482 -0.00479912 0.24661706] [ 0.01345414 0.0047623 0.99989815 -0.29858685] [ 0. 0. 0. 1. ]] SLAMing on 123.033133365 meters Centerline goodness [0,1] 0.28449195532429083 Centerline is valid? [False, False] Translation: X:1.63, Y:0.24, Z:-0.30 [[ 0.99990247 -0.00279386 -0.01368406 1.63354529] [ 0.00273204 0.99998599 -0.00453415 0.24476374] [ 0.01369654 0.00449632 0.99989609 -0.29857083] [ 0. 0. 0. 1. ]] SLAMing on 123.063133365 meters Centerline goodness [0,1] 0.28449195532429083 Centerline is valid? [False, False] Translation: X:1.63, Y:0.24, Z:-0.30 [[ 0.99990247 -0.00279386 -0.01368406 1.63354529] [ 0.00273204 0.99998599 -0.00453415 0.24476374] [ 0.01369654 0.00449632 0.99989609 -0.29857083] [ 0. 0. 0. 1. ]] SLAMing on 123.09313336499999 meters Centerline goodness [0,1] 0.28472628726287263 Centerline is valid? [False, False] Translation: X:1.63, Y:0.24, Z:-0.30 [[ 0.99990067 -0.00277015 -0.01381945 1.63382656] [ 0.00271223 0.99998747 -0.00420853 0.24260281] [ 0.01383093 0.00417063 0.99989565 -0.29842405] [ 0. 0. 0. 1. ]] SLAMing on 123.12313336499999 meters Centerline goodness [0,1] 0.2853979419043897 Centerline is valid? [False, False] Translation: X:1.63, Y:0.24, Z:-0.30 [[ 0.99989854 -0.00271446 -0.01398359 1.63409026] [ 0.00265988 0.99998878 -0.0039202 0.24091433] [ 0.01399408 0.00388261 0.99989454 -0.29817382] [ 0. 0. 0. 1. ]] SLAMing on 123.15313336499999 meters Centerline goodness [0,1] 0.28168892346255237 Centerline is valid? [False, False] Translation: X:1.63, Y:0.24, Z:-0.30 [[ 0.99989564 -0.00261538 -0.01420818 1.63470593] [ 0.00256364 0.99999002 -0.00365873 0.23965528] [ 0.01421761 0.00362193 0.99989236 -0.29825807] [ 0. 0. 0. 1. ]] SLAMing on 123.18313336499999 meters Centerline goodness [0,1] 0.2843456019421685 Centerline is valid? [False, False] Translation: X:1.64, Y:0.24, Z:-0.30 [[ 0.99989309 -0.00256505 -0.01439577 1.63571042] [ 0.00251382 0.99999045 -0.00357619 0.23913383] [ 0.0144048 0.00353962 0.99988998 -0.29912631] [ 0. 0. 0. 1. ]] SLAMing on 123.21313336499999 meters Centerline goodness [0,1] 0.28495094604064475 Centerline is valid? [False, False] Translation: X:1.64, Y:0.24, Z:-0.30 [[ 0.99989706 -0.00252241 -0.01412443 1.635119 ] [ 0.00247157 0.99999041 -0.00361558 0.2395367 ] [ 0.01413342 0.0035803 0.99989371 -0.2992515 ] [ 0. 0. 0. 1. ]] SLAMing on 123.24313336499999 meters Centerline goodness [0,1] 0.28545220259025483 Centerline is valid? [False, False] Translation: X:1.63, Y:0.24, Z:-0.30 [[ 0.99990349 -0.00243577 -0.01367786 1.63391009] [ 0.00238608 0.9999905 -0.00364823 0.24021194] [ 0.01368661 0.00361524 0.9998998 -0.29906007] [ 0. 0. 0. 1. ]] SLAMing on 123.27313336499999 meters Centerline goodness [0,1] 0.2842050117873046 Centerline is valid? [False, False] Translation: X:1.63, Y:0.24, Z:-0.30 [[ 0.99990836 -0.00237119 -0.01332855 1.63297798] [ 0.00232178 0.99999038 -0.00372138 0.24102961] [ 0.01333725 0.00369009 0.99990425 -0.29897707] [ 0. 0. 0. 1. ]] SLAMing on 123.303133365 meters Centerline goodness [0,1] 0.28434964668934837 Centerline is valid? [False, False] Translation: X:1.63, Y:0.24, Z:-0.30 [[ 0.999908 -0.00236304 -0.01335708 1.63301815] [ 0.00231168 0.99998988 -0.00385955 0.2420131 ] [ 0.01336606 0.00382831 0.99990334 -0.29895004] [ 0. 0. 0. 1. ]] SLAMing on 123.333133365 meters Centerline goodness [0,1] 0.2839391047883414 Centerline is valid? [False, False] Translation: X:1.63, Y:0.24, Z:-0.30 [[ 0.99990592 -0.00241259 -0.01350291 1.63341881] [ 0.00235737 0.9999888 -0.00410407 0.2432952 ] [ 0.01351266 0.00407185 0.99990041 -0.29911319] [ 0. 0. 0. 1. ]] SLAMing on 123.363133365 meters Centerline goodness [0,1] 0.28445484774238716 Centerline is valid? [False, False] Translation: X:1.63, Y:0.25, Z:-0.30 [[ 0.99990441 -0.0025326 -0.01359269 1.63374032] [ 0.00246976 0.9999862 -0.00463761 0.24612776] [ 0.01360425 0.0046036 0.99989686 -0.29941927] [ 0. 0. 0. 1. ]] SLAMing on 123.393133365 meters Centerline goodness [0,1] 0.2809299088793684 Centerline is valid? [False, False] Translation: X:1.63, Y:0.25, Z:-0.30 [[ 0.99990429 -0.00259636 -0.01358913 1.63380046] [ 0.00253015 0.99998486 -0.00488699 0.24756077] [ 0.01360162 0.00485214 0.99989572 -0.29957461] [ 0. 0. 0. 1. ]] SLAMing on 123.423133365 meters Centerline goodness [0,1] 0.27783769791621726 Centerline is valid? [False, False] Translation: X:1.63, Y:0.25, Z:-0.30 [[ 0.99990342 -0.00264905 -0.01364321 1.6338836 ] [ 0.00258022 0.99998387 -0.00506014 0.24854411] [ 0.0136564 0.00502445 0.99989412 -0.29956583] [ 0. 0. 0. 1. ]] SLAMing on 123.45313336499999 meters Centerline goodness [0,1] 0.28406628286233393 Centerline is valid? [False, False] Translation: X:1.59, Y:0.25, Z:-0.30 [[ 0.99986882 -0.00328281 -0.01586066 1.58756662] [ 0.00320403 0.99998242 -0.00498999 0.24636736] [ 0.01587676 0.00493852 0.99986176 -0.29847402] [ 0. 0. 0. 1. ]] SLAMing on 123.48313336499999 meters Centerline goodness [0,1] 0.2831667646482461 Centerline is valid? [False, False] Translation: X:1.59, Y:0.25, Z:-0.30 [[ 0.99986982 -0.00331192 -0.01579156 1.58694289] [ 0.00323405 0.9999825 -0.00495387 0.24617439] [ 0.01580769 0.00490215 0.99986303 -0.29770912] [ 0. 0. 0. 1. ]] SLAMing on 123.51313336499999 meters Centerline goodness [0,1] 0.2817722841225627 Centerline is valid? [False, False] Translation: X:1.59, Y:0.25, Z:-0.30 [[ 0.99987132 -0.00333435 -0.01569147 1.58614904] [ 0.00325934 0.99998315 -0.00480294 0.24529324] [ 0.01570722 0.00475118 0.99986535 -0.29678007] [ 0. 0. 0. 1. ]] SLAMing on 123.54313336499999 meters Centerline goodness [0,1] 0.2841501450413313 Centerline is valid? [False, False] Translation: X:1.59, Y:0.24, Z:-0.30 [[ 0.99987165 -0.00339597 -0.01565725 1.58572702] [ 0.00332437 0.99998391 -0.00459688 0.24393268] [ 0.01567261 0.00454424 0.99986685 -0.29614994] [ 0. 0. 0. 1. ]] SLAMing on 123.57313336499999 meters Centerline goodness [0,1] 0.2821437102343054 Centerline is valid? [False, False] Translation: X:1.59, Y:0.24, Z:-0.30 [[ 0.99985659 -0.00379283 -0.01650496 1.588207 ] [ 0.00372187 0.99998371 -0.00432798 0.24103572] [ 0.01652111 0.00426593 0.99985442 -0.2967578 ] [ 0. 0. 0. 1. ]] SLAMing on 123.60313336499999 meters Centerline goodness [0,1] 0.28087791971198683 Centerline is valid? [False, False] Translation: X:1.59, Y:0.24, Z:-0.30 [[ 0.99984995 -0.00372689 -0.01691701 1.58953727] [ 0.00366012 0.9999854 -0.00397603 0.23913134] [ 0.01693158 0.00391352 0.99984899 -0.29726306] [ 0. 0. 0. 1. ]] SLAMing on 123.63313336499999 meters Centerline goodness [0,1] 0.2813168759862519 Centerline is valid? [False, False] Translation: X:1.59, Y:0.24, Z:-0.30 [[ 0.99984911 -0.00363858 -0.01698582 1.58963569] [ 0.00357633 0.99998678 -0.00369384 0.23763757] [ 0.01699903 0.00363254 0.99984891 -0.29711148] [ 0. 0. 0. 1. ]] SLAMing on 123.663133365 meters Centerline goodness [0,1] 0.28165207049410745 Centerline is valid? [False, False] Translation: X:1.59, Y:0.24, Z:-0.30 [[ 0.99985186 -0.00359132 -0.0168335 1.58888659] [ 0.00353194 0.99998744 -0.00355612 0.23684629] [ 0.01684606 0.00349614 0.99985198 -0.29647727] [ 0. 0. 0. 1. ]] SLAMing on 123.693133365 meters Centerline goodness [0,1] 0.2844549886818736 Centerline is valid? [False, False] Translation: X:1.59, Y:0.24, Z:-0.30 [[ 0.99985647 -0.00354106 -0.0165679 1.58789773] [ 0.00348344 0.99998779 -0.00350529 0.23668052] [ 0.01658011 0.00344708 0.9998566 -0.2958942 ] [ 0. 0. 0. 1. ]] SLAMing on 123.723133365 meters Centerline goodness [0,1] 0.28317912937964507 Centerline is valid? [False, False] Translation: X:1.59, Y:0.24, Z:-0.30 [[ 0.99985845 -0.00349553 -0.01645759 1.58764934] [ 0.00343699 0.99998767 -0.0035837 0.23728457] [ 0.01646991 0.00352663 0.99985814 -0.29594524] [ 0. 0. 0. 1. ]] SLAMing on 123.753133365 meters Centerline goodness [0,1] 0.28282388774067224 Centerline is valid? [False, False] Translation: X:1.59, Y:0.24, Z:-0.30 [[ 0.99985177 -0.00323871 -0.01691017 1.58926198] [ 0.0031762 0.99998803 -0.00372224 0.23871909] [ 0.01692203 0.00366798 0.99985008 -0.29692777] [ 0. 0. 0. 1. ]] SLAMing on 123.783133365 meters Centerline goodness [0,1] 0.28189711308877796 Centerline is valid? [False, False] Translation: X:1.59, Y:0.24, Z:-0.30 [[ 0.99984794 -0.00319344 -0.01714342 1.59001976] [ 0.00312881 0.9999879 -0.00379556 0.23920851] [ 0.01715533 0.00374134 0.99984584 -0.2972941 ] [ 0. 0. 0. 1. ]] SLAMing on 123.813133365 meters Centerline goodness [0,1] 0.2821733528422615 Centerline is valid? [False, False] Translation: X:1.59, Y:0.24, Z:-0.30 [[ 0.99984764 -0.00312857 -0.01717299 1.59018735] [ 0.00306425 0.9999882 -0.00377081 0.23924066] [ 0.01718458 0.00371761 0.99984542 -0.2975033 ] [ 0. 0. 0. 1. ]] SLAMing on 123.84313336499999 meters Centerline goodness [0,1] 0.27996968384582066 Centerline is valid? [False, False] Translation: X:1.59, Y:0.24, Z:-0.30 [[ 0.99985031 -0.00302559 -0.01703536 1.5895725 ] [ 0.00296473 0.99998914 -0.00359706 0.23846464] [ 0.01704606 0.00354602 0.99984842 -0.29709506] [ 0. 0. 0. 1. ]] SLAMing on 123.87313336499999 meters Centerline goodness [0,1] 0.2814672740350036 Centerline is valid? [False, False] Translation: X:1.59, Y:0.24, Z:-0.30 [[ 0.99985628 -0.00295548 -0.01669369 1.5885188 ] [ 0.00289993 0.99999018 -0.00335082 0.23703714] [ 0.01670343 0.00330192 0.99985504 -0.29668596] [ 0. 0. 0. 1. ]] SLAMing on 123.90313336499999 meters Centerline goodness [0,1] 0.2807289981667206 Centerline is valid? [False, False] Translation: X:1.61, Y:0.23, Z:-0.30 [[ 0.99991144 0.00269203 -0.0130336 1.60904241] [-0.00277096 0.99997791 -0.00604163 0.23251169] [ 0.01301705 0.00607721 0.99989681 -0.29717809] [ 0. 0. 0. 1. ]] SLAMing on 123.93313336499999 meters Centerline goodness [0,1] 0.2812797233030696 Centerline is valid? [False, False] Translation: X:1.61, Y:0.23, Z:-0.30 [[ 0.99991343 0.00287689 -0.01283959 1.60853512] [-0.00294819 0.99998032 -0.0055383 0.23021401] [ 0.0128234 0.00557568 0.99990223 -0.29710495] [ 0. 0. 0. 1. ]] SLAMing on 123.96313336499999 meters Centerline goodness [0,1] 0.2814939769458682 Centerline is valid? [False, False] Translation: X:1.61, Y:0.23, Z:-0.30 [[ 0.99991308 0.00306162 -0.01282418 1.60853942] [-0.00312708 0.99998217 -0.00508776 0.22821526] [ 0.01280838 0.00512742 0.99990482 -0.29717102] [ 0. 0. 0. 1. ]] SLAMing on 123.99313336499999 meters Centerline goodness [0,1] 0.28383089997820876 Centerline is valid? [False, False] Translation: X:1.61, Y:0.23, Z:-0.30 [[ 0.99991117 0.00316607 -0.01294696 1.60903551] [-0.00322778 0.99998352 -0.00474824 0.22643523] [ 0.01293171 0.00478961 0.99990491 -0.29745905] [ 0. 0. 0. 1. ]] SLAMing on 124.02313336499999 meters Centerline goodness [0,1] 0.28257047984894845 Centerline is valid? [False, False] Translation: X:1.61, Y:0.22, Z:-0.30 [[ 0.99990615 0.00319502 -0.01332223 1.61017459] [-0.003255 0.99998465 -0.00448289 0.22463669] [ 0.0133077 0.00452584 0.99990121 -0.29785854] [ 0. 0. 0. 1. ]] SLAMing on 124.053133365 meters Centerline goodness [0,1] 0.2801904143676296 Centerline is valid? [False, False] Translation: X:1.61, Y:0.22, Z:-0.30 [[ 0.99990247 0.00324103 -0.01358486 1.61085525] [-0.00329849 0.9999857 -0.00420979 0.22288066] [ 0.01357102 0.00425419 0.99989886 -0.29795171] [ 0. 0. 0. 1. ]] SLAMing on 124.083133365 meters Centerline goodness [0,1] 0.27911147604745135 Centerline is valid? [False, False] Translation: X:1.61, Y:0.22, Z:-0.30 [[ 0.99989923 0.00335936 -0.01379285 1.61125683] [-0.00341327 0.99998662 -0.00388653 0.22129449] [ 0.01377961 0.00393321 0.99989732 -0.29778791] [ 0. 0. 0. 1. ]] SLAMing on 124.113133365 meters Centerline goodness [0,1] 0.2807537536238155 Centerline is valid? [False, False] Translation: X:1.61, Y:0.22, Z:-0.30 [[ 0.99989735 0.00349926 -0.01389376 1.61145233] [-0.00354928 0.9999873 -0.00357745 0.22001656] [ 0.01388106 0.00362639 0.99989708 -0.29772171] [ 0. 0. 0. 1. ]] SLAMing on 124.143133365 meters Centerline goodness [0,1] 0.28153329846582986 Centerline is valid? [False, False] Translation: X:1.61, Y:0.22, Z:-0.30 [[ 0.99989573 0.00360673 -0.01398302 1.61173847] [-0.00365348 0.99998782 -0.0033194 0.21890911] [ 0.01397088 0.00337014 0.99989672 -0.29783537] [ 0. 0. 0. 1. ]] SLAMing on 124.173133365 meters Centerline goodness [0,1] 0.27994555353901995 Centerline is valid? [False, False] Translation: X:1.63, Y:0.22, Z:-0.30 [[ 0.99990784 -0.00504071 -0.01260591 1.63214262] [ 0.00500674 0.99998375 -0.00272535 0.22003827] [ 0.01261944 0.00266198 0.99991683 -0.29742686] [ 0. 0. 0. 1. ]] SLAMing on 124.20313336499999 meters Centerline goodness [0,1] 0.2833453026049487 Centerline is valid? [False, False] Translation: X:1.63, Y:0.22, Z:-0.30 [[ 0.99991437 -0.00501102 -0.01208909 1.63066987] [ 0.00498238 0.99998471 -0.00239794 0.21818651] [ 0.01210092 0.0023375 0.99992405 -0.29697561] [ 0. 0. 0. 1. ]] SLAMing on 124.23313336499999 meters Centerline goodness [0,1] 0.2844032707028532 Centerline is valid? [False, False] Translation: X:1.63, Y:0.22, Z:-0.30 [[ 0.99991889 -0.00495104 -0.01173488 1.62960514] [ 0.00492765 0.99998582 -0.00202066 0.21620809] [ 0.01174472 0.00196267 0.9999291 -0.29660647] [ 0. 0. 0. 1. ]] SLAMing on 124.26313336499999 meters Centerline goodness [0,1] 0.2853901699426252 Centerline is valid? [False, False] Translation: X:1.63, Y:0.21, Z:-0.30 [[ 9.99919741e-01 -4.86852437e-03 -1.16965762e-02 1.62933546e+00] [ 4.84991626e-03 9.99986929e-01 -1.61874075e-03 2.14188261e-01] [ 1.17043042e-02 1.56188342e-03 9.99930282e-01 -2.96308167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29313336499999 meters Centerline goodness [0,1] 0.28463865253628706 Centerline is valid? [False, False] Translation: X:1.63, Y:0.21, Z:-0.30 [[ 9.99918418e-01 -4.82226312e-03 -1.18280260e-02 1.62960188e+00] [ 4.80816877e-03 9.99987697e-01 -1.21975363e-03 2.11999162e-01] [ 1.18337624e-02 1.16278298e-03 9.99929303e-01 -2.96191222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32313336499999 meters Centerline goodness [0,1] 0.2835480931927632 Centerline is valid? [False, False] Translation: X:1.63, Y:0.21, Z:-0.30 [[ 9.99914651e-01 -4.88807568e-03 -1.21159929e-02 1.63030635e+00] [ 4.87758360e-03 9.99987704e-01 -8.95367810e-04 2.09704854e-01] [ 1.21202206e-02 8.36194623e-04 9.99926198e-01 -2.96177149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35313336499999 meters Centerline goodness [0,1] 0.2858914391384749 Centerline is valid? [False, False] Translation: X:1.63, Y:0.21, Z:-0.30 [[ 9.99910041e-01 -4.94936131e-03 -1.24665354e-02 1.63118457e+00] [ 4.94313258e-03 9.99987642e-01 -5.30400012e-04 2.07128051e-01] [ 1.24690065e-02 4.68728560e-04 9.99922149e-01 -2.96237672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38313336499999 meters Centerline goodness [0,1] 0.28580174034719485 Centerline is valid? [False, False] Translation: X:1.63, Y:0.20, Z:-0.30 [[ 9.99907872e-01 -4.96158057e-03 -1.26344627e-02 1.63164422e+00] [ 4.96113432e-03 9.99987691e-01 -6.66616663e-05 2.04258299e-01] [ 1.26346379e-02 3.97425842e-06 9.99920180e-01 -2.96332842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.413133365 meters Centerline goodness [0,1] 0.28492562490415585 Centerline is valid? [False, False] Translation: X:1.63, Y:0.20, Z:-0.30 [[ 9.99903156e-01 -5.32619734e-03 -1.28573305e-02 1.63231814e+00] [ 5.33276140e-03 9.99985667e-01 4.76299700e-04 1.99284124e-01] [ 1.28546094e-02 -5.44818649e-04 9.99917228e-01 -2.96434170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.443133365 meters Centerline goodness [0,1] 0.28539212681175286 Centerline is valid? [False, False] Translation: X:1.63, Y:0.20, Z:-0.30 [[ 9.99899760e-01 -5.27938763e-03 -1.31376765e-02 1.63306827e+00] [ 5.29151752e-03 9.99985605e-01 8.88700912e-04 1.96846554e-01] [ 1.31327956e-02 -9.58130074e-04 9.99913302e-01 -2.96555399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.473133365 meters Centerline goodness [0,1] 0.2851613187006532 Centerline is valid? [False, False] Translation: X:1.63, Y:0.19, Z:-0.30 [[ 9.99895493e-01 -5.23561283e-03 -1.34756040e-02 1.63399555e+00] [ 5.25298667e-03 9.99985416e-01 1.25420905e-03 1.94579230e-01] [ 1.34688409e-02 -1.32486515e-03 9.99908413e-01 -2.96799501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.503133365 meters Centerline goodness [0,1] 0.28181205280441923 Centerline is valid? [False, False] Translation: X:1.66, Y:0.19, Z:-0.30 [[ 9.99903812e-01 1.61548066e-03 -1.37752130e-02 1.65578974e+00] [-1.62851236e-03 9.99998237e-01 -9.34860414e-04 1.89497614e-01] [ 1.37736784e-02 9.57203597e-04 9.99904680e-01 -2.96399013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.533133365 meters Centerline goodness [0,1] 0.28126489062161575 Centerline is valid? [False, False] Translation: X:1.66, Y:0.19, Z:-0.30 [[ 9.99900641e-01 1.74429820e-03 -1.39880564e-02 1.65641466e+00] [-1.75241659e-03 9.99998303e-01 -5.68144503e-04 1.87732163e-01] [ 1.39870417e-02 5.92600955e-04 9.99902001e-01 -2.96605607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.563133365 meters Centerline goodness [0,1] 0.281830657633912 Centerline is valid? [False, False] Translation: X:1.66, Y:0.19, Z:-0.30 [[ 9.99899456e-01 1.86893904e-03 -1.40564702e-02 1.65660969e+00] [-1.87334301e-03 9.99998200e-01 -3.00145466e-04 1.86688261e-01] [ 1.40558839e-02 3.26447878e-04 9.99901158e-01 -2.96687225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59313336499999 meters Centerline goodness [0,1] 0.2800415935529993 Centerline is valid? [False, False] Translation: X:1.66, Y:0.19, Z:-0.30 [[ 9.99898022e-01 1.93333510e-03 -1.41494754e-02 1.65689225e+00] [-1.93504468e-03 9.99998122e-01 -1.07133027e-04 1.85770687e-01] [ 1.41492417e-02 1.34501969e-04 9.99899885e-01 -2.96801941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62313336499999 meters Centerline goodness [0,1] 0.2855169692186267 Centerline is valid? [False, False] Translation: X:1.64, Y:0.19, Z:-0.30 [[ 9.99856463e-01 -7.54033665e-03 -1.51722637e-02 1.63637396e+00] [ 7.54590016e-03 9.99971481e-01 3.09474898e-04 1.87510290e-01] [ 1.51694975e-02 -4.23918864e-04 9.99884847e-01 -2.97656480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65313336499999 meters Centerline goodness [0,1] 0.2819294958385986 Centerline is valid? [False, False] Translation: X:1.65, Y:0.18, Z:-0.30 [[ 9.99891273e-01 2.39215542e-04 -1.47439996e-02 1.65487484e+00] [-2.58997078e-04 9.99999069e-01 -1.33977207e-03 1.82690749e-01] [ 1.47436654e-02 1.34344505e-03 9.99890404e-01 -2.95952707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68313336499999 meters Centerline goodness [0,1] 0.2803488321517116 Centerline is valid? [False, False] Translation: X:1.65, Y:0.18, Z:-0.30 [[ 9.99893434e-01 2.38910230e-04 -1.45966646e-02 1.65450060e+00] [-2.57274647e-04 9.99999178e-01 -1.25625942e-03 1.82189200e-01] [ 1.45963525e-02 1.25988090e-03 9.99892674e-01 -2.95933940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71313336499999 meters Centerline goodness [0,1] 0.28148325462973034 Centerline is valid? [False, False] Translation: X:1.65, Y:0.18, Z:-0.30 [[ 9.99896540e-01 2.79461125e-04 -1.43816305e-02 1.65380764e+00] [-2.95719976e-04 9.99999320e-01 -1.12841491e-03 1.81710968e-01] [ 1.43813054e-02 1.13255110e-03 9.99895942e-01 -2.95664379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74313336499999 meters Centerline goodness [0,1] 0.2796551575126399 Centerline is valid? [False, False] Translation: X:1.65, Y:0.18, Z:-0.30 [[ 9.99899245e-01 2.83899179e-04 -1.41922120e-02 1.65320331e+00] [-2.98592180e-04 9.99999422e-01 -1.03317800e-03 1.81272059e-01] [ 1.41919105e-02 1.03731158e-03 9.99898752e-01 -2.95417366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77313336499999 meters Centerline goodness [0,1] 0.2810631661034573 Centerline is valid? [False, False] Translation: X:1.65, Y:0.18, Z:-0.29 [[ 9.99904159e-01 2.70144246e-04 -1.38419385e-02 1.65208130e+00] [-2.83377808e-04 9.99999505e-01 -9.54095936e-04 1.80687192e-01] [ 1.38416739e-02 9.57926993e-04 9.99903741e-01 -2.94966289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.803133365 meters Centerline goodness [0,1] 0.28178099093053965 Centerline is valid? [False, False] Translation: X:1.65, Y:0.18, Z:-0.29 [[ 9.99915505e-01 -5.13244190e-05 -1.29992256e-02 1.64964225e+00] [ 3.69265565e-05 9.99999386e-01 -1.10783146e-03 1.80265416e-01] [ 1.29992745e-02 1.10725783e-03 9.99914893e-01 -2.94211749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.833133365 meters Centerline goodness [0,1] 0.2836514558699552 Centerline is valid? [False, False] Translation: X:1.65, Y:0.18, Z:-0.29 [[ 9.99915450e-01 -2.68694106e-05 -1.30035411e-02 1.64969725e+00] [ 1.39523316e-05 9.99999506e-01 -9.93440578e-04 1.79739111e-01] [ 1.30035614e-02 9.93175153e-04 9.99914957e-01 -2.94317183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.863133365 meters Centerline goodness [0,1] 0.2850622133467928 Centerline is valid? [False, False] Translation: X:1.61, Y:0.18, Z:-0.29 [[ 9.99876620e-01 -6.66227950e-04 -1.56939861e-02 1.60550766e+00] [ 6.55788021e-04 9.99999560e-01 -6.70355328e-04 1.79146859e-01] [ 1.56944258e-02 6.59980692e-04 9.99876617e-01 -2.94494660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.893133365 meters Centerline goodness [0,1] 0.28144246882413115 Centerline is valid? [False, False] Translation: X:1.61, Y:0.18, Z:-0.29 [[ 9.99873709e-01 -6.54122439e-04 -1.58788771e-02 1.60599275e+00] [ 6.45993242e-04 9.99999658e-01 -5.17074148e-04 1.78300838e-01] [ 1.58792099e-02 5.06751199e-04 9.99873789e-01 -2.94602670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.923133365 meters Centerline goodness [0,1] 0.28232857298593694 Centerline is valid? [False, False] Translation: X:1.61, Y:0.18, Z:-0.29 [[ 9.99873510e-01 -6.51328017e-04 -1.58915143e-02 1.60594845e+00] [ 6.46115238e-04 9.99999736e-01 -3.33154739e-04 1.77120259e-01] [ 1.58917271e-02 3.22844849e-04 9.99873666e-01 -2.94479599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95313336499999 meters Centerline goodness [0,1] 0.28232857298593694 Centerline is valid? [False, False] Translation: X:1.61, Y:0.18, Z:-0.29 [[ 9.99873510e-01 -6.51328017e-04 -1.58915143e-02 1.60594845e+00] [ 6.46115238e-04 9.99999736e-01 -3.33154739e-04 1.77120259e-01] [ 1.58917271e-02 3.22844849e-04 9.99873666e-01 -2.94479599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98313336499999 meters Centerline goodness [0,1] 0.281523642732049 Centerline is valid? [False, False] Translation: X:1.61, Y:0.18, Z:-0.29 [[ 9.99876287e-01 -6.38401515e-04 -1.57163163e-02 1.60532764e+00] [ 6.36066305e-04 9.99999786e-01 -1.53583235e-04 1.75958699e-01] [ 1.57164110e-02 1.43567616e-04 9.99876479e-01 -2.94157075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01313336499999 meters Centerline goodness [0,1] 0.2804677705244045 Centerline is valid? [False, False] Translation: X:1.60, Y:0.17, Z:-0.29 [[ 9.99878663e-01 -6.42343974e-04 -1.55643004e-02 1.60486885e+00] [ 6.43064139e-04 9.99999792e-01 4.12656414e-05 1.74659342e-01] [ 1.55642706e-02 -5.12694777e-05 9.99878868e-01 -2.94025953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04313336499999 meters Centerline goodness [0,1] 0.280281323261266 Centerline is valid? [False, False] Translation: X:1.60, Y:0.17, Z:-0.29 [[ 9.99880730e-01 -3.96945770e-04 -1.54391594e-02 1.60475437e+00] [ 4.07997145e-04 9.99999663e-01 7.12658420e-04 1.71584316e-01] [ 1.54388713e-02 -7.18872555e-04 9.99880555e-01 -2.94359966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07313336499999 meters Centerline goodness [0,1] 0.2817389409457398 Centerline is valid? [False, False] Translation: X:1.61, Y:0.17, Z:-0.29 [[ 9.99879412e-01 -2.93516412e-04 -1.55266111e-02 1.60528833e+00] [ 3.08768303e-04 9.99999472e-01 9.79918416e-04 1.70283380e-01] [ 1.55263152e-02 -9.84594375e-04 9.99878975e-01 -2.94902251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10313336499999 meters Centerline goodness [0,1] 0.2821406781138325 Centerline is valid? [False, False] Translation: X:1.61, Y:0.17, Z:-0.30 [[ 9.99877930e-01 -2.20685653e-04 -1.56229143e-02 1.60571509e+00] [ 2.39168512e-04 9.99999274e-01 1.18120235e-03 1.69169814e-01] [ 1.56226423e-02 -1.18479467e-03 9.99877257e-01 -2.95198931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13313336499999 meters Centerline goodness [0,1] 0.28235833006151023 Centerline is valid? [False, False] Translation: X:1.61, Y:0.17, Z:-0.30 [[ 9.99876439e-01 -1.37650469e-04 -1.57190046e-02 1.60598502e+00] [ 1.59156780e-04 9.99999053e-01 1.36692982e-03 1.68165002e-01] [ 1.57188015e-02 -1.36926271e-03 9.99875514e-01 -2.95233839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.163133365 meters Centerline goodness [0,1] 0.28158805476351134 Centerline is valid? [False, False] Translation: X:1.61, Y:0.17, Z:-0.30 [[ 9.99876052e-01 -3.70753744e-05 -1.57441691e-02 1.60592529e+00] [ 6.09630817e-05 9.99998848e-01 1.51676431e-03 1.67541268e-01] [ 1.57440947e-02 -1.51753612e-03 9.99874902e-01 -2.95012788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.193133365 meters Centerline goodness [0,1] 0.28403991111498406 Centerline is valid? [False, False] Translation: X:1.61, Y:0.17, Z:-0.29 [[ 9.99876439e-01 1.29673429e-04 -1.57190641e-02 1.60572962e+00] [-1.02364872e-04 9.99998484e-01 1.73808112e-03 1.66787586e-01] [ 1.57192657e-02 -1.73625728e-03 9.99874937e-01 -2.94769881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.223133365 meters Centerline goodness [0,1] 0.28232218712558543 Centerline is valid? [False, False] Translation: X:1.61, Y:0.17, Z:-0.29 [[ 9.99874691e-01 2.74028712e-04 -1.58280608e-02 1.60606674e+00] [-2.43065909e-04 9.99998053e-01 1.95808751e-03 1.65903683e-01] [ 1.58285665e-02 -1.95399488e-03 9.99872811e-01 -2.94869046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.253133365 meters Centerline goodness [0,1] 0.2849646511219427 Centerline is valid? [False, False] Translation: X:1.61, Y:0.16, Z:-0.30 [[ 9.99863129e-01 7.62177166e-04 -1.65270328e-02 1.60838169e+00] [-7.21804723e-04 9.99996742e-01 2.44864003e-03 1.64123783e-01] [ 1.65288453e-02 -2.43637559e-03 9.99860421e-01 -2.95900893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.283133365 meters Centerline goodness [0,1] 0.28086681912229117 Centerline is valid? [False, False] Translation: X:1.61, Y:0.16, Z:-0.30 [[ 9.99860374e-01 8.38618970e-04 -1.66892242e-02 1.60887995e+00] [-7.96394966e-04 9.99996466e-01 2.53650126e-03 1.63470999e-01] [ 1.66912923e-02 -2.52285588e-03 9.99857508e-01 -2.96044721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.313133365 meters Centerline goodness [0,1] 0.2844329716485824 Centerline is valid? [False, False] Translation: X:1.61, Y:0.16, Z:-0.30 [[ 9.99858675e-01 9.23105349e-04 -1.67862272e-02 1.60905556e+00] [-8.78502121e-04 9.99996065e-01 2.66431222e-03 1.62743040e-01] [ 1.67886206e-02 -2.64918895e-03 9.99855552e-01 -2.95936639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34313336499999 meters Centerline goodness [0,1] 0.2844072755857371 Centerline is valid? [False, False] Translation: X:1.61, Y:0.16, Z:-0.30 [[ 9.99858516e-01 1.01195878e-03 -1.67905855e-02 1.60903988e+00] [-9.65051073e-04 9.99995610e-01 2.80155821e-03 1.62008625e-01] [ 1.67933468e-02 -2.78495806e-03 9.99855103e-01 -2.95862775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37313336499999 meters Centerline goodness [0,1] 0.2854372782760064 Centerline is valid? [False, False] Translation: X:1.61, Y:0.16, Z:-0.30 [[ 9.99859269e-01 1.13801145e-03 -1.67376090e-02 1.60896331e+00] [-1.08753175e-03 9.99994834e-01 3.02473767e-03 1.61040060e-01] [ 1.67409647e-02 -3.00610931e-03 9.99855341e-01 -2.95967867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40313336499999 meters Centerline goodness [0,1] 0.28193938335988133 Centerline is valid? [False, False] Translation: X:1.61, Y:0.16, Z:-0.30 [[ 9.99859455e-01 1.26299401e-03 -1.67175073e-02 1.60900140e+00] [-1.20891144e-03 9.99994005e-01 3.24479616e-03 1.60134860e-01] [ 1.67215053e-02 -3.22413013e-03 9.99854988e-01 -2.96112974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43313336499999 meters Centerline goodness [0,1] 0.2830976372101156 Centerline is valid? [False, False] Translation: X:1.61, Y:0.16, Z:-0.30 [[ 9.99861002e-01 1.53419182e-03 -1.66018972e-02 1.60871145e+00] [-1.47059121e-03 9.99991536e-01 3.84245472e-03 1.57453185e-01] [ 1.66076518e-02 -3.81750603e-03 9.99854796e-01 -2.96075021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46313336499999 meters Centerline goodness [0,1] 0.28075737178095284 Centerline is valid? [False, False] Translation: X:1.61, Y:0.16, Z:-0.30 [[ 9.99860196e-01 1.64362931e-03 -1.66399467e-02 1.60886079e+00] [-1.57497314e-03 9.99990197e-01 4.13824891e-03 1.55969514e-01] [ 1.66465853e-02 -4.11146289e-03 9.99852983e-01 -2.96175261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49313336499999 meters Centerline goodness [0,1] 0.28273108143493064 Centerline is valid? [False, False] Translation: X:1.61, Y:0.15, Z:-0.30 [[ 0.99986067 0.0017355 -0.01660202 1.60871495] [-0.00166316 0.99998907 0.00436988 0.15479571] [ 0.01660943 -0.00434166 0.99985263 -0.29608053] [ 0. 0. 0. 1. ]] SLAMing on 125.52313336499999 meters Centerline goodness [0,1] 0.2798868446056837 Centerline is valid? [False, False] Translation: X:1.61, Y:0.15, Z:-0.30 [[ 0.99986021 0.00181674 -0.01662092 1.6087435 ] [-0.00174066 0.99998795 0.0045907 0.15359381] [ 0.01662906 -0.00456113 0.99985132 -0.29605839] [ 0. 0. 0. 1. ]] SLAMing on 125.553133365 meters Centerline goodness [0,1] 0.2800954032957502 Centerline is valid? [False, False] Translation: X:1.61, Y:0.15, Z:-0.30 [[ 0.99986027 0.00185673 -0.01661319 1.60880613] [-0.00177836 0.99998723 0.00473077 0.15276591] [ 0.01662176 -0.00470056 0.9998508 -0.29619444] [ 0. 0. 0. 1. ]] SLAMing on 125.583133365 meters Centerline goodness [0,1] 0.2823808281141267 Centerline is valid? [False, False] Translation: X:1.61, Y:0.15, Z:-0.30 [[ 0.99985989 0.00187892 -0.01663337 1.60909517] [-0.00179873 0.99998669 0.00483497 0.15208667] [ 0.01664223 -0.00480437 0.99984997 -0.29657143] [ 0. 0. 0. 1. ]] SLAMing on 125.613133365 meters Centerline goodness [0,1] 0.27975867531847476 Centerline is valid? [False, False] Translation: X:1.61, Y:0.15, Z:-0.30 [[ 0.99985773 0.00191566 -0.0167588 1.6094992 ] [-0.00183381 0.99998632 0.00489849 0.15179532] [ 0.01676795 -0.00486707 0.99984756 -0.29673171] [ 0. 0. 0. 1. ]] SLAMing on 125.643133365 meters Centerline goodness [0,1] 0.28122892142997014 Centerline is valid? [False, False] Translation: X:1.61, Y:0.15, Z:-0.30 [[ 0.99985857 0.00192392 -0.01670743 1.60949143] [-0.0018428 0.99998645 0.0048696 0.15199476] [ 0.01671658 -0.00483812 0.99984856 -0.29693992] [ 0. 0. 0. 1. ]] SLAMing on 125.673133365 meters Centerline goodness [0,1] 0.28262771168649403 Centerline is valid? [False, False] Translation: X:1.61, Y:0.15, Z:-0.30 [[ 0.99986015 0.00195064 -0.01660956 1.60922209] [-0.00187078 0.99998662 0.00482185 0.15247183] [ 0.01661874 -0.00479011 0.99985042 -0.29685803] [ 0. 0. 0. 1. ]] SLAMing on 125.70313336499999 meters Centerline goodness [0,1] 0.2813888646858935 Centerline is valid? [False, False] Translation: X:1.61, Y:0.15, Z:-0.30 [[ 0.99987105 0.0021671 -0.01591216 1.60742886] [-0.00209352 0.99998705 0.00463962 0.15434067] [ 0.01592201 -0.00460571 0.99986263 -0.29663552] [ 0. 0. 0. 1. ]] SLAMing on 125.73313336499999 meters Centerline goodness [0,1] 0.28178021404333076 Centerline is valid? [False, False] Translation: X:1.61, Y:0.16, Z:-0.30 [[ 0.99987195 0.00213597 -0.01585972 1.60753754] [-0.00206714 0.99998838 0.00435467 0.15592447] [ 0.01586884 -0.00432132 0.99986474 -0.29704443] [ 0. 0. 0. 1. ]] SLAMing on 125.76313336499999 meters Centerline goodness [0,1] 0.2827263994410969 Centerline is valid? [False, False] Translation: X:1.61, Y:0.16, Z:-0.30 [[ 0.99987213 0.00205926 -0.01585849 1.60792682] [-0.00199643 0.9999901 0.00397682 0.15790167] [ 0.01586652 -0.00394466 0.99986634 -0.29774513] [ 0. 0. 0. 1. ]] SLAMing on 125.79313336499999 meters Centerline goodness [0,1] 0.28491375536292796 Centerline is valid? [False, False] Translation: X:1.61, Y:0.16, Z:-0.30 [[ 0.99987186 0.00201374 -0.01588122 1.60834568] [-0.00195529 0.99999126 0.00369499 0.15943941] [ 0.01588852 -0.00366346 0.99986706 -0.29839259] [ 0. 0. 0. 1. ]] SLAMing on 125.82313336499999 meters Centerline goodness [0,1] 0.2801935497807444 Centerline is valid? [False, False] Translation: X:1.63, Y:0.16, Z:-0.30 [[ 0.9998343 0.0106303 -0.01477746 1.62806105] [-0.01059467 0.99994078 0.00248746 0.15745028] [ 0.01480303 -0.00233048 0.99988771 -0.29762875] [ 0. 0. 0. 1. ]] SLAMing on 125.85313336499999 meters Centerline goodness [0,1] 0.2809829292160487 Centerline is valid? [False, False] Translation: X:1.61, Y:0.16, Z:-0.30 [[ 0.9998991 0.00211411 -0.01404727 1.60817087] [-0.00206397 0.99999145 0.00358322 0.16190817] [ 0.01405472 -0.00355387 0.99989491 -0.29930994] [ 0. 0. 0. 1. ]] SLAMing on 125.88313336499999 meters Centerline goodness [0,1] 0.2801360072768224 Centerline is valid? [False, False] Translation: X:1.61, Y:0.16, Z:-0.30 [[ 0.99990238 0.00211216 -0.01381161 1.6071362 ] [-0.00206224 0.99999129 0.00362754 0.16153714] [ 0.01381916 -0.00359871 0.99989803 -0.29856724] [ 0. 0. 0. 1. ]] SLAMing on 125.913133365 meters Centerline goodness [0,1] 0.2799852593700548 Centerline is valid? [False, False] Translation: X:1.61, Y:0.16, Z:-0.30 [[ 0.99990163 0.00215288 -0.01385982 1.60726169] [-0.00210112 0.99999077 0.00374758 0.16097041] [ 0.01386776 -0.00371809 0.99989693 -0.29860657] [ 0. 0. 0. 1. ]] SLAMing on 125.943133365 meters Centerline goodness [0,1] 0.28333987697945295 Centerline is valid? [False, False] Translation: X:1.61, Y:0.16, Z:-0.30 [[ 0.9998993 0.00221739 -0.01401715 1.60774612] [-0.00216266 0.99998998 0.00391841 0.16024589] [ 0.0140257 -0.0038877 0.99989408 -0.29877802] [ 0. 0. 0. 1. ]] SLAMing on 125.973133365 meters Centerline goodness [0,1] 0.28456381682047716 Centerline is valid? [False, False] Translation: X:1.61, Y:0.16, Z:-0.30 [[ 0.99989751 0.00230753 -0.01412943 1.60813375] [-0.00224932 0.99998893 0.00413404 0.1593253 ] [ 0.01413882 -0.00410184 0.99989163 -0.29895418] [ 0. 0. 0. 1. ]] SLAMing on 126.003133365 meters Centerline goodness [0,1] 0.28155445136372514 Centerline is valid? [False, False] Translation: X:1.61, Y:0.16, Z:-0.30 [[ 0.99989804 0.00239327 -0.01407775 1.607876 ] [-0.00233182 0.99998769 0.00437978 0.15812478] [ 0.01408806 -0.00434651 0.99989131 -0.2987269 ] [ 0. 0. 0. 1. ]] SLAMing on 126.033133365 meters Centerline goodness [0,1] 0.28359677313569887 Centerline is valid? [False, False] Translation: X:1.61, Y:0.16, Z:-0.30 [[ 0.99990021 0.00256162 -0.01389292 1.60702956] [-0.00249393 0.99998494 0.00488797 0.15544334] [ 0.01390523 -0.00485284 0.99989154 -0.29801304] [ 0. 0. 0. 1. ]] SLAMing on 126.063133365 meters Centerline goodness [0,1] 0.28359677313569887 Centerline is valid? [False, False] Translation: X:1.61, Y:0.16, Z:-0.30 [[ 0.99990021 0.00256162 -0.01389292 1.60702956] [-0.00249393 0.99998494 0.00488797 0.15544334] [ 0.01390523 -0.00485284 0.99989154 -0.29801304] [ 0. 0. 0. 1. ]] SLAMing on 126.09313336499999 meters Centerline goodness [0,1] 0.28302545962705794 Centerline is valid? [False, False] Translation: X:1.61, Y:0.15, Z:-0.30 [[ 0.99989974 0.00277503 -0.01388571 1.60683349] [-0.00270061 0.99998191 0.00537548 0.15324561] [ 0.01390037 -0.00533744 0.99988914 -0.29767644] [ 0. 0. 0. 1. ]] SLAMing on 126.12313336499999 meters Centerline goodness [0,1] 0.28502373192764496 Centerline is valid? [False, False] Translation: X:1.61, Y:0.15, Z:-0.30 [[ 0.99989737 0.00280888 -0.01404841 1.60743675] [-0.00273187 0.99998116 0.00549751 0.15248819] [ 0.01406358 -0.00545856 0.9998862 -0.29801356] [ 0. 0. 0. 1. ]] SLAMing on 126.15313336499999 meters Centerline goodness [0,1] 0.28383926621533084 Centerline is valid? [False, False] Translation: X:1.61, Y:0.15, Z:-0.30 [[ 0.99989388 0.00282121 -0.01429221 1.60828626] [-0.00274116 0.99998046 0.00561768 0.15164811] [ 0.01430778 -0.00557791 0.99988208 -0.29844328] [ 0. 0. 0. 1. ]] SLAMing on 126.18313336499999 meters Centerline goodness [0,1] 0.28560486694677867 Centerline is valid? [False, False] Translation: X:1.61, Y:0.15, Z:-0.30 [[ 0.99989207 0.00284435 -0.01441384 1.60872544] [-0.00276177 0.99997968 0.00574594 0.15081889] [ 0.01442989 -0.00570551 0.99987961 -0.29866465] [ 0. 0. 0. 1. ]] SLAMing on 126.21313336499999 meters Centerline goodness [0,1] 0.281116998175975 Centerline is valid? [False, False] Translation: X:1.61, Y:0.15, Z:-0.30 [[ 0.99989203 0.00290722 -0.01440385 1.60854268] [-0.00282156 0.99997824 0.00596365 0.14965564] [ 0.01442087 -0.00592237 0.99987847 -0.29839205] [ 0. 0. 0. 1. ]] SLAMing on 126.24313336499999 meters Centerline goodness [0,1] 0.28001558407826665 Centerline is valid? [False, False] Translation: X:1.61, Y:0.15, Z:-0.30 [[ 0.99989132 0.00300278 -0.01443359 1.60845745] [-0.0029125 0.99997609 0.00627211 0.14801149] [ 0.01445208 -0.00622939 0.99987616 -0.29813203] [ 0. 0. 0. 1. ]] SLAMing on 126.27313336499999 meters Centerline goodness [0,1] 0.2803608905428503 Centerline is valid? [False, False] Translation: X:1.61, Y:0.14, Z:-0.30 [[ 0.99987685 0.00303049 -0.01539833 1.61088993] [-0.00292493 0.9999721 0.00687277 0.14413008] [ 0.01541873 -0.00682689 0.99985782 -0.2983077 ] [ 0. 0. 0. 1. ]] SLAMing on 126.303133365 meters Centerline goodness [0,1] 0.2799956559513467 Centerline is valid? [False, False] Translation: X:1.61, Y:0.14, Z:-0.30 [[ 0.99987109 0.00308771 -0.01575632 1.61198384] [-0.00297314 0.99996901 0.00728949 0.14166476] [ 0.01577833 -0.00724171 0.99984929 -0.29865273] [ 0. 0. 0. 1. ]] SLAMing on 126.333133365 meters Centerline goodness [0,1] 0.2816732720700318 Centerline is valid? [False, False] Translation: X:1.61, Y:0.14, Z:-0.30 [[ 0.99986857 0.00312596 -0.01590844 1.61228831] [-0.0030031 0.99996553 0.00774102 0.13885599] [ 0.01593209 -0.00769223 0.99984349 -0.29850746] [ 0. 0. 0. 1. ]] SLAMing on 126.363133365 meters Centerline goodness [0,1] 0.2828721801227315 Centerline is valid? [False, False] Translation: X:1.61, Y:0.14, Z:-0.30 [[ 0.99987186 0.00315925 -0.01569333 1.61135422] [-0.00303056 0.99996165 0.00821711 0.13587361] [ 0.01571869 -0.0081685 0.99984309 -0.29771724] [ 0. 0. 0. 1. ]] SLAMing on 126.393133365 meters Centerline goodness [0,1] 0.27777058239433583 Centerline is valid? [False, False] Translation: X:1.63, Y:0.13, Z:-0.30 [[ 0.9998704 0.00923148 -0.01318922 1.63223887] [-0.00916436 0.99994479 0.00514027 0.13239417] [ 0.01323595 -0.00501873 0.99989981 -0.29775998] [ 0. 0. 0. 1. ]] SLAMing on 126.423133365 meters Centerline goodness [0,1] 0.2809273878719528 Centerline is valid? [False, False] Translation: X:1.63, Y:0.13, Z:-0.30 [[ 0.99987301 0.0093514 -0.01290413 1.6311563 ] [-0.00928077 0.99994169 0.00552206 0.13041726] [ 0.01295501 -0.0054016 0.99990149 -0.2970886 ] [ 0. 0. 0. 1. ]] SLAMing on 126.45313336499999 meters Centerline goodness [0,1] 0.2787115451088835 Centerline is valid? [False, False] Translation: X:1.63, Y:0.13, Z:-0.30 [[ 0.99987537 0.00951954 -0.01259484 1.63023402] [-0.00944531 0.99993775 0.00594011 0.12816481] [ 0.01265061 -0.00582041 0.99990304 -0.29672135] [ 0. 0. 0. 1. ]] SLAMing on 126.48313336499999 meters Centerline goodness [0,1] 0.2795098293929159 Centerline is valid? [False, False] Translation: X:1.63, Y:0.13, Z:-0.30 [[ 0.99987341 0.00947582 -0.01278161 1.63100186] [-0.00940091 0.99993835 0.00590875 0.12793386] [ 0.01283681 -0.00578784 0.99990085 -0.29719219] [ 0. 0. 0. 1. ]] SLAMing on 126.51313336499999 meters Centerline goodness [0,1] 0.2847155255544841 Centerline is valid? [False, False] Translation: X:1.61, Y:0.13, Z:-0.30 [[ 9.99900056e-01 3.65941898e-04 -1.41330646e-02 1.61211493e+00] [-2.68895378e-04 9.99976379e-01 6.86791947e-03 1.30978856e-01] [ 1.41352441e-02 -6.86343275e-03 9.99876536e-01 -2.98520713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54313336499999 meters Centerline goodness [0,1] 0.28323333696956476 Centerline is valid? [False, False] Translation: X:1.61, Y:0.13, Z:-0.30 [[ 9.99898301e-01 3.69830682e-04 -1.42566361e-02 1.61282138e+00] [-2.72505835e-04 9.99976652e-01 6.82797297e-03 1.31167761e-01] [ 1.42588284e-02 -6.82339355e-03 9.99875056e-01 -2.99194932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57313336499999 meters Centerline goodness [0,1] 0.2778881880238486 Centerline is valid? [False, False] Translation: X:1.63, Y:0.13, Z:-0.30 [[ 0.99986867 0.00924733 -0.01330926 1.63254519] [-0.00917159 0.99994146 0.00574039 0.12849187] [ 0.01336157 -0.00561757 0.99989495 -0.29847878] [ 0. 0. 0. 1. ]] SLAMing on 126.60313336499999 meters Centerline goodness [0,1] 0.27985163140756075 Centerline is valid? [False, False] Translation: X:1.63, Y:0.13, Z:-0.30 [[ 0.99987255 0.00929433 -0.01298105 1.63167393] [-0.00922069 0.99994113 0.0057206 0.12881299] [ 0.01303345 -0.00560018 0.99989938 -0.29835663] [ 0. 0. 0. 1. ]] SLAMing on 126.63313336499999 meters Centerline goodness [0,1] 0.27914176842469907 Centerline is valid? [False, False] Translation: X:1.63, Y:0.13, Z:-0.30 [[ 0.99987467 0.00931362 -0.01280223 1.63108042] [-0.00924168 0.99994124 0.00566678 0.12930313] [ 0.01285425 -0.00554776 0.99990199 -0.2981021 ] [ 0. 0. 0. 1. ]] SLAMing on 126.663133365 meters Centerline goodness [0,1] 0.2820317929117443 Centerline is valid? [False, False] Translation: X:1.63, Y:0.13, Z:-0.30 [[ 0.99987521 0.00931141 -0.01276185 1.6309862 ] [-0.00924021 0.99994148 0.00562637 0.12953812] [ 0.01281349 -0.00550774 0.99990273 -0.29810635] [ 0. 0. 0. 1. ]] SLAMing on 126.693133365 meters Centerline goodness [0,1] 0.2835811077489804 Centerline is valid? [False, False] Translation: X:1.61, Y:0.13, Z:-0.30 [[ 9.99901523e-01 5.09525546e-04 -1.40244434e-02 1.61266072e+00] [-4.11080066e-04 9.99975264e-01 7.02155199e-03 1.32156080e-01] [ 1.40276742e-02 -7.01509536e-03 9.99876999e-01 -3.00299719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.723133365 meters Centerline goodness [0,1] 0.2841695123019 Centerline is valid? [False, False] Translation: X:1.61, Y:0.13, Z:-0.30 [[ 9.99901109e-01 5.20682372e-04 -1.40534851e-02 1.61288808e+00] [-4.21566644e-04 9.99975026e-01 7.05479194e-03 1.31948426e-01] [ 1.40568074e-02 -7.04816981e-03 9.99876357e-01 -3.00558938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.753133365 meters Centerline goodness [0,1] 0.27983592681815217 Centerline is valid? [False, False] Translation: X:1.61, Y:0.13, Z:-0.30 [[ 9.99902873e-01 5.84367771e-04 -1.39249401e-02 1.61262410e+00] [-4.85219040e-04 9.99974517e-01 7.12254180e-03 1.31928641e-01] [ 1.39287474e-02 -7.11509336e-03 9.99877675e-01 -3.00679095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.783133365 meters Centerline goodness [0,1] 0.2810071630128066 Centerline is valid? [False, False] Translation: X:1.61, Y:0.13, Z:-0.30 [[ 9.99905523e-01 6.76918842e-04 -1.37290177e-02 1.61209910e+00] [-5.77844731e-04 9.99973775e-01 7.21908538e-03 1.31857260e-01] [ 1.37335444e-02 -7.21047010e-03 9.99879692e-01 -3.00600527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.813133365 meters Centerline goodness [0,1] 0.2828747845438876 Centerline is valid? [False, False] Translation: X:1.61, Y:0.13, Z:-0.30 [[ 9.99906748e-01 7.27024637e-04 -1.36369928e-02 1.61178398e+00] [-6.27441878e-04 9.99973119e-01 7.30525619e-03 1.31597586e-01] [ 1.36419373e-02 -7.29601853e-03 9.99880326e-01 -3.00435000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84313336499999 meters Centerline goodness [0,1] 0.2819035610243924 Centerline is valid? [False, False] Translation: X:1.61, Y:0.13, Z:-0.30 [[ 9.99906038e-01 7.22505777e-04 -1.36891567e-02 1.61188816e+00] [-6.21517498e-04 9.99972574e-01 7.38006467e-03 1.30949549e-01] [ 1.36941134e-02 -7.37086318e-03 9.99879064e-01 -3.00336233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87313336499999 meters Centerline goodness [0,1] 0.2819035610243924 Centerline is valid? [False, False] Translation: X:1.61, Y:0.13, Z:-0.30 [[ 9.99906038e-01 7.22505777e-04 -1.36891567e-02 1.61188816e+00] [-6.21517498e-04 9.99972574e-01 7.38006467e-03 1.30949549e-01] [ 1.36941134e-02 -7.37086318e-03 9.99879064e-01 -3.00336233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90313336499999 meters Centerline goodness [0,1] 0.277686308492201 Centerline is valid? [False, False] Translation: X:1.61, Y:0.13, Z:-0.30 [[ 9.99896571e-01 6.17152210e-04 -1.43689685e-02 1.61428748e+00] [-5.08622514e-04 9.99971328e-01 7.55549071e-03 1.28782876e-01] [ 1.43732194e-02 -7.54740087e-03 9.99868215e-01 -3.01483477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93313336499999 meters Centerline goodness [0,1] 0.2815168367123527 Centerline is valid? [False, False] Translation: X:1.62, Y:0.13, Z:-0.30 [[ 9.99892581e-01 7.42960492e-04 -1.46381159e-02 1.61530722e+00] [-6.27337130e-04 9.99968584e-01 7.90179623e-03 1.27084705e-01] [ 1.46435267e-02 -7.89176440e-03 9.99861634e-01 -3.02099054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96313336499999 meters Centerline goodness [0,1] 0.27992934711500717 Centerline is valid? [False, False] Translation: X:1.62, Y:0.13, Z:-0.30 [[ 9.99890400e-01 8.63259369e-04 -1.47798345e-02 1.61586724e+00] [-7.41320742e-04 9.99965662e-01 8.25382941e-03 1.25416908e-01] [ 1.47864522e-02 -8.24196819e-03 9.99856705e-01 -3.02426660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99313336499999 meters Centerline goodness [0,1] 0.2811418120060095 Centerline is valid? [False, False] Translation: X:1.62, Y:0.12, Z:-0.30 [[ 9.99889245e-01 9.83938517e-04 -1.48502369e-02 1.61616182e+00] [-8.56550115e-04 9.99962806e-01 8.58213056e-03 1.23770290e-01] [ 1.48581288e-02 -8.56846007e-03 9.99852898e-01 -3.02588515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02313336499999 meters Centerline goodness [0,1] 0.28114283217928837 Centerline is valid? [False, False] Translation: X:1.62, Y:0.12, Z:-0.30 [[ 9.99888120e-01 1.06299959e-03 -1.49203674e-02 1.61616458e+00] [-9.29889449e-04 9.99959735e-01 8.92547573e-03 1.21711401e-01] [ 1.49292544e-02 -8.91060286e-03 9.99848848e-01 -3.02247444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.053133365 meters Centerline goodness [0,1] 0.281230903535574 Centerline is valid? [False, False] Translation: X:1.61, Y:0.12, Z:-0.30 [[ 9.99902032e-01 -1.48261623e-03 -1.39186277e-02 1.61274606e+00] [ 1.57458882e-03 9.99976985e-01 6.59924650e-03 1.19200266e-01] [ 1.39085232e-02 -6.62051610e-03 9.99881354e-01 -3.01065016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.083133365 meters Centerline goodness [0,1] 0.27955098141393087 Centerline is valid? [False, False] Translation: X:1.61, Y:0.12, Z:-0.30 [[ 9.99905002e-01 -1.19136969e-03 -1.37319615e-02 1.61207104e+00] [ 1.29272162e-03 9.99971974e-01 7.37422040e-03 1.15272385e-01] [ 1.37227912e-02 -7.39127147e-03 9.99878520e-01 -3.00620594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.113133365 meters Centerline goodness [0,1] 0.2802811078958247 Centerline is valid? [False, False] Translation: X:1.61, Y:0.11, Z:-0.30 [[ 9.99905237e-01 -1.08587758e-03 -1.37236037e-02 1.61219987e+00] [ 1.19009922e-03 9.99970499e-01 7.58845153e-03 1.14324352e-01] [ 1.37149587e-02 -7.60406487e-03 9.99877031e-01 -3.00818657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.143133365 meters Centerline goodness [0,1] 0.2814406484225205 Centerline is valid? [False, False] Translation: X:1.61, Y:0.11, Z:-0.30 [[ 9.99903974e-01 -1.08063413e-03 -1.38157842e-02 1.61283449e+00] [ 1.18557901e-03 9.99970492e-01 7.59008093e-03 1.14202613e-01] [ 1.38071744e-02 -7.60573178e-03 9.99875750e-01 -3.01428731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.173133365 meters Centerline goodness [0,1] 0.27787054103870756 Centerline is valid? [False, False] Translation: X:1.61, Y:0.11, Z:-0.30 [[ 9.99901442e-01 -1.12184211e-03 -1.39945670e-02 1.61366273e+00] [ 1.22609843e-03 9.99971546e-01 7.44341698e-03 1.14715856e-01] [ 1.39858184e-02 -7.45984208e-03 9.99874366e-01 -3.02086720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20313336499999 meters Centerline goodness [0,1] 0.275050727453266 Centerline is valid? [False, False] Translation: X:1.61, Y:0.12, Z:-0.30 [[ 9.99900083e-01 -1.18037855e-03 -1.40865518e-02 1.61420230e+00] [ 1.28168411e-03 9.99973368e-01 7.18479126e-03 1.15907206e-01] [ 1.40776959e-02 -7.20212789e-03 9.99874966e-01 -3.02637185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23313336499999 meters Centerline goodness [0,1] 0.2819567730256701 Centerline is valid? [False, False] Translation: X:1.61, Y:0.12, Z:-0.30 [[ 9.99910686e-01 -9.28374923e-04 -1.33326303e-02 1.61245733e+00] [ 1.02237091e-03 9.99974661e-01 7.04498616e-03 1.17968154e-01] [ 1.33257521e-02 -7.05798783e-03 9.99886298e-01 -3.02837407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26313336499999 meters Centerline goodness [0,1] 0.2819567730256701 Centerline is valid? [False, False] Translation: X:1.61, Y:0.12, Z:-0.30 [[ 9.99910686e-01 -9.28374923e-04 -1.33326303e-02 1.61245733e+00] [ 1.02237091e-03 9.99974661e-01 7.04498616e-03 1.17968154e-01] [ 1.33257521e-02 -7.05798783e-03 9.99886298e-01 -3.02837407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29313336499999 meters Centerline goodness [0,1] 0.2833227564172702 Centerline is valid? [False, False] Translation: X:1.61, Y:0.12, Z:-0.30 [[ 9.99915654e-01 -9.48587741e-04 -1.29531525e-02 1.61152295e+00] [ 1.03749313e-03 9.99975941e-01 6.85861663e-03 1.19209509e-01] [ 1.29463348e-02 -6.87147694e-03 9.99892582e-01 -3.02845836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32313336499999 meters Centerline goodness [0,1] 0.2822368996588225 Centerline is valid? [False, False] Translation: X:1.61, Y:0.12, Z:-0.30 [[ 9.99921090e-01 -1.01678335e-03 -1.25211904e-02 1.61003145e+00] [ 1.10132174e-03 9.99976635e-01 6.74658201e-03 1.19734554e-01] [ 1.25140380e-02 -6.75983950e-03 9.99898847e-01 -3.02120904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35313336499999 meters Centerline goodness [0,1] 0.2804192617347714 Centerline is valid? [False, False] Translation: X:1.61, Y:0.12, Z:-0.30 [[ 9.99919630e-01 -1.09651871e-03 -1.26305604e-02 1.61017236e+00] [ 1.18237665e-03 9.99976234e-01 6.79217461e-03 1.19102535e-01] [ 1.26228125e-02 -6.80656280e-03 9.99897162e-01 -3.01933879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38313336499999 meters Centerline goodness [0,1] 0.2820903647250953 Centerline is valid? [False, False] Translation: X:1.61, Y:0.12, Z:-0.30 [[ 9.99915133e-01 -1.16724916e-03 -1.29755532e-02 1.61108557e+00] [ 1.25698913e-03 9.99975335e-01 6.91007730e-03 1.18056282e-01] [ 1.29671674e-02 -6.92580099e-03 9.99891937e-01 -3.02093849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.413133365 meters Centerline goodness [0,1] 0.2798573975044564 Centerline is valid? [False, False] Translation: X:1.61, Y:0.12, Z:-0.30 [[ 9.99909349e-01 -1.26876235e-03 -1.34046139e-02 1.61221555e+00] [ 1.36412161e-03 9.99973813e-01 7.10716636e-03 1.16468905e-01] [ 1.33952456e-02 -7.12480761e-03 9.99884896e-01 -3.02193042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.443133365 meters Centerline goodness [0,1] 0.277977323870521 Centerline is valid? [False, False] Translation: X:1.61, Y:0.11, Z:-0.30 [[ 9.99904405e-01 -1.35921536e-03 -1.37598761e-02 1.61316476e+00] [ 1.46043639e-03 9.99971930e-01 7.34887246e-03 1.14608680e-01] [ 1.37495012e-02 -7.36826537e-03 9.99878323e-01 -3.02278397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.473133365 meters Centerline goodness [0,1] 0.28204512722035524 Centerline is valid? [False, False] Translation: X:1.61, Y:0.11, Z:-0.30 [[ 9.99900268e-01 -1.35589720e-03 -1.40576102e-02 1.61382337e+00] [ 1.46423655e-03 9.99969287e-01 7.69938553e-03 1.12430699e-01] [ 1.40467389e-02 -7.71920132e-03 9.99871543e-01 -3.02138271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.503133365 meters Centerline goodness [0,1] 0.2800906752691922 Centerline is valid? [False, False] Translation: X:1.62, Y:0.11, Z:-0.30 [[ 9.99890500e-01 -1.48068816e-03 -1.47239869e-02 1.61568641e+00] [ 1.60187976e-03 9.99964912e-01 8.22251146e-03 1.08658419e-01] [ 1.47112953e-02 -8.24519715e-03 9.99857787e-01 -3.02482120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.533133365 meters Centerline goodness [0,1] 0.28315443592552025 Centerline is valid? [False, False] Translation: X:1.62, Y:0.11, Z:-0.30 [[ 9.99890691e-01 -1.34796692e-03 -1.47237246e-02 1.61579259e+00] [ 1.47409695e-03 9.99962285e-01 8.55895817e-03 1.07157932e-01] [ 1.47116321e-02 -8.57972680e-03 9.99854968e-01 -3.02625798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.563133365 meters Centerline goodness [0,1] 0.27966709402638046 Centerline is valid? [False, False] Translation: X:1.63, Y:0.10, Z:-0.30 [[ 0.99988009 0.00751913 -0.01353778 1.63486966] [-0.00741898 0.99994486 0.0074324 0.10344689] [ 0.01359291 -0.00733108 0.99988074 -0.30150469] [ 0. 0. 0. 1. ]] SLAMing on 127.59313336499999 meters Centerline goodness [0,1] 0.2836890277201337 Centerline is valid? [False, False] Translation: X:1.63, Y:0.10, Z:-0.30 [[ 0.99988372 0.00754534 -0.01325197 1.63425541] [-0.0074472 0.99994459 0.00743953 0.10341037] [ 0.01330737 -0.00733997 0.99988451 -0.30158893] [ 0. 0. 0. 1. ]] SLAMing on 127.62313336499999 meters Centerline goodness [0,1] 0.2794366563951217 Centerline is valid? [False, False] Translation: X:1.63, Y:0.10, Z:-0.30 [[ 0.99988543 0.00751812 -0.01313773 1.63407032] [-0.00742226 0.99994559 0.00733008 0.10378847] [ 0.01319212 -0.00723173 0.99988683 -0.30170633] [ 0. 0. 0. 1. ]] SLAMing on 127.65313336499999 meters Centerline goodness [0,1] 0.27782584245360553 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.30 [[ 0.99987772 0.00758017 -0.01367828 1.63616439] [-0.00748562 0.99994782 0.00695086 0.10587516] [ 0.01373025 -0.00684762 0.99988229 -0.30309957] [ 0. 0. 0. 1. ]] SLAMing on 127.68313336499999 meters Centerline goodness [0,1] 0.2802299501339198 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.30 [[ 0.99987602 0.00759798 -0.01379218 1.63675561] [-0.00750615 0.9999494 0.00669788 0.10755816] [ 0.01384237 -0.00659352 0.99988245 -0.30367147] [ 0. 0. 0. 1. ]] SLAMing on 127.71313336499999 meters Centerline goodness [0,1] 0.27818130569588695 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.30 [[ 0.99987708 0.00759316 -0.01371771 1.63659933] [-0.00750603 0.9999514 0.00639167 0.10954592] [ 0.01376558 -0.00628791 0.99988548 -0.30378707] [ 0. 0. 0. 1. ]] SLAMing on 127.74313336499999 meters Centerline goodness [0,1] 0.2779393886766238 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.30 [[ 0.9998798 0.00746987 -0.01358628 1.63630271] [-0.00738913 0.9999548 0.0059829 0.11164138] [ 0.01363036 -0.00588179 0.9998898 -0.30389182] [ 0. 0. 0. 1. ]] SLAMing on 127.77313336499999 meters Centerline goodness [0,1] 0.2800740821440244 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.30 [[ 0.9998811 0.00730691 -0.01357947 1.63647686] [-0.00723196 0.99995839 0.00556019 0.11353571] [ 0.01361954 -0.00546133 0.99989234 -0.3042499 ] [ 0. 0. 0. 1. ]] SLAMing on 127.803133365 meters Centerline goodness [0,1] 0.2781928832867693 Centerline is valid? [False, False] Translation: X:1.64, Y:0.12, Z:-0.30 [[ 0.99988174 0.00717479 -0.01360284 1.63679725] [-0.00710426 0.99996111 0.00522599 0.11504288] [ 0.01363981 -0.00512874 0.99989382 -0.30472028] [ 0. 0. 0. 1. ]] SLAMing on 127.833133365 meters Centerline goodness [0,1] 0.2803196933731136 Centerline is valid? [False, False] Translation: X:1.64, Y:0.12, Z:-0.30 [[ 0.99988361 0.00705585 -0.01352724 1.63675238] [-0.0069894 0.99996331 0.00495307 0.11637545] [ 0.01356169 -0.00485795 0.99989624 -0.30498832] [ 0. 0. 0. 1. ]] SLAMing on 127.863133365 meters Centerline goodness [0,1] 0.27657591259863 Centerline is valid? [False, False] Translation: X:1.64, Y:0.12, Z:-0.30 [[ 0.99988737 0.00691018 -0.01332301 1.63597919] [-0.00684979 0.99996608 0.00457286 0.11857367] [ 0.01335415 -0.00448108 0.99990079 -0.30461318] [ 0. 0. 0. 1. ]] SLAMing on 127.893133365 meters Centerline goodness [0,1] 0.2800889586603872 Centerline is valid? [False, False] Translation: X:1.64, Y:0.12, Z:-0.30 [[ 0.99988812 0.00676037 -0.01334358 1.63591542] [-0.00670376 0.99996836 0.0042826 0.11980406] [ 0.01337211 -0.00419267 0.9999018 -0.30444126] [ 0. 0. 0. 1. ]] SLAMing on 127.923133365 meters Centerline goodness [0,1] 0.2811976412733642 Centerline is valid? [False, False] Translation: X:1.64, Y:0.12, Z:-0.30 [[ 0.99988672 0.0065425 -0.01355518 1.63651086] [-0.00649021 0.99997134 0.00389778 0.12132091] [ 0.01358029 -0.00380936 0.99990053 -0.30458286] [ 0. 0. 0. 1. ]] SLAMing on 127.95313336499999 meters Centerline goodness [0,1] 0.28147583804962995 Centerline is valid? [False, False] Translation: X:1.64, Y:0.12, Z:-0.30 [[ 0.99988453 0.00631594 -0.01382129 1.63732441] [-0.00626896 0.99997444 0.00343931 0.12326236] [ 0.01384265 -0.00335226 0.99989857 -0.30492303] [ 0. 0. 0. 1. ]] SLAMing on 127.98313336499999 meters Centerline goodness [0,1] 0.27790571366500105 Centerline is valid? [False, False] Translation: X:1.64, Y:0.13, Z:-0.31 [[ 0.99988283 0.00615522 -0.0140157 1.63799942] [-0.00611301 0.99997666 0.00305216 0.12523646] [ 0.01403416 -0.00296612 0.99989712 -0.30530327] [ 0. 0. 0. 1. ]] SLAMing on 128.013133365 meters Centerline goodness [0,1] 0.27541833099427826 Centerline is valid? [False, False] Translation: X:1.64, Y:0.13, Z:-0.31 [[ 0.99988293 0.00604794 -0.0140555 1.63815985] [-0.00600961 0.99997811 0.00276768 0.12674488] [ 0.01407193 -0.00268289 0.99989739 -0.30545369] [ 0. 0. 0. 1. ]] SLAMing on 128.043133365 meters Centerline goodness [0,1] 0.28062351063597213 Centerline is valid? [False, False] Translation: X:1.62, Y:0.13, Z:-0.31 [[ 0.9998957 -0.00314788 -0.01409522 1.61780833] [ 0.00319959 0.99998823 0.0036479 0.13158649] [ 0.01408357 -0.00369262 0.999894 -0.30657247] [ 0. 0. 0. 1. ]] SLAMing on 128.073133365 meters Centerline goodness [0,1] 0.28030582766784684 Centerline is valid? [False, False] Translation: X:1.63, Y:0.13, Z:-0.30 [[ 9.99933236e-01 3.90441397e-03 -1.08756127e-02 1.63444886e+00] [-3.89379726e-03 9.99991922e-01 9.97198117e-04 1.30035205e-01] [ 1.08794183e-02 -9.54784109e-04 9.99940362e-01 -3.04923422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.103133365 meters Centerline goodness [0,1] 0.27836013629359546 Centerline is valid? [False, False] Translation: X:1.63, Y:0.13, Z:-0.30 [[ 9.99937416e-01 3.87321357e-03 -1.04958697e-02 1.63307550e+00] [-3.86183717e-03 9.99991934e-01 1.10394389e-03 1.29392921e-01] [ 1.05000609e-02 -1.06334147e-03 9.99944307e-01 -3.04159938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.133133365 meters Centerline goodness [0,1] 0.2745165523026952 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:-0.30 [[ 0.99994934 -0.00383065 -0.00930855 1.65200042] [ 0.00385157 0.99999009 0.00223112 0.13281171] [ 0.00929991 -0.00226686 0.99995419 -0.30250967] [ 0. 0. 0. 1. ]] SLAMing on 128.163133365 meters Centerline goodness [0,1] 0.27945691183465216 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:-0.30 [[ 0.99994958 -0.00384314 -0.00927711 1.65174238] [ 0.00386581 0.99998958 0.00242757 0.13162173] [ 0.00926769 -0.00246331 0.99995402 -0.30219549] [ 0. 0. 0. 1. ]] SLAMing on 128.193133365 meters Centerline goodness [0,1] 0.2828098130129084 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:-0.30 [[ 0.99994784 -0.00386332 -0.00945516 1.65221043] [ 0.00388776 0.99998915 0.00256795 0.1306663 ] [ 0.00944514 -0.00260457 0.999952 -0.30226522] [ 0. 0. 0. 1. ]] SLAMing on 128.223133365 meters Centerline goodness [0,1] 0.2821517712484126 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:-0.30 [[ 0.99994619 -0.00385464 -0.00963136 1.65282809] [ 0.00388086 0.99998881 0.00270514 0.12986109] [ 0.00962082 -0.00274237 0.99994996 -0.30262702] [ 0. 0. 0. 1. ]] SLAMing on 128.253133365 meters Centerline goodness [0,1] 0.27004606282882526 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:-0.30 [[ 0.99994881 -0.00371962 -0.00940984 1.65223584] [ 0.00374751 0.99998863 0.00294769 0.12932946] [ 0.00939877 -0.0029828 0.99995138 -0.30255414] [ 0. 0. 0. 1. ]] SLAMing on 128.283133365 meters Centerline goodness [0,1] 0.2819690723898013 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:-0.30 [[ 0.99995141 -0.00365684 -0.00915417 1.6514331 ] [ 0.00368465 0.99998864 0.00302357 0.129327 ] [ 0.00914301 -0.00305715 0.99995353 -0.30223737] [ 0. 0. 0. 1. ]] SLAMing on 128.313133365 meters Centerline goodness [0,1] 0.2807155151752838 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:-0.30 [[ 0.99995199 -0.00368165 -0.00908142 1.65124615] [ 0.00370885 0.99998868 0.00298018 0.12949812] [ 0.00907034 -0.00301372 0.99995432 -0.30221161] [ 0. 0. 0. 1. ]] SLAMing on 128.343133365 meters Centerline goodness [0,1] 0.2792951350411751 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:-0.30 [[ 0.9999505 -0.00373561 -0.00922205 1.65185467] [ 0.00376299 0.99998856 0.00295346 0.12927483] [ 0.00921092 -0.00298802 0.99995311 -0.30261058] [ 0. 0. 0. 1. ]] SLAMing on 128.373133365 meters Centerline goodness [0,1] 0.27866507747318237 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:-0.30 [[ 0.99994786 -0.00379066 -0.00948207 1.65274785] [ 0.00381825 0.99998852 0.00289359 0.12927281] [ 0.009471 -0.00292964 0.99995086 -0.30303847] [ 0. 0. 0. 1. ]] SLAMing on 128.403133365 meters Centerline goodness [0,1] 0.2800235094364266 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:-0.30 [[ 0.9999474 -0.00377828 -0.00953536 1.65316808] [ 0.00380632 0.99998848 0.00292413 0.129147 ] [ 0.0095242 -0.00296027 0.99995026 -0.30353995] [ 0. 0. 0. 1. ]] SLAMing on 128.433133365 meters Centerline goodness [0,1] 0.2812042879287383 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:-0.30 [[ 0.99994816 -0.00370298 -0.00948455 1.65310817] [ 0.00373255 0.99998822 0.00310211 0.12851477] [ 0.00947295 -0.00313735 0.99995021 -0.30367987] [ 0. 0. 0. 1. ]] SLAMing on 128.463133365 meters Centerline goodness [0,1] 0.2822517250414883 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:-0.30 [[ 0.99994808 -0.00371951 -0.0094867 1.65321358] [ 0.00374945 0.99998804 0.00314074 0.12816422] [ 0.00947491 -0.00317614 0.99995007 -0.3038419 ] [ 0. 0. 0. 1. ]] SLAMing on 128.493133365 meters Centerline goodness [0,1] 0.28135318944214827 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:-0.30 [[ 0.99994549 -0.00376505 -0.00973844 1.65402982] [ 0.00379559 0.99998793 0.00312035 0.12802676] [ 0.00972657 -0.00315714 0.99994771 -0.30422278] [ 0. 0. 0. 1. ]] SLAMing on 128.52313336499998 meters Centerline goodness [0,1] 0.2794565879996517 Centerline is valid? [False, False] Translation: X:1.66, Y:0.13, Z:-0.30 [[ 0.99994257 -0.00380872 -0.01001711 1.6550217 ] [ 0.00383965 0.99998791 0.00307099 0.12815193] [ 0.01000529 -0.00310928 0.99994511 -0.3047903 ] [ 0. 0. 0. 1. ]] SLAMing on 128.55313336499998 meters Centerline goodness [0,1] 0.27965659639208873 Centerline is valid? [False, False] Translation: X:1.66, Y:0.13, Z:-0.31 [[ 0.99994135 -0.00383889 -0.01012752 1.65547325] [ 0.00386955 0.99998798 0.00300987 0.12846943] [ 0.01011584 -0.00304889 0.99994419 -0.30511548] [ 0. 0. 0. 1. ]] SLAMing on 128.58313336499998 meters Centerline goodness [0,1] 0.2814342384991343 Centerline is valid? [False, False] Translation: X:1.66, Y:0.13, Z:-0.31 [[ 0.99993966 -0.00388784 -0.01027446 1.65590958] [ 0.00391805 0.99998806 0.00292131 0.128855 ] [ 0.01026298 -0.00296139 0.99994295 -0.30527853] [ 0. 0. 0. 1. ]] SLAMing on 128.61313336499998 meters Centerline goodness [0,1] 0.2811708169506335 Centerline is valid? [False, False] Translation: X:1.66, Y:0.13, Z:-0.31 [[ 0.99993602 -0.00404099 -0.01056562 1.65675842] [ 0.00407122 0.99998768 0.00284073 0.12877378] [ 0.01055401 -0.00288356 0.99994015 -0.30558669] [ 0. 0. 0. 1. ]] SLAMing on 128.64313336499998 meters Centerline goodness [0,1] 0.2817327949438202 Centerline is valid? [False, False] Translation: X:1.66, Y:0.13, Z:-0.31 [[ 0.99993607 -0.00405291 -0.01055629 1.65660961] [ 0.00408461 0.99998721 0.00298252 0.12787019] [ 0.01054407 -0.00302544 0.99993983 -0.30540792] [ 0. 0. 0. 1. ]] SLAMing on 128.67313336499998 meters Centerline goodness [0,1] 0.280909428440387 Centerline is valid? [False, False] Translation: X:1.66, Y:0.13, Z:-0.30 [[ 0.99993647 -0.00414177 -0.01048315 1.65618598] [ 0.00417459 0.99998645 0.00311041 0.12677598] [ 0.01047012 -0.00315397 0.99994021 -0.30497815] [ 0. 0. 0. 1. ]] SLAMing on 128.70313336499999 meters Centerline goodness [0,1] 0.27985917941585536 Centerline is valid? [False, False] Translation: X:1.66, Y:0.13, Z:-0.30 [[ 0.99993254 -0.00435843 -0.01076626 1.65663014] [ 0.00439296 0.99998528 0.0031854 0.12545915] [ 0.01075221 -0.00323248 0.99993697 -0.30463862] [ 0. 0. 0. 1. ]] SLAMing on 128.733133365 meters Centerline goodness [0,1] 0.27687543312543317 Centerline is valid? [False, False] Translation: X:1.66, Y:0.12, Z:-0.30 [[ 0.9999258 -0.00462145 -0.01127121 1.65793312] [ 0.00465872 0.99998376 0.00328236 0.12397762] [ 0.01125586 -0.00333463 0.99993109 -0.30484145] [ 0. 0. 0. 1. ]] SLAMing on 128.763133365 meters Centerline goodness [0,1] 0.27687543312543317 Centerline is valid? [False, False] Translation: X:1.66, Y:0.12, Z:-0.30 [[ 0.9999258 -0.00462145 -0.01127121 1.65793312] [ 0.00465872 0.99998376 0.00328236 0.12397762] [ 0.01125586 -0.00333463 0.99993109 -0.30484145] [ 0. 0. 0. 1. ]] SLAMing on 128.793133365 meters Centerline goodness [0,1] 0.2770623873531519 Centerline is valid? [False, False] Translation: X:1.66, Y:0.12, Z:-0.31 [[ 0.99991703 -0.00478328 -0.01196074 1.6597992 ] [ 0.0048261 0.99998204 0.00355374 0.1219077 ] [ 0.01194353 -0.00361116 0.99992215 -0.30530074] [ 0. 0. 0. 1. ]] SLAMing on 128.823133365 meters Centerline goodness [0,1] 0.2758688395837424 Centerline is valid? [False, False] Translation: X:1.66, Y:0.12, Z:-0.31 [[ 0.99990812 -0.00534532 -0.01245703 1.66170811] [ 0.00539374 0.99997802 0.00385692 0.11775379] [ 0.01243614 -0.00392375 0.99991497 -0.30630335] [ 0. 0. 0. 1. ]] SLAMing on 128.853133365 meters Centerline goodness [0,1] 0.2783763741057407 Centerline is valid? [False, False] Translation: X:1.66, Y:0.12, Z:-0.31 [[ 0.99990531 -0.00543607 -0.01264193 1.66203725] [ 0.00548954 0.99997612 0.00419893 0.11522994] [ 0.01261881 -0.00426794 0.99991127 -0.30610887] [ 0. 0. 0. 1. ]] SLAMing on 128.883133365 meters Centerline goodness [0,1] 0.2768588754374144 Centerline is valid? [False, False] Translation: X:1.66, Y:0.11, Z:-0.31 [[ 0.99990477 -0.00542481 -0.01268977 1.66195984] [ 0.0054835 0.99997441 0.00459494 0.11275066] [ 0.01266452 -0.00466409 0.99990892 -0.30579515] [ 0. 0. 0. 1. ]] SLAMing on 128.913133365 meters Centerline goodness [0,1] 0.27965566089135885 Centerline is valid? [False, False] Translation: X:1.66, Y:0.11, Z:-0.31 [[ 0.99990568 -0.0052847 -0.01267685 1.66180248] [ 0.0053499 0.99997261 0.00511502 0.110096 ] [ 0.01264947 -0.00518236 0.99990656 -0.3056323 ] [ 0. 0. 0. 1. ]] SLAMing on 128.943133365 meters Centerline goodness [0,1] 0.2770251168859411 Centerline is valid? [False, False] Translation: X:1.66, Y:0.11, Z:-0.31 [[ 0.99990642 -0.00511565 -0.01268819 1.66166001] [ 0.00518781 0.99997052 0.00566122 0.10743797] [ 0.01265886 -0.00572651 0.99990348 -0.30536442] [ 0. 0. 0. 1. ]] SLAMing on 128.973133365 meters Centerline goodness [0,1] 0.27998863611529967 Centerline is valid? [False, False] Translation: X:1.66, Y:0.10, Z:-0.31 [[ 0.99990755 -0.00493303 -0.01267107 1.66152026] [ 0.00501173 0.9999683 0.00618668 0.10479206] [ 0.01264015 -0.00624961 0.99990058 -0.30516806] [ 0. 0. 0. 1. ]] SLAMing on 129.003133365 meters Centerline goodness [0,1] 0.2797324677022287 Centerline is valid? [False, False] Translation: X:1.66, Y:0.10, Z:-0.30 [[ 0.99990919 -0.00469541 -0.01263227 1.66105353] [ 0.0047815 0.99996549 0.00679356 0.10157751] [ 0.01259993 -0.00685334 0.99989713 -0.30450219] [ 0. 0. 0. 1. ]] SLAMing on 129.033133365 meters Centerline goodness [0,1] 0.2631818576012488 Centerline is valid? [False, False] Translation: X:1.68, Y:0.10, Z:-0.30 [[ 0.99992491 0.00419843 -0.0115126 1.67939856] [-0.0041344 0.99997589 0.00557986 0.0965864 ] [ 0.01153575 -0.00553184 0.99991816 -0.30277488] [ 0. 0. 0. 1. ]] SLAMing on 129.063133365 meters Centerline goodness [0,1] 0.26147596185179556 Centerline is valid? [False, False] Translation: X:1.68, Y:0.10, Z:-0.30 [[ 0.99992822 0.00434815 -0.01116452 1.67834157] [-0.00428526 0.99997485 0.00565046 0.09666636] [ 0.01118881 -0.00560222 0.99992171 -0.30230496] [ 0. 0. 0. 1. ]] SLAMing on 129.093133365 meters Centerline goodness [0,1] 0.2599051519724078 Centerline is valid? [False, False] Translation: X:1.68, Y:0.10, Z:-0.30 [[ 0.99993135 0.00453338 -0.01080465 1.67728156] [-0.00447285 0.99997421 0.00561961 0.09745903] [ 0.01082984 -0.0055709 0.99992584 -0.30195314] [ 0. 0. 0. 1. ]] SLAMing on 129.123133365 meters Centerline goodness [0,1] 0.2667696525314941 Centerline is valid? [False, False] Translation: X:1.68, Y:0.10, Z:-0.30 [[ 0.99993468 0.00461845 -0.01045527 1.67643335] [-0.00456233 0.99997509 0.00538597 0.09894218] [ 0.01047988 -0.00533792 0.99993084 -0.30181915] [ 0. 0. 0. 1. ]] SLAMing on 129.153133365 meters Centerline goodness [0,1] 0.2845795612813371 Centerline is valid? [False, False] Translation: X:1.68, Y:0.10, Z:-0.30 [[ 0.99993781 0.00473361 -0.01009782 1.6755947 ] [-0.00468242 0.9999761 0.00508646 0.10098378] [ 0.01012166 -0.00503886 0.99993608 -0.30178489] [ 0. 0. 0. 1. ]] SLAMing on 129.183133365 meters Centerline goodness [0,1] 0.2658035694923341 Centerline is valid? [False, False] Translation: X:1.67, Y:0.10, Z:-0.30 [[ 0.99993648 0.00564851 -0.00975325 1.67452157] [-0.00559762 0.99997062 0.00523779 0.10484093] [ 0.00978255 -0.00518286 0.99993872 -0.30154245] [ 0. 0. 0. 1. ]] SLAMing on 129.213133365 meters Centerline goodness [0,1] 0.26976663183559735 Centerline is valid? [False, False] Translation: X:1.67, Y:0.11, Z:-0.30 [[ 0.99993795 0.00558034 -0.00964108 1.67435505] [-0.00553382 0.99997295 0.00484457 0.10712452] [ 0.00966785 -0.00479092 0.99994179 -0.30173075] [ 0. 0. 0. 1. ]] SLAMing on 129.243133365 meters Centerline goodness [0,1] 0.2612275772638859 Centerline is valid? [False, False] Translation: X:1.67, Y:0.11, Z:-0.30 [[ 0.99993767 0.00543139 -0.00975523 1.67468389] [-0.00538836 0.99997566 0.00443174 0.10907707] [ 0.00977906 -0.0043789 0.9999426 -0.30182899] [ 0. 0. 0. 1. ]] SLAMing on 129.27313336499998 meters Centerline goodness [0,1] 0.2739933327484867 Centerline is valid? [False, False] Translation: X:1.65, Y:0.11, Z:-0.30 [[ 0.99993115 -0.00372181 -0.01112856 1.6549836 ] [ 0.00377973 0.9999794 0.00518772 0.11447083] [ 0.01110902 -0.00522943 0.99992462 -0.30244184] [ 0. 0. 0. 1. ]] SLAMing on 129.30313336499998 meters Centerline goodness [0,1] 0.2643618403951131 Centerline is valid? [False, False] Translation: X:1.67, Y:0.11, Z:-0.30 [[ 0.99993319 0.00451276 -0.0106416 1.67458257] [-0.00447678 0.99998419 0.00340319 0.11262598] [ 0.01065679 -0.00335532 0.99993759 -0.30129275] [ 0. 0. 0. 1. ]] SLAMing on 129.33313336499998 meters Centerline goodness [0,1] 0.26341178506532836 Centerline is valid? [False, False] Translation: X:1.67, Y:0.11, Z:-0.30 [[ 0.99993251 0.00439628 -0.0107542 1.67487664] [-0.00436258 0.99998551 0.00315478 0.11378965] [ 0.01076792 -0.00310765 0.9999372 -0.30134995] [ 0. 0. 0. 1. ]] SLAMing on 129.36313336499998 meters Centerline goodness [0,1] 0.26674495476687543 Centerline is valid? [False, False] Translation: X:1.68, Y:0.11, Z:-0.30 [[ 0.99993185 0.00429502 -0.01085559 1.67514136] [-0.00426345 0.99998662 0.00293023 0.11487695] [ 0.01086803 -0.00288375 0.99993678 -0.30142292] [ 0. 0. 0. 1. ]] SLAMing on 129.39313336499998 meters Centerline goodness [0,1] 0.2855486270648726 Centerline is valid? [False, False] Translation: X:1.68, Y:0.12, Z:-0.30 [[ 0.99993059 0.00414337 -0.01102943 1.67570813] [-0.00411442 0.99998803 0.00264688 0.11607495] [ 0.01104027 -0.00260131 0.99993567 -0.3016909 ] [ 0. 0. 0. 1. ]] SLAMing on 129.42313336499998 meters Centerline goodness [0,1] 0.2836621253405994 Centerline is valid? [False, False] Translation: X:1.68, Y:0.12, Z:-0.30 [[ 0.99993039 0.00389866 -0.01113633 1.67640255] [-0.00387643 0.99999045 0.00201716 0.11928831] [ 0.01114409 -0.00197385 0.99993595 -0.30243078] [ 0. 0. 0. 1. ]] SLAMing on 129.45313336499999 meters Centerline goodness [0,1] 0.2868094800017523 Centerline is valid? [False, False] Translation: X:1.68, Y:0.12, Z:-0.30 [[ 9.99931680e-01 3.77612246e-03 -1.10623393e-02 1.67633457e+00] [-3.75798926e-03 9.99991562e-01 1.65951200e-03 1.21130864e-01] [ 1.10685125e-02 -1.61782647e-03 9.99937433e-01 -3.02611267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.483133365 meters Centerline goodness [0,1] 0.2639060167456351 Centerline is valid? [False, False] Translation: X:1.70, Y:0.13, Z:-0.30 [[ 0.99993134 -0.00348279 -0.0111889 1.69573894] [ 0.0035098 0.99999097 0.00239573 0.12770803] [ 0.01118046 -0.00243484 0.99993453 -0.30107423] [ 0. 0. 0. 1. ]] SLAMing on 129.513133365 meters Centerline goodness [0,1] 0.2702319081102328 Centerline is valid? [False, False] Translation: X:1.70, Y:0.13, Z:-0.30 [[ 0.9999289 -0.00367395 -0.0113449 1.69606385] [ 0.00369494 0.9999915 0.00183028 0.13055777] [ 0.01133808 -0.00187206 0.99993397 -0.30103628] [ 0. 0. 0. 1. ]] SLAMing on 129.543133365 meters Centerline goodness [0,1] 0.2843532669122937 Centerline is valid? [False, False] Translation: X:1.70, Y:0.13, Z:-0.30 [[ 9.99925904e-01 -3.78600622e-03 -1.15694635e-02 1.69686843e+00] [ 3.80432681e-03 9.99991544e-01 1.56193174e-03 1.31722005e-01] [ 1.15634522e-02 -1.60583002e-03 9.99931852e-01 -3.01468401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.573133365 meters Centerline goodness [0,1] 0.2866366103475444 Centerline is valid? [False, False] Translation: X:1.70, Y:0.13, Z:-0.30 [[ 9.99923274e-01 -3.86656386e-03 -1.17684460e-02 1.69750037e+00] [ 3.88209958e-03 9.99991623e-01 1.29755888e-03 1.33017606e-01] [ 1.17633303e-02 -1.34314560e-03 9.99929908e-01 -3.01713209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.603133365 meters Centerline goodness [0,1] 0.27149944270821946 Centerline is valid? [False, False] Translation: X:1.70, Y:0.13, Z:-0.30 [[ 9.99922141e-01 -3.90268576e-03 -1.18524488e-02 1.69785900e+00] [ 3.91511810e-03 9.99991810e-01 1.02590374e-03 1.34643642e-01] [ 1.18483480e-02 -1.07222760e-03 9.99929231e-01 -3.01965559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.633133365 meters Centerline goodness [0,1] 0.26354017605481117 Centerline is valid? [False, False] Translation: X:1.72, Y:0.13, Z:-0.30 [[ 9.99922912e-01 4.97326023e-03 -1.13770102e-02 1.71751367e+00] [-4.97759428e-03 9.99987550e-01 -3.52664038e-04 1.33237954e-01] [ 1.13751147e-02 4.09266993e-04 9.99935218e-01 -3.00752001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.663133365 meters Centerline goodness [0,1] 0.26569648381334143 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:-0.30 [[ 9.99924867e-01 4.92579907e-03 -1.12248257e-02 1.71713077e+00] [-4.93398431e-03 9.99987582e-01 -7.01632863e-04 1.35107363e-01] [ 1.12212302e-02 7.56963261e-04 9.99936753e-01 -3.00669910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.693133365 meters Centerline goodness [0,1] 0.28622817153197144 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:-0.30 [[ 9.99926909e-01 4.89954989e-03 -1.10531109e-02 1.71647717e+00] [-4.91052012e-03 9.99987477e-01 -9.65580292e-04 1.36532046e-01] [ 1.10482416e-02 1.01978624e-03 9.99938446e-01 -3.00258124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.723133365 meters Centerline goodness [0,1] 0.2864557210458599 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:-0.30 [[ 9.99928640e-01 4.86993840e-03 -1.09086282e-02 1.71592485e+00] [-4.88365831e-03 9.99987317e-01 -1.23142663e-03 1.37929290e-01] [ 1.09024929e-02 1.28461276e-03 9.99939741e-01 -2.99882271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.753133365 meters Centerline goodness [0,1] 0.2609957338068736 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:-0.30 [[ 9.99929071e-01 4.85432484e-03 -1.08760810e-02 1.71568871e+00] [-4.87067007e-03 9.99987048e-01 -1.47687627e-03 1.39337176e-01] [ 1.08687708e-02 1.52974532e-03 9.99939763e-01 -2.99616411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.783133365 meters Centerline goodness [0,1] 0.2883451723230729 Centerline is valid? [False, False] Translation: X:1.70, Y:0.14, Z:-0.30 [[ 9.99923570e-01 -2.40583859e-03 -1.21270507e-02 1.69630777e+00] [ 2.41907408e-03 9.99996494e-01 1.07685225e-03 1.43208847e-01] [ 1.21244175e-02 -1.10610618e-03 9.99925885e-01 -3.00680235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.813133365 meters Centerline goodness [0,1] 0.27079684763572676 Centerline is valid? [False, False] Translation: X:1.70, Y:0.14, Z:-0.30 [[ 9.99921147e-01 -2.36236051e-03 -1.23336710e-02 1.69717357e+00] [ 2.37659087e-03 9.99996527e-01 1.13925183e-03 1.42922946e-01] [ 1.23309368e-02 -1.16847409e-03 9.99923288e-01 -3.01292404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.843133365 meters Centerline goodness [0,1] 0.26855023453692595 Centerline is valid? [False, False] Translation: X:1.70, Y:0.14, Z:-0.30 [[ 9.99919681e-01 -2.31087550e-03 -1.24616157e-02 1.69758081e+00] [ 2.32697274e-03 9.99996477e-01 1.27740038e-03 1.41998480e-01] [ 1.24586199e-02 -1.30629562e-03 9.99921535e-01 -3.01442440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.873133365 meters Centerline goodness [0,1] 0.28861717100633355 Centerline is valid? [False, False] Translation: X:1.70, Y:0.14, Z:-0.30 [[ 9.99920523e-01 -2.19831959e-03 -1.24143289e-02 1.69721203e+00] [ 2.21750109e-03 9.99996369e-01 1.53155587e-03 1.40825213e-01] [ 1.24109170e-02 -1.55896294e-03 9.99921766e-01 -3.01002681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.903133365 meters Centerline goodness [0,1] 0.26904316014110885 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:-0.30 [[ 9.99917442e-01 6.40587186e-03 -1.11388451e-02 1.71593344e+00] [-6.40383482e-03 9.99979471e-01 2.18534910e-04 1.37053315e-01] [ 1.11400164e-02 -1.47185544e-04 9.99937937e-01 -2.99400146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.933133365 meters Centerline goodness [0,1] 0.2696639003245551 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:-0.30 [[ 9.99917493e-01 6.49810694e-03 -1.10807218e-02 1.71565240e+00] [-6.49515667e-03 9.99978861e-01 3.02219372e-04 1.36900329e-01] [ 1.10824514e-02 -2.30223413e-04 9.99938561e-01 -2.99146020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.963133365 meters Centerline goodness [0,1] 0.286114331969634 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:-0.30 [[ 9.99912612e-01 6.65231469e-03 -1.14243375e-02 1.71664748e+00] [-6.65101966e-03 9.99977870e-01 1.51346567e-04 1.38046991e-01] [ 1.14250915e-02 -7.53498474e-05 9.99934729e-01 -2.99460575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.993133365 meters Centerline goodness [0,1] 0.2887060583395662 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:-0.30 [[ 9.99911784e-01 6.65526573e-03 -1.14948283e-02 1.71707745e+00] [-6.65587473e-03 9.99977849e-01 -1.47251611e-05 1.38994731e-01] [ 1.14944757e-02 9.12319996e-05 9.99933932e-01 -2.99887339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02313336499998 meters Centerline goodness [0,1] 0.2878658523237232 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:-0.30 [[ 9.99911699e-01 6.76458844e-03 -1.14383337e-02 1.71703364e+00] [-6.76615779e-03 9.99977104e-01 -9.85077509e-05 1.39941981e-01] [ 1.14374055e-02 1.75892623e-04 9.99934575e-01 -3.00109608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05313336499998 meters Centerline goodness [0,1] 0.28569250539063007 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:-0.30 [[ 9.99914608e-01 6.87750378e-03 -1.11120240e-02 1.71625113e+00] [-6.87968203e-03 9.99976322e-01 -1.57813718e-04 1.40882493e-01] [ 1.11106756e-02 2.34247434e-04 9.99938247e-01 -3.00115915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08313336499998 meters Centerline goodness [0,1] 0.2853689345761826 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:-0.30 [[ 9.99918140e-01 6.90632311e-03 -1.07710835e-02 1.71529080e+00] [-6.90941807e-03 9.99976098e-01 -2.50153633e-04 1.41635306e-01] [ 1.07690984e-02 3.24555075e-04 9.99941959e-01 -2.99882580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11313336499998 meters Centerline goodness [0,1] 0.2912913567861115 Centerline is valid? [False, False] Translation: X:1.71, Y:0.14, Z:-0.30 [[ 9.99922062e-01 6.85935468e-03 -1.04316120e-02 1.71392629e+00] [-6.86325629e-03 9.99976390e-01 -3.38265179e-04 1.41744319e-01] [ 1.04290455e-02 4.09833643e-04 9.99945532e-01 -2.98983291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14313336499998 meters Centerline goodness [0,1] 0.29100970617945454 Centerline is valid? [False, False] Translation: X:1.71, Y:0.14, Z:-0.30 [[ 9.99922395e-01 6.85600599e-03 -1.04018808e-02 1.71369301e+00] [-6.85919823e-03 9.99976439e-01 -2.71245478e-04 1.41224730e-01] [ 1.03997761e-02 3.42572990e-04 9.99945862e-01 -2.98735826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17313336499998 meters Centerline goodness [0,1] 0.2870382456598355 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:-0.30 [[ 9.99944131e-01 -6.36689007e-04 -1.05512870e-02 1.73365686e+00] [ 6.44055895e-04 9.99999551e-01 6.94814904e-04 1.44928426e-01] [ 1.05508399e-02 -7.01571704e-04 9.99944092e-01 -2.97495128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20313336499999 meters Centerline goodness [0,1] 0.2896137752754836 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:-0.30 [[ 9.99942154e-01 -5.52195094e-04 -1.07416411e-02 1.73424544e+00] [ 5.62826343e-04 9.99999355e-01 9.86725254e-04 1.43553042e-01] [ 1.07410893e-02 -9.92713855e-04 9.99941820e-01 -2.97697467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.233133365 meters Centerline goodness [0,1] 0.2653916801728795 Centerline is valid? [False, False] Translation: X:1.76, Y:0.14, Z:-0.30 [[ 9.99923797e-01 6.31119221e-03 -1.06098408e-02 1.75697188e+00] [-6.32644668e-03 9.99979001e-01 -1.40481865e-03 1.40804032e-01] [ 1.06007519e-02 1.47183419e-03 9.99942727e-01 -2.98329378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.263133365 meters Centerline goodness [0,1] 0.2894315364531912 Centerline is valid? [False, False] Translation: X:1.74, Y:0.14, Z:-0.30 [[ 9.99922997e-01 -2.91025716e-03 -1.20635989e-02 1.73625626e+00] [ 2.90729643e-03 9.99995739e-01 -2.62956844e-04 1.41317432e-01] [ 1.20643128e-02 2.27864137e-04 9.99927198e-01 -2.98817568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.293133365 meters Centerline goodness [0,1] 0.2869660220692669 Centerline is valid? [False, False] Translation: X:1.74, Y:0.14, Z:-0.30 [[ 9.99925710e-01 -2.86893171e-03 -1.18466486e-02 1.73532265e+00] [ 2.87149738e-03 9.99995857e-01 1.99570336e-04 1.38479224e-01] [ 1.18460270e-02 -2.33573131e-04 9.99929806e-01 -2.98006116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.323133365 meters Centerline goodness [0,1] 0.26357326644900425 Centerline is valid? [False, False] Translation: X:1.75, Y:0.14, Z:-0.30 [[ 9.99935705e-01 5.57572075e-03 -9.87402429e-03 1.75372145e+00] [-5.58880828e-03 9.99983540e-01 -1.29835384e-03 1.35185891e-01] [ 9.86662250e-03 1.35345439e-03 9.99950408e-01 -2.96632596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.353133365 meters Centerline goodness [0,1] 0.2863915104597051 Centerline is valid? [False, False] Translation: X:1.75, Y:0.14, Z:-0.30 [[ 9.99936428e-01 5.60931022e-03 -9.78140012e-03 1.75320293e+00] [-5.62215671e-03 9.99983368e-01 -1.28635647e-03 1.35301629e-01] [ 9.77402187e-03 1.34126726e-03 9.99951334e-01 -2.96152408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.383133365 meters Centerline goodness [0,1] 0.2853880782028141 Centerline is valid? [False, False] Translation: X:1.75, Y:0.14, Z:-0.30 [[ 9.99935569e-01 5.59741953e-03 -9.87560553e-03 1.75354839e+00] [-5.61146549e-03 9.99983282e-01 -1.39515294e-03 1.35946892e-01] [ 9.86763118e-03 1.45047967e-03 9.99950262e-01 -2.96336477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.413133365 meters Centerline goodness [0,1] 0.26168405622143653 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:-0.30 [[ 9.99929558e-01 -6.21582913e-04 -1.18529524e-02 1.77266267e+00] [ 6.12128987e-04 9.99999492e-01 -8.01212161e-04 1.42614826e-01] [ 1.18534443e-02 7.93900186e-04 9.99929430e-01 -2.95069389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.443133365 meters Centerline goodness [0,1] 0.2803314774051534 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:-0.30 [[ 9.99926721e-01 -6.31884181e-04 -1.20893934e-02 1.77357632e+00] [ 6.19682987e-04 9.99999295e-01 -1.01296713e-03 1.43826399e-01] [ 1.20900250e-02 1.00540131e-03 9.99926408e-01 -2.95661028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.473133365 meters Centerline goodness [0,1] 0.28440866064628445 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.30 [[ 9.99929243e-01 -5.89030001e-04 -1.18811556e-02 1.77308015e+00] [ 5.73114825e-04 9.99998934e-01 -1.34289128e-03 1.45973692e-01] [ 1.18819339e-02 1.33598699e-03 9.99928515e-01 -2.95772573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.503133365 meters Centerline goodness [0,1] 0.2865067532011928 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.30 [[ 9.99931566e-01 -5.80597330e-04 -1.16844447e-02 1.77240554e+00] [ 5.64429335e-04 9.99998879e-01 -1.38696967e-03 1.46370019e-01] [ 1.16852368e-02 1.38027971e-03 9.99930773e-01 -2.95444799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.533133365 meters Centerline goodness [0,1] 0.28392516061816286 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.30 [[ 9.99932215e-01 -6.15019726e-04 -1.16269881e-02 1.77201393e+00] [ 5.98227329e-04 9.99998773e-01 -1.44768304e-03 1.46620523e-01] [ 1.16278642e-02 1.44062933e-03 9.99931356e-01 -2.95055622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.563133365 meters Centerline goodness [0,1] 0.28450434366086785 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.29 [[ 9.99932189e-01 -6.35496571e-04 -1.16281153e-02 1.77194544e+00] [ 6.18619286e-04 9.99998750e-01 -1.45495979e-03 1.46539943e-01] [ 1.16290253e-02 1.44766775e-03 9.99931333e-01 -2.94939716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.593133365 meters Centerline goodness [0,1] 0.284820167336738 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.30 [[ 9.99931209e-01 -6.26623193e-04 -1.17125814e-02 1.77218166e+00] [ 6.10154049e-04 9.99998820e-01 -1.40962757e-03 1.46333666e-01] [ 1.17134509e-02 1.40238413e-03 9.99930412e-01 -2.95010390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.623133365 meters Centerline goodness [0,1] 0.2832381241990486 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.30 [[ 9.99929077e-01 -5.58360061e-04 -1.18966441e-02 1.77287558e+00] [ 5.43780506e-04 9.99999097e-01 -1.22871772e-03 1.45690839e-01] [ 1.18973195e-02 1.22216141e-03 9.99928477e-01 -2.95457949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.653133365 meters Centerline goodness [0,1] 0.2850335526459594 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.30 [[ 9.99928126e-01 -5.33485556e-04 -1.19773943e-02 1.77310111e+00] [ 5.19746511e-04 9.99999203e-01 -1.15016468e-03 1.45305180e-01] [ 1.19779984e-02 1.14385681e-03 9.99927607e-01 -2.95528394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.683133365 meters Centerline goodness [0,1] 0.2850335526459594 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.30 [[ 9.99928126e-01 -5.33485556e-04 -1.19773943e-02 1.77310111e+00] [ 5.19746511e-04 9.99999203e-01 -1.15016468e-03 1.45305180e-01] [ 1.19779984e-02 1.14385681e-03 9.99927607e-01 -2.95528394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.713133365 meters Centerline goodness [0,1] 0.28427458935933514 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:-0.30 [[ 9.99928296e-01 -4.95519006e-04 -1.19648497e-02 1.77294892e+00] [ 4.83996260e-04 9.99999416e-01 -9.65926162e-04 1.44273490e-01] [ 1.19653214e-02 9.60065958e-04 9.99927952e-01 -2.95336114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.743133365 meters Centerline goodness [0,1] 0.2824979956228737 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:-0.30 [[ 9.99926821e-01 -4.55315268e-04 -1.20890743e-02 1.77312739e+00] [ 4.46483383e-04 9.99999631e-01 -7.33256373e-04 1.42925109e-01] [ 1.20894037e-02 7.27805143e-04 9.99926656e-01 -2.95109907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77313336499998 meters Centerline goodness [0,1] 0.2820012572890247 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:-0.30 [[ 9.99925704e-01 -3.83602615e-04 -1.21835436e-02 1.77346386e+00] [ 3.77951359e-04 9.99999820e-01 -4.66142476e-04 1.41489754e-01] [ 1.21837203e-02 4.61503057e-04 9.99925669e-01 -2.95278784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80313336499998 meters Centerline goodness [0,1] 0.28438202983379557 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:-0.30 [[ 9.99925079e-01 -3.02241276e-04 -1.22369971e-02 1.77376661e+00] [ 2.99599339e-04 9.99999931e-01 -2.17730089e-04 1.40193475e-01] [ 1.22370621e-02 2.14047580e-04 9.99925101e-01 -2.95569964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83313336499998 meters Centerline goodness [0,1] 0.2658655733414751 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:-0.30 [[ 9.99926122e-01 -2.23712198e-04 -1.21531684e-02 1.77371568e+00] [ 2.23335810e-04 9.99999975e-01 -3.23275679e-05 1.39275356e-01] [ 1.21531754e-02 2.96109419e-05 9.99926147e-01 -2.95812795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86313336499998 meters Centerline goodness [0,1] 0.2830645161290323 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:-0.30 [[ 9.99926657e-01 -2.02143063e-04 -1.21094552e-02 1.77359750e+00] [ 2.01806615e-04 9.99999979e-01 -2.90057745e-05 1.39413372e-01] [ 1.21094608e-02 2.65598790e-05 9.99926677e-01 -2.95783937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89313336499998 meters Centerline goodness [0,1] 0.2825529881862404 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:-0.30 [[ 9.99926688e-01 -1.95781636e-04 -1.21070009e-02 1.77349414e+00] [ 1.94674672e-04 9.99999977e-01 -9.26101565e-05 1.39908869e-01] [ 1.21070187e-02 9.02464407e-05 9.99926703e-01 -2.95657470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92313336499998 meters Centerline goodness [0,1] 0.2617046559360484 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:-0.30 [[ 9.99927452e-01 -1.84716423e-04 -1.20439733e-02 1.77323041e+00] [ 1.83000855e-04 9.99999973e-01 -1.43543936e-04 1.40404727e-01] [ 1.20439995e-02 1.41329464e-04 9.99927458e-01 -2.95522319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95313336499999 meters Centerline goodness [0,1] 0.2835605977964437 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:-0.30 [[ 9.99927165e-01 -1.95757792e-04 -1.20675525e-02 1.77316688e+00] [ 1.92936455e-04 9.99999954e-01 -2.34959033e-04 1.41095471e-01] [ 1.20675979e-02 2.32613649e-04 9.99927157e-01 -2.95361224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.983133365 meters Centerline goodness [0,1] 0.2834028320736687 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:-0.30 [[ 9.99927361e-01 -1.99446214e-04 -1.20512810e-02 1.77309787e+00] [ 1.95874732e-04 9.99999937e-01 -2.97536665e-04 1.41556639e-01] [ 1.20513395e-02 2.95154511e-04 9.99927336e-01 -2.95344227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.013133365 meters Centerline goodness [0,1] 0.2855731442246471 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:-0.29 [[ 9.99927084e-01 -2.57832152e-04 -1.20731329e-02 1.77272435e+00] [ 2.53508675e-04 9.99999903e-01 -3.59636301e-04 1.41629358e-01] [ 1.20732245e-02 3.56549433e-04 9.99927052e-01 -2.94697656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.043133365 meters Centerline goodness [0,1] 0.2820496182380551 Centerline is valid? [False, False] Translation: X:1.79, Y:0.15, Z:-0.29 [[ 9.99901327e-01 -7.88481811e-03 -1.16260941e-02 1.79250088e+00] [ 7.89015551e-03 9.99968787e-01 4.13290643e-04 1.45525370e-01] [ 1.16224725e-02 -5.04981552e-04 9.99932329e-01 -2.93424393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.073133365 meters Centerline goodness [0,1] 0.28314231860822847 Centerline is valid? [False, False] Translation: X:1.79, Y:0.14, Z:-0.29 [[ 9.99901031e-01 -7.87525998e-03 -1.16579956e-02 1.79241234e+00] [ 7.88149122e-03 9.99968821e-01 4.88656800e-04 1.44983933e-01] [ 1.16537839e-02 -5.80490828e-04 9.99931924e-01 -2.93186187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.103133365 meters Centerline goodness [0,1] 0.28301600052104814 Centerline is valid? [False, False] Translation: X:1.79, Y:0.14, Z:-0.29 [[ 9.99899934e-01 -7.88046219e-03 -1.17482091e-02 1.79273796e+00] [ 7.88691765e-03 9.99968771e-01 5.03254931e-04 1.44802192e-01] [ 1.17438763e-02 -5.95861730e-04 9.99930861e-01 -2.93320929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.133133365 meters Centerline goodness [0,1] 0.28148099834768237 Centerline is valid? [False, False] Translation: X:1.79, Y:0.15, Z:-0.29 [[ 9.99898500e-01 -7.93235534e-03 -1.18350147e-02 1.79312219e+00] [ 7.93713557e-03 9.99968437e-01 3.56989601e-04 1.45484767e-01] [ 1.18318093e-02 -4.50889482e-04 9.99929900e-01 -2.93658005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.163133365 meters Centerline goodness [0,1] 0.28252019245422677 Centerline is valid? [False, False] Translation: X:1.79, Y:0.15, Z:-0.29 [[ 9.99897640e-01 -7.93690520e-03 -1.19044430e-02 1.79342872e+00] [ 7.93994086e-03 9.99968457e-01 2.07760993e-04 1.46511488e-01] [ 1.19024185e-02 -3.02260300e-04 9.99929118e-01 -2.93941397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.193133365 meters Centerline goodness [0,1] 0.270570418980313 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:-0.29 [[ 9.99923603e-01 4.58827264e-04 -1.23522338e-02 1.77281019e+00] [-4.62000995e-04 9.99999861e-01 -2.54083562e-04 1.44349539e-01] [ 1.23521155e-02 2.59770895e-04 9.99923676e-01 -2.94833176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.223133365 meters Centerline goodness [0,1] 0.2823028829454671 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.29 [[ 9.99925655e-01 4.07172591e-04 -1.21868475e-02 1.77231533e+00] [-4.12699832e-04 9.99999813e-01 -4.51030032e-04 1.45347475e-01] [ 1.21866616e-02 4.56026010e-04 9.99925636e-01 -2.94697826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.253133365 meters Centerline goodness [0,1] 0.28215488215488216 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.29 [[ 9.99927725e-01 3.46940232e-04 -1.20176992e-02 1.77169108e+00] [-3.53978085e-04 9.99999767e-01 -5.83501853e-04 1.45806074e-01] [ 1.20174939e-02 5.87713682e-04 9.99927615e-01 -2.94354596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.283133365 meters Centerline goodness [0,1] 0.28177984523084953 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.29 [[ 9.99929644e-01 3.11554036e-04 -1.18579192e-02 1.77113428e+00] [-3.19493645e-04 9.99999726e-01 -6.67673366e-04 1.46134259e-01] [ 1.18577079e-02 6.71414921e-04 9.99929469e-01 -2.94089690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.313133365 meters Centerline goodness [0,1] 0.28565161120494875 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.29 [[ 9.99931236e-01 3.57820918e-04 -1.17215912e-02 1.77076775e+00] [-3.65432654e-04 9.99999724e-01 -6.47241965e-04 1.46365213e-01] [ 1.17213564e-02 6.51480911e-04 9.99931090e-01 -2.94061199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.343133365 meters Centerline goodness [0,1] 0.2849797855510634 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.29 [[ 9.99932693e-01 4.25911566e-04 -1.15943460e-02 1.77054811e+00] [-4.33305555e-04 9.99999704e-01 -6.35219180e-04 1.46834223e-01] [ 1.15940721e-02 6.40200320e-04 9.99932582e-01 -2.94223861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.373133365 meters Centerline goodness [0,1] 0.28283905219869887 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.29 [[ 9.99932707e-01 3.08175869e-04 -1.15968503e-02 1.77057479e+00] [-3.18827429e-04 9.99999529e-01 -9.16649774e-04 1.47875711e-01] [ 1.15965624e-02 9.20285484e-04 9.99932334e-01 -2.94267361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.403133365 meters Centerline goodness [0,1] 0.2813199226641757 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.29 [[ 9.99932429e-01 2.24495621e-04 -1.16227207e-02 1.77040619e+00] [-2.37039555e-04 9.99999391e-01 -1.07789340e-03 1.48382330e-01] [ 1.16224716e-02 1.08057561e-03 9.99931873e-01 -2.93918084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.433133365 meters Centerline goodness [0,1] 0.2830155941614072 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.29 [[ 9.99932965e-01 2.42691451e-04 -1.15761118e-02 1.77006731e+00] [-2.55890612e-04 9.99999319e-01 -1.13873921e-03 1.48971405e-01] [ 1.15758276e-02 1.14162510e-03 9.99932346e-01 -2.93620692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.463133365 meters Centerline goodness [0,1] 0.2843184401503891 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.29 [[ 9.99934840e-01 3.05593518e-04 -1.14114844e-02 1.76967568e+00] [-3.19193958e-04 9.99999241e-01 -1.19001812e-03 1.49899634e-01] [ 1.14111120e-02 1.19358306e-03 9.99934179e-01 -2.93676927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.493133365 meters Centerline goodness [0,1] 0.28312242719926817 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.29 [[ 9.99936329e-01 2.99400028e-04 -1.12804571e-02 1.76949599e+00] [-3.14533291e-04 9.99999053e-01 -1.33979673e-03 1.50954798e-01] [ 1.12800453e-02 1.34325950e-03 9.99935476e-01 -2.93915418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52313336499998 meters Centerline goodness [0,1] 0.2832766736401674 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.29 [[ 9.99937373e-01 2.18479807e-04 -1.11894013e-02 1.76931418e+00] [-2.35491523e-04 9.99998819e-01 -1.51904691e-03 1.51659047e-01] [ 1.11890562e-02 1.52158678e-03 9.99936243e-01 -2.93995218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55313336499998 meters Centerline goodness [0,1] 0.28066636298561853 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.29 [[ 9.99935577e-01 3.96203682e-05 -1.13507890e-02 1.76950040e+00] [-5.95728519e-05 9.99998454e-01 -1.75747317e-03 1.52238559e-01] [ 1.13507018e-02 1.75803615e-03 9.99934033e-01 -2.93740344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58313336499998 meters Centerline goodness [0,1] 0.2846044424991794 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.29 [[ 9.99934580e-01 8.91784441e-05 -1.14380266e-02 1.76966273e+00] [-1.08841168e-04 9.99998518e-01 -1.71845516e-03 1.52483868e-01] [ 1.14378563e-02 1.71958766e-03 9.99933107e-01 -2.93734730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61313336499998 meters Centerline goodness [0,1] 0.2814450416088765 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.29 [[ 9.99934507e-01 1.12214984e-04 -1.14441491e-02 1.76967526e+00] [-1.31848129e-04 9.99998521e-01 -1.71482175e-03 1.52894281e-01] [ 1.14439398e-02 1.71621833e-03 9.99933043e-01 -2.93774599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64313336499998 meters Centerline goodness [0,1] 0.2816855542529634 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.29 [[ 9.99934934e-01 8.05832113e-05 -1.14070668e-02 1.76945740e+00] [-1.00514990e-04 9.99998469e-01 -1.74675600e-03 1.52993372e-01] [ 1.14069086e-02 1.74778893e-03 9.99933412e-01 -2.93560346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67313336499998 meters Centerline goodness [0,1] 0.28044320370490594 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.29 [[ 9.99934726e-01 -5.36611069e-06 -1.14256153e-02 1.76937742e+00] [-1.52811813e-05 9.99998367e-01 -1.80701741e-03 1.52806198e-01] [ 1.14256064e-02 1.80707405e-03 9.99933093e-01 -2.93370328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70313336499999 meters Centerline goodness [0,1] 0.28279108283030796 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.29 [[ 9.99932324e-01 -1.09266238e-04 -1.16333454e-02 1.76990251e+00] [ 8.64066763e-05 9.99998065e-01 -1.96548772e-03 1.53224743e-01] [ 1.16335376e-02 1.96434950e-03 9.99930399e-01 -2.93444765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.733133365 meters Centerline goodness [0,1] 0.2646590289143481 Centerline is valid? [False, False] Translation: X:1.77, Y:0.15, Z:-0.29 [[ 9.99930031e-01 -1.59215110e-04 -1.18282877e-02 1.77053592e+00] [ 1.34060903e-04 9.99997728e-01 -2.12737681e-03 1.54110931e-01] [ 1.18285996e-02 2.12564225e-03 9.99927780e-01 -2.93769150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.763133365 meters Centerline goodness [0,1] 0.28171930512870813 Centerline is valid? [False, False] Translation: X:1.77, Y:0.16, Z:-0.29 [[ 9.99928517e-01 -1.47728532e-04 -1.19557070e-02 1.77104536e+00] [ 1.20722715e-04 9.99997440e-01 -2.25951244e-03 1.55358576e-01] [ 1.19560102e-02 2.25790760e-03 9.99925975e-01 -2.94184754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.793133365 meters Centerline goodness [0,1] 0.28261531104638526 Centerline is valid? [False, False] Translation: X:1.77, Y:0.16, Z:-0.29 [[ 9.99929017e-01 -2.27007678e-04 -1.19125575e-02 1.77093746e+00] [ 1.95125597e-04 9.99996397e-01 -2.67743623e-03 1.58000865e-01] [ 1.19131224e-02 2.67492174e-03 9.99925458e-01 -2.94258518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.823133365 meters Centerline goodness [0,1] 0.2823506391860162 Centerline is valid? [False, False] Translation: X:1.77, Y:0.16, Z:-0.29 [[ 9.99931118e-01 -2.94743254e-04 -1.17333768e-02 1.77014202e+00] [ 2.60488841e-04 9.99995700e-01 -2.92082059e-03 1.59264236e-01] [ 1.17341872e-02 2.91756298e-03 9.99926896e-01 -2.93677021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.853133365 meters Centerline goodness [0,1] 0.28385137939319804 Centerline is valid? [False, False] Translation: X:1.77, Y:0.16, Z:-0.29 [[ 9.99932653e-01 -3.61238940e-04 -1.15999163e-02 1.76947358e+00] [ 3.24793215e-04 9.99995006e-01 -3.14362567e-03 1.60402646e-01] [ 1.16009940e-02 3.13964638e-03 9.99927777e-01 -2.93138155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.883133365 meters Centerline goodness [0,1] 0.2854334148898986 Centerline is valid? [False, False] Translation: X:1.77, Y:0.16, Z:-0.29 [[ 9.99933337e-01 -3.85569644e-04 -1.15400203e-02 1.76924405e+00] [ 3.47628349e-04 9.99994529e-01 -3.28962674e-03 1.61351107e-01] [ 1.15412255e-02 3.28539581e-03 9.99928001e-01 -2.93053523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.913133365 meters Centerline goodness [0,1] 0.2612548358512179 Centerline is valid? [False, False] Translation: X:1.79, Y:0.17, Z:-0.29 [[ 9.99917316e-01 -5.32060011e-03 -1.17069031e-02 1.79065532e+00] [ 5.31993187e-03 9.99985845e-01 -8.82215471e-05 1.65040199e-01] [ 1.17072068e-02 2.59343257e-05 9.99931468e-01 -2.92475254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.943133365 meters Centerline goodness [0,1] 0.284871010056843 Centerline is valid? [False, False] Translation: X:1.77, Y:0.16, Z:-0.29 [[ 9.99948184e-01 2.28196186e-03 -9.92078006e-03 1.77009073e+00] [-2.28537789e-03 9.99997333e-01 -3.33007821e-04 1.59795125e-01] [ 9.91999369e-03 3.55663297e-04 9.99950732e-01 -2.94180730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.973133365 meters Centerline goodness [0,1] 0.28473177441540576 Centerline is valid? [False, False] Translation: X:1.77, Y:0.16, Z:-0.29 [[ 9.99950590e-01 2.21495669e-03 -9.69074570e-03 1.76936537e+00] [-2.21874925e-03 9.99997466e-01 -3.80625409e-04 1.59528439e-01] [ 9.68987808e-03 4.02107937e-04 9.99952971e-01 -2.93879839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.003133365 meters Centerline goodness [0,1] 0.28623608407515144 Centerline is valid? [False, False] Translation: X:1.77, Y:0.16, Z:-0.29 [[ 9.99951447e-01 2.08866628e-03 -9.63026567e-03 1.76907636e+00] [-2.09403038e-03 9.99997658e-01 -5.46954909e-04 1.59698253e-01] [ 9.62910071e-03 5.67094422e-04 9.99953478e-01 -2.93637611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.033133365 meters Centerline goodness [0,1] 0.28503184713375795 Centerline is valid? [False, False] Translation: X:1.77, Y:0.16, Z:-0.29 [[ 9.99950728e-01 1.98142530e-03 -9.72701252e-03 1.76930211e+00] [-1.98902877e-03 9.99997724e-01 -7.72074844e-04 1.60446829e-01] [ 9.72546057e-03 7.91384110e-04 9.99952393e-01 -2.93648160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.063133365 meters Centerline goodness [0,1] 0.2850926812287877 Centerline is valid? [False, False] Translation: X:1.77, Y:0.16, Z:-0.29 [[ 9.99949581e-01 1.94848696e-03 -9.85083715e-03 1.76980781e+00] [-1.95827546e-03 9.99997598e-01 -9.84123886e-04 1.61702589e-01] [ 9.84889594e-03 1.00336492e-03 9.99950995e-01 -2.94067921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.093133365 meters Centerline goodness [0,1] 0.28304304391260915 Centerline is valid? [False, False] Translation: X:1.77, Y:0.16, Z:-0.29 [[ 9.99949567e-01 1.99909622e-03 -9.84214559e-03 1.77018166e+00] [-2.01072116e-03 9.99997292e-01 -1.17138536e-03 1.63395661e-01] [ 9.83977723e-03 1.19111609e-03 9.99950879e-01 -2.94784781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.123133365 meters Centerline goodness [0,1] 0.28216557753061844 Centerline is valid? [False, False] Translation: X:1.77, Y:0.17, Z:-0.30 [[ 9.99952392e-01 2.38470171e-03 -9.46186711e-03 1.76979455e+00] [-2.39759716e-03 9.99996212e-01 -1.35177795e-03 1.66723320e-01] [ 9.45860768e-03 1.37439934e-03 9.99954322e-01 -2.95683010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.153133365 meters Centerline goodness [0,1] 0.2833918103166474 Centerline is valid? [False, False] Translation: X:1.77, Y:0.17, Z:-0.30 [[ 0.99995292 0.00222801 -0.0094445 1.76985551] [-0.00224516 0.99999585 -0.0018064 0.16888237] [ 0.00944043 0.00182752 0.99995377 -0.29591408] [ 0. 0. 0. 1. ]] SLAMing on 132.183133365 meters Centerline goodness [0,1] 0.2817204301075269 Centerline is valid? [False, False] Translation: X:1.77, Y:0.17, Z:-0.30 [[ 0.99995109 0.00202041 -0.00968159 1.77056191] [-0.00204297 0.99999522 -0.00232043 0.17110519] [ 0.00967685 0.0023401 0.99995044 -0.29623361] [ 0. 0. 0. 1. ]] SLAMing on 132.213133365 meters Centerline goodness [0,1] 0.2823645104895105 Centerline is valid? [False, False] Translation: X:1.77, Y:0.17, Z:-0.30 [[ 0.99994824 0.00183252 -0.01000788 1.77156116] [-0.00186067 0.99999434 -0.00280466 0.17331045] [ 0.01000268 0.00282314 0.99994599 -0.29667859] [ 0. 0. 0. 1. ]] SLAMing on 132.243133365 meters Centerline goodness [0,1] 0.2552210176943469 Centerline is valid? [False, False] Translation: X:1.79, Y:0.18, Z:-0.29 [[ 0.99992747 -0.00478142 -0.0110542 1.78991101] [ 0.0047597 0.99998669 -0.0019911 0.18161239] [ 0.01106358 0.00193834 0.99993692 -0.29487307] [ 0. 0. 0. 1. ]] SLAMing on 132.27313336499998 meters Centerline goodness [0,1] 0.28268689907776834 Centerline is valid? [False, False] Translation: X:1.77, Y:0.18, Z:-0.30 [[ 0.99994547 0.00281102 -0.01005787 1.76977058] [-0.00283822 0.99999235 -0.00269166 0.17864161] [ 0.01005023 0.00272006 0.9999458 -0.29618219] [ 0. 0. 0. 1. ]] SLAMing on 132.30313336499998 meters Centerline goodness [0,1] 0.28348354870235637 Centerline is valid? [False, False] Translation: X:1.77, Y:0.18, Z:-0.29 [[ 0.99995358 0.00276942 -0.00922859 1.7666157 ] [-0.00279694 0.99999168 -0.0029706 0.1813869 ] [ 0.00922029 0.00299628 0.999953 -0.29441018] [ 0. 0. 0. 1. ]] SLAMing on 132.33313336499998 meters Centerline goodness [0,1] 0.2854684845580868 Centerline is valid? [False, False] Translation: X:1.77, Y:0.18, Z:-0.29 [[ 0.99995532 0.00265399 -0.00907323 1.76581439] [-0.00268299 0.99999133 -0.00318513 0.18244506] [ 0.0090647 0.00320933 0.99995376 -0.29373175] [ 0. 0. 0. 1. ]] SLAMing on 132.36313336499998 meters Centerline goodness [0,1] 0.2855053481772539 Centerline is valid? [False, False] Translation: X:1.77, Y:0.18, Z:-0.29 [[ 0.99995356 0.00250627 -0.00930582 1.76646864] [-0.0025382 0.99999093 -0.00342154 0.18331681] [ 0.00929717 0.003445 0.99995085 -0.29390776] [ 0. 0. 0. 1. ]] SLAMing on 132.39313336499998 meters Centerline goodness [0,1] 0.28254511579540287 Centerline is valid? [False, False] Translation: X:1.77, Y:0.18, Z:-0.29 [[ 0.99994912 0.00230167 -0.00982182 1.76813092] [-0.00233847 0.99999029 -0.0037364 0.18443119] [ 0.00981312 0.00375918 0.99994478 -0.29462974] [ 0. 0. 0. 1. ]] SLAMing on 132.42313336499998 meters Centerline goodness [0,1] 0.26589356424872723 Centerline is valid? [False, False] Translation: X:1.77, Y:0.19, Z:-0.30 [[ 0.99994673 0.0021978 -0.01008506 1.76915382] [-0.00223802 0.99998958 -0.00397899 0.1855519 ] [ 0.01007621 0.00400135 0.99994123 -0.29531081] [ 0. 0. 0. 1. ]] SLAMing on 132.45313336499999 meters Centerline goodness [0,1] 0.28296625492887173 Centerline is valid? [False, False] Translation: X:1.77, Y:0.19, Z:-0.30 [[ 0.99994637 0.00204366 -0.01015276 1.76930309] [-0.00208943 0.99998769 -0.00449999 0.1885655 ] [ 0.01014344 0.00452096 0.99993833 -0.29536838] [ 0. 0. 0. 1. ]] SLAMing on 132.483133365 meters Centerline goodness [0,1] 0.28284217419777347 Centerline is valid? [False, False] Translation: X:1.77, Y:0.19, Z:-0.30 [[ 0.99994729 0.00199292 -0.01007205 1.76893956] [-0.00204066 0.99998672 -0.0047314 0.18998553] [ 0.01006249 0.0047517 0.99993808 -0.29513246] [ 0. 0. 0. 1. ]] SLAMing on 132.513133365 meters Centerline goodness [0,1] 0.28000953371468196 Centerline is valid? [False, False] Translation: X:1.77, Y:0.19, Z:-0.30 [[ 0.99994673 0.00189805 -0.01014569 1.76911784] [-0.00194904 0.99998551 -0.00501814 0.19148952] [ 0.01013602 0.00503765 0.99993594 -0.29515977] [ 0. 0. 0. 1. ]] SLAMing on 132.543133365 meters Centerline goodness [0,1] 0.28010919253850985 Centerline is valid? [False, False] Translation: X:1.77, Y:0.19, Z:-0.30 [[ 0.9999466 0.00180853 -0.01017449 1.76941754] [-0.00186214 0.99998442 -0.00526198 0.19267317] [ 0.01016481 0.00528064 0.99993439 -0.29554694] [ 0. 0. 0. 1. ]] SLAMing on 132.573133365 meters Centerline goodness [0,1] 0.28010919253850985 Centerline is valid? [False, False] Translation: X:1.77, Y:0.19, Z:-0.30 [[ 0.9999466 0.00180853 -0.01017449 1.76941754] [-0.00186214 0.99998442 -0.00526198 0.19267317] [ 0.01016481 0.00528064 0.99993439 -0.29554694] [ 0. 0. 0. 1. ]] SLAMing on 132.603133365 meters Centerline goodness [0,1] 0.2804000087529268 Centerline is valid? [False, False] Translation: X:1.77, Y:0.19, Z:-0.30 [[ 9.99946394e-01 1.69492945e-03 -1.02145375e-02 1.76960932e+00] [-1.75126721e-03 9.99983292e-01 -5.50903098e-03 1.93680015e-01] [ 1.02050294e-02 5.52662404e-03 9.99932655e-01 -2.95739238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.633133365 meters Centerline goodness [0,1] 0.2826952526799388 Centerline is valid? [False, False] Translation: X:1.77, Y:0.19, Z:-0.30 [[ 9.99945745e-01 1.64262019e-03 -1.02863212e-02 1.76979933e+00] [-1.70044505e-03 9.99982788e-01 -5.61530949e-03 1.94123011e-01] [ 1.02769203e-02 5.63249616e-03 9.99931328e-01 -2.95809581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.663133365 meters Centerline goodness [0,1] 0.2778185111705339 Centerline is valid? [False, False] Translation: X:1.79, Y:0.20, Z:-0.29 [[ 0.99993444 -0.00609905 -0.00969088 1.78918139] [ 0.006053 0.99997028 -0.00477482 0.19880615] [ 0.00971971 0.00471585 0.99994164 -0.29397229] [ 0. 0. 0. 1. ]] SLAMing on 132.693133365 meters Centerline goodness [0,1] 0.2810300392003985 Centerline is valid? [False, False] Translation: X:1.79, Y:0.20, Z:-0.29 [[ 0.99993719 -0.00604026 -0.00944076 1.78816022] [ 0.00599695 0.9999714 -0.00460884 0.19815564] [ 0.00946833 0.00455193 0.99994481 -0.29328001] [ 0. 0. 0. 1. ]] SLAMing on 132.723133365 meters Centerline goodness [0,1] 0.28038110052498544 Centerline is valid? [False, False] Translation: X:1.79, Y:0.20, Z:-0.29 [[ 0.99993933 -0.00597308 -0.00925523 1.78737576] [ 0.00593257 0.99997273 -0.00439864 0.19722523] [ 0.00928125 0.00434347 0.99994749 -0.29273264] [ 0. 0. 0. 1. ]] SLAMing on 132.753133365 meters Centerline goodness [0,1] 0.28394092108994917 Centerline is valid? [False, False] Translation: X:1.77, Y:0.19, Z:-0.29 [[ 9.99963582e-01 1.55447173e-03 -8.39154763e-03 1.76798059e+00] [-1.59550547e-03 9.99986793e-01 -4.88541114e-03 1.90570019e-01] [ 8.38384257e-03 4.89862198e-03 9.99952856e-01 -2.94246561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.783133365 meters Centerline goodness [0,1] 0.2809436208202576 Centerline is valid? [False, False] Translation: X:1.79, Y:0.19, Z:-0.29 [[ 0.99994286 -0.0058573 -0.00894271 1.78741454] [ 0.00582285 0.99997554 -0.00387355 0.19484453] [ 0.00896518 0.00382126 0.99995251 -0.29283387] [ 0. 0. 0. 1. ]] SLAMing on 132.813133365 meters Centerline goodness [0,1] 0.2883533779427784 Centerline is valid? [False, False] Translation: X:1.74, Y:0.19, Z:-0.29 [[ 0.99991488 -0.00647023 -0.01133004 1.74155527] [ 0.00643624 0.99997469 -0.00303373 0.18991581] [ 0.01134938 0.00296055 0.99993121 -0.29156976] [ 0. 0. 0. 1. ]] SLAMing on 132.843133365 meters Centerline goodness [0,1] 0.28542922925117864 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:-0.29 [[ 0.99993987 0.00179004 -0.01081914 1.76154744] [-0.00183519 0.99998964 -0.00416471 0.18552952] [ 0.01081158 0.00418431 0.9999328 -0.29041525] [ 0. 0. 0. 1. ]] SLAMing on 132.873133365 meters Centerline goodness [0,1] 0.28407379107084374 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:-0.29 [[ 0.99993752 0.00183601 -0.01102624 1.76211389] [-0.00188104 0.99998993 -0.00407507 0.18509949] [ 0.01101864 0.00409556 0.99993091 -0.29054252] [ 0. 0. 0. 1. ]] SLAMing on 132.903133365 meters Centerline goodness [0,1] 0.28259265688742297 Centerline is valid? [False, False] Translation: X:1.76, Y:0.18, Z:-0.29 [[ 0.99993713 0.00186586 -0.01105669 1.76224283] [-0.00191047 0.99999007 -0.00402567 0.1849044 ] [ 0.01104907 0.00404654 0.99993077 -0.29059386] [ 0. 0. 0. 1. ]] SLAMing on 132.933133365 meters Centerline goodness [0,1] 0.28552407561007553 Centerline is valid? [False, False] Translation: X:1.76, Y:0.18, Z:-0.29 [[ 0.99993982 0.00193043 -0.01079961 1.76136997] [-0.00197369 0.99999007 -0.00399643 0.18493784] [ 0.01079179 0.00401751 0.9999337 -0.29017127] [ 0. 0. 0. 1. ]] SLAMing on 132.963133365 meters Centerline goodness [0,1] 0.2838678689168832 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:-0.29 [[ 0.99994315 0.00193671 -0.01048581 1.76036325] [-0.00197998 0.99998956 -0.00411738 0.1856305 ] [ 0.01047773 0.0041379 0.99993655 -0.28974965] [ 0. 0. 0. 1. ]] SLAMing on 132.993133365 meters Centerline goodness [0,1] 0.28325144571503114 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:-0.29 [[ 0.99994609 0.00199948 -0.0101888 1.75962913] [-0.00204324 0.99998873 -0.00428637 0.18686577] [ 0.01018012 0.00430695 0.99993891 -0.28971898] [ 0. 0. 0. 1. ]] SLAMing on 133.02313336499998 meters Centerline goodness [0,1] 0.2804896478766813 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:-0.29 [[ 0.99994307 0.00246896 -0.0103812 1.76038962] [-0.00251497 0.99998706 -0.0044212 0.18947368] [ 0.01037015 0.00444705 0.99993634 -0.29044583] [ 0. 0. 0. 1. ]] SLAMing on 133.05313336499998 meters Centerline goodness [0,1] 0.2804896478766813 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:-0.29 [[ 0.99994307 0.00246896 -0.0103812 1.76038962] [-0.00251497 0.99998706 -0.0044212 0.18947368] [ 0.01037015 0.00444705 0.99993634 -0.29044583] [ 0. 0. 0. 1. ]] SLAMing on 133.08313336499998 meters Centerline goodness [0,1] 0.2822204379245242 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:-0.29 [[ 0.99994252 0.00240651 -0.01044823 1.76086283] [-0.00245628 0.99998568 -0.00475381 0.1913375 ] [ 0.01043664 0.0047792 0.99993412 -0.29101564] [ 0. 0. 0. 1. ]] SLAMing on 133.11313336499998 meters Centerline goodness [0,1] 0.28056730852258005 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:-0.29 [[ 0.99993794 0.00246746 -0.01086419 1.76221708] [-0.00252497 0.99998286 -0.00528296 0.19481768] [ 0.01085097 0.00531006 0.99992703 -0.29178265] [ 0. 0. 0. 1. ]] SLAMing on 133.14313336499998 meters Centerline goodness [0,1] 0.2787912848002767 Centerline is valid? [False, False] Translation: X:1.76, Y:0.20, Z:-0.29 [[ 0.99993901 0.00237533 -0.01078603 1.76197595] [-0.00243578 0.99998138 -0.00559471 0.19647959] [ 0.01077254 0.00562064 0.99992618 -0.29178463] [ 0. 0. 0. 1. ]] SLAMing on 133.17313336499998 meters Centerline goodness [0,1] 0.28486426180736335 Centerline is valid? [False, False] Translation: X:1.74, Y:0.20, Z:-0.29 [[ 0.99993213 -0.00474123 -0.01064174 1.73939861] [ 0.00470915 0.9999843 -0.00303773 0.19947276] [ 0.01065597 0.00298742 0.99993876 -0.29182838] [ 0. 0. 0. 1. ]] SLAMing on 133.20313336499999 meters Centerline goodness [0,1] 0.2836293031982198 Centerline is valid? [False, False] Translation: X:1.74, Y:0.20, Z:-0.29 [[ 0.99993472 -0.00471887 -0.01040581 1.7385059 ] [ 0.00468669 0.99998417 -0.00311493 0.20037414] [ 0.01042034 0.00306596 0.99994101 -0.29134191] [ 0. 0. 0. 1. ]] SLAMing on 133.233133365 meters Centerline goodness [0,1] 0.28254913898069234 Centerline is valid? [False, False] Translation: X:1.74, Y:0.20, Z:-0.29 [[ 0.99993669 -0.0047237 -0.01021318 1.73794343] [ 0.00469142 0.99998393 -0.0031819 0.20100122] [ 0.01022805 0.00313378 0.99994278 -0.29121978] [ 0. 0. 0. 1. ]] SLAMing on 133.263133365 meters Centerline goodness [0,1] 0.2865848292854629 Centerline is valid? [False, False] Translation: X:1.72, Y:0.20, Z:-0.29 [[ 0.99994803 0.00278795 -0.0098065 1.71860012] [-0.0028297 0.99998698 -0.0042461 0.19661154] [ 0.00979453 0.00427363 0.9999429 -0.29285263] [ 0. 0. 0. 1. ]] SLAMing on 133.293133365 meters Centerline goodness [0,1] 0.2835843635730454 Centerline is valid? [False, False] Translation: X:1.74, Y:0.20, Z:-0.29 [[ 0.999942 -0.0047287 -0.00967686 1.73778536] [ 0.00469619 0.99998326 -0.00337988 0.20243741] [ 0.00969268 0.00333424 0.99994747 -0.29151977] [ 0. 0. 0. 1. ]] SLAMing on 133.323133365 meters Centerline goodness [0,1] 0.2808725632630049 Centerline is valid? [False, False] Translation: X:1.74, Y:0.20, Z:-0.29 [[ 0.99994306 -0.00471429 -0.00957325 1.73745224] [ 0.00468161 0.99998315 -0.00343269 0.20308009] [ 0.00958927 0.00338768 0.99994828 -0.29143348] [ 0. 0. 0. 1. ]] SLAMing on 133.353133365 meters Centerline goodness [0,1] 0.28018154311649013 Centerline is valid? [False, False] Translation: X:1.74, Y:0.20, Z:-0.29 [[ 0.99994432 -0.00467249 -0.009462 1.73714419] [ 0.00463963 0.99998314 -0.00349194 0.20400785] [ 0.00947815 0.00344785 0.99994914 -0.29139791] [ 0. 0. 0. 1. ]] SLAMing on 133.383133365 meters Centerline goodness [0,1] 0.2806615004978571 Centerline is valid? [False, False] Translation: X:1.74, Y:0.21, Z:-0.29 [[ 0.99994525 -0.00468799 -0.00935489 1.7370025 ] [ 0.00465414 0.99998256 -0.00363673 0.20506525] [ 0.00937177 0.00359299 0.99994963 -0.29162448] [ 0. 0. 0. 1. ]] SLAMing on 133.413133365 meters Centerline goodness [0,1] 0.28221565474379595 Centerline is valid? [False, False] Translation: X:1.74, Y:0.21, Z:-0.29 [[ 0.99994499 -0.00474395 -0.0093543 1.73722374] [ 0.00470845 0.99998164 -0.00381328 0.20601436] [ 0.00937222 0.00376902 0.99994898 -0.29203436] [ 0. 0. 0. 1. ]] SLAMing on 133.443133365 meters Centerline goodness [0,1] 0.27974866668106146 Centerline is valid? [False, False] Translation: X:1.74, Y:0.21, Z:-0.29 [[ 0.99993898 -0.00493411 -0.00988393 1.73904732] [ 0.0048922 0.99997896 -0.00425977 0.20787072] [ 0.00990474 0.00421115 0.99994208 -0.29298467] [ 0. 0. 0. 1. ]] SLAMing on 133.473133365 meters Centerline goodness [0,1] 0.2812520420832516 Centerline is valid? [False, False] Translation: X:1.74, Y:0.21, Z:-0.29 [[ 0.99993759 -0.0049699 -0.01000595 1.73944995] [ 0.00492577 0.99997806 -0.00442933 0.20889373] [ 0.01002774 0.00437977 0.99994013 -0.29324403] [ 0. 0. 0. 1. ]] SLAMing on 133.503133365 meters Centerline goodness [0,1] 0.27826068200936094 Centerline is valid? [False, False] Translation: X:1.74, Y:0.21, Z:-0.29 [[ 0.99993791 -0.00494744 -0.00998494 1.73936781] [ 0.00490197 0.99997753 -0.00457308 0.21018656] [ 0.01000734 0.00452385 0.99993969 -0.29323273] [ 0. 0. 0. 1. ]] SLAMing on 133.533133365 meters Centerline goodness [0,1] 0.28249351328957983 Centerline is valid? [False, False] Translation: X:1.72, Y:0.21, Z:-0.29 [[ 0.99995772 0.0028602 -0.0087392 1.71860141] [-0.00290539 0.99998245 -0.00516249 0.20584247] [ 0.00872428 0.00518766 0.99994849 -0.2945832 ] [ 0. 0. 0. 1. ]] SLAMing on 133.563133365 meters Centerline goodness [0,1] 0.2821176214805957 Centerline is valid? [False, False] Translation: X:1.72, Y:0.21, Z:-0.29 [[ 0.99996065 0.00279398 -0.00841916 1.71773136] [-0.00283941 0.99998145 -0.00538871 0.20706638] [ 0.00840395 0.00541241 0.99995004 -0.29440617] [ 0. 0. 0. 1. ]] SLAMing on 133.593133365 meters Centerline goodness [0,1] 0.2815924268948973 Centerline is valid? [False, False] Translation: X:1.72, Y:0.21, Z:-0.29 [[ 0.99996253 0.00268714 -0.00822859 1.71720065] [-0.00273343 0.99998048 -0.00561834 0.2080445 ] [ 0.00821333 0.00564062 0.99995036 -0.29430556] [ 0. 0. 0. 1. ]] SLAMing on 133.623133365 meters Centerline goodness [0,1] 0.2806630312472951 Centerline is valid? [False, False] Translation: X:1.72, Y:0.21, Z:-0.29 [[ 0.99996396 0.00254353 -0.00809958 1.71708408] [-0.00259177 0.99997894 -0.00595074 0.20976646] [ 0.00808427 0.00597152 0.99994949 -0.29464754] [ 0. 0. 0. 1. ]] SLAMing on 133.653133365 meters Centerline goodness [0,1] 0.28183137331340824 Centerline is valid? [False, False] Translation: X:1.72, Y:0.21, Z:-0.29 [[ 0.99996473 0.00253108 -0.00800874 1.71682132] [-0.00257951 0.99997842 -0.0060422 0.21052399] [ 0.00799328 0.00606264 0.99994967 -0.29460244] [ 0. 0. 0. 1. ]] SLAMing on 133.683133365 meters Centerline goodness [0,1] 0.27981423479857437 Centerline is valid? [False, False] Translation: X:1.72, Y:0.21, Z:-0.29 [[ 0.99996644 0.00247097 -0.00781095 1.71617623] [-0.00251937 0.99997766 -0.00619198 0.21138274] [ 0.00779548 0.00621145 0.99995032 -0.29432754] [ 0. 0. 0. 1. ]] SLAMing on 133.713133365 meters Centerline goodness [0,1] 0.2808988764044944 Centerline is valid? [False, False] Translation: X:1.72, Y:0.21, Z:-0.29 [[ 0.99996815 0.00238125 -0.00761709 1.71553221] [-0.00243001 0.99997658 -0.00639844 0.2123929 ] [ 0.00760168 0.00641675 0.99995052 -0.29407665] [ 0. 0. 0. 1. ]] SLAMing on 133.743133365 meters Centerline goodness [0,1] 0.2812845109460601 Centerline is valid? [False, False] Translation: X:1.72, Y:0.21, Z:-0.29 [[ 0.99996934 0.00223067 -0.00750684 1.7151421 ] [-0.00228149 0.9999745 -0.00676714 0.2141148 ] [ 0.00749155 0.00678406 0.99994893 -0.29390536] [ 0. 0. 0. 1. ]] SLAMing on 133.77313336499998 meters Centerline goodness [0,1] 0.28076241517915024 Centerline is valid? [False, False] Translation: X:1.72, Y:0.22, Z:-0.29 [[ 0.99996994 0.00212463 -0.00745709 1.71503946] [-0.00217784 0.99997218 -0.00713438 0.21612923] [ 0.00744173 0.0071504 0.99994674 -0.2939841 ] [ 0. 0. 0. 1. ]] SLAMing on 133.80313336499998 meters Centerline goodness [0,1] 0.28254612063325923 Centerline is valid? [False, False] Translation: X:1.72, Y:0.22, Z:-0.29 [[ 0.99996809 0.00196146 -0.00774474 1.71605572] [-0.00202296 0.99996642 -0.00794159 0.22104407] [ 0.0077289 0.007957 0.99993847 -0.29460039] [ 0. 0. 0. 1. ]] SLAMing on 133.83313336499998 meters Centerline goodness [0,1] 0.2817061197774626 Centerline is valid? [False, False] Translation: X:1.72, Y:0.22, Z:-0.29 [[ 0.99996902 0.00176918 -0.00767 1.71588557] [-0.0018346 0.99996192 -0.00853166 0.22398867] [ 0.00765461 0.00854547 0.99993419 -0.29469752] [ 0. 0. 0. 1. ]] SLAMing on 133.86313336499998 meters Centerline goodness [0,1] 0.2782907683325043 Centerline is valid? [False, False] Translation: X:1.73, Y:0.23, Z:-0.29 [[ 0.99995403 -0.00531077 -0.00798299 1.73366128] [ 0.00524796 0.99995528 -0.00786795 0.23321742] [ 0.00802442 0.0078257 0.99993718 -0.29274974] [ 0. 0. 0. 1. ]] SLAMing on 133.89313336499998 meters Centerline goodness [0,1] 0.28052733482715864 Centerline is valid? [False, False] Translation: X:1.73, Y:0.24, Z:-0.29 [[ 0.99995457 -0.0054925 -0.00779008 1.73312099] [ 0.0054265 0.99994942 -0.00846779 0.23639898] [ 0.0078362 0.00842513 0.9999338 -0.29272298] [ 0. 0. 0. 1. ]] SLAMing on 133.92313336499998 meters Centerline goodness [0,1] 0.28394684588361085 Centerline is valid? [False, False] Translation: X:1.73, Y:0.24, Z:-0.29 [[ 0.99996875 -0.00199875 -0.00764858 1.73239551] [ 0.00195896 0.99998453 -0.00520581 0.23819257] [ 0.00765887 0.00519067 0.9999572 -0.29223821] [ 0. 0. 0. 1. ]] SLAMing on 133.95313336499999 meters Centerline goodness [0,1] 0.28128052088985345 Centerline is valid? [False, False] Translation: X:1.73, Y:0.24, Z:-0.29 [[ 0.99997099 -0.00207714 -0.00732805 1.73159176] [ 0.00203525 0.99998157 -0.00572025 0.24160084] [ 0.0073398 0.00570517 0.99995679 -0.29227181] [ 0. 0. 0. 1. ]] SLAMing on 133.983133365 meters Centerline goodness [0,1] 0.277681735672919 Centerline is valid? [False, False] Translation: X:1.73, Y:0.25, Z:-0.29 [[ 9.99972352e-01 1.42363466e-03 -7.29856651e-03 1.73134972e+00] [-1.44505490e-03 9.99994662e-01 -2.93042258e-03 2.46910127e-01] [ 7.29435570e-03 2.94088838e-03 9.99969071e-01 -2.92079889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.013133365 meters Centerline goodness [0,1] 0.28004261518057094 Centerline is valid? [False, False] Translation: X:1.73, Y:0.25, Z:-0.29 [[ 9.99973623e-01 1.18331504e-03 -7.16616731e-03 1.73101332e+00] [-1.20936909e-03 9.99992671e-01 -3.63246128e-03 2.50446933e-01] [ 7.16181644e-03 3.64103200e-03 9.99967725e-01 -2.92142190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.043133365 meters Centerline goodness [0,1] 0.278234951078857 Centerline is valid? [False, False] Translation: X:1.73, Y:0.25, Z:-0.29 [[ 9.99974465e-01 9.34981807e-04 -7.08479292e-03 1.73077148e+00] [-9.65756700e-04 9.99990109e-01 -4.34162034e-03 2.54091295e-01] [ 7.08066351e-03 4.34835167e-03 9.99965477e-01 -2.92176781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.073133365 meters Centerline goodness [0,1] 0.2807036571081515 Centerline is valid? [False, False] Translation: X:1.73, Y:0.26, Z:-0.29 [[ 9.99974863e-01 7.28660834e-04 -7.05280724e-03 1.73072880e+00] [-7.64065450e-04 9.99987115e-01 -5.01854043e-03 2.57741133e-01] [ 7.04905956e-03 5.02380309e-03 9.99962535e-01 -2.92355915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.103133365 meters Centerline goodness [0,1] 0.2812363477501092 Centerline is valid? [False, False] Translation: X:1.73, Y:0.26, Z:-0.29 [[ 9.99974095e-01 5.39185642e-04 -7.17769364e-03 1.73112801e+00] [-5.79905779e-04 9.99983744e-01 -5.67227877e-03 2.61366416e-01] [ 7.17451855e-03 5.67629421e-03 9.99958152e-01 -2.92631779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.133133365 meters Centerline goodness [0,1] 0.27991411282451684 Centerline is valid? [False, False] Translation: X:1.73, Y:0.26, Z:-0.29 [[ 9.99973493e-01 3.58356439e-04 -7.27218796e-03 1.73151499e+00] [-4.04090553e-04 9.99980146e-01 -6.28841259e-03 2.64760932e-01] [ 7.26979009e-03 6.29118453e-03 9.99953785e-01 -2.92955332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.163133365 meters Centerline goodness [0,1] 0.28185336580274833 Centerline is valid? [False, False] Translation: X:1.73, Y:0.27, Z:-0.29 [[ 9.99975101e-01 -8.37805624e-05 -7.05629075e-03 1.73070971e+00] [ 3.20458779e-05 9.99973124e-01 -7.33150495e-03 2.69716160e-01] [ 7.05671534e-03 7.33109628e-03 9.99948228e-01 -2.92581031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.193133365 meters Centerline goodness [0,1] 0.2824215677706895 Centerline is valid? [False, False] Translation: X:1.73, Y:0.27, Z:-0.29 [[ 9.99975219e-01 -2.08036668e-04 -7.03695354e-03 1.73046850e+00] [ 1.54212989e-04 9.99970739e-01 -7.64839684e-03 2.71386857e-01] [ 7.03833877e-03 7.64712211e-03 9.99945990e-01 -2.92298080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.223133365 meters Centerline goodness [0,1] 0.27702819208552465 Centerline is valid? [False, False] Translation: X:1.75, Y:0.28, Z:-0.29 [[ 0.9999586 -0.00609817 -0.00675287 1.75210332] [ 0.00606546 0.99996982 -0.00485395 0.27660277] [ 0.00678226 0.00481279 0.99996542 -0.29216552] [ 0. 0. 0. 1. ]] SLAMing on 134.253133365 meters Centerline goodness [0,1] 0.279317282107859 Centerline is valid? [False, False] Translation: X:1.75, Y:0.28, Z:-0.29 [[ 0.99995785 -0.00617464 -0.00679539 1.75232373] [ 0.00614043 0.99996843 -0.00504317 0.27771061] [ 0.00682632 0.00500123 0.99996419 -0.29238025] [ 0. 0. 0. 1. ]] SLAMing on 134.283133365 meters Centerline goodness [0,1] 0.27935800653241327 Centerline is valid? [False, False] Translation: X:1.75, Y:0.28, Z:-0.29 [[ 0.99995677 -0.00625416 -0.00688054 1.75280909] [ 0.00621852 0.9999672 -0.00518848 0.27833156] [ 0.00691276 0.00514547 0.99996287 -0.29282414] [ 0. 0. 0. 1. ]] SLAMing on 134.313133365 meters Centerline goodness [0,1] 0.2832438356164384 Centerline is valid? [False, False] Translation: X:1.73, Y:0.27, Z:-0.29 [[ 9.99974452e-01 1.40465622e-03 -7.00868849e-03 1.73352531e+00] [-1.44921579e-03 9.99978746e-01 -6.35673871e-03 2.72693441e-01] [ 6.99961049e-03 6.36673341e-03 9.99955234e-01 -2.94259050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.343133365 meters Centerline goodness [0,1] 0.2804527060656553 Centerline is valid? [False, False] Translation: X:1.75, Y:0.28, Z:-0.29 [[ 0.99996109 -0.00701817 -0.00534415 1.75320048] [ 0.00698725 0.99995886 -0.00578332 0.27699136] [ 0.00538452 0.00574575 0.999969 -0.29327822] [ 0. 0. 0. 1. ]] SLAMing on 134.373133365 meters Centerline goodness [0,1] 0.2833035363886103 Centerline is valid? [False, False] Translation: X:1.73, Y:0.27, Z:-0.30 [[ 9.99991932e-01 5.71579489e-04 -3.97601105e-03 1.73407282e+00] [-5.98081525e-04 9.99977593e-01 -6.66749120e-03 2.71562997e-01] [ 3.97211096e-03 6.66981539e-03 9.99969867e-01 -2.95181318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.403133365 meters Centerline goodness [0,1] 0.2786419061570943 Centerline is valid? [False, False] Translation: X:1.75, Y:0.28, Z:-0.29 [[ 0.99996904 -0.00691437 -0.00375719 1.75295178] [ 0.00689383 0.99996137 -0.00545214 0.2777409 ] [ 0.00379474 0.00542607 0.99997808 -0.29372744] [ 0. 0. 0. 1. ]] SLAMing on 134.433133365 meters Centerline goodness [0,1] 0.28217229604819594 Centerline is valid? [False, False] Translation: X:1.73, Y:0.27, Z:-0.30 [[ 9.99992720e-01 1.11783292e-03 -3.64844499e-03 1.73375603e+00] [-1.14123489e-03 9.99978750e-01 -6.41846642e-03 2.72700312e-01] [ 3.64119269e-03 6.42258342e-03 9.99972746e-01 -2.95626827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.463133365 meters Centerline goodness [0,1] 0.27832766708266987 Centerline is valid? [False, False] Translation: X:1.75, Y:0.28, Z:-0.29 [[ 0.99997087 -0.00651619 -0.00397423 1.75324374] [ 0.00649415 0.9999636 -0.0055344 0.27816204] [ 0.00401014 0.00550843 0.99997679 -0.29460881] [ 0. 0. 0. 1. ]] SLAMing on 134.493133365 meters Centerline goodness [0,1] 0.28229498190696256 Centerline is valid? [False, False] Translation: X:1.73, Y:0.27, Z:-0.30 [[ 9.99990188e-01 1.52552688e-03 -4.15884984e-03 1.73365148e+00] [-1.55223040e-03 9.99978153e-01 -6.42524186e-03 2.72015352e-01] [ 4.14895710e-03 6.43163431e-03 9.99970710e-01 -2.96097838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52313336499998 meters Centerline goodness [0,1] 0.28229498190696256 Centerline is valid? [False, False] Translation: X:1.73, Y:0.27, Z:-0.30 [[ 9.99990188e-01 1.52552688e-03 -4.15884984e-03 1.73365148e+00] [-1.55223040e-03 9.99978153e-01 -6.42524186e-03 2.72015352e-01] [ 4.14895710e-03 6.43163431e-03 9.99970710e-01 -2.96097838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55313336499998 meters Centerline goodness [0,1] 0.2792042463211496 Centerline is valid? [False, False] Translation: X:1.75, Y:0.28, Z:-0.29 [[ 0.99997138 -0.00606098 -0.00452794 1.75281838] [ 0.00603663 0.99996735 -0.00537268 0.27661945] [ 0.00456036 0.0053452 0.99997532 -0.29461708] [ 0. 0. 0. 1. ]] SLAMing on 134.58313336499998 meters Centerline goodness [0,1] 0.28057789823395696 Centerline is valid? [False, False] Translation: X:1.73, Y:0.27, Z:-0.30 [[ 0.99997696 0.002041 -0.00647344 1.7343785 ] [-0.00208068 0.99997905 -0.00613017 0.26876932] [ 0.00646079 0.0061435 0.99996026 -0.29623904] [ 0. 0. 0. 1. ]] SLAMing on 134.61313336499998 meters Centerline goodness [0,1] 0.2794296116504854 Centerline is valid? [False, False] Translation: X:1.75, Y:0.27, Z:-0.30 [[ 0.99995602 -0.00539001 -0.00767497 1.75435205] [ 0.00535119 0.99997283 -0.00506932 0.2725353 ] [ 0.00770208 0.00502803 0.9999577 -0.29522379] [ 0. 0. 0. 1. ]] SLAMing on 134.64313336499998 meters Centerline goodness [0,1] 0.28326454944715407 Centerline is valid? [False, False] Translation: X:1.71, Y:0.27, Z:-0.30 [[ 0.99992632 -0.00594022 -0.01058664 1.71080084] [ 0.0058879 0.99997033 -0.00496642 0.26697202] [ 0.01061583 0.00490372 0.99993163 -0.29524638] [ 0. 0. 0. 1. ]] SLAMing on 134.67313336499998 meters Centerline goodness [0,1] 0.2794533049411151 Centerline is valid? [False, False] Translation: X:1.73, Y:0.26, Z:-0.29 [[ 0.99995314 0.00234289 -0.00939318 1.73055318] [-0.00239832 0.99997975 -0.00589439 0.26312645] [ 0.00937918 0.00591664 0.99993851 -0.29419248] [ 0. 0. 0. 1. ]] SLAMing on 134.70313336499999 meters Centerline goodness [0,1] 0.27782324058919805 Centerline is valid? [False, False] Translation: X:1.75, Y:0.27, Z:-0.29 [[ 0.9999601 -0.00500841 -0.00739728 1.74826794] [ 0.00497705 0.99997857 -0.00425231 0.26706921] [ 0.00741842 0.00421532 0.9999636 -0.29274163] [ 0. 0. 0. 1. ]] SLAMing on 134.733133365 meters Centerline goodness [0,1] 0.27988054275141205 Centerline is valid? [False, False] Translation: X:1.75, Y:0.27, Z:-0.29 [[ 0.99996597 -0.00483526 -0.00668442 1.74605775] [ 0.00480816 0.99998018 -0.00406355 0.26669786] [ 0.00670394 0.00403127 0.9999694 -0.29194671] [ 0. 0. 0. 1. ]] SLAMing on 134.763133365 meters Centerline goodness [0,1] 0.2809617846834921 Centerline is valid? [False, False] Translation: X:1.74, Y:0.27, Z:-0.29 [[ 0.99997537 -0.00429086 -0.00555379 1.7432224 ] [ 0.00426913 0.99998321 -0.00391768 0.26800929] [ 0.0055705 0.00389387 0.9999769 -0.29182013] [ 0. 0. 0. 1. ]] SLAMing on 134.793133365 meters Centerline goodness [0,1] 0.28094131949721035 Centerline is valid? [False, False] Translation: X:1.75, Y:0.27, Z:-0.29 [[ 0.99997218 -0.00420343 -0.00616165 1.74508332] [ 0.00417724 0.99998221 -0.00425763 0.27028481] [ 0.00617943 0.00423177 0.99997195 -0.2927247 ] [ 0. 0. 0. 1. ]] SLAMing on 134.823133365 meters Centerline goodness [0,1] 0.27631238128129854 Centerline is valid? [False, False] Translation: X:1.75, Y:0.27, Z:-0.30 [[ 0.9999673 -0.00254888 -0.00767417 1.7509711 ] [ 0.00252583 0.99999227 -0.00301252 0.27218191] [ 0.00768179 0.00299304 0.99996602 -0.29559973] [ 0. 0. 0. 1. ]] SLAMing on 134.853133365 meters Centerline goodness [0,1] 0.27769824744056915 Centerline is valid? [False, False] Translation: X:1.75, Y:0.28, Z:-0.30 [[ 0.99996243 -0.00258578 -0.0082731 1.75283159] [ 0.00255679 0.99999056 -0.0035134 0.27506095] [ 0.00828211 0.00349211 0.99995961 -0.29650866] [ 0. 0. 0. 1. ]] SLAMing on 134.883133365 meters Centerline goodness [0,1] 0.27924050079751783 Centerline is valid? [False, False] Translation: X:1.75, Y:0.28, Z:-0.30 [[ 0.9999598 -0.00267483 -0.00855814 1.75383559] [ 0.00264086 0.9999886 -0.00397794 0.27767134] [ 0.00856869 0.00395518 0.99995547 -0.29722407] [ 0. 0. 0. 1. ]] SLAMing on 134.913133365 meters Centerline goodness [0,1] 0.26315789473684215 Centerline is valid? [False, False] Translation: X:1.75, Y:0.28, Z:-0.30 [[ 0.99995813 -0.00276252 -0.0087234 1.75435237] [ 0.00272424 0.99998662 -0.00439798 0.28012381] [ 0.00873543 0.00437403 0.99995228 -0.2975195 ] [ 0. 0. 0. 1. ]] SLAMing on 134.943133365 meters Centerline goodness [0,1] 0.2783601769718632 Centerline is valid? [False, False] Translation: X:1.75, Y:0.28, Z:-0.30 [[ 0.99996065 -0.00296667 -0.00836015 1.75311349] [ 0.00292411 0.99998273 -0.00509859 0.28422956] [ 0.00837513 0.00507395 0.99995205 -0.29705932] [ 0. 0. 0. 1. ]] SLAMing on 134.973133365 meters Centerline goodness [0,1] 0.280866631615843 Centerline is valid? [False, False] Translation: X:1.75, Y:0.29, Z:-0.30 [[ 0.99996197 -0.003107 -0.00814928 1.75248415] [ 0.00306243 0.99998032 -0.00547584 0.28619444] [ 0.00816614 0.00545068 0.9999518 -0.29690463] [ 0. 0. 0. 1. ]] SLAMing on 135.003133365 meters Centerline goodness [0,1] 0.26238413451174825 Centerline is valid? [False, False] Translation: X:1.77, Y:0.29, Z:-0.30 [[ 0.99992983 -0.00916621 -0.00750373 1.77358629] [ 0.00914335 0.99995347 -0.00307491 0.29283341] [ 0.00753157 0.00300609 0.99996712 -0.29688301] [ 0. 0. 0. 1. ]] SLAMing on 135.033133365 meters Centerline goodness [0,1] 0.264503420209542 Centerline is valid? [False, False] Translation: X:1.77, Y:0.30, Z:-0.30 [[ 0.99992836 -0.00931397 -0.00751776 1.77364128] [ 0.00928781 0.99995072 -0.00350639 0.29515667] [ 0.00755005 0.00343632 0.99996559 -0.29702508] [ 0. 0. 0. 1. ]] SLAMing on 135.063133365 meters Centerline goodness [0,1] 0.2777054303945826 Centerline is valid? [False, False] Translation: X:1.77, Y:0.30, Z:-0.30 [[ 0.99992504 -0.00948814 -0.00773848 1.77428004] [ 0.00945748 0.99994732 -0.00398852 0.29769955] [ 0.00777591 0.00391503 0.9999621 -0.29728778] [ 0. 0. 0. 1. ]] SLAMing on 135.093133365 meters Centerline goodness [0,1] 0.2652178637400847 Centerline is valid? [False, False] Translation: X:1.78, Y:0.30, Z:-0.30 [[ 9.99943506e-01 -6.67890963e-03 -8.26903952e-03 1.77564673e+00] [ 6.66868306e-03 9.99976966e-01 -1.26368571e-03 2.99559274e-01] [ 8.27728909e-03 1.20847072e-03 9.99965012e-01 -2.97445701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.123133365 meters Centerline goodness [0,1] 0.28309856040335246 Centerline is valid? [False, False] Translation: X:1.73, Y:0.30, Z:-0.30 [[ 9.99922164e-01 -6.17423888e-03 -1.08417787e-02 1.73045524e+00] [ 6.16784362e-03 9.99980784e-01 -6.23208492e-04 3.01424492e-01] [ 1.08454182e-02 5.56289588e-04 9.99941032e-01 -2.96329608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.153133365 meters Centerline goodness [0,1] 0.26263457747546737 Centerline is valid? [False, False] Translation: X:1.75, Y:0.30, Z:-0.30 [[ 0.99994987 0.00182556 -0.00984499 1.75111166] [-0.00184483 0.9999964 -0.00194892 0.30221247] [ 0.0098414 0.00196698 0.99994964 -0.29576536] [ 0. 0. 0. 1. ]] SLAMing on 135.183133365 meters Centerline goodness [0,1] 0.27882411994500333 Centerline is valid? [False, False] Translation: X:1.75, Y:0.30, Z:-0.30 [[ 9.99948950e-01 1.64848871e-03 -9.96898430e-03 1.75160515e+00] [-1.67188376e-03 9.99995867e-01 -2.33890589e-03 3.03896850e-01] [ 9.96508744e-03 2.35545347e-03 9.99947573e-01 -2.96127885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.213133365 meters Centerline goodness [0,1] 0.26150857882809975 Centerline is valid? [False, False] Translation: X:1.77, Y:0.31, Z:-0.29 [[ 9.99928240e-01 -6.21042411e-03 -1.02442870e-02 1.77096732e+00] [ 6.19366141e-03 9.99979429e-01 -1.66721253e-03 3.11677104e-01] [ 1.02544304e-02 1.60364325e-03 9.99946136e-01 -2.94850318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.243133365 meters Centerline goodness [0,1] 0.2659183362700951 Centerline is valid? [False, False] Translation: X:1.77, Y:0.31, Z:-0.29 [[ 9.99928199e-01 -6.26880261e-03 -1.02127014e-02 1.77080078e+00] [ 6.25051040e-03 9.99978805e-01 -1.82205910e-03 3.12599962e-01] [ 1.02239071e-02 1.75809367e-03 9.99946189e-01 -2.94714273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27313336499998 meters Centerline goodness [0,1] 0.2656321215409658 Centerline is valid? [False, False] Translation: X:1.77, Y:0.31, Z:-0.29 [[ 0.99993399 -0.00646046 -0.009502 1.76840459] [ 0.00644308 0.99997752 -0.00185784 0.31257409] [ 0.00951378 0.00179649 0.99995313 -0.29341701] [ 0. 0. 0. 1. ]] SLAMing on 135.30313336499998 meters Centerline goodness [0,1] 0.2656321215409658 Centerline is valid? [False, False] Translation: X:1.77, Y:0.31, Z:-0.29 [[ 0.99993399 -0.00646046 -0.009502 1.76840459] [ 0.00644308 0.99997752 -0.00185784 0.31257409] [ 0.00951378 0.00179649 0.99995313 -0.29341701] [ 0. 0. 0. 1. ]] SLAMing on 135.33313336499998 meters Centerline goodness [0,1] 0.2797028089765593 Centerline is valid? [False, False] Translation: X:1.77, Y:0.31, Z:-0.29 [[ 9.99934859e-01 -6.52132076e-03 -9.36746992e-03 1.76778582e+00] [ 6.50546137e-03 9.99977356e-01 -1.72250274e-03 3.11377999e-01] [ 9.37849079e-03 1.66145082e-03 9.99954641e-01 -2.92831397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36313336499998 meters Centerline goodness [0,1] 0.26498429546193003 Centerline is valid? [False, False] Translation: X:1.77, Y:0.31, Z:-0.29 [[ 9.99929447e-01 -6.74672957e-03 -9.77667661e-03 1.76897033e+00] [ 6.73122108e-03 9.99976036e-01 -1.61831244e-03 3.09814005e-01] [ 9.78736063e-03 1.55238929e-03 9.99950898e-01 -2.93049147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39313336499998 meters Centerline goodness [0,1] 0.2795525766016713 Centerline is valid? [False, False] Translation: X:1.77, Y:0.31, Z:-0.29 [[ 9.99928677e-01 -6.66098953e-03 -9.91318343e-03 1.76953354e+00] [ 6.64681139e-03 9.99976840e-01 -1.46249096e-03 3.09397591e-01] [ 9.92269548e-03 1.39649559e-03 9.99949794e-01 -2.93387115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42313336499998 meters Centerline goodness [0,1] 0.27937853107344635 Centerline is valid? [False, False] Translation: X:1.77, Y:0.31, Z:-0.29 [[ 9.99928586e-01 -6.63591642e-03 -9.93918096e-03 1.76981035e+00] [ 6.62193357e-03 9.99977039e-01 -1.43909055e-03 3.09438225e-01] [ 9.94850243e-03 1.37317118e-03 9.99949570e-01 -2.93750319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45313336499999 meters Centerline goodness [0,1] 0.2619232260566111 Centerline is valid? [False, False] Translation: X:1.79, Y:0.31, Z:-0.29 [[ 9.99956297e-01 1.18332895e-03 -9.27377100e-03 1.78950166e+00] [-1.21157073e-03 9.99994644e-01 -3.04031335e-03 3.07109230e-01] [ 9.27012364e-03 3.05141631e-03 9.99952376e-01 -2.92661024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.483133365 meters Centerline goodness [0,1] 0.2813317792976052 Centerline is valid? [False, False] Translation: X:1.75, Y:0.31, Z:-0.29 [[ 9.99922018e-01 -7.53718886e-05 -1.24880616e-02 1.74607635e+00] [ 1.55158743e-05 9.99988513e-01 -4.79308643e-03 3.06495329e-01] [ 1.24882794e-02 4.79251889e-03 9.99910533e-01 -2.92454402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.513133365 meters Centerline goodness [0,1] 0.2813317792976052 Centerline is valid? [False, False] Translation: X:1.75, Y:0.31, Z:-0.29 [[ 9.99922018e-01 -7.53718886e-05 -1.24880616e-02 1.74607635e+00] [ 1.55158743e-05 9.99988513e-01 -4.79308643e-03 3.06495329e-01] [ 1.24882794e-02 4.79251889e-03 9.99910533e-01 -2.92454402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.543133365 meters Centerline goodness [0,1] 0.2781674085332755 Centerline is valid? [False, False] Translation: X:1.77, Y:0.31, Z:-0.29 [[ 9.99902550e-01 -4.83521703e-03 -1.30962508e-02 1.76807913e+00] [ 4.82172034e-03 9.99987812e-01 -1.06195544e-03 3.11525409e-01] [ 1.31012260e-02 9.98705495e-04 9.99913677e-01 -2.92138717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.573133365 meters Centerline goodness [0,1] 0.27644376899696044 Centerline is valid? [False, False] Translation: X:1.77, Y:0.31, Z:-0.29 [[ 9.99901395e-01 -4.77759118e-03 -1.32051322e-02 1.76855750e+00] [ 4.76397535e-03 9.99988088e-01 -1.06236535e-03 3.11932082e-01] [ 1.32100504e-02 9.99351670e-04 9.99912244e-01 -2.92544752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.603133365 meters Centerline goodness [0,1] 0.276491289047226 Centerline is valid? [False, False] Translation: X:1.77, Y:0.31, Z:-0.29 [[ 9.99899161e-01 -4.75353722e-03 -1.33817813e-02 1.76916971e+00] [ 4.74046799e-03 9.99988256e-01 -1.00819404e-03 3.11573193e-01] [ 1.33864166e-02 9.44656473e-04 9.99909952e-01 -2.92837712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.633133365 meters Centerline goodness [0,1] 0.26547997734106066 Centerline is valid? [False, False] Translation: X:1.77, Y:0.31, Z:-0.29 [[ 9.99897235e-01 -4.74602835e-03 -1.35275272e-02 1.76963452e+00] [ 4.73433376e-03 9.99988391e-01 -8.96395480e-04 3.10609109e-01] [ 1.35316245e-02 8.32259533e-04 9.99908097e-01 -2.92987611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.663133365 meters Centerline goodness [0,1] 0.2630927566440855 Centerline is valid? [False, False] Translation: X:1.77, Y:0.31, Z:-0.29 [[ 9.99898877e-01 -4.68488129e-03 -1.34271145e-02 1.76920769e+00] [ 4.67676796e-03 9.99988862e-01 -6.35585629e-04 3.09053913e-01] [ 1.34299426e-02 5.72725858e-04 9.99909650e-01 -2.92624206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.693133365 meters Centerline goodness [0,1] 0.28100381887615933 Centerline is valid? [False, False] Translation: X:1.77, Y:0.30, Z:-0.29 [[ 9.99916231e-01 -4.59325998e-03 -1.21009318e-02 1.76527264e+00] [ 4.59521754e-03 9.99989433e-01 1.33969620e-04 3.04877517e-01] [ 1.21001885e-02 -1.89564812e-04 9.99926772e-01 -2.91091462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.723133365 meters Centerline goodness [0,1] 0.2816501332867194 Centerline is valid? [False, False] Translation: X:1.76, Y:0.30, Z:-0.29 [[ 9.99922122e-01 -4.47036162e-03 -1.16518209e-02 1.76381389e+00] [ 4.47811871e-03 9.99989769e-01 6.39735281e-04 3.02205711e-01] [ 1.16488418e-02 -6.91863697e-04 9.99931911e-01 -2.90316354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.753133365 meters Centerline goodness [0,1] 0.27796705192340865 Centerline is valid? [False, False] Translation: X:1.79, Y:0.30, Z:-0.29 [[ 9.99942677e-01 1.77028598e-03 -1.05597281e-02 1.78571499e+00] [-1.79067547e-03 9.99996550e-01 -1.92172986e-03 2.98577668e-01] [ 1.05562897e-02 1.94052875e-03 9.99942398e-01 -2.90175909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.783133365 meters Centerline goodness [0,1] 0.27902532250358336 Centerline is valid? [False, False] Translation: X:1.79, Y:0.30, Z:-0.29 [[ 9.99937466e-01 1.92639768e-03 -1.10160690e-02 1.78719390e+00] [-1.94177895e-03 9.99997155e-01 -1.38573201e-03 2.95608296e-01] [ 1.10133682e-02 1.40703612e-03 9.99938361e-01 -2.90733342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.813133365 meters Centerline goodness [0,1] 0.27973468016387404 Centerline is valid? [False, False] Translation: X:1.79, Y:0.29, Z:-0.29 [[ 9.99929423e-01 2.05262892e-03 -1.17019471e-02 1.78935909e+00] [-2.06346527e-03 9.99997453e-01 -9.14031986e-04 2.92948800e-01] [ 1.17000411e-02 9.38114038e-04 9.99931112e-01 -2.91539106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.843133365 meters Centerline goodness [0,1] 0.28180206212648584 Centerline is valid? [False, False] Translation: X:1.79, Y:0.29, Z:-0.29 [[ 9.99924066e-01 2.23077870e-03 -1.21196139e-02 1.79086445e+00] [-2.23612513e-03 9.99997408e-01 -4.27605472e-04 2.90480680e-01] [ 1.21186286e-02 4.54673975e-04 9.99926463e-01 -2.92341610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.873133365 meters Centerline goodness [0,1] 0.2784102039483708 Centerline is valid? [False, False] Translation: X:1.79, Y:0.29, Z:-0.29 [[ 9.99921208e-01 2.69018120e-03 -1.22613504e-02 1.79151579e+00] [-2.68367007e-03 9.99996249e-01 5.47450929e-04 2.86209131e-01] [ 1.22627772e-02 -5.14502375e-04 9.99924677e-01 -2.92777152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.903133365 meters Centerline goodness [0,1] 0.2796115659292806 Centerline is valid? [False, False] Translation: X:1.79, Y:0.28, Z:-0.29 [[ 9.99922265e-01 2.87472032e-03 -1.21325997e-02 1.79133240e+00] [-2.86408936e-03 9.99995499e-01 8.93515600e-04 2.84764501e-01] [ 1.21351137e-02 -8.58697293e-04 9.99925998e-01 -2.92966309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.933133365 meters Centerline goodness [0,1] 0.27915874161037146 Centerline is valid? [False, False] Translation: X:1.79, Y:0.28, Z:-0.29 [[ 9.99921942e-01 2.99690699e-03 -1.21296848e-02 1.79139162e+00] [-2.98380218e-03 9.99994945e-01 1.09834486e-03 2.83761699e-01] [ 1.21329151e-02 -1.06206654e-03 9.99925829e-01 -2.93094018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.963133365 meters Centerline goodness [0,1] 0.27521304508098965 Centerline is valid? [False, False] Translation: X:1.79, Y:0.28, Z:-0.29 [[ 9.99920120e-01 3.06763196e-03 -1.22614549e-02 1.79196228e+00] [-3.05358775e-03 9.99994660e-01 1.16395254e-03 2.83331960e-01] [ 1.22649600e-02 -1.12641813e-03 9.99924148e-01 -2.93564348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.993133365 meters Centerline goodness [0,1] 0.27748587941678704 Centerline is valid? [False, False] Translation: X:1.79, Y:0.28, Z:-0.29 [[ 9.99917071e-01 3.10277862e-03 -1.24989331e-02 1.79295054e+00] [-3.08865118e-03 9.99994569e-01 1.14943664e-03 2.83315620e-01] [ 1.25024316e-02 -1.11073648e-03 9.99921225e-01 -2.94322171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02313336499998 meters Centerline goodness [0,1] 0.27580799721230076 Centerline is valid? [False, False] Translation: X:1.79, Y:0.28, Z:-0.30 [[ 9.99915320e-01 3.15473059e-03 -1.26253749e-02 1.79363134e+00] [-3.14168542e-03 9.99994511e-01 1.05295018e-03 2.83995266e-01] [ 1.26286274e-02 -1.01319606e-03 9.99919742e-01 -2.95035802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05313336499998 meters Centerline goodness [0,1] 0.2725502498972284 Centerline is valid? [False, False] Translation: X:1.79, Y:0.28, Z:-0.29 [[ 9.99920769e-01 3.39293183e-03 -1.21220070e-02 1.79226544e+00] [-3.37996726e-03 9.99993694e-01 1.08983362e-03 2.84792856e-01] [ 1.21256282e-02 -1.04877528e-03 9.99925932e-01 -2.94874997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08313336499998 meters Centerline goodness [0,1] 0.2764863510598897 Centerline is valid? [False, False] Translation: X:1.79, Y:0.28, Z:-0.29 [[ 9.99923556e-01 3.40000904e-03 -1.18878995e-02 1.79139382e+00] [-3.38726942e-03 9.99993667e-01 1.09161694e-03 2.84837928e-01] [ 1.18915357e-02 -1.05126597e-03 9.99928741e-01 -2.94396673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11313336499998 meters Centerline goodness [0,1] 0.2771459017462975 Centerline is valid? [False, False] Translation: X:1.79, Y:0.28, Z:-0.29 [[ 9.99923868e-01 3.35140823e-03 -1.18754111e-02 1.79120353e+00] [-3.33843519e-03 9.99993809e-01 1.11208388e-03 2.84399713e-01] [ 1.18790647e-02 -1.07235393e-03 9.99928866e-01 -2.94121087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14313336499998 meters Centerline goodness [0,1] 0.27274690158483395 Centerline is valid? [False, False] Translation: X:1.79, Y:0.28, Z:-0.29 [[ 9.99919695e-01 3.17111913e-03 -1.22698188e-02 1.79237037e+00] [-3.15866384e-03 9.99994476e-01 1.03436230e-03 2.83828816e-01] [ 1.22730311e-02 -9.95523007e-04 9.99924188e-01 -2.94445544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17313336499998 meters Centerline goodness [0,1] 0.2730278083878913 Centerline is valid? [False, False] Translation: X:1.79, Y:0.28, Z:-0.29 [[ 9.99911249e-01 2.91838638e-03 -1.29991039e-02 1.79448952e+00] [-2.90677210e-03 9.99995359e-01 9.12271929e-04 2.83264899e-01] [ 1.30017060e-02 -8.74405532e-04 9.99915092e-01 -2.94962814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20313336499999 meters Centerline goodness [0,1] 0.2775815454386883 Centerline is valid? [False, False] Translation: X:1.80, Y:0.28, Z:-0.30 [[ 9.99903356e-01 2.76379057e-03 -1.36249940e-02 1.79625298e+00] [-2.75129041e-03 9.99995777e-01 9.36102681e-04 2.82437593e-01] [ 1.36275237e-02 -8.98525896e-04 9.99906737e-01 -2.95388179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.233133365 meters Centerline goodness [0,1] 0.2753017138647542 Centerline is valid? [False, False] Translation: X:1.80, Y:0.28, Z:-0.29 [[ 9.99902314e-01 2.46773755e-03 -1.37576737e-02 1.79627088e+00] [-2.45239058e-03 9.99996352e-01 1.13227959e-03 2.80652020e-01] [ 1.37604177e-02 -1.09842979e-03 9.99904718e-01 -2.94681585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.263133365 meters Centerline goodness [0,1] 0.2741607983755995 Centerline is valid? [False, False] Translation: X:1.80, Y:0.28, Z:-0.29 [[ 9.99906198e-01 2.40556379e-03 -1.34836576e-02 1.79525344e+00] [-2.38796589e-03 9.99996276e-01 1.32107579e-03 2.79367850e-01] [ 1.34867853e-02 -1.28875335e-03 9.99908219e-01 -2.93991322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.293133365 meters Centerline goodness [0,1] 0.25666000129007294 Centerline is valid? [False, False] Translation: X:1.79, Y:0.28, Z:-0.29 [[ 9.99909070e-01 2.28481726e-03 -1.32902823e-02 1.79451065e+00] [-2.26544347e-03 9.99996350e-01 1.47261342e-03 2.77957351e-01] [ 1.32935984e-02 -1.44237113e-03 9.99910596e-01 -2.93430641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.323133365 meters Centerline goodness [0,1] 0.2790929587235519 Centerline is valid? [False, False] Translation: X:1.79, Y:0.28, Z:-0.29 [[ 9.99911119e-01 2.16374814e-03 -1.31557295e-02 1.79405764e+00] [-2.14239549e-03 9.99996365e-01 1.63694502e-03 2.76377465e-01] [ 1.31592236e-02 -1.60861475e-03 9.99912120e-01 -2.93149874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.353133365 meters Centerline goodness [0,1] 0.2812034685118683 Centerline is valid? [False, False] Translation: X:1.79, Y:0.27, Z:-0.29 [[ 0.9999084 0.00212648 -0.01336709 1.7946985 ] [-0.00210116 0.99999597 0.00190795 0.27447823] [ 0.01337109 -0.00187969 0.99990884 -0.29331459] [ 0. 0. 0. 1. ]] SLAMing on 136.383133365 meters Centerline goodness [0,1] 0.2812034685118683 Centerline is valid? [False, False] Translation: X:1.79, Y:0.27, Z:-0.29 [[ 0.9999084 0.00212648 -0.01336709 1.7946985 ] [-0.00210116 0.99999597 0.00190795 0.27447823] [ 0.01337109 -0.00187969 0.99990884 -0.29331459] [ 0. 0. 0. 1. ]] SLAMing on 136.413133365 meters Centerline goodness [0,1] 0.28172339169781624 Centerline is valid? [False, False] Translation: X:1.80, Y:0.27, Z:-0.29 [[ 0.99990079 0.00186686 -0.01396122 1.7963921 ] [-0.00183563 0.99999579 0.00224925 0.27137368] [ 0.01396536 -0.0022234 0.99990001 -0.29367715] [ 0. 0. 0. 1. ]] SLAMing on 136.443133365 meters Centerline goodness [0,1] 0.27927575875993227 Centerline is valid? [False, False] Translation: X:1.80, Y:0.27, Z:-0.29 [[ 0.99990055 0.00195571 -0.01396638 1.79627911] [-0.00191866 0.99999461 0.00266572 0.26913503] [ 0.01397152 -0.00263866 0.99989891 -0.29340003] [ 0. 0. 0. 1. ]] SLAMing on 136.473133365 meters Centerline goodness [0,1] 0.2754641567818463 Centerline is valid? [False, False] Translation: X:1.82, Y:0.27, Z:-0.29 [[ 0.99989123 -0.00602551 -0.01346181 1.81556141] [ 0.00607905 0.99997376 0.00393953 0.27136877] [ 0.01343772 -0.00402093 0.99990163 -0.29159204] [ 0. 0. 0. 1. ]] SLAMing on 136.503133365 meters Centerline goodness [0,1] 0.27826653633105247 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:-0.29 [[ 9.99922910e-01 1.23921253e-03 -1.23547112e-02 1.79608311e+00] [-1.20067901e-03 9.99994394e-01 3.12586288e-03 2.62923498e-01] [ 1.23585156e-02 -3.11078787e-03 9.99918792e-01 -2.93141392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.533133365 meters Centerline goodness [0,1] 0.2762823001596135 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:-0.29 [[ 9.99923097e-01 1.38238309e-03 -1.23243364e-02 1.79591715e+00] [-1.33878556e-03 9.99992820e-01 3.54506375e-03 2.60792578e-01] [ 1.23291485e-02 -3.52829148e-03 9.99917768e-01 -2.92937504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.563133365 meters Centerline goodness [0,1] 0.27989467499401566 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:-0.29 [[ 9.99924512e-01 1.55118325e-03 -1.21886960e-02 1.79542481e+00] [-1.50298321e-03 9.99991019e-01 3.96265270e-03 2.58818290e-01] [ 1.21947333e-02 -3.94403416e-03 9.99917863e-01 -2.92604134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.593133365 meters Centerline goodness [0,1] 0.27646919380212487 Centerline is valid? [False, False] Translation: X:1.80, Y:0.25, Z:-0.29 [[ 9.99924334e-01 1.83360892e-03 -1.21640204e-02 1.79531409e+00] [-1.77603154e-03 9.99987177e-01 4.74253204e-03 2.54622007e-01] [ 1.21725604e-02 -4.72056951e-03 9.99914769e-01 -2.92393855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.623133365 meters Centerline goodness [0,1] 0.2777608893907152 Centerline is valid? [False, False] Translation: X:1.80, Y:0.25, Z:-0.29 [[ 0.99992251 0.001964 -0.01229289 1.79571931] [-0.0019017 0.9999853 0.00507825 0.252857 ] [ 0.01230269 -0.00505448 0.99991154 -0.29252044] [ 0. 0. 0. 1. ]] SLAMing on 136.653133365 meters Centerline goodness [0,1] 0.28010784249777143 Centerline is valid? [False, False] Translation: X:1.80, Y:0.25, Z:-0.29 [[ 0.99991969 0.00208644 -0.01250015 1.79642893] [-0.00202018 0.99998386 0.00531109 0.25177397] [ 0.01251103 -0.00528541 0.99990777 -0.29286874] [ 0. 0. 0. 1. ]] SLAMing on 136.683133365 meters Centerline goodness [0,1] 0.2806122448979592 Centerline is valid? [False, False] Translation: X:1.80, Y:0.25, Z:-0.29 [[ 0.99991848 0.00217818 -0.01258151 1.79682613] [-0.00210987 0.99998298 0.0054397 0.25128643] [ 0.01259315 -0.00541271 0.99990605 -0.29321358] [ 0. 0. 0. 1. ]] SLAMing on 136.713133365 meters Centerline goodness [0,1] 0.2756406111937243 Centerline is valid? [False, False] Translation: X:1.82, Y:0.25, Z:-0.29 [[ 0.99986543 0.01090282 -0.01225773 1.81770718] [-0.01084728 0.99993064 0.0045879 0.24846248] [ 0.0123069 -0.00445432 0.99991435 -0.29249234] [ 0. 0. 0. 1. ]] SLAMing on 136.743133365 meters Centerline goodness [0,1] 0.27464380117336085 Centerline is valid? [False, False] Translation: X:1.82, Y:0.25, Z:-0.29 [[ 0.99986451 0.01090875 -0.01232699 1.81815908] [-0.0108546 0.99993118 0.00445161 0.24922607] [ 0.01237471 -0.0043172 0.99991411 -0.29296986] [ 0. 0. 0. 1. ]] SLAMing on 136.77313336499998 meters Centerline goodness [0,1] 0.2801081953624327 Centerline is valid? [False, False] Translation: X:1.80, Y:0.25, Z:-0.29 [[ 0.99991227 0.00219494 -0.01306265 1.7976869 ] [-0.0021286 0.99998478 0.00509006 0.25351321] [ 0.01307363 -0.00506181 0.99990172 -0.29402329] [ 0. 0. 0. 1. ]] SLAMing on 136.80313336499998 meters Centerline goodness [0,1] 0.27687613606855366 Centerline is valid? [False, False] Translation: X:1.80, Y:0.25, Z:-0.29 [[ 0.99991381 0.00218025 -0.01294648 1.79757556] [-0.00211649 0.99998557 0.00493684 0.25432396] [ 0.01295705 -0.00490901 0.999904 -0.29437022] [ 0. 0. 0. 1. ]] SLAMing on 136.83313336499998 meters Centerline goodness [0,1] 0.2763582775285526 Centerline is valid? [False, False] Translation: X:1.80, Y:0.25, Z:-0.29 [[ 0.99991578 0.00217851 -0.01279437 1.79716981] [-0.00211675 0.99998605 0.0048388 0.25492557] [ 0.01280474 -0.00481131 0.99990644 -0.29435381] [ 0. 0. 0. 1. ]] SLAMing on 136.86313336499998 meters Centerline goodness [0,1] 0.27686209958632046 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:-0.29 [[ 0.99992155 0.00232123 -0.01230872 1.79564307] [-0.0022626 0.99998604 0.00477554 0.2561248 ] [ 0.01231963 -0.00474732 0.99991284 -0.29384576] [ 0. 0. 0. 1. ]] SLAMing on 136.89313336499998 meters Centerline goodness [0,1] 0.2749019438817293 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:-0.29 [[ 0.99992237 0.00233953 -0.01223811 1.79536014] [-0.00228155 0.99998612 0.00474938 0.25646978] [ 0.01224905 -0.00472109 0.99991383 -0.29369948] [ 0. 0. 0. 1. ]] SLAMing on 136.92313336499998 meters Centerline goodness [0,1] 0.2734337997847147 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:-0.29 [[ 0.99992162 0.00233904 -0.01230005 1.79529405] [-0.00228044 0.99998599 0.00477658 0.2561262 ] [ 0.01231105 -0.00474816 0.99991294 -0.29334331] [ 0. 0. 0. 1. ]] SLAMing on 136.95313336499999 meters Centerline goodness [0,1] 0.28133795902336844 Centerline is valid? [False, False] Translation: X:1.75, Y:0.25, Z:-0.29 [[ 9.99895590e-01 6.45451594e-04 -1.44358137e-02 1.74928519e+00] [-5.88592265e-04 9.99992054e-01 3.94267045e-03 2.52293509e-01] [ 1.44382438e-02 -3.93376199e-03 9.99888025e-01 -2.92437352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.983133365 meters Centerline goodness [0,1] 0.27762487810163616 Centerline is valid? [False, False] Translation: X:1.75, Y:0.25, Z:-0.29 [[ 9.99894312e-01 6.00121436e-04 -1.45260230e-02 1.74940970e+00] [-5.41634328e-04 9.99991733e-01 4.02996682e-03 2.51294712e-01] [ 1.45283213e-02 -4.02167310e-03 9.99886371e-01 -2.92285173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.013133365 meters Centerline goodness [0,1] 0.2793903420085665 Centerline is valid? [False, False] Translation: X:1.75, Y:0.25, Z:-0.29 [[ 9.99890536e-01 6.79752342e-04 -1.47801637e-02 1.75020493e+00] [-6.14411500e-04 9.99990021e-01 4.42493844e-03 2.49122307e-01] [ 1.47830241e-02 -4.41537296e-03 9.99880976e-01 -2.92535066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.043133365 meters Centerline goodness [0,1] 0.2827703513095057 Centerline is valid? [False, False] Translation: X:1.75, Y:0.25, Z:-0.29 [[ 9.99889625e-01 7.30283601e-04 -1.48392887e-02 1.75039780e+00] [-6.62318903e-04 9.99989272e-01 4.58444933e-03 2.48343715e-01] [ 1.48424775e-02 -4.57411498e-03 9.99879382e-01 -2.92588797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.073133365 meters Centerline goodness [0,1] 0.27948450924238477 Centerline is valid? [False, False] Translation: X:1.75, Y:0.25, Z:-0.29 [[ 9.99889295e-01 7.33866146e-04 -1.48613526e-02 1.75051667e+00] [-6.64695508e-04 9.99988927e-01 4.65880183e-03 2.47720132e-01] [ 1.48646070e-02 -4.64840780e-03 9.99878711e-01 -2.92663843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.103133365 meters Centerline goodness [0,1] 0.2759787857882028 Centerline is valid? [False, False] Translation: X:1.75, Y:0.25, Z:-0.29 [[ 9.99888769e-01 7.21179328e-04 -1.48972840e-02 1.75061441e+00] [-6.50522654e-04 9.99988520e-01 4.74722463e-03 2.46881051e-01] [ 1.49005366e-02 -4.73700557e-03 9.99877760e-01 -2.92645072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.133133365 meters Centerline goodness [0,1] 0.2840921545847125 Centerline is valid? [False, False] Translation: X:1.71, Y:0.24, Z:-0.29 [[ 9.99848902e-01 -5.17963982e-04 -1.73753863e-02 1.70538808e+00] [ 5.95415182e-04 9.99989910e-01 4.45264695e-03 2.42311291e-01] [ 1.73729047e-02 -4.46231973e-03 9.99839122e-01 -2.91933392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.163133365 meters Centerline goodness [0,1] 0.2820106738404131 Centerline is valid? [False, False] Translation: X:1.73, Y:0.24, Z:-0.29 [[ 0.99982717 0.00776548 -0.0168914 1.72514556] [-0.00770823 0.99996433 0.00345192 0.23782154] [ 0.01691761 -0.00332112 0.99985137 -0.29065347] [ 0. 0. 0. 1. ]] SLAMing on 137.193133365 meters Centerline goodness [0,1] 0.2785893335638344 Centerline is valid? [False, False] Translation: X:1.73, Y:0.24, Z:-0.29 [[ 0.99982353 0.00786315 -0.01706131 1.7256645 ] [-0.00780055 0.99996261 0.00373243 0.23645514] [ 0.01709002 -0.00359868 0.99984748 -0.29077646] [ 0. 0. 0. 1. ]] SLAMing on 137.223133365 meters Centerline goodness [0,1] 0.2764763035733564 Centerline is valid? [False, False] Translation: X:1.73, Y:0.23, Z:-0.29 [[ 0.99981893 0.00795365 -0.01728713 1.72620923] [-0.0078851 0.99996079 0.00402999 0.23487572] [ 0.0173185 -0.00389295 0.99984244 -0.29071096] [ 0. 0. 0. 1. ]] SLAMing on 137.253133365 meters Centerline goodness [0,1] 0.2776756160353071 Centerline is valid? [False, False] Translation: X:1.73, Y:0.23, Z:-0.29 [[ 9.99844413e-01 4.46988937e-03 -1.70637073e-02 1.72524541e+00] [-4.45798062e-03 9.99989792e-01 7.35873050e-04 2.33420895e-01] [ 1.70668224e-02 -6.59688881e-04 9.99854134e-01 -2.90247025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.283133365 meters Centerline goodness [0,1] 0.280370587341882 Centerline is valid? [False, False] Translation: X:1.73, Y:0.23, Z:-0.29 [[ 9.99845225e-01 4.50150847e-03 -1.70077256e-02 1.72500571e+00] [-4.48774375e-03 9.99989571e-01 8.47401035e-04 2.32750777e-01] [ 1.70113628e-02 -7.70943564e-04 9.99854999e-01 -2.90076246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.313133365 meters Centerline goodness [0,1] 0.2786530938641423 Centerline is valid? [False, False] Translation: X:1.72, Y:0.23, Z:-0.29 [[ 9.99846524e-01 4.58034015e-03 -1.69100337e-02 1.72481694e+00] [-4.56483079e-03 9.99989124e-01 9.55653404e-04 2.32460687e-01] [ 1.69142270e-02 -8.78315291e-04 9.99856558e-01 -2.90143522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.343133365 meters Centerline goodness [0,1] 0.2764273114486082 Centerline is valid? [False, False] Translation: X:1.72, Y:0.23, Z:-0.29 [[ 9.99849476e-01 4.63700708e-03 -1.67189487e-02 1.72441110e+00] [-4.62088914e-03 9.99988821e-01 1.00255496e-03 2.32603265e-01] [ 1.67234106e-02 -9.25147647e-04 9.99859726e-01 -2.90241017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.373133365 meters Centerline goodness [0,1] 0.28047404063205417 Centerline is valid? [False, False] Translation: X:1.72, Y:0.23, Z:-0.29 [[ 9.99851348e-01 4.69456565e-03 -1.65904224e-02 1.72410252e+00] [-4.67796595e-03 9.99988518e-01 1.03922517e-03 2.32774923e-01] [ 1.65951106e-02 -9.61461254e-04 9.99861829e-01 -2.90240574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.403133365 meters Centerline goodness [0,1] 0.2849255039439088 Centerline is valid? [False, False] Translation: X:1.72, Y:0.23, Z:-0.29 [[ 9.99853433e-01 4.67057617e-03 -1.64711240e-02 1.72370998e+00] [-4.65572783e-03 9.99988721e-01 9.39707260e-04 2.33286556e-01] [ 1.64753272e-02 -8.62884459e-04 9.99863900e-01 -2.90079562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.433133365 meters Centerline goodness [0,1] 0.2825718015665797 Centerline is valid? [False, False] Translation: X:1.72, Y:0.23, Z:-0.29 [[ 9.99855788e-01 4.80979457e-03 -1.62870774e-02 1.72258609e+00] [-4.79349725e-03 9.99987971e-01 1.03952030e-03 2.33234382e-01] [ 1.62918814e-02 -9.61298332e-04 9.99866816e-01 -2.89057748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.463133365 meters Centerline goodness [0,1] 0.2785266796284295 Centerline is valid? [False, False] Translation: X:1.72, Y:0.23, Z:-0.29 [[ 9.99858894e-01 4.92853908e-03 -1.60593172e-02 1.72180949e+00] [-4.90999592e-03 9.99987233e-01 1.19389072e-03 2.33003584e-01] [ 1.60649963e-02 -1.11487107e-03 9.99870328e-01 -2.88734664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.493133365 meters Centerline goodness [0,1] 0.2823110684105946 Centerline is valid? [False, False] Translation: X:1.70, Y:0.24, Z:-0.29 [[ 0.99987336 -0.00323299 -0.01558218 1.70232953] [ 0.00327537 0.999991 0.00269537 0.23636004] [ 0.01557333 -0.00274607 0.99987496 -0.29086887] [ 0. 0. 0. 1. ]] SLAMing on 137.52313336499998 meters Centerline goodness [0,1] 0.2756239242685026 Centerline is valid? [False, False] Translation: X:1.72, Y:0.23, Z:-0.29 [[ 9.99884531e-01 5.10286113e-03 -1.43137920e-02 1.72204967e+00] [-5.08355270e-03 9.99986120e-01 1.38499906e-03 2.33882324e-01] [ 1.43206608e-02 -1.31207422e-03 9.99896593e-01 -2.90031711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55313336499998 meters Centerline goodness [0,1] 0.2823680375823746 Centerline is valid? [False, False] Translation: X:1.70, Y:0.24, Z:-0.29 [[ 0.99989364 -0.00366132 -0.01411754 1.70201315] [ 0.00369127 0.99999099 0.00209598 0.23732878] [ 0.01410974 -0.00214787 0.99989815 -0.2916722 ] [ 0. 0. 0. 1. ]] SLAMing on 137.58313336499998 meters Centerline goodness [0,1] 0.27849685046164463 Centerline is valid? [False, False] Translation: X:1.72, Y:0.24, Z:-0.29 [[ 9.99907285e-01 4.82818693e-03 -1.27322385e-02 1.72103023e+00] [-4.82020958e-03 9.99988167e-01 6.57160352e-04 2.35415848e-01] [ 1.27352608e-02 -5.95727365e-04 9.99918726e-01 -2.90151784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61313336499998 meters Centerline goodness [0,1] 0.27791643358147944 Centerline is valid? [False, False] Translation: X:1.72, Y:0.24, Z:-0.29 [[ 9.99909201e-01 4.86539425e-03 -1.25665139e-02 1.72054868e+00] [-4.85783939e-03 9.99988001e-01 6.31643999e-04 2.35898443e-01] [ 1.25694363e-02 -5.70540541e-04 9.99920839e-01 -2.90068605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64313336499998 meters Centerline goodness [0,1] 0.281363369756479 Centerline is valid? [False, False] Translation: X:1.70, Y:0.24, Z:-0.29 [[ 0.9999147 -0.00342442 -0.01260386 1.70140445] [ 0.00344987 0.99999205 0.00199774 0.23953922] [ 0.01259692 -0.00204105 0.99991857 -0.29211234] [ 0. 0. 0. 1. ]] SLAMing on 137.67313336499998 meters Centerline goodness [0,1] 0.28264419622444314 Centerline is valid? [False, False] Translation: X:1.70, Y:0.24, Z:-0.29 [[ 0.99991186 -0.00348627 -0.0128108 1.70199731] [ 0.00351081 0.99999204 0.00189343 0.23972938] [ 0.01280409 -0.00193824 0.99991615 -0.29228923] [ 0. 0. 0. 1. ]] SLAMing on 137.70313336499999 meters Centerline goodness [0,1] 0.28133638045489173 Centerline is valid? [False, False] Translation: X:1.70, Y:0.24, Z:-0.29 [[ 0.99990794 -0.00356461 -0.01309186 1.70298158] [ 0.00358814 0.99999199 0.00177399 0.23986392] [ 0.01308543 -0.0018208 0.99991272 -0.29280805] [ 0. 0. 0. 1. ]] SLAMing on 137.733133365 meters Centerline goodness [0,1] 0.2801724137931034 Centerline is valid? [False, False] Translation: X:1.70, Y:0.24, Z:-0.29 [[ 9.99903804e-01 -3.60053688e-03 -1.33947289e-02 1.70421710e+00] [ 3.62279505e-03 9.99992096e-01 1.63781826e-03 2.40397799e-01] [ 1.33887261e-02 -1.68618707e-03 9.99908945e-01 -2.93716386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.763133365 meters Centerline goodness [0,1] 0.2826879171057253 Centerline is valid? [False, False] Translation: X:1.68, Y:0.24, Z:-0.30 [[ 9.99882709e-01 4.30045187e-03 -1.46994580e-02 1.68487248e+00] [-4.29286100e-03 9.99990636e-01 5.47918926e-04 2.35895404e-01] [ 1.47016766e-02 -4.84751930e-04 9.99891807e-01 -2.95396390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.793133365 meters Centerline goodness [0,1] 0.27570506872666856 Centerline is valid? [False, False] Translation: X:1.71, Y:0.24, Z:-0.30 [[ 9.99864976e-01 -5.16395994e-04 -1.64244650e-02 1.70760594e+00] [ 5.65607521e-04 9.99995365e-01 2.99172911e-03 2.42740096e-01] [ 1.64228440e-02 -3.00061496e-03 9.99860634e-01 -2.95928808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.823133365 meters Centerline goodness [0,1] 0.28206589648595914 Centerline is valid? [False, False] Translation: X:1.66, Y:0.24, Z:-0.30 [[ 9.99820138e-01 -1.02282517e-03 -1.89379442e-02 1.66191385e+00] [ 1.08270170e-03 9.99994447e-01 3.15173999e-03 2.40102878e-01] [ 1.89346153e-02 -3.17167725e-03 9.99815693e-01 -2.95129619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.853133365 meters Centerline goodness [0,1] 0.2758136014704292 Centerline is valid? [False, False] Translation: X:1.68, Y:0.24, Z:-0.29 [[ 9.99814785e-01 7.38854950e-03 -1.77708887e-02 1.68173939e+00] [-7.35781411e-03 9.99971321e-01 1.79429769e-03 2.39674740e-01] [ 1.77836363e-02 -1.66321047e-03 9.99840475e-01 -2.94036650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.883133365 meters Centerline goodness [0,1] 0.2784050120733538 Centerline is valid? [False, False] Translation: X:1.68, Y:0.24, Z:-0.29 [[ 9.99815333e-01 7.30876175e-03 -1.77730805e-02 1.68173031e+00] [-7.28226309e-03 9.99972275e-01 1.55520701e-03 2.40970989e-01] [ 1.77839543e-02 -1.42549157e-03 9.99840837e-01 -2.94049538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.913133365 meters Centerline goodness [0,1] 0.27479035186305867 Centerline is valid? [False, False] Translation: X:1.68, Y:0.24, Z:-0.29 [[ 9.99815293e-01 7.18942473e-03 -1.78239332e-02 1.68211901e+00] [-7.16905611e-03 9.99973574e-01 1.20640100e-03 2.42809786e-01] [ 1.78321355e-02 -1.07839739e-03 9.99840413e-01 -2.94575691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.943133365 meters Centerline goodness [0,1] 0.27833118992087535 Centerline is valid? [False, False] Translation: X:1.68, Y:0.24, Z:-0.30 [[ 9.99811457e-01 7.06187891e-03 -1.80881330e-02 1.68311020e+00] [-7.04782282e-03 9.99974810e-01 8.40718323e-04 2.44740245e-01] [ 1.80936144e-02 -7.13077855e-04 9.99836043e-01 -2.95191695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.973133365 meters Centerline goodness [0,1] 0.2786531075418994 Centerline is valid? [False, False] Translation: X:1.68, Y:0.25, Z:-0.30 [[ 9.99808531e-01 6.90623120e-03 -1.83086031e-02 1.68410856e+00] [-6.89945309e-03 9.99976105e-01 4.33354393e-04 2.46679489e-01] [ 1.83111584e-02 -3.06952071e-04 9.99832290e-01 -2.96028141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.003133365 meters Centerline goodness [0,1] 0.2753934191702432 Centerline is valid? [False, False] Translation: X:1.70, Y:0.25, Z:-0.29 [[ 9.99780597e-01 1.14337496e-03 -2.09153106e-02 1.70053852e+00] [-1.12513321e-03 9.99998976e-01 8.83918675e-04 2.54565790e-01] [ 2.09162999e-02 -8.60192230e-04 9.99780860e-01 -2.93705474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.033133365 meters Centerline goodness [0,1] 0.27525010874293165 Centerline is valid? [False, False] Translation: X:1.70, Y:0.26, Z:-0.29 [[ 9.99782343e-01 9.81248622e-04 -2.08399365e-02 1.70015818e+00] [-9.75975054e-04 9.99999489e-01 2.63220325e-04 2.58204729e-01] [ 2.08401841e-02 -2.42823775e-04 9.99782790e-01 -2.93574503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.063133365 meters Centerline goodness [0,1] 0.2752779708130646 Centerline is valid? [False, False] Translation: X:1.70, Y:0.26, Z:-0.29 [[ 9.99786868e-01 8.44659355e-04 -2.06277830e-02 1.69936782e+00] [-8.47078491e-04 9.99999635e-01 -1.08538306e-04 2.60168415e-01] [ 2.06276838e-02 1.25988524e-04 9.99787219e-01 -2.93212159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.093133365 meters Centerline goodness [0,1] 0.27638005513708297 Centerline is valid? [False, False] Translation: X:1.70, Y:0.26, Z:-0.29 [[ 9.99791680e-01 6.97645809e-04 -2.03987874e-02 1.69855501e+00] [-7.07381624e-04 9.99999639e-01 -4.70062466e-04 2.61990636e-01] [ 2.03984522e-02 4.84394270e-04 9.99791813e-01 -2.92857524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.123133365 meters Centerline goodness [0,1] 0.2758231502181321 Centerline is valid? [False, False] Translation: X:1.70, Y:0.26, Z:-0.29 [[ 9.99793994e-01 5.18332873e-04 -2.02904322e-02 1.69818064e+00] [-5.37212182e-04 9.99999428e-01 -9.25014141e-04 2.64231734e-01] [ 2.02899411e-02 9.35723849e-04 9.99793700e-01 -2.92771500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.153133365 meters Centerline goodness [0,1] 0.28000176254158493 Centerline is valid? [False, False] Translation: X:1.65, Y:0.26, Z:-0.29 [[ 9.99740664e-01 -9.40579807e-05 -2.27727121e-02 1.65313859e+00] [ 7.34665213e-05 9.99999588e-01 -9.05051322e-04 2.63030529e-01] [ 2.27727878e-02 9.03143577e-04 9.99740259e-01 -2.92790444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.183133365 meters Centerline goodness [0,1] 0.275913011362402 Centerline is valid? [False, False] Translation: X:1.67, Y:0.26, Z:-0.29 [[ 0.99973026 0.00830324 -0.02169023 1.67380202] [-0.00835052 0.99996295 -0.0020901 0.2639076 ] [ 0.02167208 0.00227066 0.99976255 -0.29229019] [ 0. 0. 0. 1. ]] SLAMing on 138.213133365 meters Centerline goodness [0,1] 0.2755537272392664 Centerline is valid? [False, False] Translation: X:1.69, Y:0.27, Z:-0.29 [[ 9.99784422e-01 8.31067388e-04 -2.07465346e-02 1.69040739e+00] [-8.50359549e-04 9.99999214e-01 -9.21093324e-04 2.73817376e-01] [ 2.07457528e-02 9.38536770e-04 9.99784343e-01 -2.89001164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.243133365 meters Centerline goodness [0,1] 0.28004455899698566 Centerline is valid? [False, False] Translation: X:1.69, Y:0.27, Z:-0.29 [[ 9.99791031e-01 7.44187404e-04 -2.04289340e-02 1.68910847e+00] [-7.65144971e-04 9.99999189e-01 -1.01807950e-03 2.74374608e-01] [ 2.04281597e-02 1.03349784e-03 9.99790789e-01 -2.88129860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27313336499998 meters Centerline goodness [0,1] 0.2764671475921232 Centerline is valid? [False, False] Translation: X:1.69, Y:0.27, Z:-0.29 [[ 9.99793627e-01 6.55662900e-04 -2.03045015e-02 1.68852506e+00] [-6.77005664e-04 9.99999226e-01 -1.04427859e-03 2.74333310e-01] [ 2.03038011e-02 1.05780935e-03 9.99793297e-01 -2.87671046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30313336499998 meters Centerline goodness [0,1] 0.2764671475921232 Centerline is valid? [False, False] Translation: X:1.69, Y:0.27, Z:-0.29 [[ 9.99793627e-01 6.55662900e-04 -2.03045015e-02 1.68852506e+00] [-6.77005664e-04 9.99999226e-01 -1.04427859e-03 2.74333310e-01] [ 2.03038011e-02 1.05780935e-03 9.99793297e-01 -2.87671046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33313336499998 meters Centerline goodness [0,1] 0.2761069971286081 Centerline is valid? [False, False] Translation: X:1.69, Y:0.27, Z:-0.29 [[ 9.99795532e-01 5.64917476e-04 -2.02132317e-02 1.68817698e+00] [-5.85911245e-04 9.99999295e-01 -1.03270807e-03 2.73882548e-01] [ 2.02126340e-02 1.04434007e-03 9.99795158e-01 -2.87400160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36313336499998 meters Centerline goodness [0,1] 0.28007641210437195 Centerline is valid? [False, False] Translation: X:1.69, Y:0.27, Z:-0.29 [[ 9.99798795e-01 5.12305060e-04 -2.00526026e-02 1.68754381e+00] [-5.30876781e-04 9.99999435e-01 -9.20837842e-04 2.72936423e-01] [ 2.00521195e-02 9.31298026e-04 9.99798502e-01 -2.86921831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39313336499998 meters Centerline goodness [0,1] 0.27852588349724416 Centerline is valid? [False, False] Translation: X:1.69, Y:0.27, Z:-0.29 [[ 9.99804081e-01 4.86416703e-04 -1.97879539e-02 1.68655275e+00] [-5.01563487e-04 9.99999585e-01 -7.60499042e-04 2.71836894e-01] [ 1.97875758e-02 7.70274961e-04 9.99803910e-01 -2.86313990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42313336499998 meters Centerline goodness [0,1] 0.278316872339046 Centerline is valid? [False, False] Translation: X:1.69, Y:0.27, Z:-0.29 [[ 9.99808739e-01 5.48772367e-04 -1.95495531e-02 1.68551910e+00] [-5.59428339e-04 9.99999698e-01 -5.39610332e-04 2.70852134e-01] [ 1.95492511e-02 5.50443699e-04 9.99808744e-01 -2.85556124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45313336499999 meters Centerline goodness [0,1] 0.2812079954906127 Centerline is valid? [False, False] Translation: X:1.68, Y:0.27, Z:-0.28 [[ 9.99813308e-01 5.89578048e-04 -1.93132246e-02 1.68452820e+00] [-5.97096402e-04 9.99999748e-01 -3.83521172e-04 2.70124985e-01] [ 1.93129936e-02 3.94981428e-04 9.99813409e-01 -2.84879718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.483133365 meters Centerline goodness [0,1] 0.2828647954184178 Centerline is valid? [False, False] Translation: X:1.68, Y:0.27, Z:-0.28 [[ 9.99816116e-01 5.96478883e-04 -1.91671169e-02 1.68380448e+00] [-6.03060394e-04 9.99999761e-01 -3.37596969e-04 2.69860169e-01] [ 1.91669109e-02 3.49093820e-04 9.99816237e-01 -2.84273948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.513133365 meters Centerline goodness [0,1] 0.2842378387807165 Centerline is valid? [False, False] Translation: X:1.68, Y:0.27, Z:-0.28 [[ 9.99817816e-01 6.26802321e-04 -1.90772775e-02 1.68336139e+00] [-6.34341571e-04 9.99999723e-01 -3.89146521e-04 2.70276997e-01] [ 1.90770283e-02 4.01177135e-04 9.99817936e-01 -2.83950604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.543133365 meters Centerline goodness [0,1] 0.28066717210007586 Centerline is valid? [False, False] Translation: X:1.68, Y:0.27, Z:-0.28 [[ 9.99811603e-01 6.14711732e-04 -1.94005479e-02 1.68442531e+00] [-6.25651586e-04 9.99999649e-01 -5.57829558e-04 2.71203920e-01] [ 1.94001982e-02 5.69862448e-04 9.99811636e-01 -2.84507955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.573133365 meters Centerline goodness [0,1] 0.2842500109041741 Centerline is valid? [False, False] Translation: X:1.69, Y:0.27, Z:-0.29 [[ 9.99805478e-01 5.78409819e-04 -1.97147652e-02 1.68565340e+00] [-5.92529177e-04 9.99999572e-01 -7.10348042e-04 2.71799148e-01] [ 1.97143459e-02 7.21891437e-04 9.99805393e-01 -2.85346071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.603133365 meters Centerline goodness [0,1] 0.2801463742069593 Centerline is valid? [False, False] Translation: X:1.69, Y:0.27, Z:-0.29 [[ 9.99801130e-01 4.98556474e-04 -1.99361764e-02 1.68645561e+00] [-5.15472056e-04 9.99999512e-01 -8.43356979e-04 2.71998633e-01] [ 1.99357462e-02 8.53465803e-04 9.99800899e-01 -2.85767746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.633133365 meters Centerline goodness [0,1] 0.28182035719724163 Centerline is valid? [False, False] Translation: X:1.69, Y:0.27, Z:-0.29 [[ 9.99801295e-01 4.56515975e-04 -1.99289234e-02 1.68635136e+00] [-4.73961610e-04 9.99999509e-01 -8.70678294e-04 2.71785789e-01] [ 1.99285162e-02 8.79950831e-04 9.99801020e-01 -2.85662167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.663133365 meters Centerline goodness [0,1] 0.2809568175416549 Centerline is valid? [False, False] Translation: X:1.69, Y:0.27, Z:-0.29 [[ 9.99808216e-01 5.41514144e-04 -1.95764867e-02 1.68520278e+00] [-5.55520323e-04 9.99999594e-01 -7.10028260e-04 2.71195693e-01] [ 1.95760943e-02 7.20767224e-04 9.99808110e-01 -2.85215874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.693133365 meters Centerline goodness [0,1] 0.28345820318472725 Centerline is valid? [False, False] Translation: X:1.69, Y:0.27, Z:-0.29 [[ 9.99807624e-01 5.20491297e-04 -1.96072285e-02 1.68555475e+00] [-5.34698504e-04 9.99999598e-01 -7.19354720e-04 2.71106429e-01] [ 1.96068463e-02 7.29700290e-04 9.99807501e-01 -2.85648529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.723133365 meters Centerline goodness [0,1] 0.27876029475509323 Centerline is valid? [False, False] Translation: X:1.69, Y:0.27, Z:-0.29 [[ 9.99801039e-01 4.23686495e-04 -1.99424783e-02 1.68692004e+00] [-4.39543533e-04 9.99999591e-01 -7.90762287e-04 2.70907744e-01] [ 1.99421351e-02 7.99370543e-04 9.99800816e-01 -2.86510064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.753133365 meters Centerline goodness [0,1] 0.2766573719819294 Centerline is valid? [False, False] Translation: X:1.69, Y:0.27, Z:-0.29 [[ 9.99791919e-01 3.40494988e-04 -2.03961470e-02 1.68855445e+00] [-3.58043582e-04 9.99999569e-01 -8.56742142e-04 2.70777288e-01] [ 2.03958465e-02 8.63866580e-04 9.99791610e-01 -2.87362853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.783133365 meters Centerline goodness [0,1] 0.2810142589281821 Centerline is valid? [False, False] Translation: X:1.69, Y:0.27, Z:-0.29 [[ 9.99785023e-01 3.53964373e-04 -2.07312096e-02 1.68967106e+00] [-3.71342462e-04 9.99999583e-01 -8.34413782e-04 2.70747545e-01] [ 2.07309056e-02 8.41932780e-04 9.99784737e-01 -2.87880739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.813133365 meters Centerline goodness [0,1] 0.27821619043489576 Centerline is valid? [False, False] Translation: X:1.69, Y:0.27, Z:-0.29 [[ 9.99782093e-01 3.74230400e-04 -2.08716695e-02 1.69028802e+00] [-3.91454796e-04 9.99999586e-01 -8.21172940e-04 2.70927169e-01] [ 2.08713536e-02 8.29164315e-04 9.99781826e-01 -2.88315493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.843133365 meters Centerline goodness [0,1] 0.2762028608582575 Centerline is valid? [False, False] Translation: X:1.69, Y:0.27, Z:-0.29 [[ 9.99776987e-01 2.74323348e-04 -2.11163725e-02 1.69104369e+00] [-2.91371909e-04 9.99999634e-01 -8.04289726e-04 2.70400947e-01] [ 2.11161441e-02 8.10263077e-04 9.99776701e-01 -2.88576751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.873133365 meters Centerline goodness [0,1] 0.27612360767997224 Centerline is valid? [False, False] Translation: X:1.69, Y:0.27, Z:-0.29 [[ 9.99773096e-01 2.28003251e-04 -2.13003413e-02 1.69148735e+00] [-2.41788081e-04 9.99999763e-01 -6.44591585e-04 2.68965260e-01] [ 2.13001893e-02 6.49595493e-04 9.99772914e-01 -2.88513409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.903133365 meters Centerline goodness [0,1] 0.2815315811504483 Centerline is valid? [False, False] Translation: X:1.65, Y:0.26, Z:-0.29 [[ 9.99712909e-01 -1.36929983e-03 -2.39212143e-02 1.64658584e+00] [ 1.34173841e-03 9.99998418e-01 -1.16818720e-03 2.64020948e-01] [ 2.39227760e-02 1.13575581e-03 9.99713164e-01 -2.88242826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.933133365 meters Centerline goodness [0,1] 0.2794194220255142 Centerline is valid? [False, False] Translation: X:1.67, Y:0.27, Z:-0.29 [[ 9.99674814e-01 -9.48305832e-03 -2.36714693e-02 1.66713223e+00] [ 9.48108358e-03 9.99955034e-01 -1.95655412e-04 2.67090737e-01] [ 2.36722603e-02 -2.88393905e-05 9.99719772e-01 -2.86823082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.963133365 meters Centerline goodness [0,1] 0.27690546640461333 Centerline is valid? [False, False] Translation: X:1.68, Y:0.26, Z:-0.28 [[ 9.99690911e-01 -2.37873377e-03 -2.47472004e-02 1.68391809e+00] [ 2.35003958e-03 9.99996532e-01 -1.18851099e-03 2.61368673e-01] [ 2.47499418e-02 1.12998673e-03 9.99693035e-01 -2.83754489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99313336499998 meters Centerline goodness [0,1] 0.2789413268068701 Centerline is valid? [False, False] Translation: X:1.68, Y:0.26, Z:-0.28 [[ 9.99697361e-01 -2.27115394e-03 -2.44954837e-02 1.68296144e+00] [ 2.25203503e-03 9.99997138e-01 -8.08065869e-04 2.59592732e-01] [ 2.44972488e-02 7.52656629e-04 9.99699614e-01 -2.83145438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02313336499998 meters Centerline goodness [0,1] 0.28110159384148325 Centerline is valid? [False, False] Translation: X:1.68, Y:0.26, Z:-0.28 [[ 9.99713984e-01 -2.37319575e-03 -2.37974576e-02 1.68123187e+00] [ 2.36381731e-03 9.99997117e-01 -4.22216591e-04 2.56814668e-01] [ 2.37983910e-02 3.65842988e-04 9.99716711e-01 -2.82850276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05313336499998 meters Centerline goodness [0,1] 0.27898009141916336 Centerline is valid? [False, False] Translation: X:1.68, Y:0.26, Z:-0.28 [[ 9.99714218e-01 -2.31272500e-03 -2.37935808e-02 1.68123773e+00] [ 2.30854808e-03 9.99997315e-01 -2.03014895e-04 2.55582677e-01] [ 2.37939864e-02 1.48028252e-04 9.99716872e-01 -2.82840794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08313336499998 meters Centerline goodness [0,1] 0.27992031354886204 Centerline is valid? [False, False] Translation: X:1.68, Y:0.25, Z:-0.28 [[ 9.99711601e-01 -2.22398286e-03 -2.39117052e-02 1.68144964e+00] [ 2.22509137e-03 9.99997524e-01 1.97518642e-05 2.54446233e-01] [ 2.39116020e-02 -7.29518966e-05 9.99714074e-01 -2.82712051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11313336499998 meters Centerline goodness [0,1] 0.28267781697809136 Centerline is valid? [False, False] Translation: X:1.68, Y:0.25, Z:-0.28 [[ 9.99708966e-01 -2.16828922e-03 -2.40267089e-02 1.68164834e+00] [ 2.17318467e-03 9.99997623e-01 1.77641031e-04 2.53604074e-01] [ 2.40262666e-02 -2.29803807e-04 9.99711301e-01 -2.82581644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14313336499998 meters Centerline goodness [0,1] 0.2793356575214915 Centerline is valid? [False, False] Translation: X:1.68, Y:0.25, Z:-0.28 [[ 9.99703892e-01 -2.08050479e-03 -2.42445689e-02 1.68208086e+00] [ 2.09126921e-03 9.99997726e-01 4.18646761e-04 2.52343927e-01] [ 2.42436428e-02 -4.69224717e-04 9.99705970e-01 -2.82458033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17313336499998 meters Centerline goodness [0,1] 0.28114073426573427 Centerline is valid? [False, False] Translation: X:1.68, Y:0.25, Z:-0.28 [[ 9.99695870e-01 -1.87305485e-03 -2.45898255e-02 1.68309054e+00] [ 1.89780472e-03 9.99997716e-01 9.83210110e-04 2.49561052e-01] [ 2.45879277e-02 -1.02957777e-03 9.99697141e-01 -2.82696967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20313336499999 meters Centerline goodness [0,1] 0.2809870638112838 Centerline is valid? [False, False] Translation: X:1.68, Y:0.25, Z:-0.28 [[ 9.99697626e-01 -1.74556723e-03 -2.45277359e-02 1.68291321e+00] [ 1.77897819e-03 9.99997519e-01 1.34041624e-03 2.47627499e-01] [ 2.45253353e-02 -1.38364524e-03 9.99698251e-01 -2.82628313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.233133365 meters Centerline goodness [0,1] 0.2816579634464752 Centerline is valid? [False, False] Translation: X:1.68, Y:0.25, Z:-0.28 [[ 9.99701469e-01 -1.65891558e-03 -2.43766482e-02 1.68233233e+00] [ 1.69815342e-03 9.99997296e-01 1.58903609e-03 2.46286529e-01] [ 2.43739462e-02 -1.62995700e-03 9.99701582e-01 -2.82246896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.263133365 meters Centerline goodness [0,1] 0.2827880450162171 Centerline is valid? [False, False] Translation: X:1.68, Y:0.25, Z:-0.28 [[ 9.99705176e-01 -1.60553650e-03 -2.42277186e-02 1.68182151e+00] [ 1.64720818e-03 9.99997198e-01 1.70014104e-03 2.45725831e-01] [ 2.42249211e-02 -1.73954789e-03 9.99705020e-01 -2.81998590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.293133365 meters Centerline goodness [0,1] 0.2816315869664584 Centerline is valid? [False, False] Translation: X:1.68, Y:0.25, Z:-0.28 [[ 9.99707051e-01 -1.56927303e-03 -2.41526485e-02 1.68157189e+00] [ 1.61200541e-03 9.99997170e-01 1.74989430e-03 2.45573663e-01] [ 2.41498341e-02 -1.78831587e-03 9.99706751e-01 -2.81896920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.323133365 meters Centerline goodness [0,1] 0.2802366915207214 Centerline is valid? [False, False] Translation: X:1.68, Y:0.25, Z:-0.28 [[ 9.99710561e-01 -1.55660006e-03 -2.40077266e-02 1.68125101e+00] [ 1.59904647e-03 9.99997192e-01 1.74893509e-03 2.45544439e-01] [ 2.40049368e-02 -1.78681835e-03 9.99710243e-01 -2.81953160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.353133365 meters Centerline goodness [0,1] 0.28480846597866016 Centerline is valid? [False, False] Translation: X:1.68, Y:0.24, Z:-0.28 [[ 9.99709412e-01 -1.50878370e-03 -2.40585636e-02 1.68100396e+00] [ 1.55489125e-03 9.99996990e-01 1.89787961e-03 2.44549465e-01] [ 2.40556277e-02 -1.93473656e-03 9.99708749e-01 -2.81380090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.383133365 meters Centerline goodness [0,1] 0.28210664049721945 Centerline is valid? [False, False] Translation: X:1.68, Y:0.24, Z:-0.28 [[ 9.99711890e-01 -1.48426705e-03 -2.39569296e-02 1.68068552e+00] [ 1.53375923e-03 9.99996727e-01 2.04763943e-03 2.43481367e-01] [ 2.39538120e-02 -2.08379365e-03 9.99710895e-01 -2.81246835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.413133365 meters Centerline goodness [0,1] 0.2822237652981512 Centerline is valid? [False, False] Translation: X:1.68, Y:0.24, Z:-0.28 [[ 9.99713041e-01 -1.41349990e-03 -2.39131204e-02 1.68040689e+00] [ 1.46890204e-03 9.99996278e-01 2.29940227e-03 2.41975033e-01] [ 2.39097812e-02 -2.33386846e-03 9.99711396e-01 -2.80985904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.443133365 meters Centerline goodness [0,1] 0.2819855815165465 Centerline is valid? [False, False] Translation: X:1.68, Y:0.24, Z:-0.28 [[ 9.99716843e-01 -1.29174413e-03 -2.37605767e-02 1.67974448e+00] [ 1.35386443e-03 9.99995707e-01 2.59852648e-03 2.40604269e-01] [ 2.37571180e-02 -2.62995929e-03 9.99714301e-01 -2.80502697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.473133365 meters Centerline goodness [0,1] 0.27957105485049616 Centerline is valid? [False, False] Translation: X:1.68, Y:0.24, Z:-0.28 [[ 9.99723908e-01 -1.13908301e-03 -2.34693285e-02 1.67882448e+00] [ 1.20801615e-03 9.99994998e-01 2.92319066e-03 2.39325141e-01] [ 2.34658814e-02 -2.95073492e-03 9.99720284e-01 -2.80139131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.503133365 meters Centerline goodness [0,1] 0.28460331982747356 Centerline is valid? [False, False] Translation: X:1.68, Y:0.24, Z:-0.28 [[ 9.99728428e-01 -1.03211991e-03 -2.32809792e-02 1.67829379e+00] [ 1.10613030e-03 9.99994375e-01 3.16635337e-03 2.38251931e-01] [ 2.32775802e-02 -3.19124527e-03 9.99723947e-01 -2.79998394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.533133365 meters Centerline goodness [0,1] 0.2838361412215402 Centerline is valid? [False, False] Translation: X:1.68, Y:0.24, Z:-0.28 [[ 9.99728839e-01 -1.07245805e-03 -2.32615014e-02 1.67823565e+00] [ 1.14597637e-03 9.99994390e-01 3.14741474e-03 2.37945465e-01] [ 2.32579954e-02 -3.17321842e-03 9.99724460e-01 -2.79919022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.563133365 meters Centerline goodness [0,1] 0.2825211656909047 Centerline is valid? [False, False] Translation: X:1.68, Y:0.24, Z:-0.28 [[ 9.99724513e-01 -1.20923261e-03 -2.34400664e-02 1.67883534e+00] [ 1.27683702e-03 9.99995068e-01 2.86938676e-03 2.38738297e-01] [ 2.34364811e-02 -2.89852543e-03 9.99721126e-01 -2.80224032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.593133365 meters Centerline goodness [0,1] 0.28003560418566276 Centerline is valid? [False, False] Translation: X:1.68, Y:0.24, Z:-0.28 [[ 9.99692791e-01 -9.00220309e-04 -2.47691891e-02 1.68255731e+00] [ 9.64127676e-04 9.99996237e-01 2.56829423e-03 2.41423005e-01] [ 2.47667838e-02 -2.59138589e-03 9.99689897e-01 -2.81393065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.623133365 meters Centerline goodness [0,1] 0.27892647154542105 Centerline is valid? [False, False] Translation: X:1.68, Y:0.24, Z:-0.28 [[ 9.99682077e-01 -7.38198537e-04 -2.52031628e-02 1.68389047e+00] [ 7.98013693e-04 9.99996889e-01 2.36334407e-03 2.43525609e-01] [ 2.52013398e-02 -2.38270517e-03 9.99679556e-01 -2.81994106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.653133365 meters Centerline goodness [0,1] 0.2813750574033983 Centerline is valid? [False, False] Translation: X:1.68, Y:0.25, Z:-0.28 [[ 9.99679977e-01 -7.49444451e-04 -2.52860132e-02 1.68419619e+00] [ 8.01831077e-04 9.99997553e-01 2.06168741e-03 2.45451239e-01] [ 2.52844062e-02 -2.08130273e-03 9.99678132e-01 -2.82285726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.683133365 meters Centerline goodness [0,1] 0.27699560976664717 Centerline is valid? [False, False] Translation: X:1.70, Y:0.24, Z:-0.28 [[ 9.99674520e-01 7.69701121e-03 -2.43230237e-02 1.70417158e+00] [-7.68523583e-03 9.99970301e-01 5.77567090e-04 2.44453485e-01] [ 2.43267469e-02 -3.90450930e-04 9.99703985e-01 -2.80758509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.713133365 meters Centerline goodness [0,1] 0.2801836699164345 Centerline is valid? [False, False] Translation: X:1.70, Y:0.24, Z:-0.28 [[ 9.99677097e-01 7.63332657e-03 -2.42370374e-02 1.70380498e+00] [-7.62500765e-03 9.99970834e-01 4.35632214e-04 2.44927559e-01] [ 2.42396558e-02 -2.50683952e-04 9.99706145e-01 -2.80588185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74313336499998 meters Centerline goodness [0,1] 0.2787549278689945 Centerline is valid? [False, False] Translation: X:1.70, Y:0.25, Z:-0.28 [[ 9.99677463e-01 7.62552891e-03 -2.42243939e-02 1.70379728e+00] [-7.61823947e-03 9.99970903e-01 3.93187422e-04 2.45121218e-01] [ 2.42266873e-02 -2.08513371e-04 9.99706469e-01 -2.80673831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77313336499998 meters Centerline goodness [0,1] 0.27808419262715 Centerline is valid? [False, False] Translation: X:1.70, Y:0.25, Z:-0.28 [[ 9.99671899e-01 7.70317233e-03 -2.44285994e-02 1.70483016e+00] [-7.69539798e-03 9.99970305e-01 4.12241448e-04 2.45585160e-01] [ 2.44310496e-02 -2.24118396e-04 9.99701492e-01 -2.81577515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80313336499998 meters Centerline goodness [0,1] 0.28026117528879957 Centerline is valid? [False, False] Translation: X:1.71, Y:0.25, Z:-0.28 [[ 9.99670366e-01 7.64365914e-03 -2.45098781e-02 1.70515745e+00] [-7.63730834e-03 9.99970773e-01 3.52711395e-04 2.45535889e-01] [ 2.45118578e-02 -1.65405632e-04 9.99699526e-01 -2.81786340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83313336499998 meters Centerline goodness [0,1] 0.2753150193442411 Centerline is valid? [False, False] Translation: X:1.72, Y:0.25, Z:-0.28 [[ 9.99707290e-01 -1.76356098e-04 -2.41930546e-02 1.72455951e+00] [ 2.01093295e-04 9.99999460e-01 1.02006258e-03 2.50518416e-01] [ 2.41928617e-02 -1.02462906e-03 9.99706785e-01 -2.80280964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86313336499998 meters Centerline goodness [0,1] 0.2800192018154444 Centerline is valid? [False, False] Translation: X:1.72, Y:0.25, Z:-0.28 [[ 9.99703828e-01 -2.37106509e-04 -2.43351738e-02 1.72482647e+00] [ 2.58598417e-04 9.99999579e-01 8.80019097e-04 2.51178319e-01] [ 2.43349549e-02 -8.86051497e-04 9.99703468e-01 -2.80221713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89313336499998 meters Centerline goodness [0,1] 0.27568596901237774 Centerline is valid? [False, False] Translation: X:1.73, Y:0.25, Z:-0.28 [[ 9.99699764e-01 -2.14523534e-04 -2.45017430e-02 1.72535768e+00] [ 2.32307074e-04 9.99999712e-01 7.22963061e-04 2.52657795e-01] [ 2.45015809e-02 -7.28437930e-04 9.99699526e-01 -2.80543963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92313336499998 meters Centerline goodness [0,1] 0.2789911936524544 Centerline is valid? [False, False] Translation: X:1.73, Y:0.25, Z:-0.28 [[ 9.99698437e-01 -2.14967416e-04 -2.45558413e-02 1.72577097e+00] [ 2.27022293e-04 9.99999855e-01 4.88130140e-04 2.54636194e-01] [ 2.45557328e-02 -4.93557661e-04 9.99698341e-01 -2.81058134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95313336499999 meters Centerline goodness [0,1] 0.2768980123818834 Centerline is valid? [False, False] Translation: X:1.73, Y:0.26, Z:-0.28 [[ 9.99703281e-01 -2.88643886e-04 -2.43570666e-02 1.72523843e+00] [ 2.89173442e-04 9.99999958e-01 1.82191480e-05 2.57685748e-01] [ 2.43570603e-02 -2.52571588e-05 9.99703322e-01 -2.81063828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.983133365 meters Centerline goodness [0,1] 0.2773185811910186 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99709575e-01 -3.67121810e-04 -2.40962753e-02 1.72415730e+00] [ 3.62688948e-04 9.99999916e-01 -1.88334738e-04 2.58745910e-01] [ 2.40963424e-02 1.79540588e-04 9.99709625e-01 -2.80425686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.013133365 meters Centerline goodness [0,1] 0.28119496445111214 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99714626e-01 -4.21547346e-04 -2.38849235e-02 1.72303440e+00] [ 4.13638867e-04 9.99999858e-01 -3.36047158e-04 2.59651458e-01] [ 2.38850618e-02 3.26071526e-04 9.99714658e-01 -2.79518487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.043133365 meters Centerline goodness [0,1] 0.2806100217864924 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99717437e-01 -4.84379987e-04 -2.37657697e-02 1.72239573e+00] [ 4.74091922e-04 9.99999791e-01 -4.38526707e-04 2.60135674e-01] [ 2.37659772e-02 4.27135636e-04 9.99717458e-01 -2.79010143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.073133365 meters Centerline goodness [0,1] 0.2824179890724656 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99717554e-01 -5.70873093e-04 -2.37589367e-02 1.72223752e+00] [ 5.58523701e-04 9.99999705e-01 -5.26411484e-04 2.60478165e-01] [ 2.37592302e-02 5.12992871e-04 9.99717578e-01 -2.78781502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.103133365 meters Centerline goodness [0,1] 0.2829419332330303 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99717893e-01 -6.92302989e-04 -2.37414373e-02 1.72206133e+00] [ 6.78556767e-04 9.99999597e-01 -5.87048226e-04 2.60405879e-01] [ 2.37418342e-02 5.70772702e-04 9.99717960e-01 -2.78551952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.133133365 meters Centerline goodness [0,1] 0.2786449325492909 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99722116e-01 -1.31444715e-03 -2.35364231e-02 1.72127862e+00] [ 1.29197383e-03 9.99998695e-01 -9.70012331e-04 2.60769561e-01] [ 2.35376674e-02 9.39334337e-04 9.99722509e-01 -2.78007281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.163133365 meters Centerline goodness [0,1] 0.28426373817928274 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99720885e-01 -1.42771784e-03 -2.35820813e-02 1.72133440e+00] [ 1.40498119e-03 9.99998532e-01 -9.80689872e-04 2.60452814e-01] [ 2.35834468e-02 9.47283766e-04 9.99721423e-01 -2.77889933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.193133365 meters Centerline goodness [0,1] 0.28426373817928274 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99720885e-01 -1.42771784e-03 -2.35820813e-02 1.72133440e+00] [ 1.40498119e-03 9.99998532e-01 -9.80689872e-04 2.60452814e-01] [ 2.35834468e-02 9.47283766e-04 9.99721423e-01 -2.77889933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.223133365 meters Centerline goodness [0,1] 0.28545200209826893 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99718037e-01 -1.52768407e-03 -2.36962772e-02 1.72161421e+00] [ 1.50375460e-03 9.99998341e-01 -1.02762725e-03 2.60411070e-01] [ 2.36978078e-02 9.91704106e-04 9.99718676e-01 -2.77862497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.253133365 meters Centerline goodness [0,1] 0.2849952953018665 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99714824e-01 -1.57820960e-03 -2.38281315e-02 1.72204693e+00] [ 1.55391333e-03 9.99998254e-01 -1.03812805e-03 2.60280435e-01] [ 2.38297283e-02 1.00080515e-03 9.99715531e-01 -2.78037605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.283133365 meters Centerline goodness [0,1] 0.2875122696041008 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99715709e-01 -1.63411205e-03 -2.37872145e-02 1.72187316e+00] [ 1.61022326e-03 9.99998180e-01 -1.02338948e-03 2.59960818e-01] [ 2.37888435e-02 9.84795814e-04 9.99716520e-01 -2.77867410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.313133365 meters Centerline goodness [0,1] 0.2826903454115195 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99716115e-01 -1.65813475e-03 -2.37684818e-02 1.72168540e+00] [ 1.63660104e-03 9.99998233e-01 -9.25401469e-04 2.59094927e-01] [ 2.37699742e-02 8.86239239e-04 9.99717061e-01 -2.77625878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.343133365 meters Centerline goodness [0,1] 0.28423430271702543 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99716667e-01 -1.69478129e-03 -2.37426630e-02 1.72144246e+00] [ 1.67449463e-03 9.99998216e-01 -8.74294629e-04 2.58578058e-01] [ 2.37441024e-02 8.34289950e-04 9.99717721e-01 -2.77321339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.373133365 meters Centerline goodness [0,1] 0.2836336010418927 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99714170e-01 -1.69326741e-03 -2.38476861e-02 1.72155800e+00] [ 1.67547749e-03 9.99998303e-01 -7.65942492e-04 2.57937614e-01] [ 2.38489426e-02 7.25767301e-04 9.99715310e-01 -2.77081397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.403133365 meters Centerline goodness [0,1] 0.287209531959713 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99705542e-01 -1.78713747e-03 -2.41998982e-02 1.72265329e+00] [ 1.76926936e-03 9.99998146e-01 -7.59745615e-04 2.57207738e-01] [ 2.42012111e-02 7.16705764e-04 9.99706851e-01 -2.77470410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.433133365 meters Centerline goodness [0,1] 0.28459410598767176 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99702614e-01 -1.82370164e-03 -2.43178455e-02 1.72312062e+00] [ 1.80511905e-03 9.99998062e-01 -7.86084310e-04 2.57148403e-01] [ 2.43192319e-02 7.41953934e-04 9.99703968e-01 -2.77762592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.463133365 meters Centerline goodness [0,1] 0.28587686852990746 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99701887e-01 -1.80877515e-03 -2.43488153e-02 1.72328344e+00] [ 1.79085772e-03 9.99998109e-01 -7.57650436e-04 2.57013931e-01] [ 2.43501397e-02 7.13819307e-04 9.99703237e-01 -2.77917149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49313336499998 meters Centerline goodness [0,1] 0.28382579957819665 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99701771e-01 -1.75986139e-03 -2.43571861e-02 1.72321579e+00] [ 1.74331553e-03 9.99998235e-01 -7.00518539e-04 2.56852172e-01] [ 2.43583759e-02 6.57847363e-04 9.99703074e-01 -2.77810746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52313336499998 meters Centerline goodness [0,1] 0.28638744602976307 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99701847e-01 -1.70834363e-03 -2.43577330e-02 1.72317253e+00] [ 1.69346515e-03 9.99998367e-01 -6.31446093e-04 2.56710745e-01] [ 2.43587720e-02 5.90008853e-04 9.99703107e-01 -2.77779656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55313336499998 meters Centerline goodness [0,1] 0.2849000369830531 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99697544e-01 -1.65772146e-03 -2.45371595e-02 1.72363810e+00] [ 1.64364470e-03 9.99998473e-01 -5.93848700e-04 2.56741041e-01] [ 2.45381064e-02 5.53338715e-04 9.99698742e-01 -2.77858453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58313336499998 meters Centerline goodness [0,1] 0.28225209937780094 Centerline is valid? [False, False] Translation: X:1.73, Y:0.26, Z:-0.28 [[ 9.99684098e-01 -1.55185570e-03 -2.50857698e-02 1.72550987e+00] [ 1.53973417e-03 9.99998688e-01 -5.02512050e-04 2.56654075e-01] [ 2.50865167e-02 4.63727888e-04 9.99685176e-01 -2.78789589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61313336499998 meters Centerline goodness [0,1] 0.28209371189688204 Centerline is valid? [False, False] Translation: X:1.73, Y:0.26, Z:-0.28 [[ 9.99681344e-01 -1.54921422e-03 -2.51954546e-02 1.72618956e+00] [ 1.53761854e-03 9.99998703e-01 -4.79596266e-04 2.56426557e-01] [ 2.51961649e-02 4.40702442e-04 9.99682429e-01 -2.79433334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64313336499998 meters Centerline goodness [0,1] 0.28042351001280075 Centerline is valid? [False, False] Translation: X:1.73, Y:0.26, Z:-0.28 [[ 9.99681352e-01 -1.53631065e-03 -2.51958990e-02 1.72649720e+00] [ 1.52656110e-03 9.99998752e-01 -4.06179912e-04 2.55822491e-01] [ 2.51964916e-02 3.67587405e-04 9.99682450e-01 -2.79858627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67313336499998 meters Centerline goodness [0,1] 0.28117647058823525 Centerline is valid? [False, False] Translation: X:1.73, Y:0.25, Z:-0.28 [[ 9.99682836e-01 -1.49868123e-03 -2.51392279e-02 1.72623567e+00] [ 1.49294231e-03 9.99998855e-01 -2.47052667e-04 2.54827592e-01] [ 2.51395694e-02 2.09442894e-04 9.99683929e-01 -2.79666810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70313336499999 meters Centerline goodness [0,1] 0.28291353178497436 Centerline is valid? [False, False] Translation: X:1.73, Y:0.25, Z:-0.28 [[ 9.99684955e-01 -1.44795230e-03 -2.50578306e-02 1.72587275e+00] [ 1.44648378e-03 9.99998951e-01 -7.67309180e-05 2.53767866e-01] [ 2.50579154e-02 4.04609988e-05 9.99686000e-01 -2.79386889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.733133365 meters Centerline goodness [0,1] 0.28426107836716874 Centerline is valid? [False, False] Translation: X:1.73, Y:0.25, Z:-0.28 [[ 9.99688514e-01 -1.39515424e-03 -2.49184246e-02 1.72535501e+00] [ 1.39718142e-03 9.99999022e-01 6.39421072e-05 2.53038109e-01] [ 2.49183110e-02 -9.87377500e-05 9.99689486e-01 -2.79110320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.763133365 meters Centerline goodness [0,1] 0.28100985542482526 Centerline is valid? [False, False] Translation: X:1.72, Y:0.25, Z:-0.28 [[ 9.99698897e-01 -1.16765393e-03 -2.45102342e-02 1.72401844e+00] [ 1.17406810e-03 9.99999280e-01 2.47304506e-04 2.52837030e-01] [ 2.45099278e-02 -2.76006726e-04 9.99699548e-01 -2.78550267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.793133365 meters Centerline goodness [0,1] 0.2834455264361806 Centerline is valid? [False, False] Translation: X:1.72, Y:0.25, Z:-0.28 [[ 9.99705801e-01 -1.06540228e-03 -2.42317040e-02 1.72314998e+00] [ 1.07215284e-03 9.99999390e-01 2.65593254e-04 2.53167793e-01] [ 2.42314062e-02 -2.91495207e-04 9.99706334e-01 -2.78255111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.823133365 meters Centerline goodness [0,1] 0.28687174757921086 Centerline is valid? [False, False] Translation: X:1.72, Y:0.25, Z:-0.28 [[ 9.99709572e-01 -1.00807602e-03 -2.40781116e-02 1.72255408e+00] [ 1.01380150e-03 9.99999461e-01 2.25581721e-04 2.53708931e-01] [ 2.40778712e-02 -2.49926631e-04 9.99710055e-01 -2.77933040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.853133365 meters Centerline goodness [0,1] 0.279937155647383 Centerline is valid? [False, False] Translation: X:1.77, Y:0.26, Z:-0.28 [[ 9.99753808e-01 3.38766455e-04 -2.21857534e-02 1.76579080e+00] [-3.28999633e-04 9.99999847e-01 4.43877991e-04 2.56960637e-01] [ 2.21859004e-02 -4.36469607e-04 9.99753767e-01 -2.76898960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.883133365 meters Centerline goodness [0,1] 0.2862949042915829 Centerline is valid? [False, False] Translation: X:1.72, Y:0.25, Z:-0.28 [[ 9.99693417e-01 5.79396852e-04 -2.47535015e-02 1.71974063e+00] [-5.54555859e-04 9.99999336e-01 1.01038737e-03 2.54690625e-01] [ 2.47540705e-02 -9.96350406e-04 9.99693075e-01 -2.76078910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.913133365 meters Centerline goodness [0,1] 0.28374733545047204 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99691579e-01 5.20918055e-04 -2.48289143e-02 1.71999228e+00] [-5.03017175e-04 9.99999609e-01 7.27209298e-04 2.56177961e-01] [ 2.48292835e-02 -7.14495642e-04 9.99691450e-01 -2.76277171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.943133365 meters Centerline goodness [0,1] 0.28176158133054685 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99687458e-01 5.31528767e-04 -2.49940798e-02 1.72072278e+00] [-5.21188514e-04 9.99999776e-01 4.20220570e-04 2.57965513e-01] [ 2.49942975e-02 -4.07062606e-04 9.99687511e-01 -2.76939368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.973133365 meters Centerline goodness [0,1] 0.2815086796880092 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99687583e-01 4.87093635e-04 -2.49899611e-02 1.72078933e+00] [-4.79764156e-04 9.99999840e-01 2.99291675e-04 2.58573363e-01] [ 2.49901029e-02 -2.87208884e-04 9.99687657e-01 -2.77090880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.003133365 meters Centerline goodness [0,1] 0.28335032206293786 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99689919e-01 4.73564362e-04 -2.48966247e-02 1.72038530e+00] [-4.67602678e-04 9.99999861e-01 2.45278775e-04 2.58878918e-01] [ 2.48967374e-02 -2.33560991e-04 9.99690001e-01 -2.76845913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.033133365 meters Centerline goodness [0,1] 0.2820907828501996 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99694607e-01 4.68865219e-04 -2.47077506e-02 1.71951042e+00] [-4.63711690e-04 9.99999870e-01 2.14308544e-04 2.59117292e-01] [ 2.47078478e-02 -2.02785822e-04 9.99694694e-01 -2.76245342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.063133365 meters Centerline goodness [0,1] 0.2793061039549486 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99697763e-01 4.69436192e-04 -2.45797234e-02 1.71893929e+00] [-4.64243217e-04 9.99999869e-01 2.16976616e-04 2.59160506e-01] [ 2.45798220e-02 -2.05500068e-04 9.99697849e-01 -2.75838887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.093133365 meters Centerline goodness [0,1] 0.2812223493104862 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99699342e-01 4.04352577e-04 -2.45165768e-02 1.71894953e+00] [-4.02674311e-04 9.99999916e-01 7.33911243e-05 2.59785803e-01] [ 2.45166044e-02 -6.34968630e-05 9.99699421e-01 -2.76117670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.123133365 meters Centerline goodness [0,1] 0.2814575285385651 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99688989e-01 3.10471376e-04 -2.49364909e-02 1.72057895e+00] [-3.18126670e-04 9.99999903e-01 -3.03025122e-04 2.61788638e-01] [ 2.49363944e-02 3.10863840e-04 9.99688991e-01 -2.77205613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.153133365 meters Centerline goodness [0,1] 0.2821989870225855 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99684017e-01 2.95560751e-04 -2.51351934e-02 1.72135354e+00] [-3.07272949e-04 9.99999846e-01 -4.62107061e-04 2.62923150e-01] [ 2.51350530e-02 4.69684409e-04 9.99683954e-01 -2.77729441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.183133365 meters Centerline goodness [0,1] 0.2809425561950266 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99684009e-01 2.69560585e-04 -2.51358054e-02 1.72142285e+00] [-2.84853104e-04 9.99999777e-01 -6.04817248e-04 2.63909831e-01] [ 2.51356367e-02 6.11786144e-04 9.99683863e-01 -2.77886548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.213133365 meters Centerline goodness [0,1] 0.2815740841395804 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99687044e-01 2.45789832e-04 -2.50150618e-02 1.72085220e+00] [-2.62277232e-04 9.99999751e-01 -6.55820122e-04 2.64205511e-01] [ 2.50148943e-02 6.62175761e-04 9.99686859e-01 -2.77469263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24313336499998 meters Centerline goodness [0,1] 0.2780077619663648 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99691536e-01 1.99861885e-04 -2.48353246e-02 1.72008754e+00] [-2.15562490e-04 9.99999779e-01 -6.29512856e-04 2.63773088e-01] [ 2.48351933e-02 6.34672238e-04 9.99691358e-01 -2.76953414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27313336499998 meters Centerline goodness [0,1] 0.2790632780973641 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99700794e-01 -9.27288764e-05 -2.44604498e-02 1.71877539e+00] [ 8.06122295e-05 9.99999874e-01 -4.96342256e-04 2.61877703e-01] [ 2.44604928e-02 4.94221936e-04 9.99700675e-01 -2.76256840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30313336499998 meters Centerline goodness [0,1] 0.28302049995675116 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99700553e-01 -6.77938904e-05 -2.44703714e-02 1.71887308e+00] [ 6.34578266e-05 9.99999982e-01 -1.77972976e-04 2.60008667e-01] [ 2.44703830e-02 1.76366846e-04 9.99700540e-01 -2.76313732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33313336499998 meters Centerline goodness [0,1] 0.2855090758716754 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99693240e-01 -1.27849006e-04 -2.47671237e-02 1.71958114e+00] [ 1.29441753e-04 9.99999990e-01 6.27057194e-05 2.58198707e-01] [ 2.47671154e-02 -6.58923837e-05 9.99693246e-01 -2.76262310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36313336499998 meters Centerline goodness [0,1] 0.28775729882911183 Centerline is valid? [False, False] Translation: X:1.72, Y:0.26, Z:-0.28 [[ 9.99687773e-01 -2.33534578e-04 -2.49860422e-02 1.72022511e+00] [ 2.40745192e-04 9.99999930e-01 2.85577948e-04 2.56320696e-01] [ 2.49859738e-02 -2.91504052e-04 9.99687759e-01 -2.76384321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39313336499998 meters Centerline goodness [0,1] 0.285419248244527 Centerline is valid? [False, False] Translation: X:1.72, Y:0.25, Z:-0.28 [[ 9.99682904e-01 -3.22662203e-04 -2.51791212e-02 1.72062011e+00] [ 3.34663254e-04 9.99999832e-01 4.72414588e-04 2.54679013e-01] [ 2.51789645e-02 -4.80691313e-04 9.99682844e-01 -2.76217768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42313336499998 meters Centerline goodness [0,1] 0.2866199024050192 Centerline is valid? [False, False] Translation: X:1.72, Y:0.25, Z:-0.28 [[ 9.99683903e-01 -3.57978076e-04 -2.51389177e-02 1.72035827e+00] [ 3.72777497e-04 9.99999760e-01 5.84021687e-04 2.53813348e-01] [ 2.51387026e-02 -5.93208303e-04 9.99683797e-01 -2.75945508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45313336499999 meters Centerline goodness [0,1] 0.2840734239212882 Centerline is valid? [False, False] Translation: X:1.72, Y:0.25, Z:-0.28 [[ 9.99683637e-01 -3.59891611e-04 -2.51494916e-02 1.72032706e+00] [ 3.76026296e-04 9.99999727e-01 6.36824897e-04 2.53577584e-01] [ 2.51492555e-02 -6.46080299e-04 9.99683499e-01 -2.75807969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.483133365 meters Centerline goodness [0,1] 0.28677754496245855 Centerline is valid? [False, False] Translation: X:1.72, Y:0.25, Z:-0.28 [[ 9.99683971e-01 -3.76757731e-04 -2.51359537e-02 1.72037600e+00] [ 3.92063013e-04 9.99999741e-01 6.03974532e-04 2.53869350e-01] [ 2.51357197e-02 -6.13638536e-04 9.99683860e-01 -2.75932631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.513133365 meters Centerline goodness [0,1] 0.28404660833405526 Centerline is valid? [False, False] Translation: X:1.72, Y:0.25, Z:-0.28 [[ 9.99683736e-01 -4.64303599e-04 -2.51438289e-02 1.72048277e+00] [ 4.76177761e-04 9.99999778e-01 4.66264205e-04 2.54471876e-01] [ 2.51436068e-02 -4.78089674e-04 9.99683735e-01 -2.76069686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.543133365 meters Centerline goodness [0,1] 0.2865155105323798 Centerline is valid? [False, False] Translation: X:1.72, Y:0.25, Z:-0.28 [[ 9.99681794e-01 -5.14102199e-04 -2.52199574e-02 1.72050842e+00] [ 5.25076465e-04 9.99999770e-01 4.28521802e-04 2.54408512e-01] [ 2.52197313e-02 -4.41627850e-04 9.99681834e-01 -2.75850264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.573133365 meters Centerline goodness [0,1] 0.28394954892585944 Centerline is valid? [False, False] Translation: X:1.72, Y:0.25, Z:-0.28 [[ 9.99679005e-01 -5.41418806e-04 -2.53296874e-02 1.72071997e+00] [ 5.53780566e-04 9.99999731e-01 4.81022313e-04 2.53839230e-01] [ 2.53294202e-02 -4.94894996e-04 9.99679036e-01 -2.75734088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.603133365 meters Centerline goodness [0,1] 0.2889906247261894 Centerline is valid? [False, False] Translation: X:1.72, Y:0.25, Z:-0.28 [[ 9.99679079e-01 -5.41192660e-04 -2.53267736e-02 1.72076102e+00] [ 5.56231425e-04 9.99999673e-01 5.86748080e-04 2.53082542e-01] [ 2.53264477e-02 -6.00647328e-04 9.99679054e-01 -2.75786125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.633133365 meters Centerline goodness [0,1] 0.2851687099924053 Centerline is valid? [False, False] Translation: X:1.72, Y:0.25, Z:-0.28 [[ 9.99678563e-01 -5.46679710e-04 -2.53470319e-02 1.72087461e+00] [ 5.63972338e-04 9.99999613e-01 6.75091180e-04 2.52446532e-01] [ 2.53466530e-02 -6.89169206e-04 9.99678484e-01 -2.75860394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.663133365 meters Centerline goodness [0,1] 0.2884187082405345 Centerline is valid? [False, False] Translation: X:1.72, Y:0.25, Z:-0.28 [[ 9.99680449e-01 -4.81946530e-04 -2.52738445e-02 1.72059560e+00] [ 5.04063040e-04 9.99999496e-01 8.68711497e-04 2.51457888e-01] [ 2.52734131e-02 -8.81173511e-04 9.99680188e-01 -2.75694000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.693133365 meters Centerline goodness [0,1] 0.28961186715092113 Centerline is valid? [False, False] Translation: X:1.72, Y:0.25, Z:-0.27 [[ 9.99685791e-01 -3.39139852e-04 -2.50639868e-02 1.71967896e+00] [ 3.72463954e-04 9.99999053e-01 1.32490460e-03 2.49099767e-01] [ 2.50635137e-02 -1.33382374e-03 9.99684971e-01 -2.74996483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.723133365 meters Centerline goodness [0,1] 0.28898028834584 Centerline is valid? [False, False] Translation: X:1.72, Y:0.25, Z:-0.27 [[ 9.99685956e-01 -2.24698900e-04 -2.50586905e-02 1.71956441e+00] [ 2.65931336e-04 9.99998616e-01 1.64211427e-03 2.47465611e-01] [ 2.50582868e-02 -1.64826246e-03 9.99684633e-01 -2.74858668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.753133365 meters Centerline goodness [0,1] 0.2837101724957849 Centerline is valid? [False, False] Translation: X:1.74, Y:0.24, Z:-0.27 [[ 9.99674585e-01 6.32215384e-03 -2.47134581e-02 1.74092848e+00] [-6.34423764e-03 9.99979543e-01 -8.15289407e-04 2.43203036e-01] [ 2.47077982e-02 9.71812150e-04 9.99694243e-01 -2.74297187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.783133365 meters Centerline goodness [0,1] 0.28690346480714757 Centerline is valid? [False, False] Translation: X:1.74, Y:0.24, Z:-0.27 [[ 0.99969072 0.00267567 -0.02472472 1.74106854] [-0.00277055 0.99998893 -0.00380409 0.23877501] [ 0.02471427 0.00387141 0.99968706 -0.27449944] [ 0. 0. 0. 1. ]] SLAMing on 141.813133365 meters Centerline goodness [0,1] 0.2893578825229328 Centerline is valid? [False, False] Translation: X:1.74, Y:0.24, Z:-0.27 [[ 0.99968817 0.00283028 -0.02481025 1.74120481] [-0.00291052 0.99999065 -0.00319883 0.23526739] [ 0.02480097 0.00327004 0.99968706 -0.27440324] [ 0. 0. 0. 1. ]] SLAMing on 141.843133365 meters Centerline goodness [0,1] 0.2855280596171812 Centerline is valid? [False, False] Translation: X:1.76, Y:0.24, Z:-0.27 [[ 9.99678282e-01 -4.95866167e-03 -2.48745863e-02 1.76091304e+00] [ 4.91532517e-03 9.99986294e-01 -1.80304064e-03 2.35474078e-01] [ 2.48831860e-02 1.68019388e-03 9.99688954e-01 -2.72669734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.873133365 meters Centerline goodness [0,1] 0.2839578454332553 Centerline is valid? [False, False] Translation: X:1.76, Y:0.23, Z:-0.27 [[ 9.99675567e-01 -4.69326659e-03 -2.50346467e-02 1.76127869e+00] [ 4.66598387e-03 9.99988455e-01 -1.14810244e-03 2.32243516e-01] [ 2.50397460e-02 1.03091870e-03 9.99685925e-01 -2.72604393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.903133365 meters Centerline goodness [0,1] 0.2839733321788822 Centerline is valid? [False, False] Translation: X:1.76, Y:0.23, Z:-0.27 [[ 9.99676156e-01 -4.41658068e-03 -2.50614464e-02 1.76128955e+00] [ 4.40506590e-03 9.99990165e-01 -5.14650613e-04 2.29287362e-01] [ 2.50634729e-02 4.04086623e-04 9.99685780e-01 -2.72507945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.933133365 meters Centerline goodness [0,1] 0.28438223395279405 Centerline is valid? [False, False] Translation: X:1.76, Y:0.23, Z:-0.27 [[ 9.99676551e-01 -4.17056432e-03 -2.50878587e-02 1.76131955e+00] [ 4.17224476e-03 9.99991296e-01 1.46380173e-05 2.26813239e-01] [ 2.50875793e-02 -1.19305970e-04 9.99685250e-01 -2.72423441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.963133365 meters Centerline goodness [0,1] 0.2859029025345772 Centerline is valid? [False, False] Translation: X:1.76, Y:0.22, Z:-0.27 [[ 9.99676325e-01 -3.88346181e-03 -2.51428754e-02 1.76147501e+00] [ 3.90138217e-03 9.99992169e-01 6.63726196e-04 2.23279504e-01] [ 2.51401010e-02 -7.61603330e-04 9.99683648e-01 -2.72402054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99313336499998 meters Centerline goodness [0,1] 0.2859029025345772 Centerline is valid? [False, False] Translation: X:1.76, Y:0.22, Z:-0.27 [[ 9.99676325e-01 -3.88346181e-03 -2.51428754e-02 1.76147501e+00] [ 3.90138217e-03 9.99992169e-01 6.63726196e-04 2.23279504e-01] [ 2.51401010e-02 -7.61603330e-04 9.99683648e-01 -2.72402054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02313336499998 meters Centerline goodness [0,1] 0.28745062954153666 Centerline is valid? [False, False] Translation: X:1.76, Y:0.22, Z:-0.27 [[ 9.99675300e-01 -3.72733624e-03 -2.52071699e-02 1.76175472e+00] [ 3.75377678e-03 9.99992453e-01 1.00169182e-03 2.21055568e-01] [ 2.52032460e-02 -1.09598866e-03 9.99681747e-01 -2.72550121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05313336499998 meters Centerline goodness [0,1] 0.28582600195503416 Centerline is valid? [False, False] Translation: X:1.76, Y:0.22, Z:-0.27 [[ 9.99678059e-01 -3.60233169e-03 -2.51157612e-02 1.76147455e+00] [ 3.63297584e-03 9.99992711e-01 1.17459352e-03 2.20303935e-01] [ 2.51113468e-02 -1.26546033e-03 9.99683859e-01 -2.72458650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08313336499998 meters Centerline goodness [0,1] 0.28389354532100575 Centerline is valid? [False, False] Translation: X:1.76, Y:0.22, Z:-0.27 [[ 9.99680091e-01 -3.41844046e-03 -2.50605243e-02 1.76120450e+00] [ 3.45571389e-03 9.99992986e-01 1.44417945e-03 2.19390933e-01] [ 2.50554117e-02 -1.53031945e-03 9.99684893e-01 -2.72250300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11313336499998 meters Centerline goodness [0,1] 0.28389354532100575 Centerline is valid? [False, False] Translation: X:1.76, Y:0.22, Z:-0.27 [[ 9.99680091e-01 -3.41844046e-03 -2.50605243e-02 1.76120450e+00] [ 3.45571389e-03 9.99992986e-01 1.44417945e-03 2.19390933e-01] [ 2.50554117e-02 -1.53031945e-03 9.99684893e-01 -2.72250300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14313336499998 meters Centerline goodness [0,1] 0.285866747979875 Centerline is valid? [False, False] Translation: X:1.76, Y:0.22, Z:-0.27 [[ 0.99968447 -0.00323248 -0.02491021 1.76057837] [ 0.00327835 0.999993 0.00180078 0.21787595] [ 0.02490422 -0.00188187 0.99968807 -0.2718687 ] [ 0. 0. 0. 1. ]] SLAMing on 142.17313336499998 meters Centerline goodness [0,1] 0.2868435911914172 Centerline is valid? [False, False] Translation: X:1.76, Y:0.22, Z:-0.27 [[ 0.99968773 -0.00303859 -0.02480355 1.75992916] [ 0.00309589 0.99999263 0.00227203 0.21546689] [ 0.02479647 -0.00234811 0.99968976 -0.27121507] [ 0. 0. 0. 1. ]] SLAMing on 142.20313336499999 meters Centerline goodness [0,1] 0.28436952240808466 Centerline is valid? [False, False] Translation: X:1.76, Y:0.21, Z:-0.27 [[ 9.99688281e-01 -6.30622658e-03 -2.41572218e-02 1.75760035e+00] [ 6.30383683e-03 9.99980115e-01 -1.75077113e-04 2.09129171e-01] [ 2.41578455e-02 2.27393536e-05 9.99708156e-01 -2.70040604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.233133365 meters Centerline goodness [0,1] 0.284704203425013 Centerline is valid? [False, False] Translation: X:1.76, Y:0.20, Z:-0.27 [[ 9.99687244e-01 -6.05381001e-03 -2.42644858e-02 1.75804711e+00] [ 6.07016581e-03 9.99981396e-01 6.00463632e-04 2.04847299e-01] [ 2.42603993e-02 -7.47565286e-04 9.99705394e-01 -2.70253438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.263133365 meters Centerline goodness [0,1] 0.2872048444715518 Centerline is valid? [False, False] Translation: X:1.76, Y:0.20, Z:-0.27 [[ 9.99683981e-01 -5.76121540e-03 -2.44692773e-02 1.75902049e+00] [ 5.79721005e-03 9.99982216e-01 1.40033080e-03 2.00721065e-01] [ 2.44607746e-02 -1.54174181e-03 9.99699602e-01 -2.70933516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.293133365 meters Centerline goodness [0,1] 0.2850010853049707 Centerline is valid? [False, False] Translation: X:1.76, Y:0.20, Z:-0.27 [[ 0.99967595 -0.00550798 -0.02485252 1.7604614 ] [ 0.00556182 0.99998233 0.00209797 0.1969456 ] [ 0.02484052 -0.00223552 0.99968893 -0.27164371] [ 0. 0. 0. 1. ]] SLAMing on 142.323133365 meters Centerline goodness [0,1] 0.28656083267733756 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:-0.27 [[ 0.99966798 -0.00526114 -0.02522395 1.76175106] [ 0.00533233 0.99998199 0.00275577 0.19342121] [ 0.025209 -0.00288936 0.99967803 -0.272182 ] [ 0. 0. 0. 1. ]] SLAMing on 142.353133365 meters Centerline goodness [0,1] 0.2849408374448762 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:-0.27 [[ 0.99966112 -0.0050279 -0.02554136 1.76276473] [ 0.00511471 0.99998136 0.00333454 0.19036867] [ 0.02552412 -0.00346405 0.9996682 -0.27251012] [ 0. 0. 0. 1. ]] SLAMing on 142.383133365 meters Centerline goodness [0,1] 0.2794811831449483 Centerline is valid? [False, False] Translation: X:1.78, Y:0.18, Z:-0.27 [[ 0.99962995 0.00381522 -0.02693322 1.78395001] [-0.00373592 0.99998854 0.00299393 0.18126231] [ 0.02694433 -0.0028922 0.99963275 -0.27041052] [ 0. 0. 0. 1. ]] SLAMing on 142.413133365 meters Centerline goodness [0,1] 0.28506974716652134 Centerline is valid? [False, False] Translation: X:1.78, Y:0.18, Z:-0.27 [[ 0.99963104 0.00400179 -0.02686595 1.78373025] [-0.00391436 0.99998687 0.00330601 0.17981605] [ 0.02687883 -0.00319963 0.99963358 -0.27030111] [ 0. 0. 0. 1. ]] SLAMing on 142.443133365 meters Centerline goodness [0,1] 0.27974623451728453 Centerline is valid? [False, False] Translation: X:1.78, Y:0.18, Z:-0.27 [[ 0.99963512 0.00418042 -0.02668615 1.78336984] [-0.00408823 0.99998549 0.00350842 0.17906346] [ 0.02670043 -0.00339804 0.9996377 -0.27038503] [ 0. 0. 0. 1. ]] SLAMing on 142.473133365 meters Centerline goodness [0,1] 0.2834426728070557 Centerline is valid? [False, False] Translation: X:1.78, Y:0.18, Z:-0.27 [[ 0.99964849 0.0043401 -0.02615457 1.78207438] [-0.00424528 0.99998422 0.00367965 0.17848618] [ 0.02617012 -0.00356732 0.99965114 -0.27036717] [ 0. 0. 0. 1. ]] SLAMing on 142.503133365 meters Centerline goodness [0,1] 0.28135739760077816 Centerline is valid? [False, False] Translation: X:1.78, Y:0.18, Z:-0.27 [[ 0.99966078 0.0044589 -0.02566006 1.78077963] [-0.00436303 0.9999833 0.00379085 0.17816867] [ 0.02567653 -0.00367761 0.99966354 -0.27023097] [ 0. 0. 0. 1. ]] SLAMing on 142.533133365 meters Centerline goodness [0,1] 0.2815970271788446 Centerline is valid? [False, False] Translation: X:1.78, Y:0.18, Z:-0.27 [[ 0.99967304 0.00454583 -0.02516233 1.77932999] [-0.00445082 0.99998276 0.00383076 0.17826117] [ 0.02517931 -0.00371752 0.99967604 -0.26989538] [ 0. 0. 0. 1. ]] SLAMing on 142.563133365 meters Centerline goodness [0,1] 0.28246038257264994 Centerline is valid? [False, False] Translation: X:1.78, Y:0.18, Z:-0.27 [[ 0.99967605 0.00455188 -0.02504155 1.77901894] [-0.00446138 0.99998332 0.00366873 0.17917265] [ 0.02505783 -0.00355583 0.99967968 -0.26992427] [ 0. 0. 0. 1. ]] SLAMing on 142.593133365 meters Centerline goodness [0,1] 0.2860154140043475 Centerline is valid? [False, False] Translation: X:1.74, Y:0.18, Z:-0.27 [[ 0.99960074 0.0035859 -0.02802681 1.73547756] [-0.00347508 0.99998595 0.00400176 0.17672736] [ 0.02804077 -0.00390277 0.99959916 -0.27059634] [ 0. 0. 0. 1. ]] SLAMing on 142.623133365 meters Centerline goodness [0,1] 0.28611780162031963 Centerline is valid? [False, False] Translation: X:1.74, Y:0.18, Z:-0.27 [[ 0.9995946 0.00353892 -0.0282507 1.73632344] [-0.00343284 0.99998688 0.00380236 0.17787293] [ 0.02826379 -0.00370384 0.99959364 -0.2711543 ] [ 0. 0. 0. 1. ]] SLAMing on 142.653133365 meters Centerline goodness [0,1] 0.2803030303030303 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:-0.27 [[ 0.99955884 -0.00303017 -0.0295455 1.75562454] [ 0.00317042 0.99998392 0.00470135 0.18512848] [ 0.02953078 -0.00479295 0.99955238 -0.26962413] [ 0. 0. 0. 1. ]] SLAMing on 142.683133365 meters Centerline goodness [0,1] 0.2860223015942155 Centerline is valid? [False, False] Translation: X:1.76, Y:0.19, Z:-0.27 [[ 0.99955612 -0.00310838 -0.02962926 1.75591553] [ 0.00324275 0.99998467 0.00448815 0.18632138] [ 0.02961485 -0.00458224 0.99955088 -0.26982295] [ 0. 0. 0. 1. ]] SLAMing on 142.713133365 meters Centerline goodness [0,1] 0.28271356566508754 Centerline is valid? [False, False] Translation: X:1.77, Y:0.18, Z:-0.27 [[ 0.99956651 0.00528241 -0.02896349 1.77466352] [-0.00519801 0.99998202 0.00298855 0.18499312] [ 0.02897876 -0.0028367 0.999576 -0.26794075] [ 0. 0. 0. 1. ]] SLAMing on 142.74313336499998 meters Centerline goodness [0,1] 0.2805591677503251 Centerline is valid? [False, False] Translation: X:1.77, Y:0.19, Z:-0.27 [[ 0.9995696 0.00518886 -0.02887386 1.774189 ] [-0.00510796 0.99998282 0.00287473 0.18538051] [ 0.02888828 -0.002726 0.99957893 -0.26754443] [ 0. 0. 0. 1. ]] SLAMing on 142.77313336499998 meters Centerline goodness [0,1] 0.27925870057105917 Centerline is valid? [False, False] Translation: X:1.79, Y:0.19, Z:-0.26 [[ 0.99961093 -0.00327687 -0.02769925 1.79254748] [ 0.00337065 0.99998874 0.00333978 0.19010262] [ 0.02768799 -0.00343185 0.99961072 -0.26478727] [ 0. 0. 0. 1. ]] SLAMing on 142.80313336499998 meters Centerline goodness [0,1] 0.2829651213360007 Centerline is valid? [False, False] Translation: X:1.79, Y:0.19, Z:-0.26 [[ 0.99960385 -0.00331723 -0.02794895 1.79314618] [ 0.0034127 0.9999885 0.00336883 0.18978174] [ 0.02793746 -0.00346288 0.99960367 -0.26477014] [ 0. 0. 0. 1. ]] SLAMing on 142.83313336499998 meters Centerline goodness [0,1] 0.28330511785388723 Centerline is valid? [False, False] Translation: X:1.79, Y:0.19, Z:-0.26 [[ 0.99959612 -0.00338607 -0.02821569 1.79393919] [ 0.00348246 0.99998827 0.00336766 0.18955074] [ 0.02820395 -0.00346456 0.99959619 -0.2649879 ] [ 0. 0. 0. 1. ]] SLAMing on 142.86313336499998 meters Centerline goodness [0,1] 0.279751504562221 Centerline is valid? [False, False] Translation: X:1.79, Y:0.19, Z:-0.27 [[ 0.9995959 -0.00347465 -0.02821296 1.79405016] [ 0.00357052 0.99998802 0.00334852 0.18921712] [ 0.02820098 -0.0034479 0.99959633 -0.26511809] [ 0. 0. 0. 1. ]] SLAMing on 142.89313336499998 meters Centerline goodness [0,1] 0.2806175402179554 Centerline is valid? [False, False] Translation: X:1.79, Y:0.19, Z:-0.26 [[ 0.9996022 -0.00359624 -0.02797335 1.79320839] [ 0.00368799 0.99998799 0.00322913 0.18936971] [ 0.0279614 -0.00333101 0.99960345 -0.26472929] [ 0. 0. 0. 1. ]] SLAMing on 142.92313336499998 meters Centerline goodness [0,1] 0.28443971692788605 Centerline is valid? [False, False] Translation: X:1.79, Y:0.19, Z:-0.26 [[ 0.99960728 -0.00369259 -0.02777846 1.79233765] [ 0.00377939 0.99998814 0.0030729 0.18998717] [ 0.02776678 -0.00317668 0.99960938 -0.26414847] [ 0. 0. 0. 1. ]] SLAMing on 142.95313336499999 meters Centerline goodness [0,1] 0.28074080477157803 Centerline is valid? [False, False] Translation: X:1.79, Y:0.19, Z:-0.26 [[ 0.99960658 -0.00390307 -0.02777496 1.79231531] [ 0.00397166 0.9999892 0.00241443 0.19385873] [ 0.02776524 -0.00252379 0.99961129 -0.26419574] [ 0. 0. 0. 1. ]] SLAMing on 142.983133365 meters Centerline goodness [0,1] 0.28650998208903067 Centerline is valid? [False, False] Translation: X:1.79, Y:0.20, Z:-0.26 [[ 0.99960372 -0.00404226 -0.02785804 1.79275449] [ 0.00409853 0.99998967 0.00196304 0.19638586] [ 0.02784981 -0.00207644 0.99960996 -0.26459423] [ 0. 0. 0. 1. ]] SLAMing on 143.013133365 meters Centerline goodness [0,1] 0.2843637944148647 Centerline is valid? [False, False] Translation: X:1.79, Y:0.20, Z:-0.26 [[ 9.99601142e-01 -4.15067136e-03 -2.79343744e-02 1.79302799e+00] [ 4.19283503e-03 9.99990157e-01 1.45097833e-03 1.99404522e-01] [ 2.79280769e-02 -1.56752382e-03 9.99608706e-01 -2.64841665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.043133365 meters Centerline goodness [0,1] 0.28121075650630056 Centerline is valid? [False, False] Translation: X:1.79, Y:0.20, Z:-0.26 [[ 9.99602741e-01 -4.31730301e-03 -2.78517864e-02 1.79280376e+00] [ 4.34334077e-03 9.99990185e-01 8.74439600e-04 2.02577088e-01] [ 2.78477378e-02 -9.95062020e-04 9.99611681e-01 -2.64899212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.073133365 meters Centerline goodness [0,1] 0.2830709688641503 Centerline is valid? [False, False] Translation: X:1.79, Y:0.21, Z:-0.26 [[ 9.99608093e-01 -4.43715473e-03 -2.76400509e-02 1.79215074e+00] [ 4.44876741e-03 9.99990040e-01 3.58659650e-04 2.05594180e-01] [ 2.76381841e-02 -4.81483246e-04 9.99617876e-01 -2.64767638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.103133365 meters Centerline goodness [0,1] 0.28655328253607837 Centerline is valid? [False, False] Translation: X:1.79, Y:0.21, Z:-0.26 [[ 9.99621964e-01 -4.55806931e-03 -2.71136907e-02 1.79047173e+00] [ 4.54698771e-03 9.99989552e-01 -4.70349369e-04 2.12157649e-01] [ 2.71155513e-02 3.46885942e-04 9.99632246e-01 -2.64387782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.133133365 meters Centerline goodness [0,1] 0.2848382045929019 Centerline is valid? [False, False] Translation: X:1.79, Y:0.21, Z:-0.26 [[ 9.99623578e-01 -4.73433260e-03 -2.70238610e-02 1.79014780e+00] [ 4.70946209e-03 9.99988426e-01 -9.83888402e-04 2.14923432e-01] [ 2.70282063e-02 8.56250195e-04 9.99634305e-01 -2.64288625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.163133365 meters Centerline goodness [0,1] 0.2852535466015821 Centerline is valid? [False, False] Translation: X:1.79, Y:0.22, Z:-0.26 [[ 9.99626041e-01 -4.87292467e-03 -2.69078753e-02 1.78968934e+00] [ 4.83711414e-03 9.99987327e-01 -1.39578667e-03 2.17259887e-01] [ 2.69143359e-02 1.26510824e-03 9.99636943e-01 -2.64136331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.193133365 meters Centerline goodness [0,1] 0.28289047310434223 Centerline is valid? [False, False] Translation: X:1.81, Y:0.22, Z:-0.26 [[ 0.99966228 0.00346336 -0.02575508 1.80856836] [-0.0035365 0.99998984 -0.00279511 0.21687981] [ 0.02574513 0.00288525 0.99966438 -0.26292528] [ 0. 0. 0. 1. ]] SLAMing on 143.223133365 meters Centerline goodness [0,1] 0.283863957405194 Centerline is valid? [False, False] Translation: X:1.81, Y:0.22, Z:-0.26 [[ 0.9996626 0.00338601 -0.02575307 1.80852323] [-0.0034643 0.99998951 -0.00299625 0.21810788] [ 0.02574265 0.00308446 0.99966384 -0.26287834] [ 0. 0. 0. 1. ]] SLAMing on 143.253133365 meters Centerline goodness [0,1] 0.2811729596470741 Centerline is valid? [False, False] Translation: X:1.81, Y:0.22, Z:-0.26 [[ 0.99966313 0.00331385 -0.02574171 1.80859622] [-0.0033959 0.99998929 -0.00314434 0.2189596 ] [ 0.02573101 0.00323069 0.99966368 -0.26301699] [ 0. 0. 0. 1. ]] SLAMing on 143.283133365 meters Centerline goodness [0,1] 0.28317661621316426 Centerline is valid? [False, False] Translation: X:1.81, Y:0.22, Z:-0.26 [[ 0.99966523 0.00310479 -0.02568651 1.80829062] [-0.00319309 0.99998913 -0.00339729 0.21969853] [ 0.02567568 0.00347818 0.99966427 -0.262755 ] [ 0. 0. 0. 1. ]] SLAMing on 143.313133365 meters Centerline goodness [0,1] 0.279495077870883 Centerline is valid? [False, False] Translation: X:1.83, Y:0.23, Z:-0.26 [[ 0.99962246 -0.00393874 -0.02719236 1.82718354] [ 0.0038704 0.99998922 -0.00256547 0.22539326] [ 0.02720217 0.00245925 0.99962693 -0.26046041] [ 0. 0. 0. 1. ]] SLAMing on 143.343133365 meters Centerline goodness [0,1] 0.28283201216201537 Centerline is valid? [False, False] Translation: X:1.83, Y:0.23, Z:-0.26 [[ 0.99961611 -0.0039245 -0.02742681 1.8279701 ] [ 0.00385555 0.99998927 -0.0025666 0.22561759] [ 0.02743659 0.00245987 0.99962052 -0.26083043] [ 0. 0. 0. 1. ]] SLAMing on 143.373133365 meters Centerline goodness [0,1] 0.27816658026611374 Centerline is valid? [False, False] Translation: X:1.83, Y:0.23, Z:-0.26 [[ 0.99960976 -0.00389167 -0.02766179 1.82882003] [ 0.0038218 0.99998937 -0.00257843 0.22601798] [ 0.02767153 0.00247171 0.99961401 -0.26127745] [ 0. 0. 0. 1. ]] SLAMing on 143.403133365 meters Centerline goodness [0,1] 0.28463421029630276 Centerline is valid? [False, False] Translation: X:1.83, Y:0.23, Z:-0.26 [[ 0.99960703 -0.00388839 -0.02776095 1.82909203] [ 0.00381849 0.99998941 -0.00257046 0.2260705 ] [ 0.02777065 0.00246344 0.99961129 -0.26135636] [ 0. 0. 0. 1. ]] SLAMing on 143.433133365 meters Centerline goodness [0,1] 0.28092442981221166 Centerline is valid? [False, False] Translation: X:1.85, Y:0.22, Z:-0.26 [[ 0.99962973 0.00416042 -0.02689039 1.84809674] [-0.00427074 0.99998269 -0.00404656 0.22215419] [ 0.02687309 0.0041599 0.9996302 -0.25955462] [ 0. 0. 0. 1. ]] SLAMing on 143.463133365 meters Centerline goodness [0,1] 0.2837127465461813 Centerline is valid? [False, False] Translation: X:1.85, Y:0.22, Z:-0.26 [[ 0.99963395 0.00418439 -0.0267292 1.84740659] [-0.00428263 0.99998428 -0.00361926 0.21923717] [ 0.02671363 0.0037324 0.99963616 -0.25901413] [ 0. 0. 0. 1. ]] SLAMing on 143.49313336499998 meters Centerline goodness [0,1] 0.2820886117207362 Centerline is valid? [False, False] Translation: X:1.85, Y:0.22, Z:-0.26 [[ 0.99963181 0.00424233 -0.02680028 1.84761782] [-0.00433338 0.99998503 -0.00334046 0.21742276] [ 0.0267857 0.00345536 0.99963523 -0.25905932] [ 0. 0. 0. 1. ]] SLAMing on 143.52313336499998 meters Centerline goodness [0,1] 0.28039680640459463 Centerline is valid? [False, False] Translation: X:1.85, Y:0.22, Z:-0.26 [[ 0.99962886 0.0042642 -0.02690656 1.84803873] [-0.00434961 0.99998568 -0.00311663 0.21574707] [ 0.02689288 0.0032325 0.99963309 -0.25926539] [ 0. 0. 0. 1. ]] SLAMing on 143.55313336499998 meters Centerline goodness [0,1] 0.2794216179998703 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.26 [[ 0.99962549 0.00428984 -0.02702735 1.84850578] [-0.00436986 0.99998624 -0.00290227 0.21410707] [ 0.02701453 0.00301929 0.99963048 -0.25949101] [ 0. 0. 0. 1. ]] SLAMing on 143.58313336499998 meters Centerline goodness [0,1] 0.2842959301944147 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.26 [[ 0.99962426 0.00435093 -0.027063 1.84866832] [-0.0044249 0.99998664 -0.00267382 0.21268278] [ 0.02705101 0.00279257 0.99963015 -0.25962849] [ 0. 0. 0. 1. ]] SLAMing on 143.61313336499998 meters Centerline goodness [0,1] 0.2812479574718404 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.26 [[ 0.99961757 0.00452655 -0.02728039 1.84943768] [-0.00458882 0.99998701 -0.00222047 0.21046477] [ 0.02726998 0.00234481 0.99962535 -0.26001437] [ 0. 0. 0. 1. ]] SLAMing on 143.64313336499998 meters Centerline goodness [0,1] 0.28180392840033097 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.26 [[ 0.99961353 0.00458123 -0.02741899 1.84991232] [-0.00463986 0.99998708 -0.002075 0.20962022] [ 0.02740913 0.00220142 0.99962188 -0.26021933] [ 0. 0. 0. 1. ]] SLAMing on 143.67313336499998 meters Centerline goodness [0,1] 0.2807551766138855 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.26 [[ 0.99961148 0.00459157 -0.02749189 1.85020887] [-0.00464795 0.99998722 -0.00198693 0.20884787] [ 0.02748242 0.00211394 0.99962005 -0.26038038] [ 0. 0. 0. 1. ]] SLAMing on 143.70313336499999 meters Centerline goodness [0,1] 0.282544055271328 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.26 [[ 0.99960966 0.0045991 -0.02755664 1.85031147] [-0.00465348 0.99998735 -0.00190941 0.20813802] [ 0.02754751 0.0020369 0.99961842 -0.26028118] [ 0. 0. 0. 1. ]] SLAMing on 143.733133365 meters Centerline goodness [0,1] 0.27863662973482795 Centerline is valid? [False, False] Translation: X:1.87, Y:0.21, Z:-0.26 [[ 9.99616397e-01 -2.52274444e-03 -2.75806755e-02 1.86866387e+00] [ 2.50604735e-03 9.99996655e-01 -6.39940078e-04 2.12264112e-01] [ 2.75821977e-02 5.70576117e-04 9.99619376e-01 -2.58081241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.763133365 meters Centerline goodness [0,1] 0.2793158020248444 Centerline is valid? [False, False] Translation: X:1.87, Y:0.21, Z:-0.26 [[ 9.99619183e-01 -2.39683227e-03 -2.74908092e-02 1.86825066e+00] [ 2.38574455e-03 9.99997059e-01 -4.36116788e-04 2.11539339e-01] [ 2.74917736e-02 3.70364659e-04 9.99621961e-01 -2.57792472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.793133365 meters Centerline goodness [0,1] 0.280399826162538 Centerline is valid? [False, False] Translation: X:1.87, Y:0.21, Z:-0.26 [[ 9.99631215e-01 -2.22377457e-03 -2.70645448e-02 1.86683003e+00] [ 2.21934689e-03 9.99997518e-01 -1.93634488e-04 2.10628909e-01] [ 2.70649082e-02 1.33497466e-04 9.99633669e-01 -2.57180957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.823133365 meters Centerline goodness [0,1] 0.2806709576750537 Centerline is valid? [False, False] Translation: X:1.87, Y:0.21, Z:-0.26 [[ 9.99637120e-01 -2.22897343e-03 -2.68451235e-02 1.86616424e+00] [ 2.22380893e-03 9.99997503e-01 -2.22234325e-04 2.10675736e-01] [ 2.68455518e-02 1.62455256e-04 9.99639580e-01 -2.56990414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.853133365 meters Centerline goodness [0,1] 0.28160156675008163 Centerline is valid? [False, False] Translation: X:1.87, Y:0.21, Z:-0.26 [[ 9.99639774e-01 -2.19897712e-03 -2.67485920e-02 1.86603140e+00] [ 2.19324877e-03 9.99997565e-01 -2.43491950e-04 2.11015464e-01] [ 2.67490623e-02 1.84737921e-04 9.99642163e-01 -2.57216065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.883133365 meters Centerline goodness [0,1] 0.2808478260869566 Centerline is valid? [False, False] Translation: X:1.87, Y:0.21, Z:-0.26 [[ 9.99637081e-01 -2.12278361e-03 -2.68551601e-02 1.86644947e+00] [ 2.11716196e-03 9.99997731e-01 -2.37763903e-04 2.11609651e-01] [ 2.68556039e-02 1.80820891e-04 9.99639307e-01 -2.57522787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.913133365 meters Centerline goodness [0,1] 0.28100775193798455 Centerline is valid? [False, False] Translation: X:1.87, Y:0.21, Z:-0.26 [[ 9.99635086e-01 -2.07631777e-03 -2.69329459e-02 1.86678148e+00] [ 2.07044363e-03 9.99997826e-01 -2.45987042e-04 2.12039462e-01] [ 2.69333981e-02 1.90134131e-04 9.99637212e-01 -2.57815122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.943133365 meters Centerline goodness [0,1] 0.2797179972583067 Centerline is valid? [False, False] Translation: X:1.87, Y:0.21, Z:-0.26 [[ 9.99633124e-01 -2.07549407e-03 -2.70057166e-02 1.86689928e+00] [ 2.07099973e-03 9.99997837e-01 -1.94390409e-04 2.11560102e-01] [ 2.70060617e-02 1.38390260e-04 9.99635260e-01 -2.57728742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.973133365 meters Centerline goodness [0,1] 0.28455426908008497 Centerline is valid? [False, False] Translation: X:1.87, Y:0.21, Z:-0.26 [[ 9.99641522e-01 -2.21419447e-03 -2.66819220e-02 1.86549379e+00] [ 2.21555388e-03 9.99997545e-01 2.13860471e-05 2.09074251e-01] [ 2.66818091e-02 -8.04936164e-05 9.99643974e-01 -2.56706906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.003133365 meters Centerline goodness [0,1] 0.28455426908008497 Centerline is valid? [False, False] Translation: X:1.87, Y:0.21, Z:-0.26 [[ 9.99641522e-01 -2.21419447e-03 -2.66819220e-02 1.86549379e+00] [ 2.21555388e-03 9.99997545e-01 2.13860471e-05 2.09074251e-01] [ 2.66818091e-02 -8.04936164e-05 9.99643974e-01 -2.56706906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.033133365 meters Centerline goodness [0,1] 0.2823912283767255 Centerline is valid? [False, False] Translation: X:1.87, Y:0.21, Z:-0.26 [[ 9.99641995e-01 -2.12725231e-03 -2.66712705e-02 1.86544879e+00] [ 2.13591848e-03 9.99997675e-01 2.96440765e-04 2.07723883e-01] [ 2.66705779e-02 -3.53302298e-04 9.99644214e-01 -2.56646973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.063133365 meters Centerline goodness [0,1] 0.280656902677875 Centerline is valid? [False, False] Translation: X:1.87, Y:0.21, Z:-0.26 [[ 9.99637135e-01 -2.03511597e-03 -2.68599594e-02 1.86609152e+00] [ 2.05066433e-03 9.99997745e-01 5.51335167e-04 2.06575525e-01] [ 2.68587768e-02 -6.06215867e-04 9.99639054e-01 -2.56919740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.093133365 meters Centerline goodness [0,1] 0.28259544643245826 Centerline is valid? [False, False] Translation: X:1.87, Y:0.21, Z:-0.26 [[ 9.99629169e-01 -2.01191383e-03 -2.71565162e-02 1.86711878e+00] [ 2.03232082e-03 9.99997673e-01 7.23878956e-04 2.05467112e-01] [ 2.71549967e-02 -7.78801273e-04 9.99630932e-01 -2.57392955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.123133365 meters Centerline goodness [0,1] 0.28196606611859365 Centerline is valid? [False, False] Translation: X:1.87, Y:0.20, Z:-0.26 [[ 9.99619892e-01 -2.01621916e-03 -2.74955829e-02 1.86809336e+00] [ 2.04144709e-03 9.99997521e-01 8.89486903e-04 2.04215790e-01] [ 2.74937214e-02 -9.45279579e-04 9.99621529e-01 -2.57645576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.153133365 meters Centerline goodness [0,1] 0.28163639139062735 Centerline is valid? [False, False] Translation: X:1.87, Y:0.20, Z:-0.26 [[ 9.99623137e-01 -1.96222517e-03 -2.73812685e-02 1.86735964e+00] [ 1.99920463e-03 9.99997126e-01 1.32322809e-03 2.01661664e-01] [ 2.73785934e-02 -1.37747017e-03 9.99624187e-01 -2.56880237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.183133365 meters Centerline goodness [0,1] 0.28183461463074677 Centerline is valid? [False, False] Translation: X:1.87, Y:0.20, Z:-0.26 [[ 9.99634276e-01 -1.85501268e-03 -2.69791167e-02 1.86587224e+00] [ 1.90143714e-03 9.99996755e-01 1.69520308e-03 1.99814650e-01] [ 2.69758846e-02 -1.74588220e-03 9.99634560e-01 -2.56036089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.213133365 meters Centerline goodness [0,1] 0.27920098579674424 Centerline is valid? [False, False] Translation: X:1.86, Y:0.20, Z:-0.26 [[ 9.99646224e-01 -1.74302117e-03 -2.65403050e-02 1.86437623e+00] [ 1.80093036e-03 9.99996049e-01 2.15818711e-03 1.97272369e-01] [ 2.65364384e-02 -2.20522083e-03 9.99645414e-01 -2.55286268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24313336499998 meters Centerline goodness [0,1] 0.28209084981525756 Centerline is valid? [False, False] Translation: X:1.86, Y:0.19, Z:-0.25 [[ 9.99654559e-01 -1.76265609e-03 -2.62231989e-02 1.86333127e+00] [ 1.83091479e-03 9.99994998e-01 2.57920640e-03 1.94275976e-01] [ 2.62185215e-02 -2.62632788e-03 9.99652785e-01 -2.54760204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27313336499998 meters Centerline goodness [0,1] 0.2819307523231268 Centerline is valid? [False, False] Translation: X:1.86, Y:0.19, Z:-0.25 [[ 9.99653256e-01 -1.85544066e-03 -2.62664336e-02 1.86335905e+00] [ 1.93338357e-03 9.99993802e-01 2.94231113e-03 1.91159501e-01] [ 2.62608115e-02 -2.99207399e-03 9.99650648e-01 -2.54593824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30313336499998 meters Centerline goodness [0,1] 0.2839987795309912 Centerline is valid? [False, False] Translation: X:1.86, Y:0.19, Z:-0.25 [[ 0.99964448 -0.00187738 -0.02659665 1.86417576] [ 0.00196776 0.99999238 0.00337265 0.18809259] [ 0.02659012 -0.00342378 0.99964056 -0.25459201] [ 0. 0. 0. 1. ]] SLAMing on 144.33313336499998 meters Centerline goodness [0,1] 0.2826671917044038 Centerline is valid? [False, False] Translation: X:1.86, Y:0.19, Z:-0.25 [[ 9.99639786e-01 -1.84578619e-03 -2.67748392e-02 1.86453566e+00] [ 1.94997478e-03 9.99990627e-01 3.86569932e-03 1.85027495e-01] [ 2.67674530e-02 -3.91651710e-03 9.99634015e-01 -2.54459294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36313336499998 meters Centerline goodness [0,1] 0.28158020611384094 Centerline is valid? [False, False] Translation: X:1.86, Y:0.18, Z:-0.25 [[ 9.99635517e-01 -5.33240476e-03 -2.64650524e-02 1.86317870e+00] [ 5.36538386e-03 9.99984916e-01 1.17528380e-03 1.79951750e-01] [ 2.64583861e-02 -1.31685059e-03 9.99649048e-01 -2.53525248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39313336499998 meters Centerline goodness [0,1] 0.2590013367254539 Centerline is valid? [False, False] Translation: X:1.88, Y:0.17, Z:-0.25 [[ 9.99657573e-01 2.25534951e-03 -2.60701084e-02 1.88148687e+00] [-2.26795056e-03 9.99997325e-01 -4.53794462e-04 1.72938855e-01] [ 2.60690152e-02 5.12764787e-04 9.99660014e-01 -2.51389431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42313336499998 meters Centerline goodness [0,1] 0.2844607670654469 Centerline is valid? [False, False] Translation: X:1.84, Y:0.17, Z:-0.25 [[ 9.99603837e-01 6.74322476e-04 -2.81374201e-02 1.83633063e+00] [-6.77582724e-04 9.99999765e-01 -1.06334333e-04 1.67924179e-01] [ 2.81373418e-02 1.25357637e-04 9.99604059e-01 -2.51518521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45313336499999 meters Centerline goodness [0,1] 0.2835719750792436 Centerline is valid? [False, False] Translation: X:1.84, Y:0.17, Z:-0.25 [[ 9.99605297e-01 8.18702103e-04 -2.80816502e-02 1.83615707e+00] [-8.07283027e-04 9.99999587e-01 4.17973086e-04 1.65067243e-01] [ 2.80819808e-02 -3.95138271e-04 9.99605545e-01 -2.51431601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.483133365 meters Centerline goodness [0,1] 0.2804756325131277 Centerline is valid? [False, False] Translation: X:1.84, Y:0.16, Z:-0.25 [[ 9.99607724e-01 9.14726046e-04 -2.79921721e-02 1.83588279e+00] [-8.89016791e-04 9.99999172e-01 9.30875860e-04 1.61903919e-01] [ 2.79930004e-02 -9.05625188e-04 9.99607709e-01 -2.51290971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.513133365 meters Centerline goodness [0,1] 0.28066094140667464 Centerline is valid? [False, False] Translation: X:1.84, Y:0.16, Z:-0.25 [[ 9.99600530e-01 9.32665849e-04 -2.82473004e-02 1.83647124e+00] [-8.94627281e-04 9.99998676e-01 1.35923464e-03 1.58667978e-01] [ 2.82485307e-02 -1.33342086e-03 9.99600041e-01 -2.51250242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.543133365 meters Centerline goodness [0,1] 0.2627539405502678 Centerline is valid? [False, False] Translation: X:1.84, Y:0.15, Z:-0.25 [[ 9.99556354e-01 -7.38401718e-04 -2.97749838e-02 1.84222982e+00] [ 7.53002557e-04 9.99999602e-01 4.79162863e-04 1.51861533e-01] [ 2.97746181e-02 -5.01370923e-04 9.99556512e-01 -2.53736365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.573133365 meters Centerline goodness [0,1] 0.2625549893288035 Centerline is valid? [False, False] Translation: X:1.84, Y:0.15, Z:-0.25 [[ 9.99546158e-01 -5.17663966e-04 -3.01199307e-02 1.84322267e+00] [ 5.52157835e-04 9.99999201e-01 1.13691130e-03 1.48550589e-01] [ 3.01193181e-02 -1.15302628e-03 9.99545645e-01 -2.54015946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.603133365 meters Centerline goodness [0,1] 0.2666287787711207 Centerline is valid? [False, False] Translation: X:1.84, Y:0.15, Z:-0.25 [[ 9.99541332e-01 -3.11498626e-04 -3.02824714e-02 1.84352562e+00] [ 3.64757782e-04 9.99998397e-01 1.75323713e-03 1.45365302e-01] [ 3.02818767e-02 -1.76347874e-03 9.99539843e-01 -2.53893701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.633133365 meters Centerline goodness [0,1] 0.2801437633966267 Centerline is valid? [False, False] Translation: X:1.86, Y:0.14, Z:-0.25 [[ 9.99547953e-01 6.51325379e-03 -2.93507489e-02 1.86375134e+00] [-6.54060203e-03 9.99978261e-01 -8.35861932e-04 1.39935476e-01] [ 2.93446667e-02 1.02745565e-03 9.99568824e-01 -2.52951555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.663133365 meters Centerline goodness [0,1] 0.26386495976271995 Centerline is valid? [False, False] Translation: X:1.86, Y:0.14, Z:-0.25 [[ 9.99550465e-01 6.67226525e-03 -2.92292590e-02 1.86304918e+00] [-6.68507752e-03 9.99977597e-01 -3.40637118e-04 1.37087202e-01] [ 2.92263314e-02 5.35883852e-04 9.99572676e-01 -2.52324693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.693133365 meters Centerline goodness [0,1] 0.28327353867693383 Centerline is valid? [False, False] Translation: X:1.86, Y:0.13, Z:-0.25 [[ 9.99553329e-01 6.81304362e-03 -2.90985429e-02 1.86257624e+00] [-6.81248492e-03 9.99976788e-01 1.18339153e-04 1.34456110e-01] [ 2.90986737e-02 7.99470903e-05 9.99576541e-01 -2.52124340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.723133365 meters Centerline goodness [0,1] 0.2785258220040828 Centerline is valid? [False, False] Translation: X:1.88, Y:0.13, Z:-0.25 [[ 9.99563879e-01 -6.33808414e-04 -2.95237147e-02 1.88326796e+00] [ 6.74386492e-04 9.99998842e-01 1.36448609e-03 1.32898449e-01] [ 2.95228157e-02 -1.38380140e-03 9.99563149e-01 -2.51188989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.753133365 meters Centerline goodness [0,1] 0.2788271350011955 Centerline is valid? [False, False] Translation: X:1.88, Y:0.13, Z:-0.25 [[ 9.99557520e-01 -5.53249417e-04 -2.97398373e-02 1.88413523e+00] [ 6.02419505e-04 9.99998467e-01 1.64440639e-03 1.31209587e-01] [ 2.97388819e-02 -1.66159463e-03 9.99556321e-01 -2.51719656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.783133365 meters Centerline goodness [0,1] 0.2624314203605329 Centerline is valid? [False, False] Translation: X:1.88, Y:0.13, Z:-0.25 [[ 9.99552284e-01 -4.89619285e-04 -2.99164221e-02 1.88472977e+00] [ 5.45186089e-04 9.99998141e-01 1.84927280e-03 1.29947717e-01] [ 2.99154611e-02 -1.86475487e-03 9.99550693e-01 -2.51986897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.813133365 meters Centerline goodness [0,1] 0.27928084800731345 Centerline is valid? [False, False] Translation: X:1.89, Y:0.13, Z:-0.25 [[ 9.99547043e-01 -4.14980972e-04 -3.00921346e-02 1.88514599e+00] [ 4.78038877e-04 9.99997705e-01 2.08833061e-03 1.28613355e-01] [ 3.00911989e-02 -2.10176989e-03 9.99544948e-01 -2.51988134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.843133365 meters Centerline goodness [0,1] 0.27743051800583973 Centerline is valid? [False, False] Translation: X:1.89, Y:0.13, Z:-0.25 [[ 9.99543548e-01 -3.53566058e-04 -3.02087848e-02 1.88531726e+00] [ 4.22845499e-04 9.99997295e-01 2.28699662e-03 1.27445704e-01] [ 3.02078945e-02 -2.29872637e-03 9.99540994e-01 -2.51830265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.873133365 meters Centerline goodness [0,1] 0.27587850426794924 Centerline is valid? [False, False] Translation: X:1.88, Y:0.13, Z:-0.25 [[ 9.99545893e-01 -2.70678799e-04 -3.01319545e-02 1.88491491e+00] [ 3.45669090e-04 9.99996856e-01 2.48354854e-03 1.26537982e-01] [ 3.01311875e-02 -2.49283643e-03 9.99542844e-01 -2.51527850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.903133365 meters Centerline goodness [0,1] 0.25924724205061644 Centerline is valid? [False, False] Translation: X:1.88, Y:0.12, Z:-0.25 [[ 9.99565152e-01 -1.52862402e-04 -2.94869960e-02 1.88265311e+00] [ 2.40338544e-04 9.99995581e-01 2.96307928e-03 1.24095768e-01] [ 2.94864127e-02 -2.96887766e-03 9.99560772e-01 -2.50442086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.933133365 meters Centerline goodness [0,1] 0.2811478624656818 Centerline is valid? [False, False] Translation: X:1.88, Y:0.12, Z:-0.25 [[ 9.99573365e-01 -9.02715072e-05 -2.92075290e-02 1.88165355e+00] [ 1.84225526e-04 9.99994818e-01 3.21409900e-03 1.22723996e-01] [ 2.92070875e-02 -3.21810853e-03 9.99568202e-01 -2.49969356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.963133365 meters Centerline goodness [0,1] 0.27937785512290625 Centerline is valid? [False, False] Translation: X:1.88, Y:0.12, Z:-0.25 [[ 9.99579849e-01 -7.65700422e-05 -2.89848091e-02 1.88098972e+00] [ 1.76417792e-04 9.99994060e-01 3.44228878e-03 1.21205561e-01] [ 2.89843733e-02 -3.44595593e-03 9.99573925e-01 -2.49750500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99313336499998 meters Centerline goodness [0,1] 0.2782361986442293 Centerline is valid? [False, False] Translation: X:1.88, Y:0.12, Z:-0.25 [[ 9.99579441e-01 -1.32215347e-04 -2.89986982e-02 1.88100142e+00] [ 2.38091757e-04 9.99993319e-01 3.64765209e-03 1.19384228e-01] [ 2.89980222e-02 -3.65302238e-03 9.99572794e-01 -2.49711507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02313336499998 meters Centerline goodness [0,1] 0.27886913816332737 Centerline is valid? [False, False] Translation: X:1.88, Y:0.12, Z:-0.25 [[ 9.99580077e-01 -1.43453389e-04 -2.89766914e-02 1.88081247e+00] [ 2.55262027e-04 9.99992537e-01 3.85490932e-03 1.17871401e-01] [ 2.89759221e-02 -3.86068721e-03 9.99572654e-01 -2.49546967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05313336499998 meters Centerline goodness [0,1] 0.2818203782204749 Centerline is valid? [False, False] Translation: X:1.88, Y:0.12, Z:-0.25 [[ 9.99597881e-01 -1.15713929e-04 -2.83560048e-02 1.87883503e+00] [ 2.39133460e-04 9.99990514e-01 4.34914825e-03 1.15061928e-01] [ 2.83552325e-02 -4.35418025e-03 9.99588426e-01 -2.48744448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08313336499998 meters Centerline goodness [0,1] 0.2808359483960948 Centerline is valid? [False, False] Translation: X:1.88, Y:0.11, Z:-0.25 [[ 9.99598743e-01 -1.06738065e-04 -2.83256517e-02 1.87866493e+00] [ 2.34979740e-04 9.99989739e-01 4.52411417e-03 1.14053019e-01] [ 2.83248782e-02 -4.52895479e-03 9.99588510e-01 -2.48632549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11313336499998 meters Centerline goodness [0,1] 0.27778380842795425 Centerline is valid? [False, False] Translation: X:1.88, Y:0.11, Z:-0.25 [[ 9.99597349e-01 -1.23872701e-04 -2.83747150e-02 1.87881888e+00] [ 2.55576468e-04 9.99989212e-01 4.63800941e-03 1.13174605e-01] [ 2.83738344e-02 -4.64339382e-03 9.99586597e-01 -2.48678835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14313336499998 meters Centerline goodness [0,1] 0.2796214731149972 Centerline is valid? [False, False] Translation: X:1.88, Y:0.11, Z:-0.25 [[ 9.99594718e-01 -2.14846349e-04 -2.84667012e-02 1.87917074e+00] [ 3.45868507e-04 9.99989370e-01 4.59780241e-03 1.12818565e-01] [ 2.84654108e-02 -4.60578474e-03 9.99584167e-01 -2.48859128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17313336499998 meters Centerline goodness [0,1] 0.2792708627544702 Centerline is valid? [False, False] Translation: X:1.88, Y:0.11, Z:-0.25 [[ 9.99591265e-01 -3.39255301e-04 -2.85865078e-02 1.87947792e+00] [ 4.67322850e-04 9.99989885e-01 4.47343796e-03 1.12878832e-01] [ 2.85847010e-02 -4.48496864e-03 9.99581312e-01 -2.48885757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20313336499999 meters Centerline goodness [0,1] 0.2754307649177288 Centerline is valid? [False, False] Translation: X:1.88, Y:0.11, Z:-0.25 [[ 9.99586914e-01 -3.87678513e-04 -2.87376388e-02 1.87997751e+00] [ 5.14599487e-04 9.99990147e-01 4.40927737e-03 1.13088623e-01] [ 2.87356462e-02 -4.42224433e-03 9.99577264e-01 -2.49123999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.233133365 meters Centerline goodness [0,1] 0.2804238560456058 Centerline is valid? [False, False] Translation: X:1.88, Y:0.11, Z:-0.25 [[ 9.99585997e-01 -3.92924291e-04 -2.87694194e-02 1.88021177e+00] [ 5.18474839e-04 9.99990375e-01 4.35669829e-03 1.13666758e-01] [ 2.87674307e-02 -4.36981083e-03 9.99576580e-01 -2.49394219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.263133365 meters Centerline goodness [0,1] 0.2783411138855716 Centerline is valid? [False, False] Translation: X:1.88, Y:0.11, Z:-0.25 [[ 9.99586816e-01 -4.31727014e-04 -2.87404220e-02 1.88030198e+00] [ 5.52742645e-04 9.99991015e-01 4.20283059e-03 1.14749658e-01] [ 2.87383493e-02 -4.21698010e-03 9.99578073e-01 -2.49633872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.293133365 meters Centerline goodness [0,1] 0.2782502773366976 Centerline is valid? [False, False] Translation: X:1.88, Y:0.12, Z:-0.25 [[ 9.99587977e-01 -5.36739987e-04 -2.86982159e-02 1.88020131e+00] [ 6.49522348e-04 9.99992103e-01 3.92076576e-03 1.16255068e-01] [ 2.86958848e-02 -3.93779045e-03 9.99580432e-01 -2.49623168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.323133365 meters Centerline goodness [0,1] 0.2791561919335447 Centerline is valid? [False, False] Translation: X:1.88, Y:0.12, Z:-0.25 [[ 9.99579681e-01 -9.44216241e-04 -2.89753437e-02 1.88117872e+00] [ 1.02999885e-03 9.99995131e-01 2.94575565e-03 1.20725380e-01] [ 2.89724212e-02 -2.97436206e-03 9.99575786e-01 -2.50102692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.353133365 meters Centerline goodness [0,1] 0.2793889798145117 Centerline is valid? [False, False] Translation: X:1.88, Y:0.12, Z:-0.25 [[ 9.99575559e-01 -1.10427686e-03 -2.91115670e-02 1.88183788e+00] [ 1.17634946e-03 9.99996285e-01 2.45872764e-03 1.23402819e-01] [ 2.91087437e-02 -2.49192943e-03 9.99573145e-01 -2.50635644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.383133365 meters Centerline goodness [0,1] 0.276204734318384 Centerline is valid? [False, False] Translation: X:1.88, Y:0.13, Z:-0.25 [[ 9.99572094e-01 -1.20837760e-03 -2.92261577e-02 1.88252882e+00] [ 1.26819173e-03 9.99997139e-01 2.02814609e-03 1.26166667e-01] [ 2.92236233e-02 -2.06434260e-03 9.99570767e-01 -2.51297901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.413133365 meters Centerline goodness [0,1] 0.2772665266440032 Centerline is valid? [False, False] Translation: X:1.88, Y:0.13, Z:-0.25 [[ 9.99571919e-01 -1.32546759e-03 -2.92270687e-02 1.88272488e+00] [ 1.37481386e-03 9.99997663e-01 1.66834498e-03 1.28345899e-01] [ 2.92247891e-02 -1.70781258e-03 9.99571406e-01 -2.51606341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.443133365 meters Centerline goodness [0,1] 0.2751228807136825 Centerline is valid? [False, False] Translation: X:1.88, Y:0.13, Z:-0.25 [[ 9.99570790e-01 -1.48536961e-03 -2.92579859e-02 1.88277701e+00] [ 1.52623213e-03 9.99997891e-01 1.37434537e-03 1.29632562e-01] [ 2.92558828e-02 -1.41840996e-03 9.99570949e-01 -2.51607921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.473133365 meters Centerline goodness [0,1] 0.2741897070604282 Centerline is valid? [False, False] Translation: X:1.88, Y:0.13, Z:-0.25 [[ 9.99567349e-01 -1.68603481e-03 -2.93644531e-02 1.88281857e+00] [ 1.72001544e-03 9.99997880e-01 1.13198222e-03 1.30229129e-01] [ 2.93624822e-02 -1.18199978e-03 9.99568131e-01 -2.51325309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.503133365 meters Centerline goodness [0,1] 0.2789959733893558 Centerline is valid? [False, False] Translation: X:1.88, Y:0.13, Z:-0.25 [[ 9.99560359e-01 -2.15528367e-03 -2.95710019e-02 1.88311475e+00] [ 2.17830055e-03 9.99997349e-01 7.46167749e-04 1.31150971e-01] [ 2.95693153e-02 -8.10254233e-04 9.99562404e-01 -2.51138725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.533133365 meters Centerline goodness [0,1] 0.2789959733893558 Centerline is valid? [False, False] Translation: X:1.88, Y:0.13, Z:-0.25 [[ 9.99560359e-01 -2.15528367e-03 -2.95710019e-02 1.88311475e+00] [ 2.17830055e-03 9.99997349e-01 7.46167749e-04 1.31150971e-01] [ 2.95693153e-02 -8.10254233e-04 9.99562404e-01 -2.51138725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.563133365 meters Centerline goodness [0,1] 0.2771184403208533 Centerline is valid? [False, False] Translation: X:1.88, Y:0.13, Z:-0.25 [[ 9.99565451e-01 -2.36854283e-03 -2.93819503e-02 1.88254942e+00] [ 2.38863798e-03 9.99996937e-01 6.48848098e-04 1.31524835e-01] [ 2.93803234e-02 -7.18748984e-04 9.99568047e-01 -2.50997432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.593133365 meters Centerline goodness [0,1] 0.2756120854314985 Centerline is valid? [False, False] Translation: X:1.88, Y:0.13, Z:-0.25 [[ 9.99568971e-01 -2.50738601e-03 -2.92503915e-02 1.88206021e+00] [ 2.52266129e-03 9.99996700e-01 4.85334034e-04 1.31853561e-01] [ 2.92490781e-02 -5.58913671e-04 9.99571998e-01 -2.50733807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.623133365 meters Centerline goodness [0,1] 0.27577817842170427 Centerline is valid? [False, False] Translation: X:1.88, Y:0.13, Z:-0.25 [[ 9.99572711e-01 -2.64592021e-03 -2.91100389e-02 1.88148791e+00] [ 2.65542090e-03 9.99996433e-01 2.87718583e-04 1.32460901e-01] [ 2.91091737e-02 -3.64895049e-04 9.99576172e-01 -2.50400567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.653133365 meters Centerline goodness [0,1] 0.27756421457277647 Centerline is valid? [False, False] Translation: X:1.88, Y:0.13, Z:-0.25 [[ 9.99577114e-01 -2.71045839e-03 -2.89524960e-02 1.88084515e+00] [ 2.71412413e-03 9.99996313e-01 8.73143319e-05 1.33738819e-01] [ 2.89521526e-02 -1.65858076e-04 9.99580785e-01 -2.50037743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.683133365 meters Centerline goodness [0,1] 0.27647673355678404 Centerline is valid? [False, False] Translation: X:1.88, Y:0.14, Z:-0.25 [[ 9.99582152e-01 -2.68761242e-03 -2.87801524e-02 1.88044923e+00] [ 2.68711441e-03 9.99996388e-01 -5.59800810e-05 1.35307567e-01] [ 2.87801989e-02 -2.13788723e-05 9.99585764e-01 -2.50092557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.713133365 meters Centerline goodness [0,1] 0.27375027050421985 Centerline is valid? [False, False] Translation: X:1.88, Y:0.14, Z:-0.25 [[ 9.99591079e-01 -2.88190848e-03 -2.84494049e-02 1.87984432e+00] [ 2.86045430e-03 9.99995593e-01 -7.94785562e-04 1.40249922e-01] [ 2.84515700e-02 7.13082335e-04 9.99594918e-01 -2.50251205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74313336499998 meters Centerline goodness [0,1] 0.27749848314119785 Centerline is valid? [False, False] Translation: X:1.88, Y:0.14, Z:-0.25 [[ 9.99595426e-01 -3.06968386e-03 -2.82764997e-02 1.87939617e+00] [ 3.03348904e-03 9.99994524e-01 -1.32283981e-03 1.42843055e-01] [ 2.82804056e-02 1.23652817e-03 9.99599265e-01 -2.50148979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77313336499998 meters Centerline goodness [0,1] 0.27918472225246604 Centerline is valid? [False, False] Translation: X:1.88, Y:0.15, Z:-0.25 [[ 9.99598038e-01 -3.28039738e-03 -2.81602892e-02 1.87903813e+00] [ 3.22820104e-03 9.99992987e-01 -1.89880672e-03 1.45694547e-01] [ 2.81663205e-02 1.80713639e-03 9.99601617e-01 -2.50022477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80313336499998 meters Centerline goodness [0,1] 0.27554768180443334 Centerline is valid? [False, False] Translation: X:1.90, Y:0.15, Z:-0.25 [[ 0.99960613 0.00506487 -0.02760314 1.89863071] [-0.0051647 0.99998037 -0.00354645 0.14506933] [ 0.02758464 0.00368762 0.99961267 -0.24878653] [ 0. 0. 0. 1. ]] SLAMing on 145.83313336499998 meters Centerline goodness [0,1] 0.27719359483398054 Centerline is valid? [False, False] Translation: X:1.90, Y:0.15, Z:-0.25 [[ 0.99960185 0.00484986 -0.02779612 1.89942686] [-0.00496708 0.99997905 -0.00414964 0.14825378] [ 0.02777541 0.00428606 0.999605 -0.24924934] [ 0. 0. 0. 1. ]] SLAMing on 145.86313336499998 meters Centerline goodness [0,1] 0.275309604226206 Centerline is valid? [False, False] Translation: X:1.92, Y:0.16, Z:-0.25 [[ 9.99531670e-01 -9.86298758e-04 -3.05854055e-02 1.91755700e+00] [ 8.79797354e-04 9.99993504e-01 -3.49536096e-03 1.56033073e-01] [ 3.05886543e-02 3.46681502e-03 9.99526045e-01 -2.46768033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89313336499998 meters Centerline goodness [0,1] 0.2782201201917862 Centerline is valid? [False, False] Translation: X:1.92, Y:0.16, Z:-0.25 [[ 9.99528527e-01 -1.17982484e-03 -3.06811180e-02 1.91812858e+00] [ 1.05708148e-03 9.99991375e-01 -4.01652796e-03 1.58821758e-01] [ 3.06855922e-02 3.98220184e-03 9.99521154e-01 -2.47264807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92313336499998 meters Centerline goodness [0,1] 0.2782201201917862 Centerline is valid? [False, False] Translation: X:1.92, Y:0.16, Z:-0.25 [[ 9.99528527e-01 -1.17982484e-03 -3.06811180e-02 1.91812858e+00] [ 1.05708148e-03 9.99991375e-01 -4.01652796e-03 1.58821758e-01] [ 3.06855922e-02 3.98220184e-03 9.99521154e-01 -2.47264807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95313336499999 meters Centerline goodness [0,1] 0.27510253683730823 Centerline is valid? [False, False] Translation: X:1.92, Y:0.16, Z:-0.25 [[ 9.99531593e-01 -1.38687263e-03 -3.05723929e-02 1.91787548e+00] [ 1.24853809e-03 9.99988899e-01 -4.54344429e-03 1.61544894e-01] [ 3.05783547e-02 4.50314531e-03 9.99522229e-01 -2.47243751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.983133365 meters Centerline goodness [0,1] 0.27743763927049303 Centerline is valid? [False, False] Translation: X:1.92, Y:0.17, Z:-0.25 [[ 9.99543725e-01 -1.73596405e-03 -3.01550853e-02 1.91659235e+00] [ 1.57300943e-03 9.99984038e-01 -5.42676750e-03 1.65998364e-01] [ 3.01640246e-02 5.37685717e-03 9.99530500e-01 -2.46808301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.013133365 meters Centerline goodness [0,1] 0.27386571828860873 Centerline is valid? [False, False] Translation: X:1.92, Y:0.17, Z:-0.25 [[ 9.99547249e-01 -1.88297967e-03 -3.00291829e-02 1.91640023e+00] [ 1.71037285e-03 9.99981876e-01 -5.77262024e-03 1.67810457e-01] [ 3.00395084e-02 5.71864558e-03 9.99532353e-01 -2.46985869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.043133365 meters Centerline goodness [0,1] 0.2764871906209292 Centerline is valid? [False, False] Translation: X:1.92, Y:0.17, Z:-0.25 [[ 9.99546253e-01 -2.01177411e-03 -3.00539565e-02 1.91662799e+00] [ 1.82891913e-03 9.99979658e-01 -6.11047410e-03 1.69623051e-01] [ 3.00656381e-02 6.05273524e-03 9.99529600e-01 -2.47272401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.073133365 meters Centerline goodness [0,1] 0.2768883192492343 Centerline is valid? [False, False] Translation: X:1.92, Y:0.17, Z:-0.25 [[ 0.99954021 -0.0021221 -0.03024677 1.91759283] [ 0.00192886 0.99997755 -0.00641661 0.17144339] [ 0.03025971 0.00635532 0.99952187 -0.24804523] [ 0. 0. 0. 1. ]] SLAMing on 146.103133365 meters Centerline goodness [0,1] 0.2735264260567183 Centerline is valid? [False, False] Translation: X:1.92, Y:0.17, Z:-0.25 [[ 0.99952944 -0.00217039 -0.03059722 1.91900928] [ 0.00196816 0.99997603 -0.00663807 0.17307747] [ 0.03061089 0.00657473 0.99950975 -0.2489025 ] [ 0. 0. 0. 1. ]] SLAMing on 146.133133365 meters Centerline goodness [0,1] 0.2790728044400914 Centerline is valid? [False, False] Translation: X:1.92, Y:0.17, Z:-0.25 [[ 0.99952275 -0.00224448 -0.0308095 1.91984113] [ 0.00203382 0.99997435 -0.00686717 0.1745479 ] [ 0.03082412 0.00680123 0.99950168 -0.24939997] [ 0. 0. 0. 1. ]] SLAMing on 146.163133365 meters Centerline goodness [0,1] 0.27451960699069644 Centerline is valid? [False, False] Translation: X:1.92, Y:0.18, Z:-0.25 [[ 0.99952201 -0.00241286 -0.03082101 1.91971765] [ 0.00218883 0.99997096 -0.00730054 0.17694212] [ 0.03083773 0.00722958 0.99949826 -0.24917324] [ 0. 0. 0. 1. ]] SLAMing on 146.193133365 meters Centerline goodness [0,1] 0.2777644727961508 Centerline is valid? [False, False] Translation: X:1.92, Y:0.18, Z:-0.25 [[ 0.99951961 -0.00251662 -0.03089034 1.91984868] [ 0.00228603 0.99996928 -0.00749773 0.17781878] [ 0.03090826 0.00742351 0.99949466 -0.24914071] [ 0. 0. 0. 1. ]] SLAMing on 146.223133365 meters Centerline goodness [0,1] 0.2791295445139086 Centerline is valid? [False, False] Translation: X:1.92, Y:0.18, Z:-0.25 [[ 0.99951701 -0.00258189 -0.03096895 1.91998336] [ 0.0023458 0.99996793 -0.00765714 0.17865654] [ 0.03098773 0.0075808 0.99949102 -0.24907304] [ 0. 0. 0. 1. ]] SLAMing on 146.253133365 meters Centerline goodness [0,1] 0.2789798903906199 Centerline is valid? [False, False] Translation: X:1.92, Y:0.18, Z:-0.25 [[ 0.99951673 -0.00263259 -0.03097384 1.91995186] [ 0.00239057 0.99996634 -0.00784841 0.1798564 ] [ 0.03099346 0.00777057 0.99948938 -0.24901361] [ 0. 0. 0. 1. ]] SLAMing on 146.283133365 meters Centerline goodness [0,1] 0.28053384845025897 Centerline is valid? [False, False] Translation: X:1.92, Y:0.18, Z:-0.25 [[ 0.99951732 -0.00270236 -0.03094888 1.92004269] [ 0.00245382 0.99996446 -0.00806583 0.18109365] [ 0.03096957 0.00798599 0.99948842 -0.24923221] [ 0. 0. 0. 1. ]] SLAMing on 146.313133365 meters Centerline goodness [0,1] 0.2779878313776619 Centerline is valid? [False, False] Translation: X:1.92, Y:0.18, Z:-0.25 [[ 0.99951273 -0.00276203 -0.03109132 1.92056069] [ 0.00250473 0.99996232 -0.00831158 0.18262267] [ 0.03111311 0.00822965 0.99948199 -0.24948412] [ 0. 0. 0. 1. ]] SLAMing on 146.343133365 meters Centerline goodness [0,1] 0.2810428828512488 Centerline is valid? [False, False] Translation: X:1.92, Y:0.18, Z:-0.25 [[ 9.99508030e-01 6.56955638e-04 -3.13570670e-02 1.92150628e+00] [-8.19947752e-04 9.99986220e-01 -5.18536309e-03 1.84677392e-01] [ 3.13532283e-02 5.20852320e-03 9.99494796e-01 -2.49930708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.373133365 meters Centerline goodness [0,1] 0.275120496250027 Centerline is valid? [False, False] Translation: X:1.94, Y:0.19, Z:-0.25 [[ 0.99949925 -0.00678413 -0.03090677 1.94040976] [ 0.00665642 0.99996889 -0.00423308 0.19020724] [ 0.03093453 0.00402523 0.99951331 -0.24774968] [ 0. 0. 0. 1. ]] SLAMing on 146.403133365 meters Centerline goodness [0,1] 0.2785558938668986 Centerline is valid? [False, False] Translation: X:1.94, Y:0.19, Z:-0.25 [[ 0.99950252 -0.00688948 -0.03077745 1.93984082] [ 0.00675343 0.99996697 -0.00452204 0.19167351] [ 0.03080759 0.00431193 0.99951603 -0.24735517] [ 0. 0. 0. 1. ]] SLAMing on 146.433133365 meters Centerline goodness [0,1] 0.2783444870378793 Centerline is valid? [False, False] Translation: X:1.94, Y:0.19, Z:-0.25 [[ 0.99950055 -0.00702149 -0.03081152 1.93970464] [ 0.00687489 0.99996455 -0.00486124 0.1933943 ] [ 0.03084456 0.00464699 0.99951339 -0.24702917] [ 0. 0. 0. 1. ]] SLAMing on 146.463133365 meters Centerline goodness [0,1] 0.2817680766370675 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.25 [[ 0.99949991 -0.00713518 -0.03080603 1.93964407] [ 0.00697897 0.99996225 -0.00517534 0.19503344] [ 0.03084179 0.00495776 0.99951198 -0.24694514] [ 0. 0. 0. 1. ]] SLAMing on 146.49313336499998 meters Centerline goodness [0,1] 0.2793784818941504 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.25 [[ 0.9995012 -0.00726653 -0.03073346 1.93946558] [ 0.00710055 0.99995963 -0.00550626 0.19661696] [ 0.03077223 0.00528529 0.99951245 -0.24690881] [ 0. 0. 0. 1. ]] SLAMing on 146.52313336499998 meters Centerline goodness [0,1] 0.28132305070674857 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.25 [[ 0.99950459 -0.00740195 -0.03059059 1.93913874] [ 0.00722806 0.99995711 -0.0057911 0.1978475 ] [ 0.03063214 0.00556712 0.99951522 -0.24692481] [ 0. 0. 0. 1. ]] SLAMing on 146.55313336499998 meters Centerline goodness [0,1] 0.2795982395747091 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.25 [[ 0.99950929 -0.00749372 -0.03041404 1.93864488] [ 0.00731525 0.99995539 -0.00597499 0.19878536] [ 0.03045746 0.00574957 0.99951953 -0.2468747 ] [ 0. 0. 0. 1. ]] SLAMing on 146.58313336499998 meters Centerline goodness [0,1] 0.2808008549431855 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.25 [[ 0.99953382 -0.00484228 -0.03014455 1.93784571] [ 0.00474261 0.99998305 -0.00337681 0.20102246] [ 0.03016039 0.00323227 0.99953985 -0.24675224] [ 0. 0. 0. 1. ]] SLAMing on 146.61313336499998 meters Centerline goodness [0,1] 0.2775592253155802 Centerline is valid? [False, False] Translation: X:1.96, Y:0.20, Z:-0.25 [[ 0.99954323 0.00308143 -0.0300638 1.95644794] [-0.00322269 0.99998399 -0.00465126 0.19748288] [ 0.03004898 0.00474602 0.99953716 -0.24525367] [ 0. 0. 0. 1. ]] SLAMing on 146.64313336499998 meters Centerline goodness [0,1] 0.27893969400857477 Centerline is valid? [False, False] Translation: X:1.96, Y:0.20, Z:-0.25 [[ 0.99954615 0.00292862 -0.02998204 1.95621426] [-0.00307844 0.999983 -0.00495221 0.1987479 ] [ 0.02996702 0.00504226 0.99953817 -0.24517824] [ 0. 0. 0. 1. ]] SLAMing on 146.67313336499998 meters Centerline goodness [0,1] 0.2811049820506085 Centerline is valid? [False, False] Translation: X:1.96, Y:0.20, Z:-0.24 [[ 0.99955362 0.00277426 -0.02974681 1.95549391] [-0.00293276 0.99998173 -0.00528605 0.20017351] [ 0.0297316 0.00537093 0.99954349 -0.24493708] [ 0. 0. 0. 1. ]] SLAMing on 146.70313336499999 meters Centerline goodness [0,1] 0.2821007831867144 Centerline is valid? [False, False] Translation: X:1.95, Y:0.20, Z:-0.24 [[ 0.99956732 0.00265908 -0.02929344 1.95417446] [-0.00282446 0.9999803 -0.00560574 0.20181495] [ 0.02927796 0.00568605 0.99955514 -0.24452248] [ 0. 0. 0. 1. ]] SLAMing on 146.733133365 meters Centerline goodness [0,1] 0.281042345276873 Centerline is valid? [False, False] Translation: X:1.97, Y:0.21, Z:-0.24 [[ 0.99960798 -0.00492444 -0.02756159 1.97243584] [ 0.00480401 0.99997863 -0.0044339 0.20726458] [ 0.02758283 0.00429976 0.99961027 -0.24255511] [ 0. 0. 0. 1. ]] SLAMing on 146.763133365 meters Centerline goodness [0,1] 0.28153025066713333 Centerline is valid? [False, False] Translation: X:1.97, Y:0.21, Z:-0.24 [[ 0.99960872 -0.00521385 -0.02748122 1.97234537] [ 0.00507329 0.99997371 -0.0051818 0.21135342] [ 0.02750751 0.00504035 0.99960889 -0.24267916] [ 0. 0. 0. 1. ]] SLAMing on 146.793133365 meters Centerline goodness [0,1] 0.2792279531226307 Centerline is valid? [False, False] Translation: X:1.97, Y:0.21, Z:-0.24 [[ 0.99959749 -0.00535692 -0.02785957 1.97371376] [ 0.00520626 0.99997145 -0.00547746 0.21282479] [ 0.02788812 0.00533021 0.99959684 -0.24340116] [ 0. 0. 0. 1. ]] SLAMing on 146.823133365 meters Centerline goodness [0,1] 0.28022731726435435 Centerline is valid? [False, False] Translation: X:1.97, Y:0.21, Z:-0.24 [[ 0.99958756 -0.00546546 -0.02819279 1.97496886] [ 0.00530576 0.99996947 -0.00573644 0.21425417] [ 0.02822328 0.00558449 0.99958604 -0.24412551] [ 0. 0. 0. 1. ]] SLAMing on 146.853133365 meters Centerline goodness [0,1] 0.2810002634583296 Centerline is valid? [False, False] Translation: X:1.98, Y:0.22, Z:-0.24 [[ 0.99957905 -0.00559664 -0.02846745 1.97589666] [ 0.00542761 0.9999672 -0.0060114 0.21568688] [ 0.02850016 0.00585436 0.99957664 -0.24458915] [ 0. 0. 0. 1. ]] SLAMing on 146.883133365 meters Centerline goodness [0,1] 0.2745660377358491 Centerline is valid? [False, False] Translation: X:2.02, Y:0.22, Z:-0.24 [[ 0.99961155 -0.00522089 -0.02737683 2.02115579] [ 0.0050552 0.99996851 -0.00611776 0.21599915] [ 0.02740791 0.00597699 0.99960646 -0.24435407] [ 0. 0. 0. 1. ]] SLAMing on 146.913133365 meters Centerline goodness [0,1] 0.2732249822873951 Centerline is valid? [False, False] Translation: X:2.02, Y:0.22, Z:-0.24 [[ 0.99960976 -0.00534837 -0.02741742 2.02137516] [ 0.00517481 0.99996615 -0.00639715 0.21742765] [ 0.0274507 0.00625277 0.9996036 -0.24454709] [ 0. 0. 0. 1. ]] SLAMing on 146.943133365 meters Centerline goodness [0,1] 0.27925340990667624 Centerline is valid? [False, False] Translation: X:2.00, Y:0.22, Z:-0.25 [[ 0.99963023 0.00283235 -0.0270442 1.99934112] [-0.00303638 0.99996722 -0.00750629 0.21838667] [ 0.02702205 0.00758563 0.99960606 -0.24546727] [ 0. 0. 0. 1. ]] SLAMing on 146.973133365 meters Centerline goodness [0,1] 0.27912240989030124 Centerline is valid? [False, False] Translation: X:2.00, Y:0.22, Z:-0.25 [[ 0.99962881 0.0027046 -0.0271095 1.9994732 ] [-0.00292045 0.99996432 -0.00792594 0.22080758] [ 0.0270871 0.00800217 0.99960105 -0.2453643 ] [ 0. 0. 0. 1. ]] SLAMing on 147.003133365 meters Centerline goodness [0,1] 0.28028736257755527 Centerline is valid? [False, False] Translation: X:2.00, Y:0.22, Z:-0.25 [[ 0.99962217 0.00258494 -0.02736475 2.00026392] [-0.00281567 0.99996078 -0.00839674 0.2236155 ] [ 0.02734197 0.00847062 0.99959025 -0.24558245] [ 0. 0. 0. 1. ]] SLAMing on 147.033133365 meters Centerline goodness [0,1] 0.27928516944535253 Centerline is valid? [False, False] Translation: X:2.00, Y:0.23, Z:-0.25 [[ 0.99961294 0.00247284 -0.02771038 2.00139106] [-0.00271838 0.99995735 -0.00882702 0.22613005] [ 0.02768737 0.00889893 0.99957702 -0.2459834 ] [ 0. 0. 0. 1. ]] SLAMing on 147.063133365 meters Centerline goodness [0,1] 0.27980460998320866 Centerline is valid? [False, False] Translation: X:2.00, Y:0.23, Z:-0.25 [[ 0.99960835 0.00231841 -0.02788864 2.00199054] [-0.00257809 0.99995363 -0.00927889 0.22847707] [ 0.02786583 0.00934716 0.99956797 -0.24619165] [ 0. 0. 0. 1. ]] SLAMing on 147.093133365 meters Centerline goodness [0,1] 0.2809669642275363 Centerline is valid? [False, False] Translation: X:2.00, Y:0.23, Z:-0.25 [[ 0.9996066 0.0021543 -0.02796437 2.00221107] [-0.00242749 0.99994963 -0.00973896 0.23075739] [ 0.02794198 0.00980302 0.99956148 -0.24618678] [ 0. 0. 0. 1. ]] SLAMing on 147.123133365 meters Centerline goodness [0,1] 0.2793419598153326 Centerline is valid? [False, False] Translation: X:2.00, Y:0.23, Z:-0.25 [[ 9.99613138e-01 1.99986431e-03 -2.77412196e-02 2.00140646e+00] [-2.28409629e-03 9.99945187e-01 -1.02179343e-02 2.33224718e-01] [ 2.77192646e-02 1.02773450e-02 9.99562914e-01 -2.45672700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.153133365 meters Centerline goodness [0,1] 0.2788960545458493 Centerline is valid? [False, False] Translation: X:2.00, Y:0.24, Z:-0.24 [[ 9.99622879e-01 1.88654458e-03 -2.73960088e-02 2.00005505e+00] [-2.17954652e-03 9.99940708e-01 -1.06691397e-02 2.35701469e-01] [ 2.73742566e-02 1.07248270e-02 9.99567721e-01 -2.44810069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.183133365 meters Centerline goodness [0,1] 0.2815576269709905 Centerline is valid? [False, False] Translation: X:2.00, Y:0.24, Z:-0.24 [[ 0.9996468 0.00366191 -0.02632242 1.99502156] [-0.00391323 0.99994719 -0.00950289 0.24098348] [ 0.02628623 0.00960254 0.99960834 -0.24188742] [ 0. 0. 0. 1. ]] SLAMing on 147.213133365 meters Centerline goodness [0,1] 0.28125204066084764 Centerline is valid? [False, False] Translation: X:2.00, Y:0.24, Z:-0.24 [[ 0.99964129 0.00349901 -0.02655261 1.99593994] [-0.00376374 0.99994365 -0.00992646 0.24316128] [ 0.02651639 0.01002283 0.99959813 -0.24242064] [ 0. 0. 0. 1. ]] SLAMing on 147.24313336499998 meters Centerline goodness [0,1] 0.2808236975444979 Centerline is valid? [False, False] Translation: X:2.00, Y:0.24, Z:-0.24 [[ 0.9996368 0.00330116 -0.02674655 1.99681685] [-0.00357853 0.99994025 -0.01032876 0.24499022] [ 0.02671085 0.01042072 0.99958888 -0.24305252] [ 0. 0. 0. 1. ]] SLAMing on 147.27313336499998 meters Centerline goodness [0,1] 0.28159732039933005 Centerline is valid? [False, False] Translation: X:2.00, Y:0.25, Z:-0.24 [[ 0.9996353 0.00314704 -0.02682076 1.99715195] [-0.0034348 0.99993696 -0.01068972 0.2467879 ] [ 0.02678543 0.01077795 0.9995831 -0.24327403] [ 0. 0. 0. 1. ]] SLAMing on 147.30313336499998 meters Centerline goodness [0,1] 0.2824410855076883 Centerline is valid? [False, False] Translation: X:2.00, Y:0.25, Z:-0.24 [[ 0.99964054 0.00304065 -0.02663721 1.99654076] [-0.00333587 0.99993343 -0.01104562 0.2488378 ] [ 0.02660185 0.0111305 0.99958414 -0.24295172] [ 0. 0. 0. 1. ]] SLAMing on 147.33313336499998 meters Centerline goodness [0,1] 0.28341104187546295 Centerline is valid? [False, False] Translation: X:2.00, Y:0.25, Z:-0.24 [[ 0.99964903 0.00290976 -0.02633167 1.99544655] [-0.00321311 0.99992888 -0.01148526 0.25129452] [ 0.02629638 0.01156584 0.99958728 -0.24232625] [ 0. 0. 0. 1. ]] SLAMing on 147.36313336499998 meters Centerline goodness [0,1] 0.2815333882934872 Centerline is valid? [False, False] Translation: X:2.01, Y:0.26, Z:-0.24 [[ 0.99963516 -0.00497048 -0.02654898 2.01393085] [ 0.00468221 0.99992953 -0.0109092 0.26077665] [ 0.02660133 0.01078091 0.99958799 -0.23939757] [ 0. 0. 0. 1. ]] SLAMing on 147.39313336499998 meters Centerline goodness [0,1] 0.28240760940704224 Centerline is valid? [False, False] Translation: X:2.01, Y:0.26, Z:-0.24 [[ 0.99963255 -0.0051454 -0.02661353 2.01436136] [ 0.00484542 0.99992414 -0.01132397 0.26295899] [ 0.02666978 0.01119086 0.99958166 -0.23982411] [ 0. 0. 0. 1. ]] SLAMing on 147.42313336499998 meters Centerline goodness [0,1] 0.28320802005012535 Centerline is valid? [False, False] Translation: X:2.01, Y:0.27, Z:-0.24 [[ 0.99962922 -0.00529026 -0.0267103 2.0149648 ] [ 0.00497944 0.99991927 -0.0116898 0.26500653] [ 0.02676999 0.01155247 0.99957486 -0.2403686 ] [ 0. 0. 0. 1. ]] SLAMing on 147.45313336499999 meters Centerline goodness [0,1] 0.27760388559093363 Centerline is valid? [False, False] Translation: X:2.02, Y:0.27, Z:-0.24 [[ 0.99962815 -0.00539707 -0.02672883 2.0152362 ] [ 0.00507947 0.99991586 -0.01193578 0.26634503] [ 0.026791 0.01179557 0.99957146 -0.24070484] [ 0. 0. 0. 1. ]] SLAMing on 147.483133365 meters Centerline goodness [0,1] 0.28090131550384234 Centerline is valid? [False, False] Translation: X:2.02, Y:0.27, Z:-0.24 [[ 0.99962931 -0.00547119 -0.02667037 2.01508821] [ 0.00515021 0.99991366 -0.01208914 0.26721579] [ 0.02673421 0.01194731 0.99957118 -0.24071959] [ 0. 0. 0. 1. ]] SLAMing on 147.513133365 meters Centerline goodness [0,1] 0.2769423018916706 Centerline is valid? [False, False] Translation: X:2.02, Y:0.27, Z:-0.24 [[ 0.99962632 -0.00558833 -0.02675783 2.01534453] [ 0.00526225 0.99991123 -0.01224132 0.26797009] [ 0.02682387 0.01209594 0.99956699 -0.24078282] [ 0. 0. 0. 1. ]] SLAMing on 147.543133365 meters Centerline goodness [0,1] 0.28063446661899505 Centerline is valid? [False, False] Translation: X:2.02, Y:0.27, Z:-0.24 [[ 0.99962394 -0.00569292 -0.02682475 2.015428 ] [ 0.00536042 0.99990812 -0.01245094 0.26886788] [ 0.02689317 0.01230247 0.99956261 -0.24063233] [ 0. 0. 0. 1. ]] SLAMing on 147.573133365 meters Centerline goodness [0,1] 0.2761492768595041 Centerline is valid? [False, False] Translation: X:2.02, Y:0.27, Z:-0.24 [[ 0.99962106 -0.00580758 -0.02690742 2.01556821] [ 0.00546737 0.9999044 -0.01270006 0.26992242] [ 0.0269786 0.01254813 0.99955725 -0.24051192] [ 0. 0. 0. 1. ]] SLAMing on 147.603133365 meters Centerline goodness [0,1] 0.27841966333463153 Centerline is valid? [False, False] Translation: X:2.02, Y:0.27, Z:-0.24 [[ 0.99961509 -0.00590259 -0.02710774 2.01616313] [ 0.00555389 0.9999011 -0.0129208 0.27102529] [ 0.02718133 0.01276527 0.99954901 -0.24067778] [ 0. 0. 0. 1. ]] SLAMing on 147.633133365 meters Centerline goodness [0,1] 0.27759782327027727 Centerline is valid? [False, False] Translation: X:2.02, Y:0.27, Z:-0.24 [[ 0.99960514 -0.00592556 -0.02746745 2.0173592 ] [ 0.00556783 0.99989893 -0.01308196 0.27214272] [ 0.02754219 0.01292386 0.99953709 -0.24112178] [ 0. 0. 0. 1. ]] SLAMing on 147.663133365 meters Centerline goodness [0,1] 0.28066582421892017 Centerline is valid? [False, False] Translation: X:2.02, Y:0.27, Z:-0.24 [[ 0.99961074 -0.00260657 -0.02777705 2.01837904] [ 0.00233645 0.99994971 -0.00975271 0.27241617] [ 0.02780107 0.00968401 0.99956657 -0.24167413] [ 0. 0. 0. 1. ]] SLAMing on 147.693133365 meters Centerline goodness [0,1] 0.2817584616723223 Centerline is valid? [False, False] Translation: X:2.02, Y:0.27, Z:-0.24 [[ 9.99610218e-01 1.25076324e-03 -2.78899147e-02 2.01863141e+00] [-1.42333854e-03 9.99979960e-01 -6.16873777e-03 2.73561373e-01] [ 2.78816402e-02 6.20603010e-03 9.99591966e-01 -2.41656275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.723133365 meters Centerline goodness [0,1] 0.28394275931697466 Centerline is valid? [False, False] Translation: X:2.02, Y:0.28, Z:-0.24 [[ 9.99610545e-01 1.22740096e-03 -2.78792247e-02 2.01845975e+00] [-1.40691432e-03 9.99978400e-01 -6.42026249e-03 2.75180478e-01] [ 2.78707423e-02 6.45698577e-03 9.99590681e-01 -2.41372545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.753133365 meters Centerline goodness [0,1] 0.2811733287013918 Centerline is valid? [False, False] Translation: X:2.04, Y:0.28, Z:-0.24 [[ 0.99960283 -0.00656241 -0.0274064 2.03759747] [ 0.00641776 0.99996503 -0.00536275 0.27967485] [ 0.02744064 0.00518473 0.99960999 -0.23925544] [ 0. 0. 0. 1. ]] SLAMing on 147.783133365 meters Centerline goodness [0,1] 0.2844128891316221 Centerline is valid? [False, False] Translation: X:2.04, Y:0.28, Z:-0.24 [[ 0.99960336 -0.00668471 -0.02735748 2.03731542] [ 0.00652964 0.99996213 -0.00575375 0.28158713] [ 0.0273949 0.00557283 0.99960916 -0.23892855] [ 0. 0. 0. 1. ]] SLAMing on 147.813133365 meters Centerline goodness [0,1] 0.2844128891316221 Centerline is valid? [False, False] Translation: X:2.04, Y:0.28, Z:-0.24 [[ 0.99960336 -0.00668471 -0.02735748 2.03731542] [ 0.00652964 0.99996213 -0.00575375 0.28158713] [ 0.0273949 0.00557283 0.99960916 -0.23892855] [ 0. 0. 0. 1. ]] SLAMing on 147.843133365 meters Centerline goodness [0,1] 0.27838503413116733 Centerline is valid? [False, False] Translation: X:2.06, Y:0.28, Z:-0.24 [[ 9.99651359e-01 1.26539575e-03 -2.63734757e-02 2.05687133e+00] [-1.45535995e-03 9.99973129e-01 -7.18490049e-03 2.79629260e-01] [ 2.63636753e-02 7.22077843e-03 9.99626339e-01 -2.37526775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.873133365 meters Centerline goodness [0,1] 0.27977066205106016 Centerline is valid? [False, False] Translation: X:2.06, Y:0.28, Z:-0.24 [[ 9.99653970e-01 1.12688518e-03 -2.62806273e-02 2.05652409e+00] [-1.32866925e-03 9.99969765e-01 -7.66185633e-03 2.82177206e-01] [ 2.62711986e-02 7.69412336e-03 9.99625242e-01 -2.37249074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.903133365 meters Centerline goodness [0,1] 0.28196714233285114 Centerline is valid? [False, False] Translation: X:2.06, Y:0.29, Z:-0.24 [[ 0.99964657 0.00480955 -0.02614599 2.05613912] [-0.00493089 0.99997736 -0.0045783 0.28637705] [ 0.02612338 0.0047056 0.99964765 -0.23705653] [ 0. 0. 0. 1. ]] SLAMing on 147.933133365 meters Centerline goodness [0,1] 0.280304834484401 Centerline is valid? [False, False] Translation: X:2.06, Y:0.29, Z:-0.24 [[ 0.99964676 0.00465562 -0.0261664 2.05620184] [-0.0047901 0.99997563 -0.00507921 0.28924059] [ 0.02614211 0.00520275 0.9996447 -0.23703953] [ 0. 0. 0. 1. ]] SLAMing on 147.963133365 meters Centerline goodness [0,1] 0.2843980877879183 Centerline is valid? [False, False] Translation: X:2.06, Y:0.29, Z:-0.24 [[ 0.99964882 0.00446825 -0.02612027 2.05603097] [-0.00461479 0.99997393 -0.00555276 0.29158796] [ 0.02609478 0.00567135 0.99964339 -0.23691046] [ 0. 0. 0. 1. ]] SLAMing on 147.99313336499998 meters Centerline goodness [0,1] 0.283113553909322 Centerline is valid? [False, False] Translation: X:2.06, Y:0.29, Z:-0.24 [[ 0.99965296 0.00428176 -0.02599287 2.0555687 ] [-0.0044391 0.99997216 -0.0059984 0.29375037] [ 0.02596646 0.00611171 0.99964413 -0.23664822] [ 0. 0. 0. 1. ]] SLAMing on 148.02313336499998 meters Centerline goodness [0,1] 0.28047518433875207 Centerline is valid? [False, False] Translation: X:2.07, Y:0.30, Z:-0.23 [[ 0.99968014 -0.00377027 -0.02500812 2.07419919] [ 0.00365103 0.99998176 -0.00481218 0.29914099] [ 0.02502581 0.00471934 0.99967567 -0.23446281] [ 0. 0. 0. 1. ]] SLAMing on 148.05313336499998 meters Centerline goodness [0,1] 0.28215982721382293 Centerline is valid? [False, False] Translation: X:2.07, Y:0.30, Z:-0.23 [[ 0.99968582 -0.00391164 -0.02475786 2.07338655] [ 0.00378507 0.99997954 -0.00515701 0.30102686] [ 0.02477752 0.00506168 0.99968018 -0.23411847] [ 0. 0. 0. 1. ]] SLAMing on 148.08313336499998 meters Centerline goodness [0,1] 0.2840672225117249 Centerline is valid? [False, False] Translation: X:2.07, Y:0.30, Z:-0.23 [[ 0.99968924 -0.0040569 -0.02459607 2.07298794] [ 0.00392349 0.99997734 -0.00546981 0.30257051] [ 0.0246177 0.00537161 0.99968251 -0.23410096] [ 0. 0. 0. 1. ]] SLAMing on 148.11313336499998 meters Centerline goodness [0,1] 0.2828541093367425 Centerline is valid? [False, False] Translation: X:2.07, Y:0.30, Z:-0.23 [[ 0.99968634 -0.0042251 -0.02468555 2.07341989] [ 0.00408521 0.99997533 -0.00571479 0.30342576] [ 0.02470908 0.00561215 0.99967893 -0.23444882] [ 0. 0. 0. 1. ]] SLAMing on 148.14313336499998 meters Centerline goodness [0,1] 0.280494404398554 Centerline is valid? [False, False] Translation: X:2.08, Y:0.30, Z:-0.24 [[ 0.99966473 -0.00455698 -0.02548827 2.07572141] [ 0.00440285 0.9999717 -0.00610029 0.30477414] [ 0.02551534 0.00598603 0.99965651 -0.23511483] [ 0. 0. 0. 1. ]] SLAMing on 148.17313336499998 meters Centerline goodness [0,1] 0.2835778781038375 Centerline is valid? [False, False] Translation: X:2.08, Y:0.31, Z:-0.24 [[ 0.99965844 -0.00456875 -0.025732 2.076392 ] [ 0.00441136 0.99997124 -0.00616995 0.30554029] [ 0.02575945 0.00605433 0.99964984 -0.23528148] [ 0. 0. 0. 1. ]] SLAMing on 148.20313336499999 meters Centerline goodness [0,1] 0.2852211906062261 Centerline is valid? [False, False] Translation: X:2.08, Y:0.31, Z:-0.24 [[ 0.99965606 -0.00456213 -0.02582546 2.07655573] [ 0.00440215 0.99997079 -0.00624801 0.30642114] [ 0.02585321 0.00613218 0.99964694 -0.23517627] [ 0. 0. 0. 1. ]] SLAMing on 148.233133365 meters Centerline goodness [0,1] 0.2798615617564352 Centerline is valid? [False, False] Translation: X:2.10, Y:0.30, Z:-0.23 [[ 0.99968422 0.0032565 -0.02491689 2.09500502] [-0.00344128 0.99996687 -0.00737645 0.3031283 ] [ 0.02489205 0.00745986 0.99966231 -0.23343731] [ 0. 0. 0. 1. ]] SLAMing on 148.263133365 meters Centerline goodness [0,1] 0.2831948411667965 Centerline is valid? [False, False] Translation: X:2.09, Y:0.30, Z:-0.23 [[ 0.99969021 0.00312215 -0.0246927 2.09421688] [-0.0033136 0.99996474 -0.00771601 0.30480531] [ 0.02466774 0.00779545 0.99966531 -0.23298748] [ 0. 0. 0. 1. ]] SLAMing on 148.293133365 meters Centerline goodness [0,1] 0.28533281229647 Centerline is valid? [False, False] Translation: X:2.09, Y:0.31, Z:-0.23 [[ 0.99969548 0.00297224 -0.02449704 2.09356975] [-0.00317198 0.99996201 -0.00811895 0.30676132] [ 0.02447197 0.00819419 0.99966693 -0.23263468] [ 0. 0. 0. 1. ]] SLAMing on 148.323133365 meters Centerline goodness [0,1] 0.2854178951276507 Centerline is valid? [False, False] Translation: X:2.09, Y:0.31, Z:-0.23 [[ 0.99968841 0.00285463 -0.02479767 2.09442056] [-0.00307527 0.99995598 -0.00886408 0.31170901] [ 0.02477128 0.00893757 0.99965319 -0.23264577] [ 0. 0. 0. 1. ]] SLAMing on 148.353133365 meters Centerline goodness [0,1] 0.28507297607946047 Centerline is valid? [False, False] Translation: X:2.12, Y:0.32, Z:-0.23 [[ 0.99966311 -0.00300015 -0.02578099 2.11587149] [ 0.00284956 0.99997868 -0.00587589 0.31595726] [ 0.02579807 0.00580044 0.99965035 -0.23111268] [ 0. 0. 0. 1. ]] SLAMing on 148.383133365 meters Centerline goodness [0,1] 0.28465912804758486 Centerline is valid? [False, False] Translation: X:2.12, Y:0.32, Z:-0.23 [[ 0.99965811 -0.00311513 -0.02596083 2.11632865] [ 0.00295263 0.99997582 -0.0062957 0.31845519] [ 0.02597982 0.00621689 0.99964314 -0.23111304] [ 0. 0. 0. 1. ]] SLAMing on 148.413133365 meters Centerline goodness [0,1] 0.28375325803649 Centerline is valid? [False, False] Translation: X:2.12, Y:0.32, Z:-0.23 [[ 0.99965235 -0.00326823 -0.02616302 2.11694709] [ 0.00309309 0.99997256 -0.00673187 0.32076188] [ 0.02618431 0.0066486 0.99963502 -0.23126734] [ 0. 0. 0. 1. ]] SLAMing on 148.443133365 meters Centerline goodness [0,1] 0.28946794116363317 Centerline is valid? [False, False] Translation: X:2.12, Y:0.32, Z:-0.23 [[ 0.99964854 -0.00342279 -0.02628848 2.1172695 ] [ 0.00323596 0.99996923 -0.00714617 0.32287489] [ 0.02631213 0.00705859 0.99962886 -0.23125939] [ 0. 0. 0. 1. ]] SLAMing on 148.473133365 meters Centerline goodness [0,1] 0.2837890625 Centerline is valid? [False, False] Translation: X:2.12, Y:0.32, Z:-0.23 [[ 0.99964698 -0.00354775 -0.02633118 2.11732286] [ 0.00335119 0.99996622 -0.00750529 0.32482056] [ 0.02635692 0.0074144 0.9996251 -0.23117111] [ 0. 0. 0. 1. ]] SLAMing on 148.503133365 meters Centerline goodness [0,1] 0.28384582070160247 Centerline is valid? [False, False] Translation: X:2.12, Y:0.33, Z:-0.23 [[ 0.99965468 -0.00384373 -0.02599515 2.11595832] [ 0.00363052 0.99995943 -0.00824409 0.32858995] [ 0.02602579 0.00814687 0.99962807 -0.23024523] [ 0. 0. 0. 1. ]] SLAMing on 148.533133365 meters Centerline goodness [0,1] 0.2884661324299086 Centerline is valid? [False, False] Translation: X:2.12, Y:0.33, Z:-0.23 [[ 0.99965939 -0.00400153 -0.0257895 2.11520019] [ 0.00378057 0.99995578 -0.00861072 0.33032046] [ 0.02582282 0.00851029 0.99963031 -0.22977356] [ 0. 0. 0. 1. ]] SLAMing on 148.563133365 meters Centerline goodness [0,1] 0.287022933983202 Centerline is valid? [False, False] Translation: X:2.11, Y:0.33, Z:-0.23 [[ 0.99966501 -0.00411595 -0.02555257 2.11443087] [ 0.00388838 0.9999524 -0.00894915 0.33212447] [ 0.02558818 0.0088468 0.99963342 -0.22939178] [ 0. 0. 0. 1. ]] SLAMing on 148.593133365 meters Centerline goodness [0,1] 0.2849685046164466 Centerline is valid? [False, False] Translation: X:2.11, Y:0.33, Z:-0.23 [[ 0.99966547 -0.00424745 -0.02551288 2.1140988 ] [ 0.0040093 0.99994798 -0.00937857 0.33447447] [ 0.02555139 0.00927314 0.9996305 -0.22894091] [ 0. 0. 0. 1. ]] SLAMing on 148.623133365 meters Centerline goodness [0,1] 0.2857822158820732 Centerline is valid? [False, False] Translation: X:2.11, Y:0.34, Z:-0.23 [[ 9.99689763e-01 -1.40922675e-03 -2.48675045e-02 2.11199427e+00] [ 1.24095488e-03 9.99976240e-01 -6.78087272e-03 3.36483622e-01] [ 2.48764694e-02 6.74790959e-03 9.99667758e-01 -2.28303705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.653133365 meters Centerline goodness [0,1] 0.2884017311498227 Centerline is valid? [False, False] Translation: X:2.11, Y:0.34, Z:-0.23 [[ 9.99682997e-01 -1.51562940e-03 -2.51318259e-02 2.11272390e+00] [ 1.33355535e-03 9.99972757e-01 -7.25993810e-03 3.39235332e-01] [ 2.51421446e-02 7.22412199e-03 9.99657784e-01 -2.28389358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.683133365 meters Centerline goodness [0,1] 0.2878900283656993 Centerline is valid? [False, False] Translation: X:2.12, Y:0.34, Z:-0.23 [[ 9.99666272e-01 1.37665411e-03 -2.57963091e-02 2.11544118e+00] [-1.50889137e-03 9.99985819e-01 -5.10744476e-03 3.44604426e-01] [ 2.57889121e-02 5.14466409e-03 9.99654172e-01 -2.29666562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.713133365 meters Centerline goodness [0,1] 0.2896264292572227 Centerline is valid? [False, False] Translation: X:2.12, Y:0.35, Z:-0.23 [[ 9.99659596e-01 1.27789867e-03 -2.60587751e-02 2.11607289e+00] [-1.42427185e-03 9.99983310e-01 -5.59925334e-03 3.47596876e-01] [ 2.60511848e-02 5.63446211e-03 9.99644731e-01 -2.29625364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74313336499998 meters Centerline goodness [0,1] 0.2883962017597351 Centerline is valid? [False, False] Translation: X:2.12, Y:0.35, Z:-0.23 [[ 9.99656021e-01 1.13562861e-03 -2.62020910e-02 2.11641584e+00] [-1.29626418e-03 9.99980466e-01 -6.11446895e-03 3.50506142e-01] [ 2.61946354e-02 6.14633053e-03 9.99637966e-01 -2.29561009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77313336499998 meters Centerline goodness [0,1] 0.2895489789232282 Centerline is valid? [False, False] Translation: X:2.12, Y:0.35, Z:-0.23 [[ 9.99652865e-01 9.52908076e-04 -2.63294836e-02 2.11690716e+00] [-1.12780664e-03 9.99977394e-01 -6.62863747e-03 3.53224545e-01] [ 2.63225719e-02 6.65603100e-03 9.99631342e-01 -2.29818119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80313336499998 meters Centerline goodness [0,1] 0.29170412929541023 Centerline is valid? [False, False] Translation: X:2.12, Y:0.36, Z:-0.23 [[ 9.99646276e-01 8.31466511e-04 -2.65825337e-02 2.11791411e+00] [-1.01911065e-03 9.99974656e-01 -7.04615773e-03 3.55617710e-01] [ 2.65760014e-02 7.07075588e-03 9.99621789e-01 -2.30379034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83313336499998 meters Centerline goodness [0,1] 0.28469958332433776 Centerline is valid? [False, False] Translation: X:2.14, Y:0.36, Z:-0.23 [[ 0.99961875 -0.00588573 -0.026976 2.14118363] [ 0.00575773 0.99997181 -0.00482021 0.35954125] [ 0.02700361 0.00466305 0.99962446 -0.23048356] [ 0. 0. 0. 1. ]] SLAMing on 148.86313336499998 meters Centerline goodness [0,1] 0.29058359238926734 Centerline is valid? [False, False] Translation: X:2.09, Y:0.37, Z:-0.23 [[ 0.99958791 -0.00373735 -0.02846108 2.09462342] [ 0.00359938 0.99998153 -0.00489742 0.37080696] [ 0.02847886 0.00479296 0.9995829 -0.22959769] [ 0. 0. 0. 1. ]] SLAMing on 148.89313336499998 meters Centerline goodness [0,1] 0.28741474434163083 Centerline is valid? [False, False] Translation: X:2.12, Y:0.37, Z:-0.23 [[ 0.99962226 0.00433348 -0.02713974 2.11518453] [-0.00449654 0.99997219 -0.00595013 0.37219674] [ 0.0271132 0.00606992 0.99961394 -0.22848134] [ 0. 0. 0. 1. ]] SLAMing on 148.92313336499998 meters Centerline goodness [0,1] 0.28740191615728095 Centerline is valid? [False, False] Translation: X:2.12, Y:0.38, Z:-0.23 [[ 0.99961837 0.00437804 -0.02727555 2.11530562] [-0.00455932 0.99996791 -0.00658735 0.37747834] [ 0.02724584 0.00670919 0.99960625 -0.22805119] [ 0. 0. 0. 1. ]] SLAMing on 148.95313336499999 meters Centerline goodness [0,1] 0.2853012256171241 Centerline is valid? [False, False] Translation: X:2.12, Y:0.38, Z:-0.23 [[ 0.99960811 0.00443944 -0.02763921 2.11644753] [-0.00463932 0.99996352 -0.00717191 0.38323187] [ 0.02760636 0.00729733 0.99959224 -0.22821201] [ 0. 0. 0. 1. ]] SLAMing on 148.983133365 meters Centerline goodness [0,1] 0.29000304785126485 Centerline is valid? [False, False] Translation: X:2.12, Y:0.39, Z:-0.23 [[ 0.99960143 0.00428195 -0.02790434 2.11725991] [-0.0045062 0.99995802 -0.00797837 0.38816497] [ 0.02786901 0.00810093 0.99957876 -0.22833871] [ 0. 0. 0. 1. ]] SLAMing on 149.013133365 meters Centerline goodness [0,1] 0.287127209630192 Centerline is valid? [False, False] Translation: X:2.12, Y:0.40, Z:-0.23 [[ 0.99961191 0.00397423 -0.02757221 2.11623928] [-0.00423054 0.99994832 -0.00924393 0.39849042] [ 0.02753405 0.00935699 0.99957707 -0.22781457] [ 0. 0. 0. 1. ]] SLAMing on 149.043133365 meters Centerline goodness [0,1] 0.28620427656572234 Centerline is valid? [False, False] Translation: X:2.12, Y:0.40, Z:-0.23 [[ 0.99961787 0.00374284 -0.02738819 2.11534898] [-0.00401335 0.99994364 -0.00982855 0.40155151] [ 0.02734986 0.00993471 0.99957655 -0.22708866] [ 0. 0. 0. 1. ]] SLAMing on 149.073133365 meters Centerline goodness [0,1] 0.2869403146807681 Centerline is valid? [False, False] Translation: X:2.11, Y:0.40, Z:-0.23 [[ 0.99962153 0.00364227 -0.02726768 2.11466529] [-0.00391858 0.99994145 -0.01008651 0.40322079] [ 0.02722934 0.01018954 0.99957728 -0.22648193] [ 0. 0. 0. 1. ]] SLAMing on 149.103133365 meters Centerline goodness [0,1] 0.289582158198464 Centerline is valid? [False, False] Translation: X:2.11, Y:0.40, Z:-0.23 [[ 0.9996228 0.0035421 -0.02723422 2.11461916] [-0.00382028 0.99994099 -0.01016922 0.40374077] [ 0.0271966 0.01026943 0.99957735 -0.22649541] [ 0. 0. 0. 1. ]] SLAMing on 149.133133365 meters Centerline goodness [0,1] 0.29360668650446353 Centerline is valid? [False, False] Translation: X:2.12, Y:0.40, Z:-0.23 [[ 0.99962105 0.00333725 -0.02732439 2.11509152] [-0.00361745 0.99994132 -0.01021147 0.40336678] [ 0.02728871 0.01030645 0.99957446 -0.22692603] [ 0. 0. 0. 1. ]] SLAMing on 149.163133365 meters Centerline goodness [0,1] 0.288443170964661 Centerline is valid? [False, False] Translation: X:2.14, Y:0.41, Z:-0.23 [[ 0.99959788 -0.00611432 -0.02768937 2.13661335] [ 0.00584897 0.99993629 -0.00965412 0.40519999] [ 0.02774664 0.00948828 0.99956996 -0.22607773] [ 0. 0. 0. 1. ]] SLAMing on 149.193133365 meters Centerline goodness [0,1] 0.2858783505601421 Centerline is valid? [False, False] Translation: X:2.14, Y:0.40, Z:-0.23 [[ 0.99958145 -0.00670566 -0.02814171 2.13813503] [ 0.0064352 0.99993234 -0.00969008 0.40345578] [ 0.02820479 0.00950492 0.99955698 -0.22697554] [ 0. 0. 0. 1. ]] SLAMing on 149.223133365 meters Centerline goodness [0,1] 0.286286828422877 Centerline is valid? [False, False] Translation: X:2.14, Y:0.40, Z:-0.23 [[ 0.99958023 -0.00654466 -0.02822285 2.13843433] [ 0.00628646 0.99993766 -0.00922775 0.4014738 ] [ 0.02828148 0.00904646 0.99955906 -0.22717742] [ 0. 0. 0. 1. ]] SLAMing on 149.253133365 meters Centerline goodness [0,1] 0.28372595634320297 Centerline is valid? [False, False] Translation: X:2.14, Y:0.40, Z:-0.23 [[ 0.99958676 -0.00642158 -0.0280192 2.1379761 ] [ 0.00617578 0.99994177 -0.00885007 0.39974212] [ 0.0280744 0.00867337 0.99956821 -0.22725576] [ 0. 0. 0. 1. ]] SLAMing on 149.283133365 meters Centerline goodness [0,1] 0.28574836792677905 Centerline is valid? [False, False] Translation: X:2.14, Y:0.40, Z:-0.23 [[ 0.99959512 -0.00638386 -0.02772808 2.13726691] [ 0.00614794 0.99994424 -0.00858551 0.39803059] [ 0.02778134 0.00841156 0.99957863 -0.22729252] [ 0. 0. 0. 1. ]] SLAMing on 149.313133365 meters Centerline goodness [0,1] 0.2839841979146428 Centerline is valid? [False, False] Translation: X:2.14, Y:0.39, Z:-0.23 [[ 0.99958652 -0.0065327 -0.028002 2.13837954] [ 0.00630307 0.99994585 -0.00828114 0.39472899] [ 0.02805458 0.00810122 0.99957356 -0.22813099] [ 0. 0. 0. 1. ]] SLAMing on 149.343133365 meters Centerline goodness [0,1] 0.2866035477201001 Centerline is valid? [False, False] Translation: X:2.14, Y:0.39, Z:-0.23 [[ 0.99958102 -0.00639872 -0.02822826 2.13924025] [ 0.00617632 0.99994925 -0.00795897 0.39323449] [ 0.02827776 0.00778129 0.99956982 -0.22867904] [ 0. 0. 0. 1. ]] SLAMing on 149.373133365 meters Centerline goodness [0,1] 0.2874799079021678 Centerline is valid? [False, False] Translation: X:2.14, Y:0.39, Z:-0.23 [[ 0.99957658 -0.00622755 -0.02842303 2.1399141 ] [ 0.00601376 0.99995303 -0.00760083 0.39169808] [ 0.02846903 0.00742668 0.99956709 -0.22904568] [ 0. 0. 0. 1. ]] SLAMing on 149.403133365 meters Centerline goodness [0,1] 0.2862597904146146 Centerline is valid? [False, False] Translation: X:2.14, Y:0.39, Z:-0.23 [[ 0.99957124 -0.0061171 -0.02863407 2.14059136] [ 0.00590905 0.99995557 -0.00734449 0.39050901] [ 0.02867772 0.00717214 0.99956298 -0.22933736] [ 0. 0. 0. 1. ]] SLAMing on 149.433133365 meters Centerline goodness [0,1] 0.28782841123932457 Centerline is valid? [False, False] Translation: X:2.14, Y:0.39, Z:-0.23 [[ 0.99956719 -0.00599795 -0.02880016 2.14092806] [ 0.00579566 0.99995798 -0.00710228 0.38935652] [ 0.02884155 0.00693229 0.99955996 -0.22925519] [ 0. 0. 0. 1. ]] SLAMing on 149.463133365 meters Centerline goodness [0,1] 0.2853989960186948 Centerline is valid? [False, False] Translation: X:2.14, Y:0.39, Z:-0.23 [[ 0.99956518 -0.00595053 -0.02887977 2.14106734] [ 0.0057504 0.99995891 -0.00700794 0.38873143] [ 0.02892028 0.00683882 0.99955833 -0.22919055] [ 0. 0. 0. 1. ]] SLAMing on 149.49313336499998 meters Centerline goodness [0,1] 0.29118020027110936 Centerline is valid? [False, False] Translation: X:2.12, Y:0.38, Z:-0.23 [[ 0.99965138 0.00290543 -0.0262426 2.11793629] [-0.00310056 0.99996783 -0.00739819 0.38406971] [ 0.02622026 0.00747697 0.99962823 -0.23061154] [ 0. 0. 0. 1. ]] SLAMing on 149.52313336499998 meters Centerline goodness [0,1] 0.28971171991930755 Centerline is valid? [False, False] Translation: X:2.14, Y:0.39, Z:-0.23 [[ 0.99968954 -0.00537397 -0.02432991 2.1367651 ] [ 0.00522523 0.99996729 -0.00617307 0.38578007] [ 0.02436229 0.00604403 0.99968492 -0.2294804 ] [ 0. 0. 0. 1. ]] SLAMing on 149.55313336499998 meters Centerline goodness [0,1] 0.28958450918247736 Centerline is valid? [False, False] Translation: X:2.14, Y:0.39, Z:-0.23 [[ 0.99968899 -0.00532401 -0.02436357 2.13675578] [ 0.00517577 0.99996773 -0.00614374 0.38572825] [ 0.02439549 0.00601573 0.99968429 -0.22934982] [ 0. 0. 0. 1. ]] SLAMing on 149.58313336499998 meters Centerline goodness [0,1] 0.28853772053252513 Centerline is valid? [False, False] Translation: X:2.14, Y:0.38, Z:-0.23 [[ 0.99968103 -0.00517601 -0.02471929 2.13778722] [ 0.00503118 0.99996983 -0.00591748 0.3849644 ] [ 0.02474917 0.00579123 0.99967692 -0.22964413] [ 0. 0. 0. 1. ]] SLAMing on 149.61313336499998 meters Centerline goodness [0,1] 0.2911819805689888 Centerline is valid? [False, False] Translation: X:2.14, Y:0.38, Z:-0.23 [[ 0.9996716 -0.00507458 -0.0251187 2.13895584] [ 0.00493185 0.99997136 -0.00574064 0.38423275] [ 0.02514712 0.00561488 0.99966799 -0.23001289] [ 0. 0. 0. 1. ]] SLAMing on 149.64313336499998 meters Centerline goodness [0,1] 0.2901435532151987 Centerline is valid? [False, False] Translation: X:2.14, Y:0.38, Z:-0.23 [[ 0.9996692 -0.00499248 -0.02523034 2.13906478] [ 0.00485336 0.9999727 -0.00557237 0.38322737] [ 0.02525747 0.00544807 0.99966613 -0.22980599] [ 0. 0. 0. 1. ]] SLAMing on 149.67313336499998 meters Centerline goodness [0,1] 0.2843756058680339 Centerline is valid? [False, False] Translation: X:2.16, Y:0.38, Z:-0.23 [[ 0.99972619 0.00277635 -0.02323444 2.15779479] [-0.00292439 0.99997562 -0.00634032 0.37850206] [ 0.02321627 0.00640653 0.99970994 -0.22842873] [ 0. 0. 0. 1. ]] SLAMing on 149.70313336499999 meters Centerline goodness [0,1] 0.29267757163245145 Centerline is valid? [False, False] Translation: X:2.13, Y:0.38, Z:-0.23 [[ 0.99977616 -0.00242069 -0.02101838 2.13229555] [ 0.00234399 0.99999051 -0.00367301 0.38293068] [ 0.02102707 0.00362292 0.99977234 -0.2278052 ] [ 0. 0. 0. 1. ]] SLAMing on 149.733133365 meters Centerline goodness [0,1] 0.29267757163245145 Centerline is valid? [False, False] Translation: X:2.13, Y:0.38, Z:-0.23 [[ 0.99977616 -0.00242069 -0.02101838 2.13229555] [ 0.00234399 0.99999051 -0.00367301 0.38293068] [ 0.02102707 0.00362292 0.99977234 -0.2278052 ] [ 0. 0. 0. 1. ]] SLAMing on 149.763133365 meters Centerline goodness [0,1] 0.2917468930509365 Centerline is valid? [False, False] Translation: X:2.13, Y:0.38, Z:-0.23 [[ 0.99978652 -0.00235461 -0.0205275 2.13060913] [ 0.00227955 0.99999063 -0.00367894 0.3832899 ] [ 0.02053597 0.00363136 0.99978252 -0.22694392] [ 0. 0. 0. 1. ]] SLAMing on 149.793133365 meters Centerline goodness [0,1] 0.29037927443152234 Centerline is valid? [False, False] Translation: X:2.13, Y:0.38, Z:-0.23 [[ 0.99978831 -0.00233308 -0.0204423 2.1301115 ] [ 0.00225766 0.99999056 -0.00371171 0.38362609] [ 0.02045077 0.00366477 0.99978414 -0.22647818] [ 0. 0. 0. 1. ]] SLAMing on 149.823133365 meters Centerline goodness [0,1] 0.2894594419067824 Centerline is valid? [False, False] Translation: X:2.13, Y:0.38, Z:-0.23 [[ 0.99978564 -0.00234835 -0.02057091 2.1304792 ] [ 0.0022712 0.9999903 -0.00377292 0.38387193] [ 0.02057957 0.00372539 0.99978128 -0.22656832] [ 0. 0. 0. 1. ]] SLAMing on 149.853133365 meters Centerline goodness [0,1] 0.28892414002911837 Centerline is valid? [False, False] Translation: X:2.13, Y:0.39, Z:-0.23 [[ 0.99977636 -0.00240113 -0.02101083 2.1319168 ] [ 0.00231689 0.99998918 -0.00403267 0.38510362] [ 0.02102028 0.00398309 0.99977112 -0.22720027] [ 0. 0. 0. 1. ]] SLAMing on 149.883133365 meters Centerline goodness [0,1] 0.2924563440765978 Centerline is valid? [False, False] Translation: X:2.13, Y:0.39, Z:-0.23 [[ 0.9997746 -0.00243058 -0.0210911 2.13200783] [ 0.00234155 0.99998825 -0.00424491 0.38637782] [ 0.02110117 0.00419457 0.99976855 -0.22703773] [ 0. 0. 0. 1. ]] SLAMing on 149.913133365 meters Centerline goodness [0,1] 0.2889467404273782 Centerline is valid? [False, False] Translation: X:2.13, Y:0.39, Z:-0.23 [[ 0.99977537 -0.00236902 -0.02106173 2.13159408] [ 0.00227639 0.99998764 -0.00442064 0.38788127] [ 0.02107195 0.00437171 0.9997684 -0.22642382] [ 0. 0. 0. 1. ]] SLAMing on 149.943133365 meters Centerline goodness [0,1] 0.2899190581309786 Centerline is valid? [False, False] Translation: X:2.13, Y:0.39, Z:-0.23 [[ 0.99977885 -0.00234197 -0.02089894 2.13067727] [ 0.00224486 0.99998658 -0.00466885 0.38980928] [ 0.02090959 0.0046209 0.99977069 -0.2255759 ] [ 0. 0. 0. 1. ]] SLAMing on 149.973133365 meters Centerline goodness [0,1] 0.2933931556259347 Centerline is valid? [False, False] Translation: X:2.08, Y:0.40, Z:-0.22 [[ 9.99745219e-01 -2.07841877e-04 -2.25710883e-02 2.08406144e+00] [ 1.11625987e-04 9.99990903e-01 -4.26396980e-03 3.95087703e-01] [ 2.25717692e-02 4.26036390e-03 9.99736147e-01 -2.24525324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.003133365 meters Centerline goodness [0,1] 0.287491077415587 Centerline is valid? [False, False] Translation: X:2.11, Y:0.40, Z:-0.22 [[ 9.99748192e-01 -6.23978958e-03 -2.15549917e-02 2.10601237e+00] [ 6.21067988e-03 9.99979709e-01 -1.41716540e-03 3.98372475e-01] [ 2.15633971e-02 1.28293740e-03 9.99766660e-01 -2.24722775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.033133365 meters Centerline goodness [0,1] 0.29072376015507595 Centerline is valid? [False, False] Translation: X:2.11, Y:0.41, Z:-0.23 [[ 9.99760225e-01 -4.63022902e-03 -2.14021803e-02 2.10615006e+00] [ 4.61304767e-03 9.99988997e-01 -8.52085627e-04 4.06630848e-01] [ 2.14058901e-02 7.53152040e-04 9.99770584e-01 -2.25271701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.063133365 meters Centerline goodness [0,1] 0.29150221330600323 Centerline is valid? [False, False] Translation: X:2.11, Y:0.41, Z:-0.23 [[ 9.99756018e-01 -4.76408025e-03 -2.15687024e-02 2.10661252e+00] [ 4.73329769e-03 9.99987706e-01 -1.47801345e-03 4.10328202e-01] [ 2.15754786e-02 1.37556175e-03 9.99766276e-01 -2.25373523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.093133365 meters Centerline goodness [0,1] 0.28825101284372034 Centerline is valid? [False, False] Translation: X:2.13, Y:0.41, Z:-0.22 [[ 0.99977204 0.00321623 -0.02110746 2.12722181] [-0.00326525 0.99999205 -0.00228819 0.41006939] [ 0.02109993 0.00235659 0.99977459 -0.22458977] [ 0. 0. 0. 1. ]] SLAMing on 150.123133365 meters Centerline goodness [0,1] 0.28422163815761126 Centerline is valid? [False, False] Translation: X:2.13, Y:0.41, Z:-0.22 [[ 0.9997696 0.00305699 -0.02124615 2.12762949] [-0.00311702 0.99999124 -0.00279299 0.41306534] [ 0.02123743 0.00285857 0.99977037 -0.22464052] [ 0. 0. 0. 1. ]] SLAMing on 150.153133365 meters Centerline goodness [0,1] 0.28798254520317124 Centerline is valid? [False, False] Translation: X:2.13, Y:0.42, Z:-0.22 [[ 0.99976674 0.00286527 -0.0214071 2.1282567 ] [-0.00293587 0.99999035 -0.00326726 0.41554318] [ 0.02139753 0.00332934 0.9997655 -0.22496401] [ 0. 0. 0. 1. ]] SLAMing on 150.183133365 meters Centerline goodness [0,1] 0.28930232558139535 Centerline is valid? [False, False] Translation: X:2.13, Y:0.42, Z:-0.23 [[ 0.99975996 0.00254677 -0.02176073 2.12937379] [-0.00263157 0.99998905 -0.00386894 0.41855871] [ 0.02175063 0.00392527 0.99975572 -0.22535674] [ 0. 0. 0. 1. ]] SLAMing on 150.213133365 meters Centerline goodness [0,1] 0.2882777452701385 Centerline is valid? [False, False] Translation: X:2.13, Y:0.42, Z:-0.23 [[ 0.99975855 0.00247131 -0.0218342 2.12962449] [-0.00256054 0.99998848 -0.00405951 0.4198441 ] [ 0.02182392 0.00411443 0.99975336 -0.22543994] [ 0. 0. 0. 1. ]] SLAMing on 150.24313336499998 meters Centerline goodness [0,1] 0.2919327767726747 Centerline is valid? [False, False] Translation: X:2.13, Y:0.42, Z:-0.23 [[ 0.99975925 0.00237989 -0.02181249 2.12971605] [-0.00247287 0.99998797 -0.00423666 0.42086224] [ 0.02180214 0.00428958 0.9997531 -0.22564414] [ 0. 0. 0. 1. ]] SLAMing on 150.27313336499998 meters Centerline goodness [0,1] 0.2868391451068616 Centerline is valid? [False, False] Translation: X:2.15, Y:0.42, Z:-0.22 [[ 0.99974143 -0.00664028 -0.02174811 2.14997475] [ 0.0065682 0.9999727 -0.00338407 0.4248384 ] [ 0.02176998 0.00324035 0.99975775 -0.22434505] [ 0. 0. 0. 1. ]] SLAMing on 150.30313336499998 meters Centerline goodness [0,1] 0.2916320734105309 Centerline is valid? [False, False] Translation: X:2.13, Y:0.42, Z:-0.23 [[ 9.99761030e-01 1.73107795e-03 -2.17918970e-02 2.13100882e+00] [-1.83990493e-03 9.99985933e-01 -4.97486032e-03 4.22256420e-01] [ 2.17829785e-02 5.01376650e-03 9.99750151e-01 -2.26489642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33313336499998 meters Centerline goodness [0,1] 0.2892237640936687 Centerline is valid? [False, False] Translation: X:2.13, Y:0.42, Z:-0.23 [[ 9.99759482e-01 1.61236822e-03 -2.18718716e-02 2.13116078e+00] [-1.72499806e-03 9.99985345e-01 -5.13164032e-03 4.22700261e-01] [ 2.18632770e-02 5.16813500e-03 9.99747612e-01 -2.26451492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36313336499998 meters Centerline goodness [0,1] 0.29148215681166967 Centerline is valid? [False, False] Translation: X:2.13, Y:0.42, Z:-0.23 [[ 9.99754858e-01 1.47545410e-03 -2.20917681e-02 2.13168269e+00] [-1.59489317e-03 9.99984203e-01 -5.38985388e-03 4.23723860e-01] [ 2.20834666e-02 5.42376661e-03 9.99741418e-01 -2.26446310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39313336499998 meters Centerline goodness [0,1] 0.2892147279244054 Centerline is valid? [False, False] Translation: X:2.13, Y:0.42, Z:-0.23 [[ 9.99751886e-01 1.48389254e-03 -2.22253091e-02 2.13220574e+00] [-1.60499745e-03 9.99983958e-01 -5.43211799e-03 4.24124853e-01] [ 2.22168918e-02 5.46644177e-03 9.99738230e-01 -2.26789346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42313336499998 meters Centerline goodness [0,1] 0.28862051149573753 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:-0.23 [[ 0.99974064 -0.00678459 -0.02173969 2.15188516] [ 0.0066985 0.99996944 -0.0040306 0.42748968] [ 0.02176637 0.00388393 0.99975554 -0.22543813] [ 0. 0. 0. 1. ]] SLAMing on 150.45313336499999 meters Centerline goodness [0,1] 0.2872131430668595 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:-0.23 [[ 0.99973961 -0.00677962 -0.02178866 2.15194241] [ 0.00669231 0.99996929 -0.0040777 0.42789128] [ 0.02181564 0.00393082 0.99975428 -0.225348 ] [ 0. 0. 0. 1. ]] SLAMing on 150.483133365 meters Centerline goodness [0,1] 0.288332791680208 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:-0.23 [[ 0.99974151 -0.00676788 -0.02170502 2.15182553] [ 0.00668029 0.99996926 -0.00410575 0.42818492] [ 0.02173214 0.00395969 0.99975599 -0.22552017] [ 0. 0. 0. 1. ]] SLAMing on 150.513133365 meters Centerline goodness [0,1] 0.2873709946126052 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:-0.23 [[ 0.99974168 -0.00674719 -0.02170356 2.15189947] [ 0.00666033 0.99996953 -0.00407183 0.42817087] [ 0.02173037 0.00392622 0.99975616 -0.22567676] [ 0. 0. 0. 1. ]] SLAMing on 150.543133365 meters Centerline goodness [0,1] 0.2849856275259893 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:-0.23 [[ 0.99973844 -0.00675139 -0.0218509 2.15226275] [ 0.00666197 0.99996915 -0.0041624 0.42877571] [ 0.02187833 0.00401574 0.99975258 -0.22567968] [ 0. 0. 0. 1. ]] SLAMing on 150.573133365 meters Centerline goodness [0,1] 0.28923645052677316 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:-0.23 [[ 0.99973822 -0.00680583 -0.02184443 2.15217298] [ 0.00671246 0.99996803 -0.00434484 0.42968973] [ 0.0218733 0.00419707 0.99975194 -0.22557329] [ 0. 0. 0. 1. ]] SLAMing on 150.603133365 meters Centerline goodness [0,1] 0.28589638335565826 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:-0.23 [[ 0.99973798 -0.00685614 -0.02183961 2.15200281] [ 0.00675825 0.9999668 -0.00455318 0.43085782] [ 0.0218701 0.00440439 0.99975112 -0.2253275 ] [ 0. 0. 0. 1. ]] SLAMing on 150.633133365 meters Centerline goodness [0,1] 0.28675100732203973 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:-0.23 [[ 0.99973813 -0.00690384 -0.02181741 2.15190232] [ 0.00680077 0.99996538 -0.00479491 0.43239074] [ 0.02184975 0.00464528 0.99975047 -0.22525412] [ 0. 0. 0. 1. ]] SLAMing on 150.663133365 meters Centerline goodness [0,1] 0.2907996335558173 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:-0.23 [[ 9.99765935e-01 -3.19217235e-03 -2.13982335e-02 2.15085352e+00] [ 3.16200521e-03 9.99993959e-01 -1.44348228e-03 4.34636909e-01] [ 2.14027120e-02 1.37548309e-03 9.99769990e-01 -2.25212266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.693133365 meters Centerline goodness [0,1] 0.28641815235008106 Centerline is valid? [False, False] Translation: X:2.17, Y:0.43, Z:-0.22 [[ 0.99976948 0.00417056 -0.02106167 2.16962284] [-0.00422662 0.99998764 -0.00261819 0.43228406] [ 0.02105049 0.0027066 0.99977475 -0.22368372] [ 0. 0. 0. 1. ]] SLAMing on 150.723133365 meters Centerline goodness [0,1] 0.29148414228140884 Centerline is valid? [False, False] Translation: X:2.15, Y:0.44, Z:-0.23 [[ 9.99797194e-01 -2.77184050e-03 -1.99471408e-02 2.15082202e+00] [ 2.73555283e-03 9.99994554e-01 -1.84624757e-03 4.40296639e-01] [ 1.99521497e-02 1.79130668e-03 9.99799331e-01 -2.26045171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.753133365 meters Centerline goodness [0,1] 0.28853171155516943 Centerline is valid? [False, False] Translation: X:2.15, Y:0.44, Z:-0.23 [[ 9.99797320e-01 -2.88413284e-03 -1.99248975e-02 2.15074671e+00] [ 2.84179092e-03 9.99993644e-01 -2.15306311e-03 4.41975555e-01] [ 1.99309806e-02 2.09600433e-03 9.99799161e-01 -2.26009311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.783133365 meters Centerline goodness [0,1] 0.2873111651328356 Centerline is valid? [False, False] Translation: X:2.15, Y:0.44, Z:-0.23 [[ 0.99979807 -0.00298245 -0.01987251 2.15053255] [ 0.0029352 0.9999928 -0.00240612 0.44339229] [ 0.01987954 0.0023473 0.99979963 -0.22586736] [ 0. 0. 0. 1. ]] SLAMing on 150.813133365 meters Centerline goodness [0,1] 0.2907680913170392 Centerline is valid? [False, False] Translation: X:2.15, Y:0.44, Z:-0.23 [[ 0.99979973 -0.00303818 -0.01978037 2.15035578] [ 0.00298886 0.99999235 -0.00252248 0.44409378] [ 0.01978789 0.00246286 0.99980117 -0.22589358] [ 0. 0. 0. 1. ]] SLAMing on 150.843133365 meters Centerline goodness [0,1] 0.2898021308980213 Centerline is valid? [False, False] Translation: X:2.15, Y:0.44, Z:-0.23 [[ 0.99978744 -0.00339386 -0.02033609 2.15215982] [ 0.00333907 0.99999071 -0.00272757 0.44399693] [ 0.02034516 0.00265909 0.99978948 -0.22677693] [ 0. 0. 0. 1. ]] SLAMing on 150.873133365 meters Centerline goodness [0,1] 0.2899960734697439 Centerline is valid? [False, False] Translation: X:2.15, Y:0.44, Z:-0.23 [[ 0.99978313 -0.00335465 -0.02055325 2.15294523] [ 0.00330089 0.99999104 -0.00264892 0.44383391] [ 0.02056195 0.0025805 0.99978525 -0.22718446] [ 0. 0. 0. 1. ]] SLAMing on 150.903133365 meters Centerline goodness [0,1] 0.2914086177361971 Centerline is valid? [False, False] Translation: X:2.15, Y:0.44, Z:-0.23 [[ 0.9997808 -0.00338177 -0.02066199 2.1531298 ] [ 0.00332432 0.99999051 -0.00281449 0.44499687] [ 0.02067131 0.00274519 0.99978256 -0.22703053] [ 0. 0. 0. 1. ]] SLAMing on 150.933133365 meters Centerline goodness [0,1] 0.2898497139998695 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:-0.23 [[ 0.99980215 0.00431937 -0.01941677 2.17183285] [-0.00439524 0.99998287 -0.00386654 0.44325572] [ 0.01939973 0.00395112 0.999804 -0.2254671 ] [ 0. 0. 0. 1. ]] SLAMing on 150.963133365 meters Centerline goodness [0,1] 0.2905515754632755 Centerline is valid? [False, False] Translation: X:2.17, Y:0.45, Z:-0.22 [[ 0.9998127 0.0043787 -0.0188518 2.17010592] [-0.00446158 0.99998056 -0.00435661 0.44654032] [ 0.01883235 0.0044399 0.9998128 -0.22462906] [ 0. 0. 0. 1. ]] SLAMing on 150.99313336499998 meters Centerline goodness [0,1] 0.290308533106887 Centerline is valid? [False, False] Translation: X:2.17, Y:0.45, Z:-0.22 [[ 0.99982139 0.00453465 -0.01834744 2.16851706] [-0.00462522 0.99997731 -0.00489675 0.45042368] [ 0.01832482 0.00498074 0.99981968 -0.22382049] [ 0. 0. 0. 1. ]] SLAMing on 151.02313336499998 meters Centerline goodness [0,1] 0.28968668407310705 Centerline is valid? [False, False] Translation: X:2.17, Y:0.46, Z:-0.22 [[ 0.99979987 0.00827667 -0.01821315 2.16796282] [-0.00832405 0.99996216 -0.00252694 0.45949433] [ 0.01819154 0.00267804 0.99983093 -0.22323153] [ 0. 0. 0. 1. ]] SLAMing on 151.05313336499998 meters Centerline goodness [0,1] 0.28742657736740573 Centerline is valid? [False, False] Translation: X:2.17, Y:0.46, Z:-0.22 [[ 0.99978546 0.00878949 -0.01875554 2.16959809] [-0.00884136 0.99995731 -0.00268452 0.46446935] [ 0.01873115 0.00284977 0.9998205 -0.22357784] [ 0. 0. 0. 1. ]] SLAMing on 151.08313336499998 meters Centerline goodness [0,1] 0.287660797074636 Centerline is valid? [False, False] Translation: X:2.17, Y:0.47, Z:-0.22 [[ 0.99977055 0.00904192 -0.01941875 2.17140746] [-0.00910414 0.9999537 -0.00311778 0.46852731] [ 0.01938966 0.00329385 0.99980658 -0.22389563] [ 0. 0. 0. 1. ]] SLAMing on 151.11313336499998 meters Centerline goodness [0,1] 0.28826502939708853 Centerline is valid? [False, False] Translation: X:2.17, Y:0.47, Z:-0.22 [[ 0.99975692 0.00911695 -0.02007448 2.17296783] [-0.00919323 0.99995085 -0.0037112 0.47281137] [ 0.02003966 0.00389484 0.9997916 -0.22390753] [ 0. 0. 0. 1. ]] SLAMing on 151.14313336499998 meters Centerline goodness [0,1] 0.2865062283962695 Centerline is valid? [False, False] Translation: X:2.17, Y:0.48, Z:-0.22 [[ 0.99975195 0.00909986 -0.02032817 2.17339123] [-0.0091915 0.99994799 -0.00441919 0.47729 ] [ 0.02028689 0.00460494 0.99978359 -0.22361487] [ 0. 0. 0. 1. ]] SLAMing on 151.17313336499998 meters Centerline goodness [0,1] 0.2831583712358 Centerline is valid? [False, False] Translation: X:2.19, Y:0.49, Z:-0.22 [[ 9.99796363e-01 2.04011963e-03 -2.00766108e-02 2.19111101e+00] [-2.09213643e-03 9.99994508e-01 -2.57025291e-03 4.86077080e-01] [ 2.00712570e-02 2.61173252e-03 9.99795141e-01 -2.21232060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20313336499999 meters Centerline goodness [0,1] 0.28609440574568423 Centerline is valid? [False, False] Translation: X:2.19, Y:0.50, Z:-0.22 [[ 9.99787768e-01 5.13224023e-03 -1.99519195e-02 2.18936477e+00] [-5.14700379e-03 9.99986517e-01 -6.88675857e-04 4.95968371e-01] [ 1.99481161e-02 7.91222304e-04 9.99800703e-01 -2.19474222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.233133365 meters Centerline goodness [0,1] 0.28288750458043244 Centerline is valid? [False, False] Translation: X:2.19, Y:0.50, Z:-0.22 [[ 9.99787209e-01 4.96242385e-03 -2.00227684e-02 2.18919221e+00] [-4.99312715e-03 9.99986434e-01 -1.48371751e-03 5.01048168e-01] [ 2.00151339e-02 1.58337802e-03 9.99798423e-01 -2.18980875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.263133365 meters Centerline goodness [0,1] 0.28938765659623955 Centerline is valid? [False, False] Translation: X:2.17, Y:0.51, Z:-0.22 [[ 9.99834201e-01 -1.44476360e-03 -1.81516546e-02 2.16956654e+00] [ 1.42659075e-03 9.99998468e-01 -1.01407613e-03 5.11525584e-01] [ 1.81530919e-02 9.88013013e-04 9.99834731e-01 -2.20881319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.293133365 meters Centerline goodness [0,1] 0.2863354171623872 Centerline is valid? [False, False] Translation: X:2.19, Y:0.52, Z:-0.22 [[ 0.99987911 0.00549373 -0.01454562 2.1888613 ] [-0.00553169 0.99998139 -0.00257117 0.51685222] [ 0.01453123 0.00265132 0.9998909 -0.22049979] [ 0. 0. 0. 1. ]] SLAMing on 151.323133365 meters Centerline goodness [0,1] 0.2871768176297067 Centerline is valid? [False, False] Translation: X:2.19, Y:0.52, Z:-0.22 [[ 0.99988356 0.00527636 -0.01431876 2.18815373] [-0.00532054 0.9999812 -0.00304904 0.51906834] [ 0.0143024 0.00312487 0.99989283 -0.22023249] [ 0. 0. 0. 1. ]] SLAMing on 151.353133365 meters Centerline goodness [0,1] 0.2879314842187636 Centerline is valid? [False, False] Translation: X:2.19, Y:0.52, Z:-0.22 [[ 0.99988493 0.0050991 -0.01428696 2.18806574] [-0.0051478 0.99998106 -0.00337367 0.52037446] [ 0.01426949 0.00344683 0.99989224 -0.22021939] [ 0. 0. 0. 1. ]] SLAMing on 151.383133365 meters Centerline goodness [0,1] 0.2880606717226436 Centerline is valid? [False, False] Translation: X:2.19, Y:0.52, Z:-0.22 [[ 0.99988284 0.00501931 -0.01446072 2.18883801] [-0.00506961 0.99998122 -0.00344376 0.52066983] [ 0.01444317 0.00351667 0.99988951 -0.22077904] [ 0. 0. 0. 1. ]] SLAMing on 151.413133365 meters Centerline goodness [0,1] 0.28559033426606795 Centerline is valid? [False, False] Translation: X:2.19, Y:0.52, Z:-0.22 [[ 0.99987887 0.00498215 -0.01474554 2.18988289] [-0.00503306 0.99998149 -0.00341748 0.52052802] [ 0.01472824 0.00349128 0.99988544 -0.22134428] [ 0. 0. 0. 1. ]] SLAMing on 151.443133365 meters Centerline goodness [0,1] 0.2838737477108694 Centerline is valid? [False, False] Translation: X:2.21, Y:0.53, Z:-0.22 [[ 0.99985495 -0.00414114 -0.01652043 2.21191906] [ 0.00409751 0.99998803 -0.00267395 0.52508233] [ 0.01653131 0.00260587 0.99985995 -0.22033688] [ 0. 0. 0. 1. ]] SLAMing on 151.473133365 meters Centerline goodness [0,1] 0.2867490320616001 Centerline is valid? [False, False] Translation: X:2.21, Y:0.53, Z:-0.22 [[ 0.99985119 -0.00419118 -0.016734 2.21263452] [ 0.00414435 0.9999874 -0.00283249 0.52591147] [ 0.01674566 0.00276272 0.99985596 -0.22066334] [ 0. 0. 0. 1. ]] SLAMing on 151.503133365 meters Centerline goodness [0,1] 0.28720422397496903 Centerline is valid? [False, False] Translation: X:2.21, Y:0.53, Z:-0.22 [[ 0.99984708 -0.00420695 -0.01697398 2.21326291] [ 0.00415562 0.99998669 -0.00305825 0.52731332] [ 0.01698662 0.00298724 0.99985125 -0.22078919] [ 0. 0. 0. 1. ]] SLAMing on 151.533133365 meters Centerline goodness [0,1] 0.2862022005577052 Centerline is valid? [False, False] Translation: X:2.21, Y:0.53, Z:-0.22 [[ 0.99984362 -0.00413188 -0.01719505 2.21372658] [ 0.0040756 0.99998623 -0.00330716 0.529337 ] [ 0.01720848 0.00323656 0.99984668 -0.22072515] [ 0. 0. 0. 1. ]] SLAMing on 151.563133365 meters Centerline goodness [0,1] 0.288109323495383 Centerline is valid? [False, False] Translation: X:2.21, Y:0.53, Z:-0.22 [[ 0.99983822 -0.00389952 -0.01755923 2.21448254] [ 0.00383839 0.99998646 -0.00351394 0.53178232] [ 0.0175727 0.00344597 0.99983965 -0.22061079] [ 0. 0. 0. 1. ]] SLAMing on 151.593133365 meters Centerline goodness [0,1] 0.28594363569305536 Centerline is valid? [False, False] Translation: X:2.21, Y:0.53, Z:-0.22 [[ 9.99849287e-01 -1.60331730e-04 -1.73602430e-02 2.21418390e+00] [ 1.58105061e-04 9.99999979e-01 -1.29634966e-04 5.33440712e-01] [ 1.73602635e-02 1.26870686e-04 9.99849291e-01 -2.20830180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.623133365 meters Centerline goodness [0,1] 0.28594363569305536 Centerline is valid? [False, False] Translation: X:2.21, Y:0.53, Z:-0.22 [[ 9.99849287e-01 -1.60331730e-04 -1.73602430e-02 2.21418390e+00] [ 1.58105061e-04 9.99999979e-01 -1.29634966e-04 5.33440712e-01] [ 1.73602635e-02 1.26870686e-04 9.99849291e-01 -2.20830180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.653133365 meters Centerline goodness [0,1] 0.28301315988504006 Centerline is valid? [False, False] Translation: X:2.21, Y:0.54, Z:-0.22 [[ 9.99849285e-01 1.68931405e-04 -1.73602703e-02 2.21409367e+00] [-1.75616673e-04 9.99999911e-01 -3.83566317e-04 5.36404357e-01] [ 1.73602040e-02 3.86557261e-04 9.99849226e-01 -2.20704569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.683133365 meters Centerline goodness [0,1] 0.2855838622728458 Centerline is valid? [False, False] Translation: X:2.21, Y:0.54, Z:-0.22 [[ 9.99856419e-01 2.74343110e-03 -1.67216860e-02 2.21291165e+00] [-2.72722595e-03 9.99995789e-01 9.91836270e-04 5.44281897e-01] [ 1.67243367e-02 -9.46090045e-04 9.99859691e-01 -2.21036239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.713133365 meters Centerline goodness [0,1] 0.28376242340255076 Centerline is valid? [False, False] Translation: X:2.21, Y:0.55, Z:-0.22 [[ 9.99855768e-01 2.75981795e-03 -1.67578678e-02 2.21287535e+00] [-2.75184111e-03 9.99996089e-01 4.99046231e-04 5.47378401e-01] [ 1.67591795e-02 -4.52859263e-04 9.99859453e-01 -2.20991769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74313336499998 meters Centerline goodness [0,1] 0.28757497482597083 Centerline is valid? [False, False] Translation: X:2.21, Y:0.55, Z:-0.22 [[ 9.99854658e-01 2.75248997e-03 -1.68251647e-02 2.21284830e+00] [-2.75150593e-03 9.99996211e-01 8.16345383e-05 5.50084163e-01] [ 1.68253257e-02 -3.53281328e-05 9.99858444e-01 -2.20821281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77313336499998 meters Centerline goodness [0,1] 0.2824734249416645 Centerline is valid? [False, False] Translation: X:2.23, Y:0.56, Z:-0.22 [[ 0.99985408 -0.00328286 -0.01676419 2.23344006] [ 0.00333692 0.99998932 0.00319785 0.55663249] [ 0.01675351 -0.00325332 0.99985436 -0.22057712] [ 0. 0. 0. 1. ]] SLAMing on 151.80313336499998 meters Centerline goodness [0,1] 0.28335685593312343 Centerline is valid? [False, False] Translation: X:2.23, Y:0.56, Z:-0.22 [[ 0.99985278 -0.00335607 -0.01682702 2.23343563] [ 0.00340677 0.99998974 0.00298504 0.55772862] [ 0.01681683 -0.00304193 0.99985396 -0.22039092] [ 0. 0. 0. 1. ]] SLAMing on 151.83313336499998 meters Centerline goodness [0,1] 0.2872370510561465 Centerline is valid? [False, False] Translation: X:2.23, Y:0.56, Z:-0.22 [[ 0.99985175 -0.00340855 -0.01687783 2.23348604] [ 0.0034572 0.99998995 0.00285413 0.55837829] [ 0.01686793 -0.00291206 0.99985349 -0.2203206 ] [ 0. 0. 0. 1. ]] SLAMing on 151.86313336499998 meters Centerline goodness [0,1] 0.2844382777609158 Centerline is valid? [False, False] Translation: X:2.23, Y:0.56, Z:-0.22 [[ 0.9998513 -0.00339193 -0.01690785 2.23350048] [ 0.00344139 0.99998988 0.00289685 0.55817828] [ 0.01689785 -0.00295461 0.99985286 -0.22021968] [ 0. 0. 0. 1. ]] SLAMing on 151.89313336499998 meters Centerline goodness [0,1] 0.2869667370069833 Centerline is valid? [False, False] Translation: X:2.23, Y:0.56, Z:-0.22 [[ 0.99985226 -0.00342313 -0.01684449 2.23322817] [ 0.00347428 0.99998944 0.00300879 0.55720976] [ 0.01683401 -0.00306687 0.99985359 -0.21998201] [ 0. 0. 0. 1. ]] SLAMing on 151.92313336499998 meters Centerline goodness [0,1] 0.2861592072307525 Centerline is valid? [False, False] Translation: X:2.23, Y:0.56, Z:-0.22 [[ 0.9998549 -0.00346095 -0.01667909 2.23266355] [ 0.00351452 0.99998876 0.00318338 0.55574563] [ 0.01666788 -0.00324154 0.99985583 -0.21968134] [ 0. 0. 0. 1. ]] SLAMing on 151.95313336499999 meters Centerline goodness [0,1] 0.2868976883375981 Centerline is valid? [False, False] Translation: X:2.23, Y:0.55, Z:-0.22 [[ 0.99987249 -0.00376862 -0.01551776 2.22932855] [ 0.0038228 0.9999867 0.00346309 0.55191434] [ 0.0155045 -0.00352197 0.9998736 -0.2186591 ] [ 0. 0. 0. 1. ]] SLAMing on 151.983133365 meters Centerline goodness [0,1] 0.28662337662337667 Centerline is valid? [False, False] Translation: X:2.23, Y:0.55, Z:-0.22 [[ 0.99988017 -0.00377905 -0.01501241 2.22787419] [ 0.00383534 0.99998572 0.00372238 0.55006957] [ 0.01499813 -0.00377951 0.99988038 -0.21819553] [ 0. 0. 0. 1. ]] SLAMing on 152.013133365 meters Centerline goodness [0,1] 0.28933944038031567 Centerline is valid? [False, False] Translation: X:2.23, Y:0.55, Z:-0.22 [[ 0.99988349 -0.00371834 -0.01480472 2.22744152] [ 0.00377849 0.99998471 0.00403667 0.54818022] [ 0.01478948 -0.00409214 0.99988226 -0.21827338] [ 0. 0. 0. 1. ]] SLAMing on 152.043133365 meters Centerline goodness [0,1] 0.28683331163476977 Centerline is valid? [False, False] Translation: X:2.23, Y:0.55, Z:-0.22 [[ 0.99988306 -0.00360033 -0.01486271 2.22793341] [ 0.00366595 0.99998364 0.00439039 0.54632118] [ 0.01484666 -0.00444436 0.9998799 -0.21878112] [ 0. 0. 0. 1. ]] SLAMing on 152.073133365 meters Centerline goodness [0,1] 0.2857081034296224 Centerline is valid? [False, False] Translation: X:2.23, Y:0.54, Z:-0.22 [[ 0.99988096 -0.00345845 -0.01503662 2.2288267 ] [ 0.00352981 0.99998262 0.00472188 0.54463996] [ 0.01502003 -0.0047744 0.99987579 -0.21953657] [ 0. 0. 0. 1. ]] SLAMing on 152.103133365 meters Centerline goodness [0,1] 0.2830644465533604 Centerline is valid? [False, False] Translation: X:2.23, Y:0.54, Z:-0.22 [[ 0.9998775 -0.00311789 -0.01533799 2.2298248 ] [ 0.00319996 0.99998068 0.00532924 0.54189428] [ 0.01532108 -0.00537767 0.99986816 -0.21999033] [ 0. 0. 0. 1. ]] SLAMing on 152.133133365 meters Centerline goodness [0,1] 0.28298390398414097 Centerline is valid? [False, False] Translation: X:2.23, Y:0.54, Z:-0.22 [[ 0.99987741 -0.00294378 -0.01537859 2.22988176] [ 0.00303052 0.99997961 0.0056206 0.54073664] [ 0.01536173 -0.00566652 0.99986594 -0.21994561] [ 0. 0. 0. 1. ]] SLAMing on 152.163133365 meters Centerline goodness [0,1] 0.2872264122236954 Centerline is valid? [False, False] Translation: X:2.23, Y:0.54, Z:-0.22 [[ 0.99987709 -0.00278365 -0.01542897 2.23004152] [ 0.00287515 0.99997839 0.00591146 0.53946056] [ 0.01541218 -0.0059551 0.99986349 -0.22004475] [ 0. 0. 0. 1. ]] SLAMing on 152.193133365 meters Centerline goodness [0,1] 0.28643971754860087 Centerline is valid? [False, False] Translation: X:2.23, Y:0.54, Z:-0.22 [[ 0.99987655 -0.00266509 -0.01548484 2.23046016] [ 0.00276129 0.999977 0.00619439 0.53780577] [ 0.01546797 -0.00623638 0.99986092 -0.22053616] [ 0. 0. 0. 1. ]] SLAMing on 152.223133365 meters Centerline goodness [0,1] 0.2828861964517525 Centerline is valid? [False, False] Translation: X:2.25, Y:0.53, Z:-0.22 [[ 0.9998521 0.00365166 -0.01680591 2.24884835] [-0.00356888 0.99998136 0.00495308 0.52925421] [ 0.01682368 -0.00489237 0.9998465 -0.21790007] [ 0. 0. 0. 1. ]] SLAMing on 152.253133365 meters Centerline goodness [0,1] 0.28693720185584526 Centerline is valid? [False, False] Translation: X:2.25, Y:0.53, Z:-0.22 [[ 0.99985557 0.00375945 -0.01657396 2.24807028] [-0.00367267 0.99997941 0.00526305 0.52760781] [ 0.0165934 -0.00520142 0.99984879 -0.21756045] [ 0. 0. 0. 1. ]] SLAMing on 152.283133365 meters Centerline goodness [0,1] 0.283477847211711 Centerline is valid? [False, False] Translation: X:2.25, Y:0.53, Z:-0.22 [[ 0.99985859 0.00399554 -0.01633517 2.24728708] [-0.00390214 0.99997588 0.00574569 0.52565678] [ 0.01635773 -0.00568113 0.99985006 -0.21718212] [ 0. 0. 0. 1. ]] SLAMing on 152.313133365 meters Centerline goodness [0,1] 0.2852746776465489 Centerline is valid? [False, False] Translation: X:2.25, Y:0.52, Z:-0.22 [[ 0.99986145 0.00420839 -0.01610472 2.24669271] [-0.00410786 0.99997191 0.00627007 0.52318991] [ 0.01613065 -0.00620305 0.99985065 -0.21708085] [ 0. 0. 0. 1. ]] SLAMing on 152.343133365 meters Centerline goodness [0,1] 0.2888419477633287 Centerline is valid? [False, False] Translation: X:2.23, Y:0.52, Z:-0.22 [[ 0.9998425 -0.00388543 -0.01731711 2.22531455] [ 0.0040055 0.99996814 0.00690422 0.52232707] [ 0.01728973 -0.0069725 0.99982621 -0.21787176] [ 0. 0. 0. 1. ]] SLAMing on 152.373133365 meters Centerline goodness [0,1] 0.2838378811157034 Centerline is valid? [False, False] Translation: X:2.25, Y:0.52, Z:-0.22 [[ 9.99808981e-01 4.47506030e-04 -1.95397432e-02 2.24841435e+00] [-3.66651104e-04 9.99991357e-01 4.14135920e-03 5.16273654e-01] [ 1.95414276e-02 -4.13340386e-03 9.99800504e-01 -2.17462479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.403133365 meters Centerline goodness [0,1] 0.2836197520121818 Centerline is valid? [False, False] Translation: X:2.25, Y:0.51, Z:-0.22 [[ 9.99790174e-01 -1.08733365e-03 -2.04554746e-02 2.25114520e+00] [ 1.15885105e-03 9.99993257e-01 3.48471874e-03 5.07413605e-01] [ 2.04515476e-02 -3.50769240e-03 9.99784692e-01 -2.18317824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.433133365 meters Centerline goodness [0,1] 0.2854562468716676 Centerline is valid? [False, False] Translation: X:2.25, Y:0.50, Z:-0.22 [[ 9.99791343e-01 -8.33674604e-04 -2.04101974e-02 2.25097033e+00] [ 9.18155897e-04 9.99991049e-01 4.13014989e-03 5.04243368e-01] [ 2.04065716e-02 -4.14802785e-03 9.99783159e-01 -2.18170108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.463133365 meters Centerline goodness [0,1] 0.28241770102536423 Centerline is valid? [False, False] Translation: X:2.27, Y:0.50, Z:-0.22 [[ 0.99978855 0.00649951 -0.01950951 2.26891474] [-0.0064337 0.99997341 0.00343421 0.49733592] [ 0.01953131 -0.00330797 0.99980377 -0.21591541] [ 0. 0. 0. 1. ]] SLAMing on 152.49313336499998 meters Centerline goodness [0,1] 0.28416542232032715 Centerline is valid? [False, False] Translation: X:2.27, Y:0.49, Z:-0.22 [[ 0.9997945 0.00667518 -0.01914159 2.26771651] [-0.0066014 0.99997055 0.00391515 0.4947652 ] [ 0.01916716 -0.00378798 0.99980912 -0.21537695] [ 0. 0. 0. 1. ]] SLAMing on 152.52313336499998 meters Centerline goodness [0,1] 0.2843456019421685 Centerline is valid? [False, False] Translation: X:2.27, Y:0.49, Z:-0.22 [[ 0.9997947 0.00703444 -0.01900194 2.2675562 ] [-0.00694464 0.99996443 0.00478742 0.48958723] [ 0.01903495 -0.00465448 0.99980798 -0.21563988] [ 0. 0. 0. 1. ]] SLAMing on 152.55313336499998 meters Centerline goodness [0,1] 0.2838737664027763 Centerline is valid? [False, False] Translation: X:2.27, Y:0.49, Z:-0.22 [[ 0.9997867 0.0072772 -0.01932851 2.2689497 ] [-0.00717707 0.99996049 0.00524503 0.48743321] [ 0.01936592 -0.00510519 0.99979943 -0.21663313] [ 0. 0. 0. 1. ]] SLAMing on 152.58313336499998 meters Centerline goodness [0,1] 0.28366606564855645 Centerline is valid? [False, False] Translation: X:2.27, Y:0.49, Z:-0.22 [[ 0.9997771 0.00754573 -0.01971848 2.27027293] [-0.00743484 0.99995617 0.00569109 0.48563259] [ 0.01976056 -0.00554321 0.99978937 -0.21730501] [ 0. 0. 0. 1. ]] SLAMing on 152.61313336499998 meters Centerline goodness [0,1] 0.2835687699976057 Centerline is valid? [False, False] Translation: X:2.27, Y:0.48, Z:-0.22 [[ 0.99977512 0.00771344 -0.01975399 2.27050423] [-0.00759699 0.99995336 0.00596364 0.4842619 ] [ 0.01979907 -0.00581222 0.99978708 -0.21757387] [ 0. 0. 0. 1. ]] SLAMing on 152.64313336499998 meters Centerline goodness [0,1] 0.28338314535657405 Centerline is valid? [False, False] Translation: X:2.27, Y:0.48, Z:-0.22 [[ 0.9997801 0.00770505 -0.01950361 2.26949482] [-0.00758815 0.99995284 0.00606072 0.48303559] [ 0.01954939 -0.00591139 0.99979142 -0.21700425] [ 0. 0. 0. 1. ]] SLAMing on 152.67313336499998 meters Centerline goodness [0,1] 0.2842306522400382 Centerline is valid? [False, False] Translation: X:2.27, Y:0.48, Z:-0.22 [[ 0.999788 0.00767844 -0.01910476 2.26793308] [-0.00756235 0.99995255 0.00614151 0.4817643 ] [ 0.01915101 -0.00599573 0.99979862 -0.21614429] [ 0. 0. 0. 1. ]] SLAMing on 152.70313336499999 meters Centerline goodness [0,1] 0.28738276799018314 Centerline is valid? [False, False] Translation: X:2.26, Y:0.48, Z:-0.22 [[ 0.99980418 0.00797481 -0.01811115 2.26485026] [-0.00785552 0.99994704 0.0066482 0.47955321] [ 0.01816321 -0.00650463 0.99981388 -0.21501648] [ 0. 0. 0. 1. ]] SLAMing on 152.733133365 meters Centerline goodness [0,1] 0.2838804805065267 Centerline is valid? [False, False] Translation: X:2.28, Y:0.48, Z:-0.21 [[ 9.99853963e-01 -3.13111798e-04 -1.70866570e-02 2.28330053e+00] [ 4.50881564e-04 9.99967418e-01 8.05974641e-03 4.82549607e-01] [ 1.70835767e-02 -8.06627345e-03 9.99821527e-01 -2.14041941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.763133365 meters Centerline goodness [0,1] 0.2837869976001557 Centerline is valid? [False, False] Translation: X:2.28, Y:0.48, Z:-0.21 [[ 9.99854928e-01 -1.81861760e-04 -1.70320079e-02 2.28338520e+00] [ 3.25318160e-04 9.99964495e-01 8.42036141e-03 4.80673294e-01] [ 1.70298718e-02 -8.42468068e-03 9.99819488e-01 -2.14308707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.793133365 meters Centerline goodness [0,1] 0.2848542803120857 Centerline is valid? [False, False] Translation: X:2.28, Y:0.48, Z:-0.21 [[ 9.99850502e-01 -9.35369842e-05 -1.72905751e-02 2.28433135e+00] [ 2.46248441e-04 9.99960983e-01 8.83014540e-03 4.77869399e-01] [ 1.72890745e-02 -8.83308309e-03 9.99811515e-01 -2.14731832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.823133365 meters Centerline goodness [0,1] 0.28293853203077723 Centerline is valid? [False, False] Translation: X:2.29, Y:0.47, Z:-0.22 [[ 9.99842894e-01 -1.80099562e-05 -1.77253441e-02 2.28587757e+00] [ 1.82393339e-04 9.99956994e-01 9.27234478e-03 4.74978226e-01] [ 1.77244148e-02 -9.27412102e-03 9.99799898e-01 -2.15449277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.853133365 meters Centerline goodness [0,1] 0.28135292078349805 Centerline is valid? [False, False] Translation: X:2.29, Y:0.47, Z:-0.22 [[ 9.99833074e-01 3.57191453e-04 -1.82673536e-02 2.28768907e+00] [-1.67464435e-04 9.99946044e-01 1.03866003e-02 4.68516605e-01] [ 1.82700779e-02 -1.03818073e-02 9.99779187e-01 -2.16034454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.883133365 meters Centerline goodness [0,1] 0.28473174447709215 Centerline is valid? [False, False] Translation: X:2.29, Y:0.47, Z:-0.22 [[ 9.99833270e-01 5.83840601e-04 -1.82507809e-02 2.28762944e+00] [-3.83047062e-04 9.99939387e-01 1.10034753e-02 4.65370218e-01] [ 1.82560989e-02 -1.09946498e-02 9.99772890e-01 -2.15904576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.913133365 meters Centerline goodness [0,1] 0.28575774035850077 Centerline is valid? [False, False] Translation: X:2.29, Y:0.46, Z:-0.22 [[ 9.99837270e-01 7.17014881e-04 -1.80254938e-02 2.28702383e+00] [-5.09942292e-04 9.99933861e-01 1.14897351e-02 4.62511516e-01] [ 1.80325399e-02 -1.14786734e-02 9.99771508e-01 -2.15704140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.943133365 meters Centerline goodness [0,1] 0.28735556866085665 Centerline is valid? [False, False] Translation: X:2.29, Y:0.46, Z:-0.22 [[ 9.99838903e-01 8.96794608e-04 -1.79266042e-02 2.28690949e+00] [-6.81249729e-04 9.99927450e-01 1.20262355e-02 4.59591066e-01] [ 1.79360887e-02 -1.20120856e-02 9.99766976e-01 -2.15803598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.973133365 meters Centerline goodness [0,1] 0.28110429977551377 Centerline is valid? [False, False] Translation: X:2.31, Y:0.45, Z:-0.21 [[ 0.99977237 0.00824281 -0.019679 2.30748264] [-0.00800432 0.99989394 0.01216718 0.44984545] [ 0.0197772 -0.01200689 0.99973231 -0.21460074] [ 0. 0. 0. 1. ]] SLAMing on 153.003133365 meters Centerline goodness [0,1] 0.2882325856738801 Centerline is valid? [False, False] Translation: X:2.29, Y:0.45, Z:-0.22 [[ 9.99791122e-01 5.10102522e-05 -2.04379326e-02 2.28633060e+00] [ 2.12284947e-04 9.99917023e-01 1.28802962e-02 4.50492421e-01] [ 2.04368937e-02 -1.28819444e-02 9.99708152e-01 -2.15464795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.033133365 meters Centerline goodness [0,1] 0.28529789224109803 Centerline is valid? [False, False] Translation: X:2.31, Y:0.44, Z:-0.21 [[ 0.9997547 0.00729196 -0.02091348 2.30555536] [-0.00704668 0.99990581 0.01177817 0.44477861] [ 0.0209974 -0.01162791 0.99971191 -0.21322786] [ 0. 0. 0. 1. ]] SLAMing on 153.063133365 meters Centerline goodness [0,1] 0.2874364369630019 Centerline is valid? [False, False] Translation: X:2.30, Y:0.44, Z:-0.21 [[ 0.99977696 0.00470422 -0.0205889 2.30441115] [-0.00451538 0.9999474 0.00920926 0.44330583] [ 0.02063114 -0.00911424 0.99974561 -0.21284533] [ 0. 0. 0. 1. ]] SLAMing on 153.093133365 meters Centerline goodness [0,1] 0.2821823830172804 Centerline is valid? [False, False] Translation: X:2.32, Y:0.44, Z:-0.21 [[ 0.99971277 0.01227472 -0.02058402 2.32437753] [-0.01210732 0.99989277 0.00823752 0.43841325] [ 0.02068292 -0.00798593 0.99975419 -0.21114631] [ 0. 0. 0. 1. ]] SLAMing on 153.123133365 meters Centerline goodness [0,1] 0.27956528263059743 Centerline is valid? [False, False] Translation: X:2.32, Y:0.44, Z:-0.21 [[ 0.99970517 0.01263811 -0.02073281 2.32493095] [-0.01246019 0.99988462 0.00868858 0.43680641] [ 0.02084023 -0.00842768 0.9997473 -0.21151811] [ 0. 0. 0. 1. ]] SLAMing on 153.153133365 meters Centerline goodness [0,1] 0.28243778831784805 Centerline is valid? [False, False] Translation: X:2.30, Y:0.44, Z:-0.21 [[ 0.99976435 0.00492173 -0.02114267 2.30496815] [-0.00471689 0.99994156 0.00972757 0.43988375] [ 0.02118932 -0.00962555 0.99972914 -0.21311315] [ 0. 0. 0. 1. ]] SLAMing on 153.183133365 meters Centerline goodness [0,1] 0.27875440557036013 Centerline is valid? [False, False] Translation: X:2.31, Y:0.44, Z:-0.21 [[ 0.99976133 0.00503265 -0.02125918 2.30556973] [-0.00482453 0.99994005 0.00982961 0.43951609] [ 0.02130738 -0.0097247 0.99972568 -0.21367053] [ 0. 0. 0. 1. ]] SLAMing on 153.213133365 meters Centerline goodness [0,1] 0.28324214000347403 Centerline is valid? [False, False] Translation: X:2.31, Y:0.44, Z:-0.21 [[ 0.99976049 0.00503146 -0.02129885 2.30590929] [-0.00482217 0.9999397 0.00986641 0.43887831] [ 0.02134721 -0.00976134 0.99972447 -0.21405086] [ 0. 0. 0. 1. ]] SLAMing on 153.24313336499998 meters Centerline goodness [0,1] 0.28269476234774893 Centerline is valid? [False, False] Translation: X:2.30, Y:0.44, Z:-0.21 [[ 9.99779186e-01 1.84820675e-03 -2.09323313e-02 2.30458624e+00] [-1.70881502e-03 9.99976261e-01 6.67508989e-03 4.37819319e-01] [ 2.09441713e-02 -6.63784646e-03 9.99758611e-01 -2.13583460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27313336499998 meters Centerline goodness [0,1] 0.2821506680236461 Centerline is valid? [False, False] Translation: X:2.30, Y:0.44, Z:-0.21 [[ 9.99782692e-01 1.92966617e-03 -2.07568013e-02 2.30381897e+00] [-1.78873589e-03 9.99975239e-01 6.80602020e-03 4.37361182e-01] [ 2.07694207e-02 -6.76741276e-03 9.99761388e-01 -2.13082800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30313336499998 meters Centerline goodness [0,1] 0.28033608363212237 Centerline is valid? [False, False] Translation: X:2.30, Y:0.44, Z:-0.21 [[ 9.99785951e-01 1.94781615e-03 -2.05975356e-02 2.30321994e+00] [-1.80826492e-03 9.99975302e-01 6.79159774e-03 4.37685335e-01] [ 2.06102556e-02 -6.75289821e-03 9.99764780e-01 -2.12785058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33313336499998 meters Centerline goodness [0,1] 0.28145824318476853 Centerline is valid? [False, False] Translation: X:2.30, Y:0.44, Z:-0.21 [[ 9.99789078e-01 1.96095615e-03 -2.04439048e-02 2.30284230e+00] [-1.82357543e-03 9.99975648e-01 6.73636486e-03 4.38261552e-01] [ 2.04566167e-02 -6.69766302e-03 9.99768307e-01 -2.12821740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36313336499998 meters Centerline goodness [0,1] 0.28452846588439806 Centerline is valid? [False, False] Translation: X:2.30, Y:0.44, Z:-0.21 [[ 9.99797541e-01 1.82869483e-03 -2.00382809e-02 2.30184512e+00] [-1.70006945e-03 9.99977856e-01 6.43413884e-03 4.39596967e-01] [ 2.00496032e-02 -6.39876972e-03 9.99778510e-01 -2.12849972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39313336499998 meters Centerline goodness [0,1] 0.2816290413087581 Centerline is valid? [False, False] Translation: X:2.30, Y:0.44, Z:-0.21 [[ 9.99801846e-01 1.75721410e-03 -1.98287829e-02 2.30111248e+00] [-1.63212944e-03 9.99978680e-01 6.32265783e-03 4.40007980e-01] [ 1.98394704e-02 -6.28904183e-03 9.99783398e-01 -2.12507123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42313336499998 meters Centerline goodness [0,1] 0.2818317119993098 Centerline is valid? [False, False] Translation: X:2.30, Y:0.44, Z:-0.21 [[ 9.99804758e-01 1.75846633e-03 -1.96813108e-02 2.30037721e+00] [-1.63390417e-03 9.99978547e-01 6.34324848e-03 4.39968844e-01] [ 1.96920430e-02 -6.30985263e-03 9.99786182e-01 -2.11966519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45313336499999 meters Centerline goodness [0,1] 0.2830572256585493 Centerline is valid? [False, False] Translation: X:2.30, Y:0.44, Z:-0.21 [[ 9.99805879e-01 1.77507458e-03 -1.96227975e-02 2.29999908e+00] [-1.64983754e-03 9.99978181e-01 6.39656883e-03 4.39855081e-01] [ 1.96337238e-02 -6.36295269e-03 9.99786992e-01 -2.11606392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.483133365 meters Centerline goodness [0,1] 0.2819085830151643 Centerline is valid? [False, False] Translation: X:2.30, Y:0.44, Z:-0.21 [[ 9.99804893e-01 1.74567065e-03 -1.96755670e-02 2.30020194e+00] [-1.61983392e-03 9.99978146e-01 6.40970703e-03 4.39573798e-01] [ 1.96863263e-02 -6.37658530e-03 9.99785871e-01 -2.11693849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.513133365 meters Centerline goodness [0,1] 0.2828086119225359 Centerline is valid? [False, False] Translation: X:2.30, Y:0.44, Z:-0.21 [[ 9.99803523e-01 1.73747490e-03 -1.97457749e-02 2.30063339e+00] [-1.60946598e-03 9.99977600e-01 6.49689459e-03 4.38826428e-01] [ 1.97566207e-02 -6.46383795e-03 9.99783924e-01 -2.12048122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.543133365 meters Centerline goodness [0,1] 0.2828086119225359 Centerline is valid? [False, False] Translation: X:2.30, Y:0.44, Z:-0.21 [[ 9.99803523e-01 1.73747490e-03 -1.97457749e-02 2.30063339e+00] [-1.60946598e-03 9.99977600e-01 6.49689459e-03 4.38826428e-01] [ 1.97566207e-02 -6.46383795e-03 9.99783924e-01 -2.12048122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.573133365 meters Centerline goodness [0,1] 0.2834809345430137 Centerline is valid? [False, False] Translation: X:2.30, Y:0.44, Z:-0.21 [[ 9.99801769e-01 1.52910959e-03 -1.98515657e-02 2.30123181e+00] [-1.39925351e-03 9.99977546e-01 6.55359525e-03 4.37078474e-01] [ 1.98611411e-02 -6.52451875e-03 9.99781459e-01 -2.12455464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.603133365 meters Centerline goodness [0,1] 0.2846866034947405 Centerline is valid? [False, False] Translation: X:2.30, Y:0.44, Z:-0.21 [[ 9.99802401e-01 1.61532728e-03 -1.98128646e-02 2.30118388e+00] [-1.48115806e-03 9.99975887e-01 6.78462960e-03 4.35951174e-01] [ 1.98233462e-02 -6.75394298e-03 9.99780686e-01 -2.12463399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.633133365 meters Centerline goodness [0,1] 0.2839354043712303 Centerline is valid? [False, False] Translation: X:2.30, Y:0.43, Z:-0.21 [[ 9.99802853e-01 1.73243188e-03 -1.97801616e-02 2.30118283e+00] [-1.59328322e-03 9.99973891e-01 7.04835211e-03 4.34778566e-01] [ 1.97918559e-02 -7.01544715e-03 9.99779509e-01 -2.12496241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.663133365 meters Centerline goodness [0,1] 0.2813346519327514 Centerline is valid? [False, False] Translation: X:2.30, Y:0.43, Z:-0.21 [[ 9.99803549e-01 1.79030817e-03 -1.97397455e-02 2.30127436e+00] [-1.64779610e-03 9.99972481e-01 7.23345260e-03 4.33656405e-01] [ 1.97521523e-02 -7.19950451e-03 9.99778985e-01 -2.12715662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.693133365 meters Centerline goodness [0,1] 0.28060202829274594 Centerline is valid? [False, False] Translation: X:2.30, Y:0.43, Z:-0.21 [[ 9.99794348e-01 -1.49028219e-03 -2.02247705e-02 2.30288019e+00] [ 1.57137334e-03 9.99990789e-01 3.99419742e-03 4.32365629e-01] [ 2.02186317e-02 -4.02515667e-03 9.99787480e-01 -2.13432164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.723133365 meters Centerline goodness [0,1] 0.2818838386022575 Centerline is valid? [False, False] Translation: X:2.30, Y:0.43, Z:-0.21 [[ 9.99791069e-01 -1.39781777e-03 -2.03927311e-02 2.30371096e+00] [ 1.48404623e-03 9.99990020e-01 4.21387127e-03 4.31196756e-01] [ 2.03866373e-02 -4.24325462e-03 9.99783166e-01 -2.14076682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.753133365 meters Centerline goodness [0,1] 0.2813052286736497 Centerline is valid? [False, False] Translation: X:2.30, Y:0.43, Z:-0.21 [[ 9.99788566e-01 -1.24087462e-03 -2.05251973e-02 2.30438311e+00] [ 1.33289683e-03 9.99989120e-01 4.47030508e-03 4.30197620e-01] [ 2.05194269e-02 -4.49671788e-03 9.99779342e-01 -2.14602085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.783133365 meters Centerline goodness [0,1] 0.2807100898410505 Centerline is valid? [False, False] Translation: X:2.30, Y:0.43, Z:-0.22 [[ 9.99788287e-01 -1.12371779e-03 -2.05454972e-02 2.30473647e+00] [ 1.21947850e-03 9.99988450e-01 4.64897526e-03 4.29429201e-01] [ 2.05400358e-02 -4.67304580e-03 9.99778110e-01 -2.15071589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.813133365 meters Centerline goodness [0,1] 0.2813950977216283 Centerline is valid? [False, False] Translation: X:2.30, Y:0.43, Z:-0.22 [[ 9.99790216e-01 -1.06820322e-03 -2.04543904e-02 2.30458131e+00] [ 1.16597699e-03 9.99987950e-01 4.76875823e-03 4.28546005e-01] [ 2.04490500e-02 -4.79160718e-03 9.99779414e-01 -2.15182929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.843133365 meters Centerline goodness [0,1] 0.2846092001477586 Centerline is valid? [False, False] Translation: X:2.30, Y:0.43, Z:-0.22 [[ 9.99803080e-01 -9.64107946e-04 -1.98209676e-02 2.30298324e+00] [ 1.06208266e-03 9.99987268e-01 4.93305090e-03 4.27081453e-01] [ 1.98159593e-02 -4.95313099e-03 9.99791375e-01 -2.15117031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.873133365 meters Centerline goodness [0,1] 0.2844612345035715 Centerline is valid? [False, False] Translation: X:2.30, Y:0.43, Z:-0.22 [[ 9.99809825e-01 -9.02530936e-04 -1.94807233e-02 2.30213885e+00] [ 9.99844797e-04 9.99987069e-01 4.98623104e-03 4.26915799e-01] [ 1.94759712e-02 -5.00476049e-03 9.99797799e-01 -2.15104993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.903133365 meters Centerline goodness [0,1] 0.282964782964783 Centerline is valid? [False, False] Translation: X:2.30, Y:0.43, Z:-0.22 [[ 9.99811385e-01 -8.05722804e-04 -1.94047859e-02 2.30201726e+00] [ 9.04191102e-04 9.99986758e-01 5.06619467e-03 4.26837038e-01] [ 1.94004470e-02 -5.08278474e-03 9.99798874e-01 -2.15241027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.933133365 meters Centerline goodness [0,1] 0.28330226711170836 Centerline is valid? [False, False] Translation: X:2.30, Y:0.43, Z:-0.22 [[ 9.99811343e-01 -7.93655863e-04 -1.94074277e-02 2.30214592e+00] [ 8.91807800e-04 9.99986854e-01 5.04931028e-03 4.26901204e-01] [ 1.94031651e-02 -5.06566539e-03 9.99798908e-01 -2.15511469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.963133365 meters Centerline goodness [0,1] 0.2817631618907135 Centerline is valid? [False, False] Translation: X:2.30, Y:0.43, Z:-0.22 [[ 9.99805365e-01 -7.20846082e-04 -1.97158017e-02 2.30306351e+00] [ 8.20362933e-04 9.99986963e-01 5.03994610e-03 4.27320216e-01] [ 1.97119116e-02 -5.05513926e-03 9.99792922e-01 -2.15916352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99313336499998 meters Centerline goodness [0,1] 0.27805381686778086 Centerline is valid? [False, False] Translation: X:2.32, Y:0.43, Z:-0.21 [[ 0.99975226 0.00673435 -0.02121479 2.32302724] [-0.00664906 0.99996954 0.00408854 0.42565551] [ 0.02124167 -0.00394647 0.99976658 -0.21387798] [ 0. 0. 0. 1. ]] SLAMing on 154.02313336499998 meters Centerline goodness [0,1] 0.28011918127644875 Centerline is valid? [False, False] Translation: X:2.32, Y:0.43, Z:-0.21 [[ 0.99975211 0.00670333 -0.0212316 2.32318579] [-0.00662065 0.99997024 0.0039617 0.42645715] [ 0.02125752 -0.00382015 0.99976673 -0.2141002 ] [ 0. 0. 0. 1. ]] SLAMing on 154.05313336499998 meters Centerline goodness [0,1] 0.2788733001443935 Centerline is valid? [False, False] Translation: X:2.32, Y:0.43, Z:-0.21 [[ 0.9997526 0.00662316 -0.02123354 2.32319055] [-0.00654414 0.99997141 0.00378843 0.42720955] [ 0.02125802 -0.00364854 0.99976737 -0.21415164] [ 0. 0. 0. 1. ]] SLAMing on 154.08313336499998 meters Centerline goodness [0,1] 0.28246542080388504 Centerline is valid? [False, False] Translation: X:2.32, Y:0.43, Z:-0.21 [[ 0.99975183 0.00655241 -0.02129172 2.32318932] [-0.00647561 0.99997228 0.00367386 0.42759933] [ 0.0213152 -0.00353507 0.99976656 -0.2140036 ] [ 0. 0. 0. 1. ]] SLAMing on 154.11313336499998 meters Centerline goodness [0,1] 0.2807044112238496 Centerline is valid? [False, False] Translation: X:2.32, Y:0.43, Z:-0.21 [[ 0.99975231 0.00648106 -0.02129114 2.32277614] [-0.00640622 0.99997307 0.00358169 0.42827484] [ 0.02131378 -0.00344441 0.9997669 -0.21336382] [ 0. 0. 0. 1. ]] SLAMing on 154.14313336499998 meters Centerline goodness [0,1] 0.28328126355983685 Centerline is valid? [False, False] Translation: X:2.32, Y:0.43, Z:-0.21 [[ 0.9997585 0.00644514 -0.02100939 2.32180652] [-0.00637085 0.99997322 0.00360089 0.42806354] [ 0.02103204 -0.00346618 0.99977279 -0.21286188] [ 0. 0. 0. 1. ]] SLAMing on 154.17313336499998 meters Centerline goodness [0,1] 0.2780628608082104 Centerline is valid? [False, False] Translation: X:2.34, Y:0.43, Z:-0.21 [[ 9.99812103e-01 -1.87034924e-03 -1.92940375e-02 2.34077160e+00] [ 1.96006217e-03 9.99987352e-01 4.63191270e-03 4.32572791e-01] [ 1.92851301e-02 -4.66885989e-03 9.99803123e-01 -2.11689433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20313336499999 meters Centerline goodness [0,1] 0.28376101607050286 Centerline is valid? [False, False] Translation: X:2.34, Y:0.43, Z:-0.21 [[ 9.99817909e-01 -1.98982038e-03 -1.89786556e-02 2.33967385e+00] [ 2.07678659e-03 9.99987430e-01 4.56370875e-03 4.32399128e-01] [ 1.89693361e-02 -4.60229235e-03 9.99809473e-01 -2.11143647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.233133365 meters Centerline goodness [0,1] 0.28296341120788404 Centerline is valid? [False, False] Translation: X:2.34, Y:0.43, Z:-0.21 [[ 9.99815982e-01 -2.11642788e-03 -1.90662599e-02 2.33994263e+00] [ 2.20029960e-03 9.99987991e-01 4.37905713e-03 4.33083128e-01] [ 1.90567630e-02 -4.42020279e-03 9.99808632e-01 -2.11246862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.263133365 meters Centerline goodness [0,1] 0.28359022433451786 Centerline is valid? [False, False] Translation: X:2.34, Y:0.43, Z:-0.21 [[ 9.99815878e-01 -2.11520089e-03 -1.90718501e-02 2.33995826e+00] [ 2.19796298e-03 9.99988255e-01 4.31957275e-03 4.33695208e-01] [ 1.90624893e-02 -4.36069664e-03 9.99808785e-01 -2.11280963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.293133365 meters Centerline goodness [0,1] 0.28263174981062655 Centerline is valid? [False, False] Translation: X:2.36, Y:0.43, Z:-0.21 [[ 0.99982046 0.00560771 -0.01809999 2.35849485] [-0.00555083 0.9999795 0.00319136 0.43183443] [ 0.01811752 -0.00309032 0.99983109 -0.20930132] [ 0. 0. 0. 1. ]] SLAMing on 154.323133365 meters Centerline goodness [0,1] 0.2850559293796924 Centerline is valid? [False, False] Translation: X:2.36, Y:0.43, Z:-0.21 [[ 0.99982643 0.00555656 -0.01778317 2.35727178] [-0.0055015 0.99997992 0.00314374 0.43182054] [ 0.01780028 -0.00304536 0.99983692 -0.20858104] [ 0. 0. 0. 1. ]] SLAMing on 154.353133365 meters Centerline goodness [0,1] 0.2831894780106864 Centerline is valid? [False, False] Translation: X:2.36, Y:0.43, Z:-0.21 [[ 0.99983085 0.00546495 -0.01756142 2.35642434] [-0.00541134 0.99998056 0.00309911 0.43140001] [ 0.01757802 -0.00300355 0.99984098 -0.20807399] [ 0. 0. 0. 1. ]] SLAMing on 154.383133365 meters Centerline goodness [0,1] 0.28371217855829745 Centerline is valid? [False, False] Translation: X:2.36, Y:0.43, Z:-0.21 [[ 0.99983173 0.00539266 -0.01753365 2.3564458 ] [-0.00533923 0.99998096 0.00309286 0.43073797] [ 0.01754999 -0.00299872 0.99984149 -0.2082069 ] [ 0. 0. 0. 1. ]] SLAMing on 154.413133365 meters Centerline goodness [0,1] 0.2848099884312313 Centerline is valid? [False, False] Translation: X:2.36, Y:0.43, Z:-0.21 [[ 0.99981954 0.00535575 -0.01822629 2.35914876] [-0.00529977 0.99998109 0.00311846 0.43029 ] [ 0.01824265 -0.0030213 0.99982902 -0.20987 ] [ 0. 0. 0. 1. ]] SLAMing on 154.443133365 meters Centerline goodness [0,1] 0.2841099527716717 Centerline is valid? [False, False] Translation: X:2.36, Y:0.43, Z:-0.21 [[ 0.99981396 0.00540835 -0.01851449 2.36016967] [-0.00535044 0.99998064 0.00317622 0.43033671] [ 0.01853131 -0.00307657 0.99982355 -0.21041422] [ 0. 0. 0. 1. ]] SLAMing on 154.473133365 meters Centerline goodness [0,1] 0.2821416982152515 Centerline is valid? [False, False] Translation: X:2.36, Y:0.43, Z:-0.21 [[ 0.99981112 0.00544457 -0.0186571 2.36058427] [-0.00538479 0.99998021 0.0032533 0.42995971] [ 0.01867445 -0.00315222 0.99982065 -0.21051136] [ 0. 0. 0. 1. ]] SLAMing on 154.503133365 meters Centerline goodness [0,1] 0.28396783542896986 Centerline is valid? [False, False] Translation: X:2.36, Y:0.43, Z:-0.21 [[ 0.99980974 0.00544161 -0.01873141 2.360643 ] [-0.00537898 0.99997978 0.00339255 0.42849114] [ 0.01874949 -0.00329115 0.9998188 -0.21032257] [ 0. 0. 0. 1. ]] SLAMing on 154.533133365 meters Centerline goodness [0,1] 0.28405608086077605 Centerline is valid? [False, False] Translation: X:2.36, Y:0.43, Z:-0.21 [[ 0.99981072 0.00546604 -0.01867226 2.3605758 ] [-0.00540148 0.99997927 0.00350613 0.42765299] [ 0.01869104 -0.00340461 0.99981951 -0.21046084] [ 0. 0. 0. 1. ]] SLAMing on 154.563133365 meters Centerline goodness [0,1] 0.28340688245907697 Centerline is valid? [False, False] Translation: X:2.36, Y:0.43, Z:-0.21 [[ 0.99981251 0.00552515 -0.01855833 2.36021686] [-0.0054577 0.99997832 0.00368302 0.42667059] [ 0.01857828 -0.00358104 0.999821 -0.21034609] [ 0. 0. 0. 1. ]] SLAMing on 154.593133365 meters Centerline goodness [0,1] 0.28514539526945715 Centerline is valid? [False, False] Translation: X:2.36, Y:0.43, Z:-0.21 [[ 0.99981516 0.00565092 -0.01837685 2.35972152] [-0.00557881 0.99997655 0.00397278 0.42529363] [ 0.01839887 -0.00386952 0.99982324 -0.21020262] [ 0. 0. 0. 1. ]] SLAMing on 154.623133365 meters Centerline goodness [0,1] 0.2841599025090854 Centerline is valid? [False, False] Translation: X:2.36, Y:0.42, Z:-0.21 [[ 0.99981565 0.00571634 -0.01832998 2.35958011] [-0.0056396 0.99997513 0.00423553 0.42366717] [ 0.01835374 -0.00413138 0.99982302 -0.21012216] [ 0. 0. 0. 1. ]] SLAMing on 154.653133365 meters Centerline goodness [0,1] 0.283441149654843 Centerline is valid? [False, False] Translation: X:2.36, Y:0.42, Z:-0.21 [[ 9.99821626e-01 2.50087432e-03 -1.87206270e-02 2.36094408e+00] [-2.47616624e-03 9.99996033e-01 1.34289543e-03 4.21236821e-01] [ 1.87239111e-02 -1.29630050e-03 9.99823852e-01 -2.10774870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.683133365 meters Centerline goodness [0,1] 0.2802210800232263 Centerline is valid? [False, False] Translation: X:2.36, Y:0.42, Z:-0.21 [[ 9.99816258e-01 2.60128770e-03 -1.89916899e-02 2.36205205e+00] [-2.57114368e-03 9.99995396e-01 1.61146630e-03 4.19659589e-01] [ 1.89957943e-02 -1.56233984e-03 9.99818343e-01 -2.11462262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.713133365 meters Centerline goodness [0,1] 0.280199574184391 Centerline is valid? [False, False] Translation: X:2.36, Y:0.42, Z:-0.21 [[ 9.99811902e-01 2.73819353e-03 -1.92005774e-02 2.36302252e+00] [-2.70205766e-03 9.99994530e-01 1.90771012e-03 4.18095474e-01] [ 1.92056961e-02 -1.85547022e-03 9.99813832e-01 -2.12170688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74313336499998 meters Centerline goodness [0,1] 0.28198399444793854 Centerline is valid? [False, False] Translation: X:2.36, Y:0.42, Z:-0.21 [[ 9.99808585e-01 2.84921961e-03 -1.93565321e-02 2.36376779e+00] [-2.80743883e-03 9.99993671e-01 2.18531600e-03 4.16501715e-01] [ 1.93626361e-02 -2.13055542e-03 9.99810257e-01 -2.12714407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77313336499998 meters Centerline goodness [0,1] 0.2844797486033519 Centerline is valid? [False, False] Translation: X:2.36, Y:0.41, Z:-0.21 [[ 0.99980996 0.00299916 -0.0192628 2.3636595 ] [-0.00295029 0.99999236 0.00256481 0.41422297] [ 0.01927035 -0.00250749 0.99981117 -0.21289328] [ 0. 0. 0. 1. ]] SLAMing on 154.80313336499998 meters Centerline goodness [0,1] 0.2794744777083782 Centerline is valid? [False, False] Translation: X:2.38, Y:0.42, Z:-0.21 [[ 0.99982374 -0.00464617 -0.01819077 2.38195403] [ 0.00472196 0.99998034 0.00412565 0.41825521] [ 0.01817125 -0.00421081 0.99982602 -0.21169082] [ 0. 0. 0. 1. ]] SLAMing on 154.83313336499998 meters Centerline goodness [0,1] 0.2825732722097899 Centerline is valid? [False, False] Translation: X:2.38, Y:0.42, Z:-0.21 [[ 0.99982822 -0.00456331 -0.01796406 2.38131469] [ 0.00464031 0.99998022 0.00424693 0.4177569 ] [ 0.01794433 -0.00432956 0.99982961 -0.21157779] [ 0. 0. 0. 1. ]] SLAMing on 154.86313336499998 meters Centerline goodness [0,1] 0.28268413290535266 Centerline is valid? [False, False] Translation: X:2.38, Y:0.42, Z:-0.21 [[ 0.99983162 -0.00448464 -0.01779371 2.38077992] [ 0.00456298 0.99998006 0.00436472 0.41731668] [ 0.01777378 -0.00444518 0.99983215 -0.21141678] [ 0. 0. 0. 1. ]] SLAMing on 154.89313336499998 meters Centerline goodness [0,1] 0.28212236058473195 Centerline is valid? [False, False] Translation: X:2.38, Y:0.42, Z:-0.21 [[ 0.99983366 -0.00445562 -0.01768616 2.38039344] [ 0.00453396 0.99998008 0.00439149 0.41719764] [ 0.01766624 -0.00447094 0.99983394 -0.2112942 ] [ 0. 0. 0. 1. ]] SLAMing on 154.92313336499998 meters Centerline goodness [0,1] 0.28274221453287196 Centerline is valid? [False, False] Translation: X:2.38, Y:0.42, Z:-0.21 [[ 0.99983579 -0.00444281 -0.01756884 2.38006553] [ 0.00452057 0.99998015 0.00438893 0.41711955] [ 0.01754899 -0.00446763 0.99983602 -0.21128764] [ 0. 0. 0. 1. ]] SLAMing on 154.95313336499999 meters Centerline goodness [0,1] 0.28278554448103643 Centerline is valid? [False, False] Translation: X:2.38, Y:0.42, Z:-0.21 [[ 0.99983255 -0.00439589 -0.01776387 2.38104102] [ 0.00447527 0.99998017 0.0044313 0.41698882] [ 0.01774404 -0.00451006 0.99983239 -0.21210548] [ 0. 0. 0. 1. ]] SLAMing on 154.983133365 meters Centerline goodness [0,1] 0.2791628127083826 Centerline is valid? [False, False] Translation: X:2.40, Y:0.42, Z:-0.21 [[ 0.99984238 0.00325181 -0.01745399 2.40152603] [-0.00319602 0.9999897 0.00322306 0.41505821] [ 0.01746429 -0.00316677 0.99984247 -0.21103158] [ 0. 0. 0. 1. ]] SLAMing on 155.013133365 meters Centerline goodness [0,1] 0.2830721752548193 Centerline is valid? [False, False] Translation: X:2.40, Y:0.42, Z:-0.21 [[ 0.99984335 0.00318462 -0.01741068 2.40137836] [-0.00313099 0.99999027 0.00310617 0.41540007] [ 0.0174204 -0.00305117 0.9998436 -0.21099577] [ 0. 0. 0. 1. ]] SLAMing on 155.043133365 meters Centerline goodness [0,1] 0.28063556398758194 Centerline is valid? [False, False] Translation: X:2.40, Y:0.42, Z:-0.21 [[ 0.99984713 0.00310557 -0.01720702 2.40058986] [-0.00305625 0.99999115 0.00289169 0.41672082] [ 0.01721585 -0.00283866 0.99984777 -0.21056828] [ 0. 0. 0. 1. ]] SLAMing on 155.073133365 meters Centerline goodness [0,1] 0.283532594467231 Centerline is valid? [False, False] Translation: X:2.37, Y:0.42, Z:-0.21 [[ 0.9999057 -0.00346433 -0.01328905 2.37435355] [ 0.00351882 0.99998549 0.0040794 0.42190284] [ 0.01327473 -0.00412578 0.99990338 -0.21092084] [ 0. 0. 0. 1. ]] SLAMing on 155.103133365 meters Centerline goodness [0,1] 0.28153909482852 Centerline is valid? [False, False] Translation: X:2.39, Y:0.42, Z:-0.21 [[ 0.99991647 0.00412132 -0.01225047 2.39317638] [-0.00409068 0.99998845 0.00252509 0.42096709] [ 0.01226073 -0.00247476 0.99992177 -0.20921847] [ 0. 0. 0. 1. ]] SLAMing on 155.133133365 meters Centerline goodness [0,1] 0.28379317836193785 Centerline is valid? [False, False] Translation: X:2.39, Y:0.42, Z:-0.21 [[ 9.99917532e-01 4.01864692e-03 -1.21975014e-02 2.39303721e+00] [-3.98999166e-03 9.99989225e-01 2.37269949e-03 4.21413519e-01] [ 1.22069050e-02 -2.32383589e-03 9.99922793e-01 -2.09230383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.163133365 meters Centerline goodness [0,1] 0.28019073510691095 Centerline is valid? [False, False] Translation: X:2.39, Y:0.42, Z:-0.21 [[ 9.99916673e-01 4.00099844e-03 -1.22735393e-02 2.39319612e+00] [-3.97219709e-03 9.99989302e-01 2.37010192e-03 4.21464831e-01] [ 1.22828907e-02 -2.32115151e-03 9.99921868e-01 -2.09216773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.193133365 meters Centerline goodness [0,1] 0.28303443484302404 Centerline is valid? [False, False] Translation: X:2.39, Y:0.42, Z:-0.21 [[ 9.99916055e-01 3.99485161e-03 -1.23257757e-02 2.39329052e+00] [-3.96578476e-03 9.99989300e-01 2.38175821e-03 4.21478919e-01] [ 1.23351586e-02 -2.33267690e-03 9.99921198e-01 -2.09140004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.223133365 meters Centerline goodness [0,1] 0.2818266180374215 Centerline is valid? [False, False] Translation: X:2.39, Y:0.42, Z:-0.21 [[ 9.99915755e-01 3.99179788e-03 -1.23510167e-02 2.39342702e+00] [-3.96215774e-03 9.99989214e-01 2.42335353e-03 4.21188001e-01] [ 1.23605570e-02 -2.37421270e-03 9.99920787e-01 -2.09212153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.253133365 meters Centerline goodness [0,1] 0.28434878730736723 Centerline is valid? [False, False] Translation: X:2.39, Y:0.42, Z:-0.21 [[ 0.99991659 0.00375986 -0.01235601 2.39375037] [-0.00372994 0.99999006 0.00244397 0.41944748] [ 0.01236508 -0.00239768 0.99992067 -0.20954059] [ 0. 0. 0. 1. ]] SLAMing on 155.283133365 meters Centerline goodness [0,1] 0.28171362976760306 Centerline is valid? [False, False] Translation: X:2.39, Y:0.42, Z:-0.21 [[ 0.9999165 0.00378237 -0.01235659 2.39400417] [-0.00375025 0.99998953 0.0026215 0.41812431] [ 0.01236638 -0.00257494 0.99992022 -0.20986787] [ 0. 0. 0. 1. ]] SLAMing on 155.313133365 meters Centerline goodness [0,1] 0.2835493129239868 Centerline is valid? [False, False] Translation: X:2.39, Y:0.42, Z:-0.21 [[ 0.99991463 0.00386555 -0.01248127 2.39464678] [-0.00383028 0.99998861 0.00284891 0.41700688] [ 0.01249214 -0.00280086 0.99991805 -0.21037002] [ 0. 0. 0. 1. ]] SLAMing on 155.343133365 meters Centerline goodness [0,1] 0.2820785419830766 Centerline is valid? [False, False] Translation: X:2.40, Y:0.41, Z:-0.21 [[ 0.99991101 0.00392311 -0.01275106 2.39587965] [-0.00388304 0.99998745 0.00316573 0.41482958] [ 0.01276332 -0.00311593 0.99991369 -0.21122255] [ 0. 0. 0. 1. ]] SLAMing on 155.373133365 meters Centerline goodness [0,1] 0.28054658919733166 Centerline is valid? [False, False] Translation: X:2.40, Y:0.41, Z:-0.21 [[ 0.9999114 0.00387126 -0.01273638 2.3960127 ] [-0.00383033 0.99998743 0.00323667 0.41359793] [ 0.01274875 -0.0031876 0.99991365 -0.21144435] [ 0. 0. 0. 1. ]] SLAMing on 155.403133365 meters Centerline goodness [0,1] 0.2839238004214002 Centerline is valid? [False, False] Translation: X:2.40, Y:0.41, Z:-0.21 [[ 0.99991246 0.00386214 -0.01265532 2.39583012] [-0.00382067 0.99998726 0.00329956 0.41276856] [ 0.0126679 -0.00325092 0.99991447 -0.21146934] [ 0. 0. 0. 1. ]] SLAMing on 155.433133365 meters Centerline goodness [0,1] 0.2839238004214002 Centerline is valid? [False, False] Translation: X:2.40, Y:0.41, Z:-0.21 [[ 0.99991246 0.00386214 -0.01265532 2.39583012] [-0.00382067 0.99998726 0.00329956 0.41276856] [ 0.0126679 -0.00325092 0.99991447 -0.21146934] [ 0. 0. 0. 1. ]] SLAMing on 155.463133365 meters Centerline goodness [0,1] 0.2791092577864712 Centerline is valid? [False, False] Translation: X:2.40, Y:0.41, Z:-0.21 [[ 0.99991253 0.00390723 -0.01263564 2.39591896] [-0.00386547 0.99998699 0.00332751 0.41283254] [ 0.01264847 -0.00327837 0.99991463 -0.2117283 ] [ 0. 0. 0. 1. ]] SLAMing on 155.49313336499998 meters Centerline goodness [0,1] 0.2829817584507651 Centerline is valid? [False, False] Translation: X:2.40, Y:0.41, Z:-0.21 [[ 0.99991225 0.0039041 -0.01265902 2.39629484] [-0.00386374 0.99998738 0.00321129 0.41377219] [ 0.01267139 -0.0031621 0.99991471 -0.21228995] [ 0. 0. 0. 1. ]] SLAMing on 155.52313336499998 meters Centerline goodness [0,1] 0.28222641427611184 Centerline is valid? [False, False] Translation: X:2.40, Y:0.42, Z:-0.21 [[ 0.99991051 0.00387261 -0.01280501 2.3969986 ] [-0.00383493 0.99998825 0.00296567 0.4153101 ] [ 0.01281634 -0.0029163 0.99991361 -0.21294267] [ 0. 0. 0. 1. ]] SLAMing on 155.55313336499998 meters Centerline goodness [0,1] 0.28130750081177613 Centerline is valid? [False, False] Translation: X:2.40, Y:0.42, Z:-0.21 [[ 0.99990186 0.00397383 -0.01343444 2.39880436] [-0.00394029 0.99998906 0.00252193 0.41873561] [ 0.01344432 -0.00246875 0.99990657 -0.21373463] [ 0. 0. 0. 1. ]] SLAMing on 155.58313336499998 meters Centerline goodness [0,1] 0.2827509730164598 Centerline is valid? [False, False] Translation: X:2.40, Y:0.42, Z:-0.21 [[ 9.99904375e-01 3.91405791e-03 -1.32635149e-02 2.39816356e+00] [-3.88534277e-03 9.99990054e-01 2.19004862e-03 4.20993851e-01] [ 1.32719549e-02 -2.13830590e-03 9.99909637e-01 -2.13477128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61313336499998 meters Centerline goodness [0,1] 0.27954177023668003 Centerline is valid? [False, False] Translation: X:2.40, Y:0.42, Z:-0.21 [[ 9.99909117e-01 3.85358328e-03 -1.29192491e-02 2.39696308e+00] [-3.82953026e-03 9.99990889e-01 1.88601897e-03 4.23173854e-01] [ 1.29263994e-02 -1.83637291e-03 9.99914764e-01 -2.12980848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64313336499998 meters Centerline goodness [0,1] 0.2819485357823601 Centerline is valid? [False, False] Translation: X:2.40, Y:0.43, Z:-0.21 [[ 9.99914028e-01 3.73460191e-03 -1.25693846e-02 2.39577704e+00] [-3.71591614e-03 9.99991956e-01 1.50963652e-03 4.25370187e-01] [ 1.25749214e-02 -1.46279996e-03 9.99919863e-01 -2.12520494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67313336499998 meters Centerline goodness [0,1] 0.2766227071609605 Centerline is valid? [False, False] Translation: X:2.40, Y:0.43, Z:-0.21 [[ 9.99914158e-01 3.40002957e-03 -1.26536767e-02 2.39594184e+00] [-3.39236109e-03 9.99994049e-01 6.27442456e-04 4.29974944e-01] [ 1.26557347e-02 -5.84462755e-04 9.99919742e-01 -2.12612059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70313336499999 meters Centerline goodness [0,1] 0.2831487186209609 Centerline is valid? [False, False] Translation: X:2.35, Y:0.43, Z:-0.21 [[ 9.99872389e-01 3.62571632e-03 -1.55582853e-02 2.35285355e+00] [-3.62299609e-03 9.99993416e-01 2.03023213e-04 4.29667887e-01] [ 1.55589190e-02 -1.46629698e-04 9.99878942e-01 -2.13224841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.733133365 meters Centerline goodness [0,1] 0.2774253409287071 Centerline is valid? [False, False] Translation: X:2.38, Y:0.44, Z:-0.21 [[ 0.99986842 -0.00251817 -0.01602499 2.37506131] [ 0.00256283 0.99999289 0.00276696 0.43650695] [ 0.01601791 -0.00280767 0.99986776 -0.21369899] [ 0. 0. 0. 1. ]] SLAMing on 155.763133365 meters Centerline goodness [0,1] 0.2759786400241161 Centerline is valid? [False, False] Translation: X:2.38, Y:0.44, Z:-0.21 [[ 9.99866700e-01 -2.66923627e-03 -1.61077036e-02 2.37537311e+00] [ 2.70702855e-03 9.99993633e-01 2.32487683e-03 4.39017972e-01] [ 1.61013954e-02 -2.36817093e-03 9.99867560e-01 -2.13940518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.793133365 meters Centerline goodness [0,1] 0.2818110681215493 Centerline is valid? [False, False] Translation: X:2.38, Y:0.44, Z:-0.21 [[ 9.99865624e-01 -3.05577801e-03 -1.61058012e-02 2.37505581e+00] [ 3.07834895e-03 9.99994314e-01 1.37681132e-03 4.43692005e-01] [ 1.61015024e-02 -1.42620559e-03 9.99869345e-01 -2.13663273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.823133365 meters Centerline goodness [0,1] 0.27719464620557366 Centerline is valid? [False, False] Translation: X:2.39, Y:0.44, Z:-0.21 [[ 9.99874700e-01 4.50303396e-03 -1.51758375e-02 2.39436016e+00] [-4.50664457e-03 9.99989824e-01 -2.03728505e-04 4.44635411e-01] [ 1.51747656e-02 2.72095083e-04 9.99884820e-01 -2.11996660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.853133365 meters Centerline goodness [0,1] 0.27520471104042643 Centerline is valid? [False, False] Translation: X:2.39, Y:0.45, Z:-0.21 [[ 9.99875679e-01 4.37604904e-03 -1.51484675e-02 2.39407946e+00] [-4.38441114e-03 9.99990254e-01 -5.18842871e-04 4.46534660e-01] [ 1.51460494e-02 5.85195478e-04 9.99885121e-01 -2.11717479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.883133365 meters Centerline goodness [0,1] 0.27542145388167083 Centerline is valid? [False, False] Translation: X:2.39, Y:0.45, Z:-0.21 [[ 9.99876750e-01 4.28766546e-03 -1.51030316e-02 2.39376561e+00] [-4.29892808e-03 9.99990505e-01 -7.13332962e-04 4.47682317e-01] [ 1.50998296e-02 7.78171890e-04 9.99885688e-01 -2.11396962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.913133365 meters Centerline goodness [0,1] 0.2830118613337993 Centerline is valid? [False, False] Translation: X:2.35, Y:0.45, Z:-0.21 [[ 0.99985703 0.00290695 -0.01665754 2.34714964] [-0.00295206 0.99999204 -0.0026842 0.44609029] [ 0.01664961 0.00273299 0.99985765 -0.2105943 ] [ 0. 0. 0. 1. ]] SLAMing on 155.943133365 meters Centerline goodness [0,1] 0.27933225632740977 Centerline is valid? [False, False] Translation: X:2.37, Y:0.45, Z:-0.21 [[ 9.99852574e-01 -5.46811254e-03 -1.62766405e-02 2.36653047e+00] [ 5.44099945e-03 9.99983736e-01 -1.70958455e-03 4.51196289e-01] [ 1.62857239e-02 1.62077132e-03 9.99866065e-01 -2.09371748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.973133365 meters Centerline goodness [0,1] 0.2812668783891805 Centerline is valid? [False, False] Translation: X:2.37, Y:0.45, Z:-0.21 [[ 9.99851182e-01 -5.43107210e-03 -1.63742582e-02 2.36669018e+00] [ 5.40477919e-03 9.99984034e-01 -1.64957267e-03 4.51194860e-01] [ 1.63829557e-02 1.56082794e-03 9.99864572e-01 -2.09241640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.003133365 meters Centerline goodness [0,1] 0.2798965182709928 Centerline is valid? [False, False] Translation: X:2.37, Y:0.45, Z:-0.21 [[ 9.99849775e-01 -5.32861791e-03 -1.64934542e-02 2.36701708e+00] [ 5.30458983e-03 9.99984805e-01 -1.50023092e-03 4.51029332e-01] [ 1.65011977e-02 1.41251454e-03 9.99862848e-01 -2.09276068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.033133365 meters Centerline goodness [0,1] 0.2793648053853457 Centerline is valid? [False, False] Translation: X:2.37, Y:0.45, Z:-0.21 [[ 9.99848070e-01 -5.24655143e-03 -1.66226103e-02 2.36750284e+00] [ 5.22362328e-03 9.99985345e-01 -1.42245363e-03 4.51113433e-01] [ 1.66298297e-02 1.33540726e-03 9.99860823e-01 -2.09549242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.063133365 meters Centerline goodness [0,1] 0.27934236893705966 Centerline is valid? [False, False] Translation: X:2.37, Y:0.45, Z:-0.21 [[ 9.99847870e-01 -5.25489996e-03 -1.66320032e-02 2.36754212e+00] [ 5.23128234e-03 9.99985246e-01 -1.46319894e-03 4.51327416e-01] [ 1.66394468e-02 1.37596964e-03 9.99860608e-01 -2.09593587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.093133365 meters Centerline goodness [0,1] 0.27770121872443043 Centerline is valid? [False, False] Translation: X:2.37, Y:0.45, Z:-0.21 [[ 9.99849066e-01 -5.22965431e-03 -1.65679120e-02 2.36736377e+00] [ 5.20508097e-03 9.99985289e-01 -1.52596347e-03 4.51918954e-01] [ 1.65756486e-02 1.43949583e-03 9.99861578e-01 -2.09649909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.123133365 meters Centerline goodness [0,1] 0.2826639994781588 Centerline is valid? [False, False] Translation: X:2.35, Y:0.45, Z:-0.21 [[ 0.99986182 0.00342253 -0.01626752 2.34738717] [-0.00346207 0.99999112 -0.00240266 0.44713373] [ 0.01625915 0.00245865 0.99986479 -0.21100211] [ 0. 0. 0. 1. ]] SLAMing on 156.153133365 meters Centerline goodness [0,1] 0.28374439949541086 Centerline is valid? [False, False] Translation: X:2.35, Y:0.45, Z:-0.21 [[ 0.99986423 0.00355804 -0.01608907 2.3469669 ] [-0.00359925 0.99999032 -0.00253275 0.4488665 ] [ 0.0160799 0.00259031 0.99986735 -0.21117558] [ 0. 0. 0. 1. ]] SLAMing on 156.183133365 meters Centerline goodness [0,1] 0.2812472875618436 Centerline is valid? [False, False] Translation: X:2.35, Y:0.45, Z:-0.21 [[ 0.99986392 0.00354937 -0.01611018 2.3471024 ] [-0.00359277 0.99998999 -0.00266597 0.44977549] [ 0.01610056 0.00272349 0.99986667 -0.21141866] [ 0. 0. 0. 1. ]] SLAMing on 156.213133365 meters Centerline goodness [0,1] 0.27883145680394394 Centerline is valid? [False, False] Translation: X:2.37, Y:0.45, Z:-0.21 [[ 9.99865121e-01 -3.06915503e-03 -1.61344145e-02 2.36705433e+00] [ 3.06653900e-03 9.99995281e-01 -1.86877755e-04 4.54796899e-01] [ 1.61349119e-02 1.37375738e-04 9.99869814e-01 -2.10886384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24313336499998 meters Centerline goodness [0,1] 0.2823577995609554 Centerline is valid? [False, False] Translation: X:2.37, Y:0.46, Z:-0.21 [[ 9.99865305e-01 -3.06148379e-03 -1.61244641e-02 2.36686971e+00] [ 3.05814378e-03 9.99995297e-01 -2.31792069e-04 4.55318746e-01] [ 1.61250979e-02 1.82449918e-04 9.99869966e-01 -2.10695009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27313336499998 meters Centerline goodness [0,1] 0.28055465280034664 Centerline is valid? [False, False] Translation: X:2.37, Y:0.46, Z:-0.21 [[ 9.99866058e-01 -3.03688634e-03 -1.60823853e-02 2.36671899e+00] [ 3.03395343e-03 9.99995376e-01 -2.06763001e-04 4.55432042e-01] [ 1.60829388e-02 1.57942098e-04 9.99870649e-01 -2.10576950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30313336499998 meters Centerline goodness [0,1] 0.2782857511671436 Centerline is valid? [False, False] Translation: X:2.37, Y:0.45, Z:-0.21 [[ 9.99866736e-01 -3.07285392e-03 -1.60333304e-02 2.36658499e+00] [ 3.07018170e-03 9.99995269e-01 -1.91278189e-04 4.54886239e-01] [ 1.60338423e-02 1.42027461e-04 9.99871440e-01 -2.10529558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33313336499998 meters Centerline goodness [0,1] 0.28298807555052663 Centerline is valid? [False, False] Translation: X:2.35, Y:0.45, Z:-0.21 [[ 0.99986372 0.0032434 -0.01618702 2.34566345] [-0.00329662 0.99998925 -0.00326205 0.44985935] [ 0.01617627 0.00331497 0.99986366 -0.21103746] [ 0. 0. 0. 1. ]] SLAMing on 156.36313336499998 meters Centerline goodness [0,1] 0.28148821898821896 Centerline is valid? [False, False] Translation: X:2.35, Y:0.45, Z:-0.21 [[ 0.99986232 0.00331555 -0.01625907 2.34599116] [-0.00336812 0.99998919 -0.00320643 0.45016954] [ 0.01624827 0.00326075 0.99986267 -0.2112924 ] [ 0. 0. 0. 1. ]] SLAMing on 156.39313336499998 meters Centerline goodness [0,1] 0.28136840729933366 Centerline is valid? [False, False] Translation: X:2.35, Y:0.45, Z:-0.21 [[ 0.99986292 0.00335139 -0.01621424 2.34591486] [-0.00340487 0.99998885 -0.00327209 0.45110298] [ 0.0162031 0.00332685 0.99986319 -0.21138181] [ 0. 0. 0. 1. ]] SLAMing on 156.42313336499998 meters Centerline goodness [0,1] 0.28250838013147006 Centerline is valid? [False, False] Translation: X:2.35, Y:0.45, Z:-0.21 [[ 0.99986693 0.00333127 -0.01596946 2.34519271] [-0.00338667 0.99998834 -0.0034437 0.45224268] [ 0.0159578 0.00349732 0.99986655 -0.21119874] [ 0. 0. 0. 1. ]] SLAMing on 156.45313336499999 meters Centerline goodness [0,1] 0.2785412717559883 Centerline is valid? [False, False] Translation: X:2.37, Y:0.46, Z:-0.21 [[ 9.99905882e-01 -2.25747025e-03 -1.35325620e-02 2.36553263e+00] [ 2.24936785e-03 9.99997282e-01 -6.13924631e-04 4.57408121e-01] [ 1.35339112e-02 5.83427140e-04 9.99908242e-01 -2.11558755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.483133365 meters Centerline goodness [0,1] 0.27970232959447805 Centerline is valid? [False, False] Translation: X:2.37, Y:0.46, Z:-0.21 [[ 9.99906984e-01 -2.28980712e-03 -1.34454560e-02 2.36520783e+00] [ 2.27899902e-03 9.99997068e-01 -8.19114992e-04 4.58827122e-01] [ 1.34472921e-02 7.88396620e-04 9.99909270e-01 -2.11512892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.513133365 meters Centerline goodness [0,1] 0.2817747617298092 Centerline is valid? [False, False] Translation: X:2.37, Y:0.46, Z:-0.21 [[ 9.99906370e-01 -2.24304263e-03 -1.34988840e-02 2.36556271e+00] [ 2.23146048e-03 9.99997129e-01 -8.73008787e-04 4.59719092e-01] [ 1.35008034e-02 8.42804822e-04 9.99908505e-01 -2.11946811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.543133365 meters Centerline goodness [0,1] 0.28184340587878265 Centerline is valid? [False, False] Translation: X:2.37, Y:0.46, Z:-0.21 [[ 9.99904682e-01 -2.26337413e-03 -1.36200118e-02 2.36630645e+00] [ 2.25099193e-03 9.99997039e-01 -9.24379796e-04 4.60087400e-01] [ 1.36220637e-02 8.93633149e-04 9.99906816e-01 -2.12638624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.573133365 meters Centerline goodness [0,1] 0.2788003020822095 Centerline is valid? [False, False] Translation: X:2.37, Y:0.46, Z:-0.21 [[ 9.99902394e-01 -2.28392472e-03 -1.37835390e-02 2.36712521e+00] [ 2.27169723e-03 9.99997012e-01 -9.02700378e-04 4.59904620e-01] [ 1.37855595e-02 8.71300241e-04 9.99904595e-01 -2.13266506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.603133365 meters Centerline goodness [0,1] 0.2823144010066386 Centerline is valid? [False, False] Translation: X:2.37, Y:0.46, Z:-0.21 [[ 9.99899341e-01 -2.54410693e-03 -1.39583772e-02 2.36756042e+00] [ 2.53066218e-03 9.99996317e-01 -9.80781610e-04 4.59039338e-01] [ 1.39608210e-02 9.45358948e-04 9.99902096e-01 -2.13234459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.633133365 meters Centerline goodness [0,1] 0.28200060808756466 Centerline is valid? [False, False] Translation: X:2.37, Y:0.46, Z:-0.21 [[ 9.99902439e-01 -2.61206032e-03 -1.37218458e-02 2.36670383e+00] [ 2.59975329e-03 9.99996202e-01 -9.14654224e-04 4.58219620e-01] [ 1.37241828e-02 8.78891576e-04 9.99905433e-01 -2.12703370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.663133365 meters Centerline goodness [0,1] 0.28100116214005944 Centerline is valid? [False, False] Translation: X:2.37, Y:0.46, Z:-0.21 [[ 9.99906519e-01 -2.64284480e-03 -1.34152732e-02 2.36561341e+00] [ 2.63305583e-03 9.99996254e-01 -7.47298266e-04 4.57051280e-01] [ 1.34171980e-02 7.11905245e-04 9.99909732e-01 -2.12037602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.693133365 meters Centerline goodness [0,1] 0.2814150516308449 Centerline is valid? [False, False] Translation: X:2.36, Y:0.46, Z:-0.21 [[ 9.99912074e-01 -2.66837430e-03 -1.29893917e-02 2.36430458e+00] [ 2.66150620e-03 9.99996309e-01 -5.46004164e-04 4.55701508e-01] [ 1.29908007e-02 5.11384810e-04 9.99915485e-01 -2.11476996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.723133365 meters Centerline goodness [0,1] 0.28539823008849563 Centerline is valid? [False, False] Translation: X:2.36, Y:0.45, Z:-0.21 [[ 9.99916358e-01 -2.70251545e-03 -1.26480835e-02 2.36358183e+00] [ 2.70175227e-03 9.99996347e-01 -7.74260486e-05 4.52519533e-01] [ 1.26482465e-02 4.32475843e-05 9.99920007e-01 -2.11406586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.753133365 meters Centerline goodness [0,1] 0.28476806810284916 Centerline is valid? [False, False] Translation: X:2.36, Y:0.45, Z:-0.21 [[ 9.99914261e-01 -2.68160531e-03 -1.28171906e-02 2.36433138e+00] [ 2.68367827e-03 9.99996388e-01 1.44536592e-04 4.50910600e-01] [ 1.28167567e-02 -1.78921415e-04 9.99917846e-01 -2.11883595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.783133365 meters Centerline goodness [0,1] 0.28206461678476236 Centerline is valid? [False, False] Translation: X:2.37, Y:0.45, Z:-0.21 [[ 9.99910352e-01 -2.63765197e-03 -1.31274522e-02 2.36544837e+00] [ 2.64254970e-03 9.99996445e-01 3.55758916e-04 4.49508719e-01] [ 1.31264672e-02 -3.90416968e-04 9.99913768e-01 -2.12414511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.813133365 meters Centerline goodness [0,1] 0.28245663425514866 Centerline is valid? [False, False] Translation: X:2.37, Y:0.45, Z:-0.21 [[ 9.99906639e-01 -2.53769163e-03 -1.34266277e-02 2.36663031e+00] [ 2.54585915e-03 9.99996585e-01 5.91251224e-04 4.48183318e-01] [ 1.34250814e-02 -6.25378327e-04 9.99909684e-01 -2.13138079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.843133365 meters Centerline goodness [0,1] 0.2803412175261729 Centerline is valid? [False, False] Translation: X:2.37, Y:0.45, Z:-0.21 [[ 9.99905580e-01 -2.45919747e-03 -1.35197711e-02 2.36715354e+00] [ 2.46866473e-03 9.99996719e-01 6.83608981e-04 4.47853767e-01] [ 1.35180456e-02 -7.16920216e-04 9.99908370e-01 -2.13612266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.873133365 meters Centerline goodness [0,1] 0.28377821627599364 Centerline is valid? [False, False] Translation: X:2.37, Y:0.45, Z:-0.21 [[ 9.99905260e-01 -2.43924790e-03 -1.35469905e-02 2.36750604e+00] [ 2.44919393e-03 9.99996743e-01 7.17645024e-04 4.47621940e-01] [ 1.35451959e-02 -7.50756241e-04 9.99907978e-01 -2.14109804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.903133365 meters Centerline goodness [0,1] 0.2824556830031283 Centerline is valid? [False, False] Translation: X:2.37, Y:0.45, Z:-0.21 [[ 9.99904700e-01 -2.40838805e-03 -1.35937392e-02 2.36805122e+00] [ 2.41915533e-03 9.99996773e-01 7.75688372e-04 4.47324521e-01] [ 1.35918272e-02 -8.08499816e-04 9.99907300e-01 -2.14807663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.933133365 meters Centerline goodness [0,1] 0.28134682469178607 Centerline is valid? [False, False] Translation: X:2.37, Y:0.45, Z:-0.22 [[ 9.99903296e-01 -2.27803509e-03 -1.37189613e-02 2.36867559e+00] [ 2.29191291e-03 9.99996878e-01 9.95942390e-04 4.46527944e-01] [ 1.37166497e-02 -1.02728874e-03 9.99905395e-01 -2.15310132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.963133365 meters Centerline goodness [0,1] 0.28104334251208773 Centerline is valid? [False, False] Translation: X:2.37, Y:0.45, Z:-0.22 [[ 9.99903268e-01 -2.14935206e-03 -1.37416916e-02 2.36894935e+00] [ 2.16759093e-03 9.99996789e-01 1.31250914e-03 4.45090128e-01] [ 1.37388264e-02 -1.34216855e-03 9.99904717e-01 -2.15600046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99313336499998 meters Centerline goodness [0,1] 0.2823958491631027 Centerline is valid? [False, False] Translation: X:2.37, Y:0.44, Z:-0.22 [[ 9.99909760e-01 -2.55121278e-03 -1.31895255e-02 2.36749855e+00] [ 2.57383307e-03 9.99995246e-01 1.69832954e-03 4.40429520e-01] [ 1.31851300e-02 -1.73212392e-03 9.99911572e-01 -2.15113557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02313336499998 meters Centerline goodness [0,1] 0.2823710246584833 Centerline is valid? [False, False] Translation: X:2.37, Y:0.44, Z:-0.22 [[ 9.99911578e-01 -2.81000863e-03 -1.29976677e-02 2.36717018e+00] [ 2.83587390e-03 9.99994035e-01 1.97199037e-03 4.37107436e-01] [ 1.29920488e-02 -2.00867575e-03 9.99913582e-01 -2.15072052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05313336499998 meters Centerline goodness [0,1] 0.2881657976371197 Centerline is valid? [False, False] Translation: X:2.32, Y:0.43, Z:-0.22 [[ 9.99870801e-01 -3.99344245e-03 -1.55702870e-02 2.32342426e+00] [ 4.00703257e-03 9.99991618e-01 8.41724424e-04 4.30027682e-01] [ 1.55667951e-02 -9.04006321e-04 9.99878421e-01 -2.15230283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08313336499998 meters Centerline goodness [0,1] 0.2838092351655013 Centerline is valid? [False, False] Translation: X:2.35, Y:0.43, Z:-0.22 [[ 9.99870625e-01 1.08213987e-03 -1.60487610e-02 2.34645042e+00] [-1.11029198e-03 9.99997860e-01 -1.74535498e-03 4.25427835e-01] [ 1.60468379e-02 1.76294799e-03 9.99869687e-01 -2.15216934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11313336499998 meters Centerline goodness [0,1] 0.2866548934964136 Centerline is valid? [False, False] Translation: X:2.35, Y:0.42, Z:-0.21 [[ 9.99877838e-01 -7.84259812e-04 -1.56107017e-02 2.34537484e+00] [ 7.48037480e-04 9.99997015e-01 -2.32605644e-03 4.16045941e-01] [ 1.56124793e-02 2.31409490e-03 9.99875440e-01 -2.14932612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14313336499998 meters Centerline goodness [0,1] 0.28718639940866997 Centerline is valid? [False, False] Translation: X:2.34, Y:0.41, Z:-0.21 [[ 9.99883953e-01 -8.48779728e-04 -1.52105343e-02 2.34442895e+00] [ 8.23273230e-04 9.99998245e-01 -1.68308009e-03 4.11285074e-01] [ 1.52119362e-02 1.67036235e-03 9.99882897e-01 -2.14738953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17313336499998 meters Centerline goodness [0,1] 0.28645222902287626 Centerline is valid? [False, False] Translation: X:2.34, Y:0.41, Z:-0.21 [[ 9.99890972e-01 -1.03289385e-03 -1.47301427e-02 2.34310996e+00] [ 1.01619669e-03 9.99998833e-01 -1.14097606e-03 4.06306946e-01] [ 1.47313040e-02 1.12588294e-03 9.99890855e-01 -2.14303340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20313336499999 meters Centerline goodness [0,1] 0.2866006572120373 Centerline is valid? [False, False] Translation: X:2.34, Y:0.40, Z:-0.21 [[ 0.99988554 -0.00371538 -0.01466635 2.34165394] [ 0.00367975 0.99999021 -0.00245597 0.39561711] [ 0.01467533 0.00240172 0.99988943 -0.21264835] [ 0. 0. 0. 1. ]] SLAMing on 157.233133365 meters Centerline goodness [0,1] 0.2894977566755238 Centerline is valid? [False, False] Translation: X:2.34, Y:0.39, Z:-0.21 [[ 9.99888742e-01 -3.56038239e-03 -1.44854431e-02 2.34127737e+00] [ 3.53793394e-03 9.99992501e-01 -1.57505583e-03 3.90213370e-01] [ 1.44909423e-02 1.52363205e-03 9.99893840e-01 -2.12594126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.263133365 meters Centerline goodness [0,1] 0.2865112658392077 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:-0.21 [[ 9.99888903e-01 -3.39510857e-03 -1.45139800e-02 2.34159277e+00] [ 3.38464378e-03 9.99993994e-01 -7.45516904e-04 3.84948825e-01] [ 1.45164240e-02 6.96309427e-04 9.99894389e-01 -2.12861730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.293133365 meters Centerline goodness [0,1] 0.286525129982669 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:-0.21 [[ 9.99891099e-01 -3.30976368e-03 -1.43817923e-02 2.34142418e+00] [ 3.30999064e-03 9.99994522e-01 -8.02223958e-06 3.79891848e-01] [ 1.43817401e-02 -3.95822319e-05 9.99896577e-01 -2.12948656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.323133365 meters Centerline goodness [0,1] 0.288863335575275 Centerline is valid? [False, False] Translation: X:2.34, Y:0.37, Z:-0.21 [[ 0.99987716 -0.00684131 -0.01410207 2.3406957 ] [ 0.00680525 0.99997345 -0.00260362 0.37246177] [ 0.0141195 0.00250733 0.99989717 -0.21267168] [ 0. 0. 0. 1. ]] SLAMing on 157.353133365 meters Centerline goodness [0,1] 0.288863335575275 Centerline is valid? [False, False] Translation: X:2.34, Y:0.37, Z:-0.21 [[ 0.99987716 -0.00684131 -0.01410207 2.3406957 ] [ 0.00680525 0.99997345 -0.00260362 0.37246177] [ 0.0141195 0.00250733 0.99989717 -0.21267168] [ 0. 0. 0. 1. ]] SLAMing on 157.383133365 meters Centerline goodness [0,1] 0.2875781871332459 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:-0.21 [[ 9.99911030e-01 7.25496496e-04 -1.33193792e-02 2.35945815e+00] [-7.72157575e-04 9.99993582e-01 -3.49843904e-03 3.65406147e-01] [ 1.33167556e-02 3.50841244e-03 9.99905173e-01 -2.10955049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.413133365 meters Centerline goodness [0,1] 0.2914028909102694 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:-0.21 [[ 9.99912493e-01 9.59446464e-04 -1.31941830e-02 2.35892360e+00] [-9.97589644e-04 9.99995342e-01 -2.88463126e-03 3.62290614e-01] [ 1.31913538e-02 2.89754121e-03 9.99908792e-01 -2.10593126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.443133365 meters Centerline goodness [0,1] 0.29248166259168706 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:-0.21 [[ 9.99912672e-01 1.14735012e-03 -1.31655676e-02 2.35903462e+00] [-1.17868082e-03 9.99996492e-01 -2.37223316e-03 3.59616862e-01] [ 1.31627997e-02 2.38754400e-03 9.99910516e-01 -2.10830549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.473133365 meters Centerline goodness [0,1] 0.2899160575233716 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:-0.21 [[ 9.99908570e-01 1.28299132e-03 -1.34612511e-02 2.36026295e+00] [-1.30856026e-03 9.99997356e-01 -1.89081198e-03 3.56734750e-01] [ 1.34587897e-02 1.90825397e-03 9.99907606e-01 -2.11615967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.503133365 meters Centerline goodness [0,1] 0.2883391455972101 Centerline is valid? [False, False] Translation: X:2.36, Y:0.35, Z:-0.21 [[ 9.99903731e-01 1.33856004e-03 -1.38107461e-02 2.36161853e+00] [-1.35984168e-03 9.99997902e-01 -1.53167181e-03 3.54208795e-01] [ 1.38086669e-02 1.55030478e-03 9.99903454e-01 -2.12440317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.533133365 meters Centerline goodness [0,1] 0.2854276344178821 Centerline is valid? [False, False] Translation: X:2.38, Y:0.35, Z:-0.21 [[ 9.99866594e-01 -7.21070773e-03 -1.46560783e-02 2.38368488e+00] [ 7.20393002e-03 9.99973919e-01 -5.15192255e-04 3.54212791e-01] [ 1.46594109e-02 4.09542162e-04 9.99892461e-01 -2.12146225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.563133365 meters Centerline goodness [0,1] 0.28872735163285235 Centerline is valid? [False, False] Translation: X:2.38, Y:0.35, Z:-0.21 [[ 9.99865720e-01 -7.09242649e-03 -1.47729200e-02 2.38400897e+00] [ 7.09131711e-03 9.99974848e-01 -1.27477063e-04 3.52080067e-01] [ 1.47734525e-02 2.27004853e-05 9.99890866e-01 -2.12216557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.593133365 meters Centerline goodness [0,1] 0.28926644622345976 Centerline is valid? [False, False] Translation: X:2.38, Y:0.35, Z:-0.21 [[ 9.99865517e-01 -7.02171328e-03 -1.48203533e-02 2.38409132e+00] [ 7.02571988e-03 9.99975295e-01 2.18296726e-04 3.50036648e-01] [ 1.48184544e-02 -3.22391020e-04 9.99890149e-01 -2.12139983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.623133365 meters Centerline goodness [0,1] 0.28742812675630103 Centerline is valid? [False, False] Translation: X:2.40, Y:0.34, Z:-0.21 [[ 9.99886825e-01 -1.05913239e-04 -1.50441146e-02 2.40202948e+00] [ 8.88393864e-05 9.99999351e-01 -1.13558281e-03 3.43925669e-01] [ 1.50442251e-02 1.13411778e-03 9.99886186e-01 -2.09743497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.653133365 meters Centerline goodness [0,1] 0.28716201647332784 Centerline is valid? [False, False] Translation: X:2.40, Y:0.34, Z:-0.21 [[ 9.99888194e-01 -6.75481097e-04 -1.49379564e-02 2.40188392e+00] [ 6.61537956e-04 9.99999341e-01 -9.38325088e-04 3.39492078e-01] [ 1.49385803e-02 9.28338153e-04 9.99887982e-01 -2.09848217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.683133365 meters Centerline goodness [0,1] 0.28539784946236557 Centerline is valid? [False, False] Translation: X:2.40, Y:0.34, Z:-0.21 [[ 9.99887216e-01 -6.42142414e-04 -1.50047503e-02 2.40232031e+00] [ 6.34173243e-04 9.99999655e-01 -5.35861918e-04 3.36828725e-01] [ 1.50050892e-02 5.26285870e-04 9.99887279e-01 -2.10257374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.713133365 meters Centerline goodness [0,1] 0.28463063529006116 Centerline is valid? [False, False] Translation: X:2.40, Y:0.33, Z:-0.21 [[ 9.99886896e-01 -5.77697233e-04 -1.50286594e-02 2.40272044e+00] [ 5.75575476e-04 9.99999824e-01 -1.45505657e-04 3.34476128e-01] [ 1.50287408e-02 1.36839072e-04 9.99887053e-01 -2.10778757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74313336499998 meters Centerline goodness [0,1] 0.2869211042389501 Centerline is valid? [False, False] Translation: X:2.40, Y:0.33, Z:-0.21 [[ 9.99889165e-01 -5.58436107e-04 -1.48777251e-02 2.40267791e+00] [ 5.63740189e-04 9.99999779e-01 3.52320197e-04 3.31243470e-01] [ 1.48775251e-02 -3.60668319e-04 9.99889258e-01 -2.11217483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77313336499998 meters Centerline goodness [0,1] 0.2890619900345961 Centerline is valid? [False, False] Translation: X:2.40, Y:0.33, Z:-0.21 [[ 9.99892104e-01 -5.14780253e-04 -1.46804444e-02 2.40218241e+00] [ 5.23542436e-04 9.99999687e-01 5.93024014e-04 3.29726246e-01] [ 1.46801346e-02 -6.00645864e-04 9.99892061e-01 -2.11194354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80313336499998 meters Centerline goodness [0,1] 0.28662117809638965 Centerline is valid? [False, False] Translation: X:2.40, Y:0.33, Z:-0.21 [[ 9.99892812e-01 -4.53585398e-04 -1.46341931e-02 2.40192908e+00] [ 4.66311532e-04 9.99999516e-01 8.66215854e-04 3.28003947e-01] [ 1.46337931e-02 -8.72947099e-04 9.99892539e-01 -2.10984529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83313336499998 meters Centerline goodness [0,1] 0.29293217254007586 Centerline is valid? [False, False] Translation: X:2.36, Y:0.33, Z:-0.21 [[ 9.99858343e-01 -8.46261921e-04 -1.68100494e-02 2.35641103e+00] [ 8.56515448e-04 9.99999452e-01 6.02773923e-04 3.25885364e-01] [ 1.68095301e-02 -6.17086603e-04 9.99858519e-01 -2.10731633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86313336499998 meters Centerline goodness [0,1] 0.289062669237268 Centerline is valid? [False, False] Translation: X:2.38, Y:0.32, Z:-0.21 [[ 9.99849970e-01 5.19156260e-03 -1.65252903e-02 2.37830718e+00] [-5.22308220e-03 9.99984621e-01 -1.86476731e-03 3.22121993e-01] [ 1.65153551e-02 1.95080049e-03 9.99861709e-01 -2.10507429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89313336499998 meters Centerline goodness [0,1] 0.2899354249559716 Centerline is valid? [False, False] Translation: X:2.38, Y:0.32, Z:-0.21 [[ 9.99848202e-01 5.27025988e-03 -1.66071547e-02 2.37861371e+00] [-5.29716316e-03 9.99984727e-01 -1.57640886e-03 3.20403671e-01] [ 1.65985930e-02 1.66414037e-03 9.99860849e-01 -2.10746729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92313336499998 meters Centerline goodness [0,1] 0.29338463556468886 Centerline is valid? [False, False] Translation: X:2.38, Y:0.32, Z:-0.21 [[ 9.99847091e-01 5.38504497e-03 -1.66371610e-02 2.37890155e+00] [-5.40396077e-03 9.99984802e-01 -1.09221346e-03 3.17503880e-01] [ 1.66310265e-02 1.18195302e-03 9.99860996e-01 -2.11121115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95313336499999 meters Centerline goodness [0,1] 0.28669769455568783 Centerline is valid? [False, False] Translation: X:2.40, Y:0.32, Z:-0.21 [[ 9.99871778e-01 -2.91923295e-03 -1.57450171e-02 2.39876427e+00] [ 2.91952425e-03 9.99995738e-01 -4.48382973e-06 3.19032149e-01] [ 1.57449631e-02 -4.14847045e-05 9.99876040e-01 -2.10063492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.983133365 meters Centerline goodness [0,1] 0.28976545379591656 Centerline is valid? [False, False] Translation: X:2.40, Y:0.32, Z:-0.21 [[ 9.99875511e-01 -2.91730648e-03 -1.55064858e-02 2.39804721e+00] [ 2.92132327e-03 9.99995705e-01 2.36394517e-04 3.17157771e-01] [ 1.55057295e-02 -2.81664546e-04 9.99879739e-01 -2.09825218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.013133365 meters Centerline goodness [0,1] 0.28824390033994574 Centerline is valid? [False, False] Translation: X:2.40, Y:0.31, Z:-0.21 [[ 9.99882876e-01 -3.08290645e-03 -1.49909976e-02 2.39644184e+00] [ 3.09281258e-03 9.99995014e-01 6.37666057e-04 3.13199316e-01] [ 1.49889570e-02 -6.83955717e-04 9.99887425e-01 -2.09275764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.043133365 meters Centerline goodness [0,1] 0.2906012514343863 Centerline is valid? [False, False] Translation: X:2.40, Y:0.31, Z:-0.21 [[ 9.99884146e-01 -2.97362182e-03 -1.49282242e-02 2.39634729e+00] [ 2.98904727e-03 9.99995022e-01 1.01110233e-03 3.11207854e-01] [ 1.49251433e-02 -1.05560636e-03 9.99888057e-01 -2.09394595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.073133365 meters Centerline goodness [0,1] 0.2903415270828802 Centerline is valid? [False, False] Translation: X:2.40, Y:0.31, Z:-0.21 [[ 9.99883884e-01 -2.86743584e-03 -1.49664934e-02 2.39662187e+00] [ 2.88856531e-03 9.99994862e-01 1.39035897e-03 3.09161834e-01] [ 1.49624297e-02 -1.43342922e-03 9.99887029e-01 -2.09701412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.103133365 meters Centerline goodness [0,1] 0.291478844101827 Centerline is valid? [False, False] Translation: X:2.40, Y:0.31, Z:-0.21 [[ 9.99886377e-01 -2.76759512e-03 -1.48179903e-02 2.39627934e+00] [ 2.79335540e-03 9.99994623e-01 1.71803160e-03 3.07421782e-01] [ 1.48131558e-02 -1.75922830e-03 9.99888732e-01 -2.09742298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.133133365 meters Centerline goodness [0,1] 0.29329224313159796 Centerline is valid? [False, False] Translation: X:2.39, Y:0.30, Z:-0.21 [[ 9.99896304e-01 -2.85308662e-03 -1.41152714e-02 2.39415202e+00] [ 2.88162219e-03 9.99993845e-01 2.00168470e-03 3.04616331e-01] [ 1.41094735e-02 -2.04215201e-03 9.99898371e-01 -2.08930213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.163133365 meters Centerline goodness [0,1] 0.29371734644597625 Centerline is valid? [False, False] Translation: X:2.39, Y:0.30, Z:-0.21 [[ 9.99897937e-01 -2.84318927e-03 -1.40011681e-02 2.39382125e+00] [ 2.87298214e-03 9.99993651e-01 2.10823063e-03 3.03675260e-01] [ 1.39950851e-02 -2.14824057e-03 9.99899756e-01 -2.08861122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.193133365 meters Centerline goodness [0,1] 0.29008293020041465 Centerline is valid? [False, False] Translation: X:2.41, Y:0.30, Z:-0.21 [[ 9.99883885e-01 5.07748943e-03 -1.43678462e-02 2.41431321e+00] [-5.06059552e-03 9.99986461e-01 1.21192677e-03 2.99031280e-01] [ 1.43738052e-02 -1.13907619e-03 9.99896043e-01 -2.07922305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.223133365 meters Centerline goodness [0,1] 0.2889427131766181 Centerline is valid? [False, False] Translation: X:2.42, Y:0.30, Z:-0.21 [[ 9.99879974e-01 5.11581959e-03 -1.46241318e-02 2.41553721e+00] [-5.09893899e-03 9.99986291e-01 1.19135067e-03 2.99505114e-01] [ 1.46300261e-02 -1.11664012e-03 9.99892352e-01 -2.08854430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.253133365 meters Centerline goodness [0,1] 0.29326659202177874 Centerline is valid? [False, False] Translation: X:2.40, Y:0.30, Z:-0.21 [[ 0.99986542 -0.00263654 -0.01619247 2.39701408] [ 0.00267921 0.999993 0.00261346 0.30425752] [ 0.01618547 -0.00265649 0.99986548 -0.2109453 ] [ 0. 0. 0. 1. ]] SLAMing on 158.283133365 meters Centerline goodness [0,1] 0.29049554613854534 Centerline is valid? [False, False] Translation: X:2.42, Y:0.30, Z:-0.21 [[ 9.99859658e-01 5.25101981e-03 -1.59088334e-02 2.41739801e+00] [-5.23120624e-03 9.99985489e-01 1.28680309e-03 3.01148077e-01] [ 1.59153596e-02 -1.20340011e-03 9.99872618e-01 -2.10108809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.313133365 meters Centerline goodness [0,1] 0.2890845223123293 Centerline is valid? [False, False] Translation: X:2.42, Y:0.30, Z:-0.21 [[ 9.99859511e-01 5.22258032e-03 -1.59274500e-02 2.41734227e+00] [-5.20309543e-03 9.99985664e-01 1.26454650e-03 3.01016094e-01] [ 1.59338259e-02 -1.18149681e-03 9.99872350e-01 -2.10006035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.343133365 meters Centerline goodness [0,1] 0.29212797489320896 Centerline is valid? [False, False] Translation: X:2.42, Y:0.30, Z:-0.21 [[ 9.99860064e-01 5.19004963e-03 -1.59033573e-02 2.41736804e+00] [-5.17090545e-03 9.99985856e-01 1.24466658e-03 3.00936832e-01] [ 1.59095922e-02 -1.16225765e-03 9.99872759e-01 -2.10156363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.373133365 meters Centerline goodness [0,1] 0.2894611142472535 Centerline is valid? [False, False] Translation: X:2.42, Y:0.30, Z:-0.21 [[ 9.99858948e-01 5.13476863e-03 -1.59911869e-02 2.41779560e+00] [-5.11523052e-03 9.99986120e-01 1.26246763e-03 3.00460908e-01] [ 1.59974474e-02 -1.18049095e-03 9.99871336e-01 -2.10563591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.403133365 meters Centerline goodness [0,1] 0.28730285788460286 Centerline is valid? [False, False] Translation: X:2.42, Y:0.30, Z:-0.21 [[ 9.99848439e-01 3.45752651e-03 -1.70629362e-02 2.42248667e+00] [-3.46024415e-03 9.99994005e-01 -1.29750730e-04 2.99521727e-01] [ 1.70623853e-02 1.88772990e-04 9.99854409e-01 -2.13169560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.433133365 meters Centerline goodness [0,1] 0.2897913659624721 Centerline is valid? [False, False] Translation: X:2.40, Y:0.30, Z:-0.21 [[ 9.99826102e-01 -4.95256934e-03 -1.79788044e-02 2.40262664e+00] [ 4.97323173e-03 9.99987023e-01 1.10473523e-03 3.01497748e-01] [ 1.79730998e-02 -1.19395588e-03 9.99837758e-01 -2.14829665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.463133365 meters Centerline goodness [0,1] 0.2879960231693611 Centerline is valid? [False, False] Translation: X:2.42, Y:0.30, Z:-0.21 [[ 9.99832575e-01 1.11465001e-03 -1.82641658e-02 2.42377640e+00] [-1.13282456e-03 9.99998873e-01 -9.84777613e-04 2.96157260e-01] [ 1.82630476e-02 1.00530283e-03 9.99832711e-01 -2.14263499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49313336499998 meters Centerline goodness [0,1] 0.28560938208678 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:-0.21 [[ 9.99838244e-01 6.47523127e-04 -1.79740669e-02 2.42311483e+00] [-6.62798644e-04 9.99999424e-01 -8.43920245e-04 2.93110967e-01] [ 1.79735101e-02 8.55696923e-04 9.99838097e-01 -2.14335767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52313336499998 meters Centerline goodness [0,1] 0.28619390053716864 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:-0.21 [[ 9.99841454e-01 6.63917497e-04 -1.77940084e-02 2.42265458e+00] [-6.75205432e-04 9.99999575e-01 -6.28366911e-04 2.91616402e-01] [ 1.77935837e-02 6.40281897e-04 9.99841477e-01 -2.14322751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55313336499998 meters Centerline goodness [0,1] 0.2851747134871474 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:-0.21 [[ 9.99843366e-01 7.19098822e-04 -1.76840953e-02 2.42216432e+00] [-7.27974056e-04 9.99999612e-01 -4.95444431e-04 2.91097329e-01] [ 1.76837322e-02 5.08240390e-04 9.99843501e-01 -2.13990132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58313336499998 meters Centerline goodness [0,1] 0.28536210885971935 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:-0.21 [[ 9.99844969e-01 7.46840851e-04 -1.75920246e-02 2.42167562e+00] [-7.55547455e-04 9.99999595e-01 -4.88276513e-04 2.91424011e-01] [ 1.75916528e-02 5.01492424e-04 9.99845129e-01 -2.13599146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61313336499998 meters Centerline goodness [0,1] 0.2858287322723828 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:-0.21 [[ 9.99847774e-01 7.16577300e-04 -1.74331851e-02 2.42124182e+00] [-7.27482806e-04 9.99999544e-01 -6.19226507e-04 2.92411763e-01] [ 1.74327334e-02 6.31814587e-04 9.99847839e-01 -2.13511371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64313336499998 meters Centerline goodness [0,1] 0.2895075319918903 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:-0.21 [[ 9.99851275e-01 6.72112287e-04 -1.72330028e-02 2.42084389e+00] [-6.84505874e-04 9.99999511e-01 -7.13289082e-04 2.92801895e-01] [ 1.72325149e-02 7.24979090e-04 9.99851246e-01 -2.13676298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67313336499998 meters Centerline goodness [0,1] 0.2873780091086532 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:-0.21 [[ 9.99851278e-01 6.25923693e-04 -1.72345579e-02 2.42098703e+00] [-6.39890334e-04 9.99999471e-01 -8.04883221e-04 2.93266041e-01] [ 1.72340450e-02 8.15791744e-04 9.99851150e-01 -2.13898834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70313336499999 meters Centerline goodness [0,1] 0.2872827872395608 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:-0.21 [[ 9.99849240e-01 5.84223032e-04 -1.73538500e-02 2.42156362e+00] [-6.00284475e-04 9.99999396e-01 -9.20331648e-04 2.93967202e-01] [ 1.73533019e-02 9.30610146e-04 9.99848987e-01 -2.14344605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.733133365 meters Centerline goodness [0,1] 0.2858875771688508 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:-0.21 [[ 9.99847405e-01 5.49604602e-04 -1.74603920e-02 2.42201663e+00] [-5.67471545e-04 9.99999320e-01 -1.01834613e-03 2.94639336e-01] [ 1.74598205e-02 1.02809901e-03 9.99847037e-01 -2.14679593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.763133365 meters Centerline goodness [0,1] 0.28563409473638757 Centerline is valid? [False, False] Translation: X:2.42, Y:0.30, Z:-0.21 [[ 9.99847898e-01 4.37736466e-04 -1.74352886e-02 2.42209585e+00] [-4.59373398e-04 9.99999129e-01 -1.23699937e-03 2.95629769e-01] [ 1.74347320e-02 1.24482052e-03 9.99847229e-01 -2.14901089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.793133365 meters Centerline goodness [0,1] 0.28635341920982105 Centerline is valid? [False, False] Translation: X:2.42, Y:0.30, Z:-0.21 [[ 9.99857455e-01 1.52076689e-04 -1.68833329e-02 2.42022368e+00] [-1.78348683e-04 9.99998776e-01 -1.55459577e-03 2.96180916e-01] [ 1.68830758e-02 1.55738529e-03 9.99856258e-01 -2.14117757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.823133365 meters Centerline goodness [0,1] 0.284101639625719 Centerline is valid? [False, False] Translation: X:2.42, Y:0.30, Z:-0.21 [[ 9.99860784e-01 9.13499968e-05 -1.66854565e-02 2.41964565e+00] [-1.17070062e-04 9.99998807e-01 -1.54049583e-03 2.95782770e-01] [ 1.66852959e-02 1.54223474e-03 9.99859601e-01 -2.13978214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.853133365 meters Centerline goodness [0,1] 0.28514885561865433 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:-0.21 [[ 9.99861012e-01 6.61840151e-05 -1.66719015e-02 2.41980316e+00] [-9.03639727e-05 9.99998945e-01 -1.44959277e-03 2.94990475e-01] [ 1.66717879e-02 1.45089784e-03 9.99859963e-01 -2.14309671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.883133365 meters Centerline goodness [0,1] 0.28752569512063186 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:-0.21 [[ 9.99860469e-01 -4.33460521e-05 -1.67045245e-02 2.42026621e+00] [ 1.97120075e-05 9.99998999e-01 -1.41499099e-03 2.94079236e-01] [ 1.67045692e-02 1.41446427e-03 9.99859468e-01 -2.14932459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.913133365 meters Centerline goodness [0,1] 0.28760186895577533 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:-0.22 [[ 9.99862515e-01 -6.98759906e-04 -1.65668917e-02 2.42018466e+00] [ 6.69663948e-04 9.99998224e-01 -1.76175386e-03 2.93031094e-01] [ 1.65680934e-02 1.75041740e-03 9.99861208e-01 -2.15393435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.943133365 meters Centerline goodness [0,1] 0.28401554014896224 Centerline is valid? [False, False] Translation: X:2.44, Y:0.29, Z:-0.21 [[ 9.99828307e-01 -9.04740888e-03 -1.61709647e-02 2.44087443e+00] [ 9.03931933e-03 9.99958980e-01 -5.73274753e-04 2.94814643e-01] [ 1.61754880e-02 4.27001812e-04 9.99869077e-01 -2.14325544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.973133365 meters Centerline goodness [0,1] 0.2863538062283737 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:-0.22 [[ 9.99865385e-01 -9.25965378e-04 -1.63815102e-02 2.42216445e+00] [ 8.98546376e-04 9.99998183e-01 -1.68105856e-03 2.90999191e-01] [ 1.63830370e-02 1.66611271e-03 9.99864401e-01 -2.16759736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.003133365 meters Centerline goodness [0,1] 0.2853478748167946 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:-0.22 [[ 9.99861991e-01 -8.61001504e-04 -1.65909128e-02 2.42298763e+00] [ 8.36477209e-04 9.99998547e-01 -1.48505908e-03 2.90059415e-01] [ 1.65921674e-02 1.47097620e-03 9.99861258e-01 -2.17240497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.033133365 meters Centerline goodness [0,1] 0.28576982052998723 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:-0.22 [[ 9.99860775e-01 -8.49673736e-04 -1.66645796e-02 2.42336725e+00] [ 8.26342370e-04 9.99998669e-01 -1.40689308e-03 2.89520719e-01] [ 1.66657528e-02 1.39292656e-03 9.99860146e-01 -2.17563872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.063133365 meters Centerline goodness [0,1] 0.2841626618968601 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:-0.22 [[ 9.99864571e-01 -8.31820960e-04 -1.64361792e-02 2.42261730e+00] [ 8.09354768e-04 9.99998729e-01 -1.37347894e-03 2.89289641e-01] [ 1.64373008e-02 1.35999023e-03 9.99863974e-01 -2.17278144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.093133365 meters Centerline goodness [0,1] 0.28472371302219746 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:-0.22 [[ 9.99866125e-01 -7.79464292e-04 -1.63439364e-02 2.42231088e+00] [ 7.58344011e-04 9.99998870e-01 -1.29839729e-03 2.89187313e-01] [ 1.63449300e-02 1.28582915e-03 9.99865586e-01 -2.17174702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.123133365 meters Centerline goodness [0,1] 0.28643302887003086 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:-0.22 [[ 9.99867439e-01 -7.39543662e-04 -1.62652131e-02 2.42221194e+00] [ 7.19468286e-04 9.99998972e-01 -1.24006915e-03 2.89102411e-01] [ 1.62661135e-02 1.22820246e-03 9.99866944e-01 -2.17332744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.153133365 meters Centerline goodness [0,1] 0.287496462084431 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:-0.22 [[ 9.99865698e-01 -6.97433424e-04 -1.63737578e-02 2.42276690e+00] [ 6.79082237e-04 9.99999135e-01 -1.12630135e-03 2.88423927e-01] [ 1.63745291e-02 1.11503096e-03 9.99865307e-01 -2.17827127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.183133365 meters Centerline goodness [0,1] 0.2850985885141687 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:-0.22 [[ 9.99858590e-01 -6.39645241e-04 -1.68044826e-02 2.42410028e+00] [ 6.25314232e-04 9.99999436e-01 -8.58049303e-04 2.86738857e-01] [ 1.68050220e-02 8.47419884e-04 9.99858427e-01 -2.18396705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.213133365 meters Centerline goodness [0,1] 0.2842048401037165 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:-0.22 [[ 9.99855947e-01 -5.36591446e-04 -1.69646043e-02 2.42463273e+00] [ 5.25536648e-04 9.99999647e-01 -6.56090332e-04 2.85915263e-01] [ 1.69649504e-02 6.47080299e-04 9.99855875e-01 -2.18633704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24313336499998 meters Centerline goodness [0,1] 0.2842048401037165 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:-0.22 [[ 9.99855947e-01 -5.36591446e-04 -1.69646043e-02 2.42463273e+00] [ 5.25536648e-04 9.99999647e-01 -6.56090332e-04 2.85915263e-01] [ 1.69649504e-02 6.47080299e-04 9.99855875e-01 -2.18633704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27313336499998 meters Centerline goodness [0,1] 0.28769150417827294 Centerline is valid? [False, False] Translation: X:2.42, Y:0.29, Z:-0.22 [[ 9.99854627e-01 -4.58111347e-04 -1.70445176e-02 2.42485382e+00] [ 4.49630696e-04 9.99999773e-01 -5.01387693e-04 2.85307894e-01] [ 1.70447435e-02 4.93651066e-04 9.99854606e-01 -2.18693413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30313336499998 meters Centerline goodness [0,1] 0.28199159392175877 Centerline is valid? [False, False] Translation: X:2.42, Y:0.28, Z:-0.22 [[ 9.99854572e-01 -4.51564756e-04 -1.70479138e-02 2.42481100e+00] [ 4.43693438e-04 9.99999793e-01 -4.65496834e-04 2.84983323e-01] [ 1.70481205e-02 4.57865090e-04 9.99854565e-01 -2.18652391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33313336499998 meters Centerline goodness [0,1] 0.2866319444444444 Centerline is valid? [False, False] Translation: X:2.42, Y:0.28, Z:-0.22 [[ 9.99855067e-01 -4.13690987e-04 -1.70198097e-02 2.42455629e+00] [ 4.07172381e-04 9.99999842e-01 -3.86464589e-04 2.84582385e-01] [ 1.70199669e-02 3.79478581e-04 9.99855078e-01 -2.18418302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36313336499998 meters Centerline goodness [0,1] 0.2878071112467572 Centerline is valid? [False, False] Translation: X:2.42, Y:0.28, Z:-0.22 [[ 9.99855054e-01 -3.68446724e-04 -1.70216142e-02 2.42452258e+00] [ 3.63251292e-04 9.99999886e-01 -3.08316411e-04 2.84425157e-01] [ 1.70217258e-02 3.02088599e-04 9.99855074e-01 -2.18408533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39313336499998 meters Centerline goodness [0,1] 0.28559961818812907 Centerline is valid? [False, False] Translation: X:2.42, Y:0.28, Z:-0.22 [[ 9.99856992e-01 -3.20567375e-04 -1.69083752e-02 2.42423134e+00] [ 3.16847263e-04 9.99999925e-01 -2.22694386e-04 2.84099691e-01] [ 1.69084453e-02 2.17305167e-04 9.99857018e-01 -2.18356443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42313336499998 meters Centerline goodness [0,1] 0.28892133998823044 Centerline is valid? [False, False] Translation: X:2.42, Y:0.28, Z:-0.22 [[ 9.99863344e-01 -4.27906004e-04 -1.65260614e-02 2.42309119e+00] [ 4.23691406e-04 9.99999877e-01 -2.58527737e-04 2.83214805e-01] [ 1.65261700e-02 2.51490457e-04 9.99863402e-01 -2.18004498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45313336499999 meters Centerline goodness [0,1] 0.28373978480712425 Centerline is valid? [False, False] Translation: X:2.42, Y:0.28, Z:-0.22 [[ 9.99865449e-01 -4.59441769e-04 -1.63973687e-02 2.42268092e+00] [ 4.56925987e-04 9.99999883e-01 -1.57172077e-04 2.82103963e-01] [ 1.63974390e-02 1.49658545e-04 9.99865542e-01 -2.17917467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.483133365 meters Centerline goodness [0,1] 0.2833333333333333 Centerline is valid? [False, False] Translation: X:2.42, Y:0.28, Z:-0.22 [[ 9.99865556e-01 -3.62923763e-04 -1.63932263e-02 2.42260508e+00] [ 3.66611554e-04 9.99999908e-01 2.21953549e-04 2.80044671e-01] [ 1.63931442e-02 -2.27933654e-04 9.99865597e-01 -2.17935216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.513133365 meters Centerline goodness [0,1] 0.28713973799126635 Centerline is valid? [False, False] Translation: X:2.38, Y:0.28, Z:-0.22 [[ 9.99821353e-01 -7.67815375e-04 -1.88857903e-02 2.37735125e+00] [ 7.69394812e-04 9.99999701e-01 7.63651622e-05 2.80104437e-01] [ 1.88857261e-02 -9.08821489e-05 9.99821645e-01 -2.17825186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.543133365 meters Centerline goodness [0,1] 0.2822495530617959 Centerline is valid? [False, False] Translation: X:2.40, Y:0.28, Z:-0.22 [[ 9.99782233e-01 -9.44083580e-03 -1.86106639e-02 2.39901332e+00] [ 9.46357684e-03 9.99954576e-01 1.13424355e-03 2.78558450e-01] [ 1.85991103e-02 -1.31011999e-03 9.99826163e-01 -2.17004540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.573133365 meters Centerline goodness [0,1] 0.2818975741239892 Centerline is valid? [False, False] Translation: X:2.40, Y:0.27, Z:-0.22 [[ 9.99740655e-01 -1.31391147e-02 -1.86007256e-02 2.39916116e+00] [ 1.31075294e-02 9.99912438e-01 -1.81897259e-03 2.73574600e-01] [ 1.86229966e-02 1.57469129e-03 9.99825337e-01 -2.17167716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.603133365 meters Centerline goodness [0,1] 0.2807835219828605 Centerline is valid? [False, False] Translation: X:2.42, Y:0.27, Z:-0.21 [[ 0.99979235 -0.00642515 -0.01933848 2.41586249] [ 0.00637074 0.99997558 -0.00287402 0.26504621] [ 0.01935648 0.00275022 0.99980886 -0.21476819] [ 0. 0. 0. 1. ]] SLAMing on 159.633133365 meters Centerline goodness [0,1] 0.2861298024744954 Centerline is valid? [False, False] Translation: X:2.40, Y:0.26, Z:-0.22 [[ 9.99843763e-01 1.32460446e-03 -1.76265434e-02 2.39576232e+00] [-1.38931842e-03 9.99992338e-01 -3.65965379e-03 2.58752222e-01] [ 1.76215607e-02 3.68357090e-03 9.99837943e-01 -2.17554550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.663133365 meters Centerline goodness [0,1] 0.2824410996177684 Centerline is valid? [False, False] Translation: X:2.40, Y:0.26, Z:-0.22 [[ 9.99846438e-01 1.42649722e-03 -1.74661113e-02 2.39545570e+00] [-1.48303093e-03 9.99993702e-01 -3.22424127e-03 2.56131713e-01] [ 1.74614019e-02 3.24964894e-03 9.99842257e-01 -2.17766274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.693133365 meters Centerline goodness [0,1] 0.28332035979934267 Centerline is valid? [False, False] Translation: X:2.40, Y:0.25, Z:-0.22 [[ 9.99848063e-01 1.50520111e-03 -1.73662089e-02 2.39526883e+00] [-1.55052074e-03 9.99995427e-01 -2.59647526e-03 2.51540737e-01] [ 1.73622212e-02 2.62300742e-03 9.99845825e-01 -2.17982328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.723133365 meters Centerline goodness [0,1] 0.28469201322429094 Centerline is valid? [False, False] Translation: X:2.40, Y:0.25, Z:-0.22 [[ 9.99848322e-01 1.63643687e-03 -1.73394222e-02 2.39523684e+00] [-1.67606468e-03 9.99996016e-01 -2.27113117e-03 2.49768272e-01] [ 1.73356366e-02 2.29984868e-03 9.99847082e-01 -2.18106432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.753133365 meters Centerline goodness [0,1] 0.2818603039882216 Centerline is valid? [False, False] Translation: X:2.40, Y:0.25, Z:-0.22 [[ 9.99848211e-01 1.75929160e-03 -1.73337622e-02 2.39529748e+00] [-1.79369782e-03 9.99996452e-01 -1.96957829e-03 2.48257097e-01] [ 1.73302356e-02 2.00037086e-03 9.99847819e-01 -2.18238113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.783133365 meters Centerline goodness [0,1] 0.2819566718453306 Centerline is valid? [False, False] Translation: X:2.40, Y:0.25, Z:-0.22 [[ 9.99848859e-01 1.88215870e-03 -1.72834213e-02 2.39539092e+00] [-1.91155825e-03 9.99996754e-01 -1.68466318e-03 2.46867351e-01] [ 1.72801944e-02 1.71744682e-03 9.99849211e-01 -2.18596198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.813133365 meters Centerline goodness [0,1] 0.282926408047838 Centerline is valid? [False, False] Translation: X:2.40, Y:0.24, Z:-0.22 [[ 9.99852751e-01 2.01903419e-03 -1.70411250e-02 2.39514997e+00] [-2.03942465e-03 9.99997225e-01 -1.17925089e-03 2.43553271e-01] [ 1.70386967e-02 1.21383133e-03 9.99854094e-01 -2.19190131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.843133365 meters Centerline goodness [0,1] 0.2805269162056867 Centerline is valid? [False, False] Translation: X:2.40, Y:0.24, Z:-0.22 [[ 9.99852921e-01 2.02750966e-03 -1.70301276e-02 2.39526270e+00] [-2.04436544e-03 9.99997437e-01 -9.72411898e-04 2.41754253e-01] [ 1.70281124e-02 1.00708468e-03 9.99854504e-01 -2.19454534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.873133365 meters Centerline goodness [0,1] 0.28291618977692357 Centerline is valid? [False, False] Translation: X:2.40, Y:0.24, Z:-0.22 [[ 9.99849945e-01 2.08422427e-03 -1.71972013e-02 2.39583126e+00] [-2.09726981e-03 9.99997526e-01 -7.40584652e-04 2.40168259e-01] [ 1.71956152e-02 7.76540695e-04 9.99851843e-01 -2.19786226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.903133365 meters Centerline goodness [0,1] 0.2829231269651957 Centerline is valid? [False, False] Translation: X:2.40, Y:0.24, Z:-0.22 [[ 9.99845571e-01 2.20040429e-03 -1.74353705e-02 2.39671865e+00] [-2.20879357e-03 9.99997454e-01 -4.61921842e-04 2.38896803e-01] [ 1.74343097e-02 5.00361642e-04 9.99847886e-01 -2.20361869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.933133365 meters Centerline goodness [0,1] 0.284475451522462 Centerline is valid? [False, False] Translation: X:2.40, Y:0.24, Z:-0.22 [[ 9.99841229e-01 2.48432712e-03 -1.76449429e-02 2.39750689e+00] [-2.48211778e-03 9.99996909e-01 1.47110031e-04 2.36233516e-01] [ 1.76452538e-02 -1.03289848e-04 9.99844305e-01 -2.20909655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.963133365 meters Centerline goodness [0,1] 0.27815552782200803 Centerline is valid? [False, False] Translation: X:2.42, Y:0.24, Z:-0.22 [[ 9.99844135e-01 -5.65617841e-03 -1.67246462e-02 2.41775759e+00] [ 5.67958715e-03 9.99982956e-01 1.35248860e-03 2.36008152e-01] [ 1.67167112e-02 -1.44726688e-03 9.99859219e-01 -2.19621114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99313336499998 meters Centerline goodness [0,1] 0.283108283562711 Centerline is valid? [False, False] Translation: X:2.42, Y:0.23, Z:-0.22 [[ 9.99847755e-01 -5.54344689e-03 -1.65450296e-02 2.41712456e+00] [ 5.57322376e-03 9.99982931e-01 1.75418227e-03 2.33545387e-01] [ 1.65350230e-02 -1.84612435e-03 9.99861583e-01 -2.19418745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02313336499998 meters Centerline goodness [0,1] 0.2825558689520503 Centerline is valid? [False, False] Translation: X:2.42, Y:0.23, Z:-0.22 [[ 0.99985133 -0.00536879 -0.01638593 2.41643159] [ 0.00541207 0.99998198 0.00259826 0.22838221] [ 0.01637168 -0.00268656 0.99986237 -0.21912029] [ 0. 0. 0. 1. ]] SLAMing on 160.05313336499998 meters Centerline goodness [0,1] 0.2876673124339556 Centerline is valid? [False, False] Translation: X:2.40, Y:0.22, Z:-0.22 [[ 9.99868882e-01 2.84642500e-03 -1.59410462e-02 2.39518383e+00] [-2.81397003e-03 9.99993923e-01 2.05799754e-03 2.22723757e-01] [ 1.59468073e-02 -2.01287008e-03 9.99870816e-01 -2.20653479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08313336499998 meters Centerline goodness [0,1] 0.28360965646118075 Centerline is valid? [False, False] Translation: X:2.42, Y:0.22, Z:-0.22 [[ 0.99987438 -0.00527988 -0.014945 2.41569363] [ 0.00532843 0.99998065 0.00321061 0.22236718] [ 0.01492776 -0.00328984 0.99988316 -0.21955797] [ 0. 0. 0. 1. ]] SLAMing on 160.11313336499998 meters Centerline goodness [0,1] 0.2824814500511348 Centerline is valid? [False, False] Translation: X:2.42, Y:0.22, Z:-0.22 [[ 0.99987597 -0.00516336 -0.01487931 2.41551204] [ 0.00521599 0.99998027 0.00350048 0.2208583 ] [ 0.01486095 -0.00357766 0.99988317 -0.21956038] [ 0. 0. 0. 1. ]] SLAMing on 160.14313336499998 meters Centerline goodness [0,1] 0.2820767767594674 Centerline is valid? [False, False] Translation: X:2.43, Y:0.21, Z:-0.22 [[ 9.99882580e-01 2.54079640e-03 -1.51119568e-02 2.43393707e+00] [-2.50552820e-03 9.99994095e-01 2.35226903e-03 2.13688354e-01] [ 1.51178442e-02 -2.31412939e-03 9.99883041e-01 -2.17718361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17313336499998 meters Centerline goodness [0,1] 0.2831463594230519 Centerline is valid? [False, False] Translation: X:2.43, Y:0.21, Z:-0.22 [[ 0.99988215 0.00278041 -0.01509806 2.43387542] [-0.00273655 0.99999198 0.00292478 0.21069454] [ 0.01510607 -0.00288312 0.99988174 -0.21771026] [ 0. 0. 0. 1. ]] SLAMing on 160.20313336499999 meters Centerline goodness [0,1] 0.2833023074591974 Centerline is valid? [False, False] Translation: X:2.43, Y:0.21, Z:-0.22 [[ 0.99988271 0.00283706 -0.01505063 2.43369536] [-0.00278976 0.99999111 0.00316316 0.20910416] [ 0.01505947 -0.0031208 0.99988173 -0.21768357] [ 0. 0. 0. 1. ]] SLAMing on 160.233133365 meters Centerline goodness [0,1] 0.2820418257549462 Centerline is valid? [False, False] Translation: X:2.43, Y:0.21, Z:-0.22 [[ 0.99988227 0.00290976 -0.0150659 2.43368416] [-0.00285831 0.99999001 0.00343552 0.20735074] [ 0.01507574 -0.00339206 0.9998806 -0.21766206] [ 0. 0. 0. 1. ]] SLAMing on 160.263133365 meters Centerline goodness [0,1] 0.28169623539593247 Centerline is valid? [False, False] Translation: X:2.43, Y:0.21, Z:-0.22 [[ 0.99988275 0.00295351 -0.01502573 2.43341765] [-0.00289812 0.99998893 0.00370678 0.20535352] [ 0.01503651 -0.0036628 0.99988024 -0.21748408] [ 0. 0. 0. 1. ]] SLAMing on 160.293133365 meters Centerline goodness [0,1] 0.2787139260120085 Centerline is valid? [False, False] Translation: X:2.43, Y:0.20, Z:-0.22 [[ 9.99897045e-01 -4.49312666e-04 -1.43421622e-02 2.43111388e+00] [ 4.57262363e-04 9.99999744e-01 5.51014181e-04 2.03398882e-01] [ 1.43419110e-02 -5.57515583e-04 9.99896994e-01 -2.16527773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.323133365 meters Centerline goodness [0,1] 0.2822279333952443 Centerline is valid? [False, False] Translation: X:2.43, Y:0.20, Z:-0.22 [[ 9.99898669e-01 -3.96786644e-04 -1.42300814e-02 2.43073071e+00] [ 4.07444404e-04 9.99999639e-01 7.46068630e-04 2.02147731e-01] [ 1.42297802e-02 -7.51790997e-04 9.99898469e-01 -2.16395222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.353133365 meters Centerline goodness [0,1] 0.2821938554738208 Centerline is valid? [False, False] Translation: X:2.43, Y:0.20, Z:-0.22 [[ 9.99897723e-01 -2.75686803e-04 -1.42992332e-02 2.43094640e+00] [ 2.89887048e-04 9.99999467e-01 9.91014152e-04 2.01241149e-01] [ 1.42989523e-02 -9.95057956e-04 9.99897270e-01 -2.16524604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.383133365 meters Centerline goodness [0,1] 0.28136374405031117 Centerline is valid? [False, False] Translation: X:2.43, Y:0.20, Z:-0.22 [[ 9.99894814e-01 -1.74220501e-04 -1.45027924e-02 2.43170648e+00] [ 1.90695794e-04 9.99999338e-01 1.13463318e-03 2.00871782e-01] [ 1.45025851e-02 -1.13727945e-03 9.99894185e-01 -2.16917491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.413133365 meters Centerline goodness [0,1] 0.2840009542605565 Centerline is valid? [False, False] Translation: X:2.43, Y:0.20, Z:-0.22 [[ 9.99892426e-01 -4.76787813e-05 -1.46674452e-02 2.43220546e+00] [ 6.69170556e-05 9.99999138e-01 1.31114291e-03 2.00495279e-01] [ 1.46673700e-02 -1.31198337e-03 9.99891568e-01 -2.17061894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.443133365 meters Centerline goodness [0,1] 0.2824958920695321 Centerline is valid? [False, False] Translation: X:2.43, Y:0.20, Z:-0.22 [[ 9.99891995e-01 -5.65650474e-05 -1.46968066e-02 2.43235054e+00] [ 7.58690949e-05 9.99999135e-01 1.31293162e-03 2.00213783e-01] [ 1.46967196e-02 -1.31390485e-03 9.99891134e-01 -2.17157693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.473133365 meters Centerline goodness [0,1] 0.28261479069165574 Centerline is valid? [False, False] Translation: X:2.43, Y:0.20, Z:-0.22 [[ 9.99898147e-01 -6.84502718e-05 -1.42720554e-02 2.43094871e+00] [ 8.52255270e-05 9.99999306e-01 1.17478679e-03 2.00890632e-01] [ 1.42719651e-02 -1.17588348e-03 9.99897459e-01 -2.16479669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.503133365 meters Centerline goodness [0,1] 0.2835320011331691 Centerline is valid? [False, False] Translation: X:2.43, Y:0.20, Z:-0.22 [[ 9.99899120e-01 -1.13250093e-04 -1.42033835e-02 2.43072268e+00] [ 1.27720706e-04 9.99999474e-01 1.01791151e-03 2.01799086e-01] [ 1.42032608e-02 -1.01962289e-03 9.99898609e-01 -2.16359130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.533133365 meters Centerline goodness [0,1] 0.285370337944318 Centerline is valid? [False, False] Translation: X:2.43, Y:0.20, Z:-0.22 [[ 9.99897075e-01 -1.24536588e-04 -1.43465684e-02 2.43137075e+00] [ 1.37810669e-04 9.99999563e-01 9.24259448e-04 2.02488694e-01] [ 1.43464471e-02 -9.26141429e-04 9.99896656e-01 -2.16828367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.563133365 meters Centerline goodness [0,1] 0.2855211513301352 Centerline is valid? [False, False] Translation: X:2.43, Y:0.20, Z:-0.22 [[ 9.99893259e-01 -1.60994219e-04 -1.46097707e-02 2.43240823e+00] [ 1.73025555e-04 9.99999647e-01 8.22252775e-04 2.03012509e-01] [ 1.46096331e-02 -8.24692870e-04 9.99892934e-01 -2.17473261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.593133365 meters Centerline goodness [0,1] 0.27834673681033184 Centerline is valid? [False, False] Translation: X:2.43, Y:0.20, Z:-0.22 [[ 9.99889829e-01 -2.01556832e-04 -1.48421665e-02 2.43337226e+00] [ 2.13406815e-04 9.99999660e-01 7.96820345e-04 2.03138033e-01] [ 1.48420009e-02 -7.99899978e-04 9.99889531e-01 -2.18139714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.623133365 meters Centerline goodness [0,1] 0.2796716353424066 Centerline is valid? [False, False] Translation: X:2.43, Y:0.20, Z:-0.22 [[ 9.99890486e-01 -2.17784002e-04 -1.47975989e-02 2.43350619e+00] [ 2.30303768e-04 9.99999617e-01 8.44368610e-04 2.02670387e-01] [ 1.47974094e-02 -8.47684083e-04 9.99890153e-01 -2.18570260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.653133365 meters Centerline goodness [0,1] 0.27721407182403757 Centerline is valid? [False, False] Translation: X:2.43, Y:0.20, Z:-0.22 [[ 9.99888929e-01 -2.36160764e-04 -1.49021768e-02 2.43411799e+00] [ 2.50387793e-04 9.99999515e-01 9.52836164e-04 2.01724774e-01] [ 1.49019446e-02 -9.56461654e-04 9.99888502e-01 -2.19183577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.683133365 meters Centerline goodness [0,1] 0.2793050410519703 Centerline is valid? [False, False] Translation: X:2.44, Y:0.20, Z:-0.22 [[ 9.99885238e-01 -2.35959935e-04 -1.51477977e-02 2.43519726e+00] [ 2.53413626e-04 9.99999306e-01 1.15031720e-03 2.00305745e-01] [ 1.51475157e-02 -1.15402385e-03 9.99884604e-01 -2.20011490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.713133365 meters Centerline goodness [0,1] 0.28002704943065315 Centerline is valid? [False, False] Translation: X:2.44, Y:0.20, Z:-0.22 [[ 9.99882049e-01 -1.85209688e-04 -1.53575392e-02 2.43612936e+00] [ 2.06848186e-04 9.99998988e-01 1.40740563e-03 1.98761965e-01] [ 1.53572630e-02 -1.41041630e-03 9.99881076e-01 -2.20790481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74313336499998 meters Centerline goodness [0,1] 0.2759710050849291 Centerline is valid? [False, False] Translation: X:2.44, Y:0.20, Z:-0.22 [[ 9.99877740e-01 -1.91207519e-04 -1.56355152e-02 2.43698579e+00] [ 2.18198337e-04 9.99998489e-01 1.72456288e-03 1.96552628e-01] [ 1.56351618e-02 -1.72776368e-03 9.99876271e-01 -2.21184597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77313336499998 meters Centerline goodness [0,1] 0.2795931285879554 Centerline is valid? [False, False] Translation: X:2.44, Y:0.20, Z:-0.22 [[ 9.99878707e-01 -1.47154781e-04 -1.55740010e-02 2.43657669e+00] [ 1.75320086e-04 9.99998352e-01 1.80713241e-03 1.96217755e-01] [ 1.55737094e-02 -1.80964365e-03 9.99877085e-01 -2.20807890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80313336499998 meters Centerline goodness [0,1] 0.2756701207501927 Centerline is valid? [False, False] Translation: X:2.48, Y:0.19, Z:-0.22 [[ 9.99912656e-01 1.68167513e-04 -1.32155716e-02 2.47849703e+00] [-1.43319850e-04 9.99998220e-01 1.88110529e-03 1.92844809e-01] [ 1.32158645e-02 -1.87904693e-03 9.99910901e-01 -2.19780392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83313336499998 meters Centerline goodness [0,1] 0.2769383526161284 Centerline is valid? [False, False] Translation: X:2.48, Y:0.19, Z:-0.22 [[ 9.99914615e-01 1.39344731e-04 -1.30669042e-02 2.47793898e+00] [-1.17514896e-04 9.99998596e-01 1.67137316e-03 1.94169942e-01] [ 1.30671187e-02 -1.66969490e-03 9.99913227e-01 -2.19401007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86313336499998 meters Centerline goodness [0,1] 0.2817375344141939 Centerline is valid? [False, False] Translation: X:2.43, Y:0.20, Z:-0.22 [[ 9.99890522e-01 1.75040338e-03 -1.46928282e-02 2.43144303e+00] [-1.71273705e-03 9.99995216e-01 2.57577782e-03 2.01799396e-01] [ 1.46972666e-02 -2.55033088e-03 9.99888737e-01 -2.18698716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89313336499998 meters Centerline goodness [0,1] 0.27812046836785487 Centerline is valid? [False, False] Translation: X:2.43, Y:0.20, Z:-0.22 [[ 9.99891845e-01 1.71074051e-03 -1.46072433e-02 2.43136743e+00] [-1.67836748e-03 9.99996109e-01 2.22820265e-03 2.04123262e-01] [ 1.46109984e-02 -2.20344534e-03 9.99890826e-01 -2.18793871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92313336499998 meters Centerline goodness [0,1] 0.2777512894976377 Centerline is valid? [False, False] Translation: X:2.43, Y:0.21, Z:-0.22 [[ 9.99891070e-01 1.66239614e-03 -1.46657480e-02 2.43164131e+00] [-1.63447746e-03 9.99996830e-01 1.91544585e-03 2.06360888e-01] [ 1.46688858e-02 -1.89126637e-03 9.99890617e-01 -2.18940114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95313336499999 meters Centerline goodness [0,1] 0.2810248372842248 Centerline is valid? [False, False] Translation: X:2.43, Y:0.21, Z:-0.22 [[ 9.99886213e-01 1.51916399e-03 -1.50084250e-02 2.43261075e+00] [-1.50024896e-03 9.99998066e-01 1.27147292e-03 2.10401159e-01] [ 1.50103275e-02 -1.24881187e-03 9.99886559e-01 -2.19083404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.983133365 meters Centerline goodness [0,1] 0.2774600159720274 Centerline is valid? [False, False] Translation: X:2.43, Y:0.21, Z:-0.22 [[ 9.99884793e-01 1.33951564e-03 -1.51197362e-02 2.43291079e+00] [-1.32619118e-03 9.99998723e-01 8.91254661e-04 2.12071180e-01] [ 1.51209108e-02 -8.71100321e-04 9.99885293e-01 -2.19103723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.013133365 meters Centerline goodness [0,1] 0.27835968165159497 Centerline is valid? [False, False] Translation: X:2.43, Y:0.21, Z:-0.22 [[ 9.99885651e-01 1.18602909e-03 -1.50757713e-02 2.43278830e+00] [-1.17859996e-03 9.99999180e-01 5.01661355e-04 2.14052155e-01] [ 1.50763539e-02 -4.83835687e-04 9.99886228e-01 -2.19050048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.043133365 meters Centerline goodness [0,1] 0.27852073054617843 Centerline is valid? [False, False] Translation: X:2.43, Y:0.22, Z:-0.22 [[ 9.99887711e-01 1.05026109e-03 -1.49486562e-02 2.43248581e+00] [-1.04895055e-03 9.99999445e-01 9.55098802e-05 2.16350341e-01] [ 1.49487482e-02 -7.98187543e-05 9.99888258e-01 -2.18979176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.073133365 meters Centerline goodness [0,1] 0.27865284750802644 Centerline is valid? [False, False] Translation: X:2.43, Y:0.22, Z:-0.22 [[ 9.99893465e-01 9.27219291e-04 -1.45670166e-02 2.43147689e+00] [-9.36830138e-04 9.99999348e-01 -6.52957786e-04 2.21717614e-01] [ 1.45664017e-02 6.66535044e-04 9.99893682e-01 -2.18644634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.103133365 meters Centerline goodness [0,1] 0.2790858576030788 Centerline is valid? [False, False] Translation: X:2.43, Y:0.22, Z:-0.22 [[ 9.99894276e-01 7.93523209e-04 -1.45191708e-02 2.43132688e+00] [-8.09739906e-04 9.99999055e-01 -1.11107161e-03 2.24312370e-01] [ 1.45182754e-02 1.12271090e-03 9.99893974e-01 -2.18529441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.133133365 meters Centerline goodness [0,1] 0.28255656799058293 Centerline is valid? [False, False] Translation: X:2.43, Y:0.23, Z:-0.22 [[ 9.99895438e-01 6.15043779e-04 -1.44476643e-02 2.43128673e+00] [-6.38911389e-04 9.99998439e-01 -1.64744720e-03 2.27183139e-01] [ 1.44466285e-02 1.65650571e-03 9.99894270e-01 -2.18646790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.163133365 meters Centerline goodness [0,1] 0.28255656799058293 Centerline is valid? [False, False] Translation: X:2.43, Y:0.23, Z:-0.22 [[ 9.99895438e-01 6.15043779e-04 -1.44476643e-02 2.43128673e+00] [-6.38911389e-04 9.99998439e-01 -1.64744720e-03 2.27183139e-01] [ 1.44466285e-02 1.65650571e-03 9.99894270e-01 -2.18646790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.193133365 meters Centerline goodness [0,1] 0.28425739099921044 Centerline is valid? [False, False] Translation: X:2.43, Y:0.23, Z:-0.22 [[ 9.99895711e-01 4.96328600e-04 -1.44333376e-02 2.43135868e+00] [-5.27096877e-04 9.99997597e-01 -2.12802473e-03 2.30048457e-01] [ 1.44322467e-02 2.13541057e-03 9.99893569e-01 -2.18705209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.223133365 meters Centerline goodness [0,1] 0.281208736498041 Centerline is valid? [False, False] Translation: X:2.45, Y:0.23, Z:-0.22 [[ 9.99893704e-01 -5.09650156e-03 -1.36603655e-02 2.45378188e+00] [ 5.10796619e-03 9.99986631e-01 8.04503572e-04 2.33193630e-01] [ 1.36560827e-02 -8.74194742e-04 9.99906369e-01 -2.18725533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.253133365 meters Centerline goodness [0,1] 0.28080982123626963 Centerline is valid? [False, False] Translation: X:2.45, Y:0.24, Z:-0.22 [[ 9.99909670e-01 -1.63620282e-03 -1.33406948e-02 2.45288991e+00] [ 1.68451553e-03 9.99992061e-01 3.61102168e-03 2.37852319e-01] [ 1.33346806e-02 -3.63316810e-03 9.99904489e-01 -2.18514640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.283133365 meters Centerline goodness [0,1] 0.2833224614046532 Centerline is valid? [False, False] Translation: X:2.45, Y:0.24, Z:-0.22 [[ 9.99909846e-01 -1.81432554e-03 -1.33044533e-02 2.45285517e+00] [ 1.85493189e-03 9.99993658e-01 3.04038276e-03 2.41031385e-01] [ 1.32988527e-02 -3.06478751e-03 9.99906869e-01 -2.18524569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.313133365 meters Centerline goodness [0,1] 0.28396800970978997 Centerline is valid? [False, False] Translation: X:2.45, Y:0.24, Z:-0.22 [[ 9.99908624e-01 -2.00723835e-03 -1.33684514e-02 2.45320862e+00] [ 2.04076636e-03 9.99994806e-01 2.49482570e-03 2.43929636e-01] [ 1.33633742e-02 -2.52187962e-03 9.99907526e-01 -2.18773092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.343133365 meters Centerline goodness [0,1] 0.2794501629226819 Centerline is valid? [False, False] Translation: X:2.45, Y:0.25, Z:-0.22 [[ 9.99906573e-01 -2.12838485e-03 -1.35024185e-02 2.45366736e+00] [ 2.15692363e-03 9.99995470e-01 2.09939513e-03 2.46361462e-01] [ 1.34978891e-02 -2.12832267e-03 9.99906634e-01 -2.18994362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.373133365 meters Centerline goodness [0,1] 0.283208784505109 Centerline is valid? [False, False] Translation: X:2.45, Y:0.25, Z:-0.22 [[ 9.99902408e-01 -2.25836387e-03 -1.37867065e-02 2.45469928e+00] [ 2.28131836e-03 9.99996037e-01 1.64947328e-03 2.49572187e-01] [ 1.37829267e-02 -1.68076417e-03 9.99903598e-01 -2.19558911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.403133365 meters Centerline goodness [0,1] 0.2782288458639329 Centerline is valid? [False, False] Translation: X:2.48, Y:0.25, Z:-0.22 [[ 9.99893179e-01 3.70459549e-03 -1.41388309e-02 2.47736904e+00] [-3.72065048e-03 9.99992463e-01 -1.10938892e-03 2.46971586e-01] [ 1.41346145e-02 1.16187606e-03 9.99899426e-01 -2.19707808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.433133365 meters Centerline goodness [0,1] 0.2773427415885036 Centerline is valid? [False, False] Translation: X:2.48, Y:0.25, Z:-0.22 [[ 9.99891060e-01 3.57406751e-03 -1.43211333e-02 2.47787592e+00] [-3.59243762e-03 9.99992757e-01 -1.25720804e-03 2.47188180e-01] [ 1.43165362e-02 1.30851885e-03 9.99896657e-01 -2.19823169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.463133365 meters Centerline goodness [0,1] 0.2821175091702298 Centerline is valid? [False, False] Translation: X:2.48, Y:0.25, Z:-0.22 [[ 9.99891082e-01 3.48889647e-03 -1.43405308e-02 2.47799496e+00] [-3.50856821e-03 9.99992938e-01 -1.34682845e-03 2.47280841e-01] [ 1.43357306e-02 1.39699649e-03 9.99896262e-01 -2.19987322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49313336499998 meters Centerline goodness [0,1] 0.2816518352516264 Centerline is valid? [False, False] Translation: X:2.48, Y:0.25, Z:-0.22 [[ 9.99893616e-01 3.46639659e-03 -1.41683090e-02 2.47736655e+00] [-3.48639659e-03 9.99992960e-01 -1.38714553e-03 2.47788812e-01] [ 1.41634009e-02 1.43639431e-03 9.99898662e-01 -2.19684091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52313336499998 meters Centerline goodness [0,1] 0.27957569996543385 Centerline is valid? [False, False] Translation: X:2.50, Y:0.25, Z:-0.22 [[ 9.99891336e-01 -4.45949483e-03 -1.40509129e-02 2.49690802e+00] [ 4.45864978e-03 9.99990056e-01 -9.14669996e-05 2.50783207e-01] [ 1.40511811e-02 2.88089608e-05 9.99901277e-01 -2.17832793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55313336499998 meters Centerline goodness [0,1] 0.27817839277593714 Centerline is valid? [False, False] Translation: X:2.50, Y:0.25, Z:-0.22 [[ 9.99891234e-01 -4.43072898e-03 -1.40673076e-02 2.49699778e+00] [ 4.43018780e-03 9.99990184e-01 -6.96326068e-05 2.51003093e-01] [ 1.40674780e-02 7.30421871e-06 9.99901048e-01 -2.17918970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58313336499998 meters Centerline goodness [0,1] 0.2814439049879166 Centerline is valid? [False, False] Translation: X:2.50, Y:0.25, Z:-0.22 [[ 9.99890690e-01 -4.42656171e-03 -1.41072144e-02 2.49713386e+00] [ 4.42581541e-03 9.99990202e-01 -8.41212685e-05 2.51233991e-01] [ 1.41074486e-02 2.16761462e-05 9.99900485e-01 -2.18013792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61313336499998 meters Centerline goodness [0,1] 0.2861293944130143 Centerline is valid? [False, False] Translation: X:2.48, Y:0.25, Z:-0.22 [[ 9.99883895e-01 3.88100877e-03 -1.47354514e-02 2.47757144e+00] [-3.90002078e-03 9.99991599e-01 -1.26170594e-03 2.48590561e-01] [ 1.47304309e-02 1.31902801e-03 9.99890631e-01 -2.19916124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64313336499998 meters Centerline goodness [0,1] 0.2798273581018067 Centerline is valid? [False, False] Translation: X:2.50, Y:0.25, Z:-0.22 [[ 9.99881481e-01 -4.30853439e-03 -1.47804055e-02 2.49855287e+00] [ 4.30574276e-03 9.99990706e-01 -2.20690582e-04 2.50437818e-01] [ 1.47812190e-02 1.57023802e-04 9.99890739e-01 -2.18777738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67313336499998 meters Centerline goodness [0,1] 0.27965181905009984 Centerline is valid? [False, False] Translation: X:2.50, Y:0.25, Z:-0.22 [[ 9.99884057e-01 -4.25236972e-03 -1.46215286e-02 2.49786003e+00] [ 4.25453921e-03 9.99990943e-01 1.17273341e-04 2.48562420e-01] [ 1.46208975e-02 -1.79467611e-04 9.99893093e-01 -2.18393057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70313336499999 meters Centerline goodness [0,1] 0.2749736553474268 Centerline is valid? [False, False] Translation: X:2.52, Y:0.24, Z:-0.22 [[ 9.99901665e-01 2.88139386e-03 -1.37243495e-02 2.51556653e+00] [-2.90097236e-03 9.99994803e-01 -1.40685791e-03 2.41294498e-01] [ 1.37202244e-02 1.44653352e-03 9.99904827e-01 -2.16718583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.733133365 meters Centerline goodness [0,1] 0.2799843814399444 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:-0.22 [[ 9.99904992e-01 2.87721769e-03 -1.34806658e-02 2.51485632e+00] [-2.89285118e-03 9.99995166e-01 -1.14034099e-03 2.39160837e-01] [ 1.34773196e-02 1.17923021e-03 9.99908481e-01 -2.16619335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.763133365 meters Centerline goodness [0,1] 0.2778065630397236 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:-0.22 [[ 9.99907836e-01 2.84655696e-03 -1.32746415e-02 2.51412838e+00] [-2.85826132e-03 9.99995543e-01 -8.62819215e-04 2.36849198e-01] [ 1.32721263e-02 9.00682089e-04 9.99911516e-01 -2.16354332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.793133365 meters Centerline goodness [0,1] 0.2789716289034604 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:-0.22 [[ 9.99915400e-01 2.79319678e-03 -1.27039619e-02 2.51242863e+00] [-2.79883150e-03 9.99995993e-01 -4.25782807e-04 2.33350731e-01] [ 1.27027217e-02 4.61303035e-04 9.99919211e-01 -2.15950482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.823133365 meters Centerline goodness [0,1] 0.280795280751584 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:-0.22 [[ 9.99916085e-01 2.84568874e-03 -1.26382151e-02 2.51215185e+00] [-2.84865149e-03 9.99995919e-01 -2.16432330e-04 2.32080996e-01] [ 1.26375476e-02 2.52416039e-04 9.99920111e-01 -2.15837380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.853133365 meters Centerline goodness [0,1] 0.27726870916970314 Centerline is valid? [False, False] Translation: X:2.53, Y:0.23, Z:-0.21 [[ 9.99922140e-01 -5.28496199e-03 -1.13041145e-02 2.53219758e+00] [ 5.29544875e-03 9.99985576e-01 8.97963592e-04 2.32444992e-01] [ 1.12992058e-02 -9.57754036e-04 9.99935703e-01 -2.14955080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.883133365 meters Centerline goodness [0,1] 0.28190293212235007 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:-0.22 [[ 9.99946322e-01 3.01160356e-03 -9.91382479e-03 2.51029581e+00] [-3.00924978e-03 9.99995440e-01 2.52332175e-04 2.27996060e-01] [ 9.91453951e-03 -2.22485455e-04 9.99950825e-01 -2.16356551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.913133365 meters Centerline goodness [0,1] 0.28040577076979645 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:-0.22 [[ 9.99945922e-01 3.02394620e-03 -9.95035117e-03 2.51055586e+00] [-3.02161535e-03 9.99995404e-01 2.49273895e-04 2.28013710e-01] [ 9.95105922e-03 -2.19194281e-04 9.99950463e-01 -2.16606707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.943133365 meters Centerline goodness [0,1] 0.2804066503370689 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:-0.22 [[ 9.99945575e-01 2.99552913e-03 -9.99371575e-03 2.51089294e+00] [-2.99388342e-03 9.99995502e-01 1.79631007e-04 2.28189684e-01] [ 9.99420889e-03 -1.49701210e-04 9.99950045e-01 -2.16945463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.973133365 meters Centerline goodness [0,1] 0.2766108552489993 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:-0.22 [[ 9.99943663e-01 2.96758958e-03 -1.01913525e-02 2.51169197e+00] [-2.96661694e-03 9.99995593e-01 1.10553809e-04 2.28332025e-01] [ 1.01916357e-02 -8.03137422e-05 9.99948061e-01 -2.17435138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.003133365 meters Centerline goodness [0,1] 0.2787669010275825 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:-0.22 [[ 9.99942753e-01 2.95769143e-03 -1.02831220e-02 2.51212587e+00] [-2.95706215e-03 9.99995625e-01 7.63993465e-05 2.28471079e-01] [ 1.02833030e-02 -4.59871419e-05 9.99947124e-01 -2.17787848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.033133365 meters Centerline goodness [0,1] 0.27770074099753006 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:-0.22 [[ 9.99941746e-01 3.04736380e-03 -1.03546203e-02 2.51260725e+00] [-3.04554112e-03 9.99995344e-01 1.91789518e-04 2.28410130e-01] [ 1.03551566e-02 -1.60242923e-04 9.99946371e-01 -2.18285248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.063133365 meters Centerline goodness [0,1] 0.27992429186790235 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:-0.22 [[ 9.99940152e-01 3.08903159e-03 -1.04952315e-02 2.51324643e+00] [-3.08629650e-03 9.99995199e-01 2.76789166e-04 2.28000622e-01] [ 1.04960361e-02 -2.44381205e-04 9.99944885e-01 -2.18774100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.093133365 meters Centerline goodness [0,1] 0.2758486654573724 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:-0.22 [[ 9.99937131e-01 3.06657689e-03 -1.07856236e-02 2.51441511e+00] [-3.06349937e-03 9.99995262e-01 3.01845755e-04 2.27474849e-01] [ 1.07864982e-02 -2.68785027e-04 9.99941788e-01 -2.19507111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.123133365 meters Centerline goodness [0,1] 0.2763360100430726 Centerline is valid? [False, False] Translation: X:2.52, Y:0.23, Z:-0.22 [[ 9.99935376e-01 3.03532390e-03 -1.09558554e-02 2.51503680e+00] [-3.03193008e-03 9.99995350e-01 3.26368461e-04 2.26826795e-01] [ 1.09567951e-02 -2.93129982e-04 9.99939930e-01 -2.19886935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.153133365 meters Centerline goodness [0,1] 0.2750140225223282 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:-0.22 [[ 9.99934559e-01 3.17019299e-03 -1.09921946e-02 2.51496995e+00] [-3.16382423e-03 9.99994817e-01 5.96730325e-04 2.25526127e-01] [ 1.09940294e-02 -5.61913902e-04 9.99939406e-01 -2.19714240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.183133365 meters Centerline goodness [0,1] 0.2791623399100035 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:-0.22 [[ 9.99933471e-01 3.25427343e-03 -1.10663291e-02 2.51511169e+00] [-3.24635055e-03 9.99994461e-01 7.33831949e-04 2.24958345e-01] [ 1.10686559e-02 -6.97857944e-04 9.99938497e-01 -2.19646368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.213133365 meters Centerline goodness [0,1] 0.2801536883009147 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:-0.22 [[ 9.99932605e-01 3.31591264e-03 -1.11260817e-02 2.51553165e+00] [-3.30644108e-03 9.99994156e-01 8.69580076e-04 2.24125142e-01] [ 1.11289001e-02 -8.32733737e-04 9.99937725e-01 -2.20039580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24313336499998 meters Centerline goodness [0,1] 0.2761776989158895 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:-0.22 [[ 9.99931355e-01 3.26082289e-03 -1.12539815e-02 2.51601537e+00] [-3.25140463e-03 9.99994349e-01 8.55077564e-04 2.23364283e-01] [ 1.12567061e-02 -8.18427620e-04 9.99936306e-01 -2.20308862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27313336499998 meters Centerline goodness [0,1] 0.2755693447956391 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:-0.22 [[ 9.99927969e-01 3.49303507e-03 -1.14828407e-02 2.51689098e+00] [-3.47773468e-03 9.99993038e-01 1.35215443e-03 2.20900211e-01] [ 1.14874839e-02 -1.31212276e-03 9.99933156e-01 -2.20935377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30313336499998 meters Centerline goodness [0,1] 0.2749557636701049 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:-0.22 [[ 9.99926236e-01 3.70914002e-03 -1.15657143e-02 2.51719926e+00] [-3.68896047e-03 9.99991637e-01 1.76561903e-03 2.19409023e-01] [ 1.15721665e-02 -1.72282332e-03 9.99931556e-01 -2.21143940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33313336499998 meters Centerline goodness [0,1] 0.27494749604867175 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:-0.22 [[ 9.99924844e-01 3.86259397e-03 -1.16355805e-02 2.51751395e+00] [-3.83777619e-03 9.99990315e-01 2.15449496e-03 2.17478323e-01] [ 1.16437897e-02 -2.10967828e-03 9.99929983e-01 -2.21426312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36313336499998 meters Centerline goodness [0,1] 0.2735285265918569 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:-0.22 [[ 9.99924412e-01 3.87535287e-03 -1.16684267e-02 2.51759248e+00] [-3.84745446e-03 9.99989689e-01 2.41243082e-03 2.15248948e-01] [ 1.16776554e-02 -2.36735473e-03 9.99929011e-01 -2.21490657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39313336499998 meters Centerline goodness [0,1] 0.27818311719240507 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.22 [[ 9.99940462e-01 2.27948067e-03 -1.06712924e-02 2.51275602e+00] [-2.26955648e-03 9.99996981e-01 9.42007391e-04 2.13953963e-01] [ 1.06734074e-02 -9.17732205e-04 9.99942616e-01 -2.18683978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42313336499998 meters Centerline goodness [0,1] 0.28035093092961694 Centerline is valid? [False, False] Translation: X:2.49, Y:0.22, Z:-0.22 [[ 9.99938515e-01 -5.49482392e-03 -9.63185479e-03 2.49275902e+00] [ 5.51652038e-03 9.99982303e-01 2.22745441e-03 2.19114890e-01] [ 9.61944486e-03 -2.28045177e-03 9.99951132e-01 -2.19943095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45313336499999 meters Centerline goodness [0,1] 0.2778247210486404 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.22 [[ 9.99963334e-01 2.69550195e-03 -8.12801693e-03 2.51132111e+00] [-2.68551241e-03 9.99995626e-01 1.23968992e-03 2.14165002e-01] [ 8.13132296e-03 -1.21781658e-03 9.99966199e-01 -2.18875909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.483133365 meters Centerline goodness [0,1] 0.2820833607690788 Centerline is valid? [False, False] Translation: X:2.49, Y:0.22, Z:-0.22 [[ 0.99996095 -0.00411957 -0.00781895 2.48866513] [ 0.00414726 0.99998517 0.00352863 0.21826069] [ 0.0078043 -0.00356092 0.99996321 -0.2188314 ] [ 0. 0. 0. 1. ]] SLAMing on 162.513133365 meters Centerline goodness [0,1] 0.2792751932961859 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.22 [[ 9.99971425e-01 3.75546522e-03 -6.56091130e-03 2.50739067e+00] [-3.74150168e-03 9.99990712e-01 2.13927242e-03 2.13415354e-01] [ 6.56888433e-03 -2.11466363e-03 9.99976189e-01 -2.17567859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.543133365 meters Centerline goodness [0,1] 0.28241868150982785 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.22 [[ 9.99974767e-01 3.69403612e-03 -6.06787410e-03 2.50558017e+00] [-3.68218846e-03 9.99991295e-01 1.96253489e-03 2.14146410e-01] [ 6.07507095e-03 -1.94014231e-03 9.99979664e-01 -2.16553676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.573133365 meters Centerline goodness [0,1] 0.28481329244688025 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.22 [[ 9.99975262e-01 3.76478946e-03 -5.94150404e-03 2.50509127e+00] [-3.75305617e-03 9.99990988e-01 1.98471633e-03 2.14656481e-01] [ 5.94892253e-03 -1.96236844e-03 9.99980380e-01 -2.16252701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.603133365 meters Centerline goodness [0,1] 0.2802589136882212 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.22 [[ 9.99975771e-01 3.72636634e-03 -5.87969080e-03 2.50500652e+00] [-3.71513297e-03 9.99991255e-01 1.92030390e-03 2.14979380e-01] [ 5.88679514e-03 -1.89841354e-03 9.99980871e-01 -2.16330472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.633133365 meters Centerline goodness [0,1] 0.28170699860724235 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.22 [[ 9.99974271e-01 3.44856173e-03 -6.29009777e-03 2.50666672e+00] [-3.43776885e-03 9.99992602e-01 1.72585953e-03 2.14447916e-01] [ 6.29600297e-03 -1.70419123e-03 9.99978728e-01 -2.17541693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.663133365 meters Centerline goodness [0,1] 0.280185892981237 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.22 [[ 9.99971818e-01 3.38074211e-03 -6.70333209e-03 2.50805514e+00] [-3.36969244e-03 9.99992946e-01 1.65899436e-03 2.14620824e-01] [ 6.70889344e-03 -1.63635943e-03 9.99976156e-01 -2.18224045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.693133365 meters Centerline goodness [0,1] 0.282877009995654 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.22 [[ 9.99969958e-01 3.33937739e-03 -6.99508854e-03 2.50900802e+00] [-3.32897645e-03 9.99993337e-01 1.49800704e-03 2.15772906e-01] [ 7.00004434e-03 -1.47467555e-03 9.99974412e-01 -2.18653094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.723133365 meters Centerline goodness [0,1] 0.28088910154635816 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.22 [[ 9.99969203e-01 3.23374758e-03 -7.15089095e-03 2.50961894e+00] [-3.22520186e-03 9.99994071e-01 1.20626548e-03 2.17369744e-01] [ 7.15474931e-03 -1.18316526e-03 9.99973704e-01 -2.19001065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.753133365 meters Centerline goodness [0,1] 0.2810168975490942 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.22 [[ 9.99970316e-01 2.98649891e-03 -7.10265001e-03 2.50963085e+00] [-2.98221676e-03 9.99995365e-01 6.13409123e-04 2.20239042e-01] [ 7.10444903e-03 -5.92209273e-04 9.99974588e-01 -2.19134751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.783133365 meters Centerline goodness [0,1] 0.28130207995151835 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.22 [[ 9.99972044e-01 2.94090646e-03 -6.87478246e-03 2.50916208e+00] [-2.93741414e-03 9.99995552e-01 5.18031685e-04 2.20713129e-01] [ 6.87627536e-03 -4.97823120e-04 9.99976234e-01 -2.19279723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.813133365 meters Centerline goodness [0,1] 0.28161360299756777 Centerline is valid? [False, False] Translation: X:2.49, Y:0.23, Z:-0.22 [[ 9.99963318e-01 -5.15600617e-03 -6.83948122e-03 2.48918677e+00] [ 5.16765301e-03 9.99985226e-01 1.68630582e-03 2.26564224e-01] [ 6.83068557e-03 -1.72158803e-03 9.99975189e-01 -2.20640772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.843133365 meters Centerline goodness [0,1] 0.2791118277695459 Centerline is valid? [False, False] Translation: X:2.49, Y:0.23, Z:-0.22 [[ 9.99964090e-01 -5.16560604e-03 -6.71822945e-03 2.48903324e+00] [ 5.17753885e-03 9.99985048e-01 1.76000492e-03 2.26048972e-01] [ 6.70903750e-03 -1.79472561e-03 9.99975884e-01 -2.20891245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.873133365 meters Centerline goodness [0,1] 0.27921498661909006 Centerline is valid? [False, False] Translation: X:2.49, Y:0.23, Z:-0.22 [[ 9.99963066e-01 -5.19129661e-03 -6.84960572e-03 2.48965102e+00] [ 5.20419266e-03 9.99984717e-01 1.86626504e-03 2.25182804e-01] [ 6.83981270e-03 -1.90184278e-03 9.99974800e-01 -2.21471451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.903133365 meters Centerline goodness [0,1] 0.28117364746945894 Centerline is valid? [False, False] Translation: X:2.49, Y:0.22, Z:-0.22 [[ 9.99961839e-01 -5.22105792e-03 -7.00434168e-03 2.49045979e+00] [ 5.23462319e-03 9.99984456e-01 1.91976113e-03 2.24747167e-01] [ 6.99420962e-03 -1.95635296e-03 9.99973627e-01 -2.22253839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.933133365 meters Centerline goodness [0,1] 0.2781623118186537 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.22 [[ 9.99965582e-01 2.32224346e-03 -7.96510984e-03 2.51001499e+00] [-2.31372866e-03 9.99996742e-01 1.07805948e-03 2.19663181e-01] [ 7.96758741e-03 -1.05959327e-03 9.99967697e-01 -2.21707037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.963133365 meters Centerline goodness [0,1] 0.2797738147020443 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.22 [[ 9.99965448e-01 2.30335551e-03 -7.98736405e-03 2.51010086e+00] [-2.29596318e-03 9.99996928e-01 9.34548711e-04 2.20747802e-01] [ 7.98949211e-03 -9.16177727e-04 9.99967664e-01 -2.21725455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99313336499998 meters Centerline goodness [0,1] 0.2810960456903693 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.22 [[ 9.99964847e-01 2.20966418e-03 -8.08844684e-03 2.51023238e+00] [-2.20430230e-03 9.99997345e-01 6.71760279e-04 2.22058794e-01] [ 8.08990973e-03 -6.53907283e-04 9.99967062e-01 -2.21510817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02313336499998 meters Centerline goodness [0,1] 0.27722128268505264 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.22 [[ 9.99964074e-01 2.09399762e-03 -8.21382199e-03 2.51059433e+00] [-2.09127831e-03 9.99997756e-01 3.39639984e-04 2.23674255e-01] [ 8.21451476e-03 -3.22450394e-04 9.99966208e-01 -2.21553118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05313336499998 meters Centerline goodness [0,1] 0.27722128268505264 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.22 [[ 9.99964074e-01 2.09399762e-03 -8.21382199e-03 2.51059433e+00] [-2.09127831e-03 9.99997756e-01 3.39639984e-04 2.23674255e-01] [ 8.21451476e-03 -3.22450394e-04 9.99966208e-01 -2.21553118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08313336499998 meters Centerline goodness [0,1] 0.2806366395214287 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:-0.22 [[ 9.99964256e-01 2.16201428e-03 -8.17383181e-03 2.51056870e+00] [-2.16229420e-03 9.99997662e-01 -2.54086391e-05 2.26630368e-01] [ 8.17375777e-03 4.30819600e-05 9.99966593e-01 -2.21559300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11313336499998 meters Centerline goodness [0,1] 0.27810855868534434 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:-0.22 [[ 9.99965753e-01 2.09765930e-03 -8.00582916e-03 2.51013331e+00] [-2.10027131e-03 9.99997744e-01 -3.17870714e-04 2.28378036e-01] [ 8.00514431e-03 3.34674241e-04 9.99967902e-01 -2.21426978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14313336499998 meters Centerline goodness [0,1] 0.28247404693361244 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:-0.22 [[ 9.99967820e-01 2.01970262e-03 -7.76400892e-03 2.50944405e+00] [-2.02461553e-03 9.99997755e-01 -6.24972262e-04 2.30163701e-01] [ 7.76272924e-03 6.40671283e-04 9.99969664e-01 -2.21197407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17313336499998 meters Centerline goodness [0,1] 0.280124075399666 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:-0.22 [[ 9.99969612e-01 1.83245133e-03 -7.57739593e-03 2.50907397e+00] [-1.84140638e-03 9.99997614e-01 -1.17500362e-03 2.33061622e-01] [ 7.57522472e-03 1.18892098e-03 9.99970601e-01 -2.21226664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20313336499999 meters Centerline goodness [0,1] 0.28125611639084014 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:-0.22 [[ 9.99969422e-01 1.77432453e-03 -7.61623177e-03 2.50919168e+00] [-1.78511062e-03 9.99997413e-01 -1.40963377e-03 2.34637010e-01] [ 7.61371092e-03 1.42318648e-03 9.99970003e-01 -2.21235697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.233133365 meters Centerline goodness [0,1] 0.2793246573565653 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:-0.22 [[ 9.99969002e-01 1.70186291e-03 -7.68758867e-03 2.50937975e+00] [-1.71464124e-03 9.99997159e-01 -1.65591776e-03 2.36176723e-01] [ 7.68474869e-03 1.66904789e-03 9.99969079e-01 -2.21232221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.263133365 meters Centerline goodness [0,1] 0.2792345700416089 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:-0.22 [[ 9.99968932e-01 1.64061669e-03 -7.70989680e-03 2.50927134e+00] [-1.65526416e-03 9.99996837e-01 -1.89383016e-03 2.37740793e-01] [ 7.70676536e-03 1.90653323e-03 9.99968485e-01 -2.20949124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.293133365 meters Centerline goodness [0,1] 0.2820618736004522 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:-0.22 [[ 9.99969286e-01 1.55465008e-03 -7.68181786e-03 2.50896625e+00] [-1.57110179e-03 9.99996484e-01 -2.13607161e-03 2.39101156e-01] [ 7.67847001e-03 2.14807492e-03 9.99968213e-01 -2.20568737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.323133365 meters Centerline goodness [0,1] 0.2814554449000847 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:-0.22 [[ 9.99971331e-01 1.37130987e-03 -7.44691790e-03 2.50814007e+00] [-1.39127731e-03 9.99995450e-01 -2.67678411e-03 2.41992509e-01] [ 7.44321331e-03 2.68706810e-03 9.99968689e-01 -2.20100590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.353133365 meters Centerline goodness [0,1] 0.28070784177654406 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:-0.22 [[ 9.99973007e-01 1.31979041e-03 -7.22791112e-03 2.50739303e+00] [-1.34022254e-03 9.99995118e-01 -2.82272359e-03 2.42913811e-01] [ 7.22415043e-03 2.83233441e-03 9.99969894e-01 -2.19747865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.383133365 meters Centerline goodness [0,1] 0.2796606510664018 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:-0.22 [[ 9.99974818e-01 1.27947190e-03 -6.98037493e-03 2.50656477e+00] [-1.29955055e-03 9.99995029e-01 -2.87266532e-03 2.43155562e-01] [ 6.97666474e-03 2.88166433e-03 9.99971511e-01 -2.19388986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.413133365 meters Centerline goodness [0,1] 0.2831835238677023 Centerline is valid? [False, False] Translation: X:2.49, Y:0.25, Z:-0.22 [[ 9.99953372e-01 -7.08914348e-03 -6.55721683e-03 2.48568227e+00] [ 7.07554947e-03 9.99972775e-01 -2.09401800e-03 2.48582992e-01] [ 6.57188311e-03 2.04752445e-03 9.99976309e-01 -2.20292099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.443133365 meters Centerline goodness [0,1] 0.2825983980707949 Centerline is valid? [False, False] Translation: X:2.50, Y:0.24, Z:-0.22 [[ 9.99984848e-01 2.92960088e-04 -5.49702119e-03 2.50416187e+00] [-3.12121215e-04 9.99993878e-01 -3.48519512e-03 2.42813569e-01] [ 5.49596651e-03 3.48685805e-03 9.99978818e-01 -2.19187715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.473133365 meters Centerline goodness [0,1] 0.2842340291777763 Centerline is valid? [False, False] Translation: X:2.50, Y:0.24, Z:-0.22 [[ 9.99985463e-01 2.62083314e-04 -5.38554780e-03 2.50382761e+00] [-2.80251084e-04 9.99994272e-01 -3.37295267e-03 2.41774093e-01] [ 5.38463295e-03 3.37441294e-03 9.99979809e-01 -2.19182649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.503133365 meters Centerline goodness [0,1] 0.28540075498200335 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:-0.22 [[ 9.99935711e-01 -7.38223986e-03 -8.60680196e-03 2.48593425e+00] [ 7.36803512e-03 9.99971443e-01 -1.68095028e-03 2.44122069e-01] [ 8.61896535e-03 1.61742699e-03 9.99961548e-01 -2.20794055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.533133365 meters Centerline goodness [0,1] 0.27924593641105555 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:-0.22 [[ 9.99954074e-01 5.24664172e-04 -9.56941853e-03 2.50718835e+00] [-5.45419169e-04 9.99997505e-01 -2.16640727e-03 2.37839443e-01] [ 9.56825801e-03 2.17152712e-03 9.99951865e-01 -2.20837838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.563133365 meters Centerline goodness [0,1] 0.279202031823214 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:-0.22 [[ 9.99951715e-01 6.43255422e-04 -9.80581679e-03 2.50810775e+00] [-6.64085920e-04 9.99997530e-01 -2.12119212e-03 2.38152415e-01] [ 9.80442810e-03 2.12760161e-03 9.99949672e-01 -2.21350388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.593133365 meters Centerline goodness [0,1] 0.2831212001924507 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:-0.22 [[ 9.99952780e-01 6.57208361e-04 -9.69564554e-03 2.50768037e+00] [-6.78995886e-04 9.99997252e-01 -2.24402483e-03 2.39033304e-01] [ 9.69414410e-03 2.25050217e-03 9.99950478e-01 -2.21015778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.623133365 meters Centerline goodness [0,1] 0.27921923864984366 Centerline is valid? [False, False] Translation: X:2.53, Y:0.24, Z:-0.22 [[ 9.99934485e-01 -7.01557875e-03 -9.04475526e-03 2.52742738e+00] [ 7.00603240e-03 9.99974867e-01 -1.08671099e-03 2.42604967e-01] [ 9.05215185e-03 1.02327194e-03 9.99958505e-01 -2.19526097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.653133365 meters Centerline goodness [0,1] 0.2794178074785354 Centerline is valid? [False, False] Translation: X:2.53, Y:0.24, Z:-0.22 [[ 9.99932803e-01 -7.03387466e-03 -9.21489664e-03 2.52800105e+00] [ 7.02196540e-03 9.99974469e-01 -1.32410943e-03 2.44180202e-01] [ 9.22397500e-03 1.25931377e-03 9.99956665e-01 -2.19743083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.683133365 meters Centerline goodness [0,1] 0.27979353271595564 Centerline is valid? [False, False] Translation: X:2.53, Y:0.25, Z:-0.22 [[ 9.99947582e-01 -3.83702117e-03 -9.49263219e-03 2.53032794e+00] [ 3.85060072e-03 9.99991589e-01 1.41267260e-03 2.46852406e-01] [ 9.48713188e-03 -1.44915089e-03 9.99953946e-01 -2.21869217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.713133365 meters Centerline goodness [0,1] 0.2806583289907938 Centerline is valid? [False, False] Translation: X:2.53, Y:0.25, Z:-0.22 [[ 9.99945313e-01 -3.69774966e-03 -9.78253328e-03 2.53134927e+00] [ 3.70968280e-03 9.99992397e-01 1.20197751e-03 2.49263794e-01] [ 9.77801429e-03 -1.23820188e-03 9.99951427e-01 -2.22366050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74313336499998 meters Centerline goodness [0,1] 0.2809827903452755 Centerline is valid? [False, False] Translation: X:2.53, Y:0.25, Z:-0.22 [[ 9.99944423e-01 -3.57416990e-03 -9.91844553e-03 2.53176853e+00] [ 3.58350922e-03 9.99993152e-01 9.23999370e-04 2.51978712e-01] [ 9.91507508e-03 -9.59490858e-04 9.99950384e-01 -2.22461974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77313336499998 meters Centerline goodness [0,1] 0.27980829429416465 Centerline is valid? [False, False] Translation: X:2.53, Y:0.25, Z:-0.22 [[ 9.99947713e-01 -3.51659196e-03 -9.60236631e-03 2.53084925e+00] [ 3.52227106e-03 9.99993632e-01 5.74580596e-04 2.54848430e-01] [ 9.60028459e-03 -6.08372689e-04 9.99953731e-01 -2.22104444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80313336499998 meters Centerline goodness [0,1] 0.2814641339231503 Centerline is valid? [False, False] Translation: X:2.53, Y:0.26, Z:-0.22 [[ 9.99949787e-01 -3.61316662e-03 -9.34713858e-03 2.52984118e+00] [ 3.61414358e-03 9.99993465e-01 8.76304147e-05 2.57737179e-01] [ 9.34676087e-03 -1.21407915e-04 9.99956311e-01 -2.21429119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83313336499998 meters Centerline goodness [0,1] 0.2834384550360882 Centerline is valid? [False, False] Translation: X:2.53, Y:0.26, Z:-0.22 [[ 9.99951283e-01 -3.83826188e-03 -9.09393293e-03 2.52902630e+00] [ 3.83131198e-03 9.99992355e-01 -7.81533057e-04 2.62473946e-01] [ 9.09686314e-03 7.46653289e-04 9.99958344e-01 -2.20985854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86313336499998 meters Centerline goodness [0,1] 0.28660593053304717 Centerline is valid? [False, False] Translation: X:2.51, Y:0.26, Z:-0.22 [[ 9.99945068e-01 4.58665719e-03 -9.42457422e-03 2.50856987e+00] [-4.60638993e-03 9.99987242e-01 -2.07311386e-03 2.61974622e-01] [ 9.41494532e-03 2.11641324e-03 9.99953439e-01 -2.22343359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89313336499998 meters Centerline goodness [0,1] 0.2838979379656905 Centerline is valid? [False, False] Translation: X:2.53, Y:0.27, Z:-0.22 [[ 9.99954150e-01 -3.27293813e-03 -8.99917671e-03 2.52834419e+00] [ 3.26433608e-03 9.99994201e-01 -9.70392535e-04 2.67275026e-01] [ 9.00230056e-03 9.40971706e-04 9.99959036e-01 -2.20937472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92313336499998 meters Centerline goodness [0,1] 0.2864831750754824 Centerline is valid? [False, False] Translation: X:2.53, Y:0.27, Z:-0.22 [[ 9.99955468e-01 -3.37924601e-03 -8.81146847e-03 2.52788751e+00] [ 3.36813430e-03 9.99993514e-01 -1.27558606e-03 2.68946482e-01] [ 8.81572184e-03 1.24585105e-03 9.99960365e-01 -2.20906228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95313336499999 meters Centerline goodness [0,1] 0.28493245884550233 Centerline is valid? [False, False] Translation: X:2.53, Y:0.27, Z:-0.22 [[ 9.99955754e-01 -3.45331241e-03 -8.75011919e-03 2.52768153e+00] [ 3.44039273e-03 9.99992970e-01 -1.49113669e-03 2.70147928e-01] [ 8.75520704e-03 1.46096686e-03 9.99960605e-01 -2.20799484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.983133365 meters Centerline goodness [0,1] 0.28107149039293755 Centerline is valid? [False, False] Translation: X:2.53, Y:0.27, Z:-0.22 [[ 9.99954693e-01 -3.62104318e-03 -8.80339103e-03 2.52804264e+00] [ 3.60513575e-03 9.99991841e-01 -1.82216415e-03 2.71901298e-01] [ 8.80991734e-03 1.79034417e-03 9.99959589e-01 -2.21195221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.013133365 meters Centerline goodness [0,1] 0.2821397569444445 Centerline is valid? [False, False] Translation: X:2.53, Y:0.27, Z:-0.22 [[ 9.99952501e-01 -3.64502897e-03 -9.03936591e-03 2.52893368e+00] [ 3.62795620e-03 9.99991606e-01 -1.90439264e-03 2.72693930e-01] [ 9.04623160e-03 1.87150776e-03 9.99957331e-01 -2.21744309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.043133365 meters Centerline goodness [0,1] 0.2834989886687401 Centerline is valid? [False, False] Translation: X:2.53, Y:0.27, Z:-0.22 [[ 9.99951517e-01 -3.64180250e-03 -9.14877860e-03 2.52947633e+00] [ 3.62437431e-03 9.99991587e-01 -1.92083300e-03 2.73029694e-01] [ 9.15569693e-03 1.88758127e-03 9.99956304e-01 -2.22199611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.073133365 meters Centerline goodness [0,1] 0.2803189075902599 Centerline is valid? [False, False] Translation: X:2.53, Y:0.27, Z:-0.22 [[ 9.99952818e-01 -3.80155701e-03 -8.93927728e-03 2.52874196e+00] [ 3.78181037e-03 9.99990374e-01 -2.22484248e-03 2.74277122e-01] [ 8.94764909e-03 2.19093085e-03 9.99957569e-01 -2.21807887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.103133365 meters Centerline goodness [0,1] 0.2856086474259988 Centerline is valid? [False, False] Translation: X:2.53, Y:0.28, Z:-0.22 [[ 9.99953334e-01 -3.88608769e-03 -8.84462879e-03 2.52830686e+00] [ 3.86414260e-03 9.99989417e-01 -2.49691430e-03 2.75790536e-01] [ 8.85423841e-03 2.46262087e-03 9.99957768e-01 -2.21440135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.133133365 meters Centerline goodness [0,1] 0.28562070094988534 Centerline is valid? [False, False] Translation: X:2.53, Y:0.28, Z:-0.22 [[ 0.99995391 -0.00390669 -0.00877052 2.5281585 ] [ 0.00388239 0.99998858 -0.00278608 0.27779009] [ 0.0087813 0.0027519 0.99995766 -0.22142146] [ 0. 0. 0. 1. ]] SLAMing on 164.163133365 meters Centerline goodness [0,1] 0.28513278188942104 Centerline is valid? [False, False] Translation: X:2.53, Y:0.28, Z:-0.22 [[ 0.99995366 -0.0038609 -0.00881901 2.52843558] [ 0.00383373 0.99998786 -0.00309535 0.28017167] [ 0.00883085 0.0030614 0.99995632 -0.22159841] [ 0. 0. 0. 1. ]] SLAMing on 164.193133365 meters Centerline goodness [0,1] 0.2848207475209763 Centerline is valid? [False, False] Translation: X:2.53, Y:0.28, Z:-0.22 [[ 0.99995665 -0.00376457 -0.00851624 2.52777556] [ 0.00373478 0.99998686 -0.00351187 0.28351297] [ 0.00852934 0.00347991 0.99995757 -0.22154732] [ 0. 0. 0. 1. ]] SLAMing on 164.223133365 meters Centerline goodness [0,1] 0.2861529749978221 Centerline is valid? [False, False] Translation: X:2.53, Y:0.29, Z:-0.22 [[ 0.99996316 -0.00360824 -0.0077885 2.52592981] [ 0.00357749 0.99998577 -0.0039583 0.28712787] [ 0.00780267 0.00393029 0.99996183 -0.2211664 ] [ 0. 0. 0. 1. ]] SLAMing on 164.253133365 meters Centerline goodness [0,1] 0.28440545387756866 Centerline is valid? [False, False] Translation: X:2.54, Y:0.29, Z:-0.22 [[ 0.99996656 0.00657893 -0.00485843 2.54419936] [-0.00659801 0.99997054 -0.00392271 0.29187135] [ 0.00483248 0.00395464 0.9999805 -0.22026602] [ 0. 0. 0. 1. ]] SLAMing on 164.283133365 meters Centerline goodness [0,1] 0.2865384615384615 Centerline is valid? [False, False] Translation: X:2.54, Y:0.30, Z:-0.22 [[ 0.99996491 0.00666543 -0.00507364 2.54483286] [-0.00668767 0.99996805 -0.00437933 0.29559098] [ 0.00504428 0.0044131 0.99997754 -0.2204012 ] [ 0. 0. 0. 1. ]] SLAMing on 164.313133365 meters Centerline goodness [0,1] 0.2885633063634375 Centerline is valid? [False, False] Translation: X:2.53, Y:0.30, Z:-0.22 [[ 9.99980321e-01 -3.38452662e-04 -6.26448635e-03 2.52692925e+00] [ 3.20826560e-04 9.99995988e-01 -2.81444583e-03 3.04631154e-01] [ 6.26541377e-03 2.81238063e-03 9.99976417e-01 -2.22288452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.343133365 meters Centerline goodness [0,1] 0.2828468336106129 Centerline is valid? [False, False] Translation: X:2.55, Y:0.31, Z:-0.22 [[ 9.99943316e-01 -5.78316246e-03 -8.93974482e-03 2.54977115e+00] [ 5.77475338e-03 9.99982859e-01 -9.66165893e-04 3.13866948e-01] [ 8.94517908e-03 9.14486306e-04 9.99959573e-01 -2.22225664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.373133365 meters Centerline goodness [0,1] 0.28600559689350713 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.22 [[ 9.99943292e-01 -5.91619528e-03 -8.85502804e-03 2.54976076e+00] [ 5.90450074e-03 9.99981662e-01 -1.34622782e-03 3.16014094e-01] [ 8.86283020e-03 1.29386696e-03 9.99959887e-01 -2.22560939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.403133365 meters Centerline goodness [0,1] 0.28930542173951124 Centerline is valid? [False, False] Translation: X:2.53, Y:0.31, Z:-0.22 [[ 9.99958607e-01 2.47794629e-03 -8.75467809e-03 2.52982402e+00] [-2.50144958e-03 9.99993294e-01 -2.67472561e-03 3.14510294e-01] [ 8.74799156e-03 2.69651428e-03 9.99958100e-01 -2.24293892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.433133365 meters Centerline goodness [0,1] 0.28662156263640337 Centerline is valid? [False, False] Translation: X:2.53, Y:0.32, Z:-0.22 [[ 9.99959963e-01 2.40680435e-03 -8.61853837e-03 2.52952499e+00] [-2.43182375e-03 9.99992856e-01 -2.89367267e-03 3.15870631e-01] [ 8.61151230e-03 2.91451558e-03 9.99958673e-01 -2.24303971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.463133365 meters Centerline goodness [0,1] 0.28634956620307794 Centerline is valid? [False, False] Translation: X:2.53, Y:0.32, Z:-0.22 [[ 9.99960647e-01 2.25226188e-03 -8.58091105e-03 2.52973052e+00] [-2.28054918e-03 9.99991993e-01 -3.28818087e-03 3.17850683e-01] [ 8.57343650e-03 3.30762066e-03 9.99957777e-01 -2.24725070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49313336499998 meters Centerline goodness [0,1] 0.2845266885472447 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.22 [[ 9.99952063e-01 -5.63886545e-03 -8.00472186e-03 2.54931667e+00] [ 5.62278873e-03 9.99982133e-01 -2.02949052e-03 3.22636867e-01] [ 8.01602286e-03 1.98438437e-03 9.99965902e-01 -2.23630982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52313336499998 meters Centerline goodness [0,1] 0.2844669216970326 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.22 [[ 9.99954080e-01 -5.61218104e-03 -7.76794100e-03 2.54881046e+00] [ 5.59522482e-03 9.99981920e-01 -2.20285920e-03 3.24123428e-01] [ 7.78016340e-03 2.15929467e-03 9.99967403e-01 -2.23716695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55313336499998 meters Centerline goodness [0,1] 0.28764915948088143 Centerline is valid? [False, False] Translation: X:2.53, Y:0.32, Z:-0.23 [[ 0.99996827 0.00318126 -0.00730289 2.52774851] [-0.00320545 0.99998941 -0.00330378 0.32280028] [ 0.0072923 0.00332708 0.99996788 -0.22532197] [ 0. 0. 0. 1. ]] SLAMing on 164.58313336499998 meters Centerline goodness [0,1] 0.28532667679617973 Centerline is valid? [False, False] Translation: X:2.53, Y:0.32, Z:-0.23 [[ 0.99996764 0.0031883 -0.00738616 2.52804862] [-0.00321488 0.99998839 -0.00358933 0.32468239] [ 0.00737463 0.00361296 0.99996628 -0.22546315] [ 0. 0. 0. 1. ]] SLAMing on 164.61313336499998 meters Centerline goodness [0,1] 0.286234094474464 Centerline is valid? [False, False] Translation: X:2.53, Y:0.33, Z:-0.23 [[ 0.99996028 0.00358949 -0.00815847 2.53008049] [-0.00362121 0.99998593 -0.00387667 0.32800295] [ 0.00814444 0.00390606 0.9999592 -0.22582833] [ 0. 0. 0. 1. ]] SLAMing on 164.64313336499998 meters Centerline goodness [0,1] 0.2870348321174204 Centerline is valid? [False, False] Translation: X:2.53, Y:0.33, Z:-0.23 [[ 0.9999566 0.00372178 -0.00854097 2.5310007 ] [-0.00375658 0.9999847 -0.00406149 0.32990126] [ 0.00852573 0.0040934 0.99995528 -0.22588847] [ 0. 0. 0. 1. ]] SLAMing on 164.67313336499998 meters Centerline goodness [0,1] 0.28777182202466556 Centerline is valid? [False, False] Translation: X:2.53, Y:0.33, Z:-0.23 [[ 0.99995546 0.00382744 -0.00862671 2.5312836 ] [-0.00386389 0.99998366 -0.00421318 0.33149502] [ 0.00861044 0.00424633 0.99995391 -0.22603579] [ 0. 0. 0. 1. ]] SLAMing on 164.70313336499999 meters Centerline goodness [0,1] 0.28782102947262944 Centerline is valid? [False, False] Translation: X:2.53, Y:0.33, Z:-0.23 [[ 0.99995669 0.00387926 -0.00845975 2.53093518] [-0.00391649 0.9999827 -0.00438802 0.33279411] [ 0.00844258 0.00442096 0.99995459 -0.22607327] [ 0. 0. 0. 1. ]] SLAMing on 164.733133365 meters Centerline goodness [0,1] 0.28413244231060364 Centerline is valid? [False, False] Translation: X:2.55, Y:0.34, Z:-0.22 [[ 9.99965973e-01 -2.75545550e-03 -7.77556057e-03 2.54689255e+00] [ 2.73594031e-03 9.99993084e-01 -2.51933343e-03 3.39107113e-01] [ 7.78244870e-03 2.49797424e-03 9.99966596e-01 -2.23535935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.763133365 meters Centerline goodness [0,1] 0.28456265896452126 Centerline is valid? [False, False] Translation: X:2.55, Y:0.34, Z:-0.22 [[ 0.99996737 -0.00269912 -0.00761417 2.54649813] [ 0.00267897 0.99999289 -0.00265535 0.34042386] [ 0.00762128 0.00263486 0.99996749 -0.22356325] [ 0. 0. 0. 1. ]] SLAMing on 164.793133365 meters Centerline goodness [0,1] 0.2889867265316798 Centerline is valid? [False, False] Translation: X:2.53, Y:0.34, Z:-0.23 [[ 0.99995478 0.00595624 -0.0074141 2.52589248] [-0.00598343 0.99997544 -0.00364941 0.33742046] [ 0.00739219 0.00369361 0.99996586 -0.22522445] [ 0. 0. 0. 1. ]] SLAMing on 164.823133365 meters Centerline goodness [0,1] 0.2837594604558368 Centerline is valid? [False, False] Translation: X:2.54, Y:0.34, Z:-0.22 [[ 9.99950468e-01 -3.72175551e-04 -9.94605499e-03 2.54405505e+00] [ 3.47071538e-04 9.99996750e-01 -2.52562401e-03 3.43636662e-01] [ 9.94696264e-03 2.52204692e-03 9.99947347e-01 -2.23330474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.853133365 meters Centerline goodness [0,1] 0.285701861193251 Centerline is valid? [False, False] Translation: X:2.54, Y:0.34, Z:-0.22 [[ 9.99949447e-01 -4.43050909e-04 -1.00452924e-02 2.54450022e+00] [ 4.15648258e-04 9.99996188e-01 -2.72983343e-03 3.44558499e-01] [ 1.00464635e-02 2.72552012e-03 9.99945819e-01 -2.23713077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.883133365 meters Centerline goodness [0,1] 0.28435669342590586 Centerline is valid? [False, False] Translation: X:2.54, Y:0.35, Z:-0.22 [[ 9.99948681e-01 -4.79459077e-04 -1.01195906e-02 2.54484779e+00] [ 4.49375372e-04 9.99995474e-01 -2.97488287e-03 3.46039079e-01] [ 1.01209711e-02 2.97018270e-03 9.99944370e-01 -2.23997281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.913133365 meters Centerline goodness [0,1] 0.28355690177412374 Centerline is valid? [False, False] Translation: X:2.55, Y:0.35, Z:-0.22 [[ 9.99948341e-01 -4.55006046e-04 -1.01542111e-02 2.54505149e+00] [ 4.22172731e-04 9.99994677e-01 -3.23537710e-03 3.48105067e-01] [ 1.01556292e-02 3.23092314e-03 9.99943211e-01 -2.24219563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.943133365 meters Centerline goodness [0,1] 0.28392597574469003 Centerline is valid? [False, False] Translation: X:2.54, Y:0.35, Z:-0.22 [[ 9.99951998e-01 -4.79210554e-05 -9.79796756e-03 2.54420649e+00] [ 1.54049338e-05 9.99994493e-01 -3.31870839e-03 3.51041213e-01] [ 9.79807264e-03 3.31839815e-03 9.99946492e-01 -2.24227316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.973133365 meters Centerline goodness [0,1] 0.28392597574469003 Centerline is valid? [False, False] Translation: X:2.54, Y:0.35, Z:-0.22 [[ 9.99951998e-01 -4.79210554e-05 -9.79796756e-03 2.54420649e+00] [ 1.54049338e-05 9.99994493e-01 -3.31870839e-03 3.51041213e-01] [ 9.79807264e-03 3.31839815e-03 9.99946492e-01 -2.24227316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.003133365 meters Centerline goodness [0,1] 0.2839573003053072 Centerline is valid? [False, False] Translation: X:2.54, Y:0.35, Z:-0.22 [[ 9.99953987e-01 -5.56221471e-05 -9.59273573e-03 2.54377710e+00] [ 2.32741213e-05 9.99994314e-01 -3.37221636e-03 3.51338992e-01] [ 9.59286875e-03 3.37183793e-03 9.99948302e-01 -2.24318076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.033133365 meters Centerline goodness [0,1] 0.2827632259176288 Centerline is valid? [False, False] Translation: X:2.54, Y:0.35, Z:-0.22 [[ 9.99955286e-01 -8.83875894e-05 -9.45613976e-03 2.54358975e+00] [ 5.67503125e-05 9.99994401e-01 -3.34590227e-03 3.50672407e-01] [ 9.45638255e-03 3.34521602e-03 9.99949692e-01 -2.24563909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.063133365 meters Centerline goodness [0,1] 0.2858137510879025 Centerline is valid? [False, False] Translation: X:2.54, Y:0.35, Z:-0.22 [[ 9.99955498e-01 -1.10413811e-04 -9.43347352e-03 2.54370017e+00] [ 7.97021500e-05 9.99994696e-01 -3.25591862e-03 3.49606176e-01] [ 9.43378299e-03 3.25502186e-03 9.99950203e-01 -2.24849662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.093133365 meters Centerline goodness [0,1] 0.28540394934069035 Centerline is valid? [False, False] Translation: X:2.54, Y:0.35, Z:-0.23 [[ 9.99955358e-01 1.17400976e-05 -9.44891756e-03 2.54396400e+00] [-3.95555738e-05 9.99995667e-01 -2.94359233e-03 3.48031964e-01] [ 9.44884206e-03 2.94383468e-03 9.99951025e-01 -2.25225813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.123133365 meters Centerline goodness [0,1] 0.2847984752994174 Centerline is valid? [False, False] Translation: X:2.54, Y:0.35, Z:-0.23 [[ 9.99955850e-01 2.94226129e-04 -9.39209131e-03 2.54403736e+00] [-3.16389399e-04 9.99997169e-01 -2.35838158e-03 3.45645102e-01] [ 9.39137082e-03 2.36124901e-03 9.99953112e-01 -2.25565506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.153133365 meters Centerline goodness [0,1] 0.28548713815861126 Centerline is valid? [False, False] Translation: X:2.54, Y:0.34, Z:-0.23 [[ 9.99956399e-01 3.86125027e-04 -9.33011295e-03 2.54394984e+00] [-4.06330348e-04 9.99997576e-01 -2.16380454e-03 3.44684189e-01] [ 9.32925484e-03 2.16750130e-03 9.99954132e-01 -2.25666755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.183133365 meters Centerline goodness [0,1] 0.2808154506437768 Centerline is valid? [False, False] Translation: X:2.56, Y:0.35, Z:-0.22 [[ 9.99934715e-01 -7.34067516e-03 -8.75668068e-03 2.56360789e+00] [ 7.33400319e-03 9.99972791e-01 -7.93797510e-04 3.48091925e-01] [ 8.76226942e-03 7.29524163e-04 9.99961344e-01 -2.24968297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.213133365 meters Centerline goodness [0,1] 0.2808377415524128 Centerline is valid? [False, False] Translation: X:2.54, Y:0.34, Z:-0.23 [[ 9.99956558e-01 1.17131097e-03 -9.24714448e-03 2.54397788e+00] [-1.18952845e-03 9.99997362e-01 -1.96481122e-03 3.44063211e-01] [ 9.24481869e-03 1.97572561e-03 9.99955314e-01 -2.26854497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24313336499998 meters Centerline goodness [0,1] 0.283058705731264 Centerline is valid? [False, False] Translation: X:2.55, Y:0.34, Z:-0.23 [[ 9.99948991e-01 2.23593948e-03 -9.84967841e-03 2.54599498e+00] [-2.24896208e-03 9.99996611e-01 -1.31125681e-03 3.44959806e-01] [ 9.84671314e-03 1.33334148e-03 9.99950631e-01 -2.27890325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27313336499998 meters Centerline goodness [0,1] 0.2821989870225855 Centerline is valid? [False, False] Translation: X:2.55, Y:0.35, Z:-0.23 [[ 9.99946560e-01 2.37675011e-03 -1.00612683e-02 2.54666204e+00] [-2.39142689e-03 9.99996094e-01 -1.44696058e-03 3.46410244e-01] [ 1.00577899e-02 1.47094404e-03 9.99948337e-01 -2.28238577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30313336499998 meters Centerline goodness [0,1] 0.2797774939936365 Centerline is valid? [False, False] Translation: X:2.55, Y:0.35, Z:-0.23 [[ 9.99944966e-01 2.41386030e-03 -1.02097034e-02 2.54724633e+00] [-2.43074521e-03 9.99995698e-01 -1.64172451e-03 3.47677345e-01] [ 1.02056966e-02 1.66645134e-03 9.99946532e-01 -2.28685317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33313336499998 meters Centerline goodness [0,1] 0.28377904427882505 Centerline is valid? [False, False] Translation: X:2.53, Y:0.35, Z:-0.23 [[ 9.99923187e-01 -5.31582334e-03 -1.11965242e-02 2.52775654e+00] [ 5.31182148e-03 9.99985817e-01 -3.87128003e-04 3.51688415e-01] [ 1.11984233e-02 3.27624329e-04 9.99937242e-01 -2.30384425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36313336499998 meters Centerline goodness [0,1] 0.28181286169451847 Centerline is valid? [False, False] Translation: X:2.55, Y:0.35, Z:-0.23 [[ 9.99951365e-01 3.24005526e-03 -9.31504461e-03 2.54776957e+00] [-3.24977388e-03 9.99994191e-01 -1.02837812e-03 3.49355634e-01] [ 9.31165849e-03 1.05859990e-03 9.99956085e-01 -2.29905642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39313336499998 meters Centerline goodness [0,1] 0.2805843889596237 Centerline is valid? [False, False] Translation: X:2.55, Y:0.35, Z:-0.23 [[ 9.99952423e-01 3.26359500e-03 -9.19237359e-03 2.54757121e+00] [-3.27301072e-03 9.99994134e-01 -1.00943937e-03 3.49334491e-01] [ 9.18902526e-03 1.03947808e-03 9.99957240e-01 -2.30048340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42313336499998 meters Centerline goodness [0,1] 0.27997577278331787 Centerline is valid? [False, False] Translation: X:2.55, Y:0.35, Z:-0.23 [[ 9.99952180e-01 3.24413720e-03 -9.22563926e-03 2.54792703e+00] [-3.25338989e-03 9.99994220e-01 -9.88102335e-04 3.48835879e-01] [ 9.22238039e-03 1.01806969e-03 9.99956955e-01 -2.30509014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45313336499999 meters Centerline goodness [0,1] 0.2805176256735409 Centerline is valid? [False, False] Translation: X:2.55, Y:0.35, Z:-0.23 [[ 9.99951448e-01 3.18668037e-03 -9.32454600e-03 2.54846272e+00] [-3.19597739e-03 9.99994410e-01 -9.82317633e-04 3.48095472e-01] [ 9.32136355e-03 1.01207098e-03 9.99956043e-01 -2.30998358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.483133365 meters Centerline goodness [0,1] 0.2779383845357266 Centerline is valid? [False, False] Translation: X:2.55, Y:0.35, Z:-0.23 [[ 9.99951371e-01 3.14392304e-03 -9.34730037e-03 2.54878366e+00] [-3.15302622e-03 9.99994569e-01 -9.59306324e-04 3.47321125e-01] [ 9.34423362e-03 9.88731957e-04 9.99955853e-01 -2.31439826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.513133365 meters Centerline goodness [0,1] 0.28106450981671127 Centerline is valid? [False, False] Translation: X:2.55, Y:0.35, Z:-0.23 [[ 9.99950938e-01 3.12823368e-03 -9.39872895e-03 2.54902125e+00] [-3.13718066e-03 9.99994640e-01 -9.37342597e-04 3.46907409e-01] [ 9.39574635e-03 9.66782119e-04 9.99955392e-01 -2.31660601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.543133365 meters Centerline goodness [0,1] 0.277994777617126 Centerline is valid? [False, False] Translation: X:2.55, Y:0.35, Z:-0.23 [[ 9.99951169e-01 3.23969598e-03 -9.33615651e-03 2.54898137e+00] [-3.24772434e-03 9.99994369e-01 -8.44889007e-04 3.46930529e-01] [ 9.33336676e-03 8.75169013e-04 9.99956060e-01 -2.31887728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.573133365 meters Centerline goodness [0,1] 0.27828739561247895 Centerline is valid? [False, False] Translation: X:2.55, Y:0.35, Z:-0.23 [[ 9.99951878e-01 3.26184756e-03 -9.25217268e-03 2.54881147e+00] [-3.26992523e-03 9.99994286e-01 -8.58062596e-04 3.47177356e-01] [ 9.24932094e-03 8.88275217e-04 9.99956830e-01 -2.31960105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.603133365 meters Centerline goodness [0,1] 0.2833854839062603 Centerline is valid? [False, False] Translation: X:2.53, Y:0.35, Z:-0.23 [[ 9.99944935e-01 -4.63646698e-03 -9.41433784e-03 2.52921244e+00] [ 4.64082754e-03 9.99989134e-01 4.41389258e-04 3.50776068e-01] [ 9.41218905e-03 -4.85055271e-04 9.99955587e-01 -2.33692865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.633133365 meters Centerline goodness [0,1] 0.28242005639221 Centerline is valid? [False, False] Translation: X:2.53, Y:0.35, Z:-0.23 [[ 9.99943095e-01 -4.47397777e-03 -9.68456552e-03 2.53034357e+00] [ 4.48078328e-03 9.99989729e-01 6.81133426e-04 3.50031513e-01] [ 9.68141868e-03 -7.24489105e-04 9.99952872e-01 -2.34531687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.663133365 meters Centerline goodness [0,1] 0.27907128274184445 Centerline is valid? [False, False] Translation: X:2.53, Y:0.35, Z:-0.24 [[ 9.99941819e-01 -4.39269317e-03 -9.85203465e-03 2.53107143e+00] [ 4.40185447e-03 9.99989899e-01 9.08398147e-04 3.48818292e-01] [ 9.84794482e-03 -9.51712519e-04 9.99951055e-01 -2.35040699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.693133365 meters Centerline goodness [0,1] 0.2789006360853613 Centerline is valid? [False, False] Translation: X:2.53, Y:0.35, Z:-0.24 [[ 9.99940592e-01 -4.30045242e-03 -1.00158694e-02 2.53165936e+00] [ 4.31296754e-03 9.99989945e-01 1.22826455e-03 3.47106474e-01] [ 1.00104866e-02 -1.27138970e-03 9.99949086e-01 -2.35337738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.723133365 meters Centerline goodness [0,1] 0.27899338785453276 Centerline is valid? [False, False] Translation: X:2.53, Y:0.34, Z:-0.24 [[ 9.99940287e-01 -4.21018543e-03 -1.00844776e-02 2.53181658e+00] [ 4.22692604e-03 9.99989723e-01 1.63929937e-03 3.44862701e-01] [ 1.00774722e-02 -1.68182782e-03 9.99947807e-01 -2.35273566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.753133365 meters Centerline goodness [0,1] 0.2798170110357089 Centerline is valid? [False, False] Translation: X:2.53, Y:0.34, Z:-0.24 [[ 9.99938188e-01 -4.52949732e-03 -1.01539897e-02 2.53198380e+00] [ 4.55190751e-03 9.99987253e-01 2.18500952e-03 3.39639533e-01] [ 1.01439632e-02 -2.23109448e-03 9.99946060e-01 -2.35082184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.783133365 meters Centerline goodness [0,1] 0.2815597429473914 Centerline is valid? [False, False] Translation: X:2.53, Y:0.34, Z:-0.23 [[ 0.9999397 -0.00457016 -0.00998589 2.53155494] [ 0.00459673 0.99998595 0.00263974 0.3363263 ] [ 0.00997368 -0.00268548 0.99994666 -0.23492813] [ 0. 0. 0. 1. ]] SLAMing on 165.813133365 meters Centerline goodness [0,1] 0.2780300910480208 Centerline is valid? [False, False] Translation: X:2.55, Y:0.33, Z:-0.24 [[ 9.99958695e-01 1.03966294e-03 -9.02921656e-03 2.55327149e+00] [-1.04086905e-03 9.99999450e-01 -1.28879650e-04 3.32382794e-01] [ 9.02907760e-03 1.38272558e-04 9.99959227e-01 -2.35016865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.843133365 meters Centerline goodness [0,1] 0.2803524804177546 Centerline is valid? [False, False] Translation: X:2.53, Y:0.33, Z:-0.24 [[ 9.99930836e-01 -7.12023114e-03 -9.36085320e-03 2.53304405e+00] [ 7.13418793e-03 9.99973488e-01 1.45842841e-03 3.32287903e-01] [ 9.35022068e-03 -1.52510963e-03 9.99955123e-01 -2.36691514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.873133365 meters Centerline goodness [0,1] 0.2828008600655909 Centerline is valid? [False, False] Translation: X:2.53, Y:0.33, Z:-0.24 [[ 9.99932802e-01 -6.96090325e-03 -9.27026974e-03 2.53311588e+00] [ 6.97910702e-03 9.99973778e-01 1.93277188e-03 3.29757630e-01] [ 9.25657282e-03 -1.99734021e-03 9.99955162e-01 -2.37117060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.903133365 meters Centerline goodness [0,1] 0.28085437901707455 Centerline is valid? [False, False] Translation: X:2.53, Y:0.33, Z:-0.24 [[ 9.99933378e-01 -6.85652118e-03 -9.28587410e-03 2.53349241e+00] [ 6.87861524e-03 9.99973582e-01 2.34947519e-03 3.27089467e-01] [ 9.26951956e-03 -2.41319262e-03 9.99954125e-01 -2.37615285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.933133365 meters Centerline goodness [0,1] 0.2807577831367182 Centerline is valid? [False, False] Translation: X:2.53, Y:0.32, Z:-0.24 [[ 0.99993241 -0.00663326 -0.00954865 2.53403995] [ 0.00666245 0.99997322 0.00302907 0.32290495] [ 0.0095283 -0.00309248 0.99994982 -0.23745853] [ 0. 0. 0. 1. ]] SLAMing on 165.963133365 meters Centerline goodness [0,1] 0.27672196216321154 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 9.99950433e-01 1.22011358e-03 -9.88144239e-03 2.55344971e+00] [-1.20044436e-03 9.99997287e-01 1.99620782e-03 3.17510614e-01] [ 9.88385118e-03 -1.98424675e-03 9.99949185e-01 -2.35341086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99313336499998 meters Centerline goodness [0,1] 0.28035430586084575 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 9.99949640e-01 1.35267573e-03 -9.94423672e-03 2.55362893e+00] [-1.32984710e-03 9.99996466e-01 2.30191829e-03 3.15970933e-01] [ 9.94731533e-03 -2.28857805e-03 9.99947905e-01 -2.35400063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02313336499998 meters Centerline goodness [0,1] 0.2806994734447117 Centerline is valid? [False, False] Translation: X:2.55, Y:0.31, Z:-0.24 [[ 9.99950128e-01 1.58327219e-03 -9.86071828e-03 2.55342922e+00] [-1.55597733e-03 9.99994939e-01 2.77509670e-03 3.13724955e-01] [ 9.86506211e-03 -2.75961525e-03 9.99947531e-01 -2.35388504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05313336499998 meters Centerline goodness [0,1] 0.27785580018581335 Centerline is valid? [False, False] Translation: X:2.55, Y:0.31, Z:-0.24 [[ 9.99952148e-01 1.67405525e-03 -9.63844781e-03 2.55289003e+00] [-1.64572182e-03 9.99994304e-01 2.94680682e-03 3.12878982e-01] [ 9.64332603e-03 -2.93080360e-03 9.99949207e-01 -2.35384321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08313336499998 meters Centerline goodness [0,1] 0.2814610523572716 Centerline is valid? [False, False] Translation: X:2.55, Y:0.31, Z:-0.24 [[ 9.99953921e-01 1.69365116e-03 -9.44915337e-03 2.55242854e+00] [-1.66569504e-03 9.99994215e-01 2.96567032e-03 3.12702061e-01] [ 9.45412152e-03 -2.94979426e-03 9.99950958e-01 -2.35380983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11313336499998 meters Centerline goodness [0,1] 0.2830728257073001 Centerline is valid? [False, False] Translation: X:2.55, Y:0.31, Z:-0.24 [[ 9.99955798e-01 1.66738815e-03 -9.25318175e-03 2.55191956e+00] [-1.64091158e-03 9.99994540e-01 2.86820275e-03 3.12969878e-01] [ 9.25791363e-03 -2.85289232e-03 9.99953075e-01 -2.35344234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14313336499998 meters Centerline goodness [0,1] 0.2778434872368336 Centerline is valid? [False, False] Translation: X:2.57, Y:0.31, Z:-0.23 [[ 9.99922445e-01 9.74636501e-03 -7.75316202e-03 2.57149790e+00] [-9.73518947e-03 9.99951520e-01 1.47785416e-03 3.11266228e-01] [ 7.76718986e-03 -1.40226104e-03 9.99968852e-01 -2.34143572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17313336499998 meters Centerline goodness [0,1] 0.2850906868629548 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.23 [[ 0.9999728 0.00408282 -0.0061422 2.54879441] [-0.00405872 0.99998404 0.00393022 0.31620445] [ 0.00615815 -0.00390518 0.99997341 -0.23429839] [ 0. 0. 0. 1. ]] SLAMing on 166.20313336499999 meters Centerline goodness [0,1] 0.2836224423584375 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.23 [[ 0.99997261 0.00418614 -0.00610345 2.54872886] [-0.00416278 0.99998398 0.0038358 0.31736665] [ 0.00611941 -0.00381029 0.99997402 -0.2344191 ] [ 0. 0. 0. 1. ]] SLAMing on 166.233133365 meters Centerline goodness [0,1] 0.2818747031648029 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.23 [[ 0.99997196 0.0042155 -0.00618876 2.54916231] [-0.00419251 0.99998428 0.00372396 0.31816874] [ 0.00620436 -0.00369791 0.99997392 -0.23482248] [ 0. 0. 0. 1. ]] SLAMing on 166.263133365 meters Centerline goodness [0,1] 0.28738491076493433 Centerline is valid? [False, False] Translation: X:2.53, Y:0.32, Z:-0.24 [[ 0.99996547 -0.0039057 -0.00733579 2.53062628] [ 0.00394172 0.99998021 0.00490248 0.32138086] [ 0.00731649 -0.00493123 0.99996108 -0.23667981] [ 0. 0. 0. 1. ]] SLAMing on 166.293133365 meters Centerline goodness [0,1] 0.28403602662837746 Centerline is valid? [False, False] Translation: X:2.53, Y:0.32, Z:-0.24 [[ 0.99996444 -0.00395113 -0.00745076 2.53109025] [ 0.00398711 0.99998043 0.00482023 0.32145433] [ 0.00743157 -0.00484977 0.99996063 -0.23701489] [ 0. 0. 0. 1. ]] SLAMing on 166.323133365 meters Centerline goodness [0,1] 0.2772481762819823 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 0.99997007 0.00416059 -0.006523 2.55057525] [-0.00413668 0.99998469 0.00367425 0.31780607] [ 0.00653818 -0.00364716 0.99997197 -0.23549847] [ 0. 0. 0. 1. ]] SLAMing on 166.353133365 meters Centerline goodness [0,1] 0.2861631103547585 Centerline is valid? [False, False] Translation: X:2.53, Y:0.32, Z:-0.24 [[ 0.99996693 -0.0043447 -0.00687405 2.52934841] [ 0.00437611 0.99998002 0.00456109 0.32011828] [ 0.0068541 -0.00459102 0.99996597 -0.23632732] [ 0. 0. 0. 1. ]] SLAMing on 166.383133365 meters Centerline goodness [0,1] 0.28197970092406244 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 0.99997552 0.00354852 -0.0060299 2.54846599] [-0.00352932 0.99998868 0.00319134 0.31646175] [ 0.00604115 -0.00316998 0.99997673 -0.23502967] [ 0. 0. 0. 1. ]] SLAMing on 166.413133365 meters Centerline goodness [0,1] 0.2858541893362351 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 0.99997584 0.00354918 -0.00597624 2.54845496] [-0.00352981 0.99998849 0.00324823 0.31595742] [ 0.0059877 -0.00322705 0.99997687 -0.23523851] [ 0. 0. 0. 1. ]] SLAMing on 166.443133365 meters Centerline goodness [0,1] 0.28669660094141125 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 0.99997402 0.00361761 -0.00623414 2.54945038] [-0.00359749 0.9999883 0.00323527 0.31655351] [ 0.00624577 -0.00321276 0.99997533 -0.23589808] [ 0. 0. 0. 1. ]] SLAMing on 166.473133365 meters Centerline goodness [0,1] 0.2842327260077402 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 0.99997297 0.00358996 -0.00641643 2.5500809 ] [-0.00356977 0.99998865 0.00315573 0.31694569] [ 0.00642769 -0.00313274 0.99997444 -0.23625196] [ 0. 0. 0. 1. ]] SLAMing on 166.503133365 meters Centerline goodness [0,1] 0.28205406343558814 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 0.99997134 0.00357013 -0.00667692 2.55097991] [-0.00354927 0.99998879 0.00313305 0.31691839] [ 0.00668804 -0.00310926 0.9999728 -0.23669353] [ 0. 0. 0. 1. ]] SLAMing on 166.533133365 meters Centerline goodness [0,1] 0.28007872483076324 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 0.99997051 0.00352542 -0.00682212 2.55153831] [-0.00350439 0.99998908 0.0030924 0.31683487] [ 0.00683295 -0.0030684 0.99997195 -0.23704006] [ 0. 0. 0. 1. ]] SLAMing on 166.563133365 meters Centerline goodness [0,1] 0.2819862033060002 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 0.99996968 0.00350038 -0.00695662 2.55204187] [-0.00347886 0.99998913 0.00310393 0.31653098] [ 0.00696741 -0.00307963 0.99997099 -0.23731425] [ 0. 0. 0. 1. ]] SLAMing on 166.593133365 meters Centerline goodness [0,1] 0.2809493958193727 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 0.99996825 0.00348758 -0.00716427 2.55292354] [-0.00346553 0.99998923 0.00308818 0.31669522] [ 0.00717496 -0.00306326 0.99996957 -0.23790155] [ 0. 0. 0. 1. ]] SLAMing on 166.623133365 meters Centerline goodness [0,1] 0.28669061596425127 Centerline is valid? [False, False] Translation: X:2.53, Y:0.32, Z:-0.24 [[ 0.99995546 -0.00490638 -0.00806244 2.53257083] [ 0.00493961 0.99997936 0.00410733 0.32038809] [ 0.00804212 -0.00414698 0.99995906 -0.23892275] [ 0. 0. 0. 1. ]] SLAMing on 166.653133365 meters Centerline goodness [0,1] 0.28361189494247885 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 0.99996467 0.00320856 -0.00776988 2.55264965] [-0.00318671 0.99999094 0.00282391 0.31886097] [ 0.00777888 -0.00279905 0.99996583 -0.23765526] [ 0. 0. 0. 1. ]] SLAMing on 166.683133365 meters Centerline goodness [0,1] 0.28321533602004134 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 9.99961770e-01 3.15260177e-03 -8.15600535e-03 2.55363045e+00] [-3.13278199e-03 9.99992112e-01 2.44172032e-03 3.20948262e-01] [ 8.16363878e-03 -2.41607598e-03 9.99963758e-01 -2.37854426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.713133365 meters Centerline goodness [0,1] 0.28150331613854085 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 9.99961664e-01 3.08493049e-03 -8.19472074e-03 2.55371137e+00] [-3.06680449e-03 9.99992825e-01 2.22355673e-03 3.22054561e-01] [ 8.20152147e-03 -2.19833988e-03 9.99963951e-01 -2.37889864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74313336499998 meters Centerline goodness [0,1] 0.2796413799077463 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 9.99962777e-01 3.00163460e-03 -8.08915855e-03 2.55344736e+00] [-2.98530761e-03 9.99993484e-01 2.02969796e-03 3.23005845e-01] [ 8.09519826e-03 -2.00547379e-03 9.99965222e-01 -2.37914412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77313336499998 meters Centerline goodness [0,1] 0.28571116499552174 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 9.99964311e-01 2.97178269e-03 -7.90858309e-03 2.55274940e+00] [-2.95666357e-03 9.99993781e-01 1.92274184e-03 3.23633179e-01] [ 7.91424787e-03 -1.89929020e-03 9.99966878e-01 -2.37514488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80313336499998 meters Centerline goodness [0,1] 0.2850224684786876 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 9.99965519e-01 2.88971096e-03 -7.78527024e-03 2.55204378e+00] [-2.87592794e-03 9.99994279e-01 1.78101050e-03 3.24248108e-01] [ 7.79037230e-03 -1.75855921e-03 9.99968108e-01 -2.36858978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83313336499998 meters Centerline goodness [0,1] 0.2902929200052542 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 9.99966202e-01 2.75147980e-03 -7.74749930e-03 2.55151542e+00] [-2.73902869e-03 9.99994941e-01 1.61726594e-03 3.24660236e-01] [ 7.75190998e-03 -1.59599066e-03 9.99968680e-01 -2.36103623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86313336499998 meters Centerline goodness [0,1] 0.2902929200052542 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 9.99966202e-01 2.75147980e-03 -7.74749930e-03 2.55151542e+00] [-2.73902869e-03 9.99994941e-01 1.61726594e-03 3.24660236e-01] [ 7.75190998e-03 -1.59599066e-03 9.99968680e-01 -2.36103623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89313336499998 meters Centerline goodness [0,1] 0.28634524172142206 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 9.99965850e-01 2.71597918e-03 -7.80523005e-03 2.55167987e+00] [-2.70350609e-03 9.99995052e-01 1.60814986e-03 3.24501646e-01] [ 7.80955914e-03 -1.58699346e-03 9.99968246e-01 -2.36140756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92313336499998 meters Centerline goodness [0,1] 0.28686437912052043 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 9.99965559e-01 2.66721566e-03 -7.85912607e-03 2.55183030e+00] [-2.65496477e-03 9.99995245e-01 1.56883207e-03 3.24440294e-01] [ 7.86327311e-03 -1.54791234e-03 9.99967886e-01 -2.36141413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95313336499999 meters Centerline goodness [0,1] 0.288261126040506 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 9.99965759e-01 2.62482000e-03 -7.84799028e-03 2.55185461e+00] [-2.61288155e-03 9.99995414e-01 1.53107697e-03 3.24371411e-01] [ 7.85197309e-03 -1.51051868e-03 9.99968032e-01 -2.36214800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.983133365 meters Centerline goodness [0,1] 0.28928238178938004 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 9.99966295e-01 2.65032351e-03 -7.77076696e-03 2.55137401e+00] [-2.63758052e-03 9.99995161e-01 1.64965239e-03 3.23739677e-01] [ 7.77510147e-03 -1.62910077e-03 9.99968446e-01 -2.35673466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.013133365 meters Centerline goodness [0,1] 0.2874263176144244 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 9.99967829e-01 2.65930665e-03 -7.56765039e-03 2.55059251e+00] [-2.64647306e-03 9.99995044e-01 1.70535805e-03 3.23323401e-01] [ 7.57214796e-03 -1.68527560e-03 9.99969911e-01 -2.35184191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.043133365 meters Centerline goodness [0,1] 0.2918320859095347 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.23 [[ 9.99969719e-01 2.64626645e-03 -7.31836122e-03 2.54970493e+00] [-2.63338302e-03 9.99994967e-01 1.76950147e-03 3.22708542e-01] [ 7.32300696e-03 -1.75017583e-03 9.99971655e-01 -2.34687706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.073133365 meters Centerline goodness [0,1] 0.2903855327637799 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.23 [[ 9.99970533e-01 2.63283913e-03 -7.21118292e-03 2.54937070e+00] [-2.61984330e-03 9.99994928e-01 1.81103127e-03 3.22224847e-01] [ 7.21591450e-03 -1.79208574e-03 9.99972359e-01 -2.34524931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.103133365 meters Centerline goodness [0,1] 0.2885367762128326 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 9.99968750e-01 2.56721092e-03 -7.47714711e-03 2.55030386e+00] [-2.55495288e-03 9.99995377e-01 1.64849057e-03 3.22717534e-01] [ 7.48134457e-03 -1.62933530e-03 9.99970687e-01 -2.35068370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.133133365 meters Centerline goodness [0,1] 0.28895307172794193 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 9.99967675e-01 2.53391775e-03 -7.63072334e-03 2.55085321e+00] [-2.52218594e-03 9.99995623e-01 1.54667402e-03 3.23187735e-01] [ 7.63460908e-03 -1.52737792e-03 9.99969689e-01 -2.35395595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.163133365 meters Centerline goodness [0,1] 0.29065774219655705 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 9.99966963e-01 2.55993334e-03 -7.71487318e-03 2.55105913e+00] [-2.54758134e-03 9.99995458e-01 1.61046539e-03 3.22899088e-01] [ 7.71896083e-03 -1.59075792e-03 9.99968943e-01 -2.35429183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.193133365 meters Centerline goodness [0,1] 0.28619995236136075 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 9.99966748e-01 2.60141298e-03 -7.72883791e-03 2.55105466e+00] [-2.58764633e-03 9.99995049e-01 1.79067233e-03 3.21908561e-01] [ 7.73345792e-03 -1.77061329e-03 9.99968529e-01 -2.35372994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.223133365 meters Centerline goodness [0,1] 0.28995150803487946 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 9.99966044e-01 2.62391579e-03 -7.81191049e-03 2.55129262e+00] [-2.60830541e-03 9.99994583e-01 2.00779768e-03 3.20553339e-01] [ 7.81713647e-03 -1.98735365e-03 9.99967471e-01 -2.35389322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.253133365 meters Centerline goodness [0,1] 0.29088641932096604 Centerline is valid? [False, False] Translation: X:2.55, Y:0.32, Z:-0.24 [[ 9.99963948e-01 2.64258823e-03 -8.06961947e-03 2.55210023e+00] [-2.62436112e-03 9.99993983e-01 2.26848676e-03 3.18840722e-01] [ 8.07556559e-03 -2.24722738e-03 9.99964867e-01 -2.35626860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.283133365 meters Centerline goodness [0,1] 0.2885840167510033 Centerline is valid? [False, False] Translation: X:2.56, Y:0.32, Z:-0.24 [[ 9.99953016e-01 1.05371648e-03 -9.63614410e-03 2.55822275e+00] [-1.04446188e-03 9.99998989e-01 9.65386546e-04 3.17427973e-01] [ 9.63715160e-03 -9.55276604e-04 9.99953105e-01 -2.38547881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.313133365 meters Centerline goodness [0,1] 0.28658510036138807 Centerline is valid? [False, False] Translation: X:2.56, Y:0.32, Z:-0.24 [[ 9.99949600e-01 1.06883628e-03 -9.98278109e-03 2.55933417e+00] [-1.05717432e-03 9.99998753e-01 1.17341055e-03 3.16086347e-01] [ 9.98402282e-03 -1.16279787e-03 9.99949482e-01 -2.38963630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.343133365 meters Centerline goodness [0,1] 0.28863005616136006 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99948191e-01 1.07118563e-03 -1.01226159e-02 2.55981126e+00] [-1.05750368e-03 9.99998520e-01 1.35687763e-03 3.14820583e-01] [ 1.01240544e-02 -1.34610263e-03 9.99947844e-01 -2.39159865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.373133365 meters Centerline goodness [0,1] 0.2670780649894273 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99947031e-01 1.09031014e-03 -1.02345911e-02 2.56003619e+00] [-1.07355894e-03 9.99998076e-01 1.64207439e-03 3.13000660e-01] [ 1.02363618e-02 -1.63099997e-03 9.99946277e-01 -2.39034274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.403133365 meters Centerline goodness [0,1] 0.2881282212991758 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99947231e-01 1.18274084e-03 -1.02047057e-02 2.55962087e+00] [-1.15945948e-03 9.99996713e-01 2.28704792e-03 3.09424600e-01] [ 1.02073772e-02 -2.27509529e-03 9.99945315e-01 -2.38295754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.433133365 meters Centerline goodness [0,1] 0.28793901088160556 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99946846e-01 1.32566557e-03 -1.02248858e-02 2.55943169e+00] [-1.29817869e-03 9.99995527e-01 2.69440190e-03 3.07597430e-01] [ 1.02284119e-02 -2.68098495e-03 9.99944094e-01 -2.37846315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.463133365 meters Centerline goodness [0,1] 0.2877978591205389 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99946211e-01 1.42084941e-03 -1.02740748e-02 2.55946679e+00] [-1.38991725e-03 9.99994482e-01 3.01721387e-03 3.05933795e-01] [ 1.02783051e-02 -3.00277146e-03 9.99942668e-01 -2.37652731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49313336499998 meters Centerline goodness [0,1] 0.28583185342400486 Centerline is valid? [False, False] Translation: X:2.56, Y:0.30, Z:-0.24 [[ 9.99945745e-01 1.46613449e-03 -1.03129471e-02 2.55961030e+00] [-1.43268211e-03 9.99993691e-01 3.25036650e-03 3.04446117e-01] [ 1.03176475e-02 -3.23541497e-03 9.99941537e-01 -2.37670323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52313336499998 meters Centerline goodness [0,1] 0.2895371839742614 Centerline is valid? [False, False] Translation: X:2.56, Y:0.30, Z:-0.24 [[ 9.99945646e-01 1.50788333e-03 -1.03165460e-02 2.55969686e+00] [-1.47244261e-03 9.99992992e-01 3.44206159e-03 3.03207615e-01] [ 1.03216640e-02 -3.42668398e-03 9.99940859e-01 -2.37732446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55313336499998 meters Centerline goodness [0,1] 0.28453336786670125 Centerline is valid? [False, False] Translation: X:2.56, Y:0.30, Z:-0.24 [[ 9.99946236e-01 1.53430706e-03 -1.02553176e-02 2.55955478e+00] [-1.49864317e-03 9.99992807e-01 3.48437992e-03 3.02698045e-01] [ 1.02605899e-02 -3.46882352e-03 9.99941342e-01 -2.37696787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58313336499998 meters Centerline goodness [0,1] 0.28330323357413145 Centerline is valid? [False, False] Translation: X:2.56, Y:0.30, Z:-0.24 [[ 9.99945189e-01 1.52943465e-03 -1.03575973e-02 2.55980248e+00] [-1.49509987e-03 9.99993365e-01 3.32186842e-03 3.03581983e-01] [ 1.03626092e-02 -3.30620071e-03 9.99940841e-01 -2.37720889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61313336499998 meters Centerline goodness [0,1] 0.2846857365246157 Centerline is valid? [False, False] Translation: X:2.56, Y:0.30, Z:-0.24 [[ 9.99943101e-01 1.50848717e-03 -1.05602974e-02 2.56027680e+00] [-1.47601716e-03 9.99994162e-01 3.08184348e-03 3.04898993e-01] [ 1.05648847e-02 -3.06608095e-03 9.99939489e-01 -2.37758575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64313336499998 meters Centerline goodness [0,1] 0.2831703684517257 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99940603e-01 1.52878091e-03 -1.07913691e-02 2.56084795e+00] [-1.49862727e-03 9.99994952e-01 2.80177029e-03 3.06696686e-01] [ 1.07955979e-02 -2.78543163e-03 9.99937846e-01 -2.37907612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67313336499998 meters Centerline goodness [0,1] 0.28511220699094086 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99943670e-01 1.95913317e-03 -1.04315868e-02 2.55985695e+00] [-1.93127515e-03 9.99994544e-01 2.67994869e-03 3.09240912e-01] [ 1.04367803e-02 -2.65965146e-03 9.99941998e-01 -2.37879924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70313336499999 meters Centerline goodness [0,1] 0.2853705068724798 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99945844e-01 1.89446324e-03 -1.02332802e-02 2.55928708e+00] [-1.86999292e-03 9.99995371e-01 2.40028784e-03 3.10730489e-01] [ 1.02377801e-02 -2.38102169e-03 9.99944758e-01 -2.37820746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.733133365 meters Centerline goodness [0,1] 0.28710573126816785 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99949272e-01 1.84115701e-03 -9.90269927e-03 2.55815389e+00] [-1.81924768e-03 9.99995879e-01 2.22101347e-03 3.11611875e-01] [ 9.90674769e-03 -2.20288534e-03 9.99948500e-01 -2.37333655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.763133365 meters Centerline goodness [0,1] 0.290271167197939 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99953004e-01 1.78733361e-03 -9.52862015e-03 2.55675749e+00] [-1.76730644e-03 9.99996213e-01 2.10979765e-03 3.12136960e-01] [ 9.53235498e-03 -2.09285851e-03 9.99952376e-01 -2.36509117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.793133365 meters Centerline goodness [0,1] 0.2896096253187733 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99956431e-01 1.77212289e-03 -9.16495482e-03 2.55524703e+00] [-1.75363351e-03 9.99996412e-01 2.02504337e-03 3.12855597e-01] [ 9.16851056e-03 -2.00888317e-03 9.99955950e-01 -2.35460382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.823133365 meters Centerline goodness [0,1] 0.2866658016521777 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99955146e-01 1.70918957e-03 -9.31585639e-03 2.55575340e+00] [-1.69131120e-03 9.99996714e-01 1.92667306e-03 3.13168792e-01] [ 9.31911882e-03 -1.91083063e-03 9.99954750e-01 -2.35677944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.853133365 meters Centerline goodness [0,1] 0.28528535015336765 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99953747e-01 1.64148404e-03 -9.47675752e-03 2.55652090e+00] [-1.62453102e-03 9.99997067e-01 1.79632586e-03 3.13633694e-01] [ 9.47967837e-03 -1.78084749e-03 9.99953481e-01 -2.36275409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.883133365 meters Centerline goodness [0,1] 0.28729869340625946 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99952262e-01 1.61300392e-03 -9.63703511e-03 2.55712801e+00] [-1.59636889e-03 9.99997223e-01 1.73359916e-03 3.13872280e-01] [ 9.63980465e-03 -1.71813214e-03 9.99952060e-01 -2.36671293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.913133365 meters Centerline goodness [0,1] 0.2837584355662879 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99950636e-01 1.68334684e-03 -9.79248085e-03 2.55766095e+00] [-1.66647426e-03 9.99997113e-01 1.73091844e-03 3.14400660e-01] [ 9.79536632e-03 -1.71451408e-03 9.99950554e-01 -2.36970293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.943133365 meters Centerline goodness [0,1] 0.2848005203816132 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99948715e-01 1.68925788e-03 -9.98565993e-03 2.55831629e+00] [-1.67239820e-03 9.99997162e-01 1.69649885e-03 3.14695093e-01] [ 9.98849742e-03 -1.67971185e-03 9.99948703e-01 -2.37323895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.973133365 meters Centerline goodness [0,1] 0.2831258794241801 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99946534e-01 1.67688774e-03 -1.02037536e-02 2.55921670e+00] [-1.66003925e-03 9.99997245e-01 1.65945097e-03 3.14869308e-01] [ 1.02065082e-02 -1.64242362e-03 9.99946563e-01 -2.37944390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.003133365 meters Centerline goodness [0,1] 0.28272024595665446 Centerline is valid? [False, False] Translation: X:2.56, Y:0.32, Z:-0.24 [[ 9.99944307e-01 1.63714705e-03 -1.04260614e-02 2.55995414e+00] [-1.62055525e-03 9.99997407e-01 1.59962640e-03 3.15014535e-01] [ 1.04286532e-02 -1.58264130e-03 9.99944368e-01 -2.38307877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.033133365 meters Centerline goodness [0,1] 0.28317854352920757 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99944633e-01 1.62917479e-03 -1.03960052e-02 2.55983233e+00] [-1.61234345e-03 9.99997376e-01 1.62719541e-03 3.14765025e-01] [ 1.03986289e-02 -1.61034339e-03 9.99944636e-01 -2.38205088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.063133365 meters Centerline goodness [0,1] 0.2848973734562532 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99951152e-01 1.58634709e-03 -9.75589121e-03 2.55777878e+00] [-1.56842188e-03 9.99997068e-01 1.84474902e-03 3.13066994e-01] [ 9.75878902e-03 -1.82935755e-03 9.99950709e-01 -2.37256930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.093133365 meters Centerline goodness [0,1] 0.28766346992153446 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99952532e-01 1.63239769e-03 -9.60563111e-03 2.55717637e+00] [-1.61228591e-03 9.99996493e-01 2.10112068e-03 3.11598625e-01] [ 9.60902728e-03 -2.08553392e-03 9.99951657e-01 -2.36799072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.123133365 meters Centerline goodness [0,1] 0.2838955527649071 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99951505e-01 1.69820826e-03 -9.70066641e-03 2.55751045e+00] [-1.67526622e-03 9.99995782e-01 2.37263305e-03 3.10111831e-01] [ 9.70465472e-03 -2.35626679e-03 9.99950133e-01 -2.36936038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.153133365 meters Centerline goodness [0,1] 0.28394901144640994 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99949175e-01 1.78068965e-03 -9.92352288e-03 2.55829402e+00] [-1.75450563e-03 9.99994958e-01 2.64666244e-03 3.08736070e-01] [ 9.92818573e-03 -2.62911705e-03 9.99947258e-01 -2.37313404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.183133365 meters Centerline goodness [0,1] 0.282900859177181 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99945480e-01 1.87664982e-03 -1.02720765e-02 2.55954725e+00] [-1.84563267e-03 9.99993712e-01 3.02820751e-03 3.06419386e-01] [ 1.02776948e-02 -3.00908393e-03 9.99942656e-01 -2.37893353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.213133365 meters Centerline goodness [0,1] 0.2835911830624279 Centerline is valid? [False, False] Translation: X:2.56, Y:0.31, Z:-0.24 [[ 9.99945723e-01 1.91863297e-03 -1.02406267e-02 2.55946148e+00] [-1.88571024e-03 9.99993026e-01 3.22360242e-03 3.05161929e-01] [ 1.02467402e-02 -3.20411659e-03 9.99942367e-01 -2.37840153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24313336499998 meters Centerline goodness [0,1] 0.28066317400771834 Centerline is valid? [False, False] Translation: X:2.56, Y:0.30, Z:-0.24 [[ 9.99945980e-01 1.98164383e-03 -1.02034053e-02 2.55912690e+00] [-1.94662439e-03 9.99992185e-01 3.44092154e-03 3.03874614e-01] [ 1.02101442e-02 -3.42087346e-03 9.99942024e-01 -2.37429874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27313336499998 meters Centerline goodness [0,1] 0.28247302041347033 Centerline is valid? [False, False] Translation: X:2.56, Y:0.30, Z:-0.24 [[ 9.99946211e-01 2.05276036e-03 -1.01667124e-02 2.55879099e+00] [-2.01511913e-03 9.99991083e-01 3.71126030e-03 3.02269214e-01] [ 1.01742401e-02 -3.69057353e-03 9.99941431e-01 -2.36994514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30313336499998 meters Centerline goodness [0,1] 0.28311722160682873 Centerline is valid? [False, False] Translation: X:2.56, Y:0.30, Z:-0.24 [[ 9.99943195e-01 2.25516267e-03 -1.04172980e-02 2.55931099e+00] [-2.20923220e-03 9.99987798e-01 4.41846242e-03 2.98528177e-01] [ 1.04271353e-02 -4.39519720e-03 9.99935976e-01 -2.36780464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33313336499998 meters Centerline goodness [0,1] 0.2859236574428524 Centerline is valid? [False, False] Translation: X:2.56, Y:0.30, Z:-0.24 [[ 9.99942388e-01 2.39258657e-03 -1.04640348e-02 2.55957173e+00] [-2.34184815e-03 9.99985456e-01 4.85840685e-03 2.96259844e-01] [ 1.04755068e-02 -4.83362177e-03 9.99933448e-01 -2.36949529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36313336499998 meters Centerline goodness [0,1] 0.28153656051507725 Centerline is valid? [False, False] Translation: X:2.56, Y:0.29, Z:-0.24 [[ 9.99942909e-01 2.48659252e-03 -1.03920596e-02 2.55951717e+00] [-2.43226783e-03 9.99983329e-01 5.23689262e-03 2.94178364e-01] [ 1.04049083e-02 -5.21131737e-03 9.99932288e-01 -2.37054737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39313336499998 meters Centerline goodness [0,1] 0.28465190902586557 Centerline is valid? [False, False] Translation: X:2.55, Y:0.29, Z:-0.23 [[ 9.99958954e-01 9.48895562e-04 -9.01053815e-03 2.55440340e+00] [-9.12823288e-04 9.99991557e-01 4.00661195e-03 2.92174199e-01] [ 9.01426393e-03 -3.99822246e-03 9.99951377e-01 -2.34886254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42313336499998 meters Centerline goodness [0,1] 0.28690196766622067 Centerline is valid? [False, False] Translation: X:2.53, Y:0.29, Z:-0.24 [[ 0.99992131 0.00877698 -0.00896324 2.53469345] [-0.00875166 0.99995761 0.00286055 0.28601869] [ 0.00898797 -0.00278188 0.99995574 -0.23616484] [ 0. 0. 0. 1. ]] SLAMing on 168.45313336499999 meters Centerline goodness [0,1] 0.28615512562374157 Centerline is valid? [False, False] Translation: X:2.53, Y:0.29, Z:-0.24 [[ 0.99992028 0.00881312 -0.00904237 2.53485557] [-0.00878783 0.99995737 0.00283278 0.28635501] [ 0.00906695 -0.00275309 0.9999551 -0.23618106] [ 0. 0. 0. 1. ]] SLAMing on 168.483133365 meters Centerline goodness [0,1] 0.28332901330568516 Centerline is valid? [False, False] Translation: X:2.55, Y:0.29, Z:-0.24 [[ 9.99955071e-01 1.50516977e-03 -9.35899733e-03 2.55419244e+00] [-1.46880512e-03 9.99991351e-01 3.89118857e-03 2.92784489e-01] [ 9.36477328e-03 -3.87726720e-03 9.99948633e-01 -2.35014030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.513133365 meters Centerline goodness [0,1] 0.28594514325646403 Centerline is valid? [False, False] Translation: X:2.53, Y:0.30, Z:-0.24 [[ 0.99993559 -0.00633114 -0.00941942 2.53396068] [ 0.00638182 0.99996527 0.0053599 0.29733659] [ 0.00938516 -0.00541966 0.99994127 -0.23654224] [ 0. 0. 0. 1. ]] SLAMing on 168.543133365 meters Centerline goodness [0,1] 0.2832705383049673 Centerline is valid? [False, False] Translation: X:2.55, Y:0.30, Z:-0.24 [[ 9.99961175e-01 2.05142622e-03 -8.56972432e-03 2.55336092e+00] [-2.01572320e-03 9.99989262e-01 4.17274276e-03 2.96134715e-01] [ 8.57819238e-03 -4.15530656e-03 9.99954573e-01 -2.35209617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.573133365 meters Centerline goodness [0,1] 0.2833344179085052 Centerline is valid? [False, False] Translation: X:2.55, Y:0.30, Z:-0.24 [[ 9.99962020e-01 1.98230913e-03 -8.48695215e-03 2.55317183e+00] [-1.94831441e-03 9.99990054e-01 4.01192405e-03 2.96807453e-01] [ 8.49482062e-03 -3.99523642e-03 9.99955937e-01 -2.35257293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.603133365 meters Centerline goodness [0,1] 0.28149222708179966 Centerline is valid? [False, False] Translation: X:2.55, Y:0.30, Z:-0.24 [[ 9.99960336e-01 1.87663675e-03 -8.70657470e-03 2.55394957e+00] [-1.84238983e-03 9.99990542e-01 3.93981020e-03 2.96588460e-01] [ 8.71388594e-03 -3.92361303e-03 9.99954336e-01 -2.35656971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.633133365 meters Centerline goodness [0,1] 0.2817607605652146 Centerline is valid? [False, False] Translation: X:2.55, Y:0.30, Z:-0.24 [[ 9.99957779e-01 1.81187981e-03 -9.00868147e-03 2.55487177e+00] [-1.77609856e-03 9.99990509e-01 3.97827752e-03 2.95941468e-01] [ 9.01580413e-03 -3.96210925e-03 9.99951507e-01 -2.35980839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.663133365 meters Centerline goodness [0,1] 0.285379373808637 Centerline is valid? [False, False] Translation: X:2.56, Y:0.29, Z:-0.24 [[ 9.99955291e-01 1.81024825e-03 -9.28106488e-03 2.55555014e+00] [-1.77182626e-03 9.99989834e-01 4.14637813e-03 2.94836891e-01] [ 9.28847650e-03 -4.12974832e-03 9.99948333e-01 -2.36029485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.693133365 meters Centerline goodness [0,1] 0.28062423210398124 Centerline is valid? [False, False] Translation: X:2.60, Y:0.30, Z:-0.24 [[ 9.99972109e-01 1.43790173e-03 -7.32894548e-03 2.59971762e+00] [-1.40919067e-03 9.99991319e-01 3.92114807e-03 2.95846025e-01] [ 7.33452008e-03 -3.91071082e-03 9.99965455e-01 -2.36282629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.723133365 meters Centerline goodness [0,1] 0.284187848189415 Centerline is valid? [False, False] Translation: X:2.60, Y:0.29, Z:-0.24 [[ 9.99973601e-01 1.48098962e-03 -7.11369702e-03 2.59895542e+00] [-1.45036350e-03 9.99989667e-01 4.30846448e-03 2.93763491e-01] [ 7.12000430e-03 -4.29803329e-03 9.99965416e-01 -2.35777865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.753133365 meters Centerline goodness [0,1] 0.2843331518780621 Centerline is valid? [False, False] Translation: X:2.60, Y:0.29, Z:-0.23 [[ 9.99975829e-01 -1.48831756e-03 -6.79156990e-03 2.59693210e+00] [ 1.50344526e-03 9.99996399e-01 2.22286190e-03 2.87729801e-01] [ 6.78823712e-03 -2.23301893e-03 9.99974466e-01 -2.34140180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.783133365 meters Centerline goodness [0,1] 0.2843331518780621 Centerline is valid? [False, False] Translation: X:2.60, Y:0.29, Z:-0.23 [[ 9.99975829e-01 -1.48831756e-03 -6.79156990e-03 2.59693210e+00] [ 1.50344526e-03 9.99996399e-01 2.22286190e-03 2.87729801e-01] [ 6.78823712e-03 -2.23301893e-03 9.99974466e-01 -2.34140180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.813133365 meters Centerline goodness [0,1] 0.2849080449751591 Centerline is valid? [False, False] Translation: X:2.60, Y:0.28, Z:-0.23 [[ 9.99973618e-01 -1.50671211e-03 -7.10580590e-03 2.59783789e+00] [ 1.52604591e-03 9.99995147e-01 2.71620827e-03 2.84464367e-01] [ 7.10167887e-03 -2.72698040e-03 9.99971064e-01 -2.34284126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.843133365 meters Centerline goodness [0,1] 0.28387293431165495 Centerline is valid? [False, False] Translation: X:2.60, Y:0.28, Z:-0.23 [[ 9.99970726e-01 -1.52329469e-03 -7.49843547e-03 2.59913859e+00] [ 1.54716691e-03 9.99993751e-01 3.17885696e-03 2.81308516e-01] [ 7.49354627e-03 -3.19036524e-03 9.99966834e-01 -2.34805194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.873133365 meters Centerline goodness [0,1] 0.28244956646769204 Centerline is valid? [False, False] Translation: X:2.60, Y:0.28, Z:-0.24 [[ 9.99967196e-01 -1.29049408e-03 -7.99628567e-03 2.60084248e+00] [ 1.32341515e-03 9.99990665e-01 4.11312212e-03 2.75802547e-01] [ 7.99090307e-03 -4.12356960e-03 9.99959570e-01 -2.35502251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.903133365 meters Centerline goodness [0,1] 0.2838817013638055 Centerline is valid? [False, False] Translation: X:2.60, Y:0.27, Z:-0.24 [[ 9.99966318e-01 -1.15051798e-03 -8.12644157e-03 2.60127989e+00] [ 1.18660171e-03 9.99989453e-01 4.43686226e-03 2.74256272e-01] [ 8.12125117e-03 -4.44635567e-03 9.99957137e-01 -2.35672153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.933133365 meters Centerline goodness [0,1] 0.28131305460935974 Centerline is valid? [False, False] Translation: X:2.60, Y:0.27, Z:-0.24 [[ 9.99965908e-01 -9.45563980e-04 -8.20294353e-03 2.60141081e+00] [ 9.84396140e-04 9.99988323e-01 4.73118476e-03 2.73187079e-01] [ 8.19837411e-03 -4.73909841e-03 9.99955163e-01 -2.35617991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96313336499998 meters Centerline goodness [0,1] 0.28307121013543035 Centerline is valid? [False, False] Translation: X:2.60, Y:0.27, Z:-0.24 [[ 9.99966842e-01 -8.50871932e-04 -8.09877259e-03 2.60112518e+00] [ 8.90385174e-04 9.99987713e-01 4.87656293e-03 2.72536416e-01] [ 8.09452375e-03 -4.88361226e-03 9.99955314e-01 -2.35546521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99313336499998 meters Centerline goodness [0,1] 0.2799437168524732 Centerline is valid? [False, False] Translation: X:2.62, Y:0.27, Z:-0.23 [[ 0.99994461 0.00749313 -0.00739129 2.62064106] [-0.0074665 0.99996556 0.0036244 0.26840739] [ 0.00741819 -0.00356902 0.99996612 -0.23403061] [ 0. 0. 0. 1. ]] SLAMing on 169.02313336499998 meters Centerline goodness [0,1] 0.280155473979702 Centerline is valid? [False, False] Translation: X:2.62, Y:0.27, Z:-0.23 [[ 0.99994419 0.00775646 -0.00717285 2.62005795] [-0.00772769 0.99996202 0.00402956 0.26650561] [ 0.00720383 -0.0039739 0.99996616 -0.2339844 ] [ 0. 0. 0. 1. ]] SLAMing on 169.05313336499998 meters Centerline goodness [0,1] 0.280155473979702 Centerline is valid? [False, False] Translation: X:2.62, Y:0.27, Z:-0.23 [[ 0.99994419 0.00775646 -0.00717285 2.62005795] [-0.00772769 0.99996202 0.00402956 0.26650561] [ 0.00720383 -0.0039739 0.99996616 -0.2339844 ] [ 0. 0. 0. 1. ]] SLAMing on 169.08313336499998 meters Centerline goodness [0,1] 0.28255379767326416 Centerline is valid? [False, False] Translation: X:2.62, Y:0.26, Z:-0.23 [[ 0.99994184 0.00795975 -0.00727673 2.6204152 ] [-0.00792704 0.9999584 0.00451323 0.26398475] [ 0.00731235 -0.00445529 0.99996334 -0.23418251] [ 0. 0. 0. 1. ]] SLAMing on 169.11313336499998 meters Centerline goodness [0,1] 0.28508425487098477 Centerline is valid? [False, False] Translation: X:2.60, Y:0.27, Z:-0.23 [[ 9.99968577e-01 -1.10598604e-03 -7.84989429e-03 2.59855180e+00] [ 1.14705929e-03 9.99985667e-01 5.22975999e-03 2.65423785e-01] [ 7.84399774e-03 -5.23859995e-03 9.99955513e-01 -2.34389155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14313336499998 meters Centerline goodness [0,1] 0.2811233666327172 Centerline is valid? [False, False] Translation: X:2.62, Y:0.26, Z:-0.23 [[ 0.99995432 0.00691124 -0.00660185 2.61755748] [-0.00688513 0.99996842 0.00396984 0.2607577 ] [ 0.00662908 -0.0039242 0.99997033 -0.23291106] [ 0. 0. 0. 1. ]] SLAMing on 169.17313336499998 meters Centerline goodness [0,1] 0.28443022547227303 Centerline is valid? [False, False] Translation: X:2.62, Y:0.26, Z:-0.23 [[ 0.99995498 0.00700559 -0.00640045 2.61672825] [-0.00697789 0.99996623 0.00434028 0.25866078] [ 0.00643064 -0.00429542 0.9999701 -0.23231308] [ 0. 0. 0. 1. ]] SLAMing on 169.20313336499999 meters Centerline goodness [0,1] 0.2834522359491909 Centerline is valid? [False, False] Translation: X:2.61, Y:0.26, Z:-0.23 [[ 9.99973531e-01 4.98663921e-03 -5.29812366e-03 2.61232316e+00] [-4.97280015e-03 9.99984198e-01 2.62203894e-03 2.55499422e-01] [ 5.31111510e-03 -2.59562302e-03 9.99982527e-01 -2.30312873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.233133365 meters Centerline goodness [0,1] 0.28770827881008465 Centerline is valid? [False, False] Translation: X:2.61, Y:0.25, Z:-0.23 [[ 0.99997502 0.00507016 -0.00492373 2.61114643] [-0.00505477 0.99998232 0.00313301 0.25247685] [ 0.00493953 -0.00310805 0.99998297 -0.22973674] [ 0. 0. 0. 1. ]] SLAMing on 169.263133365 meters Centerline goodness [0,1] 0.28638865322282403 Centerline is valid? [False, False] Translation: X:2.61, Y:0.25, Z:-0.23 [[ 9.99988653e-01 2.24876406e-03 -4.19956487e-03 2.60885584e+00] [-2.24624642e-03 9.99997295e-01 6.04122633e-04 2.49787072e-01] [ 4.20091204e-03 -5.94682520e-04 9.99990999e-01 -2.29072930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.293133365 meters Centerline goodness [0,1] 0.28526747898612104 Centerline is valid? [False, False] Translation: X:2.61, Y:0.24, Z:-0.23 [[ 9.99986903e-01 2.52502890e-03 -4.45178169e-03 2.60961831e+00] [-2.51792011e-03 9.99995547e-01 1.60172350e-03 2.44328182e-01] [ 4.45580626e-03 -1.59049329e-03 9.99988808e-01 -2.29238463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.323133365 meters Centerline goodness [0,1] 0.2890568359074631 Centerline is valid? [False, False] Translation: X:2.61, Y:0.24, Z:-0.23 [[ 9.99986346e-01 2.67058899e-03 -4.49167691e-03 2.60985149e+00] [-2.66152612e-03 9.99994413e-01 2.02246966e-03 2.42154159e-01] [ 4.49705300e-03 -2.01048733e-03 9.99987867e-01 -2.29455734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.353133365 meters Centerline goodness [0,1] 0.28867804910040884 Centerline is valid? [False, False] Translation: X:2.61, Y:0.24, Z:-0.23 [[ 9.99986582e-01 2.79524127e-03 -4.36136460e-03 2.60957095e+00] [-2.78492449e-03 9.99993314e-01 2.36977652e-03 2.40324419e-01] [ 4.36795954e-03 -2.35759865e-03 9.99987681e-01 -2.29475979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.383133365 meters Centerline goodness [0,1] 0.28626608510730633 Centerline is valid? [False, False] Translation: X:2.61, Y:0.24, Z:-0.23 [[ 9.99987039e-01 2.89960814e-03 -4.18499333e-03 2.60909795e+00] [-2.88873171e-03 9.99992441e-01 2.60261960e-03 2.39090505e-01] [ 4.19250827e-03 -2.59049654e-03 9.99987856e-01 -2.29367024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.413133365 meters Centerline goodness [0,1] 0.28551930326270636 Centerline is valid? [False, False] Translation: X:2.61, Y:0.24, Z:-0.23 [[ 0.99998752 0.00296019 -0.00402521 2.60865657] [-0.0029493 0.99999198 0.0027104 0.23846666] [ 0.0040332 -0.0026985 0.99998823 -0.22929991] [ 0. 0. 0. 1. ]] SLAMing on 169.443133365 meters Centerline goodness [0,1] 0.2847352833084722 Centerline is valid? [False, False] Translation: X:2.61, Y:0.24, Z:-0.23 [[ 0.99998713 0.00307281 -0.00403713 2.60872968] [-0.00306133 0.99999126 0.00284798 0.2379859 ] [ 0.00404585 -0.00283558 0.9999878 -0.22939079] [ 0. 0. 0. 1. ]] SLAMing on 169.473133365 meters Centerline goodness [0,1] 0.2880778801239796 Centerline is valid? [False, False] Translation: X:2.61, Y:0.24, Z:-0.23 [[ 0.99998491 0.00338362 -0.00432832 2.6097786 ] [-0.00336936 0.99998889 0.00329744 0.23640686] [ 0.00433943 -0.00328281 0.9999852 -0.23005242] [ 0. 0. 0. 1. ]] SLAMing on 169.503133365 meters Centerline goodness [0,1] 0.2804505782707769 Centerline is valid? [False, False] Translation: X:2.63, Y:0.24, Z:-0.23 [[ 0.99998179 -0.00387042 -0.0046307 2.62947749] [ 0.00389127 0.99998229 0.0045022 0.24045095] [ 0.0046132 -0.00452014 0.99997914 -0.22917515] [ 0. 0. 0. 1. ]] SLAMing on 169.533133365 meters Centerline goodness [0,1] 0.2840116153079357 Centerline is valid? [False, False] Translation: X:2.61, Y:0.23, Z:-0.23 [[ 0.99998628 0.00328188 -0.0040836 2.61154125] [-0.00326836 0.99998917 0.00331366 0.23251528] [ 0.00409443 -0.00330027 0.99998617 -0.23157381] [ 0. 0. 0. 1. ]] SLAMing on 169.563133365 meters Centerline goodness [0,1] 0.2850553706241977 Centerline is valid? [False, False] Translation: X:2.61, Y:0.23, Z:-0.23 [[ 0.99998625 0.00339016 -0.00400094 2.61140703] [-0.00337541 0.9999875 0.00368742 0.23033686] [ 0.00401339 -0.00367386 0.9999852 -0.23165323] [ 0. 0. 0. 1. ]] SLAMing on 169.593133365 meters Centerline goodness [0,1] 0.28551275094953876 Centerline is valid? [False, False] Translation: X:2.61, Y:0.23, Z:-0.23 [[ 0.99998611 0.00347373 -0.00396325 2.61137669] [-0.00345762 0.99998577 0.00406351 0.22804174] [ 0.00397731 -0.00404975 0.99998389 -0.23167985] [ 0. 0. 0. 1. ]] SLAMing on 169.623133365 meters Centerline goodness [0,1] 0.28503981549976065 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.23 [[ 0.99998306 0.00370741 -0.00448738 2.61299568] [-0.003686 0.99998183 0.00477063 0.22426908] [ 0.00450498 -0.00475401 0.99997855 -0.23224014] [ 0. 0. 0. 1. ]] SLAMing on 169.653133365 meters Centerline goodness [0,1] 0.283319581361011 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.23 [[ 0.99998144 0.00379008 -0.00476955 2.61398778] [-0.00376641 0.99998059 0.00496399 0.22328776] [ 0.00478827 -0.00494594 0.9999763 -0.2327442 ] [ 0. 0. 0. 1. ]] SLAMing on 169.683133365 meters Centerline goodness [0,1] 0.283319581361011 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.23 [[ 0.99998144 0.00379008 -0.00476955 2.61398778] [-0.00376641 0.99998059 0.00496399 0.22328776] [ 0.00478827 -0.00494594 0.9999763 -0.2327442 ] [ 0. 0. 0. 1. ]] SLAMing on 169.71313336499998 meters Centerline goodness [0,1] 0.28010866284334435 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.23 [[ 0.99998002 0.00382086 -0.00503577 2.61495945] [-0.00379552 0.99998013 0.00503271 0.22275178] [ 0.0050549 -0.0050135 0.99997466 -0.23327007] [ 0. 0. 0. 1. ]] SLAMing on 169.74313336499998 meters Centerline goodness [0,1] 0.28221739130434786 Centerline is valid? [False, False] Translation: X:2.62, Y:0.22, Z:-0.23 [[ 0.99997891 0.00392924 -0.00517115 2.61551551] [-0.00390255 0.99997907 0.00516022 0.22211076] [ 0.00519132 -0.00513993 0.99997332 -0.23371131] [ 0. 0. 0. 1. ]] SLAMing on 169.77313336499998 meters Centerline goodness [0,1] 0.2823399510706013 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.23 [[ 0.99997979 0.00397886 -0.00495952 2.61484262] [-0.00395306 0.99997867 0.00519984 0.22206287] [ 0.00498011 -0.00518013 0.99997418 -0.2335038 ] [ 0. 0. 0. 1. ]] SLAMing on 169.80313336499998 meters Centerline goodness [0,1] 0.2865645514223195 Centerline is valid? [False, False] Translation: X:2.59, Y:0.23, Z:-0.23 [[ 0.99998018 -0.00446497 -0.00443873 2.59469125] [ 0.00449371 0.99996887 0.0064865 0.22531286] [ 0.00440963 -0.00650632 0.99996911 -0.23499175] [ 0. 0. 0. 1. ]] SLAMing on 169.83313336499998 meters Centerline goodness [0,1] 0.2841012724193338 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.23 [[ 0.99998418 0.00394917 -0.00400588 2.61418862] [-0.00392893 0.99997953 0.0050496 0.22278454] [ 0.00402574 -0.00503378 0.99997923 -0.23359742] [ 0. 0. 0. 1. ]] SLAMing on 169.86313336499998 meters Centerline goodness [0,1] 0.28736897736281164 Centerline is valid? [False, False] Translation: X:2.57, Y:0.22, Z:-0.23 [[ 0.99997292 0.00290069 -0.00676306 2.56950818] [-0.00286659 0.99998316 0.00504611 0.21940602] [ 0.00677758 -0.00502659 0.9999644 -0.23288502] [ 0. 0. 0. 1. ]] SLAMing on 169.89313336499998 meters Centerline goodness [0,1] 0.2825822432749554 Centerline is valid? [False, False] Translation: X:2.59, Y:0.22, Z:-0.23 [[ 0.9999194 0.01165742 -0.00503025 2.58929713] [-0.01163726 0.99992421 0.00401835 0.21866547] [ 0.00507671 -0.00395949 0.99997927 -0.23219628] [ 0. 0. 0. 1. ]] SLAMing on 169.92313336499998 meters Centerline goodness [0,1] 0.285966403032878 Centerline is valid? [False, False] Translation: X:2.59, Y:0.22, Z:-0.23 [[ 0.9999209 0.0116624 -0.00470927 2.58819089] [-0.01164392 0.99992447 0.00393248 0.21938196] [ 0.00475478 -0.00387734 0.99998118 -0.23166902] [ 0. 0. 0. 1. ]] SLAMing on 169.95313336499999 meters Centerline goodness [0,1] 0.2850728787090058 Centerline is valid? [False, False] Translation: X:2.61, Y:0.23, Z:-0.23 [[ 0.99997952 0.00421572 -0.00481482 2.60637089] [-0.0041934 0.99998046 0.00463694 0.22609082] [ 0.00483427 -0.00461666 0.99997766 -0.22995107] [ 0. 0. 0. 1. ]] SLAMing on 169.983133365 meters Centerline goodness [0,1] 0.2851763169351328 Centerline is valid? [False, False] Translation: X:2.61, Y:0.23, Z:-0.23 [[ 0.99998022 0.00410607 -0.00476465 2.6062705 ] [-0.00408519 0.99998204 0.00438483 0.22716774] [ 0.00478257 -0.00436528 0.99997904 -0.23005895] [ 0. 0. 0. 1. ]] SLAMing on 170.013133365 meters Centerline goodness [0,1] 0.28385546342202694 Centerline is valid? [False, False] Translation: X:2.61, Y:0.23, Z:-0.23 [[ 0.99998052 0.00401117 -0.00478267 2.60643678] [-0.0039912 0.99998331 0.00417795 0.22807104] [ 0.00479935 -0.00415878 0.99997984 -0.2303232 ] [ 0. 0. 0. 1. ]] SLAMing on 170.043133365 meters Centerline goodness [0,1] 0.2871938909856929 Centerline is valid? [False, False] Translation: X:2.59, Y:0.23, Z:-0.23 [[ 0.99997036 -0.00476278 -0.00604924 2.58637678] [ 0.00479436 0.99997489 0.00521788 0.23132191] [ 0.00602423 -0.00524672 0.99996809 -0.23133448] [ 0. 0. 0. 1. ]] SLAMing on 170.073133365 meters Centerline goodness [0,1] 0.28700641685464623 Centerline is valid? [False, False] Translation: X:2.59, Y:0.23, Z:-0.23 [[ 0.9999686 -0.00486118 -0.00625883 2.58690292] [ 0.00489408 0.99997423 0.00525319 0.23069738] [ 0.00623313 -0.00528366 0.99996661 -0.23135593] [ 0. 0. 0. 1. ]] SLAMing on 170.103133365 meters Centerline goodness [0,1] 0.28665435986534915 Centerline is valid? [False, False] Translation: X:2.61, Y:0.23, Z:-0.23 [[ 9.99984243e-01 1.35174201e-03 -5.44850748e-03 2.60724938e+00] [-1.34091865e-03 9.99997122e-01 1.98964535e-03 2.28874341e-01] [ 5.45118129e-03 -1.98230799e-03 9.99983177e-01 -2.30622055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.133133365 meters Centerline goodness [0,1] 0.2887214761436838 Centerline is valid? [False, False] Translation: X:2.61, Y:0.23, Z:-0.23 [[ 9.99984984e-01 1.34132932e-03 -5.31350953e-03 2.60654922e+00] [-1.32953912e-03 9.99996648e-01 2.22182082e-03 2.27209730e-01] [ 5.31647191e-03 -2.21472293e-03 9.99983415e-01 -2.29935343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.163133365 meters Centerline goodness [0,1] 0.2854539142509981 Centerline is valid? [False, False] Translation: X:2.61, Y:0.23, Z:-0.23 [[ 9.99985701e-01 1.35959371e-03 -5.17203742e-03 2.60588466e+00] [-1.34685421e-03 9.99996053e-01 2.46583434e-03 2.25771145e-01] [ 5.17536954e-03 -2.45883310e-03 9.99983585e-01 -2.29359515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.193133365 meters Centerline goodness [0,1] 0.2873772912865954 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.23 [[ 9.99986199e-01 1.46461837e-03 -5.04542251e-03 2.60545872e+00] [-1.45074862e-03 9.99995162e-01 2.75154095e-03 2.24534052e-01] [ 5.04942806e-03 -2.74418334e-03 9.99983486e-01 -2.29136180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.223133365 meters Centerline goodness [0,1] 0.28481355491517346 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.23 [[ 9.99986472e-01 1.52441497e-03 -4.97302594e-03 2.60542867e+00] [-1.50975710e-03 9.99994509e-01 2.94989754e-03 2.23568442e-01] [ 4.97749551e-03 -2.94234958e-03 9.99983283e-01 -2.29338316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.253133365 meters Centerline goodness [0,1] 0.285975370958618 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.23 [[ 9.99986462e-01 1.58759778e-03 -4.95532332e-03 2.60560833e+00] [-1.57203060e-03 9.99993823e-01 3.14382245e-03 2.22521381e-01] [ 4.96028384e-03 -3.13598997e-03 9.99982780e-01 -2.29653584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.283133365 meters Centerline goodness [0,1] 0.2852366366107252 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.23 [[ 9.99985768e-01 1.57224732e-03 -5.09827390e-03 2.60624656e+00] [-1.55508205e-03 9.99993115e-01 3.36909527e-03 2.20555661e-01] [ 5.10353585e-03 -3.36111909e-03 9.99981328e-01 -2.30049130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.313133365 meters Centerline goodness [0,1] 0.2863868098492244 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.23 [[ 9.99985420e-01 1.56798295e-03 -5.16731794e-03 2.60651400e+00] [-1.55025746e-03 9.99992907e-01 3.43252791e-03 2.19969985e-01] [ 5.17266344e-03 -3.42446719e-03 9.99980758e-01 -2.30197963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.343133365 meters Centerline goodness [0,1] 0.28707966919065175 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.23 [[ 9.99983945e-01 1.58212715e-03 -5.44125988e-03 2.60720755e+00] [-1.56306303e-03 9.99992632e-01 3.50609129e-03 2.19483606e-01] [ 5.44676688e-03 -3.49752997e-03 9.99979050e-01 -2.30285005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.373133365 meters Centerline goodness [0,1] 0.28763229248666144 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.23 [[ 9.99981989e-01 1.60162363e-03 -5.78407696e-03 2.60828643e+00] [-1.58116526e-03 9.99992485e-01 3.53985919e-03 2.19299017e-01] [ 5.78970301e-03 -3.53064985e-03 9.99977007e-01 -2.30773961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.403133365 meters Centerline goodness [0,1] 0.28508236729713243 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.23 [[ 9.99979522e-01 1.61945469e-03 -6.19134486e-03 2.60964075e+00] [-1.59740788e-03 9.99992372e-01 3.56419688e-03 2.19165858e-01] [ 6.19706969e-03 -3.55423378e-03 9.99974482e-01 -2.31403383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.433133365 meters Centerline goodness [0,1] 0.28424098692369615 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.23 [[ 9.99978341e-01 1.61324418e-03 -6.38077987e-03 2.61039519e+00] [-1.59063340e-03 9.99992444e-01 3.54706589e-03 2.19145054e-01] [ 6.38645394e-03 -3.53683958e-03 9.99973352e-01 -2.31912167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46313336499998 meters Centerline goodness [0,1] 0.2877611287323636 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.23 [[ 9.99981203e-01 1.71907850e-03 -5.88537040e-03 2.60884445e+00] [-1.69765685e-03 9.99991924e-01 3.64287647e-03 2.18977361e-01] [ 5.89158525e-03 -3.63281666e-03 9.99976046e-01 -2.31292834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49313336499998 meters Centerline goodness [0,1] 0.2852573865367042 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.23 [[ 9.99982845e-01 1.70419002e-03 -5.60414231e-03 2.60792765e+00] [-1.68391640e-03 9.99992029e-01 3.62034449e-03 2.18922732e-01] [ 5.61026739e-03 -3.61084548e-03 9.99977743e-01 -2.30893394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52313336499998 meters Centerline goodness [0,1] 0.28617433308673135 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.23 [[ 9.99983132e-01 1.68176154e-03 -5.55943976e-03 2.60759658e+00] [-1.66173076e-03 9.99992119e-01 3.60567973e-03 2.18776057e-01] [ 5.56545984e-03 -3.59638062e-03 9.99978046e-01 -2.30600438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55313336499998 meters Centerline goodness [0,1] 0.2886023385422358 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.23 [[ 9.99982179e-01 1.65493075e-03 -5.73605438e-03 2.60805365e+00] [-1.63438329e-03 9.99992238e-01 3.58499626e-03 2.18662865e-01] [ 5.74194278e-03 -3.57555746e-03 9.99977122e-01 -2.30699551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58313336499998 meters Centerline goodness [0,1] 0.28557092368776993 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.23 [[ 9.99980552e-01 1.62775478e-03 -6.02045914e-03 2.60902098e+00] [-1.60648480e-03 9.99992458e-01 3.53609920e-03 2.18798026e-01] [ 6.02616963e-03 -3.52635865e-03 9.99975625e-01 -2.31192519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61313336499998 meters Centerline goodness [0,1] 0.28051942439825417 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.23 [[ 9.99979341e-01 1.60150791e-03 -6.22517295e-03 2.60984749e+00] [-1.57991226e-03 9.99992723e-01 3.47245511e-03 2.19124932e-01] [ 6.23068881e-03 -3.46254814e-03 9.99974594e-01 -2.31756625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64313336499998 meters Centerline goodness [0,1] 0.29057804102226614 Centerline is valid? [False, False] Translation: X:2.56, Y:0.22, Z:-0.23 [[ 9.99966075e-01 7.76924150e-04 -8.20034627e-03 2.56287123e+00] [-7.49044913e-04 9.99993932e-01 3.40228733e-03 2.17563463e-01] [ 8.20293983e-03 -3.39602948e-03 9.99960589e-01 -2.30083948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67313336499998 meters Centerline goodness [0,1] 0.29057804102226614 Centerline is valid? [False, False] Translation: X:2.56, Y:0.22, Z:-0.23 [[ 9.99966075e-01 7.76924150e-04 -8.20034627e-03 2.56287123e+00] [-7.49044913e-04 9.99993932e-01 3.40228733e-03 2.17563463e-01] [ 8.20293983e-03 -3.39602948e-03 9.99960589e-01 -2.30083948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70313336499999 meters Centerline goodness [0,1] 0.28372072928367753 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:-0.23 [[ 9.99935571e-01 9.19308332e-03 -6.65897063e-03 2.58249967e+00] [-9.18031721e-03 9.99955968e-01 1.94516574e-03 2.17782150e-01] [ 6.67655950e-03 -1.88390895e-03 9.99975937e-01 -2.29247230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.733133365 meters Centerline goodness [0,1] 0.2889888133362579 Centerline is valid? [False, False] Translation: X:2.56, Y:0.22, Z:-0.23 [[ 9.99974356e-01 5.77725205e-04 -7.13820983e-03 2.56184805e+00] [-5.57421769e-04 9.99995795e-01 2.84599387e-03 2.23730451e-01] [ 7.13982402e-03 -2.84194190e-03 9.99970473e-01 -2.30192509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.763133365 meters Centerline goodness [0,1] 0.2812715665976535 Centerline is valid? [False, False] Translation: X:2.61, Y:0.23, Z:-0.23 [[ 0.99997898 0.00285724 -0.00582079 2.60666116] [-0.00283789 0.99999043 0.00332965 0.23064244] [ 0.00583025 -0.00331306 0.99997752 -0.23093038] [ 0. 0. 0. 1. ]] SLAMing on 170.793133365 meters Centerline goodness [0,1] 0.285854360047065 Centerline is valid? [False, False] Translation: X:2.61, Y:0.23, Z:-0.23 [[ 0.99997867 0.00281493 -0.00589416 2.60709269] [-0.00279812 0.999992 0.00285731 0.23382335] [ 0.00590215 -0.00284076 0.99997855 -0.23144284] [ 0. 0. 0. 1. ]] SLAMing on 170.823133365 meters Centerline goodness [0,1] 0.2857954669639149 Centerline is valid? [False, False] Translation: X:2.61, Y:0.24, Z:-0.23 [[ 9.99978322e-01 2.71154168e-03 -6.00017760e-03 2.60762524e+00] [-2.70106873e-03 9.99994816e-01 1.75285584e-03 2.40772538e-01] [ 6.00489944e-03 -1.73661095e-03 9.99980462e-01 -2.32217709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.853133365 meters Centerline goodness [0,1] 0.2832369942196532 Centerline is valid? [False, False] Translation: X:2.61, Y:0.24, Z:-0.23 [[ 9.99980015e-01 2.49577922e-03 -5.80864723e-03 2.60703562e+00] [-2.48988552e-03 9.99996378e-01 1.02165287e-03 2.44548964e-01] [ 5.81117601e-03 -1.00716959e-03 9.99982608e-01 -2.32171283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.883133365 meters Centerline goodness [0,1] 0.28697229263176294 Centerline is valid? [False, False] Translation: X:2.61, Y:0.25, Z:-0.23 [[ 9.99982774e-01 2.36120573e-03 -5.37366376e-03 2.60557135e+00] [-2.35890607e-03 9.99997123e-01 4.34247028e-04 2.48127455e-01] [ 5.37467364e-03 -4.21563579e-04 9.99985467e-01 -2.31643906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.913133365 meters Centerline goodness [0,1] 0.28497904406176033 Centerline is valid? [False, False] Translation: X:2.60, Y:0.25, Z:-0.23 [[ 9.99985505e-01 2.29425426e-03 -4.87105525e-03 2.60392239e+00] [-2.29464193e-03 9.99997365e-01 -7.39977936e-05 2.51742201e-01] [ 4.87087264e-03 8.51740486e-05 9.99988134e-01 -2.31042532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.943133365 meters Centerline goodness [0,1] 0.28746336698143926 Centerline is valid? [False, False] Translation: X:2.60, Y:0.25, Z:-0.23 [[ 9.99987686e-01 2.13990918e-03 -4.47748848e-03 2.60257398e+00] [-2.14263609e-03 9.99997522e-01 -6.04318690e-04 2.54908734e-01] [ 4.47618420e-03 6.13904877e-04 9.99989793e-01 -2.30454938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.973133365 meters Centerline goodness [0,1] 0.28523344191096633 Centerline is valid? [False, False] Translation: X:2.60, Y:0.26, Z:-0.23 [[ 9.99989204e-01 1.94400079e-03 -4.22053584e-03 2.60183197e+00] [-1.94873811e-03 9.99997476e-01 -1.11862288e-03 2.57608064e-01] [ 4.21835058e-03 1.12683553e-03 9.99990468e-01 -2.30325890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.003133365 meters Centerline goodness [0,1] 0.2846691630051298 Centerline is valid? [False, False] Translation: X:2.60, Y:0.26, Z:-0.23 [[ 9.99989901e-01 1.52916618e-03 -4.22617360e-03 2.60195474e+00] [-1.53742244e-03 9.99996915e-01 -1.95104186e-03 2.61433314e-01] [ 4.22317710e-03 1.95751957e-03 9.99989166e-01 -2.30542337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.033133365 meters Centerline goodness [0,1] 0.2918256369775907 Centerline is valid? [False, False] Translation: X:2.58, Y:0.27, Z:-0.23 [[ 9.99960177e-01 -7.36897378e-03 -5.03408881e-03 2.58153300e+00] [ 7.36343162e-03 9.99972264e-01 -1.11857595e-03 2.65424867e-01] [ 5.04219194e-03 1.08146323e-03 9.99986703e-01 -2.31781169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.063133365 meters Centerline goodness [0,1] 0.2874250195601148 Centerline is valid? [False, False] Translation: X:2.60, Y:0.26, Z:-0.23 [[ 9.99988378e-01 7.36264550e-04 -4.76473156e-03 2.60122307e+00] [-7.48129237e-04 9.99996623e-01 -2.48880313e-03 2.64870777e-01] [ 4.76288306e-03 2.49233884e-03 9.99985551e-01 -2.30833812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.093133365 meters Centerline goodness [0,1] 0.289841159015535 Centerline is valid? [False, False] Translation: X:2.60, Y:0.27, Z:-0.23 [[ 9.99987497e-01 6.16441530e-04 -4.96242097e-03 2.60186283e+00] [-6.30071460e-04 9.99996033e-01 -2.74553455e-03 2.66193798e-01] [ 4.96070882e-03 2.74862690e-03 9.99983918e-01 -2.31133798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.123133365 meters Centerline goodness [0,1] 0.28599712806231237 Centerline is valid? [False, False] Translation: X:2.60, Y:0.27, Z:-0.23 [[ 9.99986262e-01 5.37987184e-04 -5.21407667e-03 2.60283412e+00] [-5.53408027e-04 9.99995476e-01 -2.95654910e-03 2.67453235e-01] [ 5.21246249e-03 2.95939399e-03 9.99982036e-01 -2.31761730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.153133365 meters Centerline goodness [0,1] 0.28920904201827646 Centerline is valid? [False, False] Translation: X:2.60, Y:0.27, Z:-0.23 [[ 9.99985800e-01 4.91091562e-04 -5.30648073e-03 2.60318548e+00] [-5.07468984e-04 9.99995111e-01 -3.08540018e-03 2.68273278e-01] [ 5.30493958e-03 3.08804925e-03 9.99981161e-01 -2.32005608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.183133365 meters Centerline goodness [0,1] 0.2843254269655606 Centerline is valid? [False, False] Translation: X:2.60, Y:0.27, Z:-0.23 [[ 9.99984277e-01 2.26160080e-04 -5.60310778e-03 2.60367762e+00] [-2.44801560e-04 9.99994437e-01 -3.32652701e-03 2.68767878e-01] [ 5.60232429e-03 3.32784635e-03 9.99978769e-01 -2.31664944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21313336499998 meters Centerline goodness [0,1] 0.2843254269655606 Centerline is valid? [False, False] Translation: X:2.60, Y:0.27, Z:-0.23 [[ 9.99984277e-01 2.26160080e-04 -5.60310778e-03 2.60367762e+00] [-2.44801560e-04 9.99994437e-01 -3.32652701e-03 2.68767878e-01] [ 5.60232429e-03 3.32784635e-03 9.99978769e-01 -2.31664944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24313336499998 meters Centerline goodness [0,1] 0.28876163832670365 Centerline is valid? [False, False] Translation: X:2.60, Y:0.27, Z:-0.23 [[ 9.99983641e-01 1.92978973e-04 -5.71672056e-03 2.60396535e+00] [-2.11560939e-04 9.99994696e-01 -3.25003260e-03 2.68087168e-01] [ 5.71606306e-03 3.25118886e-03 9.99978378e-01 -2.31669003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27313336499998 meters Centerline goodness [0,1] 0.2849870017331022 Centerline is valid? [False, False] Translation: X:2.61, Y:0.27, Z:-0.23 [[ 9.99980805e-01 -1.84023409e-04 -6.19323848e-03 2.60540503e+00] [ 1.64387564e-04 9.99994959e-01 -3.17088932e-03 2.65905572e-01] [ 6.19379078e-03 3.16981036e-03 9.99975794e-01 -2.32041754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30313336499998 meters Centerline goodness [0,1] 0.2878890024574299 Centerline is valid? [False, False] Translation: X:2.61, Y:0.26, Z:-0.23 [[ 9.99980694e-01 -1.55072702e-04 -6.21194565e-03 2.60557071e+00] [ 1.37108276e-04 9.99995808e-01 -2.89223756e-03 2.64105807e-01] [ 6.21236812e-03 2.89133002e-03 9.99976523e-01 -2.32173428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33313336499998 meters Centerline goodness [0,1] 0.28546633979129155 Centerline is valid? [False, False] Translation: X:2.61, Y:0.26, Z:-0.23 [[ 9.99979826e-01 -1.09545046e-04 -6.35103963e-03 2.60598453e+00] [ 9.28811659e-05 9.99996553e-01 -2.62403909e-03 2.62419645e-01] [ 6.35130519e-03 2.62339627e-03 9.99976389e-01 -2.32269999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36313336499998 meters Centerline goodness [0,1] 0.2879879486507728 Centerline is valid? [False, False] Translation: X:2.61, Y:0.26, Z:-0.23 [[ 9.99979049e-01 -4.23300991e-05 -6.47298986e-03 2.60631902e+00] [ 2.70299725e-05 9.99997206e-01 -2.36375693e-03 2.60944787e-01] [ 6.47307183e-03 2.36353245e-03 9.99976256e-01 -2.32321794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39313336499998 meters Centerline goodness [0,1] 0.2867814719103564 Centerline is valid? [False, False] Translation: X:2.61, Y:0.26, Z:-0.23 [[ 9.99977994e-01 8.76404012e-05 -6.63360426e-03 2.60659937e+00] [-1.01241021e-04 9.99997894e-01 -2.04995299e-03 2.59521736e-01] [ 6.63341063e-03 2.05057947e-03 9.99975896e-01 -2.32149929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42313336499998 meters Centerline goodness [0,1] 0.28882934692632767 Centerline is valid? [False, False] Translation: X:2.61, Y:0.26, Z:-0.23 [[ 9.99977791e-01 2.32927564e-04 -6.66057238e-03 2.60663067e+00] [-2.44322725e-04 9.99998508e-01 -1.71007557e-03 2.57943708e-01] [ 6.66016412e-03 1.71166492e-03 9.99976356e-01 -2.32057711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45313336499999 meters Centerline goodness [0,1] 0.28736757379973465 Centerline is valid? [False, False] Translation: X:2.61, Y:0.26, Z:-0.23 [[ 9.99978109e-01 3.55665885e-04 -6.60716320e-03 2.60636248e+00] [-3.64344958e-04 9.99999072e-01 -1.31242813e-03 2.55388859e-01] [ 6.60669028e-03 1.31480668e-03 9.99977311e-01 -2.31775080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.483133365 meters Centerline goodness [0,1] 0.28630237899207 Centerline is valid? [False, False] Translation: X:2.61, Y:0.25, Z:-0.23 [[ 9.99978019e-01 4.20534390e-04 -6.61700620e-03 2.60631707e+00] [-4.28148731e-04 9.99999248e-01 -1.14934841e-03 2.54381099e-01] [ 6.61651788e-03 1.15215621e-03 9.99977447e-01 -2.31668930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.513133365 meters Centerline goodness [0,1] 0.2898265415490955 Centerline is valid? [False, False] Translation: X:2.61, Y:0.25, Z:-0.23 [[ 9.99978985e-01 5.73828962e-04 -6.45756727e-03 2.60579004e+00] [-5.79725413e-04 9.99999417e-01 -9.11272333e-04 2.53601975e-01] [ 6.45704058e-03 9.14996798e-04 9.99978734e-01 -2.31450939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.543133365 meters Centerline goodness [0,1] 0.2893949649555667 Centerline is valid? [False, False] Translation: X:2.61, Y:0.25, Z:-0.23 [[ 9.99980194e-01 7.18947269e-04 -6.25254152e-03 2.60508932e+00] [-7.23172351e-04 9.99999512e-01 -6.73503705e-04 2.52766830e-01] [ 6.25205426e-03 6.78012031e-04 9.99980226e-01 -2.31123710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.573133365 meters Centerline goodness [0,1] 0.28909498617551654 Centerline is valid? [False, False] Translation: X:2.60, Y:0.25, Z:-0.23 [[ 9.99981197e-01 7.99671866e-04 -6.07998670e-03 2.60451046e+00] [-8.02618047e-04 9.99999562e-01 -4.82145660e-04 2.51772762e-01] [ 6.07959848e-03 4.87016501e-04 9.99981400e-01 -2.30805659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.603133365 meters Centerline goodness [0,1] 0.287920466113626 Centerline is valid? [False, False] Translation: X:2.60, Y:0.25, Z:-0.23 [[ 9.99982721e-01 8.60340711e-04 -5.81526199e-03 2.60368344e+00] [-8.61113972e-04 9.99999621e-01 -1.30468454e-04 2.49272915e-01] [ 5.81514753e-03 1.35473803e-04 9.99983083e-01 -2.30485691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.633133365 meters Centerline goodness [0,1] 0.28768430182133564 Centerline is valid? [False, False] Translation: X:2.60, Y:0.25, Z:-0.23 [[ 9.99983118e-01 9.27891342e-04 -5.73606877e-03 2.60337739e+00] [-9.27186023e-04 9.99999562e-01 1.25620090e-04 2.47863274e-01] [ 5.73618282e-03 -1.20299566e-04 9.99983541e-01 -2.30285174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.663133365 meters Centerline goodness [0,1] 0.28504592298736575 Centerline is valid? [False, False] Translation: X:2.60, Y:0.25, Z:-0.23 [[ 9.99983575e-01 1.04294742e-03 -5.63578981e-03 2.60292975e+00] [-1.04013888e-03 9.99999333e-01 5.01248646e-04 2.46034435e-01] [ 5.63630883e-03 -4.95378409e-04 9.99983993e-01 -2.29937482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.693133365 meters Centerline goodness [0,1] 0.29217809867629363 Centerline is valid? [False, False] Translation: X:2.56, Y:0.24, Z:-0.23 [[ 9.99970311e-01 -4.14574446e-04 -7.69447885e-03 2.55684219e+00] [ 4.19282074e-04 9.99999726e-01 6.10215867e-04 2.40605005e-01] [ 7.69422377e-03 -6.13423908e-04 9.99970211e-01 -2.28678531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.723133365 meters Centerline goodness [0,1] 0.29124692674223795 Centerline is valid? [False, False] Translation: X:2.56, Y:0.24, Z:-0.23 [[ 9.99969197e-01 -4.92926874e-04 -7.83339739e-03 2.55703267e+00] [ 4.99924226e-04 9.99999478e-01 8.91338697e-04 2.38372479e-01] [ 7.83295394e-03 -8.95227346e-04 9.99968921e-01 -2.28404701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.753133365 meters Centerline goodness [0,1] 0.2911918225315354 Centerline is valid? [False, False] Translation: X:2.56, Y:0.24, Z:-0.23 [[ 9.99967857e-01 -5.62005344e-04 -7.99806940e-03 2.55729412e+00] [ 5.71970423e-04 9.99999063e-01 1.24370276e-03 2.35757099e-01] [ 7.99736294e-03 -1.24823744e-03 9.99967242e-01 -2.28154378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.783133365 meters Centerline goodness [0,1] 0.29292797210417343 Centerline is valid? [False, False] Translation: X:2.56, Y:0.23, Z:-0.23 [[ 9.99967113e-01 -8.56377632e-04 -8.06471579e-03 2.55759458e+00] [ 8.71002221e-04 9.99997983e-01 1.81006653e-03 2.31169437e-01] [ 8.06314942e-03 -1.81703138e-03 9.99965841e-01 -2.28228787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.813133365 meters Centerline goodness [0,1] 0.2924004615016218 Centerline is valid? [False, False] Translation: X:2.56, Y:0.23, Z:-0.23 [[ 9.99967718e-01 -7.76082510e-04 -7.99752635e-03 2.55736554e+00] [ 7.94468130e-04 9.99997049e-01 2.29599281e-03 2.28642057e-01] [ 7.99572087e-03 -2.30227247e-03 9.99965383e-01 -2.28036183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.843133365 meters Centerline goodness [0,1] 0.2914636268708667 Centerline is valid? [False, False] Translation: X:2.56, Y:0.23, Z:-0.23 [[ 9.99968553e-01 -8.02534581e-04 -7.88978663e-03 2.55692199e+00] [ 8.23605452e-04 9.99996102e-01 2.66776528e-03 2.26122466e-01] [ 7.88761491e-03 -2.67417946e-03 9.99965317e-01 -2.27657616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.873133365 meters Centerline goodness [0,1] 0.28819047207891724 Centerline is valid? [False, False] Translation: X:2.56, Y:0.22, Z:-0.23 [[ 9.99965995e-01 -1.06790790e-03 -8.17730714e-03 2.55747982e+00] [ 1.09074274e-03 9.99995517e-01 2.78851358e-03 2.23801796e-01] [ 8.17429261e-03 -2.79733809e-03 9.99962677e-01 -2.27395218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.903133365 meters Centerline goodness [0,1] 0.2939850775660241 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.23 [[ 9.99948918e-01 3.83101556e-03 -9.35330164e-03 2.53533508e+00] [-3.83611543e-03 9.99992503e-01 -5.27368187e-04 2.18403094e-01] [ 9.35121117e-03 5.63221593e-04 9.99956118e-01 -2.26977467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.933133365 meters Centerline goodness [0,1] 0.2892941456758571 Centerline is valid? [False, False] Translation: X:2.56, Y:0.22, Z:-0.23 [[ 9.99941977e-01 -4.28231073e-03 -9.88455833e-03 2.55686362e+00] [ 4.28574441e-03 9.99990763e-01 3.26222463e-04 2.19931432e-01] [ 9.88307004e-03 -3.68566225e-04 9.99951093e-01 -2.26259932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96313336499998 meters Centerline goodness [0,1] 0.2874848851269649 Centerline is valid? [False, False] Translation: X:2.56, Y:0.21, Z:-0.23 [[ 9.99938384e-01 -4.22873994e-03 -1.02638204e-02 2.55782606e+00] [ 4.24100129e-03 9.99990319e-01 1.17314730e-03 2.14862006e-01] [ 1.02587601e-02 -1.21660389e-03 9.99946637e-01 -2.26293686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99313336499998 meters Centerline goodness [0,1] 0.29203712962761674 Centerline is valid? [False, False] Translation: X:2.56, Y:0.21, Z:-0.23 [[ 9.99939020e-01 -4.07988780e-03 -1.02621148e-02 2.55760238e+00] [ 4.09756784e-03 9.99990156e-01 1.70241056e-03 2.12054319e-01] [ 1.02550681e-02 -1.74435646e-03 9.99945894e-01 -2.25878485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02313336499998 meters Centerline goodness [0,1] 0.29069337910953696 Centerline is valid? [False, False] Translation: X:2.56, Y:0.21, Z:-0.23 [[ 9.99937918e-01 -4.03234142e-03 -1.03875548e-02 2.55775634e+00] [ 4.05425779e-03 9.99989598e-01 2.08967536e-03 2.09491223e-01] [ 1.03790204e-02 -2.13165946e-03 9.99943864e-01 -2.25640516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05313336499998 meters Centerline goodness [0,1] 0.2916539617545847 Centerline is valid? [False, False] Translation: X:2.56, Y:0.21, Z:-0.23 [[ 9.99934162e-01 -3.98732098e-03 -1.07597855e-02 2.55866158e+00] [ 4.01375367e-03 9.99988977e-01 2.43614284e-03 2.07208345e-01] [ 1.07499532e-02 -2.47916957e-03 9.99939144e-01 -2.25637543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08313336499998 meters Centerline goodness [0,1] 0.29176073471713826 Centerline is valid? [False, False] Translation: X:2.56, Y:0.21, Z:-0.23 [[ 0.99992982 -0.00391991 -0.01118011 2.55986473] [ 0.00395133 0.9999883 0.00278956 0.20506959] [ 0.01116904 -0.00283354 0.99993361 -0.22596575] [ 0. 0. 0. 1. ]] SLAMing on 172.11313336499998 meters Centerline goodness [0,1] 0.2890487470932128 Centerline is valid? [False, False] Translation: X:2.58, Y:0.20, Z:-0.22 [[ 9.99917736e-01 4.18219865e-03 -1.21255719e-02 2.58003137e+00] [-4.16057507e-03 9.99989710e-01 1.80798125e-03 1.99228531e-01] [ 1.21330085e-02 -1.75738317e-03 9.99924848e-01 -2.24639093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14313336499998 meters Centerline goodness [0,1] 0.2902057720245452 Centerline is valid? [False, False] Translation: X:2.58, Y:0.20, Z:-0.22 [[ 9.99915501e-01 4.40428883e-03 -1.22307904e-02 2.58037789e+00] [-4.37678090e-03 9.99987834e-01 2.27492867e-03 1.97354150e-01] [ 1.22406610e-02 -2.22120496e-03 9.99922613e-01 -2.24753351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17313336499998 meters Centerline goodness [0,1] 0.2885665194980317 Centerline is valid? [False, False] Translation: X:2.58, Y:0.20, Z:-0.22 [[ 9.99916202e-01 4.41229356e-03 -1.21704539e-02 2.58002200e+00] [-4.38378252e-03 9.99987587e-01 2.36832779e-03 1.96570034e-01] [ 1.21807525e-02 -2.31477671e-03 9.99923133e-01 -2.24420519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20313336499999 meters Centerline goodness [0,1] 0.2917102282627635 Centerline is valid? [False, False] Translation: X:2.58, Y:0.20, Z:-0.22 [[ 9.99915995e-01 4.39408752e-03 -1.21940693e-02 2.57993868e+00] [-4.36460907e-03 9.99987491e-01 2.44300213e-03 1.95744059e-01] [ 1.22046515e-02 -2.38957456e-03 9.99922665e-01 -2.24184195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.233133365 meters Centerline goodness [0,1] 0.29356292665849815 Centerline is valid? [False, False] Translation: X:2.58, Y:0.20, Z:-0.22 [[ 9.99914638e-01 4.40968261e-03 -1.22992251e-02 2.58016681e+00] [-4.37906714e-03 9.99987249e-01 2.51504087e-03 1.95287094e-01] [ 1.23101588e-02 -2.46096705e-03 9.99921199e-01 -2.24163945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.263133365 meters Centerline goodness [0,1] 0.29109820049176405 Centerline is valid? [False, False] Translation: X:2.58, Y:0.20, Z:-0.22 [[ 9.99914407e-01 4.47172024e-03 -1.22956398e-02 2.58011526e+00] [-4.43980426e-03 9.99986707e-01 2.62178755e-03 1.95006800e-01] [ 1.23072002e-02 -2.56697291e-03 9.99920969e-01 -2.24104251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.293133365 meters Centerline goodness [0,1] 0.28785155996276013 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 0.99991494 0.00454235 -0.01222605 2.57975476] [-0.00450887 0.99998602 0.00276399 0.19449312] [ 0.01223844 -0.00270863 0.99992144 -0.22380602] [ 0. 0. 0. 1. ]] SLAMing on 172.323133365 meters Centerline goodness [0,1] 0.2890233587090897 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 0.99992115 0.0045303 -0.0117121 2.57798686] [-0.00449457 0.99998517 0.00307549 0.19233396] [ 0.01172586 -0.00302261 0.99992668 -0.22289005] [ 0. 0. 0. 1. ]] SLAMing on 172.353133365 meters Centerline goodness [0,1] 0.2908920515223503 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 0.99992242 0.00454856 -0.01159578 2.57742133] [-0.0045102 0.99998428 0.00333181 0.19067987] [ 0.01161075 -0.00327925 0.99992722 -0.22244595] [ 0. 0. 0. 1. ]] SLAMing on 172.383133365 meters Centerline goodness [0,1] 0.29182692307692304 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 0.99992148 0.0046084 -0.01165275 2.57740939] [-0.00456621 0.99998293 0.00364461 0.18894855] [ 0.01166934 -0.00359112 0.99992546 -0.2222368 ] [ 0. 0. 0. 1. ]] SLAMing on 172.413133365 meters Centerline goodness [0,1] 0.29053980666883894 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 0.99991878 0.00465129 -0.01186606 2.57800516] [-0.00460496 0.99998168 0.00392843 0.18737237] [ 0.01188412 -0.00387347 0.99992188 -0.22238877] [ 0. 0. 0. 1. ]] SLAMing on 172.443133365 meters Centerline goodness [0,1] 0.2912401938414064 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 0.99991688 0.00468207 -0.01201319 2.57841988] [-0.00463257 0.99998068 0.00414442 0.18609789] [ 0.01203236 -0.00408843 0.99991925 -0.22247891] [ 0. 0. 0. 1. ]] SLAMing on 172.473133365 meters Centerline goodness [0,1] 0.290311403698731 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 0.99991687 0.00466232 -0.01202175 2.57843297] [-0.00461162 0.99998037 0.00424141 0.18523907] [ 0.01204129 -0.00418562 0.99991874 -0.22242846] [ 0. 0. 0. 1. ]] SLAMing on 172.503133365 meters Centerline goodness [0,1] 0.2922651812539748 Centerline is valid? [False, False] Translation: X:2.56, Y:0.19, Z:-0.22 [[ 0.99991899 -0.00447688 -0.01191509 2.55696237] [ 0.00453446 0.99997815 0.00481031 0.18941198] [ 0.0118933 -0.00486394 0.99991744 -0.22282662] [ 0. 0. 0. 1. ]] SLAMing on 172.533133365 meters Centerline goodness [0,1] 0.2919283097854526 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 0.99992796 0.00384629 -0.01137043 2.57550982] [-0.00380758 0.99998689 0.00342449 0.18571373] [ 0.01138345 -0.00338095 0.99992949 -0.22108115] [ 0. 0. 0. 1. ]] SLAMing on 172.563133365 meters Centerline goodness [0,1] 0.290935958450138 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 0.99992569 0.00375605 -0.01159765 2.57630546] [-0.00371998 0.99998818 0.00312974 0.18727975] [ 0.01160927 -0.00308637 0.99992785 -0.22145335] [ 0. 0. 0. 1. ]] SLAMing on 172.593133365 meters Centerline goodness [0,1] 0.290935958450138 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 0.99992569 0.00375605 -0.01159765 2.57630546] [-0.00371998 0.99998818 0.00312974 0.18727975] [ 0.01160927 -0.00308637 0.99992785 -0.22145335] [ 0. 0. 0. 1. ]] SLAMing on 172.623133365 meters Centerline goodness [0,1] 0.2908078963388121 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 0.99992369 0.00362885 -0.01180851 2.57699975] [-0.00359508 0.99998939 0.00287956 0.18829249] [ 0.01181884 -0.00283689 0.99992613 -0.22177881] [ 0. 0. 0. 1. ]] SLAMing on 172.653133365 meters Centerline goodness [0,1] 0.28662944206380125 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 9.99922098e-01 3.47934596e-03 -1.19871579e-02 2.57759642e+00] [-3.44858919e-03 9.99990711e-01 2.58552530e-03 1.89399146e-01] [ 1.19960425e-02 -2.54398510e-03 9.99924809e-01 -2.22032440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.683133365 meters Centerline goodness [0,1] 0.2881554662903051 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 9.99920985e-01 3.34962989e-03 -1.21162673e-02 2.57810650e+00] [-3.32178111e-03 9.99991797e-01 2.31785742e-03 1.90577117e-01] [ 1.21239319e-02 -2.27742669e-03 9.99923909e-01 -2.22363738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71313336499998 meters Centerline goodness [0,1] 0.29157510767337613 Centerline is valid? [False, False] Translation: X:2.56, Y:0.20, Z:-0.22 [[ 0.99990644 -0.00520718 -0.01264911 2.55915218] [ 0.00525196 0.99998005 0.00350963 0.19588445] [ 0.01263058 -0.00357573 0.99991384 -0.22394236] [ 0. 0. 0. 1. ]] SLAMing on 172.74313336499998 meters Centerline goodness [0,1] 0.29107049380561856 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 9.99919734e-01 3.06105779e-03 -1.22945054e-02 2.57827846e+00] [-3.03554687e-03 9.99993202e-01 2.09311132e-03 1.93176746e-01] [ 1.23008289e-02 -2.05562277e-03 9.99922229e-01 -2.22703395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77313336499998 meters Centerline goodness [0,1] 0.28811355509806047 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 9.99921420e-01 2.84609309e-03 -1.22087238e-02 2.57774385e+00] [-2.82416042e-03 9.99994368e-01 1.81333946e-03 1.94143384e-01] [ 1.22138159e-02 -1.77871758e-03 9.99923827e-01 -2.22179326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80313336499998 meters Centerline goodness [0,1] 0.28928027832137426 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 9.99920829e-01 2.82014566e-03 -1.22630407e-02 2.57775202e+00] [-2.79810111e-03 9.99994439e-01 1.81442727e-03 1.94155293e-01] [ 1.22680895e-02 -1.77997040e-03 9.99923160e-01 -2.22042839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83313336499998 meters Centerline goodness [0,1] 0.2892320443193963 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 9.99919253e-01 2.79521347e-03 -1.23965317e-02 2.57799276e+00] [-2.77283576e-03 9.99994496e-01 1.82197891e-03 1.94208933e-01] [ 1.24015563e-02 -1.78745824e-03 9.99921500e-01 -2.21940398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86313336499998 meters Centerline goodness [0,1] 0.2914488998199306 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 9.99916930e-01 2.78659483e-03 -1.25844387e-02 2.57843100e+00] [-2.76342986e-03 9.99994456e-01 1.85777694e-03 1.94076847e-01] [ 1.25895458e-02 -1.82284640e-03 9.99919087e-01 -2.21963503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89313336499998 meters Centerline goodness [0,1] 0.28683327923834256 Centerline is valid? [False, False] Translation: X:2.60, Y:0.20, Z:-0.22 [[ 0.99991376 -0.00513206 -0.01208841 2.59891503] [ 0.00516535 0.99998295 0.00272463 0.19757054] [ 0.01207422 -0.00278684 0.99992322 -0.2207559 ] [ 0. 0. 0. 1. ]] SLAMing on 172.92313336499998 meters Centerline goodness [0,1] 0.2898759923889509 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 9.99955117e-01 7.36814119e-04 -9.44563965e-03 2.58010659e+00] [-7.22911001e-04 9.99998651e-01 1.47523830e-03 1.92510224e-01] [ 9.44671388e-03 -1.46834373e-03 9.99954301e-01 -2.22783142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95313336499999 meters Centerline goodness [0,1] 0.28709168342088764 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 9.99954403e-01 6.72534808e-04 -9.52575631e-03 2.58022561e+00] [-6.58373186e-04 9.99998674e-01 1.48972426e-03 1.92228045e-01] [ 9.52674556e-03 -1.48338483e-03 9.99953519e-01 -2.22664919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.983133365 meters Centerline goodness [0,1] 0.2842344290657439 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 9.99953947e-01 6.65882134e-04 -9.57394239e-03 2.58041106e+00] [-6.50709074e-04 9.99998528e-01 1.58785652e-03 1.91612836e-01] [ 9.57498561e-03 -1.58155354e-03 9.99952908e-01 -2.22814520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.013133365 meters Centerline goodness [0,1] 0.28579785505362365 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 9.99953550e-01 6.69021075e-04 -9.61506899e-03 2.58047151e+00] [-6.52656878e-04 9.99998334e-01 1.70496933e-03 1.90896287e-01] [ 9.61619362e-03 -1.69861480e-03 9.99952321e-01 -2.22755968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.043133365 meters Centerline goodness [0,1] 0.28920712539294446 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 9.99953876e-01 7.05145036e-04 -9.57849952e-03 2.58013608e+00] [-6.87202354e-04 9.99998003e-01 1.87638682e-03 1.89968779e-01] [ 9.57980352e-03 -1.86971790e-03 9.99952365e-01 -2.22372284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.073133365 meters Centerline goodness [0,1] 0.2886898925855721 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 9.99955684e-01 6.99412360e-04 -9.38838539e-03 2.57941802e+00] [-6.81162125e-04 9.99997873e-01 1.94697314e-03 1.89503263e-01] [ 9.38972716e-03 -1.94049184e-03 9.99954033e-01 -2.21920213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.103133365 meters Centerline goodness [0,1] 0.2847430557054367 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 9.99956633e-01 6.67830094e-04 -9.28904015e-03 2.57901125e+00] [-6.50585037e-04 9.99998060e-01 1.85939293e-03 1.90063042e-01] [ 9.29026388e-03 -1.85326898e-03 9.99955127e-01 -2.21633852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.133133365 meters Centerline goodness [0,1] 0.28813743140359627 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:-0.22 [[ 9.99955949e-01 5.69827820e-04 -9.36881874e-03 2.57939637e+00] [-5.54760936e-04 9.99998549e-01 1.61071475e-03 1.91233559e-01] [ 9.36972297e-03 -1.60544634e-03 9.99954814e-01 -2.21910247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.163133365 meters Centerline goodness [0,1] 0.2932248130224373 Centerline is valid? [False, False] Translation: X:2.54, Y:0.19, Z:-0.22 [[ 9.99930170e-01 7.68149607e-05 -1.18173037e-02 2.53503444e+00] [-5.74183432e-05 9.99998651e-01 1.64170473e-03 1.93258177e-01] [ 1.18174138e-02 -1.64091156e-03 9.99928826e-01 -2.21684896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.193133365 meters Centerline goodness [0,1] 0.28784000694113054 Centerline is valid? [False, False] Translation: X:2.55, Y:0.19, Z:-0.22 [[ 9.99907219e-01 8.28858751e-03 -1.08098232e-02 2.55454013e+00] [-8.28762280e-03 9.99965648e-01 1.34036743e-04 1.91331400e-01] [ 1.08105628e-02 -4.44365699e-05 9.99941563e-01 -2.20663159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.223133365 meters Centerline goodness [0,1] 0.2896032624021171 Centerline is valid? [False, False] Translation: X:2.55, Y:0.19, Z:-0.22 [[ 9.99910402e-01 8.14566415e-03 -1.06224586e-02 2.55372345e+00] [-8.14877570e-03 9.99966767e-01 -2.49673407e-04 1.93197772e-01] [ 1.06200719e-02 3.36211069e-04 9.99943549e-01 -2.20049737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.253133365 meters Centerline goodness [0,1] 0.29324557759167336 Centerline is valid? [False, False] Translation: X:2.53, Y:0.20, Z:-0.22 [[ 9.99952415e-01 3.27864008e-05 -9.75536319e-03 2.53439452e+00] [-2.50539264e-05 9.99999685e-01 7.92759440e-04 2.00370968e-01] [ 9.75538611e-03 -7.92477307e-04 9.99952101e-01 -2.21678057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.283133365 meters Centerline goodness [0,1] 0.292646640558339 Centerline is valid? [False, False] Translation: X:2.53, Y:0.20, Z:-0.22 [[ 9.99952842e-01 -1.43065158e-04 -9.71051417e-03 2.53461568e+00] [ 1.46303072e-04 9.99999934e-01 3.32734593e-04 2.02678626e-01] [ 9.71046592e-03 -3.34139580e-04 9.99952796e-01 -2.22176531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.313133365 meters Centerline goodness [0,1] 0.29148852630660504 Centerline is valid? [False, False] Translation: X:2.53, Y:0.20, Z:-0.22 [[ 9.99951756e-01 -2.42684427e-04 -9.81969375e-03 2.53496934e+00] [ 2.44463137e-04 9.99999954e-01 1.79937145e-04 2.03057033e-01] [ 9.81964963e-03 -1.82329017e-04 9.99951769e-01 -2.22314540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.343133365 meters Centerline goodness [0,1] 0.29225790935129103 Centerline is valid? [False, False] Translation: X:2.54, Y:0.20, Z:-0.22 [[ 9.99950367e-01 -3.03628129e-04 -9.95848661e-03 2.53526276e+00] [ 3.04220694e-04 9.99999952e-01 5.79887512e-05 2.03598832e-01] [ 9.95846852e-03 -6.10154507e-05 9.99950411e-01 -2.22290442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.373133365 meters Centerline goodness [0,1] 0.2902584927080605 Centerline is valid? [False, False] Translation: X:2.54, Y:0.20, Z:-0.22 [[ 9.99948703e-01 -3.19705904e-04 -1.01236514e-02 2.53576416e+00] [ 3.19387959e-04 9.99999948e-01 -3.30228788e-05 2.04342170e-01] [ 1.01236614e-02 2.97878125e-05 9.99948754e-01 -2.22449576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.403133365 meters Centerline goodness [0,1] 0.28896825051173725 Centerline is valid? [False, False] Translation: X:2.54, Y:0.21, Z:-0.22 [[ 9.99946931e-01 -3.50123891e-04 -1.02962270e-02 2.53632128e+00] [ 3.47736866e-04 9.99999912e-01 -2.33624284e-04 2.05692264e-01] [ 1.02963079e-02 2.30031508e-04 9.99946965e-01 -2.22676454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.433133365 meters Centerline goodness [0,1] 0.2848714525644891 Centerline is valid? [False, False] Translation: X:2.54, Y:0.21, Z:-0.22 [[ 9.99942112e-01 -4.10463614e-04 -1.07519724e-02 2.53766863e+00] [ 4.02049154e-04 9.99999611e-01 -7.84746693e-04 2.08944603e-01] [ 1.07522904e-02 7.80378444e-04 9.99941888e-01 -2.23069443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46313336499998 meters Centerline goodness [0,1] 0.2895464541555076 Centerline is valid? [False, False] Translation: X:2.54, Y:0.21, Z:-0.22 [[ 9.99941714e-01 -4.96918901e-04 -1.07852869e-02 2.53781434e+00] [ 4.84722451e-04 9.99999240e-01 -1.13342606e-03 2.10756815e-01] [ 1.07858419e-02 1.12813213e-03 9.99941195e-01 -2.23155031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49313336499998 meters Centerline goodness [0,1] 0.2865109041001146 Centerline is valid? [False, False] Translation: X:2.54, Y:0.21, Z:-0.22 [[ 9.99942117e-01 -5.35371097e-04 -1.07459590e-02 2.53776692e+00] [ 5.19945982e-04 9.99998831e-01 -1.43817641e-03 2.12577085e-01] [ 1.07467164e-02 1.43250585e-03 9.99941226e-01 -2.23205244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52313336499998 meters Centerline goodness [0,1] 0.287891617273497 Centerline is valid? [False, False] Translation: X:2.54, Y:0.21, Z:-0.22 [[ 9.99944304e-01 -4.78718771e-04 -1.05432323e-02 2.53718149e+00] [ 4.61516252e-04 9.99998559e-01 -1.63398975e-03 2.14215656e-01] [ 1.05439994e-02 1.62903287e-03 9.99943084e-01 -2.23055476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55313336499998 meters Centerline goodness [0,1] 0.28872811019858335 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.22 [[ 9.99949438e-01 -1.93808518e-04 -1.00540557e-02 2.53573853e+00] [ 1.74283593e-04 9.99998098e-01 -1.94283476e-03 2.17635747e-01] [ 1.00544131e-02 1.94098426e-03 9.99947569e-01 -2.22566553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58313336499998 meters Centerline goodness [0,1] 0.28495394508168226 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.22 [[ 9.99948720e-01 -2.69124809e-04 -1.01234505e-02 2.53603837e+00] [ 2.45707247e-04 9.99997292e-01 -2.31437229e-03 2.19672782e-01] [ 1.01240459e-02 2.31176621e-03 9.99946078e-01 -2.22785750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61313336499998 meters Centerline goodness [0,1] 0.2882027949301268 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.22 [[ 9.99946380e-01 -3.46086008e-04 -1.03497757e-02 2.53681686e+00] [ 3.18296218e-04 9.99996340e-01 -2.68658878e-03 2.21711702e-01] [ 1.03506676e-02 2.68315043e-03 9.99942831e-01 -2.23200100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64313336499998 meters Centerline goodness [0,1] 0.2876206207076415 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.22 [[ 9.99944908e-01 -3.66248764e-04 -1.04902937e-02 2.53738789e+00] [ 3.35823394e-04 9.99995733e-01 -2.90195001e-03 2.23128242e-01] [ 1.04913117e-02 2.89826725e-03 9.99940764e-01 -2.23590726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67313336499998 meters Centerline goodness [0,1] 0.28969511528794667 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.22 [[ 9.99944567e-01 -3.44311220e-04 -1.05235599e-02 2.53748553e+00] [ 3.13241202e-04 9.99995588e-01 -2.95393027e-03 2.23702235e-01] [ 1.05245306e-02 2.95047011e-03 9.99940263e-01 -2.23640281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70313336499999 meters Centerline goodness [0,1] 0.2897336910292482 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.22 [[ 9.99945745e-01 -2.99537858e-04 -1.04123166e-02 2.53699075e+00] [ 2.68958239e-04 9.99995647e-01 -2.93814614e-03 2.23869178e-01] [ 1.04131514e-02 2.93518625e-03 9.99941474e-01 -2.23289081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.733133365 meters Centerline goodness [0,1] 0.29082443287139204 Centerline is valid? [False, False] Translation: X:2.52, Y:0.23, Z:-0.22 [[ 9.99906359e-01 -8.94601227e-03 -1.03557320e-02 2.51607462e+00] [ 8.92688155e-03 9.99958364e-01 -1.89210816e-03 2.27586673e-01] [ 1.03722277e-02 1.79948659e-03 9.99944588e-01 -2.23611175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.763133365 meters Centerline goodness [0,1] 0.28742748289895226 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.22 [[ 9.99955741e-01 -7.76423697e-04 -9.37615154e-03 2.53552916e+00] [ 7.48306817e-04 9.99995214e-01 -3.00190144e-03 2.23453317e-01] [ 9.37843741e-03 2.99475235e-03 9.99951537e-01 -2.22567642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.793133365 meters Centerline goodness [0,1] 0.2874829253485397 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.22 [[ 9.99956293e-01 -7.06665940e-04 -9.32275165e-03 2.53520420e+00] [ 6.80558447e-04 9.99995839e-01 -2.80328161e-03 2.22377802e-01] [ 9.32469384e-03 2.79681441e-03 9.99952613e-01 -2.22266191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.823133365 meters Centerline goodness [0,1] 0.28698938041566224 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.22 [[ 9.99956382e-01 -6.54869780e-04 -9.31696115e-03 2.53496058e+00] [ 6.30347853e-04 9.99996331e-01 -2.63465928e-03 2.21330908e-01] [ 9.31865233e-03 2.62867144e-03 9.99953125e-01 -2.21901816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.853133365 meters Centerline goodness [0,1] 0.2869762910035726 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.22 [[ 9.99956869e-01 -5.66135790e-04 -9.27039072e-03 2.53459483e+00] [ 5.43368511e-04 9.99996831e-01 -2.45824820e-03 2.20505986e-01] [ 9.27175304e-03 2.45310494e-03 9.99954007e-01 -2.21506633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.883133365 meters Centerline goodness [0,1] 0.28928104575163394 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.22 [[ 9.99957845e-01 -4.32883307e-04 -9.17172229e-03 2.53402796e+00] [ 4.12382359e-04 9.99997413e-01 -2.23700761e-03 2.19663718e-01] [ 9.17266693e-03 2.23313106e-03 9.99955437e-01 -2.21005270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.913133365 meters Centerline goodness [0,1] 0.2867589787970576 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.22 [[ 9.99960249e-01 -1.85286892e-04 -8.91439610e-03 2.53312575e+00] [ 1.67763311e-04 9.99998052e-01 -1.96646958e-03 2.18826599e-01] [ 8.91474310e-03 1.96489590e-03 9.99958332e-01 -2.20516995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.943133365 meters Centerline goodness [0,1] 0.2831120117271708 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.22 [[ 9.99960029e-01 -1.14396358e-04 -8.94017204e-03 2.53340573e+00] [ 9.72631763e-05 9.99998158e-01 -1.91683769e-03 2.18680236e-01] [ 8.94037485e-03 1.91589153e-03 9.99958199e-01 -2.20836651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.973133365 meters Centerline goodness [0,1] 0.28971860286871787 Centerline is valid? [False, False] Translation: X:2.49, Y:0.22, Z:-0.22 [[ 9.99930170e-01 -2.88701886e-04 -1.18140464e-02 2.48955500e+00] [ 2.69942913e-04 9.99998700e-01 -1.58941708e-03 2.17991630e-01] [ 1.18144899e-02 1.58611697e-03 9.99928949e-01 -2.20742503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.003133365 meters Centerline goodness [0,1] 0.28436223773201663 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.22 [[ 9.99895522e-01 -7.03410906e-03 -1.26279905e-02 2.50874638e+00] [ 7.02901051e-03 9.99975196e-01 -4.48088492e-04 2.23537353e-01] [ 1.26308292e-02 3.59279399e-04 9.99920163e-01 -2.19268184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.033133365 meters Centerline goodness [0,1] 0.2885658872496677 Centerline is valid? [False, False] Translation: X:2.49, Y:0.22, Z:-0.22 [[ 9.99919218e-01 9.86489010e-04 -1.26722100e-02 2.48863108e+00] [-1.00579613e-03 9.99998343e-01 -1.51729691e-03 2.19911966e-01] [ 1.26706922e-02 1.52992000e-03 9.99918553e-01 -2.20770290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.063133365 meters Centerline goodness [0,1] 0.2881532873703212 Centerline is valid? [False, False] Translation: X:2.49, Y:0.22, Z:-0.22 [[ 9.99919221e-01 9.24416394e-04 -1.26766669e-02 2.48865192e+00] [-9.47301569e-04 9.99997932e-01 -1.79941333e-03 2.21306197e-01] [ 1.26749773e-02 1.81127660e-03 9.99918029e-01 -2.20812655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.093133365 meters Centerline goodness [0,1] 0.28854357099329675 Centerline is valid? [False, False] Translation: X:2.49, Y:0.22, Z:-0.22 [[ 9.99918190e-01 8.42052314e-04 -1.27634244e-02 2.48896306e+00] [-8.69197515e-04 9.99997372e-01 -2.12139813e-03 2.22928991e-01] [ 1.27616045e-02 2.13231851e-03 9.99916294e-01 -2.20995933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.123133365 meters Centerline goodness [0,1] 0.28930216390023467 Centerline is valid? [False, False] Translation: X:2.49, Y:0.22, Z:-0.22 [[ 9.99915610e-01 7.83386349e-04 -1.29675853e-02 2.48961410e+00] [-8.15382762e-04 9.99996636e-01 -2.46231175e-03 2.24963665e-01] [ 1.29656128e-02 2.47267750e-03 9.99912886e-01 -2.21345000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.153133365 meters Centerline goodness [0,1] 0.2872331173631343 Centerline is valid? [False, False] Translation: X:2.49, Y:0.23, Z:-0.22 [[ 9.99907290e-01 1.38003114e-03 -1.35464550e-02 2.49149704e+00] [-1.41475833e-03 9.99995737e-01 -2.55431483e-03 2.29019402e-01] [ 1.35428722e-02 2.57324298e-03 9.99904980e-01 -2.22236549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.183133365 meters Centerline goodness [0,1] 0.28998796367217416 Centerline is valid? [False, False] Translation: X:2.49, Y:0.23, Z:-0.22 [[ 9.99907576e-01 1.26458061e-03 -1.35366597e-02 2.49171902e+00] [-1.30612318e-03 9.99994464e-01 -3.06049314e-03 2.31713966e-01] [ 1.35327146e-02 3.07789083e-03 9.99903691e-01 -2.22654090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21313336499998 meters Centerline goodness [0,1] 0.28758640238983013 Centerline is valid? [False, False] Translation: X:2.49, Y:0.23, Z:-0.22 [[ 9.99907409e-01 1.11026283e-03 -1.35624585e-02 2.49189657e+00] [-1.15862896e-03 9.99992996e-01 -3.55884055e-03 2.34031065e-01] [ 1.35584123e-02 3.57422489e-03 9.99901692e-01 -2.22887748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24313336499998 meters Centerline goodness [0,1] 0.2854418584492697 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:-0.22 [[ 9.99907423e-01 1.00216938e-03 -1.35698370e-02 2.49196567e+00] [-1.05592183e-03 9.99991623e-01 -3.95458694e-03 2.36143840e-01] [ 1.35657601e-02 3.96854952e-03 9.99900105e-01 -2.23006269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27313336499998 meters Centerline goodness [0,1] 0.2852739428670661 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:-0.22 [[ 9.99909015e-01 9.40604366e-04 -1.34564692e-02 2.49167747e+00] [-9.97818861e-04 9.99990489e-01 -4.24573884e-03 2.37970978e-01] [ 1.34523477e-02 4.25877966e-03 9.99900444e-01 -2.23035406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30313336499998 meters Centerline goodness [0,1] 0.285316086322162 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:-0.22 [[ 9.99910034e-01 9.55227091e-04 -1.33795194e-02 2.49138849e+00] [-1.01367414e-03 9.99989971e-01 -4.36229628e-03 2.39107606e-01] [ 1.33752183e-02 4.37546629e-03 9.99900975e-01 -2.22897613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33313336499998 meters Centerline goodness [0,1] 0.287249111948918 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:-0.22 [[ 9.99911696e-01 8.40694545e-04 -1.32624446e-02 2.49093109e+00] [-9.02237107e-04 9.99988851e-01 -4.63506288e-03 2.40477584e-01] [ 1.32584000e-02 4.64661945e-03 9.99901307e-01 -2.22612304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36313336499998 meters Centerline goodness [0,1] 0.28556226382313343 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:-0.22 [[ 9.99911262e-01 7.10395343e-04 -1.33027469e-02 2.49082515e+00] [-7.75910287e-04 9.99987594e-01 -4.92040518e-03 2.41748247e-01] [ 1.32990864e-02 4.93029030e-03 9.99899408e-01 -2.22317024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39313336499998 meters Centerline goodness [0,1] 0.28946042456240284 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:-0.22 [[ 9.99911518e-01 6.95579644e-04 -1.32843252e-02 2.49064039e+00] [-7.63471224e-04 9.99986671e-01 -5.10626591e-03 2.43091502e-01] [ 1.32805963e-02 5.11595629e-03 9.99898721e-01 -2.22148796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42313336499998 meters Centerline goodness [0,1] 0.2879814120690033 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:-0.22 [[ 9.99914301e-01 7.96952182e-04 -1.30673497e-02 2.48993125e+00] [-8.64348620e-04 9.99986351e-01 -5.15278485e-03 2.44357569e-01] [ 1.30630648e-02 5.16363800e-03 9.99901342e-01 -2.21877311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45313336499999 meters Centerline goodness [0,1] 0.2868761793220118 Centerline is valid? [False, False] Translation: X:2.51, Y:0.25, Z:-0.22 [[ 9.99933536e-01 -4.23216970e-03 -1.07244155e-02 2.50952991e+00] [ 4.21596327e-03 9.99989937e-01 -1.53332882e-03 2.47728676e-01] [ 1.07307969e-02 1.48801316e-03 9.99941316e-01 -2.21190327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.483133365 meters Centerline goodness [0,1] 0.2868761793220118 Centerline is valid? [False, False] Translation: X:2.51, Y:0.25, Z:-0.22 [[ 9.99933536e-01 -4.23216970e-03 -1.07244155e-02 2.50952991e+00] [ 4.21596327e-03 9.99989937e-01 -1.53332882e-03 2.47728676e-01] [ 1.07307969e-02 1.48801316e-03 9.99941316e-01 -2.21190327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.513133365 meters Centerline goodness [0,1] 0.2827151703454377 Centerline is valid? [False, False] Translation: X:2.51, Y:0.25, Z:-0.22 [[ 9.99932890e-01 -4.31038113e-03 -1.07534215e-02 2.50936736e+00] [ 4.29308156e-03 9.99989454e-01 -1.63131533e-03 2.47733303e-01] [ 1.07603397e-02 1.58504054e-03 9.99940850e-01 -2.20842796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.543133365 meters Centerline goodness [0,1] 0.2845365274630409 Centerline is valid? [False, False] Translation: X:2.51, Y:0.25, Z:-0.22 [[ 9.99931007e-01 -4.40800759e-03 -1.08880899e-02 2.50953432e+00] [ 4.38973824e-03 9.99988918e-01 -1.70124928e-03 2.47313816e-01] [ 1.08954683e-02 1.65333604e-03 9.99939276e-01 -2.20621625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.573133365 meters Centerline goodness [0,1] 0.28374607980966804 Centerline is valid? [False, False] Translation: X:2.51, Y:0.25, Z:-0.22 [[ 9.99928499e-01 -4.40382126e-03 -1.11177068e-02 2.50993909e+00] [ 4.38623927e-03 9.99989092e-01 -1.60532818e-03 2.46508672e-01] [ 1.11246551e-02 1.55644847e-03 9.99936908e-01 -2.20444098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.603133365 meters Centerline goodness [0,1] 0.28504440650863283 Centerline is valid? [False, False] Translation: X:2.51, Y:0.25, Z:-0.22 [[ 9.99928631e-01 -4.31303150e-03 -1.11414371e-02 2.50984278e+00] [ 4.29735952e-03 9.99989744e-01 -1.43019590e-03 2.45862350e-01] [ 1.11474913e-02 1.38221507e-03 9.99936909e-01 -2.20211535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.633133365 meters Centerline goodness [0,1] 0.28961593172119493 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:-0.22 [[ 9.99943019e-01 3.59112520e-03 -1.00529871e-02 2.48954023e+00] [-3.61054870e-03 9.99991649e-01 -1.91463100e-03 2.39944288e-01] [ 1.00460275e-02 1.95081870e-03 9.99947634e-01 -2.21642791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.663133365 meters Centerline goodness [0,1] 0.2880348738857924 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:-0.22 [[ 9.99961755e-01 -3.72701800e-03 -7.91185069e-03 2.50733817e+00] [ 3.72258314e-03 9.99992906e-01 -5.75186877e-04 2.43799030e-01] [ 7.91393829e-03 5.45712357e-04 9.99968535e-01 -2.20078602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.693133365 meters Centerline goodness [0,1] 0.29263791550409735 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:-0.22 [[ 9.99960146e-01 4.14735473e-03 -7.90607623e-03 2.48661698e+00] [-4.15981669e-03 9.99990130e-01 -1.56045921e-03 2.38647061e-01] [ 7.89952642e-03 1.59328484e-03 9.99967529e-01 -2.20747451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.723133365 meters Centerline goodness [0,1] 0.2900434792108195 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:-0.22 [[ 9.99959040e-01 4.16493374e-03 -8.03567996e-03 2.48706607e+00] [-4.17819601e-03 9.99989936e-01 -1.63434193e-03 2.39137718e-01] [ 8.02879216e-03 1.66784963e-03 9.99966378e-01 -2.21028805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.753133365 meters Centerline goodness [0,1] 0.2877480492947032 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:-0.22 [[ 9.99958680e-01 4.17953096e-03 -8.07275244e-03 2.48731615e+00] [-4.19281523e-03 9.99989883e-01 -1.62934699e-03 2.39160459e-01] [ 8.06586086e-03 1.66312722e-03 9.99966087e-01 -2.21313775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.783133365 meters Centerline goodness [0,1] 0.2862741701491891 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:-0.22 [[ 9.99958941e-01 4.18548914e-03 -8.03723460e-03 2.48744411e+00] [-4.19839668e-03 9.99989923e-01 -1.58976811e-03 2.38799761e-01] [ 8.03049965e-03 1.62344634e-03 9.99966437e-01 -2.21628642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.813133365 meters Centerline goodness [0,1] 0.2901452689438555 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:-0.22 [[ 9.99959552e-01 4.18115856e-03 -7.96319736e-03 2.48721256e+00] [-4.19368478e-03 9.99989994e-01 -1.55696597e-03 2.38428711e-01] [ 7.95660776e-03 1.59029814e-03 9.99967081e-01 -2.21558409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.843133365 meters Centerline goodness [0,1] 0.29250925662204497 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:-0.22 [[ 9.99960453e-01 4.22045527e-03 -7.82811379e-03 2.48672536e+00] [-4.23186853e-03 9.99990006e-01 -1.44199305e-03 2.37815867e-01] [ 7.82194969e-03 1.47506357e-03 9.99968320e-01 -2.21316129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.873133365 meters Centerline goodness [0,1] 0.2917877351276954 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:-0.22 [[ 9.99960516e-01 4.28598284e-03 -7.78440573e-03 2.48659024e+00] [-4.29618162e-03 9.99989934e-01 -1.29390638e-03 2.37193496e-01] [ 7.77878171e-03 1.32729851e-03 9.99968864e-01 -2.21255873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.903133365 meters Centerline goodness [0,1] 0.2886126651718658 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:-0.22 [[ 9.99958221e-01 4.39139698e-03 -8.01700532e-03 2.48742763e+00] [-4.40047973e-03 9.99989696e-01 -1.11564727e-03 2.36543027e-01] [ 8.01202345e-03 1.15087932e-03 9.99967241e-01 -2.21751288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.933133365 meters Centerline goodness [0,1] 0.28974759588935595 Centerline is valid? [False, False] Translation: X:2.47, Y:0.24, Z:-0.22 [[ 9.99922892e-01 -3.30408972e-03 -1.19705234e-02 2.47079577e+00] [ 3.31178474e-03 9.99994322e-01 6.23065180e-04 2.36723736e-01] [ 1.19683968e-02 -6.62660934e-04 9.99928157e-01 -2.23808819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96313336499998 meters Centerline goodness [0,1] 0.28715293706446465 Centerline is valid? [False, False] Translation: X:2.47, Y:0.24, Z:-0.22 [[ 9.99917834e-01 -3.29346317e-03 -1.23886585e-02 2.47228858e+00] [ 3.30263650e-03 9.99994287e-01 7.20076694e-04 2.35772013e-01] [ 1.23862162e-02 -7.60932764e-04 9.99922998e-01 -2.24619652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99313336499998 meters Centerline goodness [0,1] 0.28872177163719037 Centerline is valid? [False, False] Translation: X:2.47, Y:0.24, Z:-0.22 [[ 9.99915074e-01 -3.30258317e-03 -1.26070347e-02 2.47299923e+00] [ 3.31201588e-03 9.99994251e-01 7.27404600e-04 2.35288172e-01] [ 1.26045599e-02 -7.69097523e-04 9.99920264e-01 -2.24906888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02313336499998 meters Centerline goodness [0,1] 0.28754858715115517 Centerline is valid? [False, False] Translation: X:2.47, Y:0.24, Z:-0.22 [[ 9.99914032e-01 -3.22969334e-03 -1.27081469e-02 2.47306507e+00] [ 3.23960104e-03 9.99994464e-01 7.59125820e-04 2.35328930e-01] [ 1.27056248e-02 -8.00229885e-04 9.99918960e-01 -2.24684163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05313336499998 meters Centerline goodness [0,1] 0.28581047327382114 Centerline is valid? [False, False] Translation: X:2.47, Y:0.24, Z:-0.22 [[ 9.99922225e-01 -2.34466378e-03 -1.22493381e-02 2.47136298e+00] [ 2.35978347e-03 9.99996471e-01 1.22001959e-03 2.36492547e-01] [ 1.22464343e-02 -1.24883049e-03 9.99924230e-01 -2.23941286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08313336499998 meters Centerline goodness [0,1] 0.28842343617322386 Centerline is valid? [False, False] Translation: X:2.47, Y:0.24, Z:-0.22 [[ 9.99925334e-01 -2.19555854e-03 -1.20210453e-02 2.47095148e+00] [ 2.20831966e-03 9.99997012e-01 1.04839354e-03 2.38247029e-01] [ 1.20187076e-02 -1.07486157e-03 9.99927195e-01 -2.24247649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11313336499998 meters Centerline goodness [0,1] 0.2879477408818726 Centerline is valid? [False, False] Translation: X:2.47, Y:0.24, Z:-0.22 [[ 9.99928221e-01 -2.16496718e-03 -1.17840931e-02 2.47046823e+00] [ 2.17473040e-03 9.99997303e-01 8.15757261e-04 2.39814705e-01] [ 1.17822952e-02 -8.41325933e-04 9.99930232e-01 -2.24478802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14313336499998 meters Centerline goodness [0,1] 0.2903034561503667 Centerline is valid? [False, False] Translation: X:2.47, Y:0.24, Z:-0.22 [[ 9.99930968e-01 -2.18723206e-03 -1.15444539e-02 2.47002637e+00] [ 2.19436247e-03 9.99997409e-01 6.05017119e-04 2.41058359e-01] [ 1.15431007e-02 -6.30308070e-04 9.99933178e-01 -2.24743714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17313336499998 meters Centerline goodness [0,1] 0.28771815008726 Centerline is valid? [False, False] Translation: X:2.47, Y:0.24, Z:-0.22 [[ 9.99932483e-01 -2.17876676e-03 -1.14141390e-02 2.46967412e+00] [ 2.18476358e-03 9.99997482e-01 5.12942990e-04 2.41841701e-01] [ 1.14129927e-02 -5.37845553e-04 9.99934725e-01 -2.24723222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20313336499999 meters Centerline goodness [0,1] 0.2871552881077103 Centerline is valid? [False, False] Translation: X:2.47, Y:0.24, Z:-0.22 [[ 9.99934197e-01 -2.14807331e-03 -1.12688377e-02 2.46892169e+00] [ 2.15473187e-03 9.99997511e-01 5.78774826e-04 2.41740344e-01] [ 1.12675664e-02 -6.03018065e-04 9.99936337e-01 -2.24108532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.233133365 meters Centerline goodness [0,1] 0.2875404214684115 Centerline is valid? [False, False] Translation: X:2.47, Y:0.24, Z:-0.22 [[ 9.99932732e-01 -2.18209491e-03 -1.13916997e-02 2.46910347e+00] [ 2.18923066e-03 9.99997415e-01 6.13967091e-04 2.41249953e-01] [ 1.13903305e-02 -6.38864849e-04 9.99934924e-01 -2.23939705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.263133365 meters Centerline goodness [0,1] 0.2892210581685881 Centerline is valid? [False, False] Translation: X:2.47, Y:0.24, Z:-0.22 [[ 9.99930923e-01 -2.18648391e-03 -1.15485082e-02 2.46932208e+00] [ 2.19478861e-03 9.99997342e-01 7.06489469e-04 2.40505187e-01] [ 1.15469327e-02 -7.31787201e-04 9.99933064e-01 -2.23702782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.293133365 meters Centerline goodness [0,1] 0.28469581749049433 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:-0.22 [[ 9.99930407e-01 4.43650808e-03 -1.09315511e-02 2.49176057e+00] [-4.45723703e-03 9.99988313e-01 -1.87261707e-03 2.39710353e-01] [ 1.09231155e-02 1.92121126e-03 9.99938495e-01 -2.24111919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.323133365 meters Centerline goodness [0,1] 0.2917537797926891 Centerline is valid? [False, False] Translation: X:2.45, Y:0.24, Z:-0.22 [[ 9.99909385e-01 3.20132870e-03 -1.30756441e-02 2.44631246e+00] [-3.22487216e-03 9.99993216e-01 -1.77987078e-03 2.35783855e-01] [ 1.30698575e-02 1.82187678e-03 9.99912926e-01 -2.23384258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.353133365 meters Centerline goodness [0,1] 0.2855940796996699 Centerline is valid? [False, False] Translation: X:2.46, Y:0.24, Z:-0.22 [[ 9.99929117e-01 -4.20138480e-03 -1.11404157e-02 2.46487990e+00] [ 4.19810126e-03 9.99991137e-01 -3.18110078e-04 2.39624200e-01] [ 1.11416535e-02 2.71318936e-04 9.99937893e-01 -2.22159913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.383133365 meters Centerline goodness [0,1] 0.287829267764767 Centerline is valid? [False, False] Translation: X:2.46, Y:0.24, Z:-0.22 [[ 9.99931820e-01 -4.12279570e-03 -1.09250930e-02 2.46409028e+00] [ 4.12071885e-03 9.99991487e-01 -2.12602717e-04 2.39490213e-01] [ 1.09258765e-02 1.67568985e-04 9.99940297e-01 -2.21750937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.413133365 meters Centerline goodness [0,1] 0.29064738773370613 Centerline is valid? [False, False] Translation: X:2.45, Y:0.23, Z:-0.22 [[ 9.99943010e-01 3.39588406e-03 -1.01214519e-02 2.44512729e+00] [-3.40632437e-03 9.99993684e-01 -1.01444276e-03 2.33257158e-01] [ 1.01179431e-02 1.04886190e-03 9.99948262e-01 -2.23453036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.443133365 meters Centerline goodness [0,1] 0.2823987438428943 Centerline is valid? [False, False] Translation: X:2.47, Y:0.24, Z:-0.22 [[ 9.99937623e-01 -4.13627033e-03 -1.03750360e-02 2.46528909e+00] [ 4.13399011e-03 9.99991426e-01 -2.41215418e-04 2.38219055e-01] [ 1.03759448e-02 1.98310076e-04 9.99946149e-01 -2.22788683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.473133365 meters Centerline goodness [0,1] 0.2904284651407064 Centerline is valid? [False, False] Translation: X:2.45, Y:0.23, Z:-0.22 [[ 9.99928595e-01 3.26297361e-03 -1.14960382e-02 2.44665549e+00] [-3.28134085e-03 9.99993369e-01 -1.57920282e-03 2.31401438e-01] [ 1.14908091e-02 1.61681248e-03 9.99932671e-01 -2.24393390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.503133365 meters Centerline goodness [0,1] 0.28565870528477255 Centerline is valid? [False, False] Translation: X:2.47, Y:0.24, Z:-0.22 [[ 9.99918146e-01 -4.48338632e-03 -1.19833221e-02 2.46700557e+00] [ 4.47263149e-03 9.99989571e-01 -9.24131574e-04 2.35625803e-01] [ 1.19873403e-02 8.70458947e-04 9.99927770e-01 -2.23579117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.533133365 meters Centerline goodness [0,1] 0.2894432440690543 Centerline is valid? [False, False] Translation: X:2.47, Y:0.23, Z:-0.22 [[ 9.99920060e-01 -4.26497725e-03 -1.19031170e-02 2.46670441e+00] [ 4.26029812e-03 9.99990837e-01 -4.18429949e-04 2.33418282e-01] [ 1.19047925e-02 3.67685672e-04 9.99929068e-01 -2.23389560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.563133365 meters Centerline goodness [0,1] 0.2871590095271165 Centerline is valid? [False, False] Translation: X:2.47, Y:0.23, Z:-0.22 [[ 9.99921083e-01 -4.13595452e-03 -1.18626474e-02 2.46663044e+00] [ 4.13435052e-03 9.99991441e-01 -1.59733831e-04 2.32378059e-01] [ 1.18632066e-02 1.10676883e-04 9.99929624e-01 -2.23406731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.593133365 meters Centerline goodness [0,1] 0.2863762341936601 Centerline is valid? [False, False] Translation: X:2.47, Y:0.23, Z:-0.22 [[ 9.99921085e-01 -4.05743932e-03 -1.18895232e-02 2.46679930e+00] [ 4.05897612e-03 9.99991757e-01 1.05128571e-04 2.30978924e-01] [ 1.18889986e-02 -1.53379565e-04 9.99929312e-01 -2.23520095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.623133365 meters Centerline goodness [0,1] 0.2882328645029456 Centerline is valid? [False, False] Translation: X:2.47, Y:0.23, Z:-0.22 [[ 9.99920637e-01 -3.95109105e-03 -1.19627915e-02 2.46699877e+00] [ 3.95663007e-03 9.99992076e-01 4.39388241e-04 2.29108280e-01] [ 1.19609606e-02 -4.86685710e-04 9.99928347e-01 -2.23527074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.653133365 meters Centerline goodness [0,1] 0.28914380064741796 Centerline is valid? [False, False] Translation: X:2.47, Y:0.23, Z:-0.22 [[ 9.99918677e-01 -3.85398011e-03 -1.21567195e-02 2.46739058e+00] [ 3.86381831e-03 9.99992227e-01 7.85897229e-04 2.27033862e-01] [ 1.21535962e-02 -8.32804673e-04 9.99925796e-01 -2.23379333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.683133365 meters Centerline goodness [0,1] 0.2858412643354218 Centerline is valid? [False, False] Translation: X:2.47, Y:0.23, Z:-0.22 [[ 9.99917570e-01 -3.77342757e-03 -1.22724781e-02 2.46760763e+00] [ 3.78722268e-03 9.99992222e-01 1.10102263e-03 2.25124127e-01] [ 1.22682281e-02 -1.14741048e-03 9.99924084e-01 -2.23237737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71313336499998 meters Centerline goodness [0,1] 0.2873385799382582 Centerline is valid? [False, False] Translation: X:2.47, Y:0.22, Z:-0.22 [[ 9.99918760e-01 -3.64438221e-03 -1.22144221e-02 2.46739976e+00] [ 3.66332479e-03 9.99992121e-01 1.52882321e-03 2.22506518e-01] [ 1.22087543e-02 -1.57344440e-03 9.99924232e-01 -2.23071306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74313336499998 meters Centerline goodness [0,1] 0.2895583824141178 Centerline is valid? [False, False] Translation: X:2.47, Y:0.22, Z:-0.22 [[ 9.99919395e-01 -3.54484438e-03 -1.21916927e-02 2.46726609e+00] [ 3.56659768e-03 9.99992086e-01 1.76299275e-03 2.21300130e-01] [ 1.21853467e-02 -1.80633351e-03 9.99924124e-01 -2.22976476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77313336499998 meters Centerline goodness [0,1] 0.2874530819465839 Centerline is valid? [False, False] Translation: X:2.49, Y:0.22, Z:-0.22 [[ 9.99919305e-01 4.77796354e-03 -1.17709031e-02 2.48636953e+00] [-4.77309002e-03 9.99988511e-01 4.42089830e-04 2.17064380e-01] [ 1.17728802e-02 -3.85870575e-04 9.99930623e-01 -2.21200938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80313336499998 meters Centerline goodness [0,1] 0.2908138773728999 Centerline is valid? [False, False] Translation: X:2.49, Y:0.22, Z:-0.22 [[ 9.99919292e-01 4.87174257e-03 -1.17334859e-02 2.48625665e+00] [-4.86440476e-03 9.99987955e-01 6.53832191e-04 2.16016554e-01] [ 1.17365299e-02 -5.96702998e-04 9.99930947e-01 -2.21201716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83313336499998 meters Centerline goodness [0,1] 0.28863195941385245 Centerline is valid? [False, False] Translation: X:2.49, Y:0.22, Z:-0.22 [[ 9.99919104e-01 4.91765993e-03 -1.17303817e-02 2.48626956e+00] [-4.90895343e-03 9.99987654e-01 7.70895569e-04 2.15387811e-01] [ 1.17340279e-02 -7.13249309e-04 9.99930900e-01 -2.21233831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86313336499998 meters Centerline goodness [0,1] 0.2834277589883889 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.22 [[ 9.99930585e-01 -2.47823947e-03 -1.15188015e-02 2.50552176e+00] [ 2.49870825e-03 9.99995324e-01 1.76293731e-03 2.20174935e-01] [ 1.15143787e-02 -1.79159706e-03 9.99932102e-01 -2.20220281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89313336499998 meters Centerline goodness [0,1] 0.2884217855821747 Centerline is valid? [False, False] Translation: X:2.49, Y:0.21, Z:-0.22 [[ 9.99940050e-01 4.21207328e-03 -1.01071795e-02 2.48716893e+00] [-4.20643984e-03 9.99990986e-01 5.78563557e-04 2.12563480e-01] [ 1.01095254e-02 -5.36013630e-04 9.99948754e-01 -2.22500129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92313336499998 meters Centerline goodness [0,1] 0.28328410340441124 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.22 [[ 9.99953796e-01 -3.22386299e-03 -9.05607961e-03 2.50557545e+00] [ 3.24104801e-03 9.99992974e-01 1.88358835e-03 2.16604141e-01] [ 9.04994355e-03 -1.91285251e-03 9.99957219e-01 -2.20764796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95313336499999 meters Centerline goodness [0,1] 0.2888975677493545 Centerline is valid? [False, False] Translation: X:2.50, Y:0.22, Z:-0.22 [[ 9.99956354e-01 -3.14819572e-03 -8.79653914e-03 2.50456478e+00] [ 3.16607585e-03 9.99992949e-01 2.01944711e-03 2.16283740e-01] [ 8.79011950e-03 -2.04720948e-03 9.99959271e-01 -2.20157601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.983133365 meters Centerline goodness [0,1] 0.29465131129852684 Centerline is valid? [False, False] Translation: X:2.48, Y:0.21, Z:-0.22 [[ 9.99959091e-01 4.52985146e-03 -7.82923527e-03 2.48374993e+00] [-4.51811836e-03 9.99988645e-01 1.51566562e-03 2.10335487e-01] [ 7.83601211e-03 -1.48023021e-03 9.99968202e-01 -2.20692941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.013133365 meters Centerline goodness [0,1] 0.29453092410037984 Centerline is valid? [False, False] Translation: X:2.48, Y:0.21, Z:-0.22 [[ 9.99962763e-01 4.34822310e-03 -7.45420470e-03 2.48218999e+00] [-4.33746584e-03 9.99989529e-01 1.45867370e-03 2.09720247e-01] [ 7.46046929e-03 -1.42628702e-03 9.99971153e-01 -2.19544101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.043133365 meters Centerline goodness [0,1] 0.2883584154990486 Centerline is valid? [False, False] Translation: X:2.50, Y:0.21, Z:-0.22 [[ 9.99969531e-01 -3.68952314e-03 -6.87931117e-03 2.50231861e+00] [ 3.70336947e-03 9.99991140e-01 2.00109839e-03 2.13684543e-01] [ 6.87186712e-03 -2.02651405e-03 9.99974335e-01 -2.18497116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.073133365 meters Centerline goodness [0,1] 0.29032889159402653 Centerline is valid? [False, False] Translation: X:2.50, Y:0.21, Z:-0.22 [[ 9.99969101e-01 -3.70271411e-03 -6.93447800e-03 2.50232856e+00] [ 3.71727581e-03 9.99990911e-01 2.08818739e-03 2.12894367e-01] [ 6.92668301e-03 -2.11390024e-03 9.99973776e-01 -2.18290540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.103133365 meters Centerline goodness [0,1] 0.2868470953283917 Centerline is valid? [False, False] Translation: X:2.52, Y:0.21, Z:-0.22 [[ 9.99967224e-01 4.14837990e-03 -6.95289366e-03 2.52160325e+00] [-4.14389119e-03 9.99991196e-01 6.59870530e-04 2.08704869e-01] [ 6.95556985e-03 -6.31036867e-04 9.99975611e-01 -2.16789428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.133133365 meters Centerline goodness [0,1] 0.28883495145631066 Centerline is valid? [False, False] Translation: X:2.52, Y:0.21, Z:-0.22 [[ 9.99966389e-01 4.13212732e-03 -7.08135249e-03 2.52209676e+00] [-4.12771646e-03 9.99991278e-01 6.37385170e-04 2.08677022e-01] [ 7.08392448e-03 -6.08133931e-04 9.99974724e-01 -2.17098183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.163133365 meters Centerline goodness [0,1] 0.2909403869618268 Centerline is valid? [False, False] Translation: X:2.52, Y:0.21, Z:-0.22 [[ 9.99965343e-01 4.08315811e-03 -7.25537099e-03 2.52278309e+00] [-4.07921229e-03 9.99991524e-01 5.58563273e-04 2.08851853e-01] [ 7.25759020e-03 -5.28947716e-04 9.99973523e-01 -2.17526480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.193133365 meters Centerline goodness [0,1] 0.29314996380864644 Centerline is valid? [False, False] Translation: X:2.52, Y:0.21, Z:-0.22 [[ 9.99963588e-01 4.07066939e-03 -7.50015640e-03 2.52348729e+00] [-4.06718759e-03 9.99991614e-01 4.79424303e-04 2.09232943e-01] [ 7.50204508e-03 -4.48902304e-04 9.99971759e-01 -2.17769912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.223133365 meters Centerline goodness [0,1] 0.29003067151029993 Centerline is valid? [False, False] Translation: X:2.52, Y:0.21, Z:-0.22 [[ 9.99962131e-01 4.07403526e-03 -7.69016151e-03 2.52394635e+00] [-4.07184902e-03 9.99991665e-01 2.99926744e-04 2.10496973e-01] [ 7.69131933e-03 -2.68602210e-04 9.99970385e-01 -2.17839470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.253133365 meters Centerline goodness [0,1] 0.2861150070126227 Centerline is valid? [False, False] Translation: X:2.52, Y:0.21, Z:-0.22 [[ 9.99960566e-01 4.19964461e-03 -7.82495712e-03 2.52422586e+00] [-4.19843280e-03 9.99991172e-01 1.71285014e-04 2.12175432e-01] [ 7.82560738e-03 -1.38425703e-04 9.99969370e-01 -2.17868485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.283133365 meters Centerline goodness [0,1] 0.2896740785866585 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:-0.22 [[ 9.99958090e-01 4.95376953e-03 -7.69924491e-03 2.52387052e+00] [-4.95197065e-03 9.99987707e-01 2.52689807e-04 2.15582938e-01] [ 7.70040203e-03 -2.14552782e-04 9.99970328e-01 -2.17980467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.313133365 meters Centerline goodness [0,1] 0.29002010841056125 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:-0.22 [[ 9.99959144e-01 4.92008822e-03 -7.58301597e-03 2.52363800e+00] [-4.92133277e-03 9.99987880e-01 -1.45472891e-04 2.17890810e-01] [ 7.58220832e-03 1.82785492e-04 9.99971238e-01 -2.18151975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.343133365 meters Centerline goodness [0,1] 0.2903528897629193 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:-0.22 [[ 9.99960435e-01 4.87700457e-03 -7.43930258e-03 2.52322628e+00] [-4.88124336e-03 9.99987934e-01 -5.51732784e-04 2.20309883e-01] [ 7.43652202e-03 5.88024001e-04 9.99972176e-01 -2.18102051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.373133365 meters Centerline goodness [0,1] 0.28821967883719923 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:-0.22 [[ 9.99961833e-01 4.84055853e-03 -7.27336658e-03 2.52275569e+00] [-4.84786012e-03 9.99987762e-01 -9.86586099e-04 2.23008160e-01] [ 7.26850194e-03 1.02180871e-03 9.99973062e-01 -2.18082715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.403133365 meters Centerline goodness [0,1] 0.28821967883719923 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:-0.22 [[ 9.99961833e-01 4.84055853e-03 -7.27336658e-03 2.52275569e+00] [-4.84786012e-03 9.99987762e-01 -9.86586099e-04 2.23008160e-01] [ 7.26850194e-03 1.02180871e-03 9.99973062e-01 -2.18082715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.433133365 meters Centerline goodness [0,1] 0.28919413122034043 Centerline is valid? [False, False] Translation: X:2.52, Y:0.23, Z:-0.22 [[ 9.99965570e-01 4.74587518e-03 -6.80698667e-03 2.52133350e+00] [-4.75760887e-03 9.99987223e-01 -1.70861638e-03 2.27448107e-01] [ 6.79879081e-03 1.74094254e-03 9.99975372e-01 -2.17748867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46313336499998 meters Centerline goodness [0,1] 0.28778728765694916 Centerline is valid? [False, False] Translation: X:2.52, Y:0.23, Z:-0.22 [[ 9.99966472e-01 4.57545398e-03 -6.79112722e-03 2.52125558e+00] [-4.58990131e-03 9.99987233e-01 -2.11332392e-03 2.29404209e-01] [ 6.78137110e-03 2.14442367e-03 9.99974707e-01 -2.17758512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49313336499998 meters Centerline goodness [0,1] 0.28852773299638357 Centerline is valid? [False, False] Translation: X:2.52, Y:0.23, Z:-0.22 [[ 9.99966221e-01 4.45438987e-03 -6.90757534e-03 2.52159403e+00] [-4.47091821e-03 9.99987175e-01 -2.37919124e-03 2.30648346e-01] [ 6.89688891e-03 2.40999408e-03 9.99973312e-01 -2.17916231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52313336499998 meters Centerline goodness [0,1] 0.28694214156711706 Centerline is valid? [False, False] Translation: X:2.52, Y:0.23, Z:-0.22 [[ 0.99996558 0.00431954 -0.00708341 2.52208157] [-0.00433843 0.99998707 -0.00265395 0.23196627] [ 0.00707186 0.00268458 0.99997139 -0.21804836] [ 0. 0. 0. 1. ]] SLAMing on 176.55313336499998 meters Centerline goodness [0,1] 0.28742462831145654 Centerline is valid? [False, False] Translation: X:2.52, Y:0.23, Z:-0.22 [[ 0.99996561 0.00422947 -0.00713365 2.52221174] [-0.00424981 0.99998694 -0.00283723 0.2329239 ] [ 0.00712156 0.00286745 0.99997053 -0.21811086] [ 0. 0. 0. 1. ]] SLAMing on 176.58313336499998 meters Centerline goodness [0,1] 0.2865580890336591 Centerline is valid? [False, False] Translation: X:2.52, Y:0.23, Z:-0.22 [[ 0.9999671 0.0041827 -0.00695031 2.52165474] [-0.00420324 0.99998683 -0.00294361 0.23376956] [ 0.0069379 0.00297273 0.99997151 -0.21790941] [ 0. 0. 0. 1. ]] SLAMing on 176.61313336499998 meters Centerline goodness [0,1] 0.2891288258086987 Centerline is valid? [False, False] Translation: X:2.52, Y:0.23, Z:-0.22 [[ 0.99997528 0.00374028 -0.00595398 2.51845825] [-0.0037602 0.99998736 -0.00333772 0.23451927] [ 0.00594142 0.00336002 0.9999767 -0.21641243] [ 0. 0. 0. 1. ]] SLAMing on 176.64313336499998 meters Centerline goodness [0,1] 0.2921362983593716 Centerline is valid? [False, False] Translation: X:2.52, Y:0.23, Z:-0.22 [[ 0.99997592 0.00365838 -0.00589637 2.5179447 ] [-0.00367857 0.99998739 -0.00341762 0.23463606] [ 0.00588379 0.00343923 0.99997678 -0.21583413] [ 0. 0. 0. 1. ]] SLAMing on 176.67313336499998 meters Centerline goodness [0,1] 0.2847663571536291 Centerline is valid? [False, False] Translation: X:2.54, Y:0.24, Z:-0.21 [[ 9.99976489e-01 -3.77223593e-03 -5.72633865e-03 2.53670541e+00] [ 3.75890397e-03 9.99990204e-01 -2.33716311e-03 2.40744984e-01] [ 5.73509888e-03 2.31558341e-03 9.99980873e-01 -2.14092146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70313336499999 meters Centerline goodness [0,1] 0.2873093151574164 Centerline is valid? [False, False] Translation: X:2.54, Y:0.24, Z:-0.21 [[ 9.99976087e-01 -3.80267574e-03 -5.77633204e-03 2.53683441e+00] [ 3.78858096e-03 9.99989824e-01 -2.44907694e-03 2.41576545e-01] [ 5.78558631e-03 2.42713427e-03 9.99980318e-01 -2.14146403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.733133365 meters Centerline goodness [0,1] 0.29459453537544644 Centerline is valid? [False, False] Translation: X:2.52, Y:0.24, Z:-0.22 [[ 0.99997246 0.00410524 -0.00618291 2.51707145] [-0.00412631 0.99998571 -0.00339886 0.23728856] [ 0.00616887 0.00342427 0.99997511 -0.21541296] [ 0. 0. 0. 1. ]] SLAMing on 176.763133365 meters Centerline goodness [0,1] 0.2905752327908798 Centerline is valid? [False, False] Translation: X:2.54, Y:0.24, Z:-0.21 [[ 0.99996662 -0.00346588 -0.00739927 2.53637381] [ 0.00344402 0.99998967 -0.00296532 0.24346253] [ 0.00740948 0.00293974 0.99996823 -0.21405204] [ 0. 0. 0. 1. ]] SLAMing on 176.793133365 meters Centerline goodness [0,1] 0.2884043177030168 Centerline is valid? [False, False] Translation: X:2.54, Y:0.24, Z:-0.21 [[ 0.99996551 -0.00349455 -0.00753459 2.53673527] [ 0.00347229 0.99998957 -0.00296578 0.24332056] [ 0.00754487 0.00293952 0.99996722 -0.21410949] [ 0. 0. 0. 1. ]] SLAMing on 176.823133365 meters Centerline goodness [0,1] 0.2877228110649226 Centerline is valid? [False, False] Translation: X:2.54, Y:0.24, Z:-0.21 [[ 0.99996401 -0.00345128 -0.00775001 2.53732442] [ 0.00342928 0.99999005 -0.00285136 0.24279593] [ 0.00775977 0.00282468 0.9999659 -0.21427353] [ 0. 0. 0. 1. ]] SLAMing on 176.853133365 meters Centerline goodness [0,1] 0.28904058960366985 Centerline is valid? [False, False] Translation: X:2.54, Y:0.24, Z:-0.21 [[ 0.99996119 -0.00340394 -0.00812614 2.53839286] [ 0.00338211 0.99999064 -0.0026988 0.24208874] [ 0.00813525 0.00267121 0.99996334 -0.21454402] [ 0. 0. 0. 1. ]] SLAMing on 176.883133365 meters Centerline goodness [0,1] 0.2868343323777257 Centerline is valid? [False, False] Translation: X:2.54, Y:0.24, Z:-0.21 [[ 9.99959593e-01 -3.35192026e-03 -8.34125514e-03 2.53905824e+00] [ 3.33101184e-03 9.99991279e-01 -2.51925916e-03 2.41137908e-01] [ 8.34962675e-03 2.49137254e-03 9.99962038e-01 -2.14792929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.913133365 meters Centerline goodness [0,1] 0.2889907255864703 Centerline is valid? [False, False] Translation: X:2.54, Y:0.24, Z:-0.21 [[ 9.99960347e-01 -3.29346019e-03 -8.27392394e-03 2.53864754e+00] [ 3.27646517e-03 9.99992497e-01 -2.06676191e-03 2.38050913e-01] [ 8.28066865e-03 2.03957073e-03 9.99963635e-01 -2.14307934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.943133365 meters Centerline goodness [0,1] 0.28695821690818113 Centerline is valid? [False, False] Translation: X:2.54, Y:0.24, Z:-0.21 [[ 9.99961938e-01 -3.18690921e-03 -8.12193688e-03 2.53820094e+00] [ 3.17288452e-03 9.99993454e-01 -1.73906764e-03 2.36192013e-01] [ 8.12742597e-03 1.71323148e-03 9.99965504e-01 -2.14128096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.973133365 meters Centerline goodness [0,1] 0.28710472812216115 Centerline is valid? [False, False] Translation: X:2.54, Y:0.23, Z:-0.21 [[ 9.99962677e-01 -3.06073000e-03 -8.07944172e-03 2.53809284e+00] [ 3.04902752e-03 9.99994285e-01 -1.46034716e-03 2.34905742e-01] [ 8.08386528e-03 1.43565821e-03 9.99966294e-01 -2.14084057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.003133365 meters Centerline goodness [0,1] 0.28730011035855707 Centerline is valid? [False, False] Translation: X:2.54, Y:0.23, Z:-0.21 [[ 9.99962616e-01 -2.98892501e-03 -8.11374568e-03 2.53845520e+00] [ 2.97814178e-03 9.99994666e-01 -1.34076428e-03 2.34300234e-01] [ 8.11770985e-03 1.31655027e-03 9.99966184e-01 -2.14527557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.033133365 meters Centerline goodness [0,1] 0.29043157733067115 Centerline is valid? [False, False] Translation: X:2.52, Y:0.23, Z:-0.22 [[ 9.99950794e-01 4.91149038e-03 -8.61902282e-03 2.51862034e+00] [-4.93039383e-03 9.99985484e-01 -2.17334796e-03 2.28331822e-01] [ 8.60822333e-03 2.21573619e-03 9.99960494e-01 -2.16000931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.063133365 meters Centerline goodness [0,1] 0.28987087768277786 Centerline is valid? [False, False] Translation: X:2.52, Y:0.23, Z:-0.22 [[ 9.99950088e-01 5.09279626e-03 -8.59562109e-03 2.51870259e+00] [-5.10874194e-03 9.99985268e-01 -1.83415731e-03 2.27030335e-01] [ 8.58615347e-03 1.87797858e-03 9.99961375e-01 -2.16230546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.093133365 meters Centerline goodness [0,1] 0.2905476107429369 Centerline is valid? [False, False] Translation: X:2.52, Y:0.23, Z:-0.22 [[ 9.99949625e-01 5.17977559e-03 -8.59757662e-03 2.51872157e+00] [-5.19371415e-03 9.99985233e-01 -1.59968406e-03 2.25828729e-01] [ 8.58916366e-03 1.64425683e-03 9.99961761e-01 -2.16243055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.123133365 meters Centerline goodness [0,1] 0.29098914512402463 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:-0.22 [[ 9.99949255e-01 5.22208131e-03 -8.61491462e-03 2.51875369e+00] [-5.23377282e-03 9.99985412e-01 -1.33513824e-03 2.24054714e-01] [ 8.60781675e-03 1.38015900e-03 9.99962000e-01 -2.16218928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.153133365 meters Centerline goodness [0,1] 0.2876463332828425 Centerline is valid? [False, False] Translation: X:2.54, Y:0.23, Z:-0.21 [[ 9.99960365e-01 -2.62736966e-03 -8.50683282e-03 2.53810157e+00] [ 2.62519969e-03 9.99996519e-01 -2.66241117e-04 2.26246356e-01] [ 8.50750272e-03 2.43898430e-04 9.99963781e-01 -2.14679667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.183133365 meters Centerline goodness [0,1] 0.29110677568556964 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:-0.22 [[ 9.99970856e-01 3.24421359e-03 -6.91098646e-03 2.51585996e+00] [-3.25878650e-03 9.99992488e-01 -2.09844110e-03 2.18651528e-01] [ 6.90412675e-03 2.12090137e-03 9.99973917e-01 -2.15298851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21313336499998 meters Centerline goodness [0,1] 0.29060838747785 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:-0.22 [[ 9.99970805e-01 3.34896164e-03 -6.86837178e-03 2.51567391e+00] [-3.35979279e-03 9.99993130e-01 -1.56602888e-03 2.15755265e-01] [ 6.86308002e-03 1.58905946e-03 9.99975186e-01 -2.15123565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24313336499998 meters Centerline goodness [0,1] 0.2868091186594791 Centerline is valid? [False, False] Translation: X:2.54, Y:0.21, Z:-0.22 [[ 9.99969028e-01 -4.83619749e-03 -6.20913187e-03 2.53692326e+00] [ 4.83380298e-03 9.99988237e-01 -4.00592011e-04 2.13995628e-01] [ 6.21099617e-03 3.70565884e-04 9.99980643e-01 -2.15064517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27313336499998 meters Centerline goodness [0,1] 0.28952480736908737 Centerline is valid? [False, False] Translation: X:2.54, Y:0.21, Z:-0.22 [[ 9.99968638e-01 -4.72321127e-03 -6.35726871e-03 2.53742555e+00] [ 4.72367695e-03 9.99988842e-01 5.82379192e-05 2.11213458e-01] [ 6.35692270e-03 -8.82657763e-05 9.99979791e-01 -2.15242980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30313336499998 meters Centerline goodness [0,1] 0.28641745088685544 Centerline is valid? [False, False] Translation: X:2.54, Y:0.21, Z:-0.22 [[ 9.99967879e-01 -4.58563705e-03 -6.57370103e-03 2.53812757e+00] [ 4.58913979e-03 9.99989336e-01 5.17857047e-04 2.08555335e-01] [ 6.57125622e-03 -5.48008046e-04 9.99978259e-01 -2.15512051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33313336499998 meters Centerline goodness [0,1] 0.28772456392187573 Centerline is valid? [False, False] Translation: X:2.54, Y:0.21, Z:-0.22 [[ 9.99966970e-01 -4.44396658e-03 -6.80516584e-03 2.53879317e+00] [ 4.45051713e-03 9.99989647e-01 9.47743741e-04 2.06237609e-01] [ 6.80088365e-03 -9.77998944e-04 9.99976395e-01 -2.15668808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36313336499998 meters Centerline goodness [0,1] 0.2940232915842672 Centerline is valid? [False, False] Translation: X:2.52, Y:0.20, Z:-0.22 [[ 9.99986518e-01 2.21315669e-03 -4.69746245e-03 2.51935073e+00] [-2.21098325e-03 9.99997446e-01 4.67826190e-04 1.95272685e-01] [ 4.69848582e-03 -4.57433872e-04 9.99988857e-01 -2.17265323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39313336499998 meters Centerline goodness [0,1] 0.2879082846636384 Centerline is valid? [False, False] Translation: X:2.54, Y:0.20, Z:-0.22 [[ 9.99982350e-01 -5.38069337e-03 -2.51933599e-03 2.53864423e+00] [ 5.38435122e-03 9.99984457e-01 1.44738705e-03 1.96612381e-01] [ 2.51150888e-03 -1.46092650e-03 9.99995779e-01 -2.16589465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42313336499998 meters Centerline goodness [0,1] 0.2916386363143161 Centerline is valid? [False, False] Translation: X:2.54, Y:0.19, Z:-0.22 [[ 9.99983584e-01 -5.29718541e-03 -2.18432258e-03 2.53737575e+00] [ 5.30107206e-03 9.99984370e-01 1.77740496e-03 1.94513722e-01] [ 2.17487320e-03 -1.78895504e-03 9.99996035e-01 -2.15795955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45313336499999 meters Centerline goodness [0,1] 0.28853112608610865 Centerline is valid? [False, False] Translation: X:2.54, Y:0.19, Z:-0.21 [[ 9.99986584e-01 -4.90820157e-03 -1.65573130e-03 2.53564816e+00] [ 4.91247703e-03 9.99984585e-01 2.58810958e-03 1.91057861e-01] [ 1.64300281e-03 -2.59620860e-03 9.99995280e-01 -2.14961225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.483133365 meters Centerline goodness [0,1] 0.2927823811600523 Centerline is valid? [False, False] Translation: X:2.54, Y:0.19, Z:-0.21 [[ 9.99987769e-01 -4.73356186e-03 -1.43337678e-03 2.53500259e+00] [ 4.73770872e-03 9.99984561e-01 2.90363000e-03 1.89889889e-01] [ 1.41961013e-03 -2.91038540e-03 9.99994757e-01 -2.14755646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.513133365 meters Centerline goodness [0,1] 0.29060979847116053 Centerline is valid? [False, False] Translation: X:2.53, Y:0.19, Z:-0.21 [[ 9.99988357e-01 -4.61785076e-03 -1.40061885e-03 2.53495891e+00] [ 4.62214052e-03 9.99984590e-01 3.07514693e-03 1.89184442e-01] [ 1.38639669e-03 -3.08158498e-03 9.99994291e-01 -2.14744491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.543133365 meters Centerline goodness [0,1] 0.2880864237622047 Centerline is valid? [False, False] Translation: X:2.54, Y:0.19, Z:-0.22 [[ 9.99988281e-01 -4.60871569e-03 -1.48260938e-03 2.53536452e+00] [ 4.61318264e-03 9.99984788e-01 3.02371794e-03 1.89285447e-01] [ 1.46865137e-03 -3.03052205e-03 9.99994329e-01 -2.15113883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.573133365 meters Centerline goodness [0,1] 0.2905421621031963 Centerline is valid? [False, False] Translation: X:2.52, Y:0.18, Z:-0.22 [[ 9.99993252e-01 3.05642605e-03 -2.03838903e-03 2.51601692e+00] [-3.05283079e-03 9.99993783e-01 1.76456074e-03 1.84321343e-01] [ 2.04376961e-03 -1.75832597e-03 9.99996366e-01 -2.16823337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.603133365 meters Centerline goodness [0,1] 0.28688418042376185 Centerline is valid? [False, False] Translation: X:2.52, Y:0.19, Z:-0.22 [[ 9.99990312e-01 3.68758920e-03 -2.40354124e-03 2.51748404e+00] [-3.68299862e-03 9.99991391e-01 1.91156155e-03 1.86149782e-01] [ 2.41056960e-03 -1.90269080e-03 9.99995284e-01 -2.17979314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.633133365 meters Centerline goodness [0,1] 0.28813633004390726 Centerline is valid? [False, False] Translation: X:2.52, Y:0.19, Z:-0.22 [[ 9.99990051e-01 3.77090627e-03 -2.38304012e-03 2.51762113e+00] [-3.76680871e-03 9.99991424e-01 1.72162174e-03 1.87943872e-01] [ 2.38951176e-03 -1.71262815e-03 9.99995679e-01 -2.18374173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.663133365 meters Centerline goodness [0,1] 0.29025497729654204 Centerline is valid? [False, False] Translation: X:2.52, Y:0.19, Z:-0.22 [[ 9.99989939e-01 3.76566463e-03 -2.43771357e-03 2.51787368e+00] [-3.76213991e-03 9.99991873e-01 1.44888660e-03 1.89722120e-01] [ 2.44314978e-03 -1.43970100e-03 9.99995979e-01 -2.18655277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.693133365 meters Centerline goodness [0,1] 0.28757062146892653 Centerline is valid? [False, False] Translation: X:2.52, Y:0.19, Z:-0.22 [[ 9.99990181e-01 3.67034220e-03 -2.48343641e-03 2.51814894e+00] [-3.66763283e-03 9.99992675e-01 1.09464897e-03 1.91417149e-01] [ 2.48743595e-03 -1.08552989e-03 9.99996317e-01 -2.18997240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.723133365 meters Centerline goodness [0,1] 0.28590344707823223 Centerline is valid? [False, False] Translation: X:2.52, Y:0.19, Z:-0.22 [[ 9.99990232e-01 3.49957167e-03 -2.69995590e-03 2.51893531e+00] [-3.49820669e-03 9.99993751e-01 5.10116363e-04 1.94286539e-01] [ 2.70172422e-03 -5.00666376e-04 9.99996225e-01 -2.19588020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.753133365 meters Centerline goodness [0,1] 0.2895380850412971 Centerline is valid? [False, False] Translation: X:2.52, Y:0.19, Z:-0.22 [[ 9.99990370e-01 3.46480990e-03 -2.69364532e-03 2.51898240e+00] [-3.46375121e-03 9.99993922e-01 3.97600747e-04 1.94951493e-01] [ 2.69500656e-03 -3.88266801e-04 9.99996293e-01 -2.19760515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.783133365 meters Centerline goodness [0,1] 0.29095853161114893 Centerline is valid? [False, False] Translation: X:2.52, Y:0.20, Z:-0.22 [[ 9.99990493e-01 3.46419854e-03 -2.64807650e-03 2.51894382e+00] [-3.46318445e-03 9.99993928e-01 3.87446289e-04 1.95158509e-01] [ 2.64940261e-03 -3.78271828e-04 9.99996419e-01 -2.19907741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.813133365 meters Centerline goodness [0,1] 0.2891273935472589 Centerline is valid? [False, False] Translation: X:2.52, Y:0.19, Z:-0.22 [[ 9.99990507e-01 3.50253369e-03 -2.59183420e-03 2.51887516e+00] [-3.50114861e-03 9.99993726e-01 5.38745106e-04 1.94483167e-01] [ 2.59370491e-03 -5.29665595e-04 9.99996496e-01 -2.20007138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.843133365 meters Centerline goodness [0,1] 0.28849928038728245 Centerline is valid? [False, False] Translation: X:2.52, Y:0.19, Z:-0.22 [[ 9.99991661e-01 3.01476119e-03 -2.75494557e-03 2.51947341e+00] [-3.01314422e-03 9.99995286e-01 5.90894930e-04 1.91779758e-01] [ 2.75671399e-03 -5.82588954e-04 9.99996031e-01 -2.20179284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.873133365 meters Centerline goodness [0,1] 0.2864486184010758 Centerline is valid? [False, False] Translation: X:2.52, Y:0.19, Z:-0.22 [[ 9.99991106e-01 2.75126910e-03 -3.19660931e-03 2.52058563e+00] [-2.74918003e-03 9.99996005e-01 6.57738111e-04 1.89890037e-01] [ 3.19840615e-03 -6.48944206e-04 9.99994675e-01 -2.20241191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.903133365 meters Centerline goodness [0,1] 0.28939440248002446 Centerline is valid? [False, False] Translation: X:2.52, Y:0.19, Z:-0.22 [[ 9.99989662e-01 2.64834771e-03 -3.69615102e-03 2.52163726e+00] [-2.64484475e-03 9.99996049e-01 9.52296592e-04 1.87256240e-01] [ 3.69865843e-03 -9.42511001e-04 9.99992716e-01 -2.20032479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.933133365 meters Centerline goodness [0,1] 0.28984368177451747 Centerline is valid? [False, False] Translation: X:2.52, Y:0.18, Z:-0.22 [[ 9.99988500e-01 2.58960958e-03 -4.03663017e-03 2.52252871e+00] [-2.58420813e-03 9.99995759e-01 1.34275087e-03 1.84384125e-01] [ 4.04009026e-03 -1.33230394e-03 9.99990951e-01 -2.20127919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96313336499998 meters Centerline goodness [0,1] 0.2844140083217753 Centerline is valid? [False, False] Translation: X:2.52, Y:0.18, Z:-0.22 [[ 9.99986964e-01 2.53900918e-03 -4.43005483e-03 2.52346268e+00] [-2.53122699e-03 9.99995245e-01 1.76140249e-03 1.81490129e-01] [ 4.43450599e-03 -1.75016606e-03 9.99988636e-01 -2.20070674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99313336499998 meters Centerline goodness [0,1] 0.2860816944024206 Centerline is valid? [False, False] Translation: X:2.52, Y:0.18, Z:-0.22 [[ 9.99986376e-01 2.28484236e-03 -4.69325918e-03 2.52415658e+00] [-2.27400796e-03 9.99994741e-01 2.31254318e-03 1.76373140e-01] [ 4.69851829e-03 -2.30183917e-03 9.99986313e-01 -2.20017877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02313336499998 meters Centerline goodness [0,1] 0.2886790810998956 Centerline is valid? [False, False] Translation: X:2.52, Y:0.17, Z:-0.22 [[ 9.99986092e-01 2.33361562e-03 -4.72969270e-03 2.52436295e+00] [-2.32113290e-03 9.99993813e-01 2.64299706e-03 1.74162444e-01] [ 4.73583118e-03 -2.63198205e-03 9.99985322e-01 -2.20153039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05313336499998 meters Centerline goodness [0,1] 0.28899142757172847 Centerline is valid? [False, False] Translation: X:2.52, Y:0.17, Z:-0.22 [[ 9.99985510e-01 2.35729064e-03 -4.83964935e-03 2.52477935e+00] [-2.34360967e-03 9.99993248e-01 2.83058009e-03 1.72766609e-01] [ 4.84628917e-03 -2.81919683e-03 9.99984283e-01 -2.20392512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08313336499998 meters Centerline goodness [0,1] 0.29240607160242515 Centerline is valid? [False, False] Translation: X:2.52, Y:0.17, Z:-0.22 [[ 9.99985509e-01 2.36687389e-03 -4.83524841e-03 2.52497269e+00] [-2.35307575e-03 9.99993149e-01 2.85735658e-03 1.72500149e-01] [ 4.84197829e-03 -2.84593747e-03 9.99984228e-01 -2.20745841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11313336499998 meters Centerline goodness [0,1] 0.2892218694271671 Centerline is valid? [False, False] Translation: X:2.57, Y:0.18, Z:-0.22 [[ 9.99983858e-01 5.14302342e-03 -2.41526775e-03 2.56709046e+00] [-5.13341044e-03 9.99978945e-01 3.96956286e-03 1.75002718e-01] [ 2.43563245e-03 -3.95710023e-03 9.99989204e-01 -2.20659965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14313336499998 meters Centerline goodness [0,1] 0.2903275009260672 Centerline is valid? [False, False] Translation: X:2.57, Y:0.18, Z:-0.22 [[ 9.99984395e-01 5.16034448e-03 -2.14041028e-03 2.56649826e+00] [-5.15205549e-03 9.99979277e-01 3.86022056e-03 1.75793922e-01] [ 2.16028599e-03 -3.84913280e-03 9.99990259e-01 -2.20746981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17313336499998 meters Centerline goodness [0,1] 0.2904049218954533 Centerline is valid? [False, False] Translation: X:2.57, Y:0.18, Z:-0.22 [[ 9.99985282e-01 5.07435511e-03 -1.92033513e-03 2.56588599e+00] [-5.06734406e-03 9.99980542e-01 3.63837331e-03 1.76680177e-01] [ 1.93876017e-03 -3.62858876e-03 9.99991537e-01 -2.20627025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20313336499999 meters Centerline goodness [0,1] 0.28517912504305887 Centerline is valid? [False, False] Translation: X:2.58, Y:0.18, Z:-0.22 [[ 9.99995258e-01 -2.15640413e-03 -2.19870024e-03 2.58487950e+00] [ 2.16543574e-03 9.99989194e-01 4.11363393e-03 1.83068201e-01] [ 2.18980582e-03 -4.11837556e-03 9.99989122e-01 -2.19653105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.233133365 meters Centerline goodness [0,1] 0.28955171812314673 Centerline is valid? [False, False] Translation: X:2.57, Y:0.18, Z:-0.22 [[ 0.99998194 0.00538849 -0.00266084 2.56515616] [-0.00538071 0.99998126 0.00291884 0.17889693] [ 0.00267652 -0.00290447 0.9999922 -0.2211563 ] [ 0. 0. 0. 1. ]] SLAMing on 178.263133365 meters Centerline goodness [0,1] 0.28648707129719786 Centerline is valid? [False, False] Translation: X:2.57, Y:0.18, Z:-0.22 [[ 0.99998186 0.00539904 -0.00267025 2.56548119] [-0.00539149 0.99998146 0.00282938 0.17970629] [ 0.00268548 -0.00281493 0.99999243 -0.22168688] [ 0. 0. 0. 1. ]] SLAMing on 178.293133365 meters Centerline goodness [0,1] 0.28648707129719786 Centerline is valid? [False, False] Translation: X:2.57, Y:0.18, Z:-0.22 [[ 0.99998186 0.00539904 -0.00267025 2.56548119] [-0.00539149 0.99998146 0.00282938 0.17970629] [ 0.00268548 -0.00281493 0.99999243 -0.22168688] [ 0. 0. 0. 1. ]] SLAMing on 178.323133365 meters Centerline goodness [0,1] 0.28577908332973345 Centerline is valid? [False, False] Translation: X:2.57, Y:0.18, Z:-0.22 [[ 9.99982606e-01 5.36571138e-03 -2.44865406e-03 2.56523524e+00] [-5.35895073e-03 9.99981834e-01 2.75922429e-03 1.80167106e-01] [ 2.46341478e-03 -2.74605408e-03 9.99993195e-01 -2.22136774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.353133365 meters Centerline goodness [0,1] 0.28869576524641327 Centerline is valid? [False, False] Translation: X:2.56, Y:0.18, Z:-0.22 [[ 9.99983580e-01 5.29281707e-03 -2.19696232e-03 2.56439382e+00] [-5.28685126e-03 9.99982346e-01 2.71246569e-03 1.79975704e-01] [ 2.21128012e-03 -2.70080614e-03 9.99993908e-01 -2.21753505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.383133365 meters Centerline goodness [0,1] 0.2934339225404623 Centerline is valid? [False, False] Translation: X:2.54, Y:0.18, Z:-0.22 [[ 9.99991083e-01 -3.96553132e-03 -1.45216705e-03 2.54282618e+00] [ 3.97038372e-03 9.99986493e-01 3.35399250e-03 1.83025838e-01] [ 1.43884708e-03 -3.35972825e-03 9.99993321e-01 -2.22511048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.413133365 meters Centerline goodness [0,1] 0.2897813708871213 Centerline is valid? [False, False] Translation: X:2.56, Y:0.18, Z:-0.22 [[ 9.99990913e-01 4.05872303e-03 -1.30419313e-03 2.56288679e+00] [-4.05650942e-03 9.99990335e-01 1.69549095e-03 1.80650707e-01] [ 1.31106205e-03 -1.69018507e-03 9.99997712e-01 -2.21644985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.443133365 meters Centerline goodness [0,1] 0.29031065892736796 Centerline is valid? [False, False] Translation: X:2.56, Y:0.18, Z:-0.22 [[ 9.99991071e-01 4.00997204e-03 -1.33370156e-03 2.56328333e+00] [-4.00784942e-03 9.99990704e-01 1.59040937e-03 1.81103886e-01] [ 1.34006666e-03 -1.58504989e-03 9.99997846e-01 -2.22183125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.473133365 meters Centerline goodness [0,1] 0.2895732741746052 Centerline is valid? [False, False] Translation: X:2.56, Y:0.18, Z:-0.22 [[ 9.99991246e-01 3.98649951e-03 -1.27104862e-03 2.56314103e+00] [-3.98454547e-03 9.99990882e-01 1.53618847e-03 1.81408135e-01] [ 1.27716104e-03 -1.53111047e-03 9.99998012e-01 -2.22197430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.503133365 meters Centerline goodness [0,1] 0.2909664780148019 Centerline is valid? [False, False] Translation: X:2.56, Y:0.18, Z:-0.22 [[ 9.99991554e-01 3.95624632e-03 -1.11365173e-03 2.56265412e+00] [-3.95460993e-03 9.99991103e-01 1.46778115e-03 1.81657372e-01] [ 1.11944873e-03 -1.46336469e-03 9.99998303e-01 -2.22052464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.533133365 meters Centerline goodness [0,1] 0.29030505823048847 Centerline is valid? [False, False] Translation: X:2.56, Y:0.18, Z:-0.22 [[ 9.99991931e-01 3.90532631e-03 -9.40953293e-04 2.56218098e+00] [-3.90405290e-03 9.99991466e-01 1.35138176e-03 1.82253841e-01] [ 9.46222850e-04 -1.34769732e-03 9.99998644e-01 -2.21925397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.563133365 meters Centerline goodness [0,1] 0.2879270972467577 Centerline is valid? [False, False] Translation: X:2.56, Y:0.18, Z:-0.22 [[ 9.99992213e-01 3.82500085e-03 -9.70935369e-04 2.56238860e+00] [-3.82409659e-03 9.99992254e-01 9.31483569e-04 1.84816757e-01] [ 9.74490774e-04 -9.27763365e-04 9.99999095e-01 -2.22249239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.593133365 meters Centerline goodness [0,1] 0.2903970050496256 Centerline is valid? [False, False] Translation: X:2.54, Y:0.19, Z:-0.22 [[ 9.99988792e-01 -4.51279560e-03 -1.43184098e-03 2.54381618e+00] [ 4.51608521e-03 9.99987151e-01 2.30262075e-03 1.90256592e-01] [ 1.42143133e-03 -2.30906126e-03 9.99996324e-01 -2.24292474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.623133365 meters Centerline goodness [0,1] 0.2873945945945946 Centerline is valid? [False, False] Translation: X:2.56, Y:0.19, Z:-0.22 [[ 9.99989399e-01 4.35820932e-03 -1.48559618e-03 2.56463837e+00] [-4.35685140e-03 9.99990089e-01 9.16074237e-04 1.90747827e-01] [ 1.48957390e-03 -9.09592004e-04 9.99998477e-01 -2.23661325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.653133365 meters Centerline goodness [0,1] 0.28862765473793595 Centerline is valid? [False, False] Translation: X:2.57, Y:0.19, Z:-0.22 [[ 9.99989772e-01 4.23530668e-03 -1.58654880e-03 2.56518474e+00] [-4.23462189e-03 9.99990939e-01 4.34733866e-04 1.93352537e-01] [ 1.58837565e-03 -4.28010985e-04 9.99998647e-01 -2.24242126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.683133365 meters Centerline goodness [0,1] 0.29173391494002177 Centerline is valid? [False, False] Translation: X:2.57, Y:0.20, Z:-0.22 [[ 9.99990257e-01 4.08833579e-03 -1.66503679e-03 2.56560802e+00] [-4.08841834e-03 9.99991641e-01 -4.61771890e-05 1.95886478e-01] [ 1.66483409e-03 5.29841060e-05 9.99998613e-01 -2.24694460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71313336499998 meters Centerline goodness [0,1] 0.2911048872098829 Centerline is valid? [False, False] Translation: X:2.57, Y:0.20, Z:-0.22 [[ 9.99991033e-01 3.93869344e-03 -1.55559018e-03 2.56508179e+00] [-3.93964453e-03 9.99992054e-01 -6.08814245e-04 1.99103079e-01] [ 1.55317988e-03 6.14937258e-04 9.99998605e-01 -2.24403718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74313336499998 meters Centerline goodness [0,1] 0.29136839356818034 Centerline is valid? [False, False] Translation: X:2.56, Y:0.20, Z:-0.22 [[ 9.99991260e-01 3.89562031e-03 -1.51761767e-03 2.56467947e+00] [-3.89681751e-03 9.99992098e-01 -7.86710256e-04 2.00281023e-01] [ 1.51454096e-03 7.92617259e-04 9.99998539e-01 -2.23953741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77313336499998 meters Centerline goodness [0,1] 0.28947767171028427 Centerline is valid? [False, False] Translation: X:2.56, Y:0.20, Z:-0.22 [[ 9.99991403e-01 3.84877870e-03 -1.54313212e-03 2.56467391e+00] [-3.85022447e-03 9.99992151e-01 -9.35031193e-04 2.01283250e-01] [ 1.53952127e-03 9.40964559e-04 9.99998372e-01 -2.23873368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80313336499998 meters Centerline goodness [0,1] 0.28649138712601996 Centerline is valid? [False, False] Translation: X:2.56, Y:0.20, Z:-0.22 [[ 9.99991522e-01 3.78165978e-03 -1.62917892e-03 2.56487042e+00] [-3.78335301e-03 9.99992305e-01 -1.03748910e-03 2.01939695e-01] [ 1.62524296e-03 1.04364407e-03 9.99998135e-01 -2.23885294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83313336499998 meters Centerline goodness [0,1] 0.291215376904134 Centerline is valid? [False, False] Translation: X:2.54, Y:0.20, Z:-0.23 [[ 9.99986284e-01 -5.04293357e-03 -1.41415552e-03 2.54461282e+00] [ 5.04303299e-03 9.99987282e-01 6.67459915e-05 2.04591042e-01] [ 1.41380094e-03 -7.38767089e-05 9.99998998e-01 -2.25101676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86313336499998 meters Centerline goodness [0,1] 0.29019106070135103 Centerline is valid? [False, False] Translation: X:2.54, Y:0.20, Z:-0.22 [[ 9.99986443e-01 -5.06117368e-03 -1.22444740e-03 2.54392694e+00] [ 5.06132908e-03 9.99987184e-01 1.23851273e-04 2.04122689e-01] [ 1.22380488e-03 -1.30046925e-04 9.99999243e-01 -2.24726920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89313336499998 meters Centerline goodness [0,1] 0.2904029462738301 Centerline is valid? [False, False] Translation: X:2.54, Y:0.20, Z:-0.22 [[ 9.99986634e-01 -5.03532074e-03 -1.17356198e-03 2.54372211e+00] [ 5.03557129e-03 9.99987299e-01 2.10640944e-04 2.03655986e-01] [ 1.17248643e-03 -2.16547683e-04 9.99999289e-01 -2.24601508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92313336499998 meters Centerline goodness [0,1] 0.29232712071067757 Centerline is valid? [False, False] Translation: X:2.54, Y:0.20, Z:-0.22 [[ 9.99986810e-01 -4.94613743e-03 -1.38390102e-03 2.54443044e+00] [ 4.94688002e-03 9.99987622e-01 5.33688131e-04 2.02170446e-01] [ 1.38124419e-03 -5.40527084e-04 9.99998900e-01 -2.24934822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95313336499999 meters Centerline goodness [0,1] 0.29270787984327384 Centerline is valid? [False, False] Translation: X:2.54, Y:0.20, Z:-0.22 [[ 9.99986905e-01 -4.89889564e-03 -1.48013219e-03 2.54471979e+00] [ 4.89998085e-03 9.99987728e-01 7.30449421e-04 2.01056688e-01] [ 1.47653563e-03 -7.37692475e-04 9.99998638e-01 -2.24998256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.983133365 meters Centerline goodness [0,1] 0.2905545927209705 Centerline is valid? [False, False] Translation: X:2.54, Y:0.20, Z:-0.22 [[ 9.99986931e-01 -4.85797858e-03 -1.59337903e-03 2.54491887e+00] [ 4.85940782e-03 9.99987793e-01 8.94343388e-04 2.00040860e-01] [ 1.58901488e-03 -9.02074578e-04 9.99998331e-01 -2.24888773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.013133365 meters Centerline goodness [0,1] 0.28866712647642034 Centerline is valid? [False, False] Translation: X:2.55, Y:0.20, Z:-0.22 [[ 9.99987013e-01 -4.81672474e-03 -1.66516571e-03 2.54507209e+00] [ 4.81842164e-03 9.99987875e-01 1.01654956e-03 1.99321611e-01] [ 1.66024908e-03 -1.02455983e-03 9.99998097e-01 -2.24870700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.043133365 meters Centerline goodness [0,1] 0.29146077156480277 Centerline is valid? [False, False] Translation: X:2.54, Y:0.20, Z:-0.22 [[ 9.99987599e-01 -4.76123993e-03 -1.46048806e-03 2.54461760e+00] [ 4.76274541e-03 9.99988129e-01 1.02906654e-03 1.99413200e-01] [ 1.45557109e-03 -1.03600971e-03 9.99998404e-01 -2.24888724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.073133365 meters Centerline goodness [0,1] 0.29063921993499453 Centerline is valid? [False, False] Translation: X:2.54, Y:0.20, Z:-0.23 [[ 9.99987854e-01 -4.73424406e-03 -1.37054588e-03 2.54448190e+00] [ 4.73550412e-03 9.99988366e-01 9.17605113e-04 2.00257643e-01] [ 1.36618577e-03 -9.24084194e-04 9.99998640e-01 -2.25005174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.103133365 meters Centerline goodness [0,1] 0.29129207383279043 Centerline is valid? [False, False] Translation: X:2.54, Y:0.20, Z:-0.23 [[ 9.99988385e-01 -4.66987049e-03 -1.19219584e-03 2.54422258e+00] [ 4.67079146e-03 9.99988795e-01 7.70886794e-04 2.01555499e-01] [ 1.18858254e-03 -7.76446339e-04 9.99998992e-01 -2.25339869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.133133365 meters Centerline goodness [0,1] 0.2925376367377883 Centerline is valid? [False, False] Translation: X:2.54, Y:0.20, Z:-0.23 [[ 9.99988958e-01 -4.58176739e-03 -1.04433524e-03 2.54393201e+00] [ 4.58244768e-03 9.99989289e-01 6.49951644e-04 2.02752014e-01] [ 1.04134613e-03 -6.54730080e-04 9.99999243e-01 -2.25525326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.163133365 meters Centerline goodness [0,1] 0.2935662084565861 Centerline is valid? [False, False] Translation: X:2.54, Y:0.20, Z:-0.23 [[ 9.99989425e-01 -4.50828403e-03 -9.08587607e-04 2.54360915e+00] [ 4.50877085e-03 9.99989693e-01 5.34464951e-04 2.03849364e-01] [ 9.06168722e-04 -5.38555912e-04 9.99999444e-01 -2.25615316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.193133365 meters Centerline goodness [0,1] 0.29136604918210374 Centerline is valid? [False, False] Translation: X:2.54, Y:0.20, Z:-0.23 [[ 9.99989490e-01 -4.49789451e-03 -8.88517410e-04 2.54359682e+00] [ 4.49826964e-03 9.99989794e-01 4.20656845e-04 2.04516197e-01] [ 8.86616272e-04 -4.24649215e-04 9.99999517e-01 -2.25708184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.223133365 meters Centerline goodness [0,1] 0.2891691138365866 Centerline is valid? [False, False] Translation: X:2.54, Y:0.20, Z:-0.23 [[ 9.99988557e-01 -4.61105163e-03 -1.27421308e-03 2.54475573e+00] [ 4.61147810e-03 9.99989312e-01 3.31956603e-04 2.03837425e-01] [ 1.27266879e-03 -3.37828810e-04 9.99999133e-01 -2.26127687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.253133365 meters Centerline goodness [0,1] 0.29832878208629166 Centerline is valid? [False, False] Translation: X:2.53, Y:0.20, Z:-0.23 [[ 9.99994954e-01 2.64522182e-03 -1.75934557e-03 2.52594529e+00] [-2.64666175e-03 9.99996164e-01 -8.16624689e-04 1.96709342e-01] [ 1.75717867e-03 8.21276960e-04 9.99998119e-01 -2.27452667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.283133365 meters Centerline goodness [0,1] 0.29756842220041435 Centerline is valid? [False, False] Translation: X:2.53, Y:0.19, Z:-0.23 [[ 9.99994448e-01 2.76614512e-03 -1.85803165e-03 2.52609349e+00] [-2.76692539e-03 9.99996085e-01 -4.17501836e-04 1.94688906e-01] [ 1.85686950e-03 4.22640553e-04 9.99998187e-01 -2.27260335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.313133365 meters Centerline goodness [0,1] 0.29039145907473307 Centerline is valid? [False, False] Translation: X:2.55, Y:0.20, Z:-0.23 [[ 9.99988614e-01 -4.56644068e-03 -1.38560473e-03 2.54528665e+00] [ 4.56738022e-03 9.99989341e-01 6.75667214e-04 1.99397370e-01] [ 1.38250456e-03 -6.81988105e-04 9.99998812e-01 -2.26254186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.343133365 meters Centerline goodness [0,1] 0.2907303370786517 Centerline is valid? [False, False] Translation: X:2.55, Y:0.20, Z:-0.23 [[ 9.99988757e-01 -4.53809171e-03 -1.37545903e-03 2.54518692e+00] [ 4.53906026e-03 9.99989452e-01 7.01857322e-04 1.99359875e-01] [ 1.37225943e-03 -7.08092723e-04 9.99998808e-01 -2.26175945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.373133365 meters Centerline goodness [0,1] 0.2927994121969141 Centerline is valid? [False, False] Translation: X:2.55, Y:0.20, Z:-0.23 [[ 9.99988960e-01 -4.49183452e-03 -1.37968537e-03 2.54516987e+00] [ 4.49281542e-03 9.99989656e-01 7.08682470e-04 1.99645357e-01] [ 1.37648781e-03 -7.14873317e-04 9.99998797e-01 -2.26183539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.403133365 meters Centerline goodness [0,1] 0.29493067590987865 Centerline is valid? [False, False] Translation: X:2.55, Y:0.20, Z:-0.23 [[ 9.99988916e-01 -4.47938227e-03 -1.45018394e-03 2.54538673e+00] [ 4.48019625e-03 9.99989808e-01 5.58534538e-04 2.00971440e-01] [ 1.44766727e-03 -5.65025456e-04 9.99998793e-01 -2.26335672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.433133365 meters Centerline goodness [0,1] 0.29640594727561664 Centerline is valid? [False, False] Translation: X:2.55, Y:0.20, Z:-0.23 [[ 9.99988881e-01 -4.43136510e-03 -1.61274804e-03 2.54618229e+00] [ 4.43198795e-03 9.99990105e-01 3.82839045e-04 2.02644599e-01] [ 1.61103558e-03 -3.89982469e-04 9.99998626e-01 -2.27080659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46313336499998 meters Centerline goodness [0,1] 0.29524596581270934 Centerline is valid? [False, False] Translation: X:2.55, Y:0.21, Z:-0.23 [[ 9.99988321e-01 -4.41866997e-03 -1.95801340e-03 2.54741382e+00] [ 4.41879247e-03 9.99990235e-01 5.82382162e-05 2.05091585e-01] [ 1.95773695e-03 -6.68895909e-05 9.99998081e-01 -2.27870052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49313336499998 meters Centerline goodness [0,1] 0.29974534597822267 Centerline is valid? [False, False] Translation: X:2.53, Y:0.21, Z:-0.23 [[ 9.99989099e-01 3.73386758e-03 -2.80370975e-03 2.52687806e+00] [-3.73735960e-03 9.99992246e-01 -1.24129273e-03 2.05847588e-01] [ 2.79905318e-03 1.25175766e-03 9.99995299e-01 -2.28733012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52313336499998 meters Centerline goodness [0,1] 0.29629226685234344 Centerline is valid? [False, False] Translation: X:2.54, Y:0.21, Z:-0.23 [[ 9.99991330e-01 -2.84392731e-03 -3.04176682e-03 2.54268736e+00] [ 2.84346687e-03 9.99995945e-01 -1.55687095e-04 2.14517125e-01] [ 3.04219725e-03 1.47036582e-04 9.99995362e-01 -2.25835269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55313336499998 meters Centerline goodness [0,1] 0.2945481314684103 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.23 [[ 9.99992297e-01 -2.89722580e-03 -2.64785289e-03 2.54116654e+00] [ 2.89575611e-03 9.99995651e-01 -5.58714987e-04 2.17436405e-01] [ 2.64946010e-03 5.51043148e-04 9.99996338e-01 -2.25014033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58313336499998 meters Centerline goodness [0,1] 0.29650973850120244 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.22 [[ 9.99993162e-01 -2.93170049e-03 -2.25397605e-03 2.53973579e+00] [ 2.92959447e-03 9.99995270e-01 -9.37089799e-04 2.20353555e-01] [ 2.25671265e-03 9.30480156e-04 9.99997021e-01 -2.24347635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61313336499998 meters Centerline goodness [0,1] 0.297330702344038 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.22 [[ 9.99993429e-01 -3.02807819e-03 -1.99303714e-03 2.53868106e+00] [ 3.02536999e-03 9.99994498e-01 -1.36044653e-03 2.23156781e-01] [ 1.99714571e-03 1.35440791e-03 9.99997088e-01 -2.23753721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64313336499998 meters Centerline goodness [0,1] 0.2981895863452949 Centerline is valid? [False, False] Translation: X:2.54, Y:0.23, Z:-0.22 [[ 9.99992707e-01 -3.40202318e-03 -1.73561656e-03 2.53750930e+00] [ 3.39820924e-03 9.99991816e-01 -2.19568994e-03 2.27597625e-01] [ 1.74307215e-03 2.18977594e-03 9.99996083e-01 -2.22993271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67313336499998 meters Centerline goodness [0,1] 0.3001214539776178 Centerline is valid? [False, False] Translation: X:2.54, Y:0.23, Z:-0.22 [[ 9.99991866e-01 -3.58093046e-03 -1.85614705e-03 2.53752439e+00] [ 3.57618387e-03 9.99990343e-01 -2.55427179e-03 2.29316617e-01] [ 1.86527580e-03 2.54761309e-03 9.99995015e-01 -2.22596698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70313336499999 meters Centerline goodness [0,1] 0.30193531514253336 Centerline is valid? [False, False] Translation: X:2.54, Y:0.23, Z:-0.22 [[ 9.99991093e-01 -3.71583413e-03 -2.00151451e-03 2.53782513e+00] [ 3.71014447e-03 9.99989088e-01 -2.83892709e-03 2.30788735e-01] [ 2.01204165e-03 2.83147590e-03 9.99993967e-01 -2.22550897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.733133365 meters Centerline goodness [0,1] 0.30080859018388906 Centerline is valid? [False, False] Translation: X:2.54, Y:0.23, Z:-0.22 [[ 9.99989860e-01 -3.99346532e-03 -2.08157866e-03 2.53771835e+00] [ 3.98661637e-03 9.99986661e-01 -3.28409662e-03 2.33028891e-01] [ 2.09466582e-03 3.27576486e-03 9.99992441e-01 -2.22064688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.763133365 meters Centerline goodness [0,1] 0.3033148570807521 Centerline is valid? [False, False] Translation: X:2.54, Y:0.23, Z:-0.22 [[ 9.99989549e-01 -4.07435790e-03 -2.07409934e-03 2.53750680e+00] [ 4.06731796e-03 9.99985992e-01 -3.38719580e-03 2.33541809e-01] [ 2.08787093e-03 3.37872438e-03 9.99992112e-01 -2.21722105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.793133365 meters Centerline goodness [0,1] 0.29705068327279016 Centerline is valid? [False, False] Translation: X:2.54, Y:0.23, Z:-0.22 [[ 9.99988832e-01 -4.14915711e-03 -2.26303591e-03 2.53785368e+00] [ 4.14128465e-03 9.99985396e-01 -3.47238224e-03 2.33815645e-01] [ 2.27741032e-03 3.46297158e-03 9.99991411e-01 -2.21558873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.823133365 meters Centerline goodness [0,1] 0.3017854047495233 Centerline is valid? [False, False] Translation: X:2.54, Y:0.23, Z:-0.22 [[ 0.99998784 -0.00422646 -0.00253975 2.53861646] [ 0.00421744 0.99998483 -0.00354421 0.23391152] [ 0.00255469 0.00353345 0.99999049 -0.22170449] [ 0. 0. 0. 1. ]] SLAMing on 179.853133365 meters Centerline goodness [0,1] 0.2995396708212099 Centerline is valid? [False, False] Translation: X:2.54, Y:0.23, Z:-0.22 [[ 0.99998671 -0.00427645 -0.0028812 2.53963092] [ 0.00426606 0.99998441 -0.00360177 0.23413607] [ 0.00289656 0.00358943 0.99998936 -0.22206419] [ 0. 0. 0. 1. ]] SLAMing on 179.883133365 meters Centerline goodness [0,1] 0.2979810001947588 Centerline is valid? [False, False] Translation: X:2.54, Y:0.23, Z:-0.22 [[ 0.99998606 -0.00429121 -0.0030769 2.54021462] [ 0.00428009 0.99998432 -0.00361023 0.23415555] [ 0.00309235 0.00359702 0.99998875 -0.22225876] [ 0. 0. 0. 1. ]] SLAMing on 179.913133365 meters Centerline goodness [0,1] 0.30012572072657906 Centerline is valid? [False, False] Translation: X:2.54, Y:0.23, Z:-0.22 [[ 0.99998686 -0.00423572 -0.00288593 2.53957478] [ 0.00422585 0.99998522 -0.00341989 0.23317046] [ 0.00290038 0.00340765 0.99998999 -0.22189289] [ 0. 0. 0. 1. ]] SLAMing on 179.943133365 meters Centerline goodness [0,1] 0.30115855246029677 Centerline is valid? [False, False] Translation: X:2.54, Y:0.23, Z:-0.22 [[ 0.99998748 -0.00416693 -0.00277133 2.53927028] [ 0.00415811 0.9999863 -0.0031794 0.2317177 ] [ 0.00278454 0.00316784 0.99999111 -0.22179066] [ 0. 0. 0. 1. ]] SLAMing on 179.973133365 meters Centerline goodness [0,1] 0.303013817865303 Centerline is valid? [False, False] Translation: X:2.54, Y:0.23, Z:-0.22 [[ 0.9999879 -0.00411369 -0.00269593 2.53904324] [ 0.00410577 0.99998726 -0.00293518 0.23006629] [ 0.00270797 0.00292408 0.99999206 -0.22171725] [ 0. 0. 0. 1. ]] SLAMing on 180.003133365 meters Centerline goodness [0,1] 0.29766461657563115 Centerline is valid? [False, False] Translation: X:2.56, Y:0.23, Z:-0.22 [[ 0.99998825 0.00394317 -0.00281861 2.55926056] [-0.00395472 0.99998376 -0.0041039 0.22504667] [ 0.00280238 0.004115 0.99998761 -0.22059612] [ 0. 0. 0. 1. ]] SLAMing on 180.033133365 meters Centerline goodness [0,1] 0.29652541276889255 Centerline is valid? [False, False] Translation: X:2.56, Y:0.22, Z:-0.22 [[ 0.9999859 0.00404312 -0.0034431 2.56150646] [-0.00405596 0.99998482 -0.00372997 0.2228457 ] [ 0.00342796 0.00374388 0.99998712 -0.22178119] [ 0. 0. 0. 1. ]] SLAMing on 180.063133365 meters Centerline goodness [0,1] 0.2951205300299976 Centerline is valid? [False, False] Translation: X:2.56, Y:0.22, Z:-0.22 [[ 0.99998476 0.00408073 -0.00371849 2.56257106] [-0.0040943 0.99998496 -0.00364901 0.22234924] [ 0.00370354 0.00366418 0.99998643 -0.22242391] [ 0. 0. 0. 1. ]] SLAMing on 180.093133365 meters Centerline goodness [0,1] 0.2985905689925178 Centerline is valid? [False, False] Translation: X:2.56, Y:0.22, Z:-0.22 [[ 0.9999843 0.00404385 -0.00387823 2.56325321] [-0.00405825 0.99998488 -0.00371169 0.22240113] [ 0.00386316 0.00372738 0.99998559 -0.22290974] [ 0. 0. 0. 1. ]] SLAMing on 180.123133365 meters Centerline goodness [0,1] 0.29475118406539935 Centerline is valid? [False, False] Translation: X:2.56, Y:0.22, Z:-0.22 [[ 0.9999839 0.00403519 -0.0039901 2.56364632] [-0.00405018 0.99998474 -0.00375588 0.22251957] [ 0.00397488 0.00377198 0.99998499 -0.22315052] [ 0. 0. 0. 1. ]] SLAMing on 180.153133365 meters Centerline goodness [0,1] 0.3007996853696906 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.22 [[ 9.99986475e-01 -3.18176447e-03 -4.11411416e-03 2.54234444e+00] [ 3.17687112e-03 9.99994239e-01 -1.19539484e-03 2.24676187e-01] [ 4.11789393e-03 1.18230866e-03 9.99990823e-01 -2.23729431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.183133365 meters Centerline goodness [0,1] 0.29886361157763863 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.22 [[ 9.99987104e-01 -3.09465960e-03 -4.02687879e-03 2.54208394e+00] [ 3.09030208e-03 9.99994633e-01 -1.08788124e-03 2.24606833e-01] [ 4.03022380e-03 1.07542293e-03 9.99991300e-01 -2.23640366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21313336499998 meters Centerline goodness [0,1] 0.29886361157763863 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.22 [[ 9.99987104e-01 -3.09465960e-03 -4.02687879e-03 2.54208394e+00] [ 3.09030208e-03 9.99994633e-01 -1.08788124e-03 2.24606833e-01] [ 4.03022380e-03 1.07542293e-03 9.99991300e-01 -2.23640366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24313336499998 meters Centerline goodness [0,1] 0.2977408261872633 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.22 [[ 9.99987145e-01 -3.02508137e-03 -4.06929586e-03 2.54215582e+00] [ 3.02132101e-03 9.99995003e-01 -9.29911460e-04 2.24048642e-01] [ 4.07208859e-03 9.17604857e-04 9.99991288e-01 -2.23565797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27313336499998 meters Centerline goodness [0,1] 0.2949562353756825 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.22 [[ 9.99985243e-01 -3.15392704e-03 -4.42333369e-03 2.54277742e+00] [ 3.15021485e-03 9.99994680e-01 -8.45945227e-04 2.22555223e-01] [ 4.42597821e-03 8.31998292e-04 9.99989859e-01 -2.23204824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30313336499998 meters Centerline goodness [0,1] 0.2953901399614943 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.22 [[ 9.99985215e-01 -3.09947579e-03 -4.46795513e-03 2.54281385e+00] [ 3.09652628e-03 9.99994983e-01 -6.66914572e-04 2.21640250e-01] [ 4.46999980e-03 6.53069571e-04 9.99989796e-01 -2.23081391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33313336499998 meters Centerline goodness [0,1] 0.2959802477692107 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.22 [[ 9.99986313e-01 -3.00758399e-03 -4.28111693e-03 2.54228595e+00] [ 3.00583201e-03 9.99995396e-01 -4.15610213e-04 2.20551626e-01] [ 4.28234720e-03 4.02736206e-04 9.99990750e-01 -2.22933332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36313336499998 meters Centerline goodness [0,1] 0.2963285381618751 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.22 [[ 9.99987369e-01 -2.92891056e-03 -4.08454951e-03 2.54169609e+00] [ 2.92810468e-03 9.99995692e-01 -2.03265595e-04 2.19621288e-01] [ 4.08512726e-03 1.91303039e-04 9.99991638e-01 -2.22723713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39313336499998 meters Centerline goodness [0,1] 0.29403516341279257 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.22 [[ 9.99988229e-01 -2.88332089e-03 -3.90244991e-03 2.54102191e+00] [ 2.88327085e-03 9.99995843e-01 -1.84480497e-05 2.18696911e-01] [ 3.90248688e-03 7.19601248e-06 9.99992385e-01 -2.22329890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42313336499998 meters Centerline goodness [0,1] 0.29553316613335645 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.22 [[ 9.99988273e-01 -2.87417432e-03 -3.89793217e-03 2.54077838e+00] [ 2.87451630e-03 9.99995865e-01 8.21345551e-05 2.18053762e-01] [ 3.89767998e-03 -9.33382614e-05 9.99992400e-01 -2.21988794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45313336499999 meters Centerline goodness [0,1] 0.29415706534662023 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.22 [[ 9.99986963e-01 -2.82461077e-03 -4.25377402e-03 2.54149439e+00] [ 2.82651541e-03 9.99995908e-01 4.41806373e-04 2.15857455e-01] [ 4.25250869e-03 -4.53823971e-04 9.99990855e-01 -2.21756359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.483133365 meters Centerline goodness [0,1] 0.29670258058910415 Centerline is valid? [False, False] Translation: X:2.54, Y:0.21, Z:-0.22 [[ 9.99986524e-01 -2.73004295e-03 -4.41572022e-03 2.54191103e+00] [ 2.73333402e-03 9.99995991e-01 7.39445891e-04 2.14216748e-01] [ 4.41368380e-03 -7.51505564e-04 9.99989977e-01 -2.21796004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.513133365 meters Centerline goodness [0,1] 0.2944971946482521 Centerline is valid? [False, False] Translation: X:2.54, Y:0.21, Z:-0.22 [[ 9.99986279e-01 -2.63689874e-03 -4.52636439e-03 2.54212457e+00] [ 2.64174895e-03 9.99995942e-01 1.06590349e-03 2.12253322e-01] [ 4.52353534e-03 -1.07784638e-03 9.99989188e-01 -2.21674353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.543133365 meters Centerline goodness [0,1] 0.2959409594095941 Centerline is valid? [False, False] Translation: X:2.54, Y:0.21, Z:-0.22 [[ 9.99986802e-01 -2.54532846e-03 -4.46276499e-03 2.54174951e+00] [ 2.55150525e-03 9.99995794e-01 1.37892496e-03 2.10345164e-01] [ 4.45923640e-03 -1.39029353e-03 9.99989091e-01 -2.21281398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.573133365 meters Centerline goodness [0,1] 0.2983278466938455 Centerline is valid? [False, False] Translation: X:2.54, Y:0.21, Z:-0.22 [[ 9.99987974e-01 -2.43473082e-03 -4.25711010e-03 2.54088259e+00] [ 2.44176979e-03 9.99995659e-01 1.64904697e-03 2.08877275e-01] [ 4.25307664e-03 -1.65942202e-03 9.99989579e-01 -2.20662850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.603133365 meters Centerline goodness [0,1] 0.29736268526591103 Centerline is valid? [False, False] Translation: X:2.54, Y:0.21, Z:-0.22 [[ 9.99989417e-01 -2.30021437e-03 -3.98430888e-03 2.53999761e+00] [ 2.30746532e-03 9.99995688e-01 1.81623655e-03 2.08345783e-01] [ 3.98011397e-03 -1.82541098e-03 9.99990413e-01 -2.20247853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.633133365 meters Centerline goodness [0,1] 0.29344110755207775 Centerline is valid? [False, False] Translation: X:2.56, Y:0.21, Z:-0.22 [[ 9.99960895e-01 8.25252881e-03 -3.17857799e-03 2.56128068e+00] [-8.24577332e-03 9.99963729e-01 2.13259298e-03 2.07638916e-01] [ 3.19606199e-03 -2.10629975e-03 9.99992674e-01 -2.20394318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.663133365 meters Centerline goodness [0,1] 0.29399349600499647 Centerline is valid? [False, False] Translation: X:2.56, Y:0.21, Z:-0.22 [[ 9.99958652e-01 8.37924766e-03 -3.53317502e-03 2.56256868e+00] [-8.37272037e-03 9.99963222e-01 1.85818947e-03 2.09717593e-01] [ 3.54861531e-03 -1.82853035e-03 9.99992032e-01 -2.21220496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.693133365 meters Centerline goodness [0,1] 0.2938482243639837 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.22 [[ 9.99992737e-01 6.98739682e-04 -3.74670635e-03 2.54531866e+00] [-6.86569046e-04 9.99994487e-01 3.24865873e-03 2.15796136e-01] [ 3.74895566e-03 -3.24606276e-03 9.99987704e-01 -2.23790077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.723133365 meters Centerline goodness [0,1] 0.29583542179702316 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.22 [[ 9.99991618e-01 8.66466418e-04 -4.00153642e-03 2.54620032e+00] [-8.54720975e-04 9.99995325e-01 2.93601122e-03 2.18368783e-01] [ 4.00406167e-03 -2.93256641e-03 9.99987684e-01 -2.24421157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.753133365 meters Centerline goodness [0,1] 0.2937386097370477 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.22 [[ 9.99990376e-01 1.06259074e-03 -4.25653336e-03 2.54702231e+00] [-1.05149690e-03 9.99996047e-01 2.60769746e-03 2.21246262e-01] [ 4.25928745e-03 -2.60319664e-03 9.99987541e-01 -2.24987649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.783133365 meters Centerline goodness [0,1] 0.293193375929065 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99989866e-01 1.12694614e-03 -4.35860657e-03 2.54752504e+00] [-1.11734541e-03 9.99996946e-01 2.20451432e-03 2.24139946e-01] [ 4.36107762e-03 -2.19962192e-03 9.99988071e-01 -2.25602729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.813133365 meters Centerline goodness [0,1] 0.29267282712928255 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99987174e-01 1.15603858e-03 -4.93099892e-03 2.54958094e+00] [-1.14893295e-03 9.99998298e-01 1.44360200e-03 2.29003663e-01] [ 4.93265939e-03 -1.43791810e-03 9.99986801e-01 -2.27061191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.843133365 meters Centerline goodness [0,1] 0.28683837124306666 Centerline is valid? [False, False] Translation: X:2.57, Y:0.24, Z:-0.23 [[ 9.99967537e-01 -6.00837274e-03 -5.36879604e-03 2.56837661e+00] [ 6.01927482e-03 9.99979850e-01 2.01679146e-03 2.36934486e-01] [ 5.35657023e-03 -2.04904224e-03 9.99983554e-01 -2.26066116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.873133365 meters Centerline goodness [0,1] 0.2904915478019956 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99989530e-01 1.10408908e-03 -4.44093173e-03 2.54937526e+00] [-1.10048628e-03 9.99999063e-01 8.13631569e-04 2.31823148e-01] [ 4.44182589e-03 -8.08735866e-04 9.99989808e-01 -2.27596038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.903133365 meters Centerline goodness [0,1] 0.29313126907980813 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99990286e-01 1.07605287e-03 -4.27436631e-03 2.54853905e+00] [-1.07281966e-03 9.99999137e-01 7.58638823e-04 2.32258451e-01] [ 4.27517895e-03 -7.54045830e-04 9.99990577e-01 -2.26914331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.933133365 meters Centerline goodness [0,1] 0.29178070289760627 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99990519e-01 1.06004898e-03 -4.22351383e-03 2.54801642e+00] [-1.05707281e-03 9.99999191e-01 7.06837558e-04 2.32946219e-01] [ 4.22425970e-03 -7.02366295e-04 9.99990831e-01 -2.26294175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96313336499998 meters Centerline goodness [0,1] 0.2926071560470118 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99989884e-01 1.02871275e-03 -4.37869208e-03 2.54817954e+00] [-1.02590531e-03 9.99999267e-01 6.43356865e-04 2.33588665e-01] [ 4.37935070e-03 -6.38858234e-04 9.99990207e-01 -2.25962333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99313336499998 meters Centerline goodness [0,1] 0.28852551086533895 Centerline is valid? [False, False] Translation: X:2.55, Y:0.24, Z:-0.23 [[ 9.99986066e-01 6.80064600e-04 -5.23507765e-03 2.55075048e+00] [-6.79535160e-04 9.99999764e-01 1.02911268e-04 2.35762919e-01] [ 5.23514640e-03 -9.93524149e-05 9.99986292e-01 -2.26857535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02313336499998 meters Centerline goodness [0,1] 0.2916937898711105 Centerline is valid? [False, False] Translation: X:2.55, Y:0.24, Z:-0.23 [[ 9.99985214e-01 5.96413038e-04 -5.40510723e-03 2.55132871e+00] [-5.97067810e-04 9.99999815e-01 -1.19526601e-04 2.37072607e-01] [ 5.40503494e-03 1.22752049e-04 9.99985385e-01 -2.27159424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05313336499998 meters Centerline goodness [0,1] 0.28717022511771917 Centerline is valid? [False, False] Translation: X:2.55, Y:0.24, Z:-0.23 [[ 9.99985737e-01 5.25134381e-04 -5.31498502e-03 2.55113821e+00] [-5.27254977e-04 9.99999782e-01 -3.97591149e-04 2.39050676e-01] [ 5.31477507e-03 4.00387831e-04 9.99985796e-01 -2.27235516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08313336499998 meters Centerline goodness [0,1] 0.28924780004756656 Centerline is valid? [False, False] Translation: X:2.55, Y:0.24, Z:-0.23 [[ 9.99986924e-01 4.57687775e-04 -5.09344033e-03 2.55035288e+00] [-4.61155247e-04 9.99999663e-01 -6.79618485e-04 2.40972530e-01] [ 5.09312756e-03 6.81958465e-04 9.99986797e-01 -2.26885561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11313336499998 meters Centerline goodness [0,1] 0.2908610075435706 Centerline is valid? [False, False] Translation: X:2.55, Y:0.24, Z:-0.23 [[ 9.99987897e-01 3.84395645e-04 -4.90487352e-03 2.54962306e+00] [-3.89307388e-04 9.99999424e-01 -1.00048515e-03 2.43037407e-01] [ 4.90448611e-03 1.00238254e-03 9.99987471e-01 -2.26511715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14313336499998 meters Centerline goodness [0,1] 0.29429612975049657 Centerline is valid? [False, False] Translation: X:2.55, Y:0.25, Z:-0.23 [[ 9.99988532e-01 1.00754568e-04 -4.78816670e-03 2.54899413e+00] [-1.09170822e-04 9.99998450e-01 -1.75749061e-03 2.46921288e-01] [ 4.78798220e-03 1.75799318e-03 9.99986992e-01 -2.26027336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17313336499998 meters Centerline goodness [0,1] 0.2919622772105901 Centerline is valid? [False, False] Translation: X:2.55, Y:0.25, Z:-0.23 [[ 9.99988007e-01 -4.01029937e-05 -4.89736419e-03 2.54935917e+00] [ 2.96397010e-05 9.99997717e-01 -2.13656903e-03 2.49001805e-01] [ 4.89743870e-03 2.13639825e-03 9.99985725e-01 -2.26277878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20313336499999 meters Centerline goodness [0,1] 0.29190907714600856 Centerline is valid? [False, False] Translation: X:2.55, Y:0.25, Z:-0.23 [[ 9.99987845e-01 -1.42149331e-04 -4.92843392e-03 2.54957297e+00] [ 1.30287012e-04 9.99997094e-01 -2.40715202e-03 2.50478655e-01] [ 4.92876177e-03 2.40648065e-03 9.99984958e-01 -2.26534635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.233133365 meters Centerline goodness [0,1] 0.29144177209724076 Centerline is valid? [False, False] Translation: X:2.55, Y:0.25, Z:-0.23 [[ 9.99987856e-01 -2.06658665e-04 -4.92394343e-03 2.54953622e+00] [ 1.93903935e-04 9.99996625e-01 -2.59068525e-03 2.51731384e-01] [ 4.92446220e-03 2.58969901e-03 9.99984521e-01 -2.26508085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.263133365 meters Centerline goodness [0,1] 0.29274167299555165 Centerline is valid? [False, False] Translation: X:2.55, Y:0.25, Z:-0.23 [[ 9.99988246e-01 -2.17349838e-04 -4.84354924e-03 2.54922870e+00] [ 2.04338265e-04 9.99996370e-01 -2.68670463e-03 2.52643468e-01] [ 4.84411561e-03 2.68568333e-03 9.99984661e-01 -2.26369630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.293133365 meters Centerline goodness [0,1] 0.2937510856348793 Centerline is valid? [False, False] Translation: X:2.55, Y:0.25, Z:-0.23 [[ 9.99988648e-01 -2.38656320e-04 -4.75878832e-03 2.54878022e+00] [ 2.25496721e-04 9.99996150e-01 -2.76567034e-03 2.53393926e-01] [ 4.75943004e-03 2.76456585e-03 9.99984852e-01 -2.25976010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.323133365 meters Centerline goodness [0,1] 0.29522659936354656 Centerline is valid? [False, False] Translation: X:2.53, Y:0.26, Z:-0.23 [[ 9.99953418e-01 -9.05851417e-03 -3.33246473e-03 2.52631615e+00] [ 9.05204645e-03 9.99957126e-01 -1.95081329e-03 2.57156911e-01] [ 3.34999333e-03 1.92055679e-03 9.99992544e-01 -2.26820722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.353133365 meters Centerline goodness [0,1] 0.2912908376850374 Centerline is valid? [False, False] Translation: X:2.55, Y:0.26, Z:-0.23 [[ 9.99996978e-01 -9.31209010e-04 -2.27516531e-03 2.54616506e+00] [ 9.24235220e-04 9.99994878e-01 -3.06431078e-03 2.55162302e-01] [ 2.27800717e-03 3.06219874e-03 9.99992717e-01 -2.26143571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.383133365 meters Centerline goodness [0,1] 0.2909196941552551 Centerline is valid? [False, False] Translation: X:2.55, Y:0.25, Z:-0.23 [[ 9.99996565e-01 -9.16607835e-04 -2.45547766e-03 2.54674337e+00] [ 9.09253110e-04 9.99995103e-01 -2.99467574e-03 2.54795135e-01] [ 2.45821058e-03 2.99243280e-03 9.99992501e-01 -2.26395907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.413133365 meters Centerline goodness [0,1] 0.2908779832806341 Centerline is valid? [False, False] Translation: X:2.55, Y:0.25, Z:-0.23 [[ 9.99996044e-01 -9.38892712e-04 -2.65143955e-03 2.54748882e+00] [ 9.30969618e-04 9.99995103e-01 -2.98787857e-03 2.54636312e-01] [ 2.65423186e-03 2.98539835e-03 9.99992021e-01 -2.26851577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.443133365 meters Centerline goodness [0,1] 0.2930907035394382 Centerline is valid? [False, False] Translation: X:2.55, Y:0.25, Z:-0.23 [[ 9.99995177e-01 -1.00176769e-03 -2.93987401e-03 2.54849196e+00] [ 9.92786571e-04 9.99994841e-01 -3.05480594e-03 2.54663979e-01] [ 2.94291905e-03 3.05187254e-03 9.99991013e-01 -2.27385271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.473133365 meters Centerline goodness [0,1] 0.2945773769128046 Centerline is valid? [False, False] Translation: X:2.55, Y:0.25, Z:-0.23 [[ 9.99994632e-01 -1.00068210e-03 -3.12008138e-03 2.54905379e+00] [ 9.91335305e-04 9.99995021e-01 -2.99579922e-03 2.54203583e-01] [ 3.12306369e-03 2.99269009e-03 9.99990645e-01 -2.27601844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.503133365 meters Centerline goodness [0,1] 0.2927608001563824 Centerline is valid? [False, False] Translation: X:2.55, Y:0.25, Z:-0.23 [[ 9.99994055e-01 -9.78505972e-04 -3.30632237e-03 2.54929661e+00] [ 9.69150536e-04 9.99995526e-01 -2.82997810e-03 2.53329947e-01] [ 3.30907673e-03 2.82675696e-03 9.99990530e-01 -2.27309837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.533133365 meters Centerline goodness [0,1] 0.2900416999762332 Centerline is valid? [False, False] Translation: X:2.55, Y:0.25, Z:-0.23 [[ 9.99993580e-01 -9.48339683e-04 -3.45537608e-03 2.54966243e+00] [ 9.39091748e-04 9.99995976e-01 -2.67703077e-03 2.52447389e-01] [ 3.45790091e-03 2.67376867e-03 9.99990447e-01 -2.27306216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.563133365 meters Centerline goodness [0,1] 0.29118666089216105 Centerline is valid? [False, False] Translation: X:2.55, Y:0.25, Z:-0.23 [[ 9.99993092e-01 -9.09883677e-04 -3.60398333e-03 2.55001181e+00] [ 9.00992843e-04 9.99996549e-01 -2.46780239e-03 2.51062439e-01] [ 3.60621631e-03 2.46453818e-03 9.99990461e-01 -2.27271105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.593133365 meters Centerline goodness [0,1] 0.29338335307796937 Centerline is valid? [False, False] Translation: X:2.50, Y:0.25, Z:-0.23 [[ 9.99980013e-01 -2.39861089e-03 -5.84973746e-03 2.50472451e+00] [ 2.38237664e-03 9.99993296e-01 -2.78060070e-03 2.46064053e-01] [ 5.85636782e-03 2.76660885e-03 9.99979024e-01 -2.26323332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.623133365 meters Centerline goodness [0,1] 0.29081599585196705 Centerline is valid? [False, False] Translation: X:2.55, Y:0.25, Z:-0.23 [[ 0.99999122 -0.00261982 -0.00327068 2.54770724] [ 0.00260827 0.99999037 -0.00353063 0.24675468] [ 0.0032799 0.00352207 0.99998842 -0.22657392] [ 0. 0. 0. 1. ]] SLAMing on 181.653133365 meters Centerline goodness [0,1] 0.29033297529538127 Centerline is valid? [False, False] Translation: X:2.54, Y:0.24, Z:-0.23 [[ 9.99993814e-01 -2.59966578e-03 -2.36938123e-03 2.54495447e+00] [ 2.59306967e-03 9.99992766e-01 -2.78272638e-03 2.42022809e-01] [ 2.37659825e-03 2.77656519e-03 9.99993321e-01 -2.25429911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.683133365 meters Centerline goodness [0,1] 0.2925406155781619 Centerline is valid? [False, False] Translation: X:2.53, Y:0.23, Z:-0.23 [[ 9.99993964e-01 3.46176641e-03 2.97638468e-04 2.52820137e+00] [-3.46080119e-03 9.99988941e-01 -3.18448328e-03 2.33633943e-01] [-3.08659114e-04 3.18343399e-03 9.99994885e-01 -2.28013562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71313336499998 meters Centerline goodness [0,1] 0.29551404747761423 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:-0.23 [[ 9.99985232e-01 -5.28495333e-03 -1.26703393e-03 2.50805231e+00] [ 5.28245028e-03 9.99984106e-01 -1.97079210e-03 2.33245359e-01] [ 1.27742934e-03 1.96406995e-03 9.99997255e-01 -2.28794360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74313336499998 meters Centerline goodness [0,1] 0.2887630286846412 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99985123e-01 -5.38213141e-03 -8.86388990e-04 2.55443364e+00] [ 5.37967425e-03 9.99981744e-01 -2.75153960e-03 2.33421163e-01] [ 9.01181955e-04 2.74673019e-03 9.99995822e-01 -2.30142970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77313336499998 meters Centerline goodness [0,1] 0.2886742718866131 Centerline is valid? [False, False] Translation: X:2.56, Y:0.23, Z:-0.23 [[ 9.99985314e-01 -5.28317126e-03 -1.20835063e-03 2.55545044e+00] [ 5.28022634e-03 9.99983113e-01 -2.42748035e-03 2.31506066e-01] [ 1.22115502e-03 2.42106433e-03 9.99996324e-01 -2.30521581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80313336499998 meters Centerline goodness [0,1] 0.2912210677021193 Centerline is valid? [False, False] Translation: X:2.56, Y:0.23, Z:-0.23 [[ 9.99986146e-01 -5.12456272e-03 -1.20244213e-03 2.55550903e+00] [ 5.12201197e-03 9.99984646e-01 -2.11488041e-03 2.30192507e-01] [ 1.21326151e-03 2.10869219e-03 9.99997041e-01 -2.30685240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83313336499998 meters Centerline goodness [0,1] 0.29389926183239257 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99988495e-01 -4.75338451e-03 -6.44304753e-04 2.55392552e+00] [ 4.75234188e-03 9.99987411e-01 -1.61021330e-03 2.28873612e-01] [ 6.51950605e-04 1.60713281e-03 9.99998496e-01 -2.30231281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86313336499998 meters Centerline goodness [0,1] 0.28721038198268234 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99988968e-01 -4.67227198e-03 -4.82448332e-04 2.55338030e+00] [ 4.67152338e-03 9.99987901e-01 -1.54131978e-03 2.28786607e-01] [ 4.89643960e-04 1.53904900e-03 9.99998696e-01 -2.29969489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89313336499998 meters Centerline goodness [0,1] 0.29126803340926344 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99989457e-01 -4.57255988e-03 -4.22170175e-04 2.55314116e+00] [ 4.57196409e-03 9.99988566e-01 -1.40160163e-03 2.28422729e-01] [ 4.28574255e-04 1.39965670e-03 9.99998929e-01 -2.29854722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92313336499998 meters Centerline goodness [0,1] 0.29144529979399325 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99989937e-01 -4.46832652e-03 -4.01049430e-04 2.55309419e+00] [ 4.46783821e-03 9.99989287e-01 -1.21031066e-03 2.27690052e-01] [ 4.06453197e-04 1.20850666e-03 9.99999187e-01 -2.29902373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95313336499999 meters Centerline goodness [0,1] 0.2926437031402803 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99990465e-01 -4.35506107e-03 -3.22334678e-04 2.55283845e+00] [ 4.35475180e-03 9.99990063e-01 -9.54015840e-04 2.26550633e-01] [ 3.26486272e-04 9.52603055e-04 9.99999493e-01 -2.29795118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.983133365 meters Centerline goodness [0,1] 0.2914218821132043 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99990893e-01 -4.26584659e-03 -1.25786162e-04 2.55221322e+00] [ 4.26576316e-03 9.99990686e-01 -6.56176074e-04 2.24949655e-01] [ 1.28584137e-04 6.55633524e-04 9.99999777e-01 -2.29531820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.013133365 meters Centerline goodness [0,1] 0.2912636066567119 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99991311e-01 -4.16874954e-03 -2.10885084e-05 2.55168152e+00] [ 4.16874289e-03 9.99991264e-01 -3.06355097e-04 2.22969639e-01] [ 2.23654418e-05 3.06264523e-04 9.99999953e-01 -2.29029738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.043133365 meters Centerline goodness [0,1] 0.2913156752062527 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99991602e-01 -4.09820981e-03 7.49085827e-07 2.55135548e+00] [ 4.09820984e-03 9.99991601e-01 -4.32565875e-05 2.21395855e-01] [-5.71804964e-07 4.32592942e-05 9.99999999e-01 -2.28569721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.073133365 meters Centerline goodness [0,1] 0.2912032137534827 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99991865e-01 -4.03272833e-03 -7.90708851e-05 2.55152053e+00] [ 4.03273976e-03 9.99991858e-01 1.44964457e-04 2.20385564e-01] [ 7.84856390e-05 -1.45282150e-04 9.99999986e-01 -2.28503211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.103133365 meters Centerline goodness [0,1] 0.2912032137534827 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99991865e-01 -4.03272833e-03 -7.90708851e-05 2.55152053e+00] [ 4.03273976e-03 9.99991858e-01 1.44964457e-04 2.20385564e-01] [ 7.84856390e-05 -1.45282150e-04 9.99999986e-01 -2.28503211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.133133365 meters Centerline goodness [0,1] 0.2892859452119749 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99992262e-01 -3.93229480e-03 -1.11370753e-04 2.55148544e+00] [ 3.93232782e-03 9.99992224e-01 2.97888504e-04 2.19684190e-01] [ 1.10198502e-04 -2.98324145e-04 9.99999949e-01 -2.28322607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.163133365 meters Centerline goodness [0,1] 0.29377902793223 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.23 [[ 9.99992175e-01 3.94305159e-03 -3.18487298e-04 2.53142148e+00] [-3.94326190e-03 9.99992006e-01 -6.62439301e-04 2.15275668e-01] [ 3.15872720e-04 6.63689997e-04 9.99999730e-01 -2.29339476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.193133365 meters Centerline goodness [0,1] 0.2913545601726929 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99994968e-01 -3.06922769e-03 -8.02725780e-04 2.54998176e+00] [ 3.06954214e-03 9.99995213e-01 3.90790126e-04 2.20625504e-01] [ 8.01522514e-04 -3.93252160e-04 9.99999601e-01 -2.27941864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.223133365 meters Centerline goodness [0,1] 0.2894441082389556 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99995096e-01 -3.03031203e-03 -7.91305066e-04 2.55002013e+00] [ 3.03058306e-03 9.99995349e-01 3.41529519e-04 2.21066119e-01] [ 7.90266445e-04 -3.43925960e-04 9.99999629e-01 -2.28096906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.253133365 meters Centerline goodness [0,1] 0.2929930758176197 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99995169e-01 -3.00326883e-03 -8.01638389e-04 2.55001161e+00] [ 3.00352147e-03 9.99995440e-01 3.14134743e-04 2.21274948e-01] [ 8.00691303e-04 -3.16540964e-04 9.99999629e-01 -2.28108958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.283133365 meters Centerline goodness [0,1] 0.2883876537880423 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99994999e-01 -3.01005421e-03 -9.69992707e-04 2.55042846e+00] [ 3.01025424e-03 9.99995448e-01 2.04821653e-04 2.21855063e-01] [ 9.69371767e-04 -2.07740553e-04 9.99999509e-01 -2.28179826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.313133365 meters Centerline goodness [0,1] 0.2892727743271222 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99994659e-01 -3.02294212e-03 -1.24250717e-03 2.55112230e+00] [ 3.02292304e-03 9.99995431e-01 -1.72368190e-05 2.23370901e-01] [ 1.24255360e-03 1.34807234e-05 9.99999228e-01 -2.28344379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.343133365 meters Centerline goodness [0,1] 0.29123582840172557 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99994762e-01 -3.00980730e-03 -1.19007722e-03 2.55096301e+00] [ 3.00961359e-03 9.99995458e-01 -1.64523839e-04 2.24627188e-01] [ 1.19056700e-03 1.60941305e-04 9.99999278e-01 -2.28358377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.373133365 meters Centerline goodness [0,1] 0.2934118721064186 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99995010e-01 -2.98605135e-03 -1.03094501e-03 2.55058548e+00] [ 2.98571170e-03 9.99995488e-01 -3.30833563e-04 2.26121507e-01] [ 1.03192824e-03 3.27753808e-04 9.99999414e-01 -2.28378778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.403133365 meters Centerline goodness [0,1] 0.29394005688033253 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99995082e-01 -3.02302947e-03 -8.35549475e-04 2.55015065e+00] [ 3.02253525e-03 9.99995257e-01 -5.92110841e-04 2.27737869e-01] [ 8.37335480e-04 5.89582451e-04 9.99999476e-01 -2.28469272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.433133365 meters Centerline goodness [0,1] 0.29358898850424275 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99994965e-01 -3.10929945e-03 -6.34089111e-04 2.54968167e+00] [ 3.10875108e-03 9.99994795e-01 -8.63971192e-04 2.28985157e-01] [ 6.36772155e-04 8.61995617e-04 9.99999426e-01 -2.28509883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46313336499998 meters Centerline goodness [0,1] 0.29481374543386485 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99994389e-01 -3.26105475e-03 -7.66182734e-04 2.55025425e+00] [ 3.26001136e-03 9.99993763e-01 -1.35912903e-03 2.31533431e-01] [ 7.70610149e-04 1.35662364e-03 9.99998783e-01 -2.29062517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49313336499998 meters Centerline goodness [0,1] 0.2901241253817993 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99994139e-01 -3.25098949e-03 -1.07370351e-03 2.55141780e+00] [ 3.24936247e-03 9.99993575e-01 -1.51361629e-03 2.32995178e-01] [ 1.07861736e-03 1.51011857e-03 9.99998278e-01 -2.29838404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52313336499998 meters Centerline goodness [0,1] 0.2917536534446764 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99993954e-01 -3.24050224e-03 -1.26149340e-03 2.55216878e+00] [ 3.23844004e-03 9.99993422e-01 -1.63335126e-03 2.34230260e-01] [ 1.26677798e-03 1.62925611e-03 9.99997870e-01 -2.30360986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55313336499998 meters Centerline goodness [0,1] 0.29144204116376016 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99993669e-01 -3.29088065e-03 -1.35330937e-03 2.55247227e+00] [ 3.28855048e-03 9.99993113e-01 -1.72046732e-03 2.34714154e-01] [ 1.35896190e-03 1.71600600e-03 9.99997604e-01 -2.30537662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58313336499998 meters Centerline goodness [0,1] 0.28740574292936927 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99992925e-01 -3.44728161e-03 -1.50515172e-03 2.55272779e+00] [ 3.44448129e-03 9.99992340e-01 -1.85913910e-03 2.34610124e-01] [ 1.51154917e-03 1.85394148e-03 9.99997139e-01 -2.30349483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61313336499998 meters Centerline goodness [0,1] 0.29205454307067 Centerline is valid? [False, False] Translation: X:2.53, Y:0.23, Z:-0.23 [[ 9.99992283e-01 3.79758020e-03 -1.00633346e-03 2.53315667e+00] [-3.80059982e-03 9.99988230e-01 -3.01588783e-03 2.28485812e-01] [ 9.94868535e-04 3.01968923e-03 9.99994946e-01 -2.31469897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64313336499998 meters Centerline goodness [0,1] 0.29245961676803345 Centerline is valid? [False, False] Translation: X:2.53, Y:0.23, Z:-0.23 [[ 9.99991725e-01 4.01403125e-03 -6.61736476e-04 2.53192643e+00] [-4.01567755e-03 9.99988798e-01 -2.50557769e-03 2.27145090e-01] [ 6.51671597e-04 2.50821427e-03 9.99996642e-01 -2.30742096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67313336499998 meters Centerline goodness [0,1] 0.28881281012329096 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99994947e-01 -3.17753815e-03 -9.25849830e-05 2.55013922e+00] [ 3.17746467e-03 9.99994645e-01 -7.83276961e-04 2.31722233e-01] [ 9.50733796e-05 7.82978818e-04 9.99999689e-01 -2.28975125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70313336499999 meters Centerline goodness [0,1] 0.2941949328837016 Centerline is valid? [False, False] Translation: X:2.53, Y:0.23, Z:-0.23 [[ 9.99990752e-01 4.03705912e-03 1.48235618e-03 2.53088733e+00] [-4.03475289e-03 9.99990651e-01 -1.55549180e-03 2.25298919e-01] [-1.48862193e-03 1.54949647e-03 9.99997692e-01 -2.30594958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.733133365 meters Centerline goodness [0,1] 0.2896786651912604 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99991248e-01 -3.98103735e-03 1.28674421e-03 2.55048696e+00] [ 3.98232601e-03 9.99991570e-01 -1.00048916e-03 2.28916000e-01] [-1.28275037e-03 1.00560464e-03 9.99998672e-01 -2.29457484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.763133365 meters Centerline goodness [0,1] 0.2913820570455885 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99991284e-01 -4.02630099e-03 1.10450442e-03 2.55096942e+00] [ 4.02730565e-03 9.99991477e-01 -9.08890552e-04 2.27773237e-01] [-1.10083554e-03 9.13330807e-04 9.99998977e-01 -2.29542713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.793133365 meters Centerline goodness [0,1] 0.290605164768281 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99991753e-01 -3.95384920e-03 9.27429171e-04 2.55166580e+00] [ 3.95451598e-03 9.99991923e-01 -7.18223901e-04 2.26855382e-01] [-9.24581931e-04 7.21885511e-04 9.99999312e-01 -2.30005352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.823133365 meters Centerline goodness [0,1] 0.2888179884533576 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99992781e-01 -3.70555763e-03 8.41195331e-04 2.55228415e+00] [ 3.70569824e-03 9.99993120e-01 -1.65653469e-04 2.24684715e-01] [-8.40575705e-04 1.68769490e-04 9.99999632e-01 -2.30604651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.853133365 meters Centerline goodness [0,1] 0.28659486114715804 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99993161e-01 -3.61329856e-03 7.88487436e-04 2.55226235e+00] [ 3.61319183e-03 9.99993463e-01 1.36740353e-04 2.22973701e-01] [-7.88976365e-04 -1.33890461e-04 9.99999680e-01 -2.30342083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.883133365 meters Centerline goodness [0,1] 0.2882006987998872 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99993367e-01 -3.55838893e-03 7.77095068e-04 2.55205731e+00] [ 3.55809612e-03 9.99993599e-01 3.77853586e-04 2.21483293e-01] [-7.78434643e-04 -3.75086101e-04 9.99999627e-01 -2.29950286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.913133365 meters Centerline goodness [0,1] 0.2920292225493403 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99993673e-01 -3.45279497e-03 8.55263197e-04 2.55158049e+00] [ 3.45219589e-03 9.99993795e-01 7.00950353e-04 2.19804828e-01] [-8.57678128e-04 -6.97993383e-04 9.99999389e-01 -2.29450590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.943133365 meters Centerline goodness [0,1] 0.292800769550294 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99993955e-01 -3.33488512e-03 9.84401676e-04 2.55102033e+00] [ 3.33387356e-03 9.99993915e-01 1.02744554e-03 2.18210150e-01] [-9.87822098e-04 -1.02415746e-03 9.99998988e-01 -2.29012805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.973133365 meters Centerline goodness [0,1] 0.2909852976306817 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99994101e-01 -3.26333121e-03 1.07174033e-03 2.55086239e+00] [ 3.26196906e-03 9.99993873e-01 1.27027116e-03 2.16841468e-01] [-1.07587908e-03 -1.26676769e-03 9.99998619e-01 -2.29049724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.003133365 meters Centerline goodness [0,1] 0.2932896890343699 Centerline is valid? [False, False] Translation: X:2.55, Y:0.21, Z:-0.23 [[ 9.99994136e-01 -3.28442901e-03 9.70064427e-04 2.55132281e+00] [ 3.28295960e-03 9.99993467e-01 1.51248875e-03 2.14435785e-01] [-9.75025752e-04 -1.50929520e-03 9.99998386e-01 -2.29355755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.033133365 meters Centerline goodness [0,1] 0.28917496629408945 Centerline is valid? [False, False] Translation: X:2.55, Y:0.21, Z:-0.23 [[ 9.99994234e-01 -3.30924725e-03 7.62464370e-04 2.55192580e+00] [ 3.30808731e-03 9.99993377e-01 1.51758630e-03 2.14041396e-01] [-7.67481388e-04 -1.51505525e-03 9.99998558e-01 -2.29546203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.063133365 meters Centerline goodness [0,1] 0.29421236049230226 Centerline is valid? [False, False] Translation: X:2.53, Y:0.21, Z:-0.23 [[ 9.99989596e-01 4.56046109e-03 -1.00726486e-04 2.53201094e+00] [-4.56040107e-03 9.99989428e-01 5.88325621e-04 2.09060623e-01] [ 1.03408457e-04 -5.87860147e-04 9.99999822e-01 -2.30413206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.093133365 meters Centerline goodness [0,1] 0.29154779275649545 Centerline is valid? [False, False] Translation: X:2.55, Y:0.21, Z:-0.23 [[ 9.99996138e-01 -2.77112037e-03 -2.09483847e-04 2.55156987e+00] [ 2.77144579e-03 9.99994928e-01 1.56945721e-03 2.14749923e-01] [ 2.05133629e-04 -1.57003172e-03 9.99998746e-01 -2.29574685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.123133365 meters Centerline goodness [0,1] 0.2880408888118855 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99996311e-01 -2.71289606e-03 -1.36432128e-04 2.55147149e+00] [ 2.71309786e-03 9.99995192e-01 1.50137894e-03 2.15619953e-01] [ 1.32358387e-04 -1.50174356e-03 9.99998864e-01 -2.29726817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.153133365 meters Centerline goodness [0,1] 0.2904557105000217 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99996317e-01 -2.71400906e-03 -1.90658764e-06 2.55109122e+00] [ 2.71400901e-03 9.99995291e-01 1.43252503e-03 2.16093082e-01] [-1.98130725e-06 -1.43252493e-03 9.99998974e-01 -2.29645541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.183133365 meters Centerline goodness [0,1] 0.2951930932456005 Centerline is valid? [False, False] Translation: X:2.53, Y:0.21, Z:-0.23 [[ 9.99994630e-01 3.20529379e-03 -6.82432527e-04 2.52862590e+00] [-3.20618624e-03 9.99994001e-01 -1.31070039e-03 2.11813939e-01] [ 6.78227253e-04 1.31288136e-03 9.99998908e-01 -2.28921911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21313336499998 meters Centerline goodness [0,1] 0.2876910456782661 Centerline is valid? [False, False] Translation: X:2.57, Y:0.21, Z:-0.23 [[ 9.99994120e-01 3.39647325e-03 4.73983752e-04 2.57285473e+00] [-3.39542868e-03 9.99991843e-01 -2.18748379e-03 2.13407140e-01] [-4.81409616e-04 2.18586155e-03 9.99997495e-01 -2.29171893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24313336499998 meters Centerline goodness [0,1] 0.2922542898310265 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99986202e-01 -5.20437697e-03 -7.13787302e-04 2.55314947e+00] [ 5.20375544e-03 9.99986082e-01 -8.69854214e-04 2.15081799e-01] [ 7.18304416e-04 8.66127837e-04 9.99999367e-01 -2.30014248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27313336499998 meters Centerline goodness [0,1] 0.2918291328119894 Centerline is valid? [False, False] Translation: X:2.55, Y:0.21, Z:-0.23 [[ 9.99986862e-01 -5.08392407e-03 -6.54817752e-04 2.55300193e+00] [ 5.08350870e-03 9.99986878e-01 -6.34436663e-04 2.14113232e-01] [ 6.58034587e-04 6.31099556e-04 9.99999584e-01 -2.29987206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30313336499998 meters Centerline goodness [0,1] 0.289327121031531 Centerline is valid? [False, False] Translation: X:2.55, Y:0.21, Z:-0.23 [[ 9.99987713e-01 -4.93871821e-03 -4.28761257e-04 2.55231938e+00] [ 4.93850814e-03 9.99987686e-01 -4.89609973e-04 2.14048454e-01] [ 4.31174022e-04 4.87486516e-04 9.99999788e-01 -2.29768194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33313336499998 meters Centerline goodness [0,1] 0.29155514937876714 Centerline is valid? [False, False] Translation: X:2.55, Y:0.21, Z:-0.23 [[ 9.99988518e-01 -4.79167034e-03 -6.85938028e-05 2.55142443e+00] [ 4.79163970e-03 9.99988423e-01 -4.40051604e-04 2.14622579e-01] [ 7.07015909e-05 4.39717874e-04 9.99999901e-01 -2.29715435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36313336499998 meters Centerline goodness [0,1] 0.2891186757326266 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99992158e-01 -3.95558422e-03 -1.92439204e-04 2.55180353e+00] [ 3.95556453e-03 9.99992171e-01 -1.02614759e-04 2.16660743e-01] [ 1.92843599e-04 1.01852749e-04 9.99999976e-01 -2.30055213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39313336499998 meters Centerline goodness [0,1] 0.29420856240754234 Centerline is valid? [False, False] Translation: X:2.53, Y:0.21, Z:-0.23 [[ 9.99990325e-01 4.18154771e-03 -1.36545452e-03 2.53132579e+00] [-4.18302964e-03 9.99990663e-01 -1.08425796e-03 2.14074717e-01] [ 1.36090789e-03 1.08995921e-03 9.99998480e-01 -2.30891764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42313336499998 meters Centerline goodness [0,1] 0.2901051437546355 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.23 [[ 9.99989324e-01 4.19186956e-03 -1.94434372e-03 2.53287761e+00] [-4.19481041e-03 9.99990060e-01 -1.51091170e-03 2.16804632e-01] [ 1.93799085e-03 1.51905172e-03 9.99996968e-01 -2.31376469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45313336499999 meters Centerline goodness [0,1] 0.2888056777114991 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.23 [[ 9.99988690e-01 4.18088621e-03 -2.26699572e-03 2.53386914e+00] [-4.18532494e-03 9.99989327e-01 -1.95678264e-03 2.19610933e-01] [ 2.25879044e-03 1.96624863e-03 9.99995516e-01 -2.31923252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.483133365 meters Centerline goodness [0,1] 0.28705826376573385 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.23 [[ 9.99988142e-01 4.21833380e-03 -2.43352585e-03 2.53437225e+00] [-4.22393898e-03 9.99988428e-01 -2.30279214e-03 2.22347368e-01] [ 2.42378374e-03 2.31304389e-03 9.99994388e-01 -2.32240385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.513133365 meters Centerline goodness [0,1] 0.28597052340407136 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.23 [[ 9.99988825e-01 4.19117106e-03 -2.18741335e-03 2.53380354e+00] [-4.19693069e-03 9.99987721e-01 -2.63516244e-03 2.24714701e-01] [ 2.17634207e-03 2.64431341e-03 9.99994136e-01 -2.32364707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.543133365 meters Centerline goodness [0,1] 0.2867894245993017 Centerline is valid? [False, False] Translation: X:2.53, Y:0.23, Z:-0.23 [[ 9.99990548e-01 4.14224250e-03 -1.32149985e-03 2.53126727e+00] [-4.14635525e-03 9.99986522e-01 -3.12477395e-03 2.28128115e-01] [ 1.30853847e-03 3.13022382e-03 9.99994245e-01 -2.31631736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.573133365 meters Centerline goodness [0,1] 0.2929074292710656 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:-0.23 [[ 9.99989617e-01 -4.54845141e-03 -2.76898952e-04 2.51020693e+00] [ 4.54774626e-03 9.99986544e-01 -2.49610688e-03 2.33417147e-01] [ 2.88248646e-04 2.49482170e-03 9.99996846e-01 -2.32781675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.603133365 meters Centerline goodness [0,1] 0.2900706905927134 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:-0.23 [[ 9.99989089e-01 -4.66689493e-03 -2.05051580e-04 2.50994304e+00] [ 4.66628792e-03 9.99985002e-01 -2.86724393e-03 2.35530756e-01] [ 2.18429631e-04 2.86625582e-03 9.99995868e-01 -2.32719618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.633133365 meters Centerline goodness [0,1] 0.28849239040888 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:-0.23 [[ 9.99988571e-01 -4.76955945e-03 -3.30602353e-04 2.51027128e+00] [ 4.76846766e-03 9.99983420e-01 -3.22808103e-03 2.37937673e-01] [ 3.45993396e-04 3.22646767e-03 9.99994735e-01 -2.32842098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.663133365 meters Centerline goodness [0,1] 0.29072294918054165 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:-0.23 [[ 9.99988120e-01 -4.85620105e-03 -4.22052061e-04 2.51076997e+00] [ 4.85464789e-03 9.99981713e-01 -3.60625499e-03 2.40518335e-01] [ 4.39557043e-04 3.60416323e-03 9.99993408e-01 -2.33374128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.693133365 meters Centerline goodness [0,1] 0.2902251390820584 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:-0.23 [[ 9.99987386e-01 -5.00444534e-03 -4.28458204e-04 2.51092998e+00] [ 5.00266010e-03 9.99979200e-01 -4.07097927e-03 2.43196100e-01] [ 4.48822285e-04 4.06878449e-03 9.99991622e-01 -2.33656747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.723133365 meters Centerline goodness [0,1] 0.28864616518215114 Centerline is valid? [False, False] Translation: X:2.51, Y:0.25, Z:-0.23 [[ 9.99985487e-01 -5.38502163e-03 -1.68203949e-04 2.51008925e+00] [ 5.38409624e-03 9.99972563e-01 -5.08776186e-03 2.48927247e-01] [ 1.95597042e-04 5.08678239e-03 9.99987043e-01 -2.33455040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.753133365 meters Centerline goodness [0,1] 0.2865928394796259 Centerline is valid? [False, False] Translation: X:2.51, Y:0.25, Z:-0.23 [[ 9.99984965e-01 -5.48335859e-03 4.62677716e-05 2.50923293e+00] [ 5.48352900e-03 9.99970216e-01 -5.43115722e-03 2.51175211e-01] [-1.64854110e-05 5.43132928e-03 9.99985250e-01 -2.33007186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.783133365 meters Centerline goodness [0,1] 0.28859567667955166 Centerline is valid? [False, False] Translation: X:2.51, Y:0.25, Z:-0.23 [[ 9.99984406e-01 -5.58376593e-03 1.01131505e-04 2.50893776e+00] [ 5.58425234e-03 9.99968109e-01 -5.70938972e-03 2.52931332e-01] [-6.92483836e-05 5.70986543e-03 9.99983696e-01 -2.32783389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.813133365 meters Centerline goodness [0,1] 0.29085620006946855 Centerline is valid? [False, False] Translation: X:2.51, Y:0.25, Z:-0.23 [[ 9.99983729e-01 -5.70457069e-03 -4.12332838e-06 2.50936821e+00] [ 5.70444470e-03 9.99965952e-01 -5.96269183e-03 2.54204604e-01] [ 3.81377851e-05 5.96257129e-03 9.99982223e-01 -2.33058431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.843133365 meters Centerline goodness [0,1] 0.2893965386202254 Centerline is valid? [False, False] Translation: X:2.51, Y:0.26, Z:-0.23 [[ 9.99982845e-01 -5.85470101e-03 -1.77005196e-04 2.51001190e+00] [ 5.85349121e-03 9.99963649e-01 -6.19975111e-03 2.55043473e-01] [ 2.13296451e-04 6.19860865e-03 9.99980766e-01 -2.33433679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.873133365 meters Centerline goodness [0,1] 0.2920465948257057 Centerline is valid? [False, False] Translation: X:2.51, Y:0.26, Z:-0.23 [[ 9.99981572e-01 -6.04999869e-03 -5.02977023e-04 2.51091199e+00] [ 6.04656684e-03 9.99960166e-01 -6.56547783e-03 2.56656784e-01] [ 5.42678120e-04 6.56231555e-03 9.99978321e-01 -2.33691490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.903133365 meters Centerline goodness [0,1] 0.28608663808887835 Centerline is valid? [False, False] Translation: X:2.53, Y:0.26, Z:-0.23 [[ 9.99996469e-01 2.64609749e-03 2.43387164e-04 2.53163282e+00] [-2.64424578e-03 9.99969732e-01 -7.31736656e-03 2.55242997e-01] [-2.62742262e-04 7.31669715e-03 9.99973198e-01 -2.33262034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.933133365 meters Centerline goodness [0,1] 0.2936849228351269 Centerline is valid? [False, False] Translation: X:2.51, Y:0.26, Z:-0.23 [[ 9.99983488e-01 -5.74408923e-03 1.68741854e-04 2.51071010e+00] [ 5.74501896e-03 9.99964561e-01 -6.15395979e-03 2.59354542e-01] [-1.33386980e-04 6.15482761e-03 9.99981050e-01 -2.34192640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96313336499998 meters Centerline goodness [0,1] 0.28731980375629473 Centerline is valid? [False, False] Translation: X:2.51, Y:0.26, Z:-0.23 [[ 9.99983093e-01 -5.80664057e-03 3.12144822e-04 2.51034845e+00] [ 5.80851082e-03 9.99962854e-01 -6.36799466e-03 2.60567244e-01] [-2.75156571e-04 6.36970009e-03 9.99979675e-01 -2.34175151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99313336499998 meters Centerline goodness [0,1] 0.2880546370139835 Centerline is valid? [False, False] Translation: X:2.51, Y:0.26, Z:-0.23 [[ 9.99982596e-01 -5.89100292e-03 3.21927411e-04 2.51033845e+00] [ 5.89301207e-03 9.99960564e-01 -6.64405178e-03 2.62087710e-01] [-2.82774587e-04 6.64583327e-03 9.99977876e-01 -2.34226478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02313336499998 meters Centerline goodness [0,1] 0.2880546370139835 Centerline is valid? [False, False] Translation: X:2.51, Y:0.26, Z:-0.23 [[ 9.99982596e-01 -5.89100292e-03 3.21927411e-04 2.51033845e+00] [ 5.89301207e-03 9.99960564e-01 -6.64405178e-03 2.62087710e-01] [-2.82774587e-04 6.64583327e-03 9.99977876e-01 -2.34226478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05313336499998 meters Centerline goodness [0,1] 0.289148783821902 Centerline is valid? [False, False] Translation: X:2.51, Y:0.26, Z:-0.23 [[ 9.99982254e-01 -5.95409713e-03 2.02900747e-04 2.51089974e+00] [ 5.95535765e-03 9.99958369e-01 -6.91324942e-03 2.63763136e-01] [-1.61730142e-04 6.91433508e-03 9.99976083e-01 -2.34758856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08313336499998 meters Centerline goodness [0,1] 0.28661678777032706 Centerline is valid? [False, False] Translation: X:2.51, Y:0.27, Z:-0.24 [[ 9.99981721e-01 -6.03751331e-03 -3.26791360e-04 2.51253244e+00] [ 6.03495282e-03 9.99954860e-01 -7.33881972e-03 2.66324522e-01] [ 3.71084830e-04 7.33671340e-03 9.99973017e-01 -2.35478884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11313336499998 meters Centerline goodness [0,1] 0.28868425635667017 Centerline is valid? [False, False] Translation: X:2.49, Y:0.26, Z:-0.24 [[ 9.99998252e-01 1.84287928e-03 -3.15531074e-04 2.49338121e+00] [-1.84542334e-03 9.99964168e-01 -8.26184407e-03 2.61259560e-01] [ 3.00294186e-04 8.26241192e-03 9.99965821e-01 -2.36964780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14313336499998 meters Centerline goodness [0,1] 0.28871231087406113 Centerline is valid? [False, False] Translation: X:2.49, Y:0.26, Z:-0.24 [[ 9.99998215e-01 1.84743997e-03 -3.95627492e-04 2.49360866e+00] [-1.85065141e-03 9.99964033e-01 -8.27693888e-03 2.61635585e-01] [ 3.80322115e-04 8.27765628e-03 9.99965667e-01 -2.37055267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17313336499998 meters Centerline goodness [0,1] 0.28512966313431554 Centerline is valid? [False, False] Translation: X:2.51, Y:0.27, Z:-0.24 [[ 9.99983431e-01 -5.75610633e-03 7.17494062e-05 2.51289786e+00] [ 5.75646943e-03 9.99958510e-01 -7.05979819e-03 2.66891068e-01] [-3.11094803e-05 7.06009424e-03 9.99975077e-01 -2.35981803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20313336499999 meters Centerline goodness [0,1] 0.289224747200174 Centerline is valid? [False, False] Translation: X:2.49, Y:0.26, Z:-0.24 [[ 9.99997609e-01 2.03069580e-03 8.11169891e-04 2.49324609e+00] [-2.02445458e-03 9.99968901e-01 -7.62221152e-03 2.60679738e-01] [-8.26623058e-04 7.62055112e-03 9.99970622e-01 -2.37169838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.233133365 meters Centerline goodness [0,1] 0.2879819577568634 Centerline is valid? [False, False] Translation: X:2.49, Y:0.26, Z:-0.24 [[ 9.99997644e-01 2.03895882e-03 7.44535921e-04 2.49327705e+00] [-2.03332455e-03 9.99969872e-01 -7.49141949e-03 2.59764719e-01] [-7.59788186e-04 7.48988796e-03 9.99971662e-01 -2.36957793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.263133365 meters Centerline goodness [0,1] 0.2902818037181527 Centerline is valid? [False, False] Translation: X:2.49, Y:0.26, Z:-0.24 [[ 9.99997621e-01 2.05254156e-03 7.37692618e-04 2.49311985e+00] [-2.04715135e-03 9.99971733e-01 -7.23480689e-03 2.58123940e-01] [-7.52521508e-04 7.23327952e-03 9.99973556e-01 -2.36616334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.293133365 meters Centerline goodness [0,1] 0.2886566580485367 Centerline is valid? [False, False] Translation: X:2.49, Y:0.26, Z:-0.24 [[ 9.99997305e-01 2.17734796e-03 8.06275424e-04 2.49295144e+00] [-2.17165172e-03 9.99973144e-01 -6.99961882e-03 2.57313529e-01] [-8.21494376e-04 6.99784900e-03 9.99975177e-01 -2.36643561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.323133365 meters Centerline goodness [0,1] 0.2915794066317626 Centerline is valid? [False, False] Translation: X:2.49, Y:0.26, Z:-0.24 [[ 9.99996982e-01 2.29107103e-03 8.86853685e-04 2.49274500e+00] [-2.28505343e-03 9.99974757e-01 -6.72789769e-03 2.56002010e-01] [-9.02245389e-04 6.72585088e-03 9.99976974e-01 -2.36557295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.353133365 meters Centerline goodness [0,1] 0.28990730087054684 Centerline is valid? [False, False] Translation: X:2.49, Y:0.25, Z:-0.24 [[ 9.99996607e-01 2.38362008e-03 1.05051783e-03 2.49220061e+00] [-2.37682765e-03 9.99976565e-01 -6.42029444e-03 2.54206296e-01] [-1.06579675e-03 6.41777576e-03 9.99978838e-01 -2.36279931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.383133365 meters Centerline goodness [0,1] 0.29571265076151065 Centerline is valid? [False, False] Translation: X:2.47, Y:0.25, Z:-0.24 [[ 9.99978191e-01 -6.54496684e-03 8.83941030e-04 2.47002783e+00] [ 6.54970640e-03 9.99963590e-01 -5.46983220e-03 2.54116654e-01] [-8.48108976e-04 5.47550246e-03 9.99984650e-01 -2.36295790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.413133365 meters Centerline goodness [0,1] 0.2931805782869613 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:-0.23 [[ 9.99999514e-01 9.48578150e-04 2.67977602e-04 2.48841421e+00] [-9.46852154e-04 9.99979268e-01 -6.36915508e-03 2.44124110e-01] [-2.74013688e-04 6.36889825e-03 9.99979681e-01 -2.33993601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.443133365 meters Centerline goodness [0,1] 0.28736002059467114 Centerline is valid? [False, False] Translation: X:2.51, Y:0.25, Z:-0.23 [[ 9.99977386e-01 -6.70302944e-03 5.44808609e-04 2.50906163e+00] [ 6.70572956e-03 9.99964433e-01 -5.11534540e-03 2.45645384e-01] [-5.10500921e-04 5.11888306e-03 9.99986768e-01 -2.33733726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.473133365 meters Centerline goodness [0,1] 0.2916630519649519 Centerline is valid? [False, False] Translation: X:2.49, Y:0.24, Z:-0.24 [[ 9.99999329e-01 9.19399641e-04 7.05472777e-04 2.48998686e+00] [-9.15376286e-04 9.99983436e-01 -5.68234665e-03 2.35980808e-01] [-7.10685439e-04 5.68169706e-03 9.99983606e-01 -2.35287746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.503133365 meters Centerline goodness [0,1] 0.2920467658008752 Centerline is valid? [False, False] Translation: X:2.49, Y:0.23, Z:-0.24 [[ 9.99999164e-01 1.09795450e-03 6.83301624e-04 2.49001165e+00] [-1.09448528e-03 9.99986615e-01 -5.05696119e-03 2.32237365e-01] [-6.88844791e-04 5.05620910e-03 9.99986980e-01 -2.35193173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.533133365 meters Centerline goodness [0,1] 0.2934972105997211 Centerline is valid? [False, False] Translation: X:2.49, Y:0.22, Z:-0.24 [[ 9.99998755e-01 1.43774469e-03 6.50413442e-04 2.49023243e+00] [-1.43516080e-03 9.99991146e-01 -3.95585565e-03 2.24814130e-01] [-6.56095194e-04 3.95491728e-03 9.99991964e-01 -2.35311737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.563133365 meters Centerline goodness [0,1] 0.28789448689720676 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:-0.23 [[ 9.99982816e-01 -5.85414068e-03 3.09712110e-04 2.50934943e+00] [ 5.85495522e-03 9.99979220e-01 -2.69794312e-03 2.27054487e-01] [-2.93911536e-04 2.69971011e-03 9.99996313e-01 -2.34244231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.593133365 meters Centerline goodness [0,1] 0.29291547215706715 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:-0.23 [[ 9.99983392e-01 -5.75820163e-03 2.40909386e-04 2.50973164e+00] [ 5.75877733e-03 9.99980389e-01 -2.46147915e-03 2.25562950e-01] [-2.26730968e-04 2.46282561e-03 9.99996942e-01 -2.34593451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.623133365 meters Centerline goodness [0,1] 0.29016464471403813 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.24 [[ 9.99984040e-01 -5.64671081e-03 1.85002743e-04 2.51010837e+00] [ 5.64711819e-03 9.99981453e-01 -2.28094658e-03 2.24623553e-01] [-1.72119466e-04 2.28195491e-03 9.99997382e-01 -2.35009801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.653133365 meters Centerline goodness [0,1] 0.29380904697635946 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.24 [[ 9.99984721e-01 -5.52311327e-03 2.30644445e-04 2.51007191e+00] [ 5.52359423e-03 9.99982456e-01 -2.13948905e-03 2.24197907e-01] [-2.18823758e-04 2.14073035e-03 9.99997685e-01 -2.35166444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.683133365 meters Centerline goodness [0,1] 0.2895821198196449 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.23 [[ 9.99994810e-01 3.18359210e-03 4.95611177e-04 2.52976397e+00] [-3.18196928e-03 9.99989684e-01 -3.24143761e-03 2.21683199e-01] [-5.05925479e-04 3.23984377e-03 9.99994624e-01 -2.33922665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71313336499998 meters Centerline goodness [0,1] 0.29714223146830177 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 9.99993428e-01 -3.62510236e-03 5.18474708e-05 2.50682785e+00] [ 3.62512741e-03 9.99993308e-01 -4.91688832e-04 2.21549788e-01] [-5.00647015e-05 4.91873554e-04 9.99999878e-01 -2.33537419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74313336499998 meters Centerline goodness [0,1] 0.29311695092238077 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 9.99993452e-01 -3.61869541e-03 -1.48485089e-05 2.50712040e+00] [ 3.61868707e-03 9.99993313e-01 -5.27736818e-04 2.21751733e-01] [ 1.67581284e-05 5.27679630e-04 9.99999861e-01 -2.33802244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77313336499998 meters Centerline goodness [0,1] 0.29577956813170014 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 9.99993562e-01 -3.58682860e-03 -1.03130179e-04 2.50734459e+00] [ 3.58678309e-03 9.99993472e-01 -4.38080787e-04 2.21232028e-01] [ 1.04700826e-04 4.37708061e-04 9.99999899e-01 -2.33866566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80313336499998 meters Centerline goodness [0,1] 0.2934959879966077 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 9.99993667e-01 -3.55633157e-03 -1.36522219e-04 2.50753315e+00] [ 3.55627602e-03 9.99993594e-01 -4.04963786e-04 2.21255832e-01] [ 1.37961530e-04 4.04475711e-04 9.99999909e-01 -2.34048973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83313336499998 meters Centerline goodness [0,1] 0.29526511018983204 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 9.99993674e-01 -3.55397080e-03 -1.48235969e-04 2.50761084e+00] [ 3.55391075e-03 9.99993603e-01 -4.03414189e-04 2.21150674e-01] [ 1.49668743e-04 4.02884820e-04 9.99999908e-01 -2.34132459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86313336499998 meters Centerline goodness [0,1] 0.2944105890832842 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 9.99993492e-01 -3.59659696e-03 -2.82711022e-04 2.50796142e+00] [ 3.59648630e-03 9.99993456e-01 -3.90997637e-04 2.20702445e-01] [ 2.84115433e-04 3.89978326e-04 9.99999884e-01 -2.34173805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89313336499998 meters Centerline goodness [0,1] 0.29384350704501405 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 9.99993015e-01 -3.66875408e-03 -7.13598816e-04 2.50904559e+00] [ 3.66849119e-03 9.99993203e-01 -3.69360206e-04 2.20153768e-01] [ 7.14949057e-04 3.66739795e-04 9.99999677e-01 -2.34330925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92313336499998 meters Centerline goodness [0,1] 0.2896647378800685 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.24 [[ 9.99992906e-01 -3.63824860e-03 -9.75376771e-04 2.51009389e+00] [ 3.63795875e-03 9.99993338e-01 -2.98778020e-04 2.20029179e-01] [ 9.76457302e-04 2.95227520e-04 9.99999480e-01 -2.35019031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95313336499999 meters Centerline goodness [0,1] 0.29192195715465175 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.24 [[ 9.99992874e-01 -3.59579595e-03 -1.14975693e-03 2.51081001e+00] [ 3.59552338e-03 9.99993508e-01 -2.39047577e-04 2.20044564e-01] [ 1.15060903e-03 2.34911896e-04 9.99999310e-01 -2.35525168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.983133365 meters Centerline goodness [0,1] 0.28609337245426303 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.24 [[ 9.99992805e-01 -3.57286069e-03 -1.27452855e-03 2.51115968e+00] [ 3.57262638e-03 9.99993601e-01 -1.86073616e-04 2.19879131e-01] [ 1.27518521e-03 1.81518863e-04 9.99999170e-01 -2.35604581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.013133365 meters Centerline goodness [0,1] 0.2907550244432374 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.24 [[ 9.99992727e-01 -3.56024800e-03 -1.36791214e-03 2.51133376e+00] [ 3.56009338e-03 9.99993656e-01 -1.15452334e-04 2.19442807e-01] [ 1.36831450e-03 1.10581599e-04 9.99999058e-01 -2.35529022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.043133365 meters Centerline goodness [0,1] 0.295550361519474 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.24 [[ 9.99992431e-01 -3.57918800e-03 -1.52549112e-03 2.51150079e+00] [ 3.57908210e-03 9.99993592e-01 -7.21407515e-05 2.19171607e-01] [ 1.52573955e-03 6.66803475e-05 9.99998834e-01 -2.35220963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.073133365 meters Centerline goodness [0,1] 0.2933257819987801 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 9.99992680e-01 -3.49675109e-03 -1.55359824e-03 2.51131366e+00] [ 3.49694766e-03 9.99993878e-01 1.23828579e-04 2.18489215e-01] [ 1.55315573e-03 -1.29260524e-04 9.99998785e-01 -2.34801261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.103133365 meters Centerline goodness [0,1] 0.2869632628450838 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.23 [[ 9.99989959e-01 4.47563977e-03 -2.25769289e-04 2.53027455e+00] [-4.47591411e-03 9.99989227e-01 -1.22964867e-03 2.15378658e-01] [ 2.20263393e-04 1.23064684e-03 9.99999218e-01 -2.33831853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.133133365 meters Centerline goodness [0,1] 0.29018011776931074 Centerline is valid? [False, False] Translation: X:2.53, Y:0.21, Z:-0.23 [[ 9.99989866e-01 4.49664710e-03 -2.21327609e-04 2.53011851e+00] [-4.49686736e-03 9.99989384e-01 -1.00496104e-03 2.13944662e-01] [ 2.16806304e-04 1.00594613e-03 9.99999471e-01 -2.33546490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.163133365 meters Centerline goodness [0,1] 0.2949987972621313 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 9.99989688e-01 -4.50744911e-03 -5.53588893e-04 2.50934365e+00] [ 4.50757985e-03 9.99989813e-01 2.35136224e-04 2.14315386e-01] [ 5.52523389e-04 -2.37629145e-04 9.99999819e-01 -2.34345514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.193133365 meters Centerline goodness [0,1] 0.28811955703687775 Centerline is valid? [False, False] Translation: X:2.55, Y:0.21, Z:-0.23 [[ 9.99988560e-01 -4.52067679e-03 1.56281493e-03 2.55264493e+00] [ 4.52088784e-03 9.99989772e-01 -1.31537358e-04 2.14213888e-01] [-1.56220430e-03 1.38601165e-04 9.99998770e-01 -2.34709165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.223133365 meters Centerline goodness [0,1] 0.29806347263507604 Centerline is valid? [False, False] Translation: X:2.55, Y:0.21, Z:-0.23 [[ 9.99973579e-01 -6.87303614e-03 2.36707226e-03 2.54866198e+00] [ 6.87705698e-03 9.99974917e-01 -1.69472594e-03 2.08765896e-01] [-2.35536497e-03 1.71095966e-03 9.99995762e-01 -2.31871079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.253133365 meters Centerline goodness [0,1] 0.29227584422305597 Centerline is valid? [False, False] Translation: X:2.57, Y:0.20, Z:-0.23 [[ 9.99994615e-01 6.67641551e-04 3.21326607e-03 2.56792383e+00] [-6.57316879e-04 9.99994622e-01 -3.21312376e-03 2.02657016e-01] [-3.21539400e-03 3.21099432e-03 9.99989675e-01 -2.30473527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.283133365 meters Centerline goodness [0,1] 0.2957897033158813 Centerline is valid? [False, False] Translation: X:2.55, Y:0.20, Z:-0.23 [[ 9.99959740e-01 -8.63396512e-03 2.44397018e-03 2.54666107e+00] [ 8.63959220e-03 9.99960030e-01 -2.30131816e-03 2.01839977e-01] [-2.42400300e-03 2.32234042e-03 9.99994365e-01 -2.30567621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.313133365 meters Centerline goodness [0,1] 0.29369826203787974 Centerline is valid? [False, False] Translation: X:2.57, Y:0.20, Z:-0.23 [[ 9.99998842e-01 -8.77521308e-04 1.24320782e-03 2.56622145e+00] [ 8.81784889e-04 9.99993718e-01 -3.43311228e-03 1.95135719e-01] [-1.24018738e-03 3.43420455e-03 9.99993334e-01 -2.28544713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.343133365 meters Centerline goodness [0,1] 0.2962712603576101 Centerline is valid? [False, False] Translation: X:2.57, Y:0.19, Z:-0.23 [[ 9.99999150e-01 -6.94723874e-04 1.10317857e-03 2.56650998e+00] [ 6.97943822e-04 9.99995490e-01 -2.92109391e-03 1.92542627e-01] [-1.10114424e-03 2.92186139e-03 9.99995125e-01 -2.28492278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.373133365 meters Centerline goodness [0,1] 0.29508625196027183 Centerline is valid? [False, False] Translation: X:2.57, Y:0.19, Z:-0.23 [[ 9.99999302e-01 -5.25861818e-04 1.05798888e-03 2.56658654e+00] [ 5.28480698e-04 9.99996794e-01 -2.47658279e-03 1.90404551e-01] [-1.05668315e-03 2.47714018e-03 9.99996374e-01 -2.28418556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.403133365 meters Centerline goodness [0,1] 0.29406648837866634 Centerline is valid? [False, False] Translation: X:2.57, Y:0.19, Z:-0.23 [[ 9.99999426e-01 -2.41490860e-04 1.04416174e-03 2.56632770e+00] [ 2.43221190e-04 9.99998597e-01 -1.65733799e-03 1.85882936e-01] [-1.04376005e-03 1.65759100e-03 9.99998081e-01 -2.27898595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.433133365 meters Centerline goodness [0,1] 0.29177352960193104 Centerline is valid? [False, False] Translation: X:2.57, Y:0.18, Z:-0.23 [[ 9.99999512e-01 -2.19280728e-04 9.63023555e-04 2.56641904e+00] [ 2.20616822e-04 9.99999013e-01 -1.38750811e-03 1.83553843e-01] [-9.62718351e-04 1.38771990e-03 9.99998574e-01 -2.27708765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46313336499998 meters Centerline goodness [0,1] 0.2922743525842453 Centerline is valid? [False, False] Translation: X:2.57, Y:0.18, Z:-0.23 [[ 9.99999597e-01 -1.50325645e-04 8.85197234e-04 2.56649990e+00] [ 1.51335146e-04 9.99999338e-01 -1.14046934e-03 1.81847109e-01] [-8.85025206e-04 1.14060285e-03 9.99998958e-01 -2.27535001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49313336499998 meters Centerline goodness [0,1] 0.29364428719364866 Centerline is valid? [False, False] Translation: X:2.57, Y:0.18, Z:-0.23 [[ 9.99999653e-01 -4.92559238e-05 8.31690731e-04 2.56657956e+00] [ 5.00149653e-05 9.99999582e-01 -9.12652664e-04 1.80711501e-01] [-8.31645430e-04 9.12693944e-04 9.99999238e-01 -2.27461353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52313336499998 meters Centerline goodness [0,1] 0.29373706567911995 Centerline is valid? [False, False] Translation: X:2.57, Y:0.18, Z:-0.23 [[ 9.99999658e-01 1.20014200e-04 8.18766583e-04 2.56664444e+00] [-1.19469934e-04 9.99999772e-01 -6.64754651e-04 1.80063320e-01] [-8.18846177e-04 6.64656606e-04 9.99999444e-01 -2.27540542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55313336499998 meters Centerline goodness [0,1] 0.2903803808125729 Centerline is valid? [False, False] Translation: X:2.57, Y:0.18, Z:-0.23 [[ 9.99999718e-01 3.20183340e-04 6.80023964e-04 2.56740690e+00] [-3.19910039e-04 9.99999868e-01 -4.01970063e-04 1.79246568e-01] [-6.80152579e-04 4.01752403e-04 9.99999688e-01 -2.28246494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58313336499998 meters Centerline goodness [0,1] 0.2896252978124323 Centerline is valid? [False, False] Translation: X:2.57, Y:0.18, Z:-0.23 [[ 9.99999762e-01 3.00644161e-04 6.21537619e-04 2.56775821e+00] [-3.00400314e-04 9.99999878e-01 -3.92384574e-04 1.78872875e-01] [-6.21655511e-04 3.92197770e-04 9.99999730e-01 -2.28577825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61313336499998 meters Centerline goodness [0,1] 0.29060697076427755 Centerline is valid? [False, False] Translation: X:2.57, Y:0.18, Z:-0.23 [[ 9.99999803e-01 3.12794007e-04 5.43639470e-04 2.56800143e+00] [-3.12610275e-04 9.99999894e-01 -3.38018057e-04 1.78259144e-01] [-5.43745143e-04 3.37848044e-04 9.99999795e-01 -2.28694426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64313336499998 meters Centerline goodness [0,1] 0.2945587722357865 Centerline is valid? [False, False] Translation: X:2.57, Y:0.18, Z:-0.23 [[ 9.99999795e-01 3.42035318e-04 5.41416600e-04 2.56794919e+00] [-3.41851058e-04 9.99999884e-01 -3.40386084e-04 1.78495319e-01] [-5.41532961e-04 3.40200931e-04 9.99999796e-01 -2.28619215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67313336499998 meters Centerline goodness [0,1] 0.29188660801564026 Centerline is valid? [False, False] Translation: X:2.57, Y:0.18, Z:-0.23 [[ 9.99999828e-01 3.89697370e-04 4.38450580e-04 2.56831431e+00] [-3.89509498e-04 9.99999832e-01 -4.28494560e-04 1.79368730e-01] [-4.38617489e-04 4.28323706e-04 9.99999812e-01 -2.28850524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70313336499999 meters Centerline goodness [0,1] 0.2979648290851611 Centerline is valid? [False, False] Translation: X:2.57, Y:0.18, Z:-0.23 [[ 9.99999870e-01 4.27874729e-04 2.78364896e-04 2.56897422e+00] [-4.27705427e-04 9.99999724e-01 -6.07977347e-04 1.80989589e-01] [-2.78624957e-04 6.07858209e-04 9.99999776e-01 -2.29391810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.733133365 meters Centerline goodness [0,1] 0.28695033012557714 Centerline is valid? [False, False] Translation: X:2.61, Y:0.19, Z:-0.23 [[ 9.99985947e-01 4.21577519e-03 -3.21450604e-03 2.61094284e+00] [-4.21658477e-03 9.99991080e-01 -2.45115058e-04 1.87034597e-01] [ 3.21344402e-03 2.58665850e-04 9.99994803e-01 -2.28858399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.763133365 meters Centerline goodness [0,1] 0.2902476107732407 Centerline is valid? [False, False] Translation: X:2.61, Y:0.19, Z:-0.23 [[ 9.99986096e-01 4.14697987e-03 -3.25741697e-03 2.61117265e+00] [-4.14885991e-03 9.99991231e-01 -5.70610388e-04 1.88990310e-01] [ 3.25502209e-03 5.84117021e-04 9.99994532e-01 -2.29098284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.793133365 meters Centerline goodness [0,1] 0.2901580272640445 Centerline is valid? [False, False] Translation: X:2.61, Y:0.19, Z:-0.23 [[ 9.99986737e-01 4.10367299e-03 -3.11210876e-03 2.61085001e+00] [-4.10650024e-03 9.99991161e-01 -9.02623205e-04 1.91172377e-01] [ 3.10837718e-03 9.15391109e-04 9.99994750e-01 -2.29200015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.823133365 meters Centerline goodness [0,1] 0.2912210677021193 Centerline is valid? [False, False] Translation: X:2.61, Y:0.19, Z:-0.23 [[ 9.99987629e-01 4.03393719e-03 -2.91033522e-03 2.61028200e+00] [-4.03758954e-03 9.99991067e-01 -1.25017850e-03 1.93408741e-01] [ 2.90526609e-03 1.26191377e-03 9.99994983e-01 -2.29125789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.853133365 meters Centerline goodness [0,1] 0.2907309459810977 Centerline is valid? [False, False] Translation: X:2.61, Y:0.20, Z:-0.23 [[ 9.99988624e-01 3.91288579e-03 -2.72779313e-03 2.60970715e+00] [-3.91734761e-03 9.99990995e-01 -1.63226782e-03 1.95496454e-01] [ 2.72138169e-03 1.64293497e-03 9.99994947e-01 -2.28928932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.883133365 meters Centerline goodness [0,1] 0.29266332094983594 Centerline is valid? [False, False] Translation: X:2.61, Y:0.20, Z:-0.23 [[ 9.99989365e-01 3.81449978e-03 -2.59206365e-03 2.60933282e+00] [-3.81949134e-03 9.99990856e-01 -1.92349309e-03 1.96999976e-01] [ 2.58470279e-03 1.93337300e-03 9.99994791e-01 -2.28905919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.913133365 meters Centerline goodness [0,1] 0.29266332094983594 Centerline is valid? [False, False] Translation: X:2.61, Y:0.20, Z:-0.23 [[ 9.99989365e-01 3.81449978e-03 -2.59206365e-03 2.60933282e+00] [-3.81949134e-03 9.99990856e-01 -1.92349309e-03 1.96999976e-01] [ 2.58470279e-03 1.93337300e-03 9.99994791e-01 -2.28905919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.943133365 meters Centerline goodness [0,1] 0.28994708994708995 Centerline is valid? [False, False] Translation: X:2.61, Y:0.20, Z:-0.23 [[ 9.99989791e-01 3.73202000e-03 -2.54741100e-03 2.60927832e+00] [-3.73760782e-03 9.99990612e-01 -2.19230155e-03 1.98596523e-01] [ 2.53920538e-03 2.20180039e-03 9.99994352e-01 -2.29019255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.973133365 meters Centerline goodness [0,1] 0.2938873178159669 Centerline is valid? [False, False] Translation: X:2.61, Y:0.20, Z:-0.23 [[ 9.99990579e-01 3.71481191e-03 -2.24548634e-03 2.60845542e+00] [-3.72044779e-03 9.99989927e-01 -2.51092739e-03 2.01381129e-01] [ 2.23613610e-03 2.51925795e-03 9.99994327e-01 -2.28908709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.003133365 meters Centerline goodness [0,1] 0.29535065952722994 Centerline is valid? [False, False] Translation: X:2.61, Y:0.20, Z:-0.23 [[ 9.99991130e-01 3.67135068e-03 -2.06426225e-03 2.60786775e+00] [-3.67684968e-03 9.99989685e-01 -2.66645517e-03 2.02432488e-01] [ 2.05445147e-03 2.67402150e-03 9.99994314e-01 -2.28619952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.033133365 meters Centerline goodness [0,1] 0.2916424026744311 Centerline is valid? [False, False] Translation: X:2.63, Y:0.21, Z:-0.23 [[ 9.99991835e-01 -3.54850641e-03 -1.93328762e-03 2.62598028e+00] [ 3.54559349e-03 9.99992577e-01 -1.50806645e-03 2.08637308e-01] [ 1.93862465e-03 1.50119949e-03 9.99996994e-01 -2.26681148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.063133365 meters Centerline goodness [0,1] 0.29841576337385356 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:-0.23 [[ 9.99979936e-01 -4.85221068e-03 -4.07220975e-03 2.58042465e+00] [ 4.84519687e-03 9.99986765e-01 -1.73046175e-03 2.06335119e-01] [ 4.08055242e-03 1.71069637e-03 9.99990211e-01 -2.25527154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.093133365 meters Centerline goodness [0,1] 0.2938059247676136 Centerline is valid? [False, False] Translation: X:2.60, Y:0.21, Z:-0.22 [[ 0.99998696 0.00343279 -0.003782 2.60011973] [-0.00344524 0.99998866 -0.00328857 0.20530309] [ 0.00377067 0.00330155 0.99998744 -0.22443196] [ 0. 0. 0. 1. ]] SLAMing on 186.123133365 meters Centerline goodness [0,1] 0.2961367789089011 Centerline is valid? [False, False] Translation: X:2.60, Y:0.21, Z:-0.22 [[ 0.99998715 0.00332942 -0.00382317 2.60038227] [-0.00334329 0.99998783 -0.00362828 0.20722694] [ 0.00381104 0.00364101 0.99998611 -0.22474304] [ 0. 0. 0. 1. ]] SLAMing on 186.153133365 meters Centerline goodness [0,1] 0.2967247662115292 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:-0.23 [[ 9.99985125e-01 -4.42872260e-03 -3.18387045e-03 2.58036927e+00] [ 4.42220206e-03 9.99988116e-01 -2.05212251e-03 2.14224117e-01] [ 3.19292090e-03 2.03801227e-03 9.99992826e-01 -2.26751022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.183133365 meters Centerline goodness [0,1] 0.2941508287772282 Centerline is valid? [False, False] Translation: X:2.60, Y:0.21, Z:-0.23 [[ 9.99991937e-01 3.74159187e-03 -1.45853218e-03 2.59918881e+00] [-3.74702531e-03 9.99985984e-01 -3.74051677e-03 2.13628088e-01] [ 1.44451625e-03 3.74595176e-03 9.99991941e-01 -2.25756123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21313336499998 meters Centerline goodness [0,1] 0.2957292506043513 Centerline is valid? [False, False] Translation: X:2.60, Y:0.21, Z:-0.22 [[ 9.99992806e-01 3.61812711e-03 -1.13882855e-03 2.59793453e+00] [-3.62262835e-03 9.99985536e-01 -3.97558174e-03 2.14461721e-01] [ 1.12442792e-03 3.97967870e-03 9.99991449e-01 -2.24980971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24313336499998 meters Centerline goodness [0,1] 0.2958271075597133 Centerline is valid? [False, False] Translation: X:2.60, Y:0.22, Z:-0.22 [[ 9.99993277e-01 3.54356559e-03 -9.42407650e-04 2.59697209e+00] [-3.54740276e-03 9.99985296e-01 -4.10165340e-03 2.15006679e-01] [ 9.27859315e-04 4.10496893e-03 9.99991144e-01 -2.24181629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27313336499998 meters Centerline goodness [0,1] 0.2971023936747904 Centerline is valid? [False, False] Translation: X:2.60, Y:0.22, Z:-0.22 [[ 9.99993466e-01 3.54587029e-03 -7.03578174e-04 2.59606672e+00] [-3.54871907e-03 9.99985339e-01 -4.08992357e-03 2.15176312e-01] [ 6.89065521e-04 4.09239364e-03 9.99991389e-01 -2.23637543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30313336499998 meters Centerline goodness [0,1] 0.29523008582395305 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.22 [[ 9.99992363e-01 -3.88513960e-03 -4.23144511e-04 2.61454834e+00] [ 3.88391833e-03 9.99988397e-01 -2.84974057e-03 2.20006156e-01] [ 4.34211241e-04 2.84807535e-03 9.99995850e-01 -2.21848352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33313336499998 meters Centerline goodness [0,1] 0.2942163336416235 Centerline is valid? [False, False] Translation: X:2.62, Y:0.22, Z:-0.22 [[ 9.99991703e-01 -4.02592963e-03 -6.20686706e-04 2.61516894e+00] [ 4.02423095e-03 9.99988219e-01 -2.71415709e-03 2.18287049e-01] [ 6.31606399e-04 2.71163679e-03 9.99996124e-01 -2.22017802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36313336499998 meters Centerline goodness [0,1] 0.2948479473980188 Centerline is valid? [False, False] Translation: X:2.62, Y:0.22, Z:-0.22 [[ 9.99991564e-01 -4.01369559e-03 -8.73556737e-04 2.61589596e+00] [ 4.01150732e-03 9.99988848e-01 -2.49251301e-03 2.16570156e-01] [ 8.83551183e-04 2.48898771e-03 9.99996512e-01 -2.22212999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39313336499998 meters Centerline goodness [0,1] 0.2966101694915254 Centerline is valid? [False, False] Translation: X:2.62, Y:0.21, Z:-0.22 [[ 9.99991475e-01 -3.95640006e-03 -1.18197516e-03 2.61693224e+00] [ 3.95375109e-03 9.99989686e-01 -2.23512503e-03 2.14956173e-01] [ 1.19080602e-03 2.23043274e-03 9.99996804e-01 -2.22697541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42313336499998 meters Centerline goodness [0,1] 0.2955168661588683 Centerline is valid? [False, False] Translation: X:2.62, Y:0.21, Z:-0.22 [[ 9.99991247e-01 -3.89956265e-03 -1.51606505e-03 2.61809979e+00] [ 3.89654493e-03 9.99990432e-01 -1.98838099e-03 2.13397458e-01] [ 1.52380436e-03 1.98245617e-03 9.99996874e-01 -2.23289764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45313336499999 meters Centerline goodness [0,1] 0.29298757428417077 Centerline is valid? [False, False] Translation: X:2.62, Y:0.21, Z:-0.22 [[ 9.99991252e-01 -3.80151589e-03 -1.74503516e-03 2.61896024e+00] [ 3.79855821e-03 9.99991349e-01 -1.69510309e-03 2.11725772e-01] [ 1.75146402e-03 1.68845965e-03 9.99997041e-01 -2.23832895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.483133365 meters Centerline goodness [0,1] 0.29357401034564856 Centerline is valid? [False, False] Translation: X:2.62, Y:0.21, Z:-0.22 [[ 9.99991881e-01 -3.59818200e-03 -1.81392260e-03 2.61925484e+00] [ 3.59616906e-03 9.99992916e-01 -1.11175634e-03 2.08363731e-01] [ 1.81791005e-03 1.10522414e-03 9.99997737e-01 -2.23992286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.513133365 meters Centerline goodness [0,1] 0.2942348507818253 Centerline is valid? [False, False] Translation: X:2.62, Y:0.21, Z:-0.22 [[ 9.99992017e-01 -3.48958680e-03 -1.94623250e-03 2.61961613e+00] [ 3.48798192e-03 9.99993575e-01 -8.27393117e-04 2.06732212e-01] [ 1.94910726e-03 8.20598088e-04 9.99997764e-01 -2.24079633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.543133365 meters Centerline goodness [0,1] 0.2937102412123581 Centerline is valid? [False, False] Translation: X:2.62, Y:0.21, Z:-0.22 [[ 9.99991873e-01 -3.38071359e-03 -2.19670243e-03 2.62041129e+00] [ 3.37927609e-03 9.99994074e-01 -6.57769677e-04 2.06175219e-01] [ 2.19891315e-03 6.50341067e-04 9.99997371e-01 -2.24441426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.573133365 meters Centerline goodness [0,1] 0.288729357995947 Centerline is valid? [False, False] Translation: X:2.62, Y:0.21, Z:-0.23 [[ 9.99991628e-01 -3.24651330e-03 -2.49088057e-03 2.62152733e+00] [ 3.24525798e-03 9.99994605e-01 -5.07843892e-04 2.05866529e-01] [ 2.49251586e-03 4.99756090e-04 9.99996769e-01 -2.25117801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.603133365 meters Centerline goodness [0,1] 0.2976098858813958 Centerline is valid? [False, False] Translation: X:2.58, Y:0.20, Z:-0.22 [[ 9.99981378e-01 -3.33977114e-03 -5.10770097e-03 2.57701541e+00] [ 3.34186736e-03 9.99994335e-01 4.01924222e-04 2.02131539e-01] [ 5.10632971e-03 -4.18985996e-04 9.99986875e-01 -2.24436389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.633133365 meters Centerline goodness [0,1] 0.2935143156424581 Centerline is valid? [False, False] Translation: X:2.58, Y:0.20, Z:-0.22 [[ 9.99982212e-01 -3.24619071e-03 -5.00388187e-03 2.57681682e+00] [ 3.24825859e-03 9.99994642e-01 4.05182622e-04 2.02644543e-01] [ 5.00253976e-03 -4.21429317e-04 9.99987398e-01 -2.24503717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.663133365 meters Centerline goodness [0,1] 0.29258508295724595 Centerline is valid? [False, False] Translation: X:2.58, Y:0.20, Z:-0.22 [[ 9.99983253e-01 -3.09323530e-03 -4.89136489e-03 2.57664667e+00] [ 3.09454924e-03 9.99995178e-01 2.61078439e-04 2.04321514e-01] [ 4.89053372e-03 -2.76210636e-04 9.99988003e-01 -2.24763677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.693133365 meters Centerline goodness [0,1] 0.29257212745975936 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:-0.23 [[ 9.99983122e-01 -3.10598300e-03 -4.91008582e-03 2.57693380e+00] [ 3.10661303e-03 9.99995167e-01 1.20689962e-04 2.05258015e-01] [ 4.90968723e-03 -1.35941662e-04 9.99987938e-01 -2.25233238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.723133365 meters Centerline goodness [0,1] 0.29140625 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:-0.23 [[ 9.99982944e-01 -3.12941716e-03 -4.93132077e-03 2.57709934e+00] [ 3.12956941e-03 9.99995103e-01 2.31583496e-05 2.05849677e-01] [ 4.93122415e-03 -3.85908653e-05 9.99987841e-01 -2.25452830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.753133365 meters Centerline goodness [0,1] 0.2906401794855039 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:-0.23 [[ 9.99982517e-01 -3.20298077e-03 -4.97063604e-03 2.57706443e+00] [ 3.20272692e-03 9.99994870e-01 -5.90286272e-05 2.05909807e-01] [ 4.97079961e-03 4.31080053e-05 9.99987645e-01 -2.25276434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.783133365 meters Centerline goodness [0,1] 0.29374467061678733 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:-0.22 [[ 9.99982092e-01 -3.24642308e-03 -5.02747291e-03 2.57694007e+00] [ 3.24610138e-03 9.99994729e-01 -7.21457320e-05 2.05762358e-01] [ 5.02768063e-03 5.58247533e-05 9.99987360e-01 -2.24913364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.813133365 meters Centerline goodness [0,1] 0.29549121353508045 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:-0.22 [[ 9.99982058e-01 -3.27937735e-03 -5.01301605e-03 2.57674784e+00] [ 3.27905290e-03 9.99994621e-01 -7.29394866e-05 2.05798562e-01] [ 5.01322829e-03 5.65002330e-05 9.99987432e-01 -2.24648864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.843133365 meters Centerline goodness [0,1] 0.29402000611540646 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:-0.22 [[ 9.99981528e-01 -3.31095942e-03 -5.09720319e-03 2.57709882e+00] [ 3.30968380e-03 9.99994490e-01 -2.58673081e-04 2.07316182e-01] [ 5.09803156e-03 2.41798172e-04 9.99986976e-01 -2.24925592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.873133365 meters Centerline goodness [0,1] 0.29412790444221626 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:-0.23 [[ 9.99981098e-01 -3.34462061e-03 -5.15927240e-03 2.57756366e+00] [ 3.34219576e-03 9.99994300e-01 -4.78548510e-04 2.08886495e-01] [ 5.16084356e-03 4.61296166e-04 9.99986576e-01 -2.25452941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.903133365 meters Centerline goodness [0,1] 0.29241105512291954 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:-0.23 [[ 9.99981326e-01 -3.39777302e-03 -5.07963031e-03 2.57736325e+00] [ 3.39402997e-03 9.99993963e-01 -7.45314277e-04 2.10658443e-01] [ 5.08213205e-03 7.28059942e-04 9.99986821e-01 -2.25470162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.933133365 meters Centerline goodness [0,1] 0.29525235620540824 Centerline is valid? [False, False] Translation: X:2.56, Y:0.21, Z:-0.23 [[ 9.99982189e-01 4.24419353e-03 -4.19619920e-03 2.55719106e+00] [-4.25216914e-03 9.99989167e-01 -1.89358332e-03 2.07325309e-01] [ 4.18811701e-03 1.91139254e-03 9.99989403e-01 -2.26877183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96313336499998 meters Centerline goodness [0,1] 0.29173550126076 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:-0.23 [[ 9.99988931e-01 -2.91742846e-03 -3.69145493e-03 2.57553169e+00] [ 2.91407446e-03 9.99995337e-01 -9.13636230e-04 2.14300680e-01] [ 3.69410319e-03 9.02868942e-04 9.99992769e-01 -2.25215174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99313336499998 meters Centerline goodness [0,1] 0.2950156376440741 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:-0.23 [[ 9.99988671e-01 -3.07038349e-03 -3.63742397e-03 2.57542007e+00] [ 3.06491906e-03 9.99994168e-01 -1.50690475e-03 2.17624233e-01] [ 3.64202953e-03 1.49573927e-03 9.99992249e-01 -2.25382526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02313336499998 meters Centerline goodness [0,1] 0.29173825109279516 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:-0.23 [[ 9.99988605e-01 -3.09036902e-03 -3.63865113e-03 2.57563270e+00] [ 3.08421849e-03 9.99993808e-01 -1.69473286e-03 2.18993811e-01] [ 3.64386595e-03 1.68349116e-03 9.99991944e-01 -2.25770970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05313336499998 meters Centerline goodness [0,1] 0.2940649251284293 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:-0.23 [[ 9.99989027e-01 -3.10106004e-03 -3.51132327e-03 2.57525324e+00] [ 3.09461808e-03 9.99993521e-01 -1.83857497e-03 2.20207152e-01] [ 3.51700205e-03 1.82768859e-03 9.99992145e-01 -2.25688383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08313336499998 meters Centerline goodness [0,1] 0.29247391143991497 Centerline is valid? [False, False] Translation: X:2.57, Y:0.22, Z:-0.23 [[ 9.99990393e-01 -3.05323300e-03 -3.14523127e-03 2.57415228e+00] [ 3.04739203e-03 9.99993626e-01 -1.86021101e-03 2.20888698e-01] [ 3.15089089e-03 1.85060838e-03 9.99993324e-01 -2.25322790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11313336499998 meters Centerline goodness [0,1] 0.289841605981373 Centerline is valid? [False, False] Translation: X:2.57, Y:0.22, Z:-0.22 [[ 9.99991224e-01 -3.03746159e-03 -2.88535152e-03 2.57296734e+00] [ 3.03204258e-03 9.99993635e-01 -1.88063203e-03 2.21255675e-01] [ 2.89104550e-03 1.87186701e-03 9.99994069e-01 -2.24411066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14313336499998 meters Centerline goodness [0,1] 0.2957550149195217 Centerline is valid? [False, False] Translation: X:2.57, Y:0.22, Z:-0.22 [[ 9.99991595e-01 -3.03074060e-03 -2.76111741e-03 2.57219367e+00] [ 3.02554761e-03 9.99993650e-01 -1.88299673e-03 2.21395613e-01] [ 2.76680675e-03 1.87462701e-03 9.99994415e-01 -2.23643208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17313336499998 meters Centerline goodness [0,1] 0.29160080549119805 Centerline is valid? [False, False] Translation: X:2.57, Y:0.22, Z:-0.22 [[ 9.99991221e-01 -3.01296326e-03 -2.91190438e-03 2.57263162e+00] [ 3.00694975e-03 9.99993342e-01 -2.06732368e-03 2.22985455e-01] [ 2.91811376e-03 2.05854958e-03 9.99993623e-01 -2.23827693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20313336499999 meters Centerline goodness [0,1] 0.2912333159993067 Centerline is valid? [False, False] Translation: X:2.57, Y:0.22, Z:-0.22 [[ 9.99990663e-01 -2.99429462e-03 -3.11581944e-03 2.57346566e+00] [ 2.98729878e-03 9.99993012e-01 -2.24749947e-03 2.24450240e-01] [ 3.12252734e-03 2.23817060e-03 9.99992620e-01 -2.24469871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.233133365 meters Centerline goodness [0,1] 0.2920787784140205 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.23 [[ 9.99990145e-01 -3.01654426e-03 -3.25742592e-03 2.57413572e+00] [ 3.00842972e-03 9.99992367e-01 -2.49312357e-03 2.26056955e-01] [ 3.26492167e-03 2.48329926e-03 9.99991587e-01 -2.25091635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.263133365 meters Centerline goodness [0,1] 0.29169376165084315 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.23 [[ 0.99998966 -0.00309218 -0.00333522 2.57438017] [ 0.00308285 0.99999133 -0.00279787 0.22776892] [ 0.00334384 0.00278756 0.99999052 -0.22525168] [ 0. 0. 0. 1. ]] SLAMing on 187.293133365 meters Centerline goodness [0,1] 0.29043561015702735 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.23 [[ 0.99998956 -0.00314379 -0.0033159 2.57427968] [ 0.00313318 0.99998997 -0.00320043 0.23043004] [ 0.00332592 0.00319001 0.99998938 -0.22531798] [ 0. 0. 0. 1. ]] SLAMing on 187.323133365 meters Centerline goodness [0,1] 0.28924158454272964 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.23 [[ 0.9999899 -0.00315527 -0.00320067 2.57393165] [ 0.00314462 0.99998952 -0.00332715 0.23141752] [ 0.00321114 0.00331705 0.99998934 -0.22523642] [ 0. 0. 0. 1. ]] SLAMing on 187.353133365 meters Centerline goodness [0,1] 0.28917556857339766 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.23 [[ 0.9999903 -0.00318337 -0.00304421 2.57352531] [ 0.00317284 0.99998899 -0.00345771 0.23231014] [ 0.00305519 0.00344802 0.99998939 -0.22519933] [ 0. 0. 0. 1. ]] SLAMing on 187.383133365 meters Centerline goodness [0,1] 0.2915582726326743 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.23 [[ 0.99999029 -0.003236 -0.00299301 2.57340451] [ 0.00322512 0.9999882 -0.00363387 0.23343049] [ 0.00300473 0.00362418 0.99998892 -0.22524691] [ 0. 0. 0. 1. ]] SLAMing on 187.413133365 meters Centerline goodness [0,1] 0.2969078947368421 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 0.9999846 0.00457342 -0.0031425 2.55355205] [-0.00458787 0.99997886 -0.00460808 0.22901538] [ 0.00312136 0.00462243 0.99998445 -0.22643996] [ 0. 0. 0. 1. ]] SLAMing on 187.443133365 meters Centerline goodness [0,1] 0.29479073227295605 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 0.99998446 0.00452273 -0.00325822 2.55399765] [-0.00453859 0.99997782 -0.00487525 0.23090725] [ 0.0032361 0.00488996 0.99998281 -0.22679061] [ 0. 0. 0. 1. ]] SLAMing on 187.473133365 meters Centerline goodness [0,1] 0.2918567766045279 Centerline is valid? [False, False] Translation: X:2.58, Y:0.24, Z:-0.23 [[ 9.99982794e-01 -3.39734448e-04 -5.85636622e-03 2.57548806e+00] [ 3.25348795e-04 9.99996928e-01 -2.45719064e-03 2.38884788e-01] [ 5.85718302e-03 2.45524300e-03 9.99979832e-01 -2.25524514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.503133365 meters Centerline goodness [0,1] 0.28970775095298607 Centerline is valid? [False, False] Translation: X:2.58, Y:0.24, Z:-0.23 [[ 9.99982667e-01 -4.02722217e-04 -5.87404435e-03 2.57550595e+00] [ 3.86913800e-04 9.99996301e-01 -2.69212020e-03 2.40453083e-01] [ 5.87510680e-03 2.68980078e-03 9.99979124e-01 -2.25517784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.533133365 meters Centerline goodness [0,1] 0.2902347296070549 Centerline is valid? [False, False] Translation: X:2.58, Y:0.24, Z:-0.23 [[ 9.99983184e-01 -4.90543827e-04 -5.77849236e-03 2.57531531e+00] [ 4.73696551e-04 9.99995635e-01 -2.91652200e-03 2.41653755e-01] [ 5.77989782e-03 2.91373570e-03 9.99979051e-01 -2.25618778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.563133365 meters Centerline goodness [0,1] 0.289825260377195 Centerline is valid? [False, False] Translation: X:2.58, Y:0.24, Z:-0.23 [[ 9.99982900e-01 -5.46935188e-04 -5.82240147e-03 2.57545889e+00] [ 5.29045970e-04 9.99995137e-01 -3.07357800e-03 2.42625339e-01] [ 5.82405420e-03 3.07044513e-03 9.99978326e-01 -2.25717142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.593133365 meters Centerline goodness [0,1] 0.2920922534137683 Centerline is valid? [False, False] Translation: X:2.58, Y:0.24, Z:-0.23 [[ 9.99982737e-01 -5.81071077e-04 -5.84708374e-03 2.57547161e+00] [ 5.62527980e-04 9.99994809e-01 -3.17248609e-03 2.43246148e-01] [ 5.84889683e-03 3.16914217e-03 9.99977873e-01 -2.25670557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.623133365 meters Centerline goodness [0,1] 0.2919866371643022 Centerline is valid? [False, False] Translation: X:2.58, Y:0.24, Z:-0.23 [[ 9.99981969e-01 -6.94458698e-04 -5.96486824e-03 2.57535471e+00] [ 6.75270041e-04 9.99994593e-01 -3.21835741e-03 2.43427628e-01] [ 5.96707100e-03 3.21427148e-03 9.99977031e-01 -2.25048498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.653133365 meters Centerline goodness [0,1] 0.29401942926533087 Centerline is valid? [False, False] Translation: X:2.58, Y:0.24, Z:-0.22 [[ 9.99982098e-01 -6.44076024e-04 -5.94887669e-03 2.57520916e+00] [ 6.25841884e-04 9.99995102e-01 -3.06649316e-03 2.42995545e-01] [ 5.95082261e-03 3.06271521e-03 9.99977603e-01 -2.24874149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.683133365 meters Centerline goodness [0,1] 0.2916513264753654 Centerline is valid? [False, False] Translation: X:2.58, Y:0.24, Z:-0.22 [[ 9.99981846e-01 -6.55513726e-04 -5.98985433e-03 2.57530192e+00] [ 6.37800329e-04 9.99995420e-01 -2.95866502e-03 2.42400113e-01] [ 5.99176634e-03 2.95479098e-03 9.99977684e-01 -2.24809948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71313336499998 meters Centerline goodness [0,1] 0.291535237436806 Centerline is valid? [False, False] Translation: X:2.58, Y:0.24, Z:-0.22 [[ 9.99981503e-01 -7.12192602e-04 -6.04032433e-03 2.57535539e+00] [ 6.94805666e-04 9.99995611e-01 -2.88008738e-03 2.41442359e-01] [ 6.04234899e-03 2.87583725e-03 9.99977610e-01 -2.24663621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74313336499998 meters Centerline goodness [0,1] 0.29130264702047204 Centerline is valid? [False, False] Translation: X:2.58, Y:0.24, Z:-0.22 [[ 9.99980987e-01 -7.58163260e-04 -6.11975021e-03 2.57529123e+00] [ 7.41357325e-04 9.99995949e-01 -2.74798140e-03 2.40168008e-01] [ 6.12180884e-03 2.74339223e-03 9.99977498e-01 -2.24282625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77313336499998 meters Centerline goodness [0,1] 0.2934265189544747 Centerline is valid? [False, False] Translation: X:2.58, Y:0.24, Z:-0.22 [[ 9.99980196e-01 -7.16691834e-04 -6.25247518e-03 2.57537162e+00] [ 7.01101155e-04 9.99996641e-01 -2.49535681e-03 2.38698736e-01] [ 6.25424258e-03 2.49092378e-03 9.99977340e-01 -2.23879134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80313336499998 meters Centerline goodness [0,1] 0.2910233431946274 Centerline is valid? [False, False] Translation: X:2.58, Y:0.24, Z:-0.22 [[ 9.99979257e-01 -6.52348917e-04 -6.40787017e-03 2.57569916e+00] [ 6.39808817e-04 9.99997877e-01 -1.95883915e-03 2.35720569e-01] [ 6.40913442e-03 1.95469871e-03 9.99977551e-01 -2.23719822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83313336499998 meters Centerline goodness [0,1] 0.2910233431946274 Centerline is valid? [False, False] Translation: X:2.58, Y:0.24, Z:-0.22 [[ 9.99979257e-01 -6.52348917e-04 -6.40787017e-03 2.57569916e+00] [ 6.39808817e-04 9.99997877e-01 -1.95883915e-03 2.35720569e-01] [ 6.40913442e-03 1.95469871e-03 9.99977551e-01 -2.23719822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86313336499998 meters Centerline goodness [0,1] 0.29314991089668363 Centerline is valid? [False, False] Translation: X:2.58, Y:0.23, Z:-0.22 [[ 9.99978858e-01 -5.86262040e-04 -6.47612151e-03 2.57611440e+00] [ 5.75766265e-04 9.99998518e-01 -1.62243384e-03 2.33564079e-01] [ 6.47706308e-03 1.61867081e-03 9.99977714e-01 -2.24051967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89313336499998 meters Centerline goodness [0,1] 0.2942264586189637 Centerline is valid? [False, False] Translation: X:2.58, Y:0.23, Z:-0.22 [[ 9.99978052e-01 -5.75200818e-04 -6.60037236e-03 2.57648698e+00] [ 5.66588430e-04 9.99998986e-01 -1.30662928e-03 2.31026734e-01] [ 6.60111724e-03 1.30286090e-03 9.99977364e-01 -2.24156838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92313336499998 meters Centerline goodness [0,1] 0.28981942916316095 Centerline is valid? [False, False] Translation: X:2.58, Y:0.23, Z:-0.22 [[ 9.99976854e-01 -5.79892152e-04 -6.77897722e-03 2.57679278e+00] [ 5.73271666e-04 9.99999357e-01 -9.78522549e-04 2.28280806e-01] [ 6.77954030e-03 9.74613705e-04 9.99976544e-01 -2.23907294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95313336499999 meters Centerline goodness [0,1] 0.2916251893529539 Centerline is valid? [False, False] Translation: X:2.58, Y:0.23, Z:-0.22 [[ 9.99976148e-01 -4.38407211e-04 -6.89276776e-03 2.57687870e+00] [ 4.34544578e-04 9.99999748e-01 -5.61877023e-04 2.25911283e-01] [ 6.89301235e-03 5.58868407e-04 9.99976087e-01 -2.23637129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.983133365 meters Centerline goodness [0,1] 0.29674832376528326 Centerline is valid? [False, False] Translation: X:2.56, Y:0.22, Z:-0.22 [[ 9.99948140e-01 7.39320791e-03 -7.00413786e-03 2.55693729e+00] [-7.40089082e-03 9.99972039e-01 -1.07162603e-03 2.18371862e-01] [ 6.99601926e-03 1.12340732e-03 9.99974897e-01 -2.24492390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.013133365 meters Centerline goodness [0,1] 0.2950455841075741 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:-0.22 [[ 9.99980812e-01 7.76873790e-05 -6.19437737e-03 2.57518545e+00] [-7.44507290e-05 9.99999861e-01 5.22743045e-04 2.19411072e-01] [ 6.19441712e-03 -5.22271839e-04 9.99980678e-01 -2.22877617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.043133365 meters Centerline goodness [0,1] 0.294791394477833 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:-0.22 [[ 9.99981476e-01 5.23253411e-05 -6.08649488e-03 2.57500275e+00] [-4.91264613e-05 9.99999861e-01 5.25718438e-04 2.18868417e-01] [ 6.08652154e-03 -5.25409692e-04 9.99981339e-01 -2.23000120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.073133365 meters Centerline goodness [0,1] 0.2937482405422378 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:-0.22 [[ 9.99981084e-01 6.75614954e-05 -6.15033303e-03 2.57530533e+00] [-6.45518794e-05 9.99999878e-01 4.89539151e-04 2.18971213e-01] [ 6.15036535e-03 -4.89132876e-04 9.99980967e-01 -2.23217377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.103133365 meters Centerline goodness [0,1] 0.29619197344862225 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:-0.22 [[ 9.99980653e-01 1.81854365e-04 -6.21769875e-03 2.57551303e+00] [-1.78596194e-04 9.99999846e-01 5.24566814e-04 2.19341102e-01] [ 6.21779319e-03 -5.23446208e-04 9.99980532e-01 -2.23359760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.133133365 meters Centerline goodness [0,1] 0.2959159250636437 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:-0.22 [[ 9.99980339e-01 2.51586422e-04 -6.26564500e-03 2.57588312e+00] [-2.48978434e-04 9.99999882e-01 4.17012665e-04 2.20390108e-01] [ 6.26574918e-03 -4.15444455e-04 9.99980284e-01 -2.23814123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.163133365 meters Centerline goodness [0,1] 0.2932134381327701 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:-0.22 [[ 9.99979334e-01 3.05738643e-04 -6.42166778e-03 2.57633582e+00] [-3.05143274e-04 9.99999949e-01 9.36920701e-05 2.22250409e-01] [ 6.42169610e-03 -9.17306052e-05 9.99979376e-01 -2.24130193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.193133365 meters Centerline goodness [0,1] 0.29274335513876515 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:-0.22 [[ 9.99979527e-01 2.63790089e-04 -6.39341447e-03 2.57623526e+00] [-2.64489444e-04 9.99999959e-01 -1.08541506e-04 2.23276555e-01] [ 6.39338558e-03 1.10230274e-04 9.99979556e-01 -2.24157230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.223133365 meters Centerline goodness [0,1] 0.29372485046220775 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:-0.22 [[ 9.99980544e-01 3.02277148e-04 -6.23065230e-03 2.57578976e+00] [-3.03605823e-04 9.99999931e-01 -2.12303478e-04 2.24368382e-01] [ 6.23058770e-03 2.14191010e-04 9.99980567e-01 -2.24126167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.253133365 meters Centerline goodness [0,1] 0.293348086435824 Centerline is valid? [False, False] Translation: X:2.58, Y:0.23, Z:-0.22 [[ 9.99982240e-01 3.67067945e-04 -5.94847106e-03 2.57502527e+00] [-3.68996890e-04 9.99999880e-01 -3.23181569e-04 2.25695171e-01] [ 5.94835172e-03 3.25370797e-04 9.99982255e-01 -2.24030494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.283133365 meters Centerline goodness [0,1] 0.29298811508237177 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.22 [[ 9.99983677e-01 3.75951715e-04 -5.70124688e-03 2.57446002e+00] [-3.78588985e-04 9.99999822e-01 -4.61505529e-04 2.26939276e-01] [ 5.70107236e-03 4.63656425e-04 9.99983641e-01 -2.24081764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.313133365 meters Centerline goodness [0,1] 0.29218071430114734 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.22 [[ 9.99984465e-01 3.04081876e-04 -5.56571644e-03 2.57413040e+00] [-3.07717860e-04 9.99999740e-01 -6.52437575e-04 2.27955658e-01] [ 5.56551659e-03 6.54140110e-04 9.99984298e-01 -2.24101635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.343133365 meters Centerline goodness [0,1] 0.29345729579784585 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.22 [[ 9.99985264e-01 2.44857870e-04 -5.42329353e-03 2.57356972e+00] [-2.48691259e-04 9.99999720e-01 -7.06174652e-04 2.27940476e-01] [ 5.42311909e-03 7.07512971e-04 9.99985044e-01 -2.23775708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.373133365 meters Centerline goodness [0,1] 0.29530303690471005 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.22 [[ 9.99985335e-01 3.13218243e-04 -5.40664267e-03 2.57340365e+00] [-3.16199268e-04 9.99999798e-01 -5.50517510e-04 2.27368133e-01] [ 5.40646915e-03 5.52219014e-04 9.99985232e-01 -2.23589187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.403133365 meters Centerline goodness [0,1] 0.29407539613442457 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.22 [[ 9.99985194e-01 3.69741642e-04 -5.42913335e-03 2.57354692e+00] [-3.71974129e-04 9.99999847e-01 -4.10201134e-04 2.26934695e-01] [ 5.42898085e-03 4.12214557e-04 9.99985178e-01 -2.23680045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.433133365 meters Centerline goodness [0,1] 0.2913222694606902 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.22 [[ 9.99984353e-01 3.56066117e-04 -5.58265807e-03 2.57403136e+00] [-3.57849373e-04 9.99999885e-01 -3.18432266e-04 2.26092861e-01] [ 5.58254405e-03 3.20425034e-04 9.99984366e-01 -2.23847977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46313336499998 meters Centerline goodness [0,1] 0.2948615057588443 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.22 [[ 9.99983631e-01 3.14498975e-04 -5.71307077e-03 2.57457709e+00] [-3.16098274e-04 9.99999911e-01 -2.79035963e-04 2.25311336e-01] [ 5.71298251e-03 2.80837287e-04 9.99983641e-01 -2.24185547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49313336499998 meters Centerline goodness [0,1] 0.29136550530188265 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:-0.22 [[ 9.99982814e-01 3.74223278e-04 -5.85083250e-03 2.57532790e+00] [-3.74671269e-04 9.99999927e-01 -7.54728641e-05 2.24273763e-01] [ 5.85080382e-03 7.76637059e-05 9.99982881e-01 -2.24831750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52313336499998 meters Centerline goodness [0,1] 0.2876844958905288 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:-0.23 [[ 9.99982489e-01 4.82738292e-04 -5.89825186e-03 2.57560874e+00] [-4.81708294e-04 9.99999868e-01 1.76047148e-04 2.23163152e-01] [ 5.89833607e-03 -1.73202828e-04 9.99982590e-01 -2.25090333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55313336499998 meters Centerline goodness [0,1] 0.29009905291510996 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:-0.23 [[ 9.99982411e-01 5.61241592e-04 -5.90438194e-03 2.57570438e+00] [-5.58375994e-04 9.99999726e-01 4.86971364e-04 2.21310048e-01] [ 5.90465363e-03 -4.83665933e-04 9.99982450e-01 -2.25159580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58313336499998 meters Centerline goodness [0,1] 0.29303702413860655 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:-0.23 [[ 9.99982319e-01 5.70170157e-04 -5.91915778e-03 2.57573197e+00] [-5.65443723e-04 9.99999520e-01 8.00140479e-04 2.18871336e-01] [ 5.91961115e-03 -7.96779382e-04 9.99982162e-01 -2.25106214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61313336499998 meters Centerline goodness [0,1] 0.2930485250480014 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:-0.22 [[ 9.99981576e-01 5.63848519e-04 -6.04402385e-03 2.57589381e+00] [-5.56908842e-04 9.99999184e-01 1.14980969e-03 2.16097277e-01] [ 6.04466724e-03 -1.14642253e-03 9.99981074e-01 -2.24818531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64313336499998 meters Centerline goodness [0,1] 0.29175212742744927 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:-0.22 [[ 9.99980136e-01 5.56111895e-04 -6.27839421e-03 2.57657939e+00] [-5.46715606e-04 9.99998728e-01 1.49822418e-03 2.13407586e-01] [ 6.27921941e-03 -1.49476192e-03 9.99979168e-01 -2.24970921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67313336499998 meters Centerline goodness [0,1] 0.29140255723278663 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:-0.23 [[ 9.99975484e-01 4.61974145e-04 -6.98705307e-03 2.57883282e+00] [-4.48831239e-04 9.99998127e-01 1.88248803e-03 2.09978550e-01] [ 6.98790964e-03 -1.87930587e-03 9.99973818e-01 -2.25834132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70313336499999 meters Centerline goodness [0,1] 0.2889412476762786 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:-0.23 [[ 9.99973670e-01 5.15139777e-04 -7.23840337e-03 2.57961387e+00] [-5.00261148e-04 9.99997759e-01 2.05717280e-03 2.08797395e-01] [ 7.23944688e-03 -2.05349754e-03 9.99971686e-01 -2.26094452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.733133365 meters Centerline goodness [0,1] 0.2900145408772272 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:-0.23 [[ 9.99972760e-01 5.74422361e-04 -7.35868000e-03 2.58012835e+00] [-5.58253916e-04 9.99997426e-01 2.19905921e-03 2.07958907e-01] [ 7.35992425e-03 -2.19489130e-03 9.99970507e-01 -2.26441447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.763133365 meters Centerline goodness [0,1] 0.29080867163887014 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:-0.23 [[ 9.99972078e-01 6.65334403e-04 -7.44321081e-03 2.58041492e+00] [-6.48430833e-04 9.99997206e-01 2.27318783e-03 2.07565132e-01] [ 7.44470244e-03 -2.26829795e-03 9.99969715e-01 -2.26611862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.793133365 meters Centerline goodness [0,1] 0.2942003206183982 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:-0.23 [[ 9.99972849e-01 7.03047599e-04 -7.33532728e-03 2.58008871e+00] [-6.86827708e-04 9.99997314e-01 2.21348685e-03 2.08101598e-01] [ 7.33686377e-03 -2.20838864e-03 9.99970646e-01 -2.26542775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.823133365 meters Centerline goodness [0,1] 0.2942003206183982 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:-0.23 [[ 9.99972849e-01 7.03047599e-04 -7.33532728e-03 2.58008871e+00] [-6.86827708e-04 9.99997314e-01 2.21348685e-03 2.08101598e-01] [ 7.33686377e-03 -2.20838864e-03 9.99970646e-01 -2.26542775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.853133365 meters Centerline goodness [0,1] 0.29147455415397994 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:-0.23 [[ 9.99974749e-01 9.07120693e-04 -7.04829325e-03 2.57939345e+00] [-8.92317074e-04 9.99997390e-01 2.10317355e-03 2.09726884e-01] [ 7.05018269e-03 -2.09683113e-03 9.99972949e-01 -2.26592633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.883133365 meters Centerline goodness [0,1] 0.2919633107665429 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:-0.23 [[ 9.99976319e-01 9.08540409e-04 -6.82167629e-03 2.57887303e+00] [-8.95579571e-04 9.99997789e-01 1.90276349e-03 2.11144486e-01] [ 6.82338994e-03 -1.89660908e-03 9.99974922e-01 -2.26680208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.913133365 meters Centerline goodness [0,1] 0.29226242371403666 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:-0.23 [[ 9.99977303e-01 8.46754159e-04 -6.68409166e-03 2.57866661e+00] [-8.36251263e-04 9.99998412e-01 1.57396588e-03 2.13140376e-01] [ 6.68541380e-03 -1.56834058e-03 9.99976422e-01 -2.26923558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.943133365 meters Centerline goodness [0,1] 0.2900857856444782 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:-0.23 [[ 9.99980133e-01 7.74894791e-04 -6.25564372e-03 2.57769952e+00] [-7.68642973e-04 9.99999203e-01 1.00173076e-03 2.16809301e-01] [ 6.25641497e-03 -9.96902500e-04 9.99979932e-01 -2.27103940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.973133365 meters Centerline goodness [0,1] 0.2917255012708274 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:-0.23 [[ 9.99981034e-01 6.72630768e-04 -6.12196910e-03 2.57729192e+00] [-6.68542829e-04 9.99999552e-01 6.69770978e-04 2.18678196e-01] [ 6.12241687e-03 -6.65665477e-04 9.99981036e-01 -2.27052552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.003133365 meters Centerline goodness [0,1] 0.29134954116470235 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:-0.23 [[ 9.99981517e-01 5.68109187e-04 -6.05327885e-03 2.57707409e+00] [-5.66331231e-04 9.99999796e-01 2.95428015e-04 2.21052242e-01] [ 6.05344545e-03 -2.91994394e-04 9.99981635e-01 -2.27053331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.033133365 meters Centerline goodness [0,1] 0.2918600849950964 Centerline is valid? [False, False] Translation: X:2.58, Y:0.22, Z:-0.23 [[ 9.99981633e-01 4.81485073e-04 -6.04161403e-03 2.57689573e+00] [-4.81783484e-04 9.99999883e-01 -4.79373840e-05 2.23266601e-01] [ 6.04159024e-03 5.08472534e-05 9.99981748e-01 -2.26876177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.063133365 meters Centerline goodness [0,1] 0.29379812831308216 Centerline is valid? [False, False] Translation: X:2.58, Y:0.23, Z:-0.23 [[ 9.99981665e-01 3.87463874e-04 -6.04307682e-03 2.57679880e+00] [-3.89915011e-04 9.99999842e-01 -4.04437895e-04 2.25624939e-01] [ 6.04291916e-03 4.06786766e-04 9.99981659e-01 -2.26788240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.093133365 meters Centerline goodness [0,1] 0.28795279674937324 Centerline is valid? [False, False] Translation: X:2.58, Y:0.23, Z:-0.23 [[ 9.99982219e-01 1.09097943e-04 -5.96230297e-03 2.57652631e+00] [-1.15775077e-04 9.99999367e-01 -1.11955811e-03 2.29790322e-01] [ 5.96217705e-03 1.12022849e-03 9.99981599e-01 -2.26750006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.123133365 meters Centerline goodness [0,1] 0.29474742177940916 Centerline is valid? [False, False] Translation: X:2.58, Y:0.23, Z:-0.23 [[ 9.99983143e-01 1.45879966e-06 -5.80628946e-03 2.57590438e+00] [-9.73515720e-06 9.99998984e-01 -1.42538449e-03 2.31506676e-01] [ 5.80628148e-03 1.42541699e-03 9.99982127e-01 -2.26389331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.153133365 meters Centerline goodness [0,1] 0.2910653443000065 Centerline is valid? [False, False] Translation: X:2.58, Y:0.23, Z:-0.23 [[ 9.99983911e-01 -1.13851236e-04 -5.67143327e-03 2.57527654e+00] [ 1.03935759e-04 9.99998466e-01 -1.74858341e-03 2.33484534e-01] [ 5.67162364e-03 1.74796582e-03 9.99982388e-01 -2.25930465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.183133365 meters Centerline goodness [0,1] 0.29363717333217476 Centerline is valid? [False, False] Translation: X:2.57, Y:0.24, Z:-0.23 [[ 9.99984456e-01 -2.31732312e-04 -5.57082437e-03 2.57498199e+00] [ 2.20085773e-04 9.99997789e-01 -2.09115320e-03 2.35601775e-01] [ 5.57129664e-03 2.08989464e-03 9.99982296e-01 -2.25875313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21313336499998 meters Centerline goodness [0,1] 0.2908929191253037 Centerline is valid? [False, False] Translation: X:2.58, Y:0.24, Z:-0.23 [[ 9.99984300e-01 -3.60945400e-04 -5.59190750e-03 2.57509360e+00] [ 3.47169279e-04 9.99996903e-01 -2.46435659e-03 2.37737516e-01] [ 5.59277968e-03 2.46237656e-03 9.99981329e-01 -2.26002412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24313336499998 meters Centerline goodness [0,1] 0.2950737302020754 Centerline is valid? [False, False] Translation: X:2.58, Y:0.24, Z:-0.23 [[ 9.99984070e-01 -4.80581959e-04 -5.62389743e-03 2.57528399e+00] [ 4.64616572e-04 9.99995860e-01 -2.83980959e-03 2.39870327e-01] [ 5.62523890e-03 2.83715140e-03 9.99980153e-01 -2.26225124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27313336499998 meters Centerline goodness [0,1] 0.29051516401450184 Centerline is valid? [False, False] Translation: X:2.58, Y:0.24, Z:-0.23 [[ 9.99983277e-01 -7.36567129e-04 -5.73618155e-03 2.57575844e+00] [ 7.16316882e-04 9.99993508e-01 -3.53152058e-03 2.43568361e-01] [ 5.73874551e-03 3.52735260e-03 9.99977312e-01 -2.26646629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30313336499998 meters Centerline goodness [0,1] 0.28520552647386943 Centerline is valid? [False, False] Translation: X:2.60, Y:0.25, Z:-0.23 [[ 9.99962542e-01 -6.68940540e-03 -5.49246786e-03 2.59715286e+00] [ 6.68330276e-03 9.99977029e-01 -1.12869741e-03 2.49209968e-01] [ 5.49989201e-03 1.09194730e-03 9.99984279e-01 -2.26658663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33313336499998 meters Centerline goodness [0,1] 0.29042546267167124 Centerline is valid? [False, False] Translation: X:2.58, Y:0.25, Z:-0.23 [[ 9.99986667e-01 1.22419558e-03 -5.01666755e-03 2.57702742e+00] [-1.23380251e-03 9.99997410e-01 -1.91235540e-03 2.45041361e-01] [ 5.01431347e-03 1.91851948e-03 9.99985588e-01 -2.27821068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36313336499998 meters Centerline goodness [0,1] 0.29170748699192306 Centerline is valid? [False, False] Translation: X:2.58, Y:0.25, Z:-0.23 [[ 9.99986845e-01 1.18169748e-03 -4.99129024e-03 2.57695511e+00] [-1.19204279e-03 9.99997147e-01 -2.07020643e-03 2.46013565e-01] [ 4.98882964e-03 2.07612903e-03 9.99985401e-01 -2.27839080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39313336499998 meters Centerline goodness [0,1] 0.29224457901933976 Centerline is valid? [False, False] Translation: X:2.58, Y:0.25, Z:-0.23 [[ 9.99986374e-01 1.11218573e-03 -5.10057010e-03 2.57739191e+00] [-1.12359077e-03 9.99996874e-01 -2.23371227e-03 2.46719651e-01] [ 5.09806986e-03 2.23941278e-03 9.99984497e-01 -2.28118763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42313336499998 meters Centerline goodness [0,1] 0.2857112082893518 Centerline is valid? [False, False] Translation: X:2.58, Y:0.25, Z:-0.23 [[ 9.99985788e-01 9.78159464e-04 -5.24086497e-03 2.57797963e+00] [-9.91250369e-04 9.99996394e-01 -2.49583704e-03 2.47740471e-01] [ 5.23840475e-03 2.50099658e-03 9.99983152e-01 -2.28567683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45313336499999 meters Centerline goodness [0,1] 0.2895274085657198 Centerline is valid? [False, False] Translation: X:2.58, Y:0.25, Z:-0.23 [[ 9.99984752e-01 8.78735889e-04 -5.45198126e-03 2.57898618e+00] [-8.94376821e-04 9.99995490e-01 -2.86707842e-03 2.49784113e-01] [ 5.44943727e-03 2.87191083e-03 9.99981028e-01 -2.29457786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.483133365 meters Centerline goodness [0,1] 0.286081472201823 Centerline is valid? [False, False] Translation: X:2.58, Y:0.25, Z:-0.23 [[ 9.99984906e-01 8.88527220e-04 -5.42200538e-03 2.57907875e+00] [-9.05100083e-04 9.99994924e-01 -3.05490508e-03 2.51354389e-01] [ 5.41926350e-03 3.05976643e-03 9.99980635e-01 -2.29791501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.513133365 meters Centerline goodness [0,1] 0.28854123722524794 Centerline is valid? [False, False] Translation: X:2.58, Y:0.25, Z:-0.23 [[ 9.99986070e-01 8.95124913e-04 -5.20181103e-03 2.57858060e+00] [-9.12021128e-04 9.99994314e-01 -3.24667702e-03 2.52844397e-01] [ 5.19887527e-03 3.25137596e-03 9.99981200e-01 -2.29862973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.543133365 meters Centerline goodness [0,1] 0.28894515863740644 Centerline is valid? [False, False] Translation: X:2.58, Y:0.25, Z:-0.23 [[ 9.99986935e-01 8.33440261e-04 -5.04338897e-03 2.57816514e+00] [-8.51117701e-04 9.99993499e-01 -3.50394112e-03 2.54337460e-01] [ 5.04043585e-03 3.50818786e-03 9.99981143e-01 -2.29844765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.573133365 meters Centerline goodness [0,1] 0.2851148077212765 Centerline is valid? [False, False] Translation: X:2.58, Y:0.26, Z:-0.23 [[ 9.99987407e-01 7.55392218e-04 -4.96127334e-03 2.57793065e+00] [-7.73989858e-04 9.99992678e-01 -3.74771218e-03 2.55622336e-01] [ 4.95840602e-03 3.75150496e-03 9.99980670e-01 -2.29836128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.603133365 meters Centerline goodness [0,1] 0.2884799235181644 Centerline is valid? [False, False] Translation: X:2.58, Y:0.26, Z:-0.23 [[ 9.99987549e-01 6.96796710e-04 -4.94137398e-03 2.57789666e+00] [-7.15962795e-04 9.99992224e-01 -3.87798800e-03 2.56182141e-01] [ 4.93863338e-03 3.88147756e-03 9.99980272e-01 -2.29887317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.633133365 meters Centerline goodness [0,1] 0.2878745267712277 Centerline is valid? [False, False] Translation: X:2.58, Y:0.26, Z:-0.23 [[ 9.99987088e-01 6.61511850e-04 -5.03848682e-03 2.57801247e+00] [-6.81023928e-04 9.99992272e-01 -3.87187599e-03 2.56257968e-01] [ 5.03588659e-03 3.87525733e-03 9.99979811e-01 -2.29728162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.663133365 meters Centerline goodness [0,1] 0.28942249502896167 Centerline is valid? [False, False] Translation: X:2.58, Y:0.26, Z:-0.23 [[ 9.99986994e-01 6.71961509e-04 -5.05566197e-03 2.57786557e+00] [-6.90553261e-04 9.99993003e-01 -3.67656546e-03 2.55117546e-01] [ 5.05315609e-03 3.68000885e-03 9.99980461e-01 -2.29406402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.693133365 meters Centerline goodness [0,1] 0.28933712573550163 Centerline is valid? [False, False] Translation: X:2.58, Y:0.25, Z:-0.23 [[ 9.99987507e-01 6.83631322e-04 -4.95157560e-03 2.57736911e+00] [-7.00739706e-04 9.99993789e-01 -3.45422901e-03 2.53779282e-01] [ 4.94918343e-03 3.45765563e-03 9.99981775e-01 -2.28975848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.723133365 meters Centerline goodness [0,1] 0.28933712573550163 Centerline is valid? [False, False] Translation: X:2.58, Y:0.25, Z:-0.23 [[ 9.99987507e-01 6.83631322e-04 -4.95157560e-03 2.57736911e+00] [-7.00739706e-04 9.99993789e-01 -3.45422901e-03 2.53779282e-01] [ 4.94918343e-03 3.45765563e-03 9.99981775e-01 -2.28975848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.753133365 meters Centerline goodness [0,1] 0.2918664458198936 Centerline is valid? [False, False] Translation: X:2.58, Y:0.25, Z:-0.23 [[ 9.99990390e-01 5.09570140e-04 -4.35437025e-03 2.57567214e+00] [-5.23928027e-04 9.99994428e-01 -3.29684678e-03 2.52028962e-01] [ 4.35266601e-03 3.29909647e-03 9.99985085e-01 -2.28309082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.783133365 meters Centerline goodness [0,1] 0.28933460405475653 Centerline is valid? [False, False] Translation: X:2.58, Y:0.25, Z:-0.23 [[ 9.99990243e-01 4.89071309e-04 -4.39023895e-03 2.57572411e+00] [-5.03562983e-04 9.99994427e-01 -3.30038678e-03 2.51958326e-01] [ 4.38860036e-03 3.30256534e-03 9.99984917e-01 -2.28277018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.813133365 meters Centerline goodness [0,1] 0.2921504674929333 Centerline is valid? [False, False] Translation: X:2.58, Y:0.25, Z:-0.23 [[ 9.99990031e-01 5.06407823e-04 -4.43633700e-03 2.57600233e+00] [-5.21150968e-04 9.99994344e-01 -3.32274453e-03 2.52303094e-01] [ 4.43462924e-03 3.32502341e-03 9.99984639e-01 -2.28595709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.843133365 meters Centerline goodness [0,1] 0.28830540680601136 Centerline is valid? [False, False] Translation: X:2.58, Y:0.25, Z:-0.23 [[ 9.99989808e-01 5.33284876e-04 -4.48316985e-03 2.57625900e+00] [-5.48637520e-04 9.99993988e-01 -3.42397443e-03 2.53340214e-01] [ 4.48131694e-03 3.42639917e-03 9.99984089e-01 -2.28860816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.873133365 meters Centerline goodness [0,1] 0.2889384169299346 Centerline is valid? [False, False] Translation: X:2.58, Y:0.25, Z:-0.23 [[ 9.99989984e-01 5.14660594e-04 -4.44606674e-03 2.57617231e+00] [-5.30574406e-04 9.99993455e-01 -3.57886353e-03 2.54451577e-01] [ 4.44419574e-03 3.58118666e-03 9.99983712e-01 -2.28919764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.903133365 meters Centerline goodness [0,1] 0.2913735653461681 Centerline is valid? [False, False] Translation: X:2.58, Y:0.26, Z:-0.23 [[ 9.99990719e-01 5.22068499e-04 -4.27655123e-03 2.57565044e+00] [-5.37888687e-04 9.99993014e-01 -3.69897201e-03 2.55471045e-01] [ 4.27459024e-03 3.70123799e-03 9.99984014e-01 -2.28759276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.933133365 meters Centerline goodness [0,1] 0.2920390725727148 Centerline is valid? [False, False] Translation: X:2.57, Y:0.26, Z:-0.23 [[ 9.99992125e-01 5.13100674e-04 -3.93540780e-03 2.57444583e+00] [-5.28181501e-04 9.99992518e-01 -3.83200610e-03 2.56577023e-01] [ 3.93341215e-03 3.83405453e-03 9.99984914e-01 -2.28142875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96313336499998 meters Centerline goodness [0,1] 0.2899722535333391 Centerline is valid? [False, False] Translation: X:2.57, Y:0.26, Z:-0.23 [[ 9.99991881e-01 3.88064376e-04 -4.01083432e-03 2.57463272e+00] [-4.03952887e-04 9.99992072e-01 -3.96134746e-03 2.56694600e-01] [ 4.00926527e-03 3.96293549e-03 9.99984110e-01 -2.28173087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99313336499998 meters Centerline goodness [0,1] 0.29091385179366325 Centerline is valid? [False, False] Translation: X:2.58, Y:0.26, Z:-0.23 [[ 9.99991152e-01 3.09988055e-04 -4.19526954e-03 2.57512588e+00] [-3.26685476e-04 9.99992027e-01 -3.97995932e-03 2.56158625e-01] [ 4.19400235e-03 3.98129464e-03 9.99983280e-01 -2.28301019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02313336499998 meters Centerline goodness [0,1] 0.28632662732089775 Centerline is valid? [False, False] Translation: X:2.60, Y:0.26, Z:-0.23 [[ 0.9999601 -0.00756916 -0.00474434 2.59568192] [ 0.00755373 0.99996615 -0.00326335 0.26094589] [ 0.00476888 0.00322738 0.99998342 -0.22741073] [ 0. 0. 0. 1. ]] SLAMing on 190.05313336499998 meters Centerline goodness [0,1] 0.2923174798174798 Centerline is valid? [False, False] Translation: X:2.55, Y:0.26, Z:-0.23 [[ 0.99993905 -0.00809226 -0.00751135 2.55171435] [ 0.00807184 0.99996366 -0.00274474 0.25649222] [ 0.00753328 0.00268394 0.99996802 -0.22701864] [ 0. 0. 0. 1. ]] SLAMing on 190.08313336499998 meters Centerline goodness [0,1] 0.2877283687789195 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:-0.23 [[ 9.99971075e-01 1.50541767e-04 -7.60431521e-03 2.57202564e+00] [-1.72489243e-04 9.99995822e-01 -2.88561356e-03 2.51147556e-01] [ 7.60384903e-03 2.88684176e-03 9.99966923e-01 -2.26599361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11313336499998 meters Centerline goodness [0,1] 0.28981654974072946 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:-0.23 [[ 9.99971742e-01 1.64478385e-04 -7.51592012e-03 2.57187176e+00] [-1.84587573e-04 9.99996405e-01 -2.67493038e-03 2.49575048e-01] [ 7.51545313e-03 2.67624214e-03 9.99968177e-01 -2.26638220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14313336499998 meters Centerline goodness [0,1] 0.2895765543447403 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:-0.23 [[ 9.99971547e-01 1.67591005e-04 -7.54173528e-03 2.57198598e+00] [-1.86525417e-04 9.99996833e-01 -2.50998407e-03 2.48291886e-01] [ 7.54129074e-03 2.51131938e-03 9.99968411e-01 -2.26702969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17313336499998 meters Centerline goodness [0,1] 0.2873787671678708 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:-0.23 [[ 9.99970509e-01 2.07352293e-04 -7.67714357e-03 2.57238174e+00] [-2.25220026e-04 9.99997268e-01 -2.32660188e-03 2.47116299e-01] [ 7.67664017e-03 2.32826231e-03 9.99967824e-01 -2.26845222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20313336499999 meters Centerline goodness [0,1] 0.2850471330969472 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:-0.23 [[ 9.99968912e-01 3.18921511e-04 -7.87861574e-03 2.57295420e+00] [-3.35301168e-04 9.99997785e-01 -2.07776861e-03 2.46149108e-01] [ 7.87793565e-03 2.08034572e-03 9.99966805e-01 -2.26991143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.233133365 meters Centerline goodness [0,1] 0.2887374540070976 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:-0.23 [[ 9.99967992e-01 4.22359046e-04 -7.98983088e-03 2.57344355e+00] [-4.37130573e-04 9.99998199e-01 -1.84713493e-03 2.45180647e-01] [ 7.98903633e-03 1.85056841e-03 9.99966375e-01 -2.27381377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.263133365 meters Centerline goodness [0,1] 0.28518855262588216 Centerline is valid? [False, False] Translation: X:2.58, Y:0.24, Z:-0.23 [[ 9.99963588e-01 3.62766157e-04 -8.52592582e-03 2.57544156e+00] [-3.75716698e-04 9.99998778e-01 -1.51740746e-03 2.42152142e-01] [ 8.52536494e-03 1.52055554e-03 9.99962502e-01 -2.28464359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.293133365 meters Centerline goodness [0,1] 0.2877978591205389 Centerline is valid? [False, False] Translation: X:2.58, Y:0.24, Z:-0.23 [[ 9.99963767e-01 4.44948163e-04 -8.50093218e-03 2.57539545e+00] [-4.54451271e-04 9.99999274e-01 -1.11599108e-03 2.39552375e-01] [ 8.50042945e-03 1.11981391e-03 9.99963244e-01 -2.28453554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.323133365 meters Centerline goodness [0,1] 0.2864809664522857 Centerline is valid? [False, False] Translation: X:2.57, Y:0.24, Z:-0.23 [[ 9.99965697e-01 5.78737008e-04 -8.26260170e-03 2.57456600e+00] [-5.84239048e-04 9.99999609e-01 -6.63498659e-04 2.37074181e-01] [ 8.26221448e-03 6.68303234e-04 9.99965644e-01 -2.27955735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.353133365 meters Centerline goodness [0,1] 0.2912293689848887 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.23 [[ 9.99968258e-01 7.13918367e-04 -7.93561898e-03 2.57339508e+00] [-7.15837021e-04 9.99999715e-01 -2.38939831e-04 2.34851837e-01] [ 7.93544614e-03 2.44612856e-04 9.99968484e-01 -2.27255419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.383133365 meters Centerline goodness [0,1] 0.2893213638250005 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.23 [[ 9.99969400e-01 8.14379942e-04 -7.78052588e-03 2.57274324e+00] [-8.14082600e-04 9.99999668e-01 4.13831836e-05 2.33322263e-01] [ 7.78055700e-03 -3.50479266e-05 9.99969730e-01 -2.26749709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.413133365 meters Centerline goodness [0,1] 0.2902825817398682 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.23 [[ 9.99969276e-01 8.46398792e-04 -7.79297547e-03 2.57274572e+00] [-8.45157557e-04 9.99999630e-01 1.62567902e-04 2.32350434e-01] [ 7.79311018e-03 -1.55976615e-04 9.99969621e-01 -2.26689272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.443133365 meters Centerline goodness [0,1] 0.28802595997836666 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.23 [[ 9.99968846e-01 8.50146526e-04 -7.84757614e-03 2.57314737e+00] [-8.48885474e-04 9.99999626e-01 1.64022651e-04 2.31998943e-01] [ 7.84771265e-03 -1.57355847e-04 9.99969194e-01 -2.27113778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.473133365 meters Centerline goodness [0,1] 0.28828828828828834 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.23 [[ 9.99968756e-01 9.48827402e-04 -7.84769918e-03 2.57336397e+00] [-9.47068649e-04 9.99999526e-01 2.27823782e-04 2.31984224e-01] [ 7.84791163e-03 -2.20384354e-04 9.99969180e-01 -2.27506398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.503133365 meters Centerline goodness [0,1] 0.2916329432352619 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.23 [[ 9.99970097e-01 1.10852256e-03 -7.65346534e-03 2.57297181e+00] [-1.10617580e-03 9.99999340e-01 3.10853508e-04 2.32305040e-01] [ 7.65380487e-03 -3.02378134e-04 9.99970663e-01 -2.27667645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.533133365 meters Centerline goodness [0,1] 0.29045219582120674 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.23 [[ 9.99973860e-01 1.55372648e-03 -7.06146789e-03 2.57143029e+00] [-1.54917366e-03 9.99998589e-01 6.50164575e-04 2.32064065e-01] [ 7.06246810e-03 -6.39208140e-04 9.99974856e-01 -2.27503361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.563133365 meters Centerline goodness [0,1] 0.2921752397558849 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.23 [[ 9.99974497e-01 1.54357140e-03 -6.97305835e-03 2.57114544e+00] [-1.53951001e-03 9.99998642e-01 5.87769946e-04 2.32181066e-01] [ 6.97395615e-03 -5.77019863e-04 9.99975515e-01 -2.27408560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.593133365 meters Centerline goodness [0,1] 0.29129116023305035 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.23 [[ 9.99975192e-01 1.51408267e-03 -6.87920540e-03 2.57107089e+00] [-1.51072451e-03 9.99998737e-01 4.93331156e-04 2.32431221e-01] [ 6.87994366e-03 -4.82926333e-04 9.99976216e-01 -2.27693989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.623133365 meters Centerline goodness [0,1] 0.2872108814209653 Centerline is valid? [False, False] Translation: X:2.59, Y:0.24, Z:-0.23 [[ 9.99957219e-01 -5.40657672e-03 -7.50523818e-03 2.59036135e+00] [ 5.41994491e-03 9.99983760e-01 1.76198506e-03 2.38035859e-01] [ 7.49558998e-03 -1.80258766e-03 9.99970283e-01 -2.26331176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.653133365 meters Centerline goodness [0,1] 0.2889852820579222 Centerline is valid? [False, False] Translation: X:2.59, Y:0.24, Z:-0.23 [[ 9.99957394e-01 -5.32116061e-03 -7.54288806e-03 2.59069822e+00] [ 5.33536598e-03 9.99984029e-01 1.86441118e-03 2.37939116e-01] [ 7.53284676e-03 -1.90457582e-03 9.99969814e-01 -2.26750702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.683133365 meters Centerline goodness [0,1] 0.28732674551862825 Centerline is valid? [False, False] Translation: X:2.59, Y:0.24, Z:-0.23 [[ 9.99958215e-01 -5.22413894e-03 -7.50176481e-03 2.59078200e+00] [ 5.23939427e-03 9.99984243e-01 2.01535339e-03 2.37523535e-01] [ 7.49111812e-03 -2.05457388e-03 9.99969830e-01 -2.27063670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71313336499998 meters Centerline goodness [0,1] 0.28839738312898056 Centerline is valid? [False, False] Translation: X:2.59, Y:0.24, Z:-0.23 [[ 9.99959232e-01 -5.22105998e-03 -7.36712206e-03 2.59051993e+00] [ 5.23698194e-03 9.99983989e-01 2.14358524e-03 2.36364338e-01] [ 7.35581232e-03 -2.18207934e-03 9.99970565e-01 -2.27101257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74313336499998 meters Centerline goodness [0,1] 0.292323479324047 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.23 [[ 9.99973733e-01 2.21277104e-03 -6.90188068e-03 2.57134799e+00] [-2.20612154e-03 9.99997095e-01 9.70897663e-04 2.30693406e-01] [ 6.90400900e-03 -9.55645773e-04 9.99975710e-01 -2.28832842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77313336499998 meters Centerline goodness [0,1] 0.292569558101473 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.23 [[ 9.99973450e-01 2.12236197e-03 -6.97095772e-03 2.57149351e+00] [-2.11691340e-03 9.99997448e-01 7.88895952e-04 2.31371353e-01] [ 6.97261425e-03 -7.74118093e-04 9.99975391e-01 -2.28844667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80313336499998 meters Centerline goodness [0,1] 0.2874498318689662 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:-0.23 [[ 9.99972999e-01 2.07227872e-03 -7.05027912e-03 2.57184376e+00] [-2.06851336e-03 9.99997714e-01 5.41322151e-04 2.32905661e-01] [ 7.05138477e-03 -5.26723938e-04 9.99975000e-01 -2.29149424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83313336499998 meters Centerline goodness [0,1] 0.28706202370415146 Centerline is valid? [False, False] Translation: X:2.57, Y:0.24, Z:-0.23 [[ 9.99972210e-01 2.00916761e-03 -7.17937546e-03 2.57231678e+00] [-2.00814986e-03 9.99997973e-01 1.48966514e-04 2.35457407e-01] [ 7.17966020e-03 -1.34545113e-04 9.99974217e-01 -2.29500623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86313336499998 meters Centerline goodness [0,1] 0.29120233327529166 Centerline is valid? [False, False] Translation: X:2.57, Y:0.24, Z:-0.23 [[ 0.99995699 0.00567838 -0.00733319 2.57275268] [-0.00565607 0.99997932 0.00306009 0.24096468] [ 0.00735042 -0.00301848 0.99996843 -0.22970786] [ 0. 0. 0. 1. ]] SLAMing on 190.89313336499998 meters Centerline goodness [0,1] 0.2882959290187892 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:-0.23 [[ 9.99959031e-01 5.51183464e-03 -7.18018600e-03 2.57244084e+00] [-5.49561288e-03 9.99982307e-01 2.27701394e-03 2.45448384e-01] [ 7.19260948e-03 -2.23746113e-03 9.99971630e-01 -2.29917478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92313336499998 meters Centerline goodness [0,1] 0.28478755853417537 Centerline is valid? [False, False] Translation: X:2.59, Y:0.26, Z:-0.23 [[ 9.99967604e-01 -1.08222202e-03 -7.97624913e-03 2.59012008e+00] [ 1.10417611e-03 9.99995613e-01 2.74854345e-03 2.56490400e-01] [ 7.97323960e-03 -2.75726159e-03 9.99964412e-01 -2.28381554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95313336499999 meters Centerline goodness [0,1] 0.2926013380558835 Centerline is valid? [False, False] Translation: X:2.54, Y:0.26, Z:-0.23 [[ 9.99945976e-01 -1.29615256e-03 -1.03133158e-02 2.54471467e+00] [ 1.32439497e-03 9.99995391e-01 2.73208348e-03 2.57987671e-01] [ 1.03097271e-02 -2.74559479e-03 9.99943084e-01 -2.27989903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.983133365 meters Centerline goodness [0,1] 0.2883296184891043 Centerline is valid? [False, False] Translation: X:2.56, Y:0.26, Z:-0.23 [[ 9.99934542e-01 6.88866100e-03 -9.13552763e-03 2.56477437e+00] [-6.87945453e-03 9.99975797e-01 1.03880804e-03 2.60787119e-01] [ 9.14246252e-03 -9.75892592e-04 9.99957731e-01 -2.27383787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.013133365 meters Centerline goodness [0,1] 0.2896107008256541 Centerline is valid? [False, False] Translation: X:2.55, Y:0.27, Z:-0.23 [[ 9.99961001e-01 -1.28965430e-03 -8.73690716e-03 2.54514610e+00] [ 1.30712240e-03 9.99997158e-01 1.99393095e-03 2.67767059e-01] [ 8.73431085e-03 -2.00527339e-03 9.99959845e-01 -2.29474988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.043133365 meters Centerline goodness [0,1] 0.28707412671749144 Centerline is valid? [False, False] Translation: X:2.57, Y:0.27, Z:-0.23 [[ 9.99963735e-01 4.99284998e-03 -6.89932503e-03 2.56611184e+00] [-4.99923045e-03 9.99987092e-01 -9.07860131e-04 2.73522008e-01] [ 6.89470316e-03 9.42318523e-04 9.99975787e-01 -2.29561310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.073133365 meters Centerline goodness [0,1] 0.2921623968736431 Centerline is valid? [False, False] Translation: X:2.55, Y:0.28, Z:-0.23 [[ 9.99964618e-01 -3.66108304e-03 -7.57361192e-03 2.54590711e+00] [ 3.66200738e-03 9.99993289e-01 1.08182939e-04 2.77797631e-01] [ 7.57316502e-03 -1.35913734e-04 9.99971314e-01 -2.30591949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.103133365 meters Centerline goodness [0,1] 0.28877526702342005 Centerline is valid? [False, False] Translation: X:2.55, Y:0.28, Z:-0.23 [[ 9.99962329e-01 -3.72646872e-03 -7.83919949e-03 2.54658299e+00] [ 3.72623807e-03 9.99993057e-01 -4.40288807e-05 2.78912044e-01] [ 7.83930913e-03 1.48164986e-05 9.99969272e-01 -2.30654728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.133133365 meters Centerline goodness [0,1] 0.2871344777020616 Centerline is valid? [False, False] Translation: X:2.55, Y:0.28, Z:-0.23 [[ 9.99961179e-01 -3.79269716e-03 -7.95341797e-03 2.54693961e+00] [ 3.79143860e-03 9.99992797e-01 -1.73313176e-04 2.79791819e-01] [ 7.95401801e-03 1.43151552e-04 9.99968356e-01 -2.30751149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.163133365 meters Centerline goodness [0,1] 0.2890727975971823 Centerline is valid? [False, False] Translation: X:2.55, Y:0.28, Z:-0.23 [[ 9.99961710e-01 -3.87201886e-03 -7.84765936e-03 2.54656737e+00] [ 3.86998794e-03 9.99992474e-01 -2.73962062e-04 2.80243038e-01] [ 7.84866108e-03 2.43581225e-04 9.99969169e-01 -2.30539646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.193133365 meters Centerline goodness [0,1] 0.28902504568418785 Centerline is valid? [False, False] Translation: X:2.55, Y:0.28, Z:-0.23 [[ 9.99963149e-01 -3.95091166e-03 -7.62174487e-03 2.54575535e+00] [ 3.94779014e-03 9.99992117e-01 -4.24556171e-04 2.80987338e-01] [ 7.62336218e-03 3.94451477e-04 9.99970864e-01 -2.30126805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.223133365 meters Centerline goodness [0,1] 0.2951369359235062 Centerline is valid? [False, False] Translation: X:2.54, Y:0.28, Z:-0.23 [[ 9.99966702e-01 -3.94105916e-03 -7.14585081e-03 2.54373852e+00] [ 3.93661695e-03 9.99992049e-01 -6.35607475e-04 2.82838565e-01] [ 7.14829896e-03 6.07455833e-04 9.99974266e-01 -2.28750655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.253133365 meters Centerline goodness [0,1] 0.29292579444107714 Centerline is valid? [False, False] Translation: X:2.54, Y:0.28, Z:-0.23 [[ 9.99967246e-01 -3.95822136e-03 -7.05975526e-03 2.54343293e+00] [ 3.95277161e-03 9.99991879e-01 -7.85732179e-04 2.83909702e-01] [ 7.06280803e-03 7.57800842e-04 9.99974771e-01 -2.28641847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.283133365 meters Centerline goodness [0,1] 0.29315322302654256 Centerline is valid? [False, False] Translation: X:2.54, Y:0.28, Z:-0.23 [[ 9.99966376e-01 -4.00757932e-03 -7.15450150e-03 2.54377966e+00] [ 4.00090369e-03 9.99991548e-01 -9.47135757e-04 2.84786876e-01] [ 7.15823675e-03 9.18479439e-04 9.99973958e-01 -2.28872183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.313133365 meters Centerline goodness [0,1] 0.2989046067735094 Centerline is valid? [False, False] Translation: X:2.52, Y:0.28, Z:-0.23 [[ 9.99956566e-01 3.77146180e-03 -8.52306929e-03 2.52453225e+00] [-3.79080082e-03 9.99990275e-01 -2.25400648e-03 2.80111555e-01] [ 8.51448550e-03 2.28621783e-03 9.99961138e-01 -2.29958270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.343133365 meters Centerline goodness [0,1] 0.2930785012417666 Centerline is valid? [False, False] Translation: X:2.54, Y:0.29, Z:-0.23 [[ 9.99949420e-01 -3.78327733e-03 -9.31906740e-03 2.54461861e+00] [ 3.77029111e-03 9.99991897e-01 -1.41068427e-03 2.86051456e-01] [ 9.32432890e-03 1.37547732e-03 9.99955581e-01 -2.28910683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.373133365 meters Centerline goodness [0,1] 0.2964846051454383 Centerline is valid? [False, False] Translation: X:2.53, Y:0.28, Z:-0.23 [[ 9.99947520e-01 4.05290512e-03 -9.40912218e-03 2.52598958e+00] [-4.07634209e-03 9.99988634e-01 -2.47303747e-03 2.80806504e-01] [ 9.39899225e-03 2.51126248e-03 9.99952675e-01 -2.30827073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.403133365 meters Centerline goodness [0,1] 0.2936990105884395 Centerline is valid? [False, False] Translation: X:2.52, Y:0.28, Z:-0.23 [[ 9.99950460e-01 4.07002153e-03 -9.08366366e-03 2.52495373e+00] [-4.09132400e-03 9.99988921e-01 -2.32779109e-03 2.79847088e-01] [ 9.07408887e-03 2.36483998e-03 9.99956033e-01 -2.30342963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.433133365 meters Centerline goodness [0,1] 0.2937750744143911 Centerline is valid? [False, False] Translation: X:2.52, Y:0.28, Z:-0.23 [[ 9.99952045e-01 4.02536110e-03 -8.92776814e-03 2.52433658e+00] [-4.04586886e-03 9.99989216e-01 -2.28020552e-03 2.79002492e-01] [ 8.91849321e-03 2.31621675e-03 9.99957547e-01 -2.29924822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46313336499998 meters Centerline goodness [0,1] 0.2952530556033741 Centerline is valid? [False, False] Translation: X:2.52, Y:0.28, Z:-0.23 [[ 9.99952043e-01 3.97257519e-03 -8.95153108e-03 2.52423780e+00] [-3.99324086e-03 9.99989400e-01 -2.29192912e-03 2.78640054e-01] [ 8.94233133e-03 2.32756482e-03 9.99957308e-01 -2.29691600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49313336499998 meters Centerline goodness [0,1] 0.29746465455647697 Centerline is valid? [False, False] Translation: X:2.52, Y:0.28, Z:-0.23 [[ 9.99950607e-01 4.00491220e-03 -9.09641598e-03 2.52456631e+00] [-4.02566388e-03 9.99989334e-01 -2.26413986e-03 2.78764861e-01] [ 9.08725127e-03 2.30064714e-03 9.99956063e-01 -2.29702636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52313336499998 meters Centerline goodness [0,1] 0.29546043538355216 Centerline is valid? [False, False] Translation: X:2.53, Y:0.28, Z:-0.23 [[ 9.99948855e-01 4.05611068e-03 -9.26469104e-03 2.52504916e+00] [-4.07782018e-03 9.99988982e-01 -2.32556471e-03 2.79659838e-01] [ 9.25515621e-03 2.36322552e-03 9.99954378e-01 -2.29884960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55313336499998 meters Centerline goodness [0,1] 0.298611566633869 Centerline is valid? [False, False] Translation: X:2.51, Y:0.28, Z:-0.23 [[ 9.99937893e-01 -4.00148213e-03 -1.04017931e-02 2.50551853e+00] [ 3.99196024e-03 9.99991594e-01 -9.36009952e-04 2.83764015e-01] [ 1.04054511e-02 8.94428275e-04 9.99945462e-01 -2.31146611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58313336499998 meters Centerline goodness [0,1] 0.2937194109656972 Centerline is valid? [False, False] Translation: X:2.53, Y:0.28, Z:-0.23 [[ 0.99994702 0.00424633 -0.00937719 2.52594847] [-0.00427028 0.99998767 -0.00253547 0.28384769] [ 0.00936631 0.00257538 0.99995282 -0.23023932] [ 0. 0. 0. 1. ]] SLAMing on 191.61313336499998 meters Centerline goodness [0,1] 0.2923007480010317 Centerline is valid? [False, False] Translation: X:2.53, Y:0.29, Z:-0.23 [[ 0.9999482 0.00416554 -0.0092869 2.52580035] [-0.00419165 0.99998731 -0.00279442 0.28514218] [ 0.00927514 0.0028332 0.99995297 -0.23044251] [ 0. 0. 0. 1. ]] SLAMing on 191.64313336499998 meters Centerline goodness [0,1] 0.2923007480010317 Centerline is valid? [False, False] Translation: X:2.53, Y:0.29, Z:-0.23 [[ 0.9999482 0.00416554 -0.0092869 2.52580035] [-0.00419165 0.99998731 -0.00279442 0.28514218] [ 0.00927514 0.0028332 0.99995297 -0.23044251] [ 0. 0. 0. 1. ]] SLAMing on 191.67313336499998 meters Centerline goodness [0,1] 0.2926740084315581 Centerline is valid? [False, False] Translation: X:2.53, Y:0.29, Z:-0.23 [[ 0.99994801 0.0041225 -0.0093264 2.52605381] [-0.00415048 0.99998694 -0.00298255 0.28629976] [ 0.00931398 0.00302111 0.99995206 -0.23071093] [ 0. 0. 0. 1. ]] SLAMing on 191.70313336499999 meters Centerline goodness [0,1] 0.29533408636719094 Centerline is valid? [False, False] Translation: X:2.51, Y:0.29, Z:-0.23 [[ 9.99938242e-01 -4.03027409e-03 -1.03570816e-02 2.50723597e+00] [ 4.01375797e-03 9.99990641e-01 -1.61496126e-03 2.90371264e-01] [ 1.03634934e-02 1.57329071e-03 9.99945060e-01 -2.32449631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.733133365 meters Centerline goodness [0,1] 0.3008515283842794 Centerline is valid? [False, False] Translation: X:2.51, Y:0.29, Z:-0.23 [[ 9.99936472e-01 -4.12517785e-03 -1.04897768e-02 2.50776003e+00] [ 4.10591573e-03 9.99989846e-01 -1.85714830e-03 2.91547779e-01] [ 1.04973314e-02 1.81396017e-03 9.99943256e-01 -2.32827962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.763133365 meters Centerline goodness [0,1] 0.2927097720994475 Centerline is valid? [False, False] Translation: X:2.53, Y:0.29, Z:-0.23 [[ 0.99994109 0.00391533 -0.01012355 2.52787414] [-0.00394989 0.99998643 -0.00339609 0.29084148] [ 0.01011012 0.00343587 0.99994299 -0.2318549 ] [ 0. 0. 0. 1. ]] SLAMing on 191.793133365 meters Centerline goodness [0,1] 0.29791118742800005 Centerline is valid? [False, False] Translation: X:2.53, Y:0.29, Z:-0.23 [[ 0.99994129 0.00372256 -0.01017591 2.52818058] [-0.00376417 0.99998462 -0.00407294 0.29487366] [ 0.01016059 0.00411101 0.99993993 -0.23223438] [ 0. 0. 0. 1. ]] SLAMing on 191.823133365 meters Centerline goodness [0,1] 0.29026152787336545 Centerline is valid? [False, False] Translation: X:2.55, Y:0.30, Z:-0.23 [[ 9.99951765e-01 -1.95240126e-03 -9.62582952e-03 2.54915534e+00] [ 1.94021998e-03 9.99997305e-01 -1.27465441e-03 3.00479324e-01] [ 9.62829221e-03 1.25591670e-03 9.99952858e-01 -2.32145249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.853133365 meters Centerline goodness [0,1] 0.295951170771971 Centerline is valid? [False, False] Translation: X:2.55, Y:0.30, Z:-0.23 [[ 9.99952667e-01 -2.03340783e-03 -9.51462705e-03 2.54874414e+00] [ 2.01870120e-03 9.99996753e-01 -1.55503537e-03 3.02225915e-01] [ 9.51775818e-03 1.53575457e-03 9.99953526e-01 -2.31975149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.883133365 meters Centerline goodness [0,1] 0.2978122487996697 Centerline is valid? [False, False] Translation: X:2.55, Y:0.30, Z:-0.23 [[ 9.99953593e-01 -2.13778757e-03 -9.39369843e-03 2.54823767e+00] [ 2.12041594e-03 9.99996024e-01 -1.85885586e-03 3.03840784e-01] [ 9.39763493e-03 1.83885105e-03 9.99954150e-01 -2.31699822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.913133365 meters Centerline goodness [0,1] 0.29879345514517597 Centerline is valid? [False, False] Translation: X:2.55, Y:0.30, Z:-0.23 [[ 9.99953956e-01 -2.18971755e-03 -9.34292299e-03 2.54790694e+00] [ 2.17077972e-03 9.99995570e-01 -2.03663082e-03 3.04953593e-01] [ 9.34734125e-03 2.01625562e-03 9.99954280e-01 -2.31388567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.943133365 meters Centerline goodness [0,1] 0.2992901605329257 Centerline is valid? [False, False] Translation: X:2.55, Y:0.31, Z:-0.23 [[ 9.99954086e-01 -2.24168946e-03 -9.31667440e-03 2.54770114e+00] [ 2.22146907e-03 9.99995156e-01 -2.18012599e-03 3.05857095e-01] [ 9.32151643e-03 2.15932919e-03 9.99954222e-01 -2.31192392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.973133365 meters Centerline goodness [0,1] 0.2966386736974589 Centerline is valid? [False, False] Translation: X:2.55, Y:0.31, Z:-0.23 [[ 9.99954119e-01 -2.27745902e-03 -9.30442667e-03 2.54759177e+00] [ 2.25625152e-03 9.99994835e-01 -2.28915198e-03 3.06635639e-01] [ 9.30959205e-03 2.26805383e-03 9.99954093e-01 -2.31085651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.003133365 meters Centerline goodness [0,1] 0.29347030193392776 Centerline is valid? [False, False] Translation: X:2.55, Y:0.31, Z:-0.23 [[ 9.99954799e-01 -2.32910982e-03 -9.21821571e-03 2.54737756e+00] [ 2.30713509e-03 9.99994474e-01 -2.39375507e-03 3.07300136e-01] [ 9.22374009e-03 2.37237920e-03 9.99954646e-01 -2.31085945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.033133365 meters Centerline goodness [0,1] 0.29550735863671573 Centerline is valid? [False, False] Translation: X:2.55, Y:0.31, Z:-0.23 [[ 9.99957955e-01 -2.43663067e-03 -8.84025301e-03 2.54608368e+00] [ 2.41424852e-03 9.99993856e-01 -2.54163399e-03 3.07999102e-01] [ 8.84639172e-03 2.52018456e-03 9.99957694e-01 -2.30429920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.063133365 meters Centerline goodness [0,1] 0.2971237690338814 Centerline is valid? [False, False] Translation: X:2.55, Y:0.31, Z:-0.23 [[ 9.99957226e-01 -2.52334844e-03 -8.89828496e-03 2.54602802e+00] [ 2.49946659e-03 9.99993248e-01 -2.69397152e-03 3.08615923e-01] [ 8.90502271e-03 2.67161532e-03 9.99956781e-01 -2.30129500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.093133365 meters Centerline goodness [0,1] 0.3008735249688027 Centerline is valid? [False, False] Translation: X:2.55, Y:0.31, Z:-0.23 [[ 0.99995524 -0.00259339 -0.00909875 2.54650866] [ 0.00256737 0.99999258 -0.00287034 0.30954384] [ 0.00910612 0.00284686 0.99995449 -0.23018396] [ 0. 0. 0. 1. ]] SLAMing on 192.123133365 meters Centerline goodness [0,1] 0.29567688336478604 Centerline is valid? [False, False] Translation: X:2.55, Y:0.31, Z:-0.23 [[ 0.99995165 -0.00261182 -0.00947981 2.54760733] [ 0.0025832 0.99999207 -0.00302949 0.31077361] [ 0.00948764 0.00300485 0.99995048 -0.2305505 ] [ 0. 0. 0. 1. ]] SLAMing on 192.153133365 meters Centerline goodness [0,1] 0.2954142715131607 Centerline is valid? [False, False] Translation: X:2.55, Y:0.31, Z:-0.23 [[ 0.99994876 -0.00263047 -0.00977489 2.54873301] [ 0.00259908 0.99999143 -0.00322283 0.31226587] [ 0.00978329 0.00319726 0.99994703 -0.23124342] [ 0. 0. 0. 1. ]] SLAMing on 192.183133365 meters Centerline goodness [0,1] 0.298556844648571 Centerline is valid? [False, False] Translation: X:2.55, Y:0.31, Z:-0.23 [[ 0.99994619 -0.0027287 -0.01000868 2.54962236] [ 0.00269318 0.99999004 -0.00356001 0.31422412] [ 0.01001829 0.00353286 0.99994357 -0.23181449] [ 0. 0. 0. 1. ]] SLAMing on 192.21313336499998 meters Centerline goodness [0,1] 0.295695191806978 Centerline is valid? [False, False] Translation: X:2.55, Y:0.31, Z:-0.23 [[ 0.99994639 -0.00279254 -0.00997072 2.54928439] [ 0.00275635 0.99998957 -0.00364111 0.31451322] [ 0.00998078 0.00361343 0.99994366 -0.23142656] [ 0. 0. 0. 1. ]] SLAMing on 192.24313336499998 meters Centerline goodness [0,1] 0.29256319875440606 Centerline is valid? [False, False] Translation: X:2.55, Y:0.31, Z:-0.23 [[ 0.9999469 -0.00279035 -0.00992034 2.54884561] [ 0.00275426 0.99998955 -0.00364906 0.31471066] [ 0.00993042 0.00362154 0.99994413 -0.23089471] [ 0. 0. 0. 1. ]] SLAMing on 192.27313336499998 meters Centerline goodness [0,1] 0.2974204002978146 Centerline is valid? [False, False] Translation: X:2.53, Y:0.31, Z:-0.23 [[ 0.99993911 0.00516779 -0.00975081 2.52841889] [-0.00521236 0.99997606 -0.00455137 0.30934596] [ 0.00972706 0.00460192 0.9999421 -0.23152838] [ 0. 0. 0. 1. ]] SLAMing on 192.30313336499998 meters Centerline goodness [0,1] 0.2964992851262943 Centerline is valid? [False, False] Translation: X:2.55, Y:0.31, Z:-0.23 [[ 0.99995435 -0.00263908 -0.00918296 2.54754417] [ 0.00260818 0.9999909 -0.00337574 0.31442717] [ 0.00919178 0.00335164 0.99995214 -0.22999384] [ 0. 0. 0. 1. ]] SLAMing on 192.33313336499998 meters Centerline goodness [0,1] 0.2980456741326306 Centerline is valid? [False, False] Translation: X:2.53, Y:0.31, Z:-0.23 [[ 0.99994402 0.00507548 -0.00928447 2.52816967] [-0.00511883 0.99997608 -0.00465155 0.30902379] [ 0.00926064 0.00469882 0.99994608 -0.23138078] [ 0. 0. 0. 1. ]] SLAMing on 192.36313336499998 meters Centerline goodness [0,1] 0.2935946918773581 Centerline is valid? [False, False] Translation: X:2.55, Y:0.31, Z:-0.23 [[ 0.99994409 -0.00315191 -0.01009352 2.5495289 ] [ 0.00311048 0.99998669 -0.00411741 0.31327281] [ 0.01010636 0.00408578 0.99994058 -0.23104908] [ 0. 0. 0. 1. ]] SLAMing on 192.39313336499998 meters Centerline goodness [0,1] 0.29573836346170645 Centerline is valid? [False, False] Translation: X:2.55, Y:0.31, Z:-0.23 [[ 0.99994208 -0.00311763 -0.01030099 2.55030045] [ 0.00307555 0.99998687 -0.00409878 0.31334817] [ 0.01031364 0.00406686 0.99993854 -0.23150964] [ 0. 0. 0. 1. ]] SLAMing on 192.42313336499998 meters Centerline goodness [0,1] 0.29083545176440173 Centerline is valid? [False, False] Translation: X:2.57, Y:0.31, Z:-0.23 [[ 0.99992917 0.00489946 -0.01084632 2.57079084] [-0.00495487 0.99997478 -0.00508809 0.31018149] [ 0.01082112 0.00514147 0.99992823 -0.2302076 ] [ 0. 0. 0. 1. ]] SLAMing on 192.45313336499999 meters Centerline goodness [0,1] 0.2902307526417942 Centerline is valid? [False, False] Translation: X:2.57, Y:0.31, Z:-0.23 [[ 0.9999284 0.00486366 -0.01093314 2.57080434] [-0.00492015 0.99997466 -0.00514568 0.31024354] [ 0.01090783 0.0051991 0.99992699 -0.22994533] [ 0. 0. 0. 1. ]] SLAMing on 192.483133365 meters Centerline goodness [0,1] 0.29075280923203495 Centerline is valid? [False, False] Translation: X:2.57, Y:0.31, Z:-0.23 [[ 0.99992837 0.00485567 -0.01093991 2.57063956] [-0.00491199 0.99997479 -0.00512751 0.31003096] [ 0.01091474 0.00518087 0.99992701 -0.22970093] [ 0. 0. 0. 1. ]] SLAMing on 192.513133365 meters Centerline goodness [0,1] 0.2916162750518314 Centerline is valid? [False, False] Translation: X:2.57, Y:0.31, Z:-0.23 [[ 0.9999286 0.00488929 -0.01090381 2.57032493] [-0.00494443 0.9999751 -0.00503506 0.30950386] [ 0.01087892 0.00508862 0.99992787 -0.22938778] [ 0. 0. 0. 1. ]] SLAMing on 192.543133365 meters Centerline goodness [0,1] 0.2934688393863223 Centerline is valid? [False, False] Translation: X:2.57, Y:0.31, Z:-0.23 [[ 0.99993363 0.00495828 -0.01039932 2.56876451] [-0.0050074 0.9999764 -0.00470308 0.30750256] [ 0.01037575 0.00475484 0.99993487 -0.22875977] [ 0. 0. 0. 1. ]] SLAMing on 192.573133365 meters Centerline goodness [0,1] 0.2964740110295714 Centerline is valid? [False, False] Translation: X:2.57, Y:0.31, Z:-0.23 [[ 0.99993541 0.00504545 -0.01018437 2.56799426] [-0.00509087 0.99997719 -0.00443885 0.30601736] [ 0.01016175 0.00449041 0.99993829 -0.22833422] [ 0. 0. 0. 1. ]] SLAMing on 192.603133365 meters Centerline goodness [0,1] 0.2954263717622496 Centerline is valid? [False, False] Translation: X:2.57, Y:0.30, Z:-0.23 [[ 0.99993667 0.00511703 -0.01002342 2.56755903] [-0.00515934 0.99997787 -0.00419999 0.30465298] [ 0.0100017 0.00425143 0.99994094 -0.22821919] [ 0. 0. 0. 1. ]] SLAMing on 192.633133365 meters Centerline goodness [0,1] 0.29304100375113185 Centerline is valid? [False, False] Translation: X:2.59, Y:0.31, Z:-0.23 [[ 9.99953503e-01 -2.45575308e-03 -9.32533389e-03 2.58626279e+00] [ 2.43063445e-03 9.99993390e-01 -2.70396889e-03 3.08065360e-01] [ 9.33191254e-03 2.68117669e-03 9.99952862e-01 -2.26697816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.663133365 meters Centerline goodness [0,1] 0.2934111187371311 Centerline is valid? [False, False] Translation: X:2.59, Y:0.31, Z:-0.23 [[ 9.99954079e-01 -2.35486645e-03 -9.28948045e-03 2.58597089e+00] [ 2.33174467e-03 9.99994159e-01 -2.49907454e-03 3.07152165e-01] [ 9.29531118e-03 2.47729908e-03 9.99953729e-01 -2.26406266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.693133365 meters Centerline goodness [0,1] 0.29555762928883 Centerline is valid? [False, False] Translation: X:2.56, Y:0.30, Z:-0.23 [[ 0.99994732 0.00597164 -0.00834845 2.56471175] [-0.00599821 0.99997701 -0.00316136 0.30155459] [ 0.00832938 0.00321127 0.99996015 -0.22746207] [ 0. 0. 0. 1. ]] SLAMing on 192.723133365 meters Centerline goodness [0,1] 0.29110390586416435 Centerline is valid? [False, False] Translation: X:2.58, Y:0.31, Z:-0.23 [[ 9.99961536e-01 -1.17861077e-03 -8.69124631e-03 2.58346812e+00] [ 1.15818311e-03 9.99996556e-01 -2.35502966e-03 3.08632959e-01] [ 8.69399204e-03 2.34487302e-03 9.99959457e-01 -2.26370848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.753133365 meters Centerline goodness [0,1] 0.29364633724948164 Centerline is valid? [False, False] Translation: X:2.58, Y:0.31, Z:-0.23 [[ 9.99959749e-01 -1.16430977e-03 -8.89638697e-03 2.58420822e+00] [ 1.14028677e-03 9.99995692e-01 -2.70490492e-03 3.10917075e-01] [ 8.89949799e-03 2.69465161e-03 9.99956768e-01 -2.26907521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.783133365 meters Centerline goodness [0,1] 0.29364633724948164 Centerline is valid? [False, False] Translation: X:2.58, Y:0.31, Z:-0.23 [[ 9.99959749e-01 -1.16430977e-03 -8.89638697e-03 2.58420822e+00] [ 1.14028677e-03 9.99995692e-01 -2.70490492e-03 3.10917075e-01] [ 8.89949799e-03 2.69465161e-03 9.99956768e-01 -2.26907521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.813133365 meters Centerline goodness [0,1] 0.29354887773504557 Centerline is valid? [False, False] Translation: X:2.59, Y:0.32, Z:-0.23 [[ 9.99954513e-01 2.51136566e-03 -9.20138009e-03 2.58533816e+00] [-2.51045467e-03 9.99996843e-01 1.10554239e-04 3.16544413e-01] [ 9.20162868e-03 -8.74495625e-05 9.99957660e-01 -2.27749326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.843133365 meters Centerline goodness [0,1] 0.2921709654288259 Centerline is valid? [False, False] Translation: X:2.59, Y:0.32, Z:-0.23 [[ 9.99954876e-01 2.52501217e-03 -9.15805507e-03 2.58523347e+00] [-2.52882847e-03 9.99996720e-01 -4.05159778e-04 3.20165027e-01] [ 9.15700200e-03 4.28300646e-04 9.99957982e-01 -2.27914587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.873133365 meters Centerline goodness [0,1] 0.2909658401248483 Centerline is valid? [False, False] Translation: X:2.58, Y:0.32, Z:-0.23 [[ 9.99956078e-01 2.39680051e-03 -9.06070849e-03 2.58492865e+00] [-2.40619557e-03 9.99996579e-01 -1.02614269e-03 3.23792978e-01] [ 9.05821803e-03 1.04789946e-03 9.99958424e-01 -2.27943366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.903133365 meters Centerline goodness [0,1] 0.29061263121665803 Centerline is valid? [False, False] Translation: X:2.58, Y:0.33, Z:-0.23 [[ 9.99957569e-01 2.16857693e-03 -8.95307358e-03 2.58457341e+00] [-2.18331229e-03 9.99996278e-01 -1.63639898e-03 3.26886317e-01] [ 8.94949160e-03 1.65587690e-03 9.99958581e-01 -2.27885719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.933133365 meters Centerline goodness [0,1] 0.2913162843987116 Centerline is valid? [False, False] Translation: X:2.58, Y:0.33, Z:-0.23 [[ 9.99958359e-01 1.93727849e-03 -8.91785389e-03 2.58424654e+00] [-1.95645338e-03 9.99995792e-01 -2.14194768e-03 3.29136226e-01] [ 8.91366682e-03 2.15930585e-03 9.99957941e-01 -2.27590120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96313336499998 meters Centerline goodness [0,1] 0.28771333992519665 Centerline is valid? [False, False] Translation: X:2.58, Y:0.33, Z:-0.23 [[ 9.99956712e-01 1.63342291e-03 -9.15997075e-03 2.58437369e+00] [-1.65716608e-03 9.99995286e-01 -2.58506605e-03 3.31258990e-01] [ 9.15570506e-03 2.60013374e-03 9.99954705e-01 -2.26953466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99313336499998 meters Centerline goodness [0,1] 0.29468556824883685 Centerline is valid? [False, False] Translation: X:2.56, Y:0.33, Z:-0.23 [[ 9.99928597e-01 -6.88986604e-03 -9.76369452e-03 2.56321075e+00] [ 6.87675691e-03 9.99975409e-01 -1.37557759e-03 3.33014939e-01] [ 9.77293196e-03 1.30833682e-03 9.99951388e-01 -2.27885838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02313336499998 meters Centerline goodness [0,1] 0.29148292261132724 Centerline is valid? [False, False] Translation: X:2.58, Y:0.33, Z:-0.23 [[ 9.99965828e-01 6.05952681e-04 -8.24478455e-03 2.58234112e+00] [-6.25860275e-04 9.99996895e-01 -2.41220227e-03 3.29441205e-01] [ 8.24329727e-03 2.41727993e-03 9.99963102e-01 -2.27168419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05313336499998 meters Centerline goodness [0,1] 0.2906756698636618 Centerline is valid? [False, False] Translation: X:2.58, Y:0.33, Z:-0.23 [[ 9.99966947e-01 3.96284247e-04 -8.12078976e-03 2.58213955e+00] [-4.14934125e-04 9.99997280e-01 -2.29500360e-03 3.27767658e-01] [ 8.11985820e-03 2.29829734e-03 9.99964392e-01 -2.27127491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08313336499998 meters Centerline goodness [0,1] 0.297130291368884 Centerline is valid? [False, False] Translation: X:2.54, Y:0.32, Z:-0.23 [[ 9.99947695e-01 -1.17776263e-03 -1.01597363e-02 2.53752260e+00] [ 1.14437712e-03 9.99993929e-01 -3.29124846e-03 3.23375175e-01] [ 1.01635509e-02 3.27944974e-03 9.99942972e-01 -2.27351079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11313336499998 meters Centerline goodness [0,1] 0.2919969759153256 Centerline is valid? [False, False] Translation: X:2.58, Y:0.32, Z:-0.23 [[ 9.99958222e-01 -1.60415637e-03 -8.99889871e-03 2.58213557e+00] [ 1.57286891e-03 9.99992698e-01 -3.48281046e-03 3.24518027e-01] [ 9.00441997e-03 3.46851087e-03 9.99953444e-01 -2.27455522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14313336499998 meters Centerline goodness [0,1] 0.2912892136726266 Centerline is valid? [False, False] Translation: X:2.59, Y:0.32, Z:-0.23 [[ 9.99948734e-01 -1.22583659e-03 -1.00511796e-02 2.58559127e+00] [ 1.19442536e-03 9.99994387e-01 -3.13053633e-03 3.24604826e-01] [ 1.00549607e-02 3.11837046e-03 9.99944585e-01 -2.28964357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17313336499998 meters Centerline goodness [0,1] 0.28927302660081444 Centerline is valid? [False, False] Translation: X:2.59, Y:0.33, Z:-0.23 [[ 9.99944884e-01 -1.18134214e-03 -1.04323399e-02 2.58696007e+00] [ 1.14748623e-03 9.99994058e-01 -3.25067373e-03 3.25581844e-01] [ 1.04361180e-02 3.23852360e-03 9.99940298e-01 -2.29771406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20313336499999 meters Centerline goodness [0,1] 0.28764637255325587 Centerline is valid? [False, False] Translation: X:2.59, Y:0.33, Z:-0.23 [[ 9.99944270e-01 -1.20833803e-03 -1.04879135e-02 2.58731584e+00] [ 1.17180330e-03 9.99993227e-01 -3.48895441e-03 3.26886639e-01] [ 1.04920583e-02 3.47647020e-03 9.99938914e-01 -2.30187064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.233133365 meters Centerline goodness [0,1] 0.289752880171834 Centerline is valid? [False, False] Translation: X:2.59, Y:0.33, Z:-0.23 [[ 9.99946995e-01 -1.22881248e-03 -1.02223646e-02 2.58655864e+00] [ 1.19112265e-03 9.99992474e-01 -3.69226903e-03 3.27990774e-01] [ 1.02268247e-02 3.67989723e-03 9.99940933e-01 -2.30074091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.263133365 meters Centerline goodness [0,1] 0.28939407036044607 Centerline is valid? [False, False] Translation: X:2.59, Y:0.33, Z:-0.23 [[ 9.99949871e-01 -1.22065920e-03 -9.93807631e-03 2.58563982e+00] [ 1.18182877e-03 9.99991649e-01 -3.91217411e-03 3.29487889e-01] [ 9.94276875e-03 3.90023289e-03 9.99942963e-01 -2.29799136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.293133365 meters Centerline goodness [0,1] 0.2891667928773881 Centerline is valid? [False, False] Translation: X:2.59, Y:0.33, Z:-0.23 [[ 9.99951227e-01 -1.20791762e-03 -9.80228728e-03 2.58516091e+00] [ 1.16795334e-03 9.99990988e-01 -4.08173694e-03 3.30812944e-01] [ 9.80712934e-03 4.07008925e-03 9.99943626e-01 -2.29656502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.323133365 meters Centerline goodness [0,1] 0.2868280850695196 Centerline is valid? [False, False] Translation: X:2.59, Y:0.33, Z:-0.23 [[ 9.99950726e-01 -1.25978903e-03 -9.84674515e-03 2.58548708e+00] [ 1.21677641e-03 9.99989698e-01 -4.37297781e-03 3.32615030e-01] [ 9.85215274e-03 4.36078105e-03 9.99941958e-01 -2.30104666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.353133365 meters Centerline goodness [0,1] 0.2861164839888244 Centerline is valid? [False, False] Translation: X:2.59, Y:0.33, Z:-0.23 [[ 9.99950338e-01 -1.33224078e-03 -9.87654311e-03 2.58553850e+00] [ 1.28812462e-03 9.99989172e-01 -4.47177785e-03 3.32930675e-01] [ 9.88239366e-03 4.45883356e-03 9.99941227e-01 -2.30082447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.383133365 meters Centerline goodness [0,1] 0.28790691650116573 Centerline is valid? [False, False] Translation: X:2.59, Y:0.33, Z:-0.23 [[ 9.99950392e-01 -1.33732636e-03 -9.87042164e-03 2.58531697e+00] [ 1.29406940e-03 9.99989537e-01 -4.38756974e-03 3.32287500e-01] [ 9.87618598e-03 4.37457907e-03 9.99941660e-01 -2.29769276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.413133365 meters Centerline goodness [0,1] 0.29004216108141 Centerline is valid? [False, False] Translation: X:2.58, Y:0.33, Z:-0.23 [[ 9.99951344e-01 -1.28859702e-03 -9.77999651e-03 2.58479218e+00] [ 1.24754909e-03 9.99990393e-01 -4.20207278e-03 3.31390902e-01] [ 9.78531734e-03 4.18966730e-03 9.99943346e-01 -2.29251974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.443133365 meters Centerline goodness [0,1] 0.2913850983127697 Centerline is valid? [False, False] Translation: X:2.58, Y:0.33, Z:-0.23 [[ 9.99953383e-01 -1.20666973e-03 -9.57991785e-03 2.58412684e+00] [ 1.16913585e-03 9.99991623e-01 -3.92260955e-03 3.30054342e-01] [ 9.58457089e-03 3.91122647e-03 9.99946418e-01 -2.28898985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.473133365 meters Centerline goodness [0,1] 0.28972570091433025 Centerline is valid? [False, False] Translation: X:2.58, Y:0.33, Z:-0.23 [[ 9.99957364e-01 -1.25812902e-03 -9.14803211e-03 2.58301457e+00] [ 1.22676656e-03 9.99993354e-01 -3.43313231e-03 3.26375412e-01] [ 9.15229064e-03 3.42176344e-03 9.99952262e-01 -2.28548398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.503133365 meters Centerline goodness [0,1] 0.2915365261148707 Centerline is valid? [False, False] Translation: X:2.58, Y:0.32, Z:-0.23 [[ 9.99956943e-01 -1.21016286e-03 -9.20038370e-03 2.58333386e+00] [ 1.18134081e-03 9.99994380e-01 -3.13748989e-03 3.24367654e-01] [ 9.20412887e-03 3.12648601e-03 9.99952753e-01 -2.28801786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.533133365 meters Centerline goodness [0,1] 0.2915365261148707 Centerline is valid? [False, False] Translation: X:2.58, Y:0.32, Z:-0.23 [[ 9.99956943e-01 -1.21016286e-03 -9.20038370e-03 2.58333386e+00] [ 1.18134081e-03 9.99994380e-01 -3.13748989e-03 3.24367654e-01] [ 9.20412887e-03 3.12648601e-03 9.99952753e-01 -2.28801786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.563133365 meters Centerline goodness [0,1] 0.28890519455294905 Centerline is valid? [False, False] Translation: X:2.58, Y:0.32, Z:-0.23 [[ 9.99954309e-01 -1.05281282e-03 -9.50113970e-03 2.58440014e+00] [ 1.02711218e-03 9.99995802e-01 -2.70948070e-03 3.22116827e-01] [ 9.50395239e-03 2.69959816e-03 9.99951192e-01 -2.29354916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.593133365 meters Centerline goodness [0,1] 0.2906794425087108 Centerline is valid? [False, False] Translation: X:2.59, Y:0.32, Z:-0.23 [[ 9.99951978e-01 -8.32898387e-04 -9.76457953e-03 2.58530761e+00] [ 8.11470104e-04 9.99997255e-01 -2.19824768e-03 3.19725828e-01] [ 9.76638363e-03 2.19021846e-03 9.99949909e-01 -2.29816538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.623133365 meters Centerline goodness [0,1] 0.2915907710989678 Centerline is valid? [False, False] Translation: X:2.59, Y:0.32, Z:-0.23 [[ 9.99950338e-01 -6.13253195e-04 -9.94711463e-03 2.58597616e+00] [ 5.96270096e-04 9.99998360e-01 -1.71021501e-03 3.17445194e-01] [ 9.94814711e-03 1.70419891e-03 9.99949064e-01 -2.30155186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.653133365 meters Centerline goodness [0,1] 0.2904747479118882 Centerline is valid? [False, False] Translation: X:2.59, Y:0.32, Z:-0.23 [[ 9.99949880e-01 -4.49361281e-04 -1.00017473e-02 2.58630252e+00] [ 4.36109458e-04 9.99999024e-01 -1.32709242e-03 3.15427437e-01] [ 1.00023339e-02 1.32266405e-03 9.99949101e-01 -2.30441791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.683133365 meters Centerline goodness [0,1] 0.2872265046271445 Centerline is valid? [False, False] Translation: X:2.59, Y:0.31, Z:-0.23 [[ 9.99952046e-01 -1.32178189e-04 -9.79228607e-03 2.58585016e+00] [ 1.26989234e-04 9.99999851e-01 -5.30522099e-04 3.10877722e-01] [ 9.79235473e-03 5.29253144e-04 9.99951914e-01 -2.30458651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71313336499998 meters Centerline goodness [0,1] 0.2922979797979798 Centerline is valid? [False, False] Translation: X:2.54, Y:0.30, Z:-0.23 [[ 9.99933460e-01 -3.31237289e-04 -1.15311188e-02 2.53932772e+00] [ 3.29976078e-04 9.99999939e-01 -1.11276916e-04 3.04167334e-01] [ 1.15311549e-02 1.07464519e-04 9.99933508e-01 -2.29772431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74313336499998 meters Centerline goodness [0,1] 0.29120902879875465 Centerline is valid? [False, False] Translation: X:2.54, Y:0.30, Z:-0.23 [[ 9.99935385e-01 -1.55172167e-04 -1.13666919e-02 2.53887152e+00] [ 1.60288184e-04 9.99999886e-01 4.49178848e-04 3.01036667e-01] [ 1.13666209e-02 -4.50971771e-04 9.99935296e-01 -2.29606544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77313336499998 meters Centerline goodness [0,1] 0.29342635996947564 Centerline is valid? [False, False] Translation: X:2.54, Y:0.30, Z:-0.23 [[ 9.99936343e-01 -2.45068915e-05 -1.12831403e-02 2.53877383e+00] [ 3.52294089e-05 9.99999548e-01 9.50115455e-04 2.97976882e-01] [ 1.12831119e-02 -9.50452472e-04 9.99935892e-01 -2.29707906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80313336499998 meters Centerline goodness [0,1] 0.29094799636882374 Centerline is valid? [False, False] Translation: X:2.54, Y:0.30, Z:-0.23 [[ 9.99933929e-01 2.89783901e-05 -1.14951078e-02 2.53963735e+00] [-1.38684510e-05 9.99999136e-01 1.31454446e-03 2.95314284e-01] [ 1.14951360e-02 -1.31429819e-03 9.99933065e-01 -2.30200227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83313336499998 meters Centerline goodness [0,1] 0.2950056803285852 Centerline is valid? [False, False] Translation: X:2.52, Y:0.29, Z:-0.23 [[ 9.99894730e-01 7.48140188e-03 -1.24321173e-02 2.52141963e+00] [-7.48252698e-03 9.99972005e-01 -4.39880208e-05 2.86919399e-01] [ 1.24314402e-02 1.37007044e-04 9.99922717e-01 -2.32247240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86313336499998 meters Centerline goodness [0,1] 0.29380982491332885 Centerline is valid? [False, False] Translation: X:2.52, Y:0.29, Z:-0.23 [[ 9.99891921e-01 7.51676088e-03 -1.26350689e-02 2.52217821e+00] [-7.51482728e-03 9.99971743e-01 2.00505138e-04 2.85156452e-01] [ 1.26362190e-02 -1.05533108e-04 9.99920154e-01 -2.32688474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89313336499998 meters Centerline goodness [0,1] 0.29466509372132654 Centerline is valid? [False, False] Translation: X:2.52, Y:0.28, Z:-0.23 [[ 9.99890760e-01 7.58940052e-03 -1.26834149e-02 2.52243930e+00] [-7.58363205e-03 9.99971117e-01 5.02838501e-04 2.83292722e-01] [ 1.26868648e-02 -4.06597219e-04 9.99919436e-01 -2.32922421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92313336499998 meters Centerline goodness [0,1] 0.2944689975057979 Centerline is valid? [False, False] Translation: X:2.52, Y:0.28, Z:-0.23 [[ 9.99891254e-01 7.68884020e-03 -1.25841719e-02 2.52220510e+00] [-7.67920666e-03 9.99970183e-01 8.13670340e-04 2.81679224e-01] [ 1.25900529e-02 -7.16945400e-04 9.99920485e-01 -2.32921239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95313336499999 meters Centerline goodness [0,1] 0.29221924609655714 Centerline is valid? [False, False] Translation: X:2.52, Y:0.28, Z:-0.23 [[ 9.99888185e-01 7.86939951e-03 -1.27157094e-02 2.52256017e+00] [-7.85126791e-03 9.99968090e-01 1.47521217e-03 2.78304983e-01] [ 1.27269127e-02 -1.37521278e-03 9.99918064e-01 -2.32948279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.983133365 meters Centerline goodness [0,1] 0.2925966131133304 Centerline is valid? [False, False] Translation: X:2.52, Y:0.28, Z:-0.23 [[ 9.99884982e-01 7.83889881e-03 -1.29836144e-02 2.52357744e+00] [-7.81839915e-03 9.99968109e-01 1.62889360e-03 2.76982909e-01] [ 1.29959690e-02 -1.52719517e-03 9.99914383e-01 -2.33534865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.013133365 meters Centerline goodness [0,1] 0.29064007300221617 Centerline is valid? [False, False] Translation: X:2.52, Y:0.28, Z:-0.23 [[ 9.99899305e-01 4.54924345e-03 -1.34418781e-02 2.52492151e+00] [-4.57183209e-03 9.99988187e-01 -1.65021682e-03 2.76995423e-01] [ 1.34342121e-02 1.71150466e-03 9.99908292e-01 -2.34060298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.043133365 meters Centerline goodness [0,1] 0.2912741749515957 Centerline is valid? [False, False] Translation: X:2.52, Y:0.28, Z:-0.23 [[ 9.99899796e-01 4.51904066e-03 -1.34154934e-02 2.52481491e+00] [-4.53881194e-03 9.99988657e-01 -1.44368341e-03 2.75367200e-01] [ 1.34088171e-02 1.50442915e-03 9.99908966e-01 -2.33996927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.073133365 meters Centerline goodness [0,1] 0.2897981215588902 Centerline is valid? [False, False] Translation: X:2.54, Y:0.28, Z:-0.23 [[ 9.99915817e-01 -3.53337586e-03 -1.24849240e-02 2.54396501e+00] [ 3.53113689e-03 9.99993745e-01 -2.01372705e-04 2.78252212e-01] [ 1.24855574e-02 1.57269778e-04 9.99922040e-01 -2.32278475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.103133365 meters Centerline goodness [0,1] 0.29694275327405717 Centerline is valid? [False, False] Translation: X:2.52, Y:0.27, Z:-0.23 [[ 9.99940831e-01 2.47124119e-03 -1.05937692e-02 2.51948478e+00] [-2.49505588e-03 9.99994389e-01 -2.23536371e-03 2.72832011e-01] [ 1.05881857e-02 2.26166349e-03 9.99941386e-01 -2.32067418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.133133365 meters Centerline goodness [0,1] 0.2947200976226275 Centerline is valid? [False, False] Translation: X:2.52, Y:0.27, Z:-0.23 [[ 9.99948438e-01 1.92046629e-03 -9.97157705e-03 2.51774621e+00] [-1.94210234e-03 9.99995780e-01 -2.16054248e-03 2.70058478e-01] [ 9.96738572e-03 2.17979690e-03 9.99947948e-01 -2.31455236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.163133365 meters Centerline goodness [0,1] 0.29280910501810653 Centerline is valid? [False, False] Translation: X:2.54, Y:0.27, Z:-0.23 [[ 9.99930730e-01 -6.41635525e-03 -9.86744336e-03 2.53861808e+00] [ 6.40387879e-03 9.99978656e-01 -1.29548332e-03 2.71824778e-01] [ 9.87554503e-03 1.23220367e-03 9.99950476e-01 -2.30632701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.193133365 meters Centerline goodness [0,1] 0.2932834691627575 Centerline is valid? [False, False] Translation: X:2.54, Y:0.27, Z:-0.23 [[ 9.99926981e-01 -6.45122303e-03 -1.02183413e-02 2.53963110e+00] [ 6.44169425e-03 9.99978786e-01 -9.65155282e-04 2.69499878e-01] [ 1.02243510e-02 8.99261377e-04 9.99947326e-01 -2.30906736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.223133365 meters Centerline goodness [0,1] 0.2931528247852122 Centerline is valid? [False, False] Translation: X:2.54, Y:0.27, Z:-0.23 [[ 9.99925425e-01 -6.45373536e-03 -1.03678903e-02 2.54002504e+00] [ 6.44787610e-03 9.99979033e-01 -5.98462701e-04 2.67129802e-01] [ 1.03715352e-02 5.31567199e-04 9.99946073e-01 -2.30973254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.253133365 meters Centerline goodness [0,1] 0.2959356661595305 Centerline is valid? [False, False] Translation: X:2.54, Y:0.26, Z:-0.23 [[ 9.99925334e-01 -6.41670144e-03 -1.03995898e-02 2.53998746e+00] [ 6.41520514e-03 9.99979407e-01 -1.77233692e-04 2.64717249e-01] [ 1.04005129e-02 1.10504956e-04 9.99945907e-01 -2.30756362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.283133365 meters Centerline goodness [0,1] 0.2949534009689122 Centerline is valid? [False, False] Translation: X:2.54, Y:0.26, Z:-0.23 [[ 9.99927341e-01 -6.72135551e-03 -1.00067887e-02 2.53876795e+00] [ 6.72482992e-03 9.99977339e-01 3.13597681e-04 2.60374699e-01] [ 1.00044542e-02 -3.80868848e-04 9.99949882e-01 -2.30175817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.313133365 meters Centerline goodness [0,1] 0.29254265035326554 Centerline is valid? [False, False] Translation: X:2.56, Y:0.25, Z:-0.23 [[ 9.99950239e-01 7.26769068e-04 -9.94939928e-03 2.55789151e+00] [-7.34707123e-04 9.99999415e-01 -7.94210835e-04 2.53708058e-01] [ 9.94881625e-03 8.01481209e-04 9.99950188e-01 -2.28716529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.343133365 meters Centerline goodness [0,1] 0.2950225849390098 Centerline is valid? [False, False] Translation: X:2.54, Y:0.25, Z:-0.23 [[ 9.99908182e-01 -8.16555489e-03 -1.08144102e-02 2.53662632e+00] [ 8.16893634e-03 9.99966598e-01 2.68543705e-04 2.53345729e-01] [ 1.08118562e-02 -3.56861276e-04 9.99941486e-01 -2.29614487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.373133365 meters Centerline goodness [0,1] 0.2944643050590402 Centerline is valid? [False, False] Translation: X:2.56, Y:0.25, Z:-0.23 [[ 9.99938254e-01 -6.03194110e-04 -1.10961588e-02 2.55578612e+00] [ 5.95844571e-04 9.99999601e-01 -6.65643742e-04 2.46263299e-01] [ 1.10965559e-02 6.58991055e-04 9.99938214e-01 -2.28331096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.403133365 meters Centerline goodness [0,1] 0.29199178644763857 Centerline is valid? [False, False] Translation: X:2.56, Y:0.24, Z:-0.23 [[ 9.99938697e-01 -5.37967901e-04 -1.10595284e-02 2.55579027e+00] [ 5.36472630e-04 9.99999847e-01 -1.38168301e-04 2.43005245e-01] [ 1.10596011e-02 1.32226697e-04 9.99938832e-01 -2.28466138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.433133365 meters Centerline goodness [0,1] 0.2921712102570744 Centerline is valid? [False, False] Translation: X:2.56, Y:0.24, Z:-0.23 [[ 9.99940097e-01 -4.55948792e-04 -1.09359617e-02 2.55544534e+00] [ 4.59455272e-04 9.99999844e-01 3.18127285e-04 2.40227502e-01] [ 1.09358150e-02 -3.23132814e-04 9.99940150e-01 -2.28386932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46313336499998 meters Centerline goodness [0,1] 0.29811502506732057 Centerline is valid? [False, False] Translation: X:2.53, Y:0.23, Z:-0.23 [[ 9.99936530e-01 5.13144704e-03 -1.00301957e-02 2.53163869e+00] [-5.15252874e-03 9.99984568e-01 -2.07711361e-03 2.32244457e-01] [ 1.00193823e-02 2.12866265e-03 9.99947539e-01 -2.28209105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49313336499998 meters Centerline goodness [0,1] 0.2942336019409063 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99947509e-01 -2.63579997e-03 -9.90115081e-03 2.55207573e+00] [ 2.62681306e-03 9.99996126e-01 -9.20557825e-04 2.33722238e-01] [ 9.90353886e-03 8.94501031e-04 9.99950559e-01 -2.27323051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52313336499998 meters Centerline goodness [0,1] 0.2966371527020544 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99944212e-01 -2.52088493e-03 -1.02575810e-02 2.55330759e+00] [ 2.51470941e-03 9.99996649e-01 -6.14897384e-04 2.32073706e-01] [ 1.02590967e-02 5.89068245e-04 9.99947201e-01 -2.27950787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55313336499998 meters Centerline goodness [0,1] 0.2962801066573414 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99941157e-01 -2.42112226e-03 -1.05745432e-02 2.55458609e+00] [ 2.41737945e-03 9.99997011e-01 -3.66713242e-04 2.30676565e-01] [ 1.05753994e-02 3.41128980e-04 9.99944021e-01 -2.28822325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58313336499998 meters Centerline goodness [0,1] 0.29218913270637403 Centerline is valid? [False, False] Translation: X:2.56, Y:0.23, Z:-0.23 [[ 9.99935732e-01 -2.09856881e-03 -1.11412835e-02 2.55652808e+00] [ 2.10010353e-03 9.99997787e-01 1.26053038e-04 2.28418090e-01] [ 1.11409943e-02 -1.49442786e-04 9.99937926e-01 -2.29836608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61313336499998 meters Centerline goodness [0,1] 0.29196733353497817 Centerline is valid? [False, False] Translation: X:2.56, Y:0.23, Z:-0.23 [[ 9.99937778e-01 -1.94002552e-03 -1.09852927e-02 2.55617169e+00] [ 1.94415739e-03 9.99998043e-01 3.65461663e-04 2.27354718e-01] [ 1.09845622e-02 -3.86796061e-04 9.99939593e-01 -2.29829315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64313336499998 meters Centerline goodness [0,1] 0.2969918237068777 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.23 [[ 9.99935569e-01 5.78525605e-03 -9.76673439e-03 2.53516658e+00] [-5.79006928e-03 9.99983129e-01 -4.64614490e-04 2.20909791e-01] [ 9.76388171e-03 5.21134623e-04 9.99952196e-01 -2.31275962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67313336499998 meters Centerline goodness [0,1] 0.29371250351952527 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99962820e-01 -1.61448713e-03 -8.47065905e-03 2.55350543e+00] [ 1.62063045e-03 9.99998429e-01 7.18433316e-04 2.23802887e-01] [ 8.46948584e-03 -7.32134412e-04 9.99963865e-01 -2.29832755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70313336499999 meters Centerline goodness [0,1] 0.29673681000304974 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99964303e-01 -1.53103518e-03 -8.30960278e-03 2.55288375e+00] [ 1.53741500e-03 9.99998528e-01 7.61430873e-04 2.23632695e-01] [ 8.30842477e-03 -7.74178999e-04 9.99965185e-01 -2.29465863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.733133365 meters Centerline goodness [0,1] 0.2922927670583163 Centerline is valid? [False, False] Translation: X:2.57, Y:0.22, Z:-0.23 [[ 9.99946453e-01 7.04997279e-03 -7.57560818e-03 2.57297279e+00] [-7.05299948e-03 9.99975058e-01 -3.72889200e-04 2.20570932e-01] [ 7.57279036e-03 4.26299993e-04 9.99971235e-01 -2.28389158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.763133365 meters Centerline goodness [0,1] 0.29675512377474955 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99978283e-01 1.97718056e-03 -6.28676145e-03 2.55224750e+00] [-1.95772151e-03 9.99993279e-01 3.09989210e-03 2.24349864e-01] [ 6.29284824e-03 -3.08751705e-03 9.99975433e-01 -2.29454300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.793133365 meters Centerline goodness [0,1] 0.3002685095518972 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 9.99962220e-01 2.36375133e-03 -8.36486777e-03 2.50653843e+00] [-2.33104136e-03 9.99989608e-01 3.91799106e-03 2.22784720e-01] [ 8.37404200e-03 -3.89834419e-03 9.99957338e-01 -2.28715250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.823133365 meters Centerline goodness [0,1] 0.3009780967593707 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 9.99961915e-01 2.37605274e-03 -8.39780006e-03 2.50677262e+00] [-2.34423487e-03 9.99990045e-01 3.79664850e-03 2.23465522e-01] [ 8.40673750e-03 -3.77681749e-03 9.99957530e-01 -2.28986713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.853133365 meters Centerline goodness [0,1] 0.2982215844856074 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 9.99959919e-01 2.39246725e-03 -8.62761690e-03 2.50752074e+00] [-2.35999574e-03 9.99990102e-01 3.77188960e-03 2.23577721e-01] [ 8.63655563e-03 -3.75137728e-03 9.99955668e-01 -2.29339242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.883133365 meters Centerline goodness [0,1] 0.29922982671100995 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 9.99958006e-01 2.43223413e-03 -8.83570459e-03 2.50823549e+00] [-2.39841268e-03 9.99989765e-01 3.83639712e-03 2.23344907e-01] [ 8.84494517e-03 -3.81504435e-03 9.99953605e-01 -2.29729127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.913133365 meters Centerline goodness [0,1] 0.29473820744519863 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 9.99954233e-01 2.52482781e-03 -9.22808139e-03 2.50964699e+00] [-2.48720025e-03 9.99988556e-01 4.08671078e-03 2.21999865e-01] [ 9.23829403e-03 -4.06357166e-03 9.99949069e-01 -2.30507103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.943133365 meters Centerline goodness [0,1] 0.29643715846994534 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 9.99953596e-01 2.52896769e-03 -9.29573714e-03 2.50979687e+00] [-2.49011772e-03 9.99988128e-01 4.18853246e-03 2.21113855e-01] [ 9.30621944e-03 -4.16519062e-03 9.99948021e-01 -2.30495802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.973133365 meters Centerline goodness [0,1] 0.29836473593432744 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 0.99995363 0.00257576 -0.00927895 2.50960192] [-0.00253563 0.99998739 0.00433493 0.22024658] [ 0.00929 -0.00431121 0.99994755 -0.23025105] [ 0. 0. 0. 1. ]] SLAMing on 195.003133365 meters Centerline goodness [0,1] 0.29630277073682365 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 0.99995363 0.00260234 -0.00927136 2.50956256] [-0.00256179 0.99998711 0.00438303 0.2199729 ] [ 0.00928264 -0.00435908 0.99994741 -0.23021962] [ 0. 0. 0. 1. ]] SLAMing on 195.033133365 meters Centerline goodness [0,1] 0.29155124653739617 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 0.99995288 0.00266199 -0.0093353 2.50989454] [-0.00262073 0.99998676 0.00442932 0.2200147 ] [ 0.00934697 -0.00440464 0.99994662 -0.23052149] [ 0. 0. 0. 1. ]] SLAMing on 195.063133365 meters Centerline goodness [0,1] 0.29340499772436657 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 0.99995228 0.00269502 -0.0093902 2.51024473] [-0.00265347 0.99998665 0.00443451 0.22011047] [ 0.00940203 -0.00440938 0.99994608 -0.23089015] [ 0. 0. 0. 1. ]] SLAMing on 195.093133365 meters Centerline goodness [0,1] 0.2915405241761093 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 0.99995135 0.00271584 -0.00948254 2.51076631] [-0.00267371 0.99998651 0.00445354 0.21977502] [ 0.00949451 -0.00442797 0.99994512 -0.23135143] [ 0. 0. 0. 1. ]] SLAMing on 195.123133365 meters Centerline goodness [0,1] 0.2915568422417145 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 0.99995049 0.0027355 -0.00956769 2.51093605] [-0.00269236 0.99998617 0.00451884 0.21930135] [ 0.00957992 -0.00449286 0.99994402 -0.2313169 ] [ 0. 0. 0. 1. ]] SLAMing on 195.153133365 meters Centerline goodness [0,1] 0.2915568422417145 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 0.99995049 0.0027355 -0.00956769 2.51093605] [-0.00269236 0.99998617 0.00451884 0.21930135] [ 0.00957992 -0.00449286 0.99994402 -0.2313169 ] [ 0. 0. 0. 1. ]] SLAMing on 195.183133365 meters Centerline goodness [0,1] 0.292496866490902 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 0.99995186 0.00290296 -0.00937329 2.5100807 ] [-0.00285723 0.99998397 0.00488897 0.21756784] [ 0.00938733 -0.00486196 0.99994412 -0.23071743] [ 0. 0. 0. 1. ]] SLAMing on 195.21313336499998 meters Centerline goodness [0,1] 0.2970703979011806 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 0.99995349 0.00298066 -0.00917233 2.50940659] [-0.00293349 0.99998243 0.00515195 0.2160019 ] [ 0.00918752 -0.0051248 0.99994466 -0.23036284] [ 0. 0. 0. 1. ]] SLAMing on 195.24313336499998 meters Centerline goodness [0,1] 0.29976313711729097 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 0.99995459 0.00300284 -0.00904387 2.50897107] [-0.00295465 0.99998139 0.00533781 0.21462877] [ 0.00905973 -0.00531084 0.99994486 -0.23013467] [ 0. 0. 0. 1. ]] SLAMing on 195.27313336499998 meters Centerline goodness [0,1] 0.295951170771971 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 0.99995408 0.00303567 -0.00908993 2.50901848] [-0.00298552 0.99998028 0.0055251 0.21334086] [ 0.00910652 -0.00549771 0.99994342 -0.23000478] [ 0. 0. 0. 1. ]] SLAMing on 195.30313336499998 meters Centerline goodness [0,1] 0.3001310043668123 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 0.9999528 0.00310402 -0.0092062 2.5092496 ] [-0.00305147 0.999979 0.00571669 0.21233576] [ 0.00922375 -0.00568832 0.99994128 -0.229948 ] [ 0. 0. 0. 1. ]] SLAMing on 195.33313336499998 meters Centerline goodness [0,1] 0.2949749506603917 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 0.99995017 0.00319823 -0.00945711 2.51015072] [-0.00314294 0.99997792 0.0058548 0.21156312] [ 0.00947563 -0.00582479 0.99993814 -0.23041567] [ 0. 0. 0. 1. ]] SLAMing on 195.36313336499998 meters Centerline goodness [0,1] 0.29449092687167233 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 0.99994905 0.00315458 -0.00958881 2.51056093] [-0.00309956 0.99997868 0.00574743 0.21182518] [ 0.00960674 -0.00571741 0.99993751 -0.23057429] [ 0. 0. 0. 1. ]] SLAMing on 195.39313336499998 meters Centerline goodness [0,1] 0.2971310134176939 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 0.9999496 0.00312385 -0.00954142 2.51035966] [-0.00306984 0.99997922 0.00566929 0.21211282] [ 0.00955893 -0.00563971 0.99993841 -0.23049174] [ 0. 0. 0. 1. ]] SLAMing on 195.42313336499998 meters Centerline goodness [0,1] 0.2964812069416587 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 0.99995066 0.00311984 -0.00943119 2.50996907] [-0.00306735 0.99997975 0.00557538 0.21276037] [ 0.00944839 -0.00554618 0.99993998 -0.23034557] [ 0. 0. 0. 1. ]] SLAMing on 195.45313336499999 meters Centerline goodness [0,1] 0.2964812069416587 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 0.99995066 0.00311984 -0.00943119 2.50996907] [-0.00306735 0.99997975 0.00557538 0.21276037] [ 0.00944839 -0.00554618 0.99993998 -0.23034557] [ 0. 0. 0. 1. ]] SLAMing on 195.483133365 meters Centerline goodness [0,1] 0.29715055164625137 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 0.9999524 0.00310468 -0.00925002 2.50951165] [-0.00305426 0.99998043 0.00546 0.21353621] [ 0.00926679 -0.00543149 0.99994231 -0.23032733] [ 0. 0. 0. 1. ]] SLAMing on 195.513133365 meters Centerline goodness [0,1] 0.29946582124554855 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 0.99995604 0.00301427 -0.0088785 2.50811886] [-0.00296816 0.99998207 0.00520141 0.21489234] [ 0.00889402 -0.00517483 0.99994706 -0.22957961] [ 0. 0. 0. 1. ]] SLAMing on 195.543133365 meters Centerline goodness [0,1] 0.2993589047049875 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 0.99995728 0.00296508 -0.00875506 2.50753271] [-0.00292043 0.99998269 0.00510789 0.21530594] [ 0.00877006 -0.0050821 0.99994863 -0.22919666] [ 0. 0. 0. 1. ]] SLAMing on 195.573133365 meters Centerline goodness [0,1] 0.2998958016758564 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 0.99995862 0.00289194 -0.00862508 2.50706303] [-0.00284863 0.99998329 0.0050306 0.21557131] [ 0.00863948 -0.00500582 0.99995015 -0.22894683] [ 0. 0. 0. 1. ]] SLAMing on 195.603133365 meters Centerline goodness [0,1] 0.30080027835768963 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 0.99995929 0.00286182 -0.00855698 2.50686379] [-0.00281858 0.99998322 0.00506144 0.2153204 ] [ 0.00857132 -0.00503712 0.99995058 -0.22889758] [ 0. 0. 0. 1. ]] SLAMing on 195.633133365 meters Centerline goodness [0,1] 0.30136447126738386 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 0.99996099 0.0025856 -0.00844571 2.50640477] [-0.00254375 0.99998445 0.00496216 0.21476474] [ 0.00845841 -0.00494048 0.99995202 -0.22852246] [ 0. 0. 0. 1. ]] SLAMing on 195.663133365 meters Centerline goodness [0,1] 0.30596620908130945 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 9.99959733e-01 2.49024743e-03 -8.62156491e-03 2.50683417e+00] [-2.44804026e-03 9.99984986e-01 4.90263236e-03 2.14553785e-01] [ 8.63364423e-03 -4.88132900e-03 9.99950815e-01 -2.28552954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.693133365 meters Centerline goodness [0,1] 0.2999017145353282 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 9.99957547e-01 2.42523760e-03 -8.88947315e-03 2.50747184e+00] [-2.38212629e-03 9.99985367e-01 4.85708785e-03 2.14563284e-01] [ 8.90112266e-03 -4.83570580e-03 9.99948692e-01 -2.28577835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.723133365 meters Centerline goodness [0,1] 0.2986489997401922 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 9.99955465e-01 2.44612650e-03 -9.11509830e-03 2.50799509e+00] [-2.40170680e-03 9.99985204e-01 4.88096300e-03 2.14737119e-01] [ 9.12690289e-03 -4.85885383e-03 9.99946544e-01 -2.28594051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.753133365 meters Centerline goodness [0,1] 0.2971637813359912 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 9.99955296e-01 2.45112497e-03 -9.13226668e-03 2.50818758e+00] [-2.40669142e-03 9.99985229e-01 4.87337178e-03 2.14862134e-01] [ 9.14407703e-03 -4.85117537e-03 9.99946425e-01 -2.28844130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.783133365 meters Centerline goodness [0,1] 0.30284975795676083 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 9.99956090e-01 2.44825401e-03 -9.04568070e-03 2.50789861e+00] [-2.40411041e-03 9.99985165e-01 4.88773042e-03 2.14662138e-01] [ 9.05751292e-03 -4.86576899e-03 9.99947141e-01 -2.28713081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.813133365 meters Centerline goodness [0,1] 0.3020701124775701 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 9.99959547e-01 2.48310103e-03 -8.64509995e-03 2.50653181e+00] [-2.43849142e-03 9.99983679e-01 5.16682510e-03 2.12642649e-01] [ 8.65778860e-03 -5.14553508e-03 9.99949282e-01 -2.27972756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.843133365 meters Centerline goodness [0,1] 0.3004809247557636 Centerline is valid? [False, False] Translation: X:2.53, Y:0.21, Z:-0.23 [[ 0.99992832 0.00942136 -0.00738867 2.52784436] [-0.00940069 0.99995181 0.00282833 0.20995396] [ 0.00741496 -0.00275867 0.9999687 -0.22835426] [ 0. 0. 0. 1. ]] SLAMing on 195.873133365 meters Centerline goodness [0,1] 0.2994507283819283 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 9.99961920e-01 8.35916606e-04 -8.68676571e-03 2.50887730e+00] [-7.98849641e-04 9.99990566e-01 4.26965582e-03 2.11238895e-01] [ 8.69025284e-03 -4.26255381e-03 9.99953154e-01 -2.29965765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.903133365 meters Centerline goodness [0,1] 0.30039276956795347 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 9.99958849e-01 8.31045702e-04 -9.03384603e-03 2.51024116e+00] [-7.91259657e-04 9.99989977e-01 4.40679168e-03 2.10079100e-01] [ 9.03741773e-03 -4.39946221e-03 9.99949484e-01 -2.30812042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.933133365 meters Centerline goodness [0,1] 0.2988760625230983 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 9.99956533e-01 7.99467866e-04 -9.28942734e-03 2.51141421e+00] [-7.58343042e-04 9.99989901e-01 4.42973625e-03 2.09444922e-01] [ 9.29287496e-03 -4.42249913e-03 9.99947041e-01 -2.31667557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96313336499998 meters Centerline goodness [0,1] 0.29685504642756655 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 9.99955021e-01 7.77862984e-04 -9.45255889e-03 2.51209196e+00] [-7.36540444e-04 9.99990162e-01 4.37426703e-03 2.09410008e-01] [ 9.45586847e-03 -4.36710809e-03 9.99945756e-01 -2.32124696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99313336499998 meters Centerline goodness [0,1] 0.2952969387975545 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 9.99955300e-01 1.27956776e-03 -9.36810587e-03 2.51202772e+00] [-1.23674508e-03 9.99988768e-01 4.57548124e-03 2.10070985e-01] [ 9.37385528e-03 -4.56369076e-03 9.99945650e-01 -2.32437009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02313336499998 meters Centerline goodness [0,1] 0.30009370437359717 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 9.99954501e-01 1.41921621e-03 -9.43299759e-03 2.51241979e+00] [-1.37731836e-03 9.99989165e-01 4.44663964e-03 2.11421694e-01] [ 9.43920612e-03 -4.43344508e-03 9.99945621e-01 -2.32915084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05313336499998 meters Centerline goodness [0,1] 0.29367691641403204 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 9.99950847e-01 1.50112341e-03 -9.80049566e-03 2.51364483e+00] [-1.45980599e-03 9.99990023e-01 4.22164307e-03 2.13112669e-01] [ 9.80673510e-03 -4.20712874e-03 9.99943062e-01 -2.33609479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08313336499998 meters Centerline goodness [0,1] 0.2920891185017759 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.23 [[ 9.99948537e-01 1.46856071e-03 -1.00382280e-02 2.51455634e+00] [-1.42948514e-03 9.99991378e-01 3.89874290e-03 2.14935207e-01] [ 1.00438670e-02 -3.88419276e-03 9.99942015e-01 -2.34244815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11313336499998 meters Centerline goodness [0,1] 0.29184123007817564 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 9.99948790e-01 1.39035269e-03 -1.00241755e-02 2.51481594e+00] [-1.35438478e-03 9.99992624e-01 3.59401274e-03 2.16537145e-01] [ 1.00290985e-02 -3.58025210e-03 9.99943298e-01 -2.34802267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14313336499998 meters Centerline goodness [0,1] 0.2920746071883983 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 9.99949259e-01 1.29541649e-03 -9.99004822e-03 2.51474044e+00] [-1.26243403e-03 9.99993735e-01 3.30713150e-03 2.18039914e-01] [ 9.99426974e-03 -3.29435192e-03 9.99944629e-01 -2.34883277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17313336499998 meters Centerline goodness [0,1] 0.29753161531441485 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 9.99950346e-01 1.13565107e-03 -9.90025025e-03 2.51421945e+00] [-1.10631092e-03 9.99994982e-01 2.96854957e-03 2.19657727e-01] [ 9.90357181e-03 -2.95744941e-03 9.99946585e-01 -2.34498455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20313336499999 meters Centerline goodness [0,1] 0.29664203293141445 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 9.99950572e-01 1.08609585e-03 -9.88296498e-03 2.51395241e+00] [-1.05709617e-03 9.99995122e-01 2.93906046e-03 2.19825779e-01] [ 9.88610888e-03 -2.92846794e-03 9.99946843e-01 -2.34133362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.233133365 meters Centerline goodness [0,1] 0.29803384227239116 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 9.99950307e-01 1.02843532e-03 -9.91598586e-03 2.51378504e+00] [-9.99091280e-04 9.99995109e-01 2.96376526e-03 2.19554443e-01] [ 9.91898540e-03 -2.95371101e-03 9.99946443e-01 -2.33743555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.263133365 meters Centerline goodness [0,1] 0.3009829892506075 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.23 [[ 9.99949639e-01 9.36417060e-04 -9.99215534e-03 2.51378729e+00] [-9.06379227e-04 9.99995058e-01 3.01024671e-03 2.18874564e-01] [ 9.99492480e-03 -3.00103842e-03 9.99945546e-01 -2.33444741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.293133365 meters Centerline goodness [0,1] 0.29474093096527765 Centerline is valid? [False, False] Translation: X:2.54, Y:0.22, Z:-0.23 [[ 9.99939772e-01 6.55946016e-03 -8.79922105e-03 2.53596565e+00] [-6.56275030e-03 9.99978405e-01 -3.45090257e-04 2.18268226e-01] [ 8.79676743e-03 4.02816564e-04 9.99961227e-01 -2.34011452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.323133365 meters Centerline goodness [0,1] 0.29782282445570607 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:-0.24 [[ 9.99955144e-01 -2.53488379e-03 -9.12599718e-03 2.51542863e+00] [ 2.54073755e-03 9.99996574e-01 6.29901589e-04 2.19935883e-01] [ 9.12436919e-03 -6.53060098e-04 9.99958159e-01 -2.35204548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.353133365 meters Centerline goodness [0,1] 0.30021456408459957 Centerline is valid? [False, False] Translation: X:2.52, Y:0.22, Z:-0.23 [[ 9.99954306e-01 -2.73984287e-03 -9.15860708e-03 2.51535796e+00] [ 2.74577039e-03 9.99996029e-01 6.34696657e-04 2.19054121e-01] [ 9.15683174e-03 -6.59815087e-04 9.99957858e-01 -2.34921306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.383133365 meters Centerline goodness [0,1] 0.29596237619470755 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.23 [[ 9.99950338e-01 5.34300771e-03 -8.41269635e-03 2.53440256e+00] [-5.34873753e-03 9.99985478e-01 -6.58740160e-04 2.16056188e-01] [ 8.40905453e-03 7.03704750e-04 9.99964396e-01 -2.33707314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.413133365 meters Centerline goodness [0,1] 0.2975052560851378 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.23 [[ 9.99950691e-01 5.38862449e-03 -8.34132118e-03 2.53416090e+00] [-5.39352386e-03 9.99985295e-01 -5.64978430e-04 2.15729338e-01] [ 8.33815407e-03 6.09939686e-04 9.99965051e-01 -2.33589834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.443133365 meters Centerline goodness [0,1] 0.2961901660696842 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.23 [[ 9.99951056e-01 5.39227446e-03 -8.29510430e-03 2.53407147e+00] [-5.39691665e-03 9.99985292e-01 -5.37348231e-04 2.15549572e-01] [ 8.29208477e-03 5.82089917e-04 9.99965451e-01 -2.33607842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.473133365 meters Centerline goodness [0,1] 0.2976821693682775 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.23 [[ 9.99951628e-01 5.36557598e-03 -8.24329727e-03 2.53399637e+00] [-5.37038156e-03 9.99985422e-01 -5.60943695e-04 2.15526320e-01] [ 8.24016731e-03 6.05186213e-04 9.99965866e-01 -2.33683664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.503133365 meters Centerline goodness [0,1] 0.2995822817857454 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.23 [[ 9.99952453e-01 5.34093203e-03 -8.15878175e-03 2.53390754e+00] [-5.34591657e-03 9.99985537e-01 -5.89254663e-04 2.15507872e-01] [ 8.15551658e-03 6.32842812e-04 9.99966543e-01 -2.33836176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.533133365 meters Centerline goodness [0,1] 0.3004710121334462 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.23 [[ 9.99955498e-01 5.22804863e-03 -7.85297231e-03 2.53329518e+00] [-5.23457097e-03 9.99985971e-01 -8.10231869e-04 2.16075146e-01] [ 7.84862621e-03 8.51302753e-04 9.99968837e-01 -2.33995803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.563133365 meters Centerline goodness [0,1] 0.298537536561586 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.23 [[ 9.99957827e-01 5.14736824e-03 -7.60579646e-03 2.53265364e+00] [-5.15533435e-03 9.99986183e-01 -1.02813964e-03 2.17003418e-01] [ 7.60039915e-03 1.06730670e-03 9.99970547e-01 -2.33925844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.593133365 meters Centerline goodness [0,1] 0.29906847168415096 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.23 [[ 9.99959317e-01 5.15564514e-03 -7.40161365e-03 2.53198648e+00] [-5.16485284e-03 9.99985911e-01 -1.22543713e-03 2.18488497e-01] [ 7.39519145e-03 1.26361552e-03 9.99971857e-01 -2.33662391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.623133365 meters Centerline goodness [0,1] 0.30228597628872733 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.23 [[ 9.99960072e-01 5.22871641e-03 -7.24672475e-03 2.53157013e+00] [-5.23922722e-03 9.99985250e-01 -1.43219878e-03 2.20472564e-01] [ 7.23912930e-03 1.47010883e-03 9.99972717e-01 -2.33621574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.653133365 meters Centerline goodness [0,1] 0.30087472460353815 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.23 [[ 9.99960143e-01 5.25032653e-03 -7.22129542e-03 2.53176209e+00] [-5.26272818e-03 9.99984708e-01 -1.69944198e-03 2.22604173e-01] [ 7.21226236e-03 1.73737796e-03 9.99972482e-01 -2.34083481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.683133365 meters Centerline goodness [0,1] 0.30163998864455266 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.23 [[ 9.99959598e-01 5.21263348e-03 -7.32335752e-03 2.53226109e+00] [-5.22723409e-03 9.99984386e-01 -1.97598085e-03 2.24303638e-01] [ 7.31294311e-03 2.01418192e-03 9.99971232e-01 -2.34520399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71313336499998 meters Centerline goodness [0,1] 0.30312867663079 Centerline is valid? [False, False] Translation: X:2.53, Y:0.23, Z:-0.23 [[ 9.99960834e-01 5.03348525e-03 -7.27976173e-03 2.53235444e+00] [-5.05048069e-03 9.99984559e-01 -2.31811945e-03 2.25426521e-01] [ 7.26798111e-03 2.35479495e-03 9.99970815e-01 -2.34844852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74313336499998 meters Centerline goodness [0,1] 0.2975150962248577 Centerline is valid? [False, False] Translation: X:2.53, Y:0.23, Z:-0.23 [[ 9.99961040e-01 5.01165138e-03 -7.26655474e-03 2.53232931e+00] [-5.02857292e-03 9.99984683e-01 -2.31229106e-03 2.25132971e-01] [ 7.25485504e-03 2.34874137e-03 9.99970925e-01 -2.34844516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77313336499998 meters Centerline goodness [0,1] 0.2969345770233299 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99965685e-01 -2.38017939e-03 -7.93500694e-03 2.55177424e+00] [ 2.36950123e-03 9.99996275e-01 -1.35483251e-03 2.29730475e-01] [ 7.93820212e-03 1.33598401e-03 9.99967600e-01 -2.33457049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80313336499998 meters Centerline goodness [0,1] 0.29619494958200465 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99963221e-01 -2.37983254e-03 -8.23976264e-03 2.55283536e+00] [ 2.36941291e-03 9.99996381e-01 -1.27408524e-03 2.29007147e-01] [ 8.24276494e-03 1.25451498e-03 9.99965241e-01 -2.33936335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83313336499998 meters Centerline goodness [0,1] 0.29879165939626595 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.24 [[ 9.99940299e-01 5.09341005e-03 -9.66727791e-03 2.53433279e+00] [-5.11806196e-03 9.99983710e-01 -2.52701158e-03 2.22480678e-01] [ 9.65424933e-03 2.57633844e-03 9.99950078e-01 -2.35493981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86313336499998 meters Centerline goodness [0,1] 0.2988680888114933 Centerline is valid? [False, False] Translation: X:2.53, Y:0.22, Z:-0.24 [[ 9.99938608e-01 5.12173620e-03 -9.82587256e-03 2.53480552e+00] [-5.14582742e-03 9.99983812e-01 -2.42810151e-03 2.21693705e-01] [ 9.81327741e-03 2.47851469e-03 9.99948777e-01 -2.35647343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89313336499998 meters Centerline goodness [0,1] 0.2960595919248623 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99951102e-01 -1.75000213e-03 -9.73298613e-03 2.55299501e+00] [ 1.74151194e-03 9.99998096e-01 -8.80717465e-04 2.26417314e-01] [ 9.73450885e-03 8.63724288e-04 9.99952246e-01 -2.33905251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92313336499998 meters Centerline goodness [0,1] 0.29563332972153 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99952831e-01 -1.50955997e-03 -9.59465830e-03 2.55289529e+00] [ 1.50265628e-03 9.99998607e-01 -7.26703475e-04 2.26512269e-01] [ 9.59574194e-03 7.12251724e-04 9.99953706e-01 -2.34257782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95313336499999 meters Centerline goodness [0,1] 0.29482313648094727 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99950764e-01 -1.50026829e-03 -9.80915331e-03 2.55373919e+00] [ 1.49292238e-03 9.99998600e-01 -7.56162345e-04 2.26440110e-01] [ 9.81027402e-03 7.41480810e-04 9.99951603e-01 -2.34814313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.983133365 meters Centerline goodness [0,1] 0.29663927655319333 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.24 [[ 9.99949418e-01 -1.44800358e-03 -9.95309467e-03 2.55439439e+00] [ 1.44094289e-03 9.99998705e-01 -7.16530791e-04 2.26292783e-01] [ 9.95411933e-03 7.02152706e-04 9.99950210e-01 -2.35371047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.013133365 meters Centerline goodness [0,1] 0.29600677480294446 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.24 [[ 9.99949036e-01 -1.33948921e-03 -1.00065680e-02 2.55460094e+00] [ 1.33379972e-03 9.99998945e-01 -5.75227045e-04 2.25877285e-01] [ 1.00073280e-02 5.61850971e-04 9.99949768e-01 -2.35501645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.043133365 meters Centerline goodness [0,1] 0.29250552019742826 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.24 [[ 9.99950085e-01 -1.22032372e-03 -9.91652566e-03 2.55433882e+00] [ 1.21681936e-03 9.99999195e-01 -3.59411424e-04 2.25116863e-01] [ 9.91695627e-03 3.47326863e-04 9.99950765e-01 -2.35447707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.073133365 meters Centerline goodness [0,1] 0.29979747827791203 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.24 [[ 9.99950281e-01 -1.17487451e-03 -9.90232922e-03 2.55405305e+00] [ 1.17300891e-03 9.99999293e-01 -1.94205993e-04 2.24137675e-01] [ 9.90255039e-03 1.82580817e-04 9.99950952e-01 -2.35074895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.103133365 meters Centerline goodness [0,1] 0.2981301486292115 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99950261e-01 -1.17593173e-03 -9.90415832e-03 2.55386467e+00] [ 1.17674985e-03 9.99999305e-01 7.67761954e-05 2.22112556e-01] [ 9.90406115e-03 -8.84270934e-05 9.99950950e-01 -2.34737645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.133133365 meters Centerline goodness [0,1] 0.30169906627889176 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 9.99951478e-01 -1.13070514e-03 -9.78582346e-03 2.55371645e+00] [ 1.13266436e-03 9.99999340e-01 1.94669785e-04 2.21633575e-01] [ 9.78559688e-03 -2.05744392e-04 9.99952099e-01 -2.34936450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.163133365 meters Centerline goodness [0,1] 0.29926100320449933 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.24 [[ 9.99952624e-01 -1.08326192e-03 -9.67343400e-03 2.55351809e+00] [ 1.08574925e-03 9.99999379e-01 2.51881980e-04 2.21639257e-01] [ 9.67315514e-03 -2.62372971e-04 9.99953180e-01 -2.35019127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.193133365 meters Centerline goodness [0,1] 0.29329596895882737 Centerline is valid? [False, False] Translation: X:2.57, Y:0.22, Z:-0.23 [[ 9.99939167e-01 7.16812180e-03 -8.38330568e-03 2.57302895e+00] [-7.17769898e-03 9.99973621e-01 -1.11288155e-03 2.19678289e-01] [ 8.37510726e-03 1.17298669e-03 9.99964240e-01 -2.34369029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.223133365 meters Centerline goodness [0,1] 0.2999759966831781 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.24 [[ 9.99966972e-01 -1.57225236e-03 -7.97390788e-03 2.55225992e+00] [ 1.56994948e-03 9.99998724e-01 -2.95052693e-04 2.24262089e-01] [ 7.97436160e-03 2.82524316e-04 9.99968164e-01 -2.35681913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.253133365 meters Centerline goodness [0,1] 0.3039429970274523 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.24 [[ 9.99969372e-01 -1.61198238e-03 -7.65882154e-03 2.55115354e+00] [ 1.60691048e-03 9.99998486e-01 -6.68336187e-04 2.26916323e-01] [ 7.65988728e-03 6.56008676e-04 9.99970447e-01 -2.35203362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.283133365 meters Centerline goodness [0,1] 0.30032945694150504 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.24 [[ 9.99969697e-01 -1.63735112e-03 -7.61081701e-03 2.55099204e+00] [ 1.63095466e-03 9.99998312e-01 -8.46573110e-04 2.28285657e-01] [ 7.61219029e-03 8.34134559e-04 9.99970679e-01 -2.35162074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.313133365 meters Centerline goodness [0,1] 0.3016178399650197 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.24 [[ 9.99969664e-01 -1.70578854e-03 -7.60002907e-03 2.55094963e+00] [ 1.69773608e-03 9.99997991e-01 -1.06585641e-03 2.29571500e-01] [ 7.60183192e-03 1.05292124e-03 9.99970551e-01 -2.35187961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.343133365 meters Centerline goodness [0,1] 0.3016178399650197 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.24 [[ 9.99969664e-01 -1.70578854e-03 -7.60002907e-03 2.55094963e+00] [ 1.69773608e-03 9.99997991e-01 -1.06585641e-03 2.29571500e-01] [ 7.60183192e-03 1.05292124e-03 9.99970551e-01 -2.35187961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.373133365 meters Centerline goodness [0,1] 0.29500864304235086 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.24 [[ 9.99969020e-01 -1.83159701e-03 -7.65536006e-03 2.55103144e+00] [ 1.82184338e-03 9.99997520e-01 -1.28087195e-03 2.30365732e-01] [ 7.65768712e-03 1.26688540e-03 9.99969877e-01 -2.35129371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.403133365 meters Centerline goodness [0,1] 0.2983522186662053 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.24 [[ 9.99968904e-01 -1.96105149e-03 -7.63837400e-03 2.55092792e+00] [ 1.94930755e-03 9.99996907e-01 -1.54463403e-03 2.31428354e-01] [ 7.64137949e-03 1.52969646e-03 9.99969634e-01 -2.35058856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.433133365 meters Centerline goodness [0,1] 0.301406127940283 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99968773e-01 -2.05043706e-03 -7.63202991e-03 2.55078844e+00] [ 2.03704250e-03 9.99996372e-01 -1.76240598e-03 2.32554297e-01] [ 7.63561592e-03 1.74680417e-03 9.99969323e-01 -2.34909849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46313336499998 meters Centerline goodness [0,1] 0.30090841917677225 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.23 [[ 9.99969474e-01 -2.12063535e-03 -7.52020968e-03 2.55035709e+00] [ 2.10557881e-03 9.99995764e-01 -2.00949492e-03 2.34118436e-01] [ 7.52443923e-03 1.99359919e-03 9.99969704e-01 -2.34701953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49313336499998 meters Centerline goodness [0,1] 0.30124506529000916 Centerline is valid? [False, False] Translation: X:2.55, Y:0.24, Z:-0.23 [[ 9.99970554e-01 -2.16479779e-03 -7.36235863e-03 2.54994608e+00] [ 2.14838033e-03 9.99995190e-01 -2.23709559e-03 2.35753279e-01] [ 7.36716608e-03 2.22121257e-03 9.99970395e-01 -2.34668985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52313336499998 meters Centerline goodness [0,1] 0.2985778912963484 Centerline is valid? [False, False] Translation: X:2.55, Y:0.24, Z:-0.23 [[ 9.99971241e-01 -2.21239898e-03 -7.25412201e-03 2.54979592e+00] [ 2.19445601e-03 9.99994516e-01 -2.48051283e-03 2.37442772e-01] [ 7.25957011e-03 2.46452264e-03 9.99970612e-01 -2.34890348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55313336499998 meters Centerline goodness [0,1] 0.3002873563218391 Centerline is valid? [False, False] Translation: X:2.55, Y:0.24, Z:-0.24 [[ 9.99969945e-01 -2.40106053e-03 -7.37186637e-03 2.55053789e+00] [ 2.37824509e-03 9.99992360e-01 -3.10214317e-03 2.40924344e-01] [ 7.37925849e-03 3.08451783e-03 9.99968016e-01 -2.35696162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58313336499998 meters Centerline goodness [0,1] 0.2975867825936125 Centerline is valid? [False, False] Translation: X:2.55, Y:0.24, Z:-0.24 [[ 9.99968312e-01 -2.52806043e-03 -7.54874297e-03 2.55137688e+00] [ 2.50176630e-03 9.99990778e-01 -3.49065999e-03 2.43029365e-01] [ 7.55749796e-03 3.47166419e-03 9.99965415e-01 -2.36423118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61313336499998 meters Centerline goodness [0,1] 0.29761387343532686 Centerline is valid? [False, False] Translation: X:2.55, Y:0.24, Z:-0.24 [[ 0.99996654 -0.00261426 -0.00775133 2.5523173 ] [ 0.00258476 0.99998939 -0.00381298 0.24492381] [ 0.00776122 0.00379282 0.99996269 -0.2372327 ] [ 0. 0. 0. 1. ]] SLAMing on 197.64313336499998 meters Centerline goodness [0,1] 0.2972432385424819 Centerline is valid? [False, False] Translation: X:2.55, Y:0.25, Z:-0.24 [[ 0.99996493 -0.00267841 -0.00793509 2.55300411] [ 0.00264636 0.99998831 -0.00404739 0.24639767] [ 0.00794583 0.00402625 0.99996033 -0.23769936] [ 0. 0. 0. 1. ]] SLAMing on 197.67313336499998 meters Centerline goodness [0,1] 0.29555478682002945 Centerline is valid? [False, False] Translation: X:2.55, Y:0.25, Z:-0.24 [[ 0.99996368 -0.00272333 -0.00807574 2.55342266] [ 0.00268976 0.99998771 -0.00416423 0.24711956] [ 0.00808698 0.00414236 0.99995872 -0.2378691 ] [ 0. 0. 0. 1. ]] SLAMing on 197.70313336499999 meters Centerline goodness [0,1] 0.2998664828069254 Centerline is valid? [False, False] Translation: X:2.53, Y:0.24, Z:-0.24 [[ 0.99995742 0.00475068 -0.00791176 2.53356078] [-0.00479219 0.99997481 -0.00523653 0.2417628 ] [ 0.00788669 0.00527423 0.99995499 -0.23880832] [ 0. 0. 0. 1. ]] SLAMing on 197.733133365 meters Centerline goodness [0,1] 0.29391060246167133 Centerline is valid? [False, False] Translation: X:2.55, Y:0.25, Z:-0.24 [[ 0.99997156 -0.00338808 -0.00673867 2.55318566] [ 0.0033583 0.99998457 -0.0044261 0.24600116] [ 0.00675356 0.00440335 0.9999675 -0.23735942] [ 0. 0. 0. 1. ]] SLAMing on 197.763133365 meters Centerline goodness [0,1] 0.29745448232460237 Centerline is valid? [False, False] Translation: X:2.55, Y:0.25, Z:-0.24 [[ 0.99997182 -0.00338261 -0.00670272 2.5530377 ] [ 0.00335376 0.99998508 -0.00431196 0.24527611] [ 0.0067172 0.00428935 0.99996824 -0.23724181] [ 0. 0. 0. 1. ]] SLAMing on 197.793133365 meters Centerline goodness [0,1] 0.29582348988924767 Centerline is valid? [False, False] Translation: X:2.55, Y:0.24, Z:-0.24 [[ 0.99997149 -0.00338055 -0.00675138 2.55299556] [ 0.00335225 0.99998557 -0.00419819 0.24456464] [ 0.00676547 0.00417544 0.9999684 -0.23697056] [ 0. 0. 0. 1. ]] SLAMing on 197.823133365 meters Centerline goodness [0,1] 0.2977261858180079 Centerline is valid? [False, False] Translation: X:2.55, Y:0.24, Z:-0.24 [[ 0.9999717 -0.00333639 -0.00674313 2.55277811] [ 0.00330908 0.9999863 -0.00405699 0.24392874] [ 0.00675657 0.00403456 0.99996904 -0.23668094] [ 0. 0. 0. 1. ]] SLAMing on 197.853133365 meters Centerline goodness [0,1] 0.29780591449137106 Centerline is valid? [False, False] Translation: X:2.55, Y:0.24, Z:-0.24 [[ 0.99997183 -0.00327668 -0.00675233 2.55256865] [ 0.00325095 0.99998743 -0.00381847 0.24266608] [ 0.00676476 0.00379641 0.99996991 -0.23630939] [ 0. 0. 0. 1. ]] SLAMing on 197.883133365 meters Centerline goodness [0,1] 0.295288207526742 Centerline is valid? [False, False] Translation: X:2.55, Y:0.24, Z:-0.24 [[ 0.99997137 -0.00327587 -0.00682093 2.55266137] [ 0.00325099 0.99998803 -0.00365551 0.24140533] [ 0.00683282 0.00363323 0.99997006 -0.23616145] [ 0. 0. 0. 1. ]] SLAMing on 197.913133365 meters Centerline goodness [0,1] 0.2950950907635388 Centerline is valid? [False, False] Translation: X:2.55, Y:0.24, Z:-0.24 [[ 0.99996982 -0.00336681 -0.00700196 2.55310698] [ 0.0033437 0.99998894 -0.00330883 0.23860555] [ 0.00701302 0.00328532 0.99997001 -0.23614233] [ 0. 0. 0. 1. ]] SLAMing on 197.943133365 meters Centerline goodness [0,1] 0.2947536871242593 Centerline is valid? [False, False] Translation: X:2.55, Y:0.24, Z:-0.24 [[ 0.99996969 -0.003301 -0.00705164 2.55332072] [ 0.00328015 0.99999022 -0.00296641 0.23668755] [ 0.00706137 0.00294319 0.99997074 -0.2363055 ] [ 0. 0. 0. 1. ]] SLAMing on 197.973133365 meters Centerline goodness [0,1] 0.2960196304097631 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.24 [[ 9.99968976e-01 -3.23627253e-03 -7.18153155e-03 2.55348975e+00] [ 3.21798823e-03 9.99991555e-01 -2.55611230e-03 2.34353181e-01] [ 7.18974318e-03 2.53292291e-03 9.99970946e-01 -2.36067776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.003133365 meters Centerline goodness [0,1] 0.2990386493348669 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.24 [[ 9.99969401e-01 -3.23110271e-03 -7.12437519e-03 2.55313397e+00] [ 3.21608305e-03 9.99992584e-01 -2.11865738e-03 2.31533275e-01] [ 7.13116795e-03 2.09567997e-03 9.99972377e-01 -2.35671966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.033133365 meters Centerline goodness [0,1] 0.29606656580937973 Centerline is valid? [False, False] Translation: X:2.55, Y:0.23, Z:-0.24 [[ 9.99970581e-01 -3.33234932e-03 -6.90888994e-03 2.55235035e+00] [ 3.32053443e-03 9.99993006e-01 -1.72086492e-03 2.28324454e-01] [ 6.91457615e-03 1.69787309e-03 9.99974653e-01 -2.35131107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.063133365 meters Centerline goodness [0,1] 0.2964351911720333 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 0.9999597 -0.00625296 -0.00644169 2.5496396 ] [ 0.00622954 0.99997394 -0.00364938 0.22103592] [ 0.00646434 0.00360911 0.99997259 -0.23305928] [ 0. 0. 0. 1. ]] SLAMing on 198.093133365 meters Centerline goodness [0,1] 0.2973686488358003 Centerline is valid? [False, False] Translation: X:2.55, Y:0.22, Z:-0.23 [[ 0.99996106 -0.00623985 -0.00624104 2.54910927] [ 0.00622068 0.99997589 -0.00308632 0.21712332] [ 0.00626015 0.00304737 0.99997576 -0.23283852] [ 0. 0. 0. 1. ]] SLAMing on 198.123133365 meters Centerline goodness [0,1] 0.29976071350881006 Centerline is valid? [False, False] Translation: X:2.55, Y:0.21, Z:-0.23 [[ 9.99961853e-01 -6.17707071e-03 -6.17539185e-03 2.54888713e+00] [ 6.16170977e-03 9.99977883e-01 -2.50338240e-03 2.13285640e-01] [ 6.19071884e-03 2.46523593e-03 9.99977799e-01 -2.32681311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.153133365 meters Centerline goodness [0,1] 0.2986655093848324 Centerline is valid? [False, False] Translation: X:2.55, Y:0.21, Z:-0.23 [[ 9.99961910e-01 -6.07320314e-03 -6.26860783e-03 2.54914272e+00] [ 6.06145934e-03 9.99979842e-01 -1.89073134e-03 2.09392124e-01] [ 6.27996427e-03 1.85266241e-03 9.99978565e-01 -2.32741356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.183133365 meters Centerline goodness [0,1] 0.3013627062562584 Centerline is valid? [False, False] Translation: X:2.55, Y:0.21, Z:-0.23 [[ 9.99962682e-01 -5.87214428e-03 -6.33659722e-03 2.54937266e+00] [ 5.86485316e-03 9.99982119e-01 -1.16860634e-03 2.05327509e-01] [ 6.34334614e-03 1.13139952e-03 9.99979241e-01 -2.32785328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21313336499998 meters Centerline goodness [0,1] 0.29801396296778115 Centerline is valid? [False, False] Translation: X:2.55, Y:0.20, Z:-0.23 [[ 9.99963009e-01 -5.69376216e-03 -6.44686364e-03 2.54954062e+00] [ 5.69065646e-03 9.99983683e-01 -4.99979669e-04 2.01636629e-01] [ 6.44960521e-03 4.63274288e-04 9.99979094e-01 -2.32663267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24313336499998 meters Centerline goodness [0,1] 0.3004600658482873 Centerline is valid? [False, False] Translation: X:2.55, Y:0.19, Z:-0.23 [[ 9.99961692e-01 -5.77088495e-03 -6.58121712e-03 2.54963246e+00] [ 5.77314951e-03 9.99983282e-01 3.25148841e-04 1.93501070e-01] [ 6.57923070e-03 -3.63130735e-04 9.99978291e-01 -2.32266976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27313336499998 meters Centerline goodness [0,1] 0.29904541383603833 Centerline is valid? [False, False] Translation: X:2.55, Y:0.19, Z:-0.23 [[ 9.99960501e-01 -5.66669081e-03 -6.84727045e-03 2.55015241e+00] [ 5.67330345e-03 9.99983459e-01 9.46695924e-04 1.89476765e-01] [ 6.84179255e-03 -9.85505174e-04 9.99976109e-01 -2.32133928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30313336499998 meters Centerline goodness [0,1] 0.30142863365129147 Centerline is valid? [False, False] Translation: X:2.55, Y:0.19, Z:-0.23 [[ 9.99958515e-01 -5.56717967e-03 -7.20931867e-03 2.55115398e+00] [ 5.57873856e-03 9.99983184e-01 1.58420978e-03 1.85297208e-01] [ 7.20037786e-03 -1.62436296e-03 9.99972758e-01 -2.32395139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33313336499998 meters Centerline goodness [0,1] 0.2981556258867183 Centerline is valid? [False, False] Translation: X:2.55, Y:0.18, Z:-0.23 [[ 9.99956992e-01 -5.38801034e-03 -7.54875887e-03 2.55209916e+00] [ 5.40569316e-03 9.99982689e-01 2.32403863e-03 1.81040013e-01] [ 7.53610625e-03 -2.36474495e-03 9.99968807e-01 -2.32684459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36313336499998 meters Centerline goodness [0,1] 0.29961284148251266 Centerline is valid? [False, False] Translation: X:2.55, Y:0.17, Z:-0.23 [[ 9.99946370e-01 -6.44308700e-03 -8.10825520e-03 2.55377930e+00] [ 6.46371832e-03 9.99975933e-01 2.52085489e-03 1.70584788e-01] [ 8.09181796e-03 -2.57312918e-03 9.99963950e-01 -2.33053454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39313336499998 meters Centerline goodness [0,1] 0.2959137466307278 Centerline is valid? [False, False] Translation: X:2.57, Y:0.16, Z:-0.23 [[ 9.99966941e-01 8.18475495e-04 -8.08988907e-03 2.57331883e+00] [-8.11894541e-04 9.99999337e-01 8.16729578e-04 1.62174632e-01] [ 8.09055218e-03 -8.10134441e-04 9.99966943e-01 -2.31618243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42313336499998 meters Centerline goodness [0,1] 0.29776345303686924 Centerline is valid? [False, False] Translation: X:2.57, Y:0.16, Z:-0.23 [[ 9.99966073e-01 9.49875543e-04 -8.18227893e-03 2.57356930e+00] [-9.37910615e-04 9.99998486e-01 1.46601079e-03 1.57972217e-01] [ 8.18365907e-03 -1.45828681e-03 9.99965450e-01 -2.31676293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45313336499999 meters Centerline goodness [0,1] 0.2958494839074953 Centerline is valid? [False, False] Translation: X:2.57, Y:0.15, Z:-0.23 [[ 9.99964093e-01 1.05009037e-03 -8.40893605e-03 2.57417901e+00] [-1.03312589e-03 9.99997423e-01 2.02152499e-03 1.54366463e-01] [ 8.41103717e-03 -2.01276491e-03 9.99962601e-01 -2.31806194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.483133365 meters Centerline goodness [0,1] 0.2940639864468626 Centerline is valid? [False, False] Translation: X:2.57, Y:0.15, Z:-0.23 [[ 9.99962518e-01 1.19710522e-03 -8.57494429e-03 2.57465902e+00] [-1.17507329e-03 9.99995997e-01 2.57391538e-03 1.51075550e-01] [ 8.57799121e-03 -2.56374272e-03 9.99959922e-01 -2.31968557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.513133365 meters Centerline goodness [0,1] 0.29757235006973504 Centerline is valid? [False, False] Translation: X:2.58, Y:0.15, Z:-0.23 [[ 9.99961372e-01 1.34160972e-03 -8.68646125e-03 2.57510762e+00] [-1.31542398e-03 9.99994576e-01 3.01955789e-03 1.48527217e-01] [ 8.69046520e-03 -3.00801488e-03 9.99957713e-01 -2.32244644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.543133365 meters Centerline goodness [0,1] 0.2974578128424282 Centerline is valid? [False, False] Translation: X:2.58, Y:0.14, Z:-0.23 [[ 9.99958935e-01 1.54121694e-03 -8.93044959e-03 2.57585826e+00] [-1.50859384e-03 9.99992169e-01 3.65860381e-03 1.44871146e-01] [ 8.93601836e-03 -3.64498115e-03 9.99953430e-01 -2.32556725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.573133365 meters Centerline goodness [0,1] 0.2932254144605503 Centerline is valid? [False, False] Translation: X:2.58, Y:0.14, Z:-0.23 [[ 9.99958397e-01 1.62850381e-03 -8.97506402e-03 2.57598668e+00] [-1.59278343e-03 9.99990789e-01 3.98567042e-03 1.43001149e-01] [ 8.98147203e-03 -3.97120928e-03 9.99951780e-01 -2.32636264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.603133365 meters Centerline goodness [0,1] 0.29538769907841134 Centerline is valid? [False, False] Translation: X:2.58, Y:0.14, Z:-0.23 [[ 9.99958545e-01 1.72770843e-03 -8.93995616e-03 2.57576818e+00] [-1.68901298e-03 9.99989181e-01 4.33411317e-03 1.40990871e-01] [ 8.94734752e-03 -4.31883380e-03 9.99950645e-01 -2.32464216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.633133365 meters Centerline goodness [0,1] 0.29437558338941106 Centerline is valid? [False, False] Translation: X:2.58, Y:0.14, Z:-0.23 [[ 9.99957986e-01 1.76316741e-03 -8.99542312e-03 2.57582118e+00] [-1.72095958e-03 9.99987485e-01 4.69772943e-03 1.38517777e-01] [ 9.00359342e-03 -4.68205130e-03 9.99948506e-01 -2.32341500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.663133365 meters Centerline goodness [0,1] 0.29837844935116087 Centerline is valid? [False, False] Translation: X:2.58, Y:0.14, Z:-0.23 [[ 9.99956775e-01 1.74688301e-03 -9.13217303e-03 2.57604812e+00] [-1.70060117e-03 9.99985685e-01 5.07330976e-03 1.35703222e-01] [ 9.14090477e-03 -5.05756028e-03 9.99945431e-01 -2.32229347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.693133365 meters Centerline goodness [0,1] 0.2930585117935798 Centerline is valid? [False, False] Translation: X:2.58, Y:0.13, Z:-0.23 [[ 9.99956702e-01 -1.65382763e-03 -9.15748307e-03 2.57605644e+00] [ 1.67580374e-03 9.99995733e-01 2.39264423e-03 1.30942830e-01] [ 9.15348698e-03 -2.40788678e-03 9.99955207e-01 -2.32225196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.723133365 meters Centerline goodness [0,1] 0.29685157421289354 Centerline is valid? [False, False] Translation: X:2.58, Y:0.13, Z:-0.23 [[ 9.99956210e-01 -1.55938134e-03 -9.22745117e-03 2.57614256e+00] [ 1.58623741e-03 9.99994526e-01 2.90385038e-03 1.28042208e-01] [ 9.22287245e-03 -2.91836015e-03 9.99953210e-01 -2.32150992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.753133365 meters Centerline goodness [0,1] 0.2937297320826169 Centerline is valid? [False, False] Translation: X:2.58, Y:0.13, Z:-0.23 [[ 9.99955718e-01 -1.47186445e-03 -9.29492479e-03 2.57605877e+00] [ 1.50340130e-03 9.99993135e-01 3.38683530e-03 1.25265944e-01] [ 9.28987601e-03 -3.40065933e-03 9.99951066e-01 -2.31827557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.783133365 meters Centerline goodness [0,1] 0.2904030627607863 Centerline is valid? [False, False] Translation: X:2.60, Y:0.12, Z:-0.23 [[ 9.99953125e-01 4.67298119e-03 -8.47999889e-03 2.59715646e+00] [-4.66924724e-03 9.99988993e-01 4.60069287e-04 1.19781695e-01] [ 8.48205545e-03 -4.20452510e-04 9.99963938e-01 -2.31795947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.813133365 meters Centerline goodness [0,1] 0.29238307929142904 Centerline is valid? [False, False] Translation: X:2.60, Y:0.12, Z:-0.23 [[ 9.99954266e-01 4.76986796e-03 -8.28940008e-03 2.59636400e+00] [-4.76217321e-03 9.99988212e-01 9.47753499e-04 1.16808780e-01] [ 8.29382302e-03 -9.08234596e-04 9.99965193e-01 -2.31324082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.843133365 meters Centerline goodness [0,1] 0.29415607037101554 Centerline is valid? [False, False] Translation: X:2.60, Y:0.11, Z:-0.23 [[ 9.99955496e-01 4.83868196e-03 -8.09901806e-03 2.59548972e+00] [-4.82748455e-03 9.99987365e-01 1.40154297e-03 1.13948140e-01] [ 8.10569736e-03 -1.36238271e-03 9.99966220e-01 -2.30724937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.873133365 meters Centerline goodness [0,1] 0.29015354092987145 Centerline is valid? [False, False] Translation: X:2.62, Y:0.11, Z:-0.23 [[ 9.99968505e-01 -2.98888743e-03 -7.35224072e-03 2.61568893e+00] [ 3.00746640e-03 9.99992309e-01 2.51722363e-03 1.13192596e-01] [ 7.34466047e-03 -2.53925597e-03 9.99969804e-01 -2.29498224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.903133365 meters Centerline goodness [0,1] 0.29571322663643107 Centerline is valid? [False, False] Translation: X:2.60, Y:0.11, Z:-0.23 [[ 9.99973902e-01 3.58761329e-03 -6.27085385e-03 2.59600967e+00] [-3.57853740e-03 9.99992534e-01 1.45793528e-03 1.05358499e-01] [ 6.27603754e-03 -1.43545674e-03 9.99979275e-01 -2.31356888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.933133365 meters Centerline goodness [0,1] 0.29454434224038106 Centerline is valid? [False, False] Translation: X:2.60, Y:0.10, Z:-0.23 [[ 9.99973334e-01 3.68339918e-03 -6.30588429e-03 2.59591050e+00] [-3.67132322e-03 9.99991407e-01 1.92553525e-03 1.02520261e-01] [ 6.31292261e-03 -1.90233296e-03 9.99978264e-01 -2.31191338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96313336499998 meters Centerline goodness [0,1] 0.2915737271801979 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.23 [[ 9.99976470e-01 3.81246489e-03 -5.70301138e-03 2.59397686e+00] [-3.79779251e-03 9.99989457e-01 2.58136369e-03 9.83500606e-02] [ 5.71279261e-03 -2.55964409e-03 9.99980406e-01 -2.30436607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99313336499998 meters Centerline goodness [0,1] 0.29585373816519756 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.23 [[ 0.99997799 0.00385585 -0.00539851 2.59302983] [-0.00384108 0.99998886 0.00274372 0.09732043] [ 0.00540903 -0.00272292 0.99998166 -0.23004225] [ 0. 0. 0. 1. ]] SLAMing on 199.02313336499998 meters Centerline goodness [0,1] 0.2974967348715716 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.23 [[ 0.99997854 0.00388198 -0.00527728 2.59271762] [-0.00386683 0.99998838 0.0028784 0.09633813] [ 0.00528839 -0.00285794 0.99998193 -0.22999487] [ 0. 0. 0. 1. ]] SLAMing on 199.05313336499998 meters Centerline goodness [0,1] 0.29585528320780186 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.23 [[ 0.99997801 0.00391183 -0.00535547 2.59298642] [-0.00389588 0.99998795 0.00298537 0.09560419] [ 0.00536708 -0.00296444 0.9999812 -0.23014672] [ 0. 0. 0. 1. ]] SLAMing on 199.08313336499998 meters Centerline goodness [0,1] 0.29598899539291246 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.23 [[ 0.99997697 0.00394876 -0.00551982 2.59354477] [-0.00393158 0.99998741 0.00311837 0.09485076] [ 0.00553207 -0.0030966 0.9999799 -0.23043306] [ 0. 0. 0. 1. ]] SLAMing on 199.11313336499998 meters Centerline goodness [0,1] 0.29440696409140366 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.23 [[ 0.99997561 0.00399873 -0.00572588 2.59415695] [-0.00397994 0.99998667 0.00328975 0.09382279] [ 0.00573895 -0.00326688 0.9999782 -0.23064361] [ 0. 0. 0. 1. ]] SLAMing on 199.14313336499998 meters Centerline goodness [0,1] 0.2925405405405406 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.23 [[ 0.99997465 0.00402544 -0.00587287 2.59454632] [-0.00400489 0.99998583 0.00350787 0.09205259] [ 0.00588691 -0.00348426 0.9999766 -0.23074097] [ 0. 0. 0. 1. ]] SLAMing on 199.17313336499998 meters Centerline goodness [0,1] 0.2910135164313167 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.23 [[ 0.99997455 0.00400923 -0.0059019 2.59466726] [-0.00398824 0.9999857 0.00356366 0.09136022] [ 0.00591611 -0.00354003 0.99997623 -0.2308213 ] [ 0. 0. 0. 1. ]] SLAMing on 199.20313336499999 meters Centerline goodness [0,1] 0.2947665021187367 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.23 [[ 0.9999681 -0.00467917 -0.00647292 2.57535709] [ 0.00471102 0.99997683 0.00491418 0.09527295] [ 0.00644978 -0.00494452 0.99996698 -0.23186081] [ 0. 0. 0. 1. ]] SLAMing on 199.233133365 meters Centerline goodness [0,1] 0.28973356094820324 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.23 [[ 0.99997658 0.0037102 -0.00575121 2.59438822] [-0.00368936 0.99998661 0.00362952 0.09012104] [ 0.0057646 -0.00360822 0.99997687 -0.23109918] [ 0. 0. 0. 1. ]] SLAMing on 199.263133365 meters Centerline goodness [0,1] 0.28973356094820324 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.23 [[ 0.99997658 0.0037102 -0.00575121 2.59438822] [-0.00368936 0.99998661 0.00362952 0.09012104] [ 0.0057646 -0.00360822 0.99997687 -0.23109918] [ 0. 0. 0. 1. ]] SLAMing on 199.293133365 meters Centerline goodness [0,1] 0.29240528328119564 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.23 [[ 0.99997679 0.00372096 -0.00570678 2.59431617] [-0.00369974 0.99998622 0.00372492 0.08919489] [ 0.00572056 -0.00370372 0.99997678 -0.23111148] [ 0. 0. 0. 1. ]] SLAMing on 199.323133365 meters Centerline goodness [0,1] 0.29033997756493224 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.23 [[ 0.99997658 0.00374055 -0.00573054 2.59451458] [-0.00371847 0.99998564 0.00385929 0.08807101] [ 0.00574489 -0.00383789 0.99997613 -0.23132635] [ 0. 0. 0. 1. ]] SLAMing on 199.353133365 meters Centerline goodness [0,1] 0.29128022882898497 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.23 [[ 0.99997289 0.00396287 -0.00620563 2.59649554] [-0.00393745 0.99998383 0.00410292 0.08741784] [ 0.00622178 -0.00407838 0.99997233 -0.23259507] [ 0. 0. 0. 1. ]] SLAMing on 199.383133365 meters Centerline goodness [0,1] 0.29158052793071176 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.23 [[ 0.99997004 0.00402252 -0.00661383 2.59793585] [-0.00399579 0.99998381 0.00405039 0.08802215] [ 0.00663002 -0.00402384 0.99996993 -0.23329494] [ 0. 0. 0. 1. ]] SLAMing on 199.413133365 meters Centerline goodness [0,1] 0.2918469945355191 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.23 [[ 0.99996856 0.00399464 -0.00685034 2.59877048] [-0.00396825 0.99998467 0.00386201 0.08895556] [ 0.00686566 -0.0038347 0.99996908 -0.23368171] [ 0. 0. 0. 1. ]] SLAMing on 199.443133365 meters Centerline goodness [0,1] 0.2916040509637373 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.23 [[ 0.99996765 0.00398889 -0.00698471 2.59893057] [-0.00396275 0.99998511 0.00375182 0.08947193] [ 0.00699957 -0.00372402 0.99996857 -0.23340631] [ 0. 0. 0. 1. ]] SLAMing on 199.473133365 meters Centerline goodness [0,1] 0.2883067561444015 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.23 [[ 0.99996787 0.00406098 -0.00691194 2.59856088] [-0.00403526 0.9999849 0.00373047 0.08992371] [ 0.00692699 -0.00370245 0.99996915 -0.23308339] [ 0. 0. 0. 1. ]] SLAMing on 199.503133365 meters Centerline goodness [0,1] 0.2900626485201987 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.23 [[ 0.99996877 0.00426623 -0.00665213 2.59795344] [-0.0042399 0.99998314 0.00396799 0.08917884] [ 0.00666895 -0.00393966 0.99997 -0.23301923] [ 0. 0. 0. 1. ]] SLAMing on 199.533133365 meters Centerline goodness [0,1] 0.29184212248816355 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.23 [[ 0.99996916 0.00428368 -0.00658279 2.59772862] [-0.00425657 0.99998242 0.0041273 0.08788149] [ 0.00660035 -0.00409915 0.99996982 -0.2329149 ] [ 0. 0. 0. 1. ]] SLAMing on 199.563133365 meters Centerline goodness [0,1] 0.29083881614661367 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.23 [[ 9.99976320e-01 1.50502226e-03 -6.71521572e-03 2.59822408e+00] [-1.49563168e-03 9.99997897e-01 1.40320664e-03 8.69373148e-02] [ 6.71731345e-03 -1.39312992e-03 9.99976468e-01 -2.33185338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.593133365 meters Centerline goodness [0,1] 0.29268930642137847 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.23 [[ 9.99975179e-01 1.58770313e-03 -6.86441863e-03 2.59852786e+00] [-1.57572267e-03 9.99997227e-01 1.75035456e-03 8.48293735e-02] [ 6.86717864e-03 -1.73949469e-03 9.99974908e-01 -2.33149985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.623133365 meters Centerline goodness [0,1] 0.2911801727505534 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.23 [[ 9.99973349e-01 1.71622773e-03 -7.09614413e-03 2.59901897e+00] [-1.70120707e-03 9.99996301e-01 2.12222912e-03 8.29129328e-02] [ 7.09976011e-03 -2.11010055e-03 9.99972570e-01 -2.33066406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.653133365 meters Centerline goodness [0,1] 0.2901298701298701 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.23 [[ 9.99972763e-01 1.86276300e-03 -7.14173072e-03 2.59907866e+00] [-1.84501811e-03 9.99995197e-01 2.49045986e-03 8.11386721e-02] [ 7.14633555e-03 -2.47721541e-03 9.99971396e-01 -2.32951803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.683133365 meters Centerline goodness [0,1] 0.2891641803952091 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.23 [[ 9.99973980e-01 2.04024137e-03 -6.91923948e-03 2.59801974e+00] [-2.02005973e-03 9.99993689e-01 2.92247794e-03 7.84547053e-02] [ 6.92515838e-03 -2.90842462e-03 9.99971791e-01 -2.32027817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71313336499998 meters Centerline goodness [0,1] 0.2907478582011036 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.23 [[ 9.99974386e-01 2.14248184e-03 -6.82914581e-03 2.59767677e+00] [-2.12177395e-03 9.99993134e-01 3.03808650e-03 7.78965047e-02] [ 6.83560797e-03 -3.02351878e-03 9.99972066e-01 -2.31778349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74313336499998 meters Centerline goodness [0,1] 0.2907713945688629 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.23 [[ 9.99974850e-01 2.31064695e-03 -6.70530951e-03 2.59745830e+00] [-2.28950832e-03 9.99992391e-01 3.15848721e-03 7.79001031e-02] [ 6.71255664e-03 -3.14305592e-03 9.99972531e-01 -2.31844483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77313336499998 meters Centerline goodness [0,1] 0.29401884652299104 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.23 [[ 9.99974929e-01 2.56092572e-03 -6.60176660e-03 2.59746086e+00] [-2.53898947e-03 9.99991236e-01 3.32902691e-03 7.80424872e-02] [ 6.61023413e-03 -3.31218163e-03 9.99972667e-01 -2.32186047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80313336499998 meters Centerline goodness [0,1] 0.2921838528827905 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.23 [[ 0.99997517 0.00269862 -0.00651028 2.59741212] [-0.00267662 0.99999068 0.00338652 0.07818185] [ 0.00651936 -0.00336901 0.99997307 -0.23241794] [ 0. 0. 0. 1. ]] SLAMing on 199.83313336499998 meters Centerline goodness [0,1] 0.29373305344179135 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.23 [[ 0.999976 0.00273666 -0.0063649 2.59701522] [-0.00271499 0.9999905 0.00341112 0.07793909] [ 0.00637417 -0.00339376 0.99997393 -0.23227527] [ 0. 0. 0. 1. ]] SLAMing on 199.86313336499998 meters Centerline goodness [0,1] 0.2938248968633357 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.23 [[ 0.99997683 0.00280048 -0.00620476 2.59592978] [-0.00277812 0.99998963 0.00360938 0.07614727] [ 0.00621481 -0.00359206 0.99997424 -0.23114701] [ 0. 0. 0. 1. ]] SLAMing on 199.89313336499998 meters Centerline goodness [0,1] 0.2895678799378989 Centerline is valid? [False, False] Translation: X:2.62, Y:0.08, Z:-0.23 [[ 0.99996607 -0.00414574 -0.00711879 2.61503108] [ 0.00417644 0.99998202 0.0043039 0.0796367 ] [ 0.00710082 -0.00433348 0.9999654 -0.22933911] [ 0. 0. 0. 1. ]] SLAMing on 199.92313336499998 meters Centerline goodness [0,1] 0.29271196346241257 Centerline is valid? [False, False] Translation: X:2.62, Y:0.08, Z:-0.23 [[ 0.99996571 -0.00410673 -0.00719188 2.61527536] [ 0.00413827 0.99998186 0.00437581 0.07917147] [ 0.00717377 -0.00440543 0.99996456 -0.22942315] [ 0. 0. 0. 1. ]] SLAMing on 199.95313336499999 meters Centerline goodness [0,1] 0.29431657030653435 Centerline is valid? [False, False] Translation: X:2.62, Y:0.08, Z:-0.23 [[ 0.99996643 -0.00405069 -0.00712223 2.61525281] [ 0.00408236 0.99998182 0.00443746 0.07908537] [ 0.00710413 -0.00446639 0.99996479 -0.22964701] [ 0. 0. 0. 1. ]] SLAMing on 199.983133365 meters Centerline goodness [0,1] 0.2929479919853646 Centerline is valid? [False, False] Translation: X:2.61, Y:0.08, Z:-0.23 [[ 0.99996866 -0.00399029 -0.00683759 2.61463009] [ 0.00402103 0.99998184 0.00448855 0.07910616] [ 0.00681955 -0.0045159 0.99996655 -0.22970157] [ 0. 0. 0. 1. ]] SLAMing on 200.013133365 meters Centerline goodness [0,1] 0.2950866045782923 Centerline is valid? [False, False] Translation: X:2.61, Y:0.08, Z:-0.23 [[ 0.99997208 -0.00386677 -0.00639494 2.61364859] [ 0.00389608 0.99998194 0.00457693 0.07911191] [ 0.00637712 -0.00460171 0.99996908 -0.22978489] [ 0. 0. 0. 1. ]] SLAMing on 200.043133365 meters Centerline goodness [0,1] 0.29137382955258095 Centerline is valid? [False, False] Translation: X:2.63, Y:0.08, Z:-0.23 [[ 0.99997002 0.00490607 -0.00599017 2.63302095] [-0.00488716 0.99998304 0.00316689 0.07562689] [ 0.0060056 -0.00313752 0.99997704 -0.22893171] [ 0. 0. 0. 1. ]] SLAMing on 200.073133365 meters Centerline goodness [0,1] 0.2896382217239446 Centerline is valid? [False, False] Translation: X:2.63, Y:0.08, Z:-0.23 [[ 0.99996976 0.00483007 -0.0060955 2.63360817] [-0.00481166 0.99998383 0.00303089 0.07602471] [ 0.00611004 -0.00300146 0.99997683 -0.2294439 ] [ 0. 0. 0. 1. ]] SLAMing on 200.103133365 meters Centerline goodness [0,1] 0.2902959812516275 Centerline is valid? [False, False] Translation: X:2.63, Y:0.08, Z:-0.23 [[ 0.99996858 0.00476037 -0.00633845 2.63452505] [-0.00474184 0.99998445 0.00293492 0.07617812] [ 0.00635232 -0.00290477 0.9999756 -0.23000574] [ 0. 0. 0. 1. ]] SLAMing on 200.133133365 meters Centerline goodness [0,1] 0.2897050543548876 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.23 [[ 0.99996752 0.00470349 -0.00654519 2.63529004] [-0.00468506 0.99998503 0.00282782 0.0766116 ] [ 0.00655839 -0.00279706 0.99997458 -0.23044014] [ 0. 0. 0. 1. ]] SLAMing on 200.163133365 meters Centerline goodness [0,1] 0.2940173555706136 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.23 [[ 0.99996652 0.00464332 -0.00673744 2.63601182] [-0.0046252 0.99998565 0.00270191 0.07712567] [ 0.00674989 -0.00267066 0.99997365 -0.23087735] [ 0. 0. 0. 1. ]] SLAMing on 200.193133365 meters Centerline goodness [0,1] 0.2934131736526946 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.23 [[ 9.99965376e-01 4.61268174e-03 -6.92607425e-03 2.63669993e+00] [-4.59508499e-03 9.99986180e-01 2.55442052e-03 7.79861916e-02] [ 6.93776126e-03 -2.52250617e-03 9.99972752e-01 -2.31284419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.223133365 meters Centerline goodness [0,1] 0.2936309199782253 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.23 [[ 9.99965344e-01 4.56806005e-03 -6.96016697e-03 2.63705099e+00] [-4.55162012e-03 9.99986819e-01 2.37601543e-03 7.90910836e-02] [ 6.97092901e-03 -2.34425305e-03 9.99972955e-01 -2.31740159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.253133365 meters Centerline goodness [0,1] 0.29114475547326 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.23 [[ 9.99965377e-01 4.53441759e-03 -6.97745146e-03 2.63738678e+00] [-4.51947579e-03 9.99987464e-01 2.15572070e-03 8.06180363e-02] [ 6.98713892e-03 -2.12411164e-03 9.99973334e-01 -2.32216593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.283133365 meters Centerline goodness [0,1] 0.2888470364116552 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.23 [[ 9.99965623e-01 4.47671929e-03 -6.97934687e-03 2.63776898e+00] [-4.46441516e-03 9.99988455e-01 1.77751823e-03 8.30357367e-02] [ 6.98722374e-03 -1.74629842e-03 9.99974064e-01 -2.32820240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.313133365 meters Centerline goodness [0,1] 0.28714301110033413 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.23 [[ 9.99965481e-01 4.36634772e-03 -7.06910021e-03 2.63816319e+00] [-4.35515482e-03 9.99989239e-01 1.59797699e-03 8.35698995e-02] [ 7.07600147e-03 -1.56713480e-03 9.99973737e-01 -2.33108172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.343133365 meters Centerline goodness [0,1] 0.29028889662373825 Centerline is valid? [False, False] Translation: X:2.62, Y:0.09, Z:-0.23 [[ 0.99995752 -0.00462246 -0.00797469 2.61929449] [ 0.00464606 0.99998487 0.00294411 0.08688966] [ 0.00796096 -0.00298104 0.99996387 -0.23430463] [ 0. 0. 0. 1. ]] SLAMing on 200.373133365 meters Centerline goodness [0,1] 0.29184981084213524 Centerline is valid? [False, False] Translation: X:2.62, Y:0.09, Z:-0.23 [[ 0.999956 -0.00462956 -0.00815815 2.61986947] [ 0.00465423 0.99998465 0.00300748 0.0864214 ] [ 0.0081441 -0.00304531 0.9999622 -0.23460897] [ 0. 0. 0. 1. ]] SLAMing on 200.403133365 meters Centerline goodness [0,1] 0.2917330655548036 Centerline is valid? [False, False] Translation: X:2.62, Y:0.09, Z:-0.23 [[ 0.9999549 -0.0046104 -0.00830311 2.62024492] [ 0.00463633 0.99998443 0.0031056 0.08592456] [ 0.00828866 -0.00314396 0.99996071 -0.23466468] [ 0. 0. 0. 1. ]] SLAMing on 200.43313336499997 meters Centerline goodness [0,1] 0.29127695292912115 Centerline is valid? [False, False] Translation: X:2.62, Y:0.09, Z:-0.23 [[ 0.99995461 -0.00458972 -0.00834908 2.62027284] [ 0.00461676 0.99998415 0.00322224 0.08523004] [ 0.00833416 -0.00326064 0.99995995 -0.23457357] [ 0. 0. 0. 1. ]] SLAMing on 200.46313336499998 meters Centerline goodness [0,1] 0.29479248925155743 Centerline is valid? [False, False] Translation: X:2.62, Y:0.09, Z:-0.23 [[ 0.99995952 -0.0044523 -0.00781894 2.61853765] [ 0.00447846 0.99998442 0.00333112 0.08525206] [ 0.00780399 -0.003366 0.99996388 -0.23375379] [ 0. 0. 0. 1. ]] SLAMing on 200.49313336499998 meters Centerline goodness [0,1] 0.29239230064161315 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.23 [[ 9.99972216e-01 4.61874793e-03 -5.85098884e-03 2.63674289e+00] [-4.60687132e-03 9.99987304e-01 2.04170015e-03 8.42401094e-02] [ 5.86034465e-03 -2.01468867e-03 9.99980799e-01 -2.32630421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52313336499998 meters Centerline goodness [0,1] 0.2946123521681997 Centerline is valid? [False, False] Translation: X:2.64, Y:0.09, Z:-0.23 [[ 9.99974716e-01 4.68525179e-03 -5.34932820e-03 2.63546446e+00] [-4.67546762e-03 9.99987377e-01 1.84008803e-03 8.60301915e-02] [ 5.35788195e-03 -1.81503090e-03 9.99983999e-01 -2.32405937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55313336499998 meters Centerline goodness [0,1] 0.293047546512893 Centerline is valid? [False, False] Translation: X:2.64, Y:0.09, Z:-0.23 [[ 9.99975346e-01 4.64420339e-03 -5.26678797e-03 2.63536878e+00] [-4.63635227e-03 9.99988124e-01 1.50191466e-03 8.80753105e-02] [ 5.27370062e-03 -1.47745895e-03 9.99985002e-01 -2.32554711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58313336499998 meters Centerline goodness [0,1] 0.29119530995548804 Centerline is valid? [False, False] Translation: X:2.64, Y:0.09, Z:-0.23 [[ 9.99974920e-01 4.52325325e-03 -5.44971526e-03 2.63609565e+00] [-4.51743983e-03 9.99989215e-01 1.07857667e-03 9.01085599e-02] [ 5.45453515e-03 -1.05393086e-03 9.99984569e-01 -2.33051311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61313336499998 meters Centerline goodness [0,1] 0.2912980152605378 Centerline is valid? [False, False] Translation: X:2.64, Y:0.09, Z:-0.23 [[ 9.99973985e-01 4.40651186e-03 -5.71073116e-03 2.63703033e+00] [-4.40248520e-03 9.99990052e-01 7.17483204e-04 9.18502836e-02] [ 5.71383595e-03 -6.92323129e-04 9.99983436e-01 -2.33573914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64313336499998 meters Centerline goodness [0,1] 0.28686650851843865 Centerline is valid? [False, False] Translation: X:2.65, Y:0.10, Z:-0.23 [[ 9.99971036e-01 -1.30926550e-03 -7.49758847e-03 2.65380103e+00] [ 1.32020871e-03 9.99998070e-01 1.45479990e-03 9.94486315e-02] [ 7.49566928e-03 -1.46465614e-03 9.99970834e-01 -2.31146473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67313336499998 meters Centerline goodness [0,1] 0.2924330464415221 Centerline is valid? [False, False] Translation: X:2.63, Y:0.09, Z:-0.23 [[ 9.99966133e-01 5.58532911e-03 -6.04454523e-03 2.63337875e+00] [-5.58147829e-03 9.99984210e-01 6.53754614e-04 9.36543316e-02] [ 6.04810122e-03 -6.19994976e-04 9.99981518e-01 -2.32285798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70313336499999 meters Centerline goodness [0,1] 0.2912442196218059 Centerline is valid? [False, False] Translation: X:2.63, Y:0.09, Z:-0.23 [[ 9.99968125e-01 5.50257353e-03 -5.78545291e-03 2.63227576e+00] [-5.49915320e-03 9.99984695e-01 6.06935170e-04 9.33641326e-02] [ 5.78870407e-03 -5.75100732e-04 9.99983080e-01 -2.31491134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.733133365 meters Centerline goodness [0,1] 0.2876264192093053 Centerline is valid? [False, False] Translation: X:2.65, Y:0.10, Z:-0.23 [[ 9.99989310e-01 -2.01324761e-03 -4.16255778e-03 2.65159246e+00] [ 2.01895719e-03 9.99997026e-01 1.36790680e-03 9.69727070e-02] [ 4.15979147e-03 -1.37629620e-03 9.99990401e-01 -2.30180708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.763133365 meters Centerline goodness [0,1] 0.29436047527520526 Centerline is valid? [False, False] Translation: X:2.61, Y:0.09, Z:-0.23 [[ 9.99977707e-01 -3.55176991e-03 -5.65423392e-03 2.60511167e+00] [ 3.56411184e-03 9.99991285e-01 2.17419929e-03 9.33657305e-02] [ 5.64646239e-03 -2.19430315e-03 9.99981651e-01 -2.28841933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.793133365 meters Centerline goodness [0,1] 0.2952805843502603 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.23 [[ 9.99979462e-01 -3.44110392e-03 -5.40689130e-03 2.60462798e+00] [ 3.45334353e-03 9.99991492e-01 2.25600307e-03 9.36290906e-02] [ 5.39908215e-03 -2.27462859e-03 9.99982838e-01 -2.28973751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.823133365 meters Centerline goodness [0,1] 0.29632949303718603 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.23 [[ 9.99979895e-01 -3.41838310e-03 -5.34073278e-03 2.60469165e+00] [ 3.43004848e-03 9.99991749e-01 2.17659831e-03 9.43542954e-02] [ 5.33324826e-03 -2.19487353e-03 9.99983369e-01 -2.29316319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.853133365 meters Centerline goodness [0,1] 0.2989404089496037 Centerline is valid? [False, False] Translation: X:2.61, Y:0.10, Z:-0.23 [[ 9.99979505e-01 -3.43118615e-03 -5.40530010e-03 2.60504204e+00] [ 3.44207446e-03 9.99992063e-01 2.00636296e-03 9.53770777e-02] [ 5.39837300e-03 -2.02492729e-03 9.99983378e-01 -2.29670683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.883133365 meters Centerline goodness [0,1] 0.2893274822196762 Centerline is valid? [False, False] Translation: X:2.63, Y:0.09, Z:-0.23 [[ 9.99970733e-01 5.46651563e-03 -5.35260628e-03 2.62604283e+00] [-5.46358810e-03 9.99984917e-01 5.61405762e-04 9.41631704e-02] [ 5.35559448e-03 -5.32144896e-04 9.99985517e-01 -2.29048693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.913133365 meters Centerline goodness [0,1] 0.2951292528898892 Centerline is valid? [False, False] Translation: X:2.61, Y:0.10, Z:-0.23 [[ 9.99972875e-01 -3.22063712e-03 -6.62394422e-03 2.60789376e+00] [ 3.23404291e-03 9.99992742e-01 2.01412285e-03 9.86287297e-02] [ 6.61740938e-03 -2.03549034e-03 9.99976033e-01 -2.30660722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.943133365 meters Centerline goodness [0,1] 0.2925607232327633 Centerline is valid? [False, False] Translation: X:2.61, Y:0.10, Z:-0.23 [[ 9.99971427e-01 -3.23285078e-03 -6.83330996e-03 2.60861780e+00] [ 3.24542565e-03 9.99993059e-01 1.82994473e-03 9.98809685e-02] [ 6.82734659e-03 -1.85206944e-03 9.99974978e-01 -2.31072915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.973133365 meters Centerline goodness [0,1] 0.28743768478753484 Centerline is valid? [False, False] Translation: X:2.61, Y:0.10, Z:-0.23 [[ 9.99968595e-01 -3.10634663e-03 -7.29106601e-03 2.61005299e+00] [ 3.11756626e-03 9.99993973e-01 1.52795787e-03 1.02631957e-01] [ 7.28627570e-03 -1.55064026e-03 9.99972252e-01 -2.31778405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.003133365 meters Centerline goodness [0,1] 0.29136103432514204 Centerline is valid? [False, False] Translation: X:2.61, Y:0.10, Z:-0.23 [[ 9.99968291e-01 -3.15969037e-03 -7.30983485e-03 2.61033829e+00] [ 3.16890366e-03 9.99994199e-01 1.24915713e-03 1.04383563e-01] [ 7.30584549e-03 -1.27228168e-03 9.99972503e-01 -2.32196344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.033133365 meters Centerline goodness [0,1] 0.28939735041994974 Centerline is valid? [False, False] Translation: X:2.61, Y:0.11, Z:-0.23 [[ 9.99968033e-01 -3.22386530e-03 -7.31708295e-03 2.61056249e+00] [ 3.23029680e-03 9.99994406e-01 8.67321928e-04 1.06698948e-01] [ 7.31424590e-03 -8.90930552e-04 9.99972854e-01 -2.32592194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.063133365 meters Centerline goodness [0,1] 0.29006906406287214 Centerline is valid? [False, False] Translation: X:2.61, Y:0.11, Z:-0.23 [[ 9.99970117e-01 -3.23484487e-03 -7.02146387e-03 2.60991132e+00] [ 3.23842774e-03 9.99994632e-01 4.98965161e-04 1.09373531e-01] [ 7.01981210e-03 -5.21688754e-04 9.99975225e-01 -2.32732877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.093133365 meters Centerline goodness [0,1] 0.2945024173612478 Centerline is valid? [False, False] Translation: X:2.59, Y:0.11, Z:-0.23 [[ 9.99956392e-01 5.64570136e-03 -7.43906986e-03 2.58848782e+00] [-5.64389007e-03 9.99984038e-01 2.64454761e-04 1.11497819e-01] [ 7.44044415e-03 -2.22457936e-04 9.99972295e-01 -2.33375213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.123133365 meters Centerline goodness [0,1] 0.2863042870356428 Centerline is valid? [False, False] Translation: X:2.61, Y:0.12, Z:-0.23 [[ 9.99965379e-01 1.22449571e-03 -8.23049111e-03 2.61047827e+00] [-1.19931941e-03 9.99994589e-01 3.06314569e-03 1.18228256e-01] [ 8.23419738e-03 -3.05316866e-03 9.99961437e-01 -2.33265692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.153133365 meters Centerline goodness [0,1] 0.2863042870356428 Centerline is valid? [False, False] Translation: X:2.61, Y:0.12, Z:-0.23 [[ 9.99965379e-01 1.22449571e-03 -8.23049111e-03 2.61047827e+00] [-1.19931941e-03 9.99994589e-01 3.06314569e-03 1.18228256e-01] [ 8.23419738e-03 -3.05316866e-03 9.99961437e-01 -2.33265692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18313336499997 meters Centerline goodness [0,1] 0.28998265394622724 Centerline is valid? [False, False] Translation: X:2.61, Y:0.12, Z:-0.23 [[ 9.99966787e-01 1.09105116e-03 -8.07679637e-03 2.61019737e+00] [-1.06997217e-03 9.99996012e-01 2.61368221e-03 1.20823378e-01] [ 8.07961582e-03 -2.60495345e-03 9.99963966e-01 -2.33469961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21313336499998 meters Centerline goodness [0,1] 0.29047064908197573 Centerline is valid? [False, False] Translation: X:2.61, Y:0.12, Z:-0.23 [[ 9.99967628e-01 8.83029321e-04 -7.99771808e-03 2.61001352e+00] [-8.65936578e-04 9.99997334e-01 2.14041327e-03 1.22949480e-01] [ 7.99958681e-03 -2.13341846e-03 9.99965727e-01 -2.33493359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24313336499998 meters Centerline goodness [0,1] 0.2901535329911865 Centerline is valid? [False, False] Translation: X:2.61, Y:0.12, Z:-0.23 [[ 9.99968607e-01 7.11386642e-04 -7.89168928e-03 2.60956566e+00] [-6.97495791e-04 9.99998203e-01 1.76279990e-03 1.24697557e-01] [ 7.89292913e-03 -1.75724014e-03 9.99967306e-01 -2.33245834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27313336499998 meters Centerline goodness [0,1] 0.2972883305317172 Centerline is valid? [False, False] Translation: X:2.56, Y:0.12, Z:-0.23 [[ 9.99947063e-01 -1.07409677e-03 -1.02331449e-02 2.56496813e+00] [ 1.09264256e-03 9.99997771e-01 1.80690809e-03 1.22670161e-01] [ 1.02311813e-02 -1.81799361e-03 9.99946007e-01 -2.32550620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30313336499998 meters Centerline goodness [0,1] 0.29016194682601537 Centerline is valid? [False, False] Translation: X:2.61, Y:0.13, Z:-0.23 [[ 9.99963501e-01 -4.48173612e-04 -8.53209731e-03 2.60858930e+00] [ 4.53041474e-04 9.99999736e-01 5.68611047e-04 1.29436077e-01] [ 8.53184021e-03 -5.72455687e-04 9.99963439e-01 -2.32918463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33313336499998 meters Centerline goodness [0,1] 0.29237241950602755 Centerline is valid? [False, False] Translation: X:2.61, Y:0.13, Z:-0.23 [[ 9.99964299e-01 -4.53770188e-04 -8.43775686e-03 2.60822806e+00] [ 4.59334264e-04 9.99999678e-01 6.57499781e-04 1.28982385e-01] [ 8.43745579e-03 -6.61352058e-04 9.99964185e-01 -2.32702707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36313336499998 meters Centerline goodness [0,1] 0.29078322957029035 Centerline is valid? [False, False] Translation: X:2.61, Y:0.13, Z:-0.23 [[ 9.99965325e-01 -4.72752559e-04 -8.31415484e-03 2.60767207e+00] [ 4.79426146e-04 9.99999565e-01 8.00702973e-04 1.28019219e-01] [ 8.31377269e-03 -8.04661232e-04 9.99965116e-01 -2.32276216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39313336499998 meters Centerline goodness [0,1] 0.2899213107685674 Centerline is valid? [False, False] Translation: X:2.61, Y:0.13, Z:-0.23 [[ 9.99965330e-01 -6.07641536e-04 -8.30481250e-03 2.60762235e+00] [ 6.15468022e-04 9.99999369e-01 9.39880519e-04 1.26418025e-01] [ 8.30423615e-03 -9.44959279e-04 9.99965073e-01 -2.32151858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42313336499998 meters Centerline goodness [0,1] 0.2945475231927184 Centerline is valid? [False, False] Translation: X:2.59, Y:0.12, Z:-0.23 [[ 9.99963355e-01 3.87959254e-03 -7.63131828e-03 2.58556254e+00] [-3.89683559e-03 9.99989885e-01 -2.24594139e-03 1.20539838e-01] [ 7.62252776e-03 2.27559708e-03 9.99968359e-01 -2.32862000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45313336499999 meters Centerline goodness [0,1] 0.2939845534645926 Centerline is valid? [False, False] Translation: X:2.59, Y:0.11, Z:-0.23 [[ 9.99966426e-01 1.54953509e-03 -8.04649349e-03 2.58827256e+00] [-1.58008933e-03 9.99991561e-01 -3.79224310e-03 1.14862050e-01] [ 8.04054938e-03 3.80482996e-03 9.99960436e-01 -2.34799596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.483133365 meters Centerline goodness [0,1] 0.2914554276637873 Centerline is valid? [False, False] Translation: X:2.59, Y:0.11, Z:-0.24 [[ 9.99962670e-01 1.66164160e-03 -8.47925347e-03 2.58956637e+00] [-1.68953258e-03 9.99993183e-01 -3.28321893e-03 1.12114740e-01] [ 8.47374013e-03 3.29742234e-03 9.99958661e-01 -2.35253820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.513133365 meters Centerline goodness [0,1] 0.2883414295628036 Centerline is valid? [False, False] Translation: X:2.59, Y:0.11, Z:-0.24 [[ 9.99959203e-01 1.74344905e-03 -8.86295096e-03 2.59074730e+00] [-1.76855731e-03 9.99994443e-01 -2.82589832e-03 1.09354214e-01] [ 8.85797490e-03 2.84145767e-03 9.99956730e-01 -2.35672390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.543133365 meters Centerline goodness [0,1] 0.289605625854622 Centerline is valid? [False, False] Translation: X:2.59, Y:0.11, Z:-0.24 [[ 9.99956304e-01 1.76802456e-03 -9.17957851e-03 2.59176732e+00] [-1.79084636e-03 9.99995325e-01 -2.47852509e-03 1.06779871e-01] [ 9.17515350e-03 2.49485600e-03 9.99954795e-01 -2.36039049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.573133365 meters Centerline goodness [0,1] 0.29129116023305035 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.24 [[ 9.99955028e-01 1.77093841e-03 -9.31690734e-03 2.59235369e+00] [-1.79192480e-03 9.99995875e-01 -2.24464026e-03 1.04666715e-01] [ 9.31289380e-03 2.26123451e-03 9.99954077e-01 -2.36404301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.603133365 meters Centerline goodness [0,1] 0.2931121056653204 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.24 [[ 9.99953572e-01 1.83926401e-03 -9.45889395e-03 2.59288224e+00] [-1.85832563e-03 9.99996260e-01 -2.00681247e-03 1.03052620e-01] [ 9.45516751e-03 2.02429700e-03 9.99953250e-01 -2.36701867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.633133365 meters Centerline goodness [0,1] 0.2923657991273959 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.24 [[ 9.99956039e-01 2.22282474e-03 -9.10930222e-03 2.59209250e+00] [-2.23702899e-03 9.99996297e-01 -1.54942041e-03 1.01653816e-01] [ 9.10582441e-03 1.56973007e-03 9.99957309e-01 -2.36720634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.663133365 meters Centerline goodness [0,1] 0.28624727727576615 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.24 [[ 9.99957356e-01 2.31453486e-03 -8.94030888e-03 2.59161880e+00] [-2.32797764e-03 9.99996175e-01 -1.49350073e-03 1.01663260e-01] [ 8.93681793e-03 1.51424988e-03 9.99958919e-01 -2.36607556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.693133365 meters Centerline goodness [0,1] 0.29209308389283617 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.24 [[ 9.99958029e-01 2.34115396e-03 -8.85777178e-03 2.59151185e+00] [-2.35468434e-03 9.99996076e-01 -1.51739486e-03 1.01783646e-01] [ 8.85418457e-03 1.53818843e-03 9.99959618e-01 -2.36755569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.723133365 meters Centerline goodness [0,1] 0.29032258064516125 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.24 [[ 9.99956663e-01 2.43660209e-03 -8.98523173e-03 2.59246194e+00] [-2.45084164e-03 9.99995758e-01 -1.57410207e-03 1.02310783e-01] [ 8.98135815e-03 1.59605524e-03 9.99958393e-01 -2.37855514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.753133365 meters Centerline goodness [0,1] 0.28955723729993044 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.24 [[ 9.99956266e-01 2.44922601e-03 -9.02590959e-03 2.59281024e+00] [-2.46356262e-03 9.99995721e-01 -1.57760888e-03 1.02398923e-01] [ 9.02200705e-03 1.59977578e-03 9.99958021e-01 -2.38269774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.783133365 meters Centerline goodness [0,1] 0.2861161603046828 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.24 [[ 9.99955195e-01 2.40455020e-03 -9.15564026e-03 2.59337284e+00] [-2.41939757e-03 9.99995776e-01 -1.61093328e-03 1.02388217e-01] [ 9.15172802e-03 1.63301223e-03 9.99956789e-01 -2.38641989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.813133365 meters Centerline goodness [0,1] 0.29245798457066674 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.24 [[ 9.99953824e-01 2.39868417e-03 -9.30569330e-03 2.59372299e+00] [-2.41306679e-03 9.99995911e-01 -1.53465220e-03 1.01690296e-01] [ 9.30197411e-03 1.55703659e-03 9.99955523e-01 -2.38642543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.843133365 meters Centerline goodness [0,1] 0.28686943137722476 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.24 [[ 9.99951884e-01 2.32765970e-03 -9.52954401e-03 2.59425155e+00] [-2.34221454e-03 9.99996107e-01 -1.51646411e-03 1.01084968e-01] [ 9.52597710e-03 1.53871138e-03 9.99953443e-01 -2.38646030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.873133365 meters Centerline goodness [0,1] 0.2918549566660118 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.24 [[ 9.99951033e-01 2.33920490e-03 -9.61561242e-03 2.59437675e+00] [-2.35252370e-03 9.99996289e-01 -1.37404448e-03 1.00180520e-01] [ 9.61236257e-03 1.39659815e-03 9.99952825e-01 -2.38569495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.903133365 meters Centerline goodness [0,1] 0.2927527991602519 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.24 [[ 9.99952912e-01 2.24497999e-03 -9.44109432e-03 2.59359282e+00] [-2.25525734e-03 9.99996876e-01 -1.07807126e-03 9.80469462e-02] [ 9.43864458e-03 1.09931260e-03 9.99954851e-01 -2.37923344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93313336499997 meters Centerline goodness [0,1] 0.290813545278123 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.24 [[ 9.99953959e-01 2.20975374e-03 -9.33797179e-03 2.59305843e+00] [-2.21831068e-03 9.99997129e-01 -9.06101774e-04 9.67101089e-02] [ 9.33594272e-03 9.26774579e-04 9.99955990e-01 -2.37404609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96313336499998 meters Centerline goodness [0,1] 0.2920577538709467 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.24 [[ 9.99954694e-01 2.15191131e-03 -9.27247972e-03 2.59271922e+00] [-2.15904165e-03 9.99997381e-01 -7.59036937e-04 9.53135836e-02] [ 9.27082205e-03 7.79022218e-04 9.99956722e-01 -2.37085410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99313336499998 meters Centerline goodness [0,1] 0.2960742985113951 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.24 [[ 9.99955064e-01 2.12516385e-03 -9.23869806e-03 2.59253196e+00] [-2.13078837e-03 9.99997550e-01 -5.98999370e-04 9.39082501e-02] [ 9.23740246e-03 6.18658164e-04 9.99957143e-01 -2.36905828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02313336499998 meters Centerline goodness [0,1] 0.29459400306412786 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.24 [[ 9.99955074e-01 2.18425845e-03 -9.22378197e-03 2.59247707e+00] [-2.18750341e-03 9.99997549e-01 -3.41729533e-04 9.24340526e-02] [ 9.22301294e-03 3.61891235e-04 9.99957402e-01 -2.36864228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05313336499998 meters Centerline goodness [0,1] 0.29459206138152016 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.24 [[ 9.99955180e-01 2.25279893e-03 -9.19576852e-03 2.59227255e+00] [-2.25362342e-03 9.99997457e-01 -7.92983017e-05 9.10319496e-02] [ 9.19556649e-03 1.00018547e-04 9.99957715e-01 -2.36663689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08313336499998 meters Centerline goodness [0,1] 0.29192883488826205 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.24 [[ 9.99955070e-01 2.36055449e-03 -9.18072806e-03 2.59202548e+00] [-2.35668767e-03 9.99997130e-01 4.31984818e-04 8.79328958e-02] [ 9.18172144e-03 -4.10329300e-04 9.99957763e-01 -2.36298988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11313336499998 meters Centerline goodness [0,1] 0.29275936364229904 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.24 [[ 9.99953872e-01 2.36960869e-03 -9.30801472e-03 2.59233446e+00] [-2.36368240e-03 9.99996997e-01 6.47635241e-04 8.62063012e-02] [ 9.30952141e-03 -6.25604177e-04 9.99956470e-01 -2.36283155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14313336499998 meters Centerline goodness [0,1] 0.2938186120910664 Centerline is valid? [False, False] Translation: X:2.59, Y:0.08, Z:-0.24 [[ 9.99953381e-01 2.39083332e-03 -9.35517600e-03 2.59243127e+00] [-2.38275784e-03 9.99996779e-01 8.74261232e-04 8.44969087e-02] [ 9.35723608e-03 -8.51929356e-04 9.99955857e-01 -2.36279251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17313336499998 meters Centerline goodness [0,1] 0.28997184318821745 Centerline is valid? [False, False] Translation: X:2.61, Y:0.09, Z:-0.23 [[ 9.99950461e-01 -4.81793684e-03 -8.70996200e-03 2.61182748e+00] [ 4.83510087e-03 9.99986408e-01 1.95063838e-03 8.73890705e-02] [ 8.70044556e-03 -1.99265529e-03 9.99960165e-01 -2.34982308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20313336499999 meters Centerline goodness [0,1] 0.2916214691716926 Centerline is valid? [False, False] Translation: X:2.61, Y:0.09, Z:-0.23 [[ 9.99952227e-01 -4.68320602e-03 -8.57966634e-03 2.61122613e+00] [ 4.70238073e-03 9.99986488e-01 2.21609320e-03 8.62950162e-02] [ 8.56917199e-03 -2.25633219e-03 9.99960738e-01 -2.34511607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.233133365 meters Centerline goodness [0,1] 0.2977707703762099 Centerline is valid? [False, False] Translation: X:2.59, Y:0.08, Z:-0.24 [[ 9.99983758e-01 1.08948869e-03 -5.59440494e-03 2.59434840e+00] [-1.08018426e-03 9.99998029e-01 1.66591916e-03 8.10360299e-02] [ 5.59620892e-03 -1.65984911e-03 9.99982964e-01 -2.37455574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.263133365 meters Centerline goodness [0,1] 0.29290120775045614 Centerline is valid? [False, False] Translation: X:2.59, Y:0.08, Z:-0.24 [[ 9.99984268e-01 1.16455048e-03 -5.48695071e-03 2.59406947e+00] [-1.15375335e-03 9.99997393e-01 1.97053719e-03 7.87710760e-02] [ 5.48923120e-03 -1.96417560e-03 9.99983005e-01 -2.37359013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.293133365 meters Centerline goodness [0,1] 0.2966001833020556 Centerline is valid? [False, False] Translation: X:2.59, Y:0.08, Z:-0.24 [[ 9.99984720e-01 1.20238234e-03 -5.39580043e-03 2.59390167e+00] [-1.19110368e-03 9.99997100e-01 2.09299349e-03 7.79704741e-02] [ 5.39830136e-03 -2.08653455e-03 9.99983252e-01 -2.37438846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.323133365 meters Centerline goodness [0,1] 0.29661109533069674 Centerline is valid? [False, False] Translation: X:2.59, Y:0.08, Z:-0.24 [[ 9.99984538e-01 1.24565918e-03 -5.41952614e-03 2.59413680e+00] [-1.23365878e-03 9.99996781e-01 2.21706910e-03 7.71652524e-02] [ 5.42227041e-03 -2.21034897e-03 9.99982857e-01 -2.37693302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.353133365 meters Centerline goodness [0,1] 0.29308767803475766 Centerline is valid? [False, False] Translation: X:2.59, Y:0.08, Z:-0.24 [[ 9.99984393e-01 1.28547159e-03 -5.43708063e-03 2.59445116e+00] [-1.27294264e-03 9.99996528e-01 2.30718526e-03 7.65789788e-02] [ 5.44002758e-03 -2.30022816e-03 9.99982557e-01 -2.38149023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.383133365 meters Centerline goodness [0,1] 0.28919156981115857 Centerline is valid? [False, False] Translation: X:2.61, Y:0.08, Z:-0.24 [[ 0.99996952 -0.00546979 -0.00557164 2.61364264] [ 0.00548867 0.99997923 0.00337975 0.08060478] [ 0.00555304 -0.00341023 0.99997877 -0.23696523] [ 0. 0. 0. 1. ]] SLAMing on 202.413133365 meters Centerline goodness [0,1] 0.28986414980238007 Centerline is valid? [False, False] Translation: X:2.61, Y:0.08, Z:-0.24 [[ 0.99997034 -0.00535872 -0.00553197 2.61339919] [ 0.00537879 0.99997898 0.00361982 0.07933976] [ 0.00551246 -0.00364947 0.99997815 -0.23670461] [ 0. 0. 0. 1. ]] SLAMing on 202.443133365 meters Centerline goodness [0,1] 0.2970559845559846 Centerline is valid? [False, False] Translation: X:2.59, Y:0.07, Z:-0.24 [[ 9.99989543e-01 1.65087429e-03 -4.26485006e-03 2.59320682e+00] [-1.63570951e-03 9.99992337e-01 3.55680356e-03 6.96260037e-02] [ 4.27068921e-03 -3.54979031e-03 9.99984580e-01 -2.37412575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.473133365 meters Centerline goodness [0,1] 0.28800648644035254 Centerline is valid? [False, False] Translation: X:2.64, Y:0.07, Z:-0.24 [[ 9.99994104e-01 2.73475692e-03 -2.07661729e-03 2.63725700e+00] [-2.72889401e-03 9.99992298e-01 2.82090106e-03 7.00935587e-02] [ 2.08431578e-03 -2.81521756e-03 9.99993865e-01 -2.38304721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.503133365 meters Centerline goodness [0,1] 0.2952343630940718 Centerline is valid? [False, False] Translation: X:2.59, Y:0.06, Z:-0.24 [[ 9.99988195e-01 9.65273613e-04 -4.76212622e-03 2.59365962e+00] [-9.47702991e-04 9.99992741e-01 3.69053676e-03 6.46508101e-02] [ 4.76565403e-03 -3.68598011e-03 9.99981851e-01 -2.37702180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.533133365 meters Centerline goodness [0,1] 0.28858769783705374 Centerline is valid? [False, False] Translation: X:2.60, Y:0.06, Z:-0.24 [[ 9.99983070e-01 -4.98313395e-04 -5.79748210e-03 2.59829988e+00] [ 5.13206555e-04 9.99996572e-01 2.56769727e-03 6.08925530e-02] [ 5.79618271e-03 -2.57062911e-03 9.99979898e-01 -2.40188875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.563133365 meters Centerline goodness [0,1] 0.29083984332734625 Centerline is valid? [False, False] Translation: X:2.60, Y:0.06, Z:-0.24 [[ 9.99982268e-01 -4.49924133e-04 -5.93813930e-03 2.59868785e+00] [ 4.66501552e-04 9.99995997e-01 2.79059605e-03 5.94208487e-02] [ 5.93685997e-03 -2.79331672e-03 9.99978475e-01 -2.40218047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.593133365 meters Centerline goodness [0,1] 0.2931283668374721 Centerline is valid? [False, False] Translation: X:2.58, Y:0.05, Z:-0.24 [[ 9.99962982e-01 6.52517292e-03 -5.60863716e-03 2.57969602e+00] [-6.51403555e-03 9.99976780e-01 2.00173298e-03 5.24787163e-02] [ 5.62156858e-03 -1.96512402e-03 9.99982268e-01 -2.41946932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.623133365 meters Centerline goodness [0,1] 0.29600052653517916 Centerline is valid? [False, False] Translation: X:2.58, Y:0.05, Z:-0.24 [[ 9.99961975e-01 6.57455620e-03 -5.72928791e-03 2.58016021e+00] [-6.56207867e-03 9.99976063e-01 2.19393443e-03 5.13565056e-02] [ 5.74357491e-03 -2.15625496e-03 9.99981181e-01 -2.42214930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.653133365 meters Centerline goodness [0,1] 0.2932534650867912 Centerline is valid? [False, False] Translation: X:2.58, Y:0.05, Z:-0.24 [[ 9.99959838e-01 6.61573349e-03 -6.04595883e-03 2.58107600e+00] [-6.60140168e-03 9.99975361e-01 2.38736721e-03 5.00248542e-02] [ 6.06160405e-03 -2.34735953e-03 9.99978873e-01 -2.42514823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68313336499997 meters Centerline goodness [0,1] 0.29128006779513704 Centerline is valid? [False, False] Translation: X:2.58, Y:0.05, Z:-0.24 [[ 9.99957571e-01 6.59441048e-03 -6.43194131e-03 2.58229225e+00] [-6.57806988e-03 9.99975091e-01 2.55839440e-03 4.84401101e-02] [ 6.44865220e-03 -2.51597609e-03 9.99976042e-01 -2.43003547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71313336499998 meters Centerline goodness [0,1] 0.29239139935320335 Centerline is valid? [False, False] Translation: X:2.58, Y:0.05, Z:-0.24 [[ 9.99968926e-01 3.48755164e-03 -7.06987475e-03 2.58450116e+00] [-3.48939242e-03 9.99993881e-01 -2.48051372e-04 4.54142241e-02] [ 7.06896640e-03 2.72713231e-04 9.99974977e-01 -2.44130788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74313336499998 meters Centerline goodness [0,1] 0.29008613189490173 Centerline is valid? [False, False] Translation: X:2.58, Y:0.04, Z:-0.24 [[ 9.99967789e-01 3.56557668e-03 -7.19083178e-03 2.58479209e+00] [-3.56493933e-03 9.99993640e-01 1.01450055e-04 4.31534677e-02] [ 7.19114778e-03 -7.58119080e-05 9.99974140e-01 -2.44114725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77313336499998 meters Centerline goodness [0,1] 0.28795063332250725 Centerline is valid? [False, False] Translation: X:2.58, Y:0.04, Z:-0.24 [[ 9.99967782e-01 3.70485387e-03 -7.12108183e-03 2.58441664e+00] [-3.70134227e-03 9.99993022e-01 5.06242969e-04 4.08908817e-02] [ 7.12290770e-03 -4.79869098e-04 9.99974517e-01 -2.43755059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80313336499998 meters Centerline goodness [0,1] 0.2887475304487528 Centerline is valid? [False, False] Translation: X:2.58, Y:0.04, Z:-0.24 [[ 9.99968141e-01 3.87471628e-03 -6.97875570e-03 2.58369819e+00] [-3.86813844e-03 9.99992062e-01 9.55802723e-04 3.85209592e-02] [ 6.98240377e-03 -9.28777479e-04 9.99975191e-01 -2.43108557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83313336499998 meters Centerline goodness [0,1] 0.28901932959212195 Centerline is valid? [False, False] Translation: X:2.60, Y:0.04, Z:-0.24 [[ 0.99998633 -0.00291725 -0.00433994 2.60159495] [ 0.00292891 0.99999211 0.00268439 0.03751961] [ 0.00433208 -0.00269706 0.99998698 -0.24171637] [ 0. 0. 0. 1. ]] SLAMing on 202.86313336499998 meters Centerline goodness [0,1] 0.28685456110154905 Centerline is valid? [False, False] Translation: X:2.60, Y:0.04, Z:-0.24 [[ 0.9999878 -0.00273157 -0.00411531 2.60074309] [ 0.00274428 0.99999147 0.00308704 0.03560625] [ 0.00410684 -0.0030983 0.99998677 -0.24119631] [ 0. 0. 0. 1. ]] SLAMing on 202.89313336499998 meters Centerline goodness [0,1] 0.2928401470906338 Centerline is valid? [False, False] Translation: X:2.60, Y:0.03, Z:-0.24 [[ 9.99988576e-01 -2.56846986e-03 -4.03133447e-03 2.60041420e+00] [ 2.58230026e-03 9.99990786e-01 3.42927734e-03 3.39769559e-02] [ 4.02248933e-03 -3.43964828e-03 9.99985994e-01 -2.40956232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92313336499998 meters Centerline goodness [0,1] 0.29435396308360473 Centerline is valid? [False, False] Translation: X:2.60, Y:0.03, Z:-0.24 [[ 9.99988810e-01 -2.46122222e-03 -4.04007080e-03 2.60052924e+00] [ 2.47606972e-03 9.99990185e-01 3.67417935e-03 3.26763656e-02] [ 4.03098818e-03 -3.68414173e-03 9.99985089e-01 -2.41071695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95313336499999 meters Centerline goodness [0,1] 0.288091143594153 Centerline is valid? [False, False] Translation: X:2.62, Y:0.03, Z:-0.24 [[ 9.99973691e-01 6.40274238e-03 -3.40911270e-03 2.62004506e+00] [-6.39513765e-03 9.99977049e-01 2.23695285e-03 2.85880961e-02] [ 3.42335709e-03 -2.21509225e-03 9.99991687e-01 -2.40232482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.983133365 meters Centerline goodness [0,1] 0.2941785922424399 Centerline is valid? [False, False] Translation: X:2.62, Y:0.03, Z:-0.24 [[ 9.99973183e-01 6.51939604e-03 -3.33613363e-03 2.61946129e+00] [-6.51096898e-03 9.99975601e-01 2.53065240e-03 2.66738023e-02] [ 3.35255055e-03 -2.50886307e-03 9.99991233e-01 -2.39572777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.013133365 meters Centerline goodness [0,1] 0.29931751706207343 Centerline is valid? [False, False] Translation: X:2.62, Y:0.03, Z:-0.24 [[ 0.99997297 0.00655811 -0.00332568 2.61934051] [-0.00654931 0.99997504 0.00265049 0.02587867] [ 0.00334298 -0.00262864 0.99999096 -0.23942515] [ 0. 0. 0. 1. ]] SLAMing on 203.043133365 meters Centerline goodness [0,1] 0.29599879403910756 Centerline is valid? [False, False] Translation: X:2.62, Y:0.03, Z:-0.24 [[ 0.99997304 0.00655162 -0.00331647 2.61947862] [-0.00654277 0.99997502 0.00267353 0.02558683] [ 0.0033339 -0.00265176 0.99999093 -0.23968683] [ 0. 0. 0. 1. ]] SLAMing on 203.073133365 meters Centerline goodness [0,1] 0.29599879403910756 Centerline is valid? [False, False] Translation: X:2.62, Y:0.03, Z:-0.24 [[ 0.99997304 0.00655162 -0.00331647 2.61947862] [-0.00654277 0.99997502 0.00267353 0.02558683] [ 0.0033339 -0.00265176 0.99999093 -0.23968683] [ 0. 0. 0. 1. ]] SLAMing on 203.103133365 meters Centerline goodness [0,1] 0.2957055479910955 Centerline is valid? [False, False] Translation: X:2.62, Y:0.03, Z:-0.24 [[ 0.99997254 0.00658698 -0.00339546 2.61978452] [-0.00657758 0.99997453 0.00277157 0.02502604] [ 0.00341363 -0.00274916 0.99999039 -0.23986492] [ 0. 0. 0. 1. ]] SLAMing on 203.133133365 meters Centerline goodness [0,1] 0.29312541845748474 Centerline is valid? [False, False] Translation: X:2.62, Y:0.02, Z:-0.24 [[ 0.99997278 0.00658725 -0.00332373 2.61956264] [-0.00657803 0.99997451 0.00277642 0.02496328] [ 0.00334194 -0.00275448 0.99999062 -0.23975944] [ 0. 0. 0. 1. ]] SLAMing on 203.163133365 meters Centerline goodness [0,1] 0.29216421910172585 Centerline is valid? [False, False] Translation: X:2.64, Y:0.03, Z:-0.24 [[ 9.99990548e-01 1.46358556e-05 -4.34779476e-03 2.63797050e+00] [-2.51908885e-07 9.99994528e-01 3.30831371e-03 3.00892175e-02] [ 4.34781939e-03 -3.30828135e-03 9.99985076e-01 -2.38208845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.193133365 meters Centerline goodness [0,1] 0.2946395643968154 Centerline is valid? [False, False] Translation: X:2.62, Y:0.02, Z:-0.24 [[ 9.99969261e-01 6.78861803e-03 -3.92314197e-03 2.61876405e+00] [-6.77916339e-03 9.99974097e-01 2.41826162e-03 2.43456385e-02] [ 3.93945700e-03 -2.39159167e-03 9.99989380e-01 -2.39725171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.223133365 meters Centerline goodness [0,1] 0.29566005567904696 Centerline is valid? [False, False] Translation: X:2.62, Y:0.02, Z:-0.24 [[ 9.99969225e-01 6.72219185e-03 -4.04492410e-03 2.61923077e+00] [-6.71282949e-03 9.99974769e-01 2.32373665e-03 2.45819655e-02] [ 4.06044264e-03 -2.29651225e-03 9.99989119e-01 -2.40002065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.253133365 meters Centerline goodness [0,1] 0.2980498351204385 Centerline is valid? [False, False] Translation: X:2.60, Y:0.03, Z:-0.24 [[ 9.99981069e-01 -2.46500155e-03 -5.63792859e-03 2.60077539e+00] [ 2.48606494e-03 9.99989946e-01 3.73206409e-03 2.77536633e-02] [ 5.62867236e-03 -3.74600970e-03 9.99977142e-01 -2.41070070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.283133365 meters Centerline goodness [0,1] 0.2927581563056605 Centerline is valid? [False, False] Translation: X:2.60, Y:0.03, Z:-0.24 [[ 9.99977740e-01 -2.58150421e-03 -6.15271545e-03 2.60256084e+00] [ 2.60305782e-03 9.99990495e-01 3.49767557e-03 2.86578162e-02] [ 6.14362770e-03 -3.51361359e-03 9.99974955e-01 -2.42024653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.313133365 meters Centerline goodness [0,1] 0.29249729729729734 Centerline is valid? [False, False] Translation: X:2.60, Y:0.03, Z:-0.24 [[ 0.99997756 -0.0026297 -0.00616116 2.60269288] [ 0.00265083 0.99999063 0.00342381 0.02896953] [ 0.0061521 -0.00344006 0.99997516 -0.24221036] [ 0. 0. 0. 1. ]] SLAMing on 203.343133365 meters Centerline goodness [0,1] 0.29655172413793107 Centerline is valid? [False, False] Translation: X:2.60, Y:0.03, Z:-0.24 [[ 9.99978567e-01 -2.58017637e-03 -6.01739913e-03 2.60213192e+00] [ 2.60133488e-03 9.99990453e-01 3.51104971e-03 2.87809243e-02] [ 6.00828255e-03 -3.52662773e-03 9.99975731e-01 -2.41916985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.373133365 meters Centerline goodness [0,1] 0.29859161061407513 Centerline is valid? [False, False] Translation: X:2.60, Y:0.03, Z:-0.24 [[ 9.99979623e-01 -2.52936431e-03 -5.86141070e-03 2.60175647e+00] [ 2.55072516e-03 9.99990123e-01 3.63971458e-03 2.83360069e-02] [ 5.85214665e-03 -3.65459126e-03 9.99976198e-01 -2.41927622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.403133365 meters Centerline goodness [0,1] 0.2924945526718875 Centerline is valid? [False, False] Translation: X:2.62, Y:0.03, Z:-0.24 [[ 9.99974398e-01 5.43948534e-03 -4.64927843e-03 2.62187487e+00] [-5.43332594e-03 9.99984346e-01 1.33641468e-03 2.61361929e-02] [ 4.65647506e-03 -1.31111942e-03 9.99988299e-01 -2.42078914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43313336499997 meters Centerline goodness [0,1] 0.29000386614545304 Centerline is valid? [False, False] Translation: X:2.62, Y:0.03, Z:-0.24 [[ 9.99974154e-01 5.35368214e-03 -4.79880733e-03 2.62233046e+00] [-5.34757898e-03 9.99984878e-01 1.28373811e-03 2.57713636e-02] [ 4.80560749e-03 -1.25804293e-03 9.99987662e-01 -2.42196496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46313336499998 meters Centerline goodness [0,1] 0.2934327068481314 Centerline is valid? [False, False] Translation: X:2.62, Y:0.03, Z:-0.24 [[ 9.99973766e-01 5.24577283e-03 -4.99492687e-03 2.62279624e+00] [-5.23984306e-03 9.99985553e-01 1.19950518e-03 2.55378834e-02] [ 5.00114704e-03 -1.17330108e-03 9.99986806e-01 -2.42179722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49313336499998 meters Centerline goodness [0,1] 0.29556810775581144 Centerline is valid? [False, False] Translation: X:2.62, Y:0.03, Z:-0.24 [[ 9.99972413e-01 5.23079342e-03 -5.27375572e-03 2.62360244e+00] [-5.22478337e-03 9.99985686e-01 1.15274837e-03 2.59079113e-02] [ 5.27971002e-03 -1.12516234e-03 9.99985429e-01 -2.42462459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52313336499998 meters Centerline goodness [0,1] 0.2997306235080266 Centerline is valid? [False, False] Translation: X:2.62, Y:0.03, Z:-0.24 [[ 9.99972674e-01 5.26387603e-03 -5.19069476e-03 2.62360324e+00] [-5.25794227e-03 9.99985509e-01 1.15613774e-03 2.62615008e-02] [ 5.19670531e-03 -1.12881378e-03 9.99985860e-01 -2.42808252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55313336499998 meters Centerline goodness [0,1] 0.29290459394542656 Centerline is valid? [False, False] Translation: X:2.64, Y:0.03, Z:-0.24 [[ 9.99985126e-01 -1.70078110e-03 -5.18222211e-03 2.64310587e+00] [ 1.71035726e-03 9.99996837e-01 1.84401620e-03 3.11274003e-02] [ 5.17906945e-03 -1.85285222e-03 9.99984872e-01 -2.41823435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58313336499998 meters Centerline goodness [0,1] 0.2951506468698446 Centerline is valid? [False, False] Translation: X:2.64, Y:0.03, Z:-0.24 [[ 9.99984851e-01 -1.75796338e-03 -5.21601201e-03 2.64295042e+00] [ 1.76774805e-03 9.99996686e-01 1.87187414e-03 3.04228922e-02] [ 5.21270404e-03 -1.88106638e-03 9.99984645e-01 -2.41473425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61313336499998 meters Centerline goodness [0,1] 0.29709892407544536 Centerline is valid? [False, False] Translation: X:2.64, Y:0.03, Z:-0.24 [[ 9.99984193e-01 -1.78844711e-03 -5.33064375e-03 2.64283619e+00] [ 1.79896758e-03 9.99996442e-01 1.96944372e-03 2.93426898e-02] [ 5.32710254e-03 -1.97900225e-03 9.99983853e-01 -2.40864538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64313336499998 meters Centerline goodness [0,1] 0.2970099379421083 Centerline is valid? [False, False] Translation: X:2.64, Y:0.03, Z:-0.24 [[ 9.99982929e-01 -1.84142290e-03 -5.54528383e-03 2.64336319e+00] [ 1.85276764e-03 9.99996200e-01 2.04139393e-03 2.84270178e-02] [ 5.54150369e-03 -2.05163321e-03 9.99982541e-01 -2.40907921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67313336499998 meters Centerline goodness [0,1] 0.29285018929150897 Centerline is valid? [False, False] Translation: X:2.64, Y:0.03, Z:-0.24 [[ 9.99981459e-01 -1.81484438e-03 -5.81276948e-03 2.64415044e+00] [ 1.82781635e-03 9.99995850e-01 2.22709739e-03 2.72316183e-02] [ 5.80870352e-03 -2.23768077e-03 9.99980626e-01 -2.41094183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70313336499999 meters Centerline goodness [0,1] 0.29308480733468845 Centerline is valid? [False, False] Translation: X:2.64, Y:0.03, Z:-0.24 [[ 9.99982285e-01 -1.76467461e-03 -5.68472592e-03 2.64366282e+00] [ 1.77802950e-03 9.99995670e-01 2.34506134e-03 2.66907419e-02] [ 5.68056303e-03 -2.35512741e-03 9.99981092e-01 -2.40811521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.733133365 meters Centerline goodness [0,1] 0.2954672998057414 Centerline is valid? [False, False] Translation: X:2.64, Y:0.03, Z:-0.24 [[ 9.99983635e-01 -1.72191304e-03 -5.45575427e-03 2.64281101e+00] [ 1.73516359e-03 9.99995554e-01 2.42492751e-03 2.64235417e-02] [ 5.45155450e-03 -2.43435445e-03 9.99982177e-01 -2.40278206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.763133365 meters Centerline goodness [0,1] 0.2925156908262402 Centerline is valid? [False, False] Translation: X:2.64, Y:0.03, Z:-0.24 [[ 9.99984408e-01 -1.67403475e-03 -5.32734053e-03 2.64236981e+00] [ 1.68725398e-03 9.99995507e-01 2.47786781e-03 2.63033239e-02] [ 5.32316855e-03 -2.48681775e-03 9.99982740e-01 -2.40045155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.793133365 meters Centerline goodness [0,1] 0.29589525678911155 Centerline is valid? [False, False] Translation: X:2.64, Y:0.03, Z:-0.24 [[ 9.99984250e-01 -1.68686078e-03 -5.35288242e-03 2.64261199e+00] [ 1.69985011e-03 9.99995620e-01 2.42298370e-03 2.65654647e-02] [ 5.34877173e-03 -2.43204464e-03 9.99982738e-01 -2.40302242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.823133365 meters Centerline goodness [0,1] 0.299231675906928 Centerline is valid? [False, False] Translation: X:2.62, Y:0.02, Z:-0.24 [[ 9.99965823e-01 5.38112506e-03 -6.27661209e-03 2.62340266e+00] [-5.37340297e-03 9.99984786e-01 1.24651132e-03 2.16169580e-02] [ 6.28322424e-03 -1.21274195e-03 9.99979525e-01 -2.41675206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.853133365 meters Centerline goodness [0,1] 0.29304314030314804 Centerline is valid? [False, False] Translation: X:2.64, Y:0.03, Z:-0.24 [[ 9.99963780e-01 -9.11152967e-04 -8.46222458e-03 2.64252694e+00] [ 9.24499109e-04 9.99998335e-01 1.57336568e-03 2.65661950e-02] [ 8.46077691e-03 -1.58113201e-03 9.99962957e-01 -2.39856679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.883133365 meters Centerline goodness [0,1] 0.29432178024552114 Centerline is valid? [False, False] Translation: X:2.64, Y:0.03, Z:-0.24 [[ 9.99963304e-01 -8.18184969e-04 -8.52763506e-03 2.64246857e+00] [ 8.33031109e-04 9.99998144e-01 1.73753803e-03 2.59754177e-02] [ 8.52619760e-03 -1.74457806e-03 9.99962129e-01 -2.39564224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.913133365 meters Centerline goodness [0,1] 0.2947773288100435 Centerline is valid? [False, False] Translation: X:2.64, Y:0.02, Z:-0.24 [[ 9.99963285e-01 -7.30989612e-04 -8.53776941e-03 2.64238427e+00] [ 7.47897157e-04 9.99997765e-01 1.97729854e-03 2.48778647e-02] [ 8.53630495e-03 -1.98361132e-03 9.99961598e-01 -2.39364728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.943133365 meters Centerline goodness [0,1] 0.2960309188813618 Centerline is valid? [False, False] Translation: X:2.64, Y:0.02, Z:-0.24 [[ 9.99963167e-01 -6.44809538e-04 -8.55850574e-03 2.64233866e+00] [ 6.64394991e-04 9.99997167e-01 2.28577387e-03 2.31995886e-02] [ 8.55700760e-03 -2.29137591e-03 9.99960763e-01 -2.39222084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.973133365 meters Centerline goodness [0,1] 0.292485249302989 Centerline is valid? [False, False] Translation: X:2.64, Y:0.02, Z:-0.24 [[ 9.99957363e-01 -9.65772447e-04 -9.18367503e-03 2.64385238e+00] [ 9.89378846e-04 9.99996218e-01 2.56627853e-03 1.91746587e-02] [ 9.18116185e-03 -2.57525525e-03 9.99954536e-01 -2.39117645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.003133365 meters Centerline goodness [0,1] 0.2951150673035171 Centerline is valid? [False, False] Translation: X:2.64, Y:0.02, Z:-0.24 [[ 9.99955471e-01 -8.88555281e-04 -9.39498716e-03 2.64406388e+00] [ 9.16880723e-04 9.99995046e-01 3.01107557e-03 1.64640023e-02] [ 9.39226511e-03 -3.01955557e-03 9.99951333e-01 -2.38651773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.033133365 meters Centerline goodness [0,1] 0.29228810083961065 Centerline is valid? [False, False] Translation: X:2.64, Y:0.01, Z:-0.24 [[ 9.99953297e-01 -8.03507885e-04 -9.63115000e-03 2.64451855e+00] [ 8.37181745e-04 9.99993550e-01 3.49282727e-03 1.36583376e-02] [ 9.62828136e-03 -3.50072717e-03 9.99947519e-01 -2.38447568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.063133365 meters Centerline goodness [0,1] 0.28780176539402313 Centerline is valid? [False, False] Translation: X:2.67, Y:0.01, Z:-0.24 [[ 9.99939740e-01 6.56079981e-03 -8.80187397e-03 2.66610369e+00] [-6.55061849e-03 9.99977842e-01 1.18505310e-03 9.29004147e-03] [ 8.80945384e-03 -1.12732397e-03 9.99960561e-01 -2.39114112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.093133365 meters Centerline goodness [0,1] 0.2972737376599037 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.00, Z:-0.24 [[ 9.99937889e-01 3.16948862e-03 -1.06851803e-02 2.62168859e+00] [-3.15179913e-03 9.99993635e-01 1.67194892e-03 -2.53177607e-04] [ 1.06904115e-02 -1.63816753e-03 9.99941514e-01 -2.37475458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.123133365 meters Centerline goodness [0,1] 0.2939295053270806 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.00, Z:-0.24 [[ 9.99935311e-01 3.16789400e-03 -1.09242013e-02 2.62207535e+00] [-3.14600935e-03 9.99993011e-01 2.01992149e-03 -3.02518794e-03] [ 1.09305238e-02 -1.98542318e-03 9.99938289e-01 -2.37159680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.153133365 meters Centerline goodness [0,1] 0.2899217473557486 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.01, Z:-0.24 [[ 9.99931996e-01 3.20335558e-03 -1.12134821e-02 2.62282000e+00] [-3.17711725e-03 9.99992175e-01 2.35692457e-03 -5.40718549e-03] [ 1.12209444e-02 -2.32113775e-03 9.99934349e-01 -2.37176730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18313336499997 meters Centerline goodness [0,1] 0.29964716644160827 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.01, Z:-0.24 [[ 0.99990571 -0.00566494 -0.01250911 2.60292632] [ 0.00572015 0.99997404 0.00438155 -0.00541645] [ 0.01248397 -0.00445269 0.99991216 -0.23719457] [ 0. 0. 0. 1. ]] SLAMing on 204.21313336499998 meters Centerline goodness [0,1] 0.29755980965211537 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.01, Z:-0.24 [[ 0.9999068 -0.00552495 -0.01248434 2.60263295] [ 0.00558526 0.99997288 0.0048011 -0.00756391] [ 0.01245748 -0.00487038 0.99991054 -0.23682234] [ 0. 0. 0. 1. ]] SLAMing on 204.24313336499998 meters Centerline goodness [0,1] 0.29699354361861696 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.01, Z:-0.24 [[ 0.99990776 -0.00541578 -0.01245555 2.60220802] [ 0.00548094 0.99997145 0.00520261 -0.00972561] [ 0.01242702 -0.0052704 0.99990889 -0.23623476] [ 0. 0. 0. 1. ]] SLAMing on 204.27313336499998 meters Centerline goodness [0,1] 0.29485984347562166 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.01, Z:-0.24 [[ 0.99991119 -0.00557176 -0.01210691 2.60088381] [ 0.0056414 0.9999677 0.00572524 -0.01370799] [ 0.01207462 -0.00579303 0.99991032 -0.23535365] [ 0. 0. 0. 1. ]] SLAMing on 204.30313336499998 meters Centerline goodness [0,1] 0.29667424981042145 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.02, Z:-0.23 [[ 0.99991247 -0.00555928 -0.0120059 2.60021778] [ 0.00563288 0.9999655 0.00610498 -0.0160161 ] [ 0.01197155 -0.00617208 0.99990929 -0.23467418] [ 0. 0. 0. 1. ]] SLAMing on 204.33313336499998 meters Centerline goodness [0,1] 0.2913493919049356 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:-0.23 [[ 9.99940787e-01 1.11622415e-03 -1.08247785e-02 2.62016869e+00] [-1.08417231e-03 9.99995013e-01 2.96638635e-03 -2.04081646e-02] [ 1.08280357e-02 -2.95447477e-03 9.99937010e-01 -2.34936260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36313336499998 meters Centerline goodness [0,1] 0.296250595315409 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:-0.23 [[ 9.99938130e-01 9.59248613e-04 -1.10822264e-02 2.62059016e+00] [-9.23749131e-04 9.99994428e-01 3.20795552e-03 -2.27844054e-02] [ 1.10852419e-02 -3.19751984e-03 9.99933444e-01 -2.34636574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39313336499998 meters Centerline goodness [0,1] 0.295007367599896 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:-0.23 [[ 9.99933950e-01 7.84987324e-04 -1.14664302e-02 2.62143184e+00] [-7.46350011e-04 9.99994031e-01 3.37349313e-03 -2.47486331e-02] [ 1.14690099e-02 -3.36471234e-03 9.99928568e-01 -2.34567938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42313336499998 meters Centerline goodness [0,1] 0.29692351114874405 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.03, Z:-0.23 [[ 9.99930812e-01 7.72370816e-04 -1.17377816e-02 2.62202297e+00] [-7.29395008e-04 9.99993017e-01 3.66516276e-03 -2.66767821e-02] [ 1.17405305e-02 -3.65634769e-03 9.99924393e-01 -2.34518863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45313336499999 meters Centerline goodness [0,1] 0.29340389828320645 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.03, Z:-0.23 [[ 9.99931104e-01 9.01823542e-04 -1.17035668e-02 2.62167375e+00] [-8.51704580e-04 9.99990450e-01 4.28664428e-03 -2.99828236e-02] [ 1.17073208e-02 -4.27638096e-03 9.99922323e-01 -2.34084410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.483133365 meters Centerline goodness [0,1] 0.2962575698165817 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.03, Z:-0.23 [[ 9.99930954e-01 9.62695371e-04 -1.17115114e-02 2.62167766e+00] [-9.10058406e-04 9.99989466e-01 4.49896319e-03 -3.12477388e-02] [ 1.17157192e-02 -4.48799440e-03 9.99921297e-01 -2.34022535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.513133365 meters Centerline goodness [0,1] 0.2906538635433935 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.03, Z:-0.23 [[ 9.99927722e-01 8.73752663e-04 -1.19911624e-02 2.62251035e+00] [-8.20211134e-04 9.99989676e-01 4.46927419e-03 -3.18844127e-02] [ 1.19949436e-02 -4.45911587e-03 9.99918115e-01 -2.34258536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.543133365 meters Centerline goodness [0,1] 0.28939507897281613 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.03, Z:-0.23 [[ 9.99925133e-01 8.56961019e-04 -1.22063488e-02 2.62327770e+00] [-8.02230153e-04 9.99989607e-01 4.48799405e-03 -3.23186073e-02] [ 1.22100680e-02 -4.47786574e-03 9.99915428e-01 -2.34581976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.573133365 meters Centerline goodness [0,1] 0.2901712358384503 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.03, Z:-0.23 [[ 9.99924094e-01 9.22439402e-04 -1.22863720e-02 2.62362331e+00] [-8.67010328e-04 9.99989427e-01 4.51598986e-03 -3.21801019e-02] [ 1.22904079e-02 -4.50499466e-03 9.99914322e-01 -2.34787163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.603133365 meters Centerline goodness [0,1] 0.29115564000690963 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.03, Z:-0.24 [[ 9.99924546e-01 9.80737227e-04 -1.22450325e-02 2.62387648e+00] [-9.26346422e-04 9.99989684e-01 4.44674888e-03 -3.13691712e-02] [ 1.22492673e-02 -4.43507021e-03 9.99915139e-01 -2.35253057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.633133365 meters Centerline goodness [0,1] 0.2945440340292548 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.03, Z:-0.24 [[ 9.99923213e-01 1.09170688e-03 -1.23440654e-02 2.62455135e+00] [-1.03991932e-03 9.99990635e-01 4.20098113e-03 -2.97514811e-02] [ 1.23485360e-02 -4.18782172e-03 9.99914984e-01 -2.35846960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.663133365 meters Centerline goodness [0,1] 0.2917939013375769 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.03, Z:-0.24 [[ 9.99920942e-01 1.01064089e-03 -1.25334672e-02 2.62526413e+00] [-9.61535071e-04 9.99991841e-01 3.92338302e-03 -2.84690216e-02] [ 1.25373300e-02 -3.91102148e-03 9.99913756e-01 -2.36223439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.693133365 meters Centerline goodness [0,1] 0.29146194293595384 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.03, Z:-0.24 [[ 9.99921508e-01 9.67413630e-04 -1.24916470e-02 2.62538360e+00] [-9.21438612e-04 9.99992783e-01 3.68569187e-03 -2.70963660e-02] [ 1.24951224e-02 -3.67389228e-03 9.99915184e-01 -2.36546551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.723133365 meters Centerline goodness [0,1] 0.2985100712194696 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.03, Z:-0.24 [[ 9.99888461e-01 -3.39158548e-04 -1.49315308e-02 2.58127543e+00] [ 4.16751286e-04 9.99986425e-01 5.19376478e-03 -2.86327035e-02] [ 1.49295666e-02 -5.19940821e-03 9.99875029e-01 -2.35575465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.753133365 meters Centerline goodness [0,1] 0.29297915178281486 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.03, Z:-0.24 [[ 9.99888780e-01 -3.42541327e-04 -1.49100880e-02 2.58136622e+00] [ 4.19120648e-04 9.99986737e-01 5.13325268e-03 -2.81356894e-02] [ 1.49081319e-02 -5.13893088e-03 9.99875662e-01 -2.35807444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.783133365 meters Centerline goodness [0,1] 0.293094840124167 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.03, Z:-0.24 [[ 9.99885808e-01 -4.36657934e-04 -1.51056650e-02 2.58212408e+00] [ 5.12142347e-04 9.99987401e-01 4.99358563e-03 -2.76402391e-02] [ 1.51032942e-02 -5.00075165e-03 9.99873433e-01 -2.36285629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.813133365 meters Centerline goodness [0,1] 0.289751962459183 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.03, Z:-0.24 [[ 9.99870508e-01 -7.59315095e-04 -1.60745491e-02 2.58499974e+00] [ 8.35335458e-04 9.99988497e-01 4.72305175e-03 -2.71496335e-02] [ 1.60707779e-02 -4.73586779e-03 9.99859641e-01 -2.37262215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.843133365 meters Centerline goodness [0,1] 0.2880065212261621 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.03, Z:-0.24 [[ 9.99865447e-01 -8.74914530e-04 -1.63805750e-02 2.58574732e+00] [ 9.52308752e-04 9.99988419e-01 4.71755218e-03 -2.75174406e-02] [ 1.63762578e-02 -4.73251678e-03 9.99854700e-01 -2.37344745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.873133365 meters Centerline goodness [0,1] 0.2938867200279165 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.03, Z:-0.24 [[ 0.99982601 -0.0037624 -0.01827018 2.54050651] [ 0.00385646 0.99997948 0.00511559 -0.02999411] [ 0.01825056 -0.00518516 0.99982 -0.23587741] [ 0. 0. 0. 1. ]] SLAMing on 204.903133365 meters Centerline goodness [0,1] 0.29434689319963214 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.03, Z:-0.24 [[ 0.99982776 -0.0038053 -0.01816486 2.53973483] [ 0.00390049 0.99997883 0.00520744 -0.03072766] [ 0.01814466 -0.0052774 0.99982144 -0.23511382] [ 0. 0. 0. 1. ]] SLAMing on 204.93313336499997 meters Centerline goodness [0,1] 0.28758282050732253 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.03, Z:-0.23 [[ 0.99987878 -0.0027477 -0.01532564 2.57950873] [ 0.00280553 0.99998902 0.00375341 -0.02901425] [ 0.01531516 -0.00379595 0.99987551 -0.23415975] [ 0. 0. 0. 1. ]] SLAMing on 204.96313336499998 meters Centerline goodness [0,1] 0.28758282050732253 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.03, Z:-0.23 [[ 0.99987878 -0.0027477 -0.01532564 2.57950873] [ 0.00280553 0.99998902 0.00375341 -0.02901425] [ 0.01531516 -0.00379595 0.99987551 -0.23415975] [ 0. 0. 0. 1. ]] SLAMing on 204.99313336499998 meters Centerline goodness [0,1] 0.28997038029965627 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.03, Z:-0.23 [[ 0.9998831 -0.00271168 -0.01504751 2.57839513] [ 0.00277027 0.99998866 0.0038741 -0.02938316] [ 0.01503684 -0.00391533 0.99987927 -0.23353868] [ 0. 0. 0. 1. ]] SLAMing on 205.02313336499998 meters Centerline goodness [0,1] 0.28801500549770387 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.03, Z:-0.23 [[ 0.99988877 -0.00292104 -0.01462563 2.57692805] [ 0.00297986 0.99998755 0.00400161 -0.0308006 ] [ 0.01461376 -0.00404475 0.99988503 -0.23279746] [ 0. 0. 0. 1. ]] SLAMing on 205.05313336499998 meters Centerline goodness [0,1] 0.291161965738017 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.03, Z:-0.23 [[ 0.99989079 -0.00292887 -0.01448529 2.57612154] [ 0.0029887 0.99998708 0.00411068 -0.03155328] [ 0.01447306 -0.00415353 0.99988663 -0.23213429] [ 0. 0. 0. 1. ]] SLAMing on 205.08313336499998 meters Centerline goodness [0,1] 0.29797513945623055 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.04, Z:-0.23 [[ 0.99990594 0.00360712 -0.01323238 2.55578231] [-0.00356298 0.99998801 0.00335812 -0.03690737] [ 0.01324433 -0.00331065 0.99990681 -0.23323882] [ 0. 0. 0. 1. ]] SLAMing on 205.11313336499998 meters Centerline goodness [0,1] 0.2890599797845115 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:-0.23 [[ 9.99929348e-01 4.54438971e-03 -1.09839900e-02 2.59734582e+00] [-4.52623312e-03 9.99988350e-01 1.67729890e-03 -3.56604136e-02] [ 1.09914844e-02 -1.62746429e-03 9.99938267e-01 -2.33317286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14313336499998 meters Centerline goodness [0,1] 0.2912401192173124 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:-0.23 [[ 9.99929804e-01 4.51894050e-03 -1.09528751e-02 2.59737977e+00] [-4.50056756e-03 9.99988425e-01 1.70152209e-03 -3.59189969e-02] [ 1.09604374e-02 -1.65210849e-03 9.99938568e-01 -2.33484197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17313336499998 meters Centerline goodness [0,1] 0.29072214147812314 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:-0.23 [[ 9.99928686e-01 4.44320407e-03 -1.10851939e-02 2.59782091e+00] [-4.42488899e-03 9.99988805e-01 1.67619054e-03 -3.62679739e-02] [ 1.10925175e-02 -1.62702025e-03 9.99937152e-01 -2.33674377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20313336499999 meters Centerline goodness [0,1] 0.28911279037223625 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:-0.23 [[ 9.99927728e-01 4.38213428e-03 -1.11953115e-02 2.59804979e+00] [-4.36536883e-03 9.99989314e-01 1.52154006e-03 -3.55883843e-02] [ 1.12018595e-02 -1.47255843e-03 9.99936173e-01 -2.33616627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.233133365 meters Centerline goodness [0,1] 0.2917578726078759 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.03, Z:-0.23 [[ 9.99928008e-01 4.36056740e-03 -1.11787378e-02 2.59799770e+00] [-4.34558454e-03 9.99989627e-01 1.36423953e-03 -3.45898881e-02] [ 1.11845707e-02 -1.31556316e-03 9.99936585e-01 -2.33566616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.263133365 meters Centerline goodness [0,1] 0.2905125928492539 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.03, Z:-0.23 [[ 9.99926931e-01 4.33493518e-03 -1.12845280e-02 2.59822644e+00] [-4.32198567e-03 9.99989974e-01 1.17167934e-03 -3.33339951e-02] [ 1.12894940e-02 -1.12282216e-03 9.99935641e-01 -2.33484420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.293133365 meters Centerline goodness [0,1] 0.2931697091449035 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.03, Z:-0.23 [[ 9.99928204e-01 4.32568005e-03 -1.11747492e-02 2.59814329e+00] [-4.31776877e-03 9.99990410e-01 7.31988880e-04 -3.09160669e-02] [ 1.11778084e-02 -6.83686343e-04 9.99937293e-01 -2.33592705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.323133365 meters Centerline goodness [0,1] 0.28988516187633817 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:-0.23 [[ 9.99926579e-01 -1.99994798e-03 -1.19514316e-02 2.61630492e+00] [ 2.01419668e-03 9.99997275e-01 1.18029993e-03 -2.49332745e-02] [ 1.19490385e-02 -1.20428580e-03 9.99927882e-01 -2.31796715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.353133365 meters Centerline goodness [0,1] 0.2874919406834301 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:-0.23 [[ 9.99927991e-01 -2.02805692e-03 -1.18279558e-02 2.61614053e+00] [ 2.03869204e-03 9.99997528e-01 8.87163724e-04 -2.31702783e-02] [ 1.18261273e-02 -9.11213399e-04 9.99929654e-01 -2.31951775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.383133365 meters Centerline goodness [0,1] 0.28929167660386357 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:-0.23 [[ 9.99928774e-01 -2.01454214e-03 -1.17638250e-02 2.61621294e+00] [ 2.02244138e-03 9.99997737e-01 6.59627886e-04 -2.14764641e-02] [ 1.17624695e-02 -6.83372550e-04 9.99930586e-01 -2.32326079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.413133365 meters Centerline goodness [0,1] 0.28836767310267375 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:-0.23 [[ 9.99927225e-01 -2.06490634e-03 -1.18861934e-02 2.61692269e+00] [ 2.06963605e-03 9.99997784e-01 3.85629121e-04 -1.98917993e-02] [ 1.18853708e-02 -4.10201151e-04 9.99929282e-01 -2.32969792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.443133365 meters Centerline goodness [0,1] 0.28973517086447487 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:-0.23 [[ 9.99925322e-01 -2.12602577e-03 -1.20345449e-02 2.61742261e+00] [ 2.12898091e-03 9.99997707e-01 2.32749248e-04 -1.91809953e-02] [ 1.20340225e-02 -2.58353183e-04 9.99927555e-01 -2.33213072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.473133365 meters Centerline goodness [0,1] 0.2891967958432561 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:-0.23 [[ 9.99924995e-01 -2.14253889e-03 -1.20587827e-02 2.61711234e+00] [ 2.14810415e-03 9.99997592e-01 4.48577593e-04 -2.07548862e-02] [ 1.20577926e-02 -4.74447469e-04 9.99927190e-01 -2.32703040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.503133365 meters Centerline goodness [0,1] 0.28935235526945324 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:-0.23 [[ 9.99926884e-01 -2.02841447e-03 -1.19210401e-02 2.61642320e+00] [ 2.03793802e-03 9.99997614e-01 7.86793025e-04 -2.23844797e-02] [ 1.19194157e-02 -8.11029839e-04 9.99928632e-01 -2.32183635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.533133365 meters Centerline goodness [0,1] 0.2880150460460893 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:-0.23 [[ 9.99926837e-01 -1.97900699e-03 -1.19332832e-02 2.61632375e+00] [ 1.99180621e-03 9.99997454e-01 1.06077511e-03 -2.39712762e-02] [ 1.19311535e-02 -1.08446628e-03 9.99928233e-01 -2.31980503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.563133365 meters Centerline goodness [0,1] 0.2902530377596795 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.03, Z:-0.23 [[ 9.99925900e-01 -1.94182955e-03 -1.20176134e-02 2.61656894e+00] [ 1.95693600e-03 9.99997310e-01 1.24539498e-03 -2.51618166e-02] [ 1.20151627e-02 -1.26882040e-03 9.99927010e-01 -2.32076237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.593133365 meters Centerline goodness [0,1] 0.2871378761138135 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.03, Z:-0.23 [[ 9.99917357e-01 5.53687091e-03 -1.16026480e-02 2.63738592e+00] [-5.55547395e-03 9.99983333e-01 -1.57172756e-03 -2.84543061e-02] [ 1.15937522e-02 1.63605588e-03 9.99931452e-01 -2.32351552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.623133365 meters Centerline goodness [0,1] 0.28694091184358506 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.03, Z:-0.23 [[ 9.99917400e-01 5.57074767e-03 -1.15827312e-02 2.63727527e+00] [-5.58831089e-03 9.99983283e-01 -1.48451570e-03 -2.89962530e-02] [ 1.15742677e-02 1.54912099e-03 9.99931816e-01 -2.32270745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.653133365 meters Centerline goodness [0,1] 0.29241608682333375 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.03, Z:-0.23 [[ 9.99943204e-01 -1.59087850e-03 -1.05384414e-02 2.61536833e+00] [ 1.60995440e-03 9.99997081e-01 1.80188891e-03 -2.67813571e-02] [ 1.05355440e-02 -1.81875298e-03 9.99942846e-01 -2.32246074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68313336499997 meters Centerline goodness [0,1] 0.2922039922841847 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.03, Z:-0.23 [[ 9.99943273e-01 -1.52550910e-03 -1.05415516e-02 2.61539406e+00] [ 1.54500064e-03 9.99997112e-01 1.84112432e-03 -2.67845908e-02] [ 1.05387125e-02 -1.85730658e-03 9.99942741e-01 -2.32225143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71313336499998 meters Centerline goodness [0,1] 0.28819624073116057 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.03, Z:-0.23 [[ 9.99941213e-01 -1.62856523e-03 -1.07200279e-02 2.61615661e+00] [ 1.64702935e-03 9.99997175e-01 1.71379196e-03 -2.68831934e-02] [ 1.07172066e-02 -1.73134742e-03 9.99941070e-01 -2.32696756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74313336499998 meters Centerline goodness [0,1] 0.2857142857142857 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.03, Z:-0.23 [[ 9.99937587e-01 -1.69246366e-03 -1.10434780e-02 2.61718945e+00] [ 1.71100102e-03 9.99997143e-01 1.66934754e-03 -2.72437441e-02] [ 1.10406211e-02 -1.68813875e-03 9.99937625e-01 -2.33030279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77313336499998 meters Centerline goodness [0,1] 0.2859622431268348 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.03, Z:-0.23 [[ 9.99938279e-01 -1.43159293e-03 -1.10176516e-02 2.61710724e+00] [ 1.45477606e-03 9.99996744e-01 2.09645373e-03 -2.87038767e-02] [ 1.10146145e-02 -2.11235255e-03 9.99937106e-01 -2.33031065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80313336499998 meters Centerline goodness [0,1] 0.29013149329514387 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.03, Z:-0.23 [[ 9.99942286e-01 5.09137076e-03 -9.46055710e-03 2.59753944e+00] [-5.07644470e-03 9.99985833e-01 1.60105861e-03 -3.47441075e-02] [ 9.46857465e-03 -1.55294022e-03 9.99953966e-01 -2.34688361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83313336499998 meters Centerline goodness [0,1] 0.29284905988857934 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:-0.23 [[ 9.99942825e-01 5.08076711e-03 -9.40914270e-03 2.59724769e+00] [-5.06518070e-03 9.99985761e-01 1.67960796e-03 -3.56442994e-02] [ 9.41754242e-03 -1.63185292e-03 9.99954322e-01 -2.34402857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86313336499998 meters Centerline goodness [0,1] 0.291581287875485 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:-0.23 [[ 9.99943471e-01 5.02440005e-03 -9.37066011e-03 2.59710500e+00] [-5.00871037e-03 9.99986016e-01 1.69705867e-03 -3.64255822e-02] [ 9.37905578e-03 -1.65002781e-03 9.99954654e-01 -2.34279089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89313336499998 meters Centerline goodness [0,1] 0.29301169080439715 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:-0.23 [[ 9.99943370e-01 5.05102439e-03 -9.36719340e-03 2.59712239e+00] [-5.03464772e-03 9.99985758e-01 1.77105886e-03 -3.69514815e-02] [ 9.37600565e-03 -1.72379805e-03 9.99954558e-01 -2.34294604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92313336499998 meters Centerline goodness [0,1] 0.292673864580146 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:-0.23 [[ 9.99943998e-01 5.06893598e-03 -9.29012826e-03 2.59728750e+00] [-5.05242473e-03 9.99985617e-01 1.79989808e-03 -3.70562708e-02] [ 9.29911820e-03 -1.75285961e-03 9.99955226e-01 -2.34839400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95313336499999 meters Centerline goodness [0,1] 0.2898607061872368 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.03, Z:-0.23 [[ 9.99950775e-01 -1.86074634e-03 -9.74604718e-03 2.61691202e+00] [ 1.88262832e-03 9.99995727e-01 2.23652293e-03 -3.34752658e-02] [ 9.74184393e-03 -2.25476102e-03 9.99950005e-01 -2.33683789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.983133365 meters Centerline goodness [0,1] 0.294719356530862 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:-0.24 [[ 9.99965813e-01 3.39614793e-03 -7.53912477e-03 2.59975641e+00] [-3.38710866e-03 9.99993530e-01 1.21142592e-03 -3.96426697e-02] [ 7.54319018e-03 -1.18584867e-03 9.99970847e-01 -2.36059300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.013133365 meters Centerline goodness [0,1] 0.29241385277639576 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.04, Z:-0.23 [[ 9.99963441e-01 -3.46330172e-03 -7.81808597e-03 2.61840415e+00] [ 3.47996979e-03 9.99991699e-01 2.11939281e-03 -3.75296274e-02] [ 7.81068097e-03 -2.14652203e-03 9.99967192e-01 -2.34094146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.043133365 meters Centerline goodness [0,1] 0.29159185792467934 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.04, Z:-0.23 [[ 9.99964376e-01 -3.32927474e-03 -7.75641898e-03 2.61808214e+00] [ 3.34910304e-03 9.99991154e-01 2.54478797e-03 -3.95297033e-02] [ 7.74787806e-03 -2.57067436e-03 9.99966680e-01 -2.33855460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.073133365 meters Centerline goodness [0,1] 0.28821903610295385 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.04, Z:-0.23 [[ 0.99996283 -0.00324338 -0.0079892 2.61868054] [ 0.0032674 0.99999018 0.00299491 -0.04197294] [ 0.00797941 -0.0030209 0.9999636 -0.23398887] [ 0. 0. 0. 1. ]] SLAMing on 206.103133365 meters Centerline goodness [0,1] 0.2920471924841599 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.05, Z:-0.24 [[ 9.99948732e-01 -5.75566837e-03 -8.33096337e-03 2.62088179e+00] [ 5.76835758e-03 9.99982238e-01 1.49991272e-03 -4.97831242e-02] [ 8.32218239e-03 -1.54789180e-03 9.99964172e-01 -2.35464179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.133133365 meters Centerline goodness [0,1] 0.2941626919879228 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.05, Z:-0.23 [[ 9.99943020e-01 -5.85869890e-03 -8.92367261e-03 2.62188835e+00] [ 5.87702063e-03 9.99980673e-01 2.02832250e-03 -5.40558262e-02] [ 8.91161682e-03 -2.08065153e-03 9.99958126e-01 -2.34979712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.163133365 meters Centerline goodness [0,1] 0.2941176470588235 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.06, Z:-0.23 [[ 0.99994015 -0.00576511 -0.00929811 2.62221211] [ 0.00579126 0.99997934 0.00278861 -0.05879118] [ 0.00928184 -0.00284229 0.99995288 -0.23422323] [ 0. 0. 0. 1. ]] SLAMing on 206.193133365 meters Centerline goodness [0,1] 0.29074889867841414 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.07, Z:-0.23 [[ 9.99956755e-01 9.11180913e-04 -9.25510622e-03 2.64209646e+00] [-9.04736948e-04 9.99999345e-01 7.00423466e-04 -7.14548048e-02] [ 9.25573838e-03 -6.92019740e-04 9.99956925e-01 -2.34015997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.223133365 meters Centerline goodness [0,1] 0.286896641612721 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.08, Z:-0.23 [[ 9.99952207e-01 9.87458003e-04 -9.72667462e-03 2.64324565e+00] [-9.74446319e-04 9.99998624e-01 1.34238035e-03 -7.57757577e-02] [ 9.72798678e-03 -1.33283807e-03 9.99951794e-01 -2.34080444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.253133365 meters Centerline goodness [0,1] 0.2909496424901056 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.08, Z:-0.23 [[ 9.99949000e-01 1.11137968e-03 -1.00380525e-02 2.64393341e+00] [-1.09195018e-03 9.99997520e-01 1.94085739e-03 -7.96211619e-02] [ 1.00401846e-02 -1.92979735e-03 9.99947734e-01 -2.34021867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.283133365 meters Centerline goodness [0,1] 0.2866247561239974 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.08, Z:-0.23 [[ 9.99946421e-01 1.27277621e-03 -1.02729837e-02 2.64423664e+00] [-1.24682523e-03 9.99996017e-01 2.53214860e-03 -8.32652550e-02] [ 1.02761657e-02 -2.51920432e-03 9.99944025e-01 -2.33677522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.313133365 meters Centerline goodness [0,1] 0.28703783877391986 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.09, Z:-0.23 [[ 9.99945118e-01 1.45958304e-03 -1.03745422e-02 2.64415735e+00] [-1.42803741e-03 9.99994337e-01 3.04743418e-03 -8.60714540e-02] [ 1.03789315e-02 -3.03245170e-03 9.99941539e-01 -2.33188786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.343133365 meters Centerline goodness [0,1] 0.28370338435007547 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.09, Z:-0.23 [[ 9.99944049e-01 1.65406776e-03 -1.04481375e-02 2.64406754e+00] [-1.61719337e-03 9.99992438e-01 3.53674218e-03 -8.85242574e-02] [ 1.04539085e-02 -3.51964763e-03 9.99939162e-01 -2.32778009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.373133365 meters Centerline goodness [0,1] 0.287312944461411 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.09, Z:-0.23 [[ 9.99942328e-01 1.97017612e-03 -1.05573709e-02 2.64373387e+00] [-1.92283413e-03 9.99988060e-01 4.49253506e-03 -9.39250474e-02] [ 1.05660959e-02 -4.47197589e-03 9.99934177e-01 -2.31940081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.403133365 meters Centerline goodness [0,1] 0.28708737441830123 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.10, Z:-0.23 [[ 9.99951226e-01 -1.17270202e-03 -9.80668944e-03 2.64194285e+00] [ 1.18794336e-03 9.99998095e-01 1.54849652e-03 -9.56275654e-02] [ 9.80485484e-03 -1.56007078e-03 9.99950714e-01 -2.31812264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43313336499997 meters Centerline goodness [0,1] 0.2864848537153707 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.10, Z:-0.23 [[ 9.99951055e-01 -1.16453732e-03 -9.82501299e-03 2.64151667e+00] [ 1.18388085e-03 9.99997372e-01 1.96321839e-03 -9.85063256e-02] [ 9.82270093e-03 -1.97475395e-03 9.99949806e-01 -2.31134205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46313336499998 meters Centerline goodness [0,1] 0.28366749849410555 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.10, Z:-0.23 [[ 9.99951052e-01 -1.13648557e-03 -9.82859829e-03 2.64093571e+00] [ 1.16074351e-03 9.99996294e-01 2.46274515e-03 -1.01805678e-01] [ 9.82576299e-03 -2.47403309e-03 9.99948665e-01 -2.30344194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49313336499998 meters Centerline goodness [0,1] 0.28818931828050365 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.11, Z:-0.23 [[ 9.99952503e-01 -1.12752428e-03 -9.68095693e-03 2.64005904e+00] [ 1.15626981e-03 9.99994938e-01 2.96420245e-03 -1.05040613e-01] [ 9.67756571e-03 -2.97525546e-03 9.99948745e-01 -2.29603551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52313336499998 meters Centerline goodness [0,1] 0.28661277772974847 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.11, Z:-0.23 [[ 9.99950065e-01 -4.34157301e-03 -9.00096879e-03 2.63812640e+00] [ 4.34836072e-03 9.99990276e-01 7.34676413e-04 -1.11720776e-01] [ 8.99769162e-03 -7.73779186e-04 9.99959221e-01 -2.29111420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55313336499998 meters Centerline goodness [0,1] 0.2861822125813449 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.12, Z:-0.23 [[ 9.99948786e-01 -4.30412214e-03 -9.15968099e-03 2.63800796e+00] [ 4.31675464e-03 9.99989758e-01 1.35981807e-03 -1.15540580e-01] [ 9.15373435e-03 -1.39928852e-03 9.99957125e-01 -2.28485862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58313336499998 meters Centerline goodness [0,1] 0.2852937993723623 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.12, Z:-0.23 [[ 9.99947092e-01 -4.28748542e-03 -9.35045013e-03 2.63799328e+00] [ 4.30514598e-03 9.99988985e-01 1.86942911e-03 -1.18879420e-01] [ 9.34233199e-03 -1.90958525e-03 9.99954536e-01 -2.27880212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61313336499998 meters Centerline goodness [0,1] 0.2829478214093599 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.12, Z:-0.23 [[ 9.99944300e-01 -4.27459576e-03 -9.65012641e-03 2.63853329e+00] [ 4.29696516e-03 9.99988126e-01 2.29849969e-03 -1.21899187e-01] [ 9.64018668e-03 -2.33983792e-03 9.99950795e-01 -2.27705742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64313336499998 meters Centerline goodness [0,1] 0.28494786483796997 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.12, Z:-0.23 [[ 0.99994314 -0.00413933 -0.00982735 2.63869399] [ 0.00416651 0.99998755 0.00274704 -0.1242608 ] [ 0.00981586 -0.00278783 0.99994794 -0.2273934 ] [ 0. 0. 0. 1. ]] SLAMing on 206.67313336499998 meters Centerline goodness [0,1] 0.284780075106833 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.13, Z:-0.23 [[ 0.99994514 -0.00397159 -0.00969287 2.63816967] [ 0.00400253 0.99998695 0.00317468 -0.12640388] [ 0.00968014 -0.0032133 0.99994798 -0.22709241] [ 0. 0. 0. 1. ]] SLAMing on 206.70313336499999 meters Centerline goodness [0,1] 0.2845312229718042 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.13, Z:-0.23 [[ 0.99994753 -0.0039195 -0.00946395 2.63740427] [ 0.00395008 0.99998703 0.00321428 -0.12652034] [ 0.00945123 -0.0032515 0.99995005 -0.22675115] [ 0. 0. 0. 1. ]] SLAMing on 206.733133365 meters Centerline goodness [0,1] 0.27872390435693073 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.13, Z:-0.23 [[ 9.99957636e-01 4.40067789e-03 -8.08453155e-03 2.65648803e+00] [-4.39489920e-03 9.99990074e-01 7.32409514e-04 -1.28671447e-01] [ 8.08767440e-03 -6.96847785e-04 9.99967051e-01 -2.26941162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.763133365 meters Centerline goodness [0,1] 0.2812177058215639 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.13, Z:-0.23 [[ 9.99957946e-01 4.34424367e-03 -8.07679529e-03 2.65664535e+00] [-4.33953472e-03 9.99990404e-01 6.00455239e-04 -1.27969049e-01] [ 8.07932631e-03 -5.65380454e-04 9.99967202e-01 -2.27240539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.793133365 meters Centerline goodness [0,1] 0.28667072428484475 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.12, Z:-0.23 [[ 9.99951398e-01 -4.96864329e-03 -8.51552579e-03 2.63929907e+00] [ 4.98774929e-03 9.99985088e-01 2.22389904e-03 -1.22419264e-01] [ 8.50434904e-03 -2.26626427e-03 9.99961269e-01 -2.29022284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.823133365 meters Centerline goodness [0,1] 0.2922154640528596 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.12, Z:-0.23 [[ 9.99952032e-01 -4.95469933e-03 -8.44896225e-03 2.63935175e+00] [ 4.97334681e-03 9.99985240e-01 2.18749373e-03 -1.21727347e-01] [ 8.43799917e-03 -2.22940842e-03 9.99961914e-01 -2.29447972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.853133365 meters Centerline goodness [0,1] 0.2859887322727567 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.12, Z:-0.23 [[ 9.99965696e-01 2.41395988e-03 -7.92339503e-03 2.66023722e+00] [-2.42074476e-03 9.99996711e-01 -8.46831138e-04 -1.22437256e-01] [ 7.92132476e-03 8.65982605e-04 9.99968251e-01 -2.30791442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.883133365 meters Centerline goodness [0,1] 0.2859887322727567 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.12, Z:-0.23 [[ 9.99965696e-01 2.41395988e-03 -7.92339503e-03 2.66023722e+00] [-2.42074476e-03 9.99996711e-01 -8.46831138e-04 -1.22437256e-01] [ 7.92132476e-03 8.65982605e-04 9.99968251e-01 -2.30791442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.913133365 meters Centerline goodness [0,1] 0.2840752540037885 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.12, Z:-0.23 [[ 9.99964179e-01 2.20023958e-03 -8.17312226e-03 2.66089162e+00] [-2.20962234e-03 9.99996910e-01 -1.13914931e-03 -1.21581005e-01] [ 8.17059061e-03 1.15716802e-03 9.99965951e-01 -2.30919224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.943133365 meters Centerline goodness [0,1] 0.28509513283924937 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.12, Z:-0.23 [[ 9.99962633e-01 2.06319454e-03 -8.39504484e-03 2.66171912e+00] [-2.07506998e-03 9.99996858e-01 -1.40611309e-03 -1.20291127e-01] [ 8.39211738e-03 1.42348085e-03 9.99963772e-01 -2.31446058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.973133365 meters Centerline goodness [0,1] 0.283201388135777 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.12, Z:-0.23 [[ 9.99958984e-01 1.88524508e-03 -8.85869517e-03 2.66352116e+00] [-1.90264579e-03 9.99996277e-01 -1.95623454e-03 -1.16611544e-01] [ 8.85497420e-03 1.97300926e-03 9.99958847e-01 -2.32581630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.003133365 meters Centerline goodness [0,1] 0.28665806225800106 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.11, Z:-0.23 [[ 9.99958756e-01 1.79526735e-03 -8.90304080e-03 2.66364508e+00] [-1.81563537e-03 9.99995752e-01 -2.28020535e-03 -1.14611906e-01] [ 8.89890940e-03 2.29627598e-03 9.99957767e-01 -2.32643284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.033133365 meters Centerline goodness [0,1] 0.2877699417407683 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.11, Z:-0.23 [[ 9.99959090e-01 1.71167338e-03 -8.88189888e-03 2.66345157e+00] [-1.73488528e-03 9.99995099e-01 -2.60634783e-03 -1.12570136e-01] [ 8.87739413e-03 2.62165028e-03 9.99957158e-01 -2.32441805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.063133365 meters Centerline goodness [0,1] 0.28778903953314905 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.11, Z:-0.23 [[ 9.99960109e-01 1.64187234e-03 -8.77982193e-03 2.66306270e+00] [-1.66746856e-03 9.99994379e-01 -2.90882029e-03 -1.10576165e-01] [ 8.77499667e-03 2.92334433e-03 9.99957226e-01 -2.32213600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.093133365 meters Centerline goodness [0,1] 0.2844390254523286 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.11, Z:-0.23 [[ 9.99961755e-01 1.50447992e-03 -8.61539107e-03 2.66270835e+00] [-1.53327027e-03 9.99993260e-01 -3.33610433e-03 -1.08219680e-01] [ 8.61031390e-03 3.34918646e-03 9.99957322e-01 -2.32217093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.123133365 meters Centerline goodness [0,1] 0.2889623265036352 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.10, Z:-0.23 [[ 9.99943048e-01 -6.52185895e-03 -8.44781151e-03 2.64252214e+00] [ 6.51409445e-03 9.99978335e-01 -9.46303700e-04 -1.01820990e-01] [ 8.45380015e-03 8.91219965e-04 9.99963869e-01 -2.32204765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.153133365 meters Centerline goodness [0,1] 0.2856925814993272 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.10, Z:-0.23 [[ 9.99984422e-01 1.65505028e-03 -5.33062867e-03 2.66092561e+00] [-1.67374692e-03 9.99992457e-01 -3.50484933e-03 -9.82968752e-02] [ 5.32478776e-03 3.51371686e-03 9.99979650e-01 -2.32684786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18313336499997 meters Centerline goodness [0,1] 0.2858538279537216 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.10, Z:-0.23 [[ 9.99986348e-01 1.62013645e-03 -4.96781772e-03 2.65993918e+00] [-1.63946757e-03 9.99991091e-01 -3.88966908e-03 -9.56664631e-02] [ 4.96147167e-03 3.89776056e-03 9.99980095e-01 -2.32405475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21313336499998 meters Centerline goodness [0,1] 0.2831579855122456 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.09, Z:-0.23 [[ 9.99987932e-01 1.56454079e-03 -4.65711937e-03 2.65928379e+00] [-1.58464387e-03 9.99989430e-01 -4.31608031e-03 -9.26919322e-02] [ 4.65031746e-03 4.32340809e-03 9.99979841e-01 -2.32443178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24313336499998 meters Centerline goodness [0,1] 0.2839086678930851 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.09, Z:-0.23 [[ 9.99989202e-01 1.44142359e-03 -4.41790895e-03 2.65901152e+00] [-1.46279211e-03 9.99987230e-01 -4.83738713e-03 -8.94278851e-02] [ 4.41087981e-03 4.84379738e-03 9.99978541e-01 -2.32800873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27313336499998 meters Centerline goodness [0,1] 0.28788568702703876 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.09, Z:-0.23 [[ 9.99989668e-01 1.27816960e-03 -4.36224697e-03 2.65920291e+00] [-1.30160884e-03 9.99984710e-01 -5.37460096e-03 -8.64784365e-02] [ 4.35531062e-03 5.38022337e-03 9.99976042e-01 -2.33229310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30313336499998 meters Centerline goodness [0,1] 0.2846609583117108 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.08, Z:-0.23 [[ 9.99989814e-01 1.04500046e-03 -4.39088518e-03 2.65968415e+00] [-1.07130402e-03 9.99981471e-01 -5.99241419e-03 -8.34914761e-02] [ 4.38454175e-03 5.99705712e-03 9.99972405e-01 -2.33810372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33313336499998 meters Centerline goodness [0,1] 0.2891216973051328 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.07, Z:-0.23 [[ 0.99996231 -0.00703545 -0.00508768 2.6388892 ] [ 0.00701394 0.99996644 -0.00423404 -0.07339889] [ 0.0051173 0.00419819 0.99997809 -0.23341751] [ 0. 0. 0. 1. ]] SLAMing on 207.36313336499998 meters Centerline goodness [0,1] 0.28545660016516716 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.07, Z:-0.23 [[ 0.99996086 -0.00717902 -0.00517069 2.63942831] [ 0.00715461 0.99996325 -0.00472374 -0.07031945] [ 0.00520442 0.00468656 0.99997547 -0.23399145] [ 0. 0. 0. 1. ]] SLAMing on 207.39313336499998 meters Centerline goodness [0,1] 0.28987386278732474 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.07, Z:-0.24 [[ 9.99983987e-01 1.91792347e-04 -5.65595227e-03 2.61946690e+00] [-2.23122244e-04 9.99984634e-01 -5.53916822e-03 -6.97918327e-02] [ 5.65480299e-03 5.54034149e-03 9.99968663e-01 -2.35546412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42313336499998 meters Centerline goodness [0,1] 0.28796718722582915 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.07, Z:-0.24 [[ 9.99983967e-01 3.16326722e-05 -5.66254230e-03 2.61967022e+00] [-6.58675480e-05 9.99981722e-01 -6.04576462e-03 -6.69969497e-02] [ 5.66224756e-03 6.04604067e-03 9.99965692e-01 -2.35838585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45313336499999 meters Centerline goodness [0,1] 0.2830458215190147 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.06, Z:-0.23 [[ 0.99996057 -0.00649164 -0.00605943 2.63846391] [ 0.00645747 0.99996324 -0.00564158 -0.05962303] [ 0.00609583 0.00560223 0.99996573 -0.23420026] [ 0. 0. 0. 1. ]] SLAMing on 207.483133365 meters Centerline goodness [0,1] 0.2826377799836002 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.06, Z:-0.23 [[ 0.99996166 -0.00661185 -0.00574109 2.63764017] [ 0.00657647 0.9999594 -0.0061599 -0.05632413] [ 0.00578158 0.0061219 0.99996455 -0.23404712] [ 0. 0. 0. 1. ]] SLAMing on 207.513133365 meters Centerline goodness [0,1] 0.2873990766470472 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.05, Z:-0.23 [[ 9.99987622e-01 1.25823011e-03 -4.81374251e-03 2.61395007e+00] [-1.29094872e-03 9.99976047e-01 -6.79985833e-03 -5.21785473e-02] [ 4.80507143e-03 6.80598846e-03 9.99965294e-01 -2.34511176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.543133365 meters Centerline goodness [0,1] 0.2862868782442999 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.05, Z:-0.23 [[ 9.99988227e-01 1.12914959e-03 -4.71916780e-03 2.61395590e+00] [-1.16349145e-03 9.99972818e-01 -7.28070273e-03 -4.95962915e-02] [ 4.71081852e-03 7.28610772e-03 9.99962360e-01 -2.34741424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.573133365 meters Centerline goodness [0,1] 0.2839988708661759 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.04, Z:-0.24 [[ 9.99986834e-01 1.11523854e-03 -5.00881167e-03 2.61534482e+00] [-1.15523769e-03 9.99967412e-01 -7.98997478e-03 -4.40293255e-02] [ 4.99973772e-03 7.99565595e-03 9.99955535e-01 -2.35655453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.603133365 meters Centerline goodness [0,1] 0.2871863309195126 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.04, Z:-0.24 [[ 9.99984274e-01 1.14940868e-03 -5.48914304e-03 2.61691168e+00] [-1.19530684e-03 9.99964293e-01 -8.36567736e-03 -4.09901598e-02] [ 5.47933145e-03 8.37210701e-03 9.99949941e-01 -2.36254858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.633133365 meters Centerline goodness [0,1] 0.28491025250988744 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.04, Z:-0.24 [[ 9.99981327e-01 1.20586863e-03 -5.99103507e-03 2.61851860e+00] [-1.25812876e-03 9.99961128e-01 -8.72695787e-03 -3.81975945e-02] [ 5.98027862e-03 8.73433241e-03 9.99943972e-01 -2.36831846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.663133365 meters Centerline goodness [0,1] 0.2861367918328003 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.04, Z:-0.24 [[ 9.99980753e-01 1.18660483e-03 -6.08978992e-03 2.61891611e+00] [-1.24214417e-03 9.99957600e-01 -9.12441071e-03 -3.57307186e-02] [ 6.07870465e-03 9.13179949e-03 9.99939828e-01 -2.36963664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.693133365 meters Centerline goodness [0,1] 0.28658204698351875 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.03, Z:-0.24 [[ 9.99980996e-01 1.16916200e-03 -6.05322163e-03 2.61890169e+00] [-1.22633964e-03 9.99954589e-01 -9.45074103e-03 -3.37322948e-02] [ 6.04189730e-03 9.45798473e-03 9.99937019e-01 -2.36934463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.723133365 meters Centerline goodness [0,1] 0.28413578781535276 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.03, Z:-0.24 [[ 9.99981342e-01 1.14556185e-03 -6.00021477e-03 2.61883100e+00] [-1.20407859e-03 9.99951665e-01 -9.75792517e-03 -3.18492031e-02] [ 5.98874645e-03 9.76496784e-03 9.99934388e-01 -2.36903137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.753133365 meters Centerline goodness [0,1] 0.2902534496708872 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.02, Z:-0.24 [[ 0.99997234 -0.00466436 -0.00579415 2.59886148] [ 0.00462989 0.99997159 -0.00594826 -0.02454854] [ 0.00582173 0.00592127 0.99996552 -0.23643545] [ 0. 0. 0. 1. ]] SLAMing on 207.783133365 meters Centerline goodness [0,1] 0.287648090792922 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.02, Z:-0.24 [[ 0.99997424 -0.004445 -0.00563556 2.59839891] [ 0.00441077 0.99997183 -0.00607251 -0.02270397] [ 0.00566239 0.00604749 0.99996568 -0.23622932] [ 0. 0. 0. 1. ]] SLAMing on 207.813133365 meters Centerline goodness [0,1] 0.2919822749994543 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.02, Z:-0.24 [[ 0.99997641 -0.00431016 -0.00534739 2.59760672] [ 0.00427653 0.99997111 -0.00628417 -0.02087075] [ 0.00537432 0.00626115 0.99996596 -0.23592135] [ 0. 0. 0. 1. ]] SLAMing on 207.843133365 meters Centerline goodness [0,1] 0.2919945075303503 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.02, Z:-0.24 [[ 0.99997838 -0.00421238 -0.00504926 2.59669634] [ 0.00417959 0.99997022 -0.00648704 -0.01925044] [ 0.00507643 0.00646579 0.99996621 -0.23544377] [ 0. 0. 0. 1. ]] SLAMing on 207.873133365 meters Centerline goodness [0,1] 0.29167391304347823 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.02, Z:-0.24 [[ 0.99998179 -0.00399777 -0.00452134 2.59526384] [ 0.00396811 0.99997068 -0.00654881 -0.01785277] [ 0.00454739 0.00653075 0.99996833 -0.23508537] [ 0. 0. 0. 1. ]] SLAMing on 207.903133365 meters Centerline goodness [0,1] 0.2958893315238804 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:-0.23 [[ 9.99989593e-01 -3.48787643e-04 -4.54876334e-03 2.59447991e+00] [ 3.35487444e-04 9.99995668e-01 -2.92435078e-03 -1.82510630e-02] [ 4.54976361e-03 2.92279429e-03 9.99985378e-01 -2.34003594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93313336499997 meters Centerline goodness [0,1] 0.2932855280312907 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:-0.23 [[ 9.99991635e-01 6.06726660e-05 -4.08970652e-03 2.59325559e+00] [-7.22425637e-05 9.99995996e-01 -2.82894048e-03 -1.67098949e-02] [ 4.08951851e-03 2.82921227e-03 9.99987636e-01 -2.33716655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96313336499998 meters Centerline goodness [0,1] 0.2895122687481133 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:-0.23 [[ 9.99991197e-01 -1.21029512e-05 -4.19591393e-03 2.59357896e+00] [-3.05496240e-07 9.99995627e-01 -2.95725604e-03 -1.64179491e-02] [ 4.19593137e-03 2.95723129e-03 9.99986824e-01 -2.33808482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99313336499998 meters Centerline goodness [0,1] 0.29581579922813594 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:-0.23 [[ 9.99991025e-01 -4.14107982e-05 -4.23663157e-03 2.59357747e+00] [ 2.88011272e-05 9.99995570e-01 -2.97636127e-03 -1.66314132e-02] [ 4.23673606e-03 2.97621253e-03 9.99986596e-01 -2.33692473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02313336499998 meters Centerline goodness [0,1] 0.2943434693966078 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:-0.23 [[ 9.99991056e-01 -2.58331100e-05 -4.22929518e-03 2.59334463e+00] [ 1.34670368e-05 9.99995725e-01 -2.92391113e-03 -1.70065262e-02] [ 4.22935263e-03 2.92382802e-03 9.99986782e-01 -2.33395815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05313336499998 meters Centerline goodness [0,1] 0.2943575650504918 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:-0.23 [[ 9.99991232e-01 7.03210915e-05 -4.18704366e-03 2.59304425e+00] [-8.19798620e-05 9.99996120e-01 -2.78438094e-03 -1.72605930e-02] [ 4.18683161e-03 2.78469978e-03 9.99987358e-01 -2.33113316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08313336499998 meters Centerline goodness [0,1] 0.2921761714100206 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:-0.23 [[ 9.99991582e-01 1.50675298e-04 -4.10038785e-03 2.59285248e+00] [-1.61575709e-04 9.99996454e-01 -2.65818377e-03 -1.76202635e-02] [ 4.09997279e-03 2.65882392e-03 9.99988060e-01 -2.33157313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11313336499998 meters Centerline goodness [0,1] 0.29616884106897834 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:-0.23 [[ 9.99992300e-01 1.94090169e-04 -3.91957562e-03 2.59221702e+00] [-2.03916913e-04 9.99996837e-01 -2.50684998e-03 -1.87204489e-02] [ 3.91907667e-03 2.50762995e-03 9.99989176e-01 -2.32801502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14313336499998 meters Centerline goodness [0,1] 0.29318387974601534 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:-0.23 [[ 9.99992296e-01 1.61419655e-04 -3.92193959e-03 2.59198822e+00] [-1.71186798e-04 9.99996885e-01 -2.49017785e-03 -1.93312989e-02] [ 3.92152541e-03 2.49083005e-03 9.99989209e-01 -2.32442551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17313336499998 meters Centerline goodness [0,1] 0.29222444976179696 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:-0.23 [[ 9.99992237e-01 2.12708802e-04 -3.93447910e-03 2.59177509e+00] [-2.22108896e-04 9.99997122e-01 -2.38887592e-03 -2.00179031e-02] [ 3.93395964e-03 2.38973126e-03 9.99989407e-01 -2.32094431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20313336499999 meters Centerline goodness [0,1] 0.2954373690915765 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:-0.23 [[ 9.99992719e-01 3.19140674e-04 -3.80259312e-03 2.59134862e+00] [-3.27730881e-04 9.99997396e-01 -2.25863026e-03 -2.03134160e-02] [ 3.80186240e-03 2.25986004e-03 9.99990219e-01 -2.31920225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.233133365 meters Centerline goodness [0,1] 0.2938290284232141 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:-0.23 [[ 9.99993544e-01 4.01502439e-04 -3.57073058e-03 2.59072057e+00] [-4.09359324e-04 9.99997496e-01 -2.19989913e-03 -2.01577611e-02] [ 3.56983838e-03 2.20134664e-03 9.99991205e-01 -2.31774564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.263133365 meters Centerline goodness [0,1] 0.2941380281080145 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:-0.23 [[ 9.99994173e-01 4.89836610e-04 -3.37856402e-03 2.59026273e+00] [-4.97027066e-04 9.99997613e-01 -2.12774667e-03 -2.02365854e-02] [ 3.37751371e-03 2.12941351e-03 9.99992029e-01 -2.31755646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.293133365 meters Centerline goodness [0,1] 0.290693914505594 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:-0.23 [[ 9.99994025e-01 4.30308334e-04 -3.42998171e-03 2.59081940e+00] [-4.38073583e-04 9.99997342e-01 -2.26350328e-03 -1.97966178e-02] [ 3.42899859e-03 2.26499234e-03 9.99991556e-01 -2.32398892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.323133365 meters Centerline goodness [0,1] 0.2987222889592661 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.02, Z:-0.23 [[ 9.99972815e-01 -8.12469172e-04 -7.32864249e-03 2.55136026e+00] [ 8.03776202e-04 9.99998970e-01 -1.18903106e-03 -2.12037710e-02] [ 7.32960099e-03 1.18310814e-03 9.99972438e-01 -2.33160576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.353133365 meters Centerline goodness [0,1] 0.297269750395767 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.02, Z:-0.23 [[ 9.99972375e-01 -7.87403424e-04 -7.39110954e-03 2.55169941e+00] [ 7.78433315e-04 9.99998957e-01 -1.21643332e-03 -2.08221237e-02] [ 7.39205965e-03 1.21064623e-03 9.99971946e-01 -2.33435540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.383133365 meters Centerline goodness [0,1] 0.29289876969566153 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.02, Z:-0.23 [[ 9.99972574e-01 -7.31516566e-04 -7.36989442e-03 2.55146359e+00] [ 7.23146712e-04 9.99999091e-01 -1.13828244e-03 -2.11206895e-02] [ 7.37072039e-03 1.13292171e-03 9.99972194e-01 -2.33173350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.413133365 meters Centerline goodness [0,1] 0.29282209782350266 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.02, Z:-0.23 [[ 9.99973095e-01 -6.72768132e-04 -7.30451016e-03 2.55107826e+00] [ 6.65222027e-04 9.99999243e-01 -1.03545523e-03 -2.15480267e-02] [ 7.30520124e-03 1.03056825e-03 9.99972786e-01 -2.32800216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.443133365 meters Centerline goodness [0,1] 0.2916229357208645 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.02, Z:-0.23 [[ 9.99973277e-01 -6.83493981e-04 -7.27854585e-03 2.55094414e+00] [ 6.76525380e-04 9.99999311e-01 -9.59835784e-04 -2.22745477e-02] [ 7.27919688e-03 9.54886014e-04 9.99973050e-01 -2.32725181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.473133365 meters Centerline goodness [0,1] 0.29584918864540966 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.03, Z:-0.23 [[ 9.99944310e-01 -3.01241404e-03 -1.01144438e-02 2.50867887e+00] [ 3.01039154e-03 9.99995446e-01 -2.15180764e-04 -2.65058054e-02] [ 1.01150459e-02 1.84720345e-04 9.99948825e-01 -2.32399022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.503133365 meters Centerline goodness [0,1] 0.2938687392055268 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.03, Z:-0.23 [[ 9.99940721e-01 5.03032980e-03 -9.65664119e-03 2.52926538e+00] [-5.05418444e-03 9.99984232e-01 -2.44747091e-03 -2.91312913e-02] [ 9.64417734e-03 2.49613227e-03 9.99950378e-01 -2.32913349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.533133365 meters Centerline goodness [0,1] 0.2919274838094825 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.03, Z:-0.23 [[ 9.99940629e-01 5.05388651e-03 -9.65382891e-03 2.52930892e+00] [-5.07692130e-03 9.99984320e-01 -2.36306410e-03 -2.96850169e-02] [ 9.64173489e-03 2.41193553e-03 9.99950609e-01 -2.32987579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.563133365 meters Centerline goodness [0,1] 0.2925985953538628 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.03, Z:-0.23 [[ 9.99941191e-01 5.09550368e-03 -9.57346653e-03 2.52891137e+00] [-5.11714166e-03 9.99984405e-01 -2.23706903e-03 -3.04342543e-02] [ 9.56191824e-03 2.28592625e-03 9.99951671e-01 -2.32700060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.593133365 meters Centerline goodness [0,1] 0.29453228360118855 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.03, Z:-0.23 [[ 9.99940444e-01 5.07877934e-03 -9.65998811e-03 2.52885900e+00] [-5.10037064e-03 9.99984547e-01 -2.21180563e-03 -3.08687053e-02] [ 9.64860556e-03 2.26094342e-03 9.99950895e-01 -2.32296784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.623133365 meters Centerline goodness [0,1] 0.29286055915474585 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.03, Z:-0.23 [[ 9.99938909e-01 5.04621951e-03 -9.83432334e-03 2.52927192e+00] [-5.06825422e-03 9.99984699e-01 -2.21696046e-03 -3.11322400e-02] [ 9.82298560e-03 2.26666788e-03 9.99949184e-01 -2.32315091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.653133365 meters Centerline goodness [0,1] 0.29315847753870206 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.03, Z:-0.23 [[ 9.99935406e-01 5.00116876e-03 -1.02064279e-02 2.53047498e+00] [-5.02406178e-03 9.99984918e-01 -2.21859420e-03 -3.14279273e-02] [ 1.01951784e-02 2.26972861e-03 9.99945452e-01 -2.32865473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68313336499997 meters Centerline goodness [0,1] 0.2906747536012131 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.03, Z:-0.23 [[ 9.99934819e-01 5.00479428e-03 -1.02620413e-02 2.53052496e+00] [-5.02671904e-03 9.99985136e-01 -2.11181233e-03 -3.21533068e-02] [ 1.02513196e-02 2.16325908e-03 9.99945114e-01 -2.32770121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71313336499998 meters Centerline goodness [0,1] 0.286540314808866 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.03, Z:-0.23 [[ 9.99948740e-01 -1.99875670e-03 -9.92585258e-03 2.55010050e+00] [ 1.98562502e-03 9.99997141e-01 -1.33265658e-03 -2.92437339e-02] [ 9.92848785e-03 1.31287924e-03 9.99949849e-01 -2.31363614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74313336499998 meters Centerline goodness [0,1] 0.2916062893353808 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.03, Z:-0.23 [[ 9.99948754e-01 -1.88096626e-03 -9.94737983e-03 2.54975414e+00] [ 1.87115497e-03 9.99997754e-01 -9.95533459e-04 -3.09184995e-02] [ 9.94923005e-03 9.76869353e-04 9.99950028e-01 -2.30825144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77313336499998 meters Centerline goodness [0,1] 0.2916062893353808 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.03, Z:-0.23 [[ 9.99948754e-01 -1.88096626e-03 -9.94737983e-03 2.54975414e+00] [ 1.87115497e-03 9.99997754e-01 -9.95533459e-04 -3.09184995e-02] [ 9.94923005e-03 9.76869353e-04 9.99950028e-01 -2.30825144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80313336499998 meters Centerline goodness [0,1] 0.2914479910522241 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.03, Z:-0.23 [[ 9.99948963e-01 -1.78248755e-03 -9.94458685e-03 2.54942321e+00] [ 1.77591841e-03 9.99998199e-01 -6.69366142e-04 -3.26199201e-02] [ 9.94576208e-03 6.51671204e-04 9.99950327e-01 -2.30413521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83313336499998 meters Centerline goodness [0,1] 0.28940928994590887 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.03, Z:-0.23 [[ 9.99948178e-01 -1.68817140e-03 -1.00394839e-02 2.54953995e+00] [ 1.68502236e-03 9.99998528e-01 -3.22115192e-04 -3.45382946e-02] [ 1.00400129e-02 3.05181744e-04 9.99949551e-01 -2.30258395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86313336499998 meters Centerline goodness [0,1] 0.28646914108460797 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.04, Z:-0.23 [[ 9.99941880e-01 -1.80814289e-03 -1.06285886e-02 2.55089394e+00] [ 1.80886139e-03 9.99998362e-01 5.79883585e-05 -3.80961141e-02] [ 1.06284663e-02 -7.72106317e-05 9.99943513e-01 -2.30190882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89313336499998 meters Centerline goodness [0,1] 0.2934215106160808 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.04, Z:-0.23 [[ 9.99910154e-01 -4.59301989e-03 -1.25932046e-02 2.50665158e+00] [ 4.60192099e-03 9.99989181e-01 6.77931498e-04 -4.24042801e-02] [ 1.25899546e-02 -7.35823521e-04 9.99920473e-01 -2.29368897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92313336499998 meters Centerline goodness [0,1] 0.29008834302951947 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.05, Z:-0.23 [[ 9.99933438e-01 3.26665367e-03 -1.10656530e-02 2.52529311e+00] [-3.28575430e-03 9.99993143e-01 -1.70837788e-03 -4.69393881e-02] [ 1.10599965e-02 1.74462319e-03 9.99937314e-01 -2.29183269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95313336499999 meters Centerline goodness [0,1] 0.29278466986768636 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.05, Z:-0.23 [[ 9.99936283e-01 3.39964570e-03 -1.07644267e-02 2.52418873e+00] [-3.41472346e-03 9.99993214e-01 -1.38263263e-03 -4.84777873e-02] [ 1.07596532e-02 1.41930208e-03 9.99941106e-01 -2.28618251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.983133365 meters Centerline goodness [0,1] 0.29466634776369294 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.05, Z:-0.23 [[ 9.99941202e-01 3.54877753e-03 -1.02468871e-02 2.52228411e+00] [-3.55833050e-03 9.99993251e-01 -9.14199479e-04 -5.08929738e-02] [ 1.02435737e-02 9.50607537e-04 9.99947081e-01 -2.27543376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.013133365 meters Centerline goodness [0,1] 0.29220652386223056 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.05, Z:-0.23 [[ 9.99941414e-01 3.53254116e-03 -1.02318032e-02 2.52222398e+00] [-3.54121613e-03 9.99993386e-01 -8.29850725e-04 -5.16006433e-02] [ 1.02288040e-02 8.66035134e-04 9.99947309e-01 -2.27555837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.043133365 meters Centerline goodness [0,1] 0.28953724069521714 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.05, Z:-0.23 [[ 9.99939854e-01 3.51347367e-03 -1.03895678e-02 2.52264479e+00] [-3.52182721e-03 9.99993490e-01 -7.85845302e-04 -5.18544514e-02] [ 1.03867392e-02 8.22388300e-04 9.99945718e-01 -2.27657487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.073133365 meters Centerline goodness [0,1] 0.2894366044525374 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.05, Z:-0.23 [[ 9.99940237e-01 3.54716865e-03 -1.03411531e-02 2.52250105e+00] [-3.55439650e-03 9.99993451e-01 -6.80645303e-04 -5.22712573e-02] [ 1.03386710e-02 7.17361184e-04 9.99946297e-01 -2.27675407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.103133365 meters Centerline goodness [0,1] 0.29229031347077095 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.05, Z:-0.23 [[ 9.99942050e-01 3.55754465e-03 -1.01607278e-02 2.52188413e+00] [-3.56412034e-03 9.99993451e-01 -6.29132779e-04 -5.25189803e-02] [ 1.01584231e-02 6.65310378e-04 9.99948181e-01 -2.27388330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.133133365 meters Centerline goodness [0,1] 0.2909216999328176 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.05, Z:-0.23 [[ 9.99945873e-01 3.28993871e-03 -9.87057555e-03 2.52065776e+00] [-3.29803786e-03 9.99994238e-01 -8.04369623e-04 -5.31930914e-02] [ 9.86787235e-03 8.36879616e-04 9.99950961e-01 -2.26583958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.163133365 meters Centerline goodness [0,1] 0.29069515001519686 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.05, Z:-0.23 [[ 9.99944946e-01 3.18272052e-03 -9.99874241e-03 2.52089606e+00] [-3.19176598e-03 9.99994511e-01 -8.88833396e-04 -5.33210650e-02] [ 9.99585862e-03 9.20698109e-04 9.99949616e-01 -2.26541073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.193133365 meters Centerline goodness [0,1] 0.28873102584587484 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.05, Z:-0.23 [[ 9.99943667e-01 3.14911232e-03 -1.01364102e-02 2.52148367e+00] [-3.15834000e-03 9.99994612e-01 -8.94470655e-04 -5.33242007e-02] [ 1.01335388e-02 9.26434496e-04 9.99948225e-01 -2.26991108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.223133365 meters Centerline goodness [0,1] 0.2874555830731129 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.05, Z:-0.23 [[ 9.99941710e-01 3.09919530e-03 -1.03427505e-02 2.52246278e+00] [-3.10955035e-03 9.99994680e-01 -9.85258736e-04 -5.27392228e-02] [ 1.03396419e-02 1.01736261e-03 9.99946027e-01 -2.27733180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.253133365 meters Centerline goodness [0,1] 0.28752921824950217 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.05, Z:-0.23 [[ 9.99940725e-01 3.06409738e-03 -1.04479081e-02 2.52322796e+00] [-3.07537160e-03 9.99994706e-01 -1.06319358e-03 -5.23577623e-02] [ 1.04445951e-02 1.09526176e-03 9.99944854e-01 -2.28522387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.283133365 meters Centerline goodness [0,1] 0.28796558507533665 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.05, Z:-0.23 [[ 9.99939016e-01 2.94224275e-03 -1.06445878e-02 2.52400329e+00] [-2.95551995e-03 9.99994874e-01 -1.23180447e-03 -5.20898353e-02] [ 1.06409090e-02 1.26318964e-03 9.99942586e-01 -2.28935265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.313133365 meters Centerline goodness [0,1] 0.2893562640790158 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.05, Z:-0.23 [[ 9.99936344e-01 2.81672557e-03 -1.09258454e-02 2.52483901e+00] [-2.83379356e-03 9.99994788e-01 -1.54700038e-03 -5.09146256e-02] [ 1.09214310e-02 1.57786349e-03 9.99939114e-01 -2.29103635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.343133365 meters Centerline goodness [0,1] 0.29261456942041997 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.05, Z:-0.23 [[ 9.99934701e-01 2.83530114e-03 -1.10704495e-02 2.52534550e+00] [-2.85444133e-03 9.99994458e-01 -1.71352668e-03 -4.95207276e-02] [ 1.10655298e-02 1.74501474e-03 9.99937253e-01 -2.29306730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.373133365 meters Centerline goodness [0,1] 0.28932130787610044 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.05, Z:-0.23 [[ 9.99930904e-01 2.81035269e-03 -1.14144105e-02 2.52657053e+00] [-2.83346680e-03 9.99993967e-01 -2.00932637e-03 -4.76068798e-02] [ 1.14086947e-02 2.04152989e-03 9.99932835e-01 -2.29878932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.403133365 meters Centerline goodness [0,1] 0.2883443565000542 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.05, Z:-0.23 [[ 9.99928430e-01 2.79057253e-03 -1.16338550e-02 2.52750333e+00] [-2.81714011e-03 9.99993460e-01 -2.26788157e-03 -4.60100369e-02] [ 1.16274503e-02 2.30049346e-03 9.99929753e-01 -2.30468069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43313336499997 meters Centerline goodness [0,1] 0.29058900239078467 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.04, Z:-0.23 [[ 0.9999279 0.00276226 -0.01168645 2.52792599] [-0.00279223 0.99999285 -0.00254901 -0.04447651] [ 0.01167933 0.00258146 0.99992846 -0.23083487] [ 0. 0. 0. 1. ]] SLAMing on 209.46313336499998 meters Centerline goodness [0,1] 0.28815317456887235 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.04, Z:-0.23 [[ 0.99992998 0.00273276 -0.01151335 2.52770929] [-0.00276526 0.99999223 -0.0028079 -0.04306548] [ 0.01150559 0.00283954 0.99992978 -0.23103863] [ 0. 0. 0. 1. ]] SLAMing on 209.49313336499998 meters Centerline goodness [0,1] 0.2927077910810342 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.04, Z:-0.23 [[ 0.99993999 0.00315644 -0.01049059 2.52512197] [-0.00318487 0.9999913 -0.0026941 -0.04168063] [ 0.010482 0.00272735 0.99994134 -0.23068549] [ 0. 0. 0. 1. ]] SLAMing on 209.52313336499998 meters Centerline goodness [0,1] 0.2884611262352361 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.04, Z:-0.23 [[ 9.99939950e-01 -2.95882805e-03 -1.05518271e-02 2.54337324e+00] [ 2.94183705e-03 9.99994352e-01 -1.62540019e-03 -3.64371600e-02] [ 1.05565768e-02 1.59426083e-03 9.99943007e-01 -2.29089240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55313336499998 meters Centerline goodness [0,1] 0.29031081747785237 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.04, Z:-0.23 [[ 9.99940232e-01 -2.91608743e-03 -1.05370623e-02 2.54336721e+00] [ 2.89881181e-03 9.99994430e-01 -1.65441186e-03 -3.60147649e-02] [ 1.05418280e-02 1.62376802e-03 9.99943115e-01 -2.29123317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58313336499998 meters Centerline goodness [0,1] 0.29086034292633356 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.04, Z:-0.23 [[ 9.99940077e-01 -2.88544190e-03 -1.05601883e-02 2.54336341e+00] [ 2.86781681e-03 9.99994470e-01 -1.68377521e-03 -3.56179565e-02] [ 1.05649884e-02 1.65338963e-03 9.99942822e-01 -2.29030565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61313336499998 meters Centerline goodness [0,1] 0.29068888840914486 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.04, Z:-0.23 [[ 9.99941838e-01 -2.81872137e-03 -1.04103132e-02 2.54280518e+00] [ 2.80110347e-03 9.99994621e-01 -1.70654401e-03 -3.50637805e-02] [ 1.04150675e-02 1.67728439e-03 9.99944355e-01 -2.28727927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64313336499998 meters Centerline goodness [0,1] 0.29243878761730124 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.03, Z:-0.23 [[ 9.99958057e-01 -1.71797909e-03 -8.99629022e-03 2.53827518e+00] [ 1.71087480e-03 9.99998219e-01 -7.97327419e-04 -3.47148359e-02] [ 8.99764398e-03 7.81902450e-04 9.99959215e-01 -2.27154361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67313336499998 meters Centerline goodness [0,1] 0.2979415189261627 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.04, Z:-0.23 [[ 9.99938755e-01 -2.83663384e-03 -1.06976634e-02 2.49318967e+00] [ 2.84695605e-03 9.99995496e-01 9.49797955e-04 -3.67570352e-02] [ 1.06949210e-02 -9.80195562e-04 9.99942327e-01 -2.26045365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70313336499999 meters Centerline goodness [0,1] 0.29415834306222166 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.04, Z:-0.23 [[ 9.99945307e-01 5.42700359e-03 -8.94043082e-03 2.51277872e+00] [-5.43962434e-03 9.99984242e-01 -1.38793656e-03 -3.66582162e-02] [ 8.93275760e-03 1.43649323e-03 9.99959070e-01 -2.26332089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.733133365 meters Centerline goodness [0,1] 0.29326270912731733 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.03, Z:-0.23 [[ 9.99947630e-01 5.32718246e-03 -8.73834463e-03 2.51239791e+00] [-5.34247797e-03 9.99984236e-01 -1.72798140e-03 -3.48449048e-02] [ 8.72900161e-03 1.77457532e-03 9.99960327e-01 -2.26432222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.763133365 meters Centerline goodness [0,1] 0.296836559186606 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.03, Z:-0.23 [[ 9.99963051e-01 -2.36227327e-03 -8.26537544e-03 2.49161855e+00] [ 2.36989580e-03 9.99996775e-01 9.12552311e-04 -3.01310361e-02] [ 8.26319309e-03 -9.32106672e-04 9.99965425e-01 -2.26937743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.793133365 meters Centerline goodness [0,1] 0.2932524083113741 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.03, Z:-0.23 [[ 9.99966356e-01 -2.28910896e-03 -7.87703963e-03 2.49086410e+00] [ 2.29444287e-03 9.99997145e-01 6.68175964e-04 -2.76960128e-02] [ 7.87548761e-03 -6.86226901e-04 9.99968752e-01 -2.27198542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.823133365 meters Centerline goodness [0,1] 0.2968657985997514 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.02, Z:-0.23 [[ 9.99968078e-01 -2.36473348e-03 -7.63217102e-03 2.49106895e+00] [ 2.36506081e-03 9.99997203e-01 3.38637639e-05 -2.20267500e-02] [ 7.63206960e-03 -5.19132315e-05 9.99970874e-01 -2.28293581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.853133365 meters Centerline goodness [0,1] 0.2931230554661517 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.02, Z:-0.23 [[ 0.99996164 0.00518178 -0.0070621 2.51257689] [-0.00520297 0.99998201 -0.00298456 -0.02032007] [ 0.00704651 0.00302119 0.99997061 -0.22924582] [ 0. 0. 0. 1. ]] SLAMing on 209.883133365 meters Centerline goodness [0,1] 0.29434101462483186 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.01, Z:-0.23 [[ 9.99958880e-01 -4.08074724e-03 -8.09848932e-03 2.49438816e+00] [ 4.06648776e-03 9.99990154e-01 -1.77644501e-03 -1.45438614e-02] [ 8.10565880e-03 1.74343955e-03 9.99965629e-01 -2.30762693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.913133365 meters Centerline goodness [0,1] 0.28999357188772235 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.02, Z:-0.23 [[ 0.99996055 0.00430392 -0.00777032 2.5134054 ] [-0.00433451 0.9999829 -0.00392464 -0.01522144] [ 0.0077533 0.00395816 0.99996211 -0.23014963] [ 0. 0. 0. 1. ]] SLAMing on 209.943133365 meters Centerline goodness [0,1] 0.2942598709064611 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.01, Z:-0.23 [[ 0.99995185 -0.00527279 -0.00827657 2.49493493] [ 0.00524937 0.99998216 -0.00284869 -0.0091302 ] [ 0.00829144 0.00280511 0.99996169 -0.23219918] [ 0. 0. 0. 1. ]] SLAMing on 209.973133365 meters Centerline goodness [0,1] 0.2925209793234709 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.01, Z:-0.23 [[ 0.99995193 -0.00537324 -0.00820125 2.49478346] [ 0.00534896 0.99998126 -0.00297922 -0.00856314] [ 0.00821711 0.00293521 0.99996193 -0.23231659] [ 0. 0. 0. 1. ]] SLAMing on 210.003133365 meters Centerline goodness [0,1] 0.2939453966066661 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.01, Z:-0.23 [[ 0.99995084 -0.00552775 -0.00823134 2.4949091 ] [ 0.00550219 0.99997998 -0.00312518 -0.00819096] [ 0.00824845 0.00307974 0.99996124 -0.23245995] [ 0. 0. 0. 1. ]] SLAMing on 210.033133365 meters Centerline goodness [0,1] 0.2944181193757336 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.01, Z:-0.24 [[ 9.99975814e-01 5.43121883e-04 -6.93370965e-03 2.47785802e+00] [-5.71472027e-04 9.99991483e-01 -4.08741488e-03 -1.22555367e-02] [ 6.93143063e-03 4.09127844e-03 9.99967608e-01 -2.35152481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.063133365 meters Centerline goodness [0,1] 0.29171354392038074 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.01, Z:-0.24 [[ 9.99974181e-01 4.56680411e-04 -7.17139573e-03 2.47860965e+00] [-4.86193048e-04 9.99991419e-01 -4.11412278e-03 -1.23108244e-02] [ 7.16945535e-03 4.11750324e-03 9.99965822e-01 -2.35556017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.093133365 meters Centerline goodness [0,1] 0.29429187446915084 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.01, Z:-0.24 [[ 9.99973029e-01 4.04486071e-04 -7.33337585e-03 2.47906011e+00] [-4.34264864e-04 9.99991666e-01 -4.05958345e-03 -1.28285070e-02] [ 7.33167269e-03 4.06265858e-03 9.99964870e-01 -2.35731525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.123133365 meters Centerline goodness [0,1] 0.2917986548058147 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.01, Z:-0.24 [[ 9.99969429e-01 1.10513741e-04 -7.81849511e-03 2.48033923e+00] [-1.42775090e-04 9.99991478e-01 -4.12584845e-03 -1.38524747e-02] [ 7.81797252e-03 4.12683860e-03 9.99960923e-01 -2.36045914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.153133365 meters Centerline goodness [0,1] 0.29395658126344615 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.01, Z:-0.24 [[ 9.99967692e-01 1.02160029e-04 -8.03771657e-03 2.48095138e+00] [-1.34504530e-04 9.99991896e-01 -4.02365307e-03 -1.45066469e-02] [ 8.03724038e-03 4.02460418e-03 9.99959602e-01 -2.36272420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18313336499997 meters Centerline goodness [0,1] 0.29201125784801907 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.01, Z:-0.24 [[ 9.99966819e-01 1.37528286e-04 -8.14502870e-03 2.48142592e+00] [-1.69584308e-04 9.99992243e-01 -3.93509507e-03 -1.48954046e-02] [ 8.14442433e-03 3.93634577e-03 9.99959086e-01 -2.36671122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21313336499998 meters Centerline goodness [0,1] 0.291632235897882 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.01, Z:-0.24 [[ 9.99967112e-01 1.93925343e-04 -8.10779375e-03 2.48144150e+00] [-2.25417957e-04 9.99992434e-01 -3.88350630e-03 -1.47732556e-02] [ 8.10697930e-03 3.88520622e-03 9.99959590e-01 -2.36873522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24313336499998 meters Centerline goodness [0,1] 0.2940764414868 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.01, Z:-0.24 [[ 9.99968393e-01 2.49098193e-04 -7.94678493e-03 2.48107188e+00] [-2.79831180e-04 9.99992486e-01 -3.86647114e-03 -1.44493723e-02] [ 7.94576209e-03 3.86857269e-03 9.99960949e-01 -2.36876782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27313336499998 meters Centerline goodness [0,1] 0.290330965170681 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.01, Z:-0.24 [[ 9.99971013e-01 2.58618079e-04 -7.60959604e-03 2.48064186e+00] [-2.90215356e-04 9.99991340e-01 -4.15148243e-03 -1.22753404e-02] [ 7.60845649e-03 4.15357052e-03 9.99962429e-01 -2.37346650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30313336499998 meters Centerline goodness [0,1] 0.295449573397506 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.01, Z:-0.24 [[ 9.99972632e-01 2.76238001e-04 -7.39311087e-03 2.48018443e+00] [-3.07974756e-04 9.99990742e-01 -4.29195293e-03 -1.11605001e-02] [ 7.39185682e-03 4.29411237e-03 9.99963460e-01 -2.37383987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33313336499998 meters Centerline goodness [0,1] 0.2938253307469323 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.01, Z:-0.24 [[ 9.99974444e-01 3.05098301e-04 -7.14269101e-03 2.47968671e+00] [-3.37159644e-04 9.99989872e-01 -4.48791864e-03 -9.56438442e-03] [ 7.14124941e-03 4.49021217e-03 9.99964420e-01 -2.37466354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36313336499998 meters Centerline goodness [0,1] 0.2968378325295158 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.01, Z:-0.24 [[ 9.99975514e-01 3.04443951e-04 -6.99138721e-03 2.47947258e+00] [-3.37923920e-04 9.99988480e-01 -4.78806279e-03 -7.42160736e-03] [ 6.98984898e-03 4.79030810e-03 9.99964097e-01 -2.37662335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39313336499998 meters Centerline goodness [0,1] 0.29386420715337314 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.01, Z:-0.24 [[ 9.99975527e-01 3.11669242e-04 -6.98922162e-03 2.47968667e+00] [-3.47001526e-04 9.99987165e-01 -5.05461036e-03 -5.35437092e-03] [ 6.98755655e-03 5.05691192e-03 9.99962800e-01 -2.37969343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42313336499998 meters Centerline goodness [0,1] 0.29558210128627893 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.00, Z:-0.24 [[ 9.99976767e-01 2.60847372e-04 -6.81152074e-03 2.47931289e+00] [-2.96984326e-04 9.99985885e-01 -5.30479711e-03 -3.78770246e-03] [ 6.81004085e-03 5.30669678e-03 9.99962730e-01 -2.38061954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45313336499999 meters Centerline goodness [0,1] 0.29410240352430517 Centerline is valid? [False, False] Translation: X:2.50, Y:0.00, Z:-0.24 [[ 0.99995867 -0.0066875 -0.00615995 2.4975973 ] [ 0.00665779 0.99996617 -0.00482998 0.00350689] [ 0.00619204 0.00478877 0.99996936 -0.23635829] [ 0. 0. 0. 1. ]] SLAMing on 210.483133365 meters Centerline goodness [0,1] 0.291440789615775 Centerline is valid? [False, False] Translation: X:2.50, Y:0.00, Z:-0.24 [[ 0.99995893 -0.00673558 -0.00606438 2.4972937 ] [ 0.00670563 0.99996529 -0.0049458 0.0043194 ] [ 0.00609748 0.00490493 0.99996938 -0.23631992] [ 0. 0. 0. 1. ]] SLAMing on 210.513133365 meters Centerline goodness [0,1] 0.29171330176495913 Centerline is valid? [False, False] Translation: X:2.50, Y:0.01, Z:-0.24 [[ 0.99995928 -0.00679148 -0.0059433 2.49714386] [ 0.00676155 0.99996443 -0.00504113 0.00505041] [ 0.00597732 0.00500074 0.99996963 -0.23661912] [ 0. 0. 0. 1. ]] SLAMing on 210.543133365 meters Centerline goodness [0,1] 0.2925551490485572 Centerline is valid? [False, False] Translation: X:2.50, Y:0.01, Z:-0.24 [[ 0.99995918 -0.00690078 -0.00583281 2.49686514] [ 0.00687091 0.99996325 -0.005127 0.005251 ] [ 0.00586798 0.00508672 0.99996985 -0.23667421] [ 0. 0. 0. 1. ]] SLAMing on 210.573133365 meters Centerline goodness [0,1] 0.2914704680814466 Centerline is valid? [False, False] Translation: X:2.50, Y:0.01, Z:-0.24 [[ 0.99995786 -0.00710811 -0.00580957 2.49682334] [ 0.00707737 0.99996093 -0.00529525 0.00548034] [ 0.00584699 0.00525391 0.9999691 -0.23677274] [ 0. 0. 0. 1. ]] SLAMing on 210.603133365 meters Centerline goodness [0,1] 0.2937347081440056 Centerline is valid? [False, False] Translation: X:2.50, Y:0.01, Z:-0.24 [[ 0.99995155 -0.0079998 -0.00573568 2.49678609] [ 0.00796579 0.9999507 -0.0059287 0.00569203] [ 0.00578283 0.00588272 0.99996598 -0.23700564] [ 0. 0. 0. 1. ]] SLAMing on 210.633133365 meters Centerline goodness [0,1] 0.2925244005825707 Centerline is valid? [False, False] Translation: X:2.50, Y:0.00, Z:-0.24 [[ 0.99994819 -0.00815563 -0.00609045 2.49768227] [ 0.00811991 0.99994983 -0.0058663 0.0048559 ] [ 0.00613799 0.00581655 0.99996425 -0.23731427] [ 0. 0. 0. 1. ]] SLAMing on 210.663133365 meters Centerline goodness [0,1] 0.2881010241277556 Centerline is valid? [False, False] Translation: X:2.50, Y:0.00, Z:-0.24 [[ 0.99994507 -0.00831099 -0.00638584 2.49849889] [ 0.00827413 0.99994909 -0.00577596 0.0038563 ] [ 0.00643352 0.0057228 0.99996293 -0.23769165] [ 0. 0. 0. 1. ]] SLAMing on 210.693133365 meters Centerline goodness [0,1] 0.2881010241277556 Centerline is valid? [False, False] Translation: X:2.50, Y:0.00, Z:-0.24 [[ 0.99994507 -0.00831099 -0.00638584 2.49849889] [ 0.00827413 0.99994909 -0.00577596 0.0038563 ] [ 0.00643352 0.0057228 0.99996293 -0.23769165] [ 0. 0. 0. 1. ]] SLAMing on 210.723133365 meters Centerline goodness [0,1] 0.2901001549237382 Centerline is valid? [False, False] Translation: X:2.50, Y:0.00, Z:-0.24 [[ 0.99994067 -0.00850804 -0.00680284 2.49963829] [ 0.00846928 0.99994786 -0.00570523 0.00269339] [ 0.00685102 0.00564728 0.99996059 -0.23814847] [ 0. 0. 0. 1. ]] SLAMing on 210.753133365 meters Centerline goodness [0,1] 0.29226114227660227 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.00, Z:-0.24 [[ 9.99974570e-01 -1.89599513e-03 -6.87492746e-03 2.48123851e+00] [ 1.84966407e-03 9.99975580e-01 -6.73924242e-03 -2.65217432e-03] [ 6.88753715e-03 6.72635474e-03 9.99953658e-01 -2.40654375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.783133365 meters Centerline goodness [0,1] 0.2865379196740143 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.00, Z:-0.24 [[ 0.99992473 -0.01033353 -0.00661508 2.50356026] [ 0.01029025 0.99992564 -0.0065444 -0.00281396] [ 0.00668222 0.00647584 0.9999567 -0.24122492] [ 0. 0. 0. 1. ]] SLAMing on 210.813133365 meters Centerline goodness [0,1] 0.29079625906826323 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.01, Z:-0.24 [[ 0.99997982 -0.00343983 -0.00534066 2.48449992] [ 0.0034023 0.99996957 -0.00702018 -0.00736075] [ 0.00536464 0.00700186 0.9999611 -0.24349494] [ 0. 0. 0. 1. ]] SLAMing on 210.843133365 meters Centerline goodness [0,1] 0.28929229958732106 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.01, Z:-0.24 [[ 0.99998062 -0.00334631 -0.00524973 2.48433692] [ 0.00331036 0.99997111 -0.00684222 -0.0078775 ] [ 0.00527248 0.00682471 0.99996281 -0.24362691] [ 0. 0. 0. 1. ]] SLAMing on 210.873133365 meters Centerline goodness [0,1] 0.2849531070631809 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.00, Z:-0.24 [[ 0.99993358 -0.01026025 -0.00524962 2.50389876] [ 0.010229 0.99993001 -0.00594486 -0.00473404] [ 0.00531024 0.00589077 0.99996855 -0.24219957] [ 0. 0. 0. 1. ]] SLAMing on 210.903133365 meters Centerline goodness [0,1] 0.2861828529226492 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.00, Z:-0.24 [[ 0.9999333 -0.01028283 -0.00525914 2.50393598] [ 0.01025107 0.99992927 -0.00603024 -0.00434117] [ 0.00532078 0.00597592 0.99996799 -0.24218903] [ 0. 0. 0. 1. ]] SLAMing on 210.93313336499997 meters Centerline goodness [0,1] 0.289684950529422 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.00, Z:-0.24 [[ 9.99963707e-01 -6.56413464e-03 -5.43104820e-03 2.50425166e+00] [ 6.55085064e-03 9.99975517e-01 -2.46012065e-03 -3.76623769e-03] [ 5.44706379e-03 2.42445338e-03 9.99982226e-01 -2.42297107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96313336499998 meters Centerline goodness [0,1] 0.28848568830381505 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.00, Z:-0.24 [[ 9.99980339e-01 -3.00089997e-03 -5.50607569e-03 2.50427293e+00] [ 3.00689581e-03 9.99994895e-01 1.08099386e-03 -3.65716025e-03] [ 5.50280363e-03 -1.09752881e-03 9.99984257e-01 -2.42169096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99313336499998 meters Centerline goodness [0,1] 0.28931473514969797 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.00, Z:-0.24 [[ 9.99982176e-01 -2.98805310e-03 -5.16903384e-03 2.50365819e+00] [ 2.99236418e-03 9.99995181e-01 8.26487637e-04 -1.85589691e-03] [ 5.16653934e-03 -8.41940538e-04 9.99986299e-01 -2.42357082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02313336499998 meters Centerline goodness [0,1] 0.2857634852985492 Centerline is valid? [False, False] Translation: X:2.50, Y:0.00, Z:-0.24 [[ 9.99982978e-01 -3.07006630e-03 -4.96163373e-03 2.50330762e+00] [ 3.07244015e-03 9.99995169e-01 4.70889419e-04 3.52631777e-05] [ 4.96016410e-03 -4.86125726e-04 9.99987580e-01 -2.42499996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05313336499998 meters Centerline goodness [0,1] 0.2857019643357699 Centerline is valid? [False, False] Translation: X:2.50, Y:0.00, Z:-0.24 [[ 9.99983581e-01 -3.17879899e-03 -4.76798360e-03 2.50300979e+00] [ 3.17915869e-03 9.99994944e-01 6.78628550e-05 2.15193581e-03] [ 4.76774378e-03 -8.30199173e-05 9.99988631e-01 -2.42684597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08313336499998 meters Centerline goodness [0,1] 0.28809338184338185 Centerline is valid? [False, False] Translation: X:2.50, Y:0.00, Z:-0.24 [[ 9.99983846e-01 -3.22132945e-03 -4.68310752e-03 2.50297661e+00] [ 3.22001134e-03 9.99994774e-01 -2.88972150e-04 4.48155264e-03] [ 4.68401392e-03 2.73887823e-04 9.99988992e-01 -2.42928158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11313336499998 meters Centerline goodness [0,1] 0.2912920122217373 Centerline is valid? [False, False] Translation: X:2.50, Y:0.01, Z:-0.24 [[ 9.99987475e-01 4.67240358e-04 -4.98315503e-03 2.50425924e+00] [-4.53186082e-04 9.99995918e-01 2.82111322e-03 8.73596988e-03] [ 4.98445283e-03 -2.81881959e-03 9.99983605e-01 -2.43765968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14313336499998 meters Centerline goodness [0,1] 0.2855029585798816 Centerline is valid? [False, False] Translation: X:2.55, Y:0.01, Z:-0.24 [[ 9.99982630e-01 3.36830290e-03 -4.83682847e-03 2.54705487e+00] [-3.35766317e-03 9.99991929e-01 2.20617111e-03 1.28761812e-02] [ 4.84422049e-03 -2.18989234e-03 9.99985869e-01 -2.43831166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17313336499998 meters Centerline goodness [0,1] 0.28883275035626377 Centerline is valid? [False, False] Translation: X:2.55, Y:0.02, Z:-0.24 [[ 9.99983248e-01 3.14628595e-03 -4.85851213e-03 2.54749875e+00] [-3.13912351e-03 9.99993976e-01 1.48112640e-03 1.64853931e-02] [ 4.86314291e-03 -1.46585012e-03 9.99987100e-01 -2.44342284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20313336499999 meters Centerline goodness [0,1] 0.2927970269974861 Centerline is valid? [False, False] Translation: X:2.53, Y:0.02, Z:-0.25 [[ 0.99997618 -0.00469957 -0.00505429 2.52736224] [ 0.00471671 0.99998315 0.00338488 0.02385925] [ 0.0050383 -0.00340864 0.9999815 -0.24528131] [ 0. 0. 0. 1. ]] SLAMing on 211.233133365 meters Centerline goodness [0,1] 0.2916929502099058 Centerline is valid? [False, False] Translation: X:2.53, Y:0.03, Z:-0.25 [[ 0.99997582 -0.00480764 -0.00502485 2.52763142] [ 0.00482161 0.99998453 0.00277168 0.02768163] [ 0.00501145 -0.00279584 0.99998353 -0.24578009] [ 0. 0. 0. 1. ]] SLAMing on 211.263133365 meters Centerline goodness [0,1] 0.29168661588683353 Centerline is valid? [False, False] Translation: X:2.53, Y:0.03, Z:-0.25 [[ 9.99976433e-01 -4.83435230e-03 -4.87461668e-03 2.52758711e+00] [ 4.84563494e-03 9.99985602e-01 2.30542069e-03 3.10878183e-02] [ 4.86340128e-03 -2.32898698e-03 9.99985461e-01 -2.46277083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.293133365 meters Centerline goodness [0,1] 0.2945639814571853 Centerline is valid? [False, False] Translation: X:2.53, Y:0.04, Z:-0.25 [[ 9.99977350e-01 -5.13703488e-03 -4.34854844e-03 2.52651597e+00] [ 5.14289533e-03 9.99985881e-01 1.33757178e-03 3.61472790e-02] [ 4.34161589e-03 -1.35990562e-03 9.99989650e-01 -2.46434985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.323133365 meters Centerline goodness [0,1] 0.2908058974470491 Centerline is valid? [False, False] Translation: X:2.53, Y:0.04, Z:-0.25 [[ 9.99977071e-01 -5.31219132e-03 -4.19973535e-03 2.52603777e+00] [ 5.31614278e-03 9.99985436e-01 9.30280000e-04 3.79436464e-02] [ 4.19473236e-03 -9.52585062e-04 9.99990748e-01 -2.46228208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.353133365 meters Centerline goodness [0,1] 0.2908177625738845 Centerline is valid? [False, False] Translation: X:2.53, Y:0.04, Z:-0.25 [[ 9.99976708e-01 -5.44728800e-03 -4.11235293e-03 2.52585834e+00] [ 5.44958770e-03 9.99985001e-01 5.48219449e-04 3.99919005e-02] [ 4.10930494e-03 -5.70617307e-04 9.99991394e-01 -2.46310719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.383133365 meters Centerline goodness [0,1] 0.29057076786756286 Centerline is valid? [False, False] Translation: X:2.53, Y:0.04, Z:-0.25 [[ 9.99976555e-01 -5.47747477e-03 -4.10941133e-03 2.52621383e+00] [ 5.47860854e-03 9.99984957e-01 2.64688673e-04 4.21751325e-02] [ 4.10789969e-03 -2.87196324e-04 9.99991521e-01 -2.46894251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.413133365 meters Centerline goodness [0,1] 0.28874812902666 Centerline is valid? [False, False] Translation: X:2.53, Y:0.05, Z:-0.25 [[ 0.99998466 -0.00258555 -0.00489844 2.52966563] [ 0.002599 0.99999287 0.0027408 0.04598343] [ 0.00489132 -0.00275349 0.99998425 -0.24900318] [ 0. 0. 0. 1. ]] SLAMing on 211.443133365 meters Centerline goodness [0,1] 0.293674240778555 Centerline is valid? [False, False] Translation: X:2.53, Y:0.05, Z:-0.25 [[ 9.99984554e-01 -2.69923107e-03 -4.85853682e-03 2.52978869e+00] [ 2.71076077e-03 9.99993522e-01 2.36806234e-03 4.78568523e-02] [ 4.85211340e-03 -2.38119609e-03 9.99985393e-01 -2.49279372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.473133365 meters Centerline goodness [0,1] 0.2934725734717014 Centerline is valid? [False, False] Translation: X:2.53, Y:0.05, Z:-0.25 [[ 9.99984756e-01 -2.76918913e-03 -4.77701832e-03 2.52956018e+00] [ 2.77895004e-03 9.99994062e-01 2.03788104e-03 4.96749450e-02] [ 4.77134668e-03 -2.05112507e-03 9.99986513e-01 -2.49166501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.503133365 meters Centerline goodness [0,1] 0.2917201052105297 Centerline is valid? [False, False] Translation: X:2.53, Y:0.05, Z:-0.25 [[ 9.99985136e-01 -2.81274800e-03 -4.67078908e-03 2.52939796e+00] [ 2.82069160e-03 9.99994585e-01 1.69498224e-03 5.17889849e-02] [ 4.66599623e-03 -1.70813190e-03 9.99987655e-01 -2.49309445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.533133365 meters Centerline goodness [0,1] 0.29244135534317983 Centerline is valid? [False, False] Translation: X:2.53, Y:0.05, Z:-0.25 [[ 9.99986066e-01 -2.74993356e-03 -4.50607393e-03 2.52918748e+00] [ 2.75644772e-03 9.99995164e-01 1.44006717e-03 5.40403352e-02] [ 4.50209205e-03 -1.45246786e-03 9.99988811e-01 -2.49579781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.563133365 meters Centerline goodness [0,1] 0.29007814861189063 Centerline is valid? [False, False] Translation: X:2.53, Y:0.06, Z:-0.25 [[ 9.99989145e-01 7.72191375e-04 -4.59492679e-03 2.52969815e+00] [-7.52016863e-04 9.99990078e-01 4.39071489e-03 5.78964983e-02] [ 4.59827167e-03 -4.38721177e-03 9.99979804e-01 -2.49972202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.593133365 meters Centerline goodness [0,1] 0.2926309378806333 Centerline is valid? [False, False] Translation: X:2.53, Y:0.06, Z:-0.25 [[ 9.99990283e-01 6.83957781e-04 -4.35500123e-03 2.52924138e+00] [-6.66838365e-04 9.99992050e-01 3.93121772e-03 6.05227264e-02] [ 4.35765540e-03 -3.92827544e-03 9.99982790e-01 -2.50105914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.623133365 meters Centerline goodness [0,1] 0.2961999300332342 Centerline is valid? [False, False] Translation: X:2.53, Y:0.06, Z:-0.25 [[ 9.99991357e-01 6.20775276e-04 -4.11104595e-03 2.52882878e+00] [-6.06519625e-04 9.99993803e-01 3.46798513e-03 6.34291936e-02] [ 4.11317331e-03 -3.46546173e-03 9.99985536e-01 -2.50332674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.653133365 meters Centerline goodness [0,1] 0.2935552561818261 Centerline is valid? [False, False] Translation: X:2.53, Y:0.07, Z:-0.25 [[ 9.99991756e-01 6.14550579e-04 -4.01374820e-03 2.52902817e+00] [-6.02048613e-04 9.99994966e-01 3.11525162e-03 6.60990067e-02] [ 4.01564247e-03 -3.11280947e-03 9.99987092e-01 -2.51018130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68313336499997 meters Centerline goodness [0,1] 0.29533327501749473 Centerline is valid? [False, False] Translation: X:2.53, Y:0.07, Z:-0.25 [[ 9.99992173e-01 5.78381003e-04 -3.91395649e-03 2.52931548e+00] [-5.67572798e-04 9.99996025e-01 2.76200024e-03 6.86420137e-02] [ 3.91553842e-03 -2.75975716e-03 9.99988526e-01 -2.51850373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71313336499998 meters Centerline goodness [0,1] 0.2946414896177494 Centerline is valid? [False, False] Translation: X:2.53, Y:0.07, Z:-0.25 [[ 9.99992510e-01 4.45859942e-04 -3.84455810e-03 2.52951936e+00] [-4.36851821e-04 9.99997158e-01 2.34360509e-03 7.08597900e-02] [ 3.84559210e-03 -2.34190804e-03 9.99989863e-01 -2.52394611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74313336499998 meters Centerline goodness [0,1] 0.2936785886267128 Centerline is valid? [False, False] Translation: X:2.53, Y:0.07, Z:-0.25 [[ 9.99991616e-01 1.01002478e-04 -4.09358398e-03 2.53043743e+00] [-9.47374882e-05 9.99998824e-01 1.53060636e-03 7.43820026e-02] [ 4.09373376e-03 -1.53020571e-03 9.99990450e-01 -2.52980473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77313336499998 meters Centerline goodness [0,1] 0.2925245901639344 Centerline is valid? [False, False] Translation: X:2.53, Y:0.08, Z:-0.25 [[ 9.99990867e-01 -4.67204491e-05 -4.27351917e-03 2.53129850e+00] [ 5.14839084e-05 9.99999378e-01 1.11454239e-03 7.66910567e-02] [ 4.27346444e-03 -1.11475223e-03 9.99990247e-01 -2.53709742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80313336499998 meters Centerline goodness [0,1] 0.2926429803681786 Centerline is valid? [False, False] Translation: X:2.53, Y:0.08, Z:-0.25 [[ 9.99990304e-01 -9.95899048e-05 -4.40252967e-03 2.53210507e+00] [ 1.03121934e-04 9.99999673e-01 8.02052953e-04 7.87567341e-02] [ 4.40244836e-03 -8.02499174e-04 9.99989987e-01 -2.54552581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83313336499998 meters Centerline goodness [0,1] 0.2926673984632272 Centerline is valid? [False, False] Translation: X:2.53, Y:0.08, Z:-0.26 [[ 9.99990474e-01 -1.45827611e-04 -4.36236213e-03 2.53228466e+00] [ 1.48206055e-04 9.99999841e-01 5.44900975e-04 8.04875179e-02] [ 4.36228198e-03 -5.45542313e-04 9.99990336e-01 -2.55022577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86313336499998 meters Centerline goodness [0,1] 0.2894019387225203 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.25 [[ 9.99966238e-01 -7.31279878e-03 -3.74782397e-03 2.55136111e+00] [ 7.31773767e-03 9.99972372e-01 1.30578833e-03 8.62901145e-02] [ 3.73817146e-03 -1.33316984e-03 9.99992124e-01 -2.53838187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89313336499998 meters Centerline goodness [0,1] 0.29222847667670293 Centerline is valid? [False, False] Translation: X:2.53, Y:0.08, Z:-0.26 [[ 9.99997364e-01 -2.98911582e-04 -2.27635765e-03 2.53149076e+00] [ 2.99795003e-04 9.99999880e-01 3.87754298e-04 8.27454479e-02] [ 2.27624147e-03 -3.88435716e-04 9.99997334e-01 -2.55558760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92313336499998 meters Centerline goodness [0,1] 0.2905527006223032 Centerline is valid? [False, False] Translation: X:2.53, Y:0.08, Z:-0.26 [[ 9.99997199e-01 -3.85225533e-04 -2.33532768e-03 2.53191278e+00] [ 3.85669115e-04 9.99999908e-01 1.89496593e-04 8.38224701e-02] [ 2.33525446e-03 -1.90396726e-04 9.99997255e-01 -2.56042354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95313336499999 meters Centerline goodness [0,1] 0.29063942852164826 Centerline is valid? [False, False] Translation: X:2.53, Y:0.08, Z:-0.26 [[ 9.99996693e-01 -3.88880773e-04 -2.54211940e-03 2.53280514e+00] [ 3.89377025e-04 9.99999905e-01 1.94719987e-04 8.38854615e-02] [ 2.54204344e-03 -1.95709186e-04 9.99996750e-01 -2.56727866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.983133365 meters Centerline goodness [0,1] 0.2907413063397182 Centerline is valid? [False, False] Translation: X:2.53, Y:0.08, Z:-0.26 [[ 9.99996369e-01 -3.83031091e-04 -2.66754239e-03 2.53339157e+00] [ 3.83662494e-04 9.99999899e-01 2.36190625e-04 8.36535732e-02] [ 2.66745166e-03 -2.37213203e-04 9.99996414e-01 -2.57250819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.013133365 meters Centerline goodness [0,1] 0.292286133432594 Centerline is valid? [False, False] Translation: X:2.53, Y:0.08, Z:-0.26 [[ 9.99996194e-01 -3.98988160e-04 -2.72984953e-03 2.53368024e+00] [ 3.99516946e-04 9.99999902e-01 1.93162572e-04 8.39004618e-02] [ 2.72977219e-03 -1.94252458e-04 9.99996255e-01 -2.57466276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.043133365 meters Centerline goodness [0,1] 0.2875562347977699 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.26 [[ 9.99995030e-01 1.96243212e-03 -2.46768880e-03 2.57738107e+00] [-1.96351606e-03 9.99997977e-01 -4.36907026e-04 8.78022201e-02] [ 2.46682641e-03 4.41750201e-04 9.99996860e-01 -2.57493591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.073133365 meters Centerline goodness [0,1] 0.2890685808181268 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.26 [[ 9.99994325e-01 1.88028403e-03 -2.79547787e-03 2.57859358e+00] [-1.88263367e-03 9.99997877e-01 -8.38123013e-04 9.01494484e-02] [ 2.79389602e-03 8.43381117e-04 9.99995741e-01 -2.58193301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.103133365 meters Centerline goodness [0,1] 0.28770779981770045 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.26 [[ 9.99993267e-01 1.82014353e-03 -3.18650197e-03 2.58009870e+00] [-1.82409042e-03 9.99997572e-01 -1.23615839e-03 9.25128716e-02] [ 3.18424425e-03 1.24196253e-03 9.99994159e-01 -2.59148229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.133133365 meters Centerline goodness [0,1] 0.2865083484730513 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.26 [[ 9.99992951e-01 1.78411602e-03 -3.30368285e-03 2.58094108e+00] [-1.78932610e-03 9.99997159e-01 -1.57476733e-03 9.47161316e-02] [ 3.30086389e-03 1.58066760e-03 9.99993303e-01 -2.60051908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.163133365 meters Centerline goodness [0,1] 0.2836308883630888 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.26 [[ 9.99992726e-01 1.71071548e-03 -3.40901672e-03 2.58155257e+00] [-1.71736598e-03 9.99996626e-01 -1.94888421e-03 9.70005758e-02] [ 3.40567123e-03 1.95472457e-03 9.99992290e-01 -2.60660657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.193133365 meters Centerline goodness [0,1] 0.2870715835140998 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.26 [[ 9.99992814e-01 1.68873853e-03 -3.39398967e-03 2.58181172e+00] [-1.69640168e-03 9.99996016e-01 -2.25625020e-03 9.92520845e-02] [ 3.39016593e-03 2.26199156e-03 9.99991695e-01 -2.61109465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.223133365 meters Centerline goodness [0,1] 0.28594983945153174 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.26 [[ 9.99993548e-01 1.85884608e-03 -3.07399078e-03 2.58134133e+00] [-1.86735275e-03 9.99994429e-01 -2.76675479e-03 1.03804368e-01] [ 3.06883069e-03 2.77247716e-03 9.99991448e-01 -2.61643540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.253133365 meters Centerline goodness [0,1] 0.2893682789847185 Centerline is valid? [False, False] Translation: X:2.58, Y:0.11, Z:-0.26 [[ 9.99994214e-01 1.76005257e-03 -2.91092576e-03 2.58115704e+00] [-1.76948382e-03 9.99993184e-01 -3.24055233e-03 1.06663899e-01] [ 2.90520238e-03 3.24568442e-03 9.99990513e-01 -2.61949154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.283133365 meters Centerline goodness [0,1] 0.2864596864986576 Centerline is valid? [False, False] Translation: X:2.58, Y:0.11, Z:-0.26 [[ 9.99994891e-01 1.59286253e-03 -2.77157428e-03 2.58100578e+00] [-1.60330447e-03 9.99991611e-01 -3.76937750e-03 1.09432318e-01] [ 2.76554693e-03 3.77380192e-03 9.99989055e-01 -2.62267883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.313133365 meters Centerline goodness [0,1] 0.28610041949574017 Centerline is valid? [False, False] Translation: X:2.58, Y:0.11, Z:-0.26 [[ 9.99995690e-01 1.28517933e-03 -2.63970953e-03 2.58102124e+00] [-1.29753531e-03 9.99988186e-01 -4.68444392e-03 1.14268089e-01] [ 2.63365800e-03 4.68784885e-03 9.99985544e-01 -2.62831297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.343133365 meters Centerline goodness [0,1] 0.28656904767085134 Centerline is valid? [False, False] Translation: X:2.58, Y:0.12, Z:-0.26 [[ 9.99995756e-01 1.11470598e-03 -2.69168414e-03 2.58155710e+00] [-1.12856160e-03 9.99986094e-01 -5.15154720e-03 1.16811586e-01] [ 2.68590425e-03 5.15456307e-03 9.99983108e-01 -2.63541757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.373133365 meters Centerline goodness [0,1] 0.2905055971370589 Centerline is valid? [False, False] Translation: X:2.58, Y:0.12, Z:-0.26 [[ 9.99995629e-01 9.77139172e-04 -2.79068242e-03 2.58222011e+00] [-9.92644204e-04 9.99984050e-01 -5.56002988e-03 1.19093337e-01] [ 2.78520499e-03 5.56277573e-03 9.99980649e-01 -2.64265425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.403133365 meters Centerline goodness [0,1] 0.2864294382801664 Centerline is valid? [False, False] Translation: X:2.58, Y:0.12, Z:-0.26 [[ 9.99995557e-01 8.47058008e-04 -2.85795250e-03 2.58268905e+00] [-8.63973107e-04 9.99982088e-01 -5.92257314e-03 1.21135355e-01] [ 2.85288454e-03 5.92501603e-03 9.99978377e-01 -2.64802726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43313336499997 meters Centerline goodness [0,1] 0.28843516684443093 Centerline is valid? [False, False] Translation: X:2.58, Y:0.12, Z:-0.26 [[ 9.99995842e-01 7.60712017e-04 -2.78167593e-03 2.58260784e+00] [-7.77964196e-04 9.99980438e-01 -6.20626743e-03 1.22814931e-01] [ 2.77690034e-03 6.20840567e-03 9.99976872e-01 -2.64986428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46313336499998 meters Centerline goodness [0,1] 0.28744481416237144 Centerline is valid? [False, False] Translation: X:2.58, Y:0.13, Z:-0.26 [[ 9.99997048e-01 6.30555247e-04 -2.34666147e-03 2.58129186e+00] [-6.46168737e-04 9.99977622e-01 -6.65869060e-03 1.25505847e-01] [ 2.34241028e-03 6.66018728e-03 9.99975077e-01 -2.64522979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49313336499998 meters Centerline goodness [0,1] 0.2847229704975971 Centerline is valid? [False, False] Translation: X:2.60, Y:0.13, Z:-0.26 [[ 9.99977001e-01 -6.48622620e-03 -1.98162174e-03 2.59928699e+00] [ 6.47493562e-03 9.99963065e-01 -5.65189962e-03 1.31408648e-01] [ 2.01820804e-03 5.63893876e-03 9.99982064e-01 -2.62533483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52313336499998 meters Centerline goodness [0,1] 0.28888452902578854 Centerline is valid? [False, False] Translation: X:2.58, Y:0.13, Z:-0.26 [[ 9.99997822e-01 9.75840524e-04 -1.84486277e-03 2.57920975e+00] [-9.87930010e-04 9.99977972e-01 -6.56353956e-03 1.27311345e-01] [ 1.83841717e-03 6.56534786e-03 9.99976758e-01 -2.63834971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55313336499998 meters Centerline goodness [0,1] 0.2924825444373472 Centerline is valid? [False, False] Translation: X:2.56, Y:0.13, Z:-0.27 [[ 9.99965506e-01 -7.96971432e-03 -2.33888424e-03 2.55986010e+00] [ 7.95732778e-03 9.99954515e-01 -5.25828243e-03 1.30733107e-01] [ 2.38068486e-03 5.23948979e-03 9.99983440e-01 -2.65381983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58313336499998 meters Centerline goodness [0,1] 0.2924825444373472 Centerline is valid? [False, False] Translation: X:2.56, Y:0.13, Z:-0.27 [[ 9.99965506e-01 -7.96971432e-03 -2.33888424e-03 2.55986010e+00] [ 7.95732778e-03 9.99954515e-01 -5.25828243e-03 1.30733107e-01] [ 2.38068486e-03 5.23948979e-03 9.99983440e-01 -2.65381983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61313336499998 meters Centerline goodness [0,1] 0.2844944692412187 Centerline is valid? [False, False] Translation: X:2.60, Y:0.13, Z:-0.27 [[ 9.99970480e-01 -7.58037843e-03 -1.25600380e-03 2.60460840e+00] [ 7.57227430e-03 9.99951256e-01 -6.33610697e-03 1.34269686e-01] [ 1.30397266e-03 6.32640912e-03 9.99979138e-01 -2.66562624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64313336499998 meters Centerline goodness [0,1] 0.28733815441908805 Centerline is valid? [False, False] Translation: X:2.61, Y:0.13, Z:-0.27 [[ 9.99970255e-01 -7.57461851e-03 -1.45410579e-03 2.60521899e+00] [ 7.56527122e-03 9.99951351e-01 -6.32953798e-03 1.34494320e-01] [ 1.50197888e-03 6.31834900e-03 9.99978911e-01 -2.66836268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67313336499998 meters Centerline goodness [0,1] 0.2867199514804947 Centerline is valid? [False, False] Translation: X:2.61, Y:0.14, Z:-0.27 [[ 9.99969996e-01 -7.57899745e-03 -1.60194435e-03 2.60581626e+00] [ 7.56862744e-03 9.99950984e-01 -6.38324413e-03 1.35027873e-01] [ 1.65024442e-03 6.37092808e-03 9.99978344e-01 -2.67241611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70313336499999 meters Centerline goodness [0,1] 0.28486003986480635 Centerline is valid? [False, False] Translation: X:2.61, Y:0.14, Z:-0.27 [[ 9.99969495e-01 -7.62399346e-03 -1.69803505e-03 2.60625219e+00] [ 7.61267047e-03 9.99949389e-01 -6.57780935e-03 1.36241321e-01] [ 1.74809829e-03 6.56468211e-03 9.99976924e-01 -2.67561495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.733133365 meters Centerline goodness [0,1] 0.2888246669998479 Centerline is valid? [False, False] Translation: X:2.61, Y:0.14, Z:-0.27 [[ 9.99987943e-01 -4.43180517e-03 -2.11511631e-03 2.60712723e+00] [ 4.42438933e-03 9.99984094e-01 -3.49800957e-03 1.36794197e-01] [ 2.13058516e-03 3.48860930e-03 9.99991645e-01 -2.67558340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.763133365 meters Centerline goodness [0,1] 0.2847991689750693 Centerline is valid? [False, False] Translation: X:2.61, Y:0.14, Z:-0.27 [[ 9.99987532e-01 -4.53370324e-03 -2.09319010e-03 2.60725441e+00] [ 4.52524422e-03 9.99981647e-01 -4.02841315e-03 1.39813358e-01] [ 2.11141531e-03 4.01889073e-03 9.99989695e-01 -2.67877745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.793133365 meters Centerline goodness [0,1] 0.28670690928041 Centerline is valid? [False, False] Translation: X:2.61, Y:0.15, Z:-0.27 [[ 9.99996087e-01 -9.11140228e-04 -2.64477318e-03 2.60901743e+00] [ 9.07400255e-04 9.99998587e-01 -1.41495512e-03 1.47260889e-01] [ 2.64605866e-03 1.41254971e-03 9.99995502e-01 -2.68778867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.823133365 meters Centerline goodness [0,1] 0.285633741732625 Centerline is valid? [False, False] Translation: X:2.61, Y:0.15, Z:-0.27 [[ 9.99996084e-01 -7.41735067e-04 -2.69842261e-03 2.60940252e+00] [ 7.36551374e-04 9.99997883e-01 -1.92149562e-03 1.51802884e-01] [ 2.69984213e-03 1.91950057e-03 9.99994513e-01 -2.69282596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.853133365 meters Centerline goodness [0,1] 0.28721255944238155 Centerline is valid? [False, False] Translation: X:2.61, Y:0.16, Z:-0.27 [[ 9.99996964e-01 -7.59715604e-04 -2.34398879e-03 2.60869201e+00] [ 7.53580210e-04 9.99996291e-01 -2.61727494e-03 1.56401909e-01] [ 2.34596848e-03 2.61550061e-03 9.99993828e-01 -2.69540028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.883133365 meters Centerline goodness [0,1] 0.285556971044847 Centerline is valid? [False, False] Translation: X:2.61, Y:0.16, Z:-0.27 [[ 9.99997458e-01 -7.38780388e-04 -2.13038409e-03 2.60831044e+00] [ 7.31704378e-04 9.99994220e-01 -3.32034002e-03 1.61709625e-01] [ 2.13282478e-03 3.31877277e-03 9.99992218e-01 -2.69838745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.913133365 meters Centerline goodness [0,1] 0.28728222996515684 Centerline is valid? [False, False] Translation: X:2.61, Y:0.17, Z:-0.27 [[ 9.99997659e-01 -7.17252103e-04 -2.04128977e-03 2.60850809e+00] [ 7.09057253e-04 9.99991699e-01 -4.01244134e-03 1.67743024e-01] [ 2.04415075e-03 4.01098456e-03 9.99989867e-01 -2.70556131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.943133365 meters Centerline goodness [0,1] 0.2866552181379475 Centerline is valid? [False, False] Translation: X:2.61, Y:0.18, Z:-0.27 [[ 9.99994594e-01 2.68340511e-03 -1.90026666e-03 2.60895891e+00] [-2.68686784e-03 9.99994730e-01 -1.82203019e-03 1.78728663e-01] [ 1.89536741e-03 1.82712611e-03 9.99996535e-01 -2.71785032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.973133365 meters Centerline goodness [0,1] 0.28939145635310826 Centerline is valid? [False, False] Translation: X:2.61, Y:0.18, Z:-0.27 [[ 9.99995199e-01 2.54826492e-03 -1.76314380e-03 2.60895926e+00] [-2.55295644e-03 9.99993193e-01 -2.66376738e-03 1.84377654e-01] [ 1.75634381e-03 2.66825582e-03 9.99994898e-01 -2.72380701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.003133365 meters Centerline goodness [0,1] 0.2835233295117783 Centerline is valid? [False, False] Translation: X:2.63, Y:0.19, Z:-0.27 [[ 9.99991401e-01 -2.01733252e-03 -3.62330171e-03 2.63045379e+00] [ 2.01600660e-03 9.99997900e-01 -3.69558335e-04 1.94303273e-01] [ 3.62403962e-03 3.62250557e-04 9.99993368e-01 -2.71937991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.033133365 meters Centerline goodness [0,1] 0.2879353641227208 Centerline is valid? [False, False] Translation: X:2.63, Y:0.20, Z:-0.27 [[ 9.99990350e-01 -2.38446819e-03 -3.68964007e-03 2.63073915e+00] [ 2.37939014e-03 9.99996217e-01 -1.38007592e-03 1.99733424e-01] [ 3.69291686e-03 1.37128351e-03 9.99992241e-01 -2.72282436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.063133365 meters Centerline goodness [0,1] 0.2870253577486843 Centerline is valid? [False, False] Translation: X:2.63, Y:0.20, Z:-0.27 [[ 9.99988682e-01 -2.76456833e-03 -3.87200860e-03 2.63116259e+00] [ 2.75550943e-03 9.99993459e-01 -2.34296897e-03 2.04573824e-01] [ 3.87846057e-03 2.33227309e-03 9.99989759e-01 -2.72382800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.093133365 meters Centerline goodness [0,1] 0.286792863359443 Centerline is valid? [False, False] Translation: X:2.63, Y:0.21, Z:-0.27 [[ 0.99998596 -0.00339661 -0.00406786 2.63184932] [ 0.00338134 0.99998724 -0.00375346 0.21336633] [ 0.00408056 0.00373966 0.99998468 -0.27286128] [ 0. 0. 0. 1. ]] SLAMing on 213.123133365 meters Centerline goodness [0,1] 0.28468117354119304 Centerline is valid? [False, False] Translation: X:2.63, Y:0.22, Z:-0.27 [[ 0.99998565 -0.00362543 -0.00394289 2.63163051] [ 0.00360832 0.99998407 -0.00433944 0.21675515] [ 0.00395855 0.00432515 0.99998281 -0.2730206 ] [ 0. 0. 0. 1. ]] SLAMing on 213.153133365 meters Centerline goodness [0,1] 0.28438142656131615 Centerline is valid? [False, False] Translation: X:2.63, Y:0.22, Z:-0.27 [[ 0.99998539 -0.00386734 -0.00377801 2.63125611] [ 0.00384881 0.99998059 -0.00489959 0.21972809] [ 0.00379688 0.00488498 0.99998086 -0.27309055] [ 0. 0. 0. 1. ]] SLAMing on 213.18313336499997 meters Centerline goodness [0,1] 0.288865063562567 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.27 [[ 0.99998741 0.00345063 -0.00364388 2.61203747] [-0.0034743 0.99997279 -0.00650806 0.21781375] [ 0.00362132 0.00652064 0.99997218 -0.2746136 ] [ 0. 0. 0. 1. ]] SLAMing on 213.21313336499998 meters Centerline goodness [0,1] 0.28835586567815086 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.27 [[ 0.99998799 0.00320672 -0.00370538 2.61195973] [-0.00323249 0.99997049 -0.00696872 0.21980515] [ 0.00368293 0.00698062 0.99996885 -0.27425481] [ 0. 0. 0. 1. ]] SLAMing on 213.24313336499998 meters Centerline goodness [0,1] 0.288735320488989 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.27 [[ 0.99998969 0.00291215 -0.00348277 2.61111065] [-0.0029391 0.99996559 -0.00775771 0.22436287] [ 0.00346006 0.00776787 0.99996384 -0.27383038] [ 0. 0. 0. 1. ]] SLAMing on 213.27313336499998 meters Centerline goodness [0,1] 0.28542219515378253 Centerline is valid? [False, False] Translation: X:2.61, Y:0.23, Z:-0.27 [[ 0.99999054 0.00276988 -0.0033524 2.61075173] [-0.00279725 0.99996259 -0.00818516 0.22695288] [ 0.0033296 0.00819446 0.99996088 -0.27374613] [ 0. 0. 0. 1. ]] SLAMing on 213.30313336499998 meters Centerline goodness [0,1] 0.2884261288908373 Centerline is valid? [False, False] Translation: X:2.61, Y:0.23, Z:-0.27 [[ 9.99991325e-01 2.56364432e-03 -3.28295753e-03 2.61070753e+00] [-2.59219366e-03 9.99958605e-01 -8.72170084e-03 2.29615117e-01] [ 3.26046229e-03 8.73013524e-03 9.99956576e-01 -2.73924688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33313336499998 meters Centerline goodness [0,1] 0.2888171476259498 Centerline is valid? [False, False] Translation: X:2.61, Y:0.23, Z:-0.27 [[ 9.99991610e-01 2.38668871e-03 -3.32925840e-03 2.61100919e+00] [-2.41720712e-03 9.99954822e-01 -9.19302242e-03 2.31975291e-01] [ 3.30716711e-03 9.20099279e-03 9.99952201e-01 -2.74282302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36313336499998 meters Centerline goodness [0,1] 0.28829756920851324 Centerline is valid? [False, False] Translation: X:2.61, Y:0.24, Z:-0.28 [[ 9.99991129e-01 2.19716414e-03 -3.59358086e-03 2.61229784e+00] [-2.23270488e-03 9.99948341e-01 -9.91613443e-03 2.36474467e-01] [ 3.57160784e-03 9.92406987e-03 9.99944377e-01 -2.75318343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39313336499998 meters Centerline goodness [0,1] 0.28544353433252 Centerline is valid? [False, False] Translation: X:2.61, Y:0.24, Z:-0.28 [[ 9.99990554e-01 2.03689359e-03 -3.83956846e-03 2.61325275e+00] [-2.07670907e-03 9.99943819e-01 -1.03944764e-02 2.38951966e-01] [ 3.81818031e-03 1.04023519e-02 9.99938604e-01 -2.75936791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42313336499998 meters Centerline goodness [0,1] 0.28751943586711337 Centerline is valid? [False, False] Translation: X:2.61, Y:0.24, Z:-0.28 [[ 9.99989560e-01 1.87078775e-03 -4.16897341e-03 2.61437043e+00] [-1.91618723e-03 9.99938620e-01 -1.09125923e-02 2.41653913e-01] [ 4.14830238e-03 1.09204669e-02 9.99931765e-01 -2.76539735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45313336499999 meters Centerline goodness [0,1] 0.2859473569719382 Centerline is valid? [False, False] Translation: X:2.62, Y:0.24, Z:-0.28 [[ 9.99987919e-01 1.74241876e-03 -4.59626930e-03 2.61559538e+00] [-1.79509750e-03 9.99932467e-01 -1.14820776e-02 2.44888089e-01] [ 4.57595232e-03 1.14901896e-02 9.99923515e-01 -2.76966724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.483133365 meters Centerline goodness [0,1] 0.2840425531914894 Centerline is valid? [False, False] Translation: X:2.62, Y:0.25, Z:-0.28 [[ 9.99987462e-01 1.64399355e-03 -4.73010838e-03 2.61613276e+00] [-1.70066723e-03 9.99926521e-01 -1.20025073e-02 2.47989931e-01] [ 4.71002877e-03 1.20104012e-02 9.99916779e-01 -2.77373857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.513133365 meters Centerline goodness [0,1] 0.28636284267504797 Centerline is valid? [False, False] Translation: X:2.62, Y:0.25, Z:-0.28 [[ 9.99988480e-01 1.55281691e-03 -4.54193394e-03 2.61583800e+00] [-1.60948928e-03 9.99920568e-01 -1.25006599e-02 2.51039219e-01] [ 4.52216193e-03 1.25078261e-02 9.99911548e-01 -2.77659256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.543133365 meters Centerline goodness [0,1] 0.27962759423288286 Centerline is valid? [False, False] Translation: X:2.64, Y:0.26, Z:-0.28 [[ 0.99998792 -0.00329528 -0.00364584 2.63684772] [ 0.00326078 0.99995024 -0.0094279 0.25919184] [ 0.00367673 0.0094159 0.99994891 -0.27783025] [ 0. 0. 0. 1. ]] SLAMing on 213.573133365 meters Centerline goodness [0,1] 0.28168313620342944 Centerline is valid? [False, False] Translation: X:2.64, Y:0.26, Z:-0.28 [[ 0.99998788 -0.00343085 -0.00353175 2.63660437] [ 0.00339606 0.99994614 -0.0098078 0.26132666] [ 0.00356521 0.00979569 0.99994567 -0.27792302] [ 0. 0. 0. 1. ]] SLAMing on 213.603133365 meters Centerline goodness [0,1] 0.28310174614564987 Centerline is valid? [False, False] Translation: X:2.64, Y:0.26, Z:-0.28 [[ 9.99992288e-01 -7.27119580e-04 -3.85933130e-03 2.63775391e+00] [ 6.99698967e-04 9.99974538e-01 -7.10161748e-03 2.62392782e-01] [ 3.86439676e-03 7.09886234e-03 9.99967336e-01 -2.78442786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.633133365 meters Centerline goodness [0,1] 0.285409454133734 Centerline is valid? [False, False] Translation: X:2.64, Y:0.26, Z:-0.28 [[ 9.99991842e-01 -8.29316793e-04 -3.95330481e-03 2.63831919e+00] [ 7.99869279e-04 9.99971969e-01 -7.44460500e-03 2.64407944e-01] [ 3.95936793e-03 7.44138214e-03 9.99964474e-01 -2.78998146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.663133365 meters Centerline goodness [0,1] 0.2816794225082623 Centerline is valid? [False, False] Translation: X:2.64, Y:0.27, Z:-0.28 [[ 9.99991521e-01 -9.45550225e-04 -4.00798889e-03 2.63874664e+00] [ 9.14108309e-04 9.99968854e-01 -7.83939717e-03 2.66651496e-01] [ 4.01527660e-03 7.83566697e-03 9.99961239e-01 -2.79507565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.693133365 meters Centerline goodness [0,1] 0.2814588093287925 Centerline is valid? [False, False] Translation: X:2.66, Y:0.27, Z:-0.28 [[ 0.99995702 -0.007562 -0.00536406 2.65623765] [ 0.00752473 0.99994764 -0.006935 0.27499576] [ 0.00541622 0.00689434 0.99996157 -0.27725738] [ 0. 0. 0. 1. ]] SLAMing on 213.723133365 meters Centerline goodness [0,1] 0.2836527965768677 Centerline is valid? [False, False] Translation: X:2.63, Y:0.28, Z:-0.28 [[ 9.99983768e-01 8.91420612e-04 -5.62753315e-03 2.63385496e+00] [-9.37868399e-04 9.99965475e-01 -8.25643117e-03 2.77236540e-01] [ 5.61997891e-03 8.26157504e-03 9.99950080e-01 -2.77789124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.753133365 meters Centerline goodness [0,1] 0.2842056932966024 Centerline is valid? [False, False] Translation: X:2.63, Y:0.28, Z:-0.28 [[ 9.99984333e-01 7.29453522e-04 -5.54990301e-03 2.63375292e+00] [-7.78565065e-04 9.99960517e-01 -8.85207294e-03 2.80592590e-01] [ 5.54322671e-03 8.85625522e-03 9.99945418e-01 -2.77980084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.783133365 meters Centerline goodness [0,1] 0.2819418743877218 Centerline is valid? [False, False] Translation: X:2.63, Y:0.28, Z:-0.28 [[ 9.99984941e-01 6.04278328e-04 -5.45456940e-03 2.63366432e+00] [-6.55400112e-04 9.99955835e-01 -9.37536913e-03 2.83790267e-01] [ 5.44866317e-03 9.37880287e-03 9.99941173e-01 -2.78264478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.813133365 meters Centerline goodness [0,1] 0.27779093551512546 Centerline is valid? [False, False] Translation: X:2.65, Y:0.29, Z:-0.28 [[ 0.99997576 -0.00469387 -0.00514286 2.65478972] [ 0.00466206 0.99997004 -0.00617936 0.28943988] [ 0.00517171 0.00615523 0.99996768 -0.27809075] [ 0. 0. 0. 1. ]] SLAMing on 213.843133365 meters Centerline goodness [0,1] 0.28386378033596193 Centerline is valid? [False, False] Translation: X:2.63, Y:0.29, Z:-0.28 [[ 0.99997616 0.0036252 -0.00587626 2.63395517] [-0.00366677 0.99996822 -0.00707921 0.28714952] [ 0.00585041 0.00710059 0.99995768 -0.27861729] [ 0. 0. 0. 1. ]] SLAMing on 213.873133365 meters Centerline goodness [0,1] 0.2823877608757155 Centerline is valid? [False, False] Translation: X:2.63, Y:0.29, Z:-0.28 [[ 0.99997606 0.00347988 -0.00598078 2.63436547] [-0.00352452 0.99996589 -0.00747003 0.2891292 ] [ 0.00595458 0.00749093 0.99995421 -0.2789271 ] [ 0. 0. 0. 1. ]] SLAMing on 213.903133365 meters Centerline goodness [0,1] 0.28167817544165374 Centerline is valid? [False, False] Translation: X:2.64, Y:0.29, Z:-0.28 [[ 0.9999742 0.00316126 -0.00645039 2.63590991] [-0.0032144 0.99996084 -0.00824496 0.29272951] [ 0.00642407 0.00826548 0.99994521 -0.27972523] [ 0. 0. 0. 1. ]] SLAMing on 213.93313336499997 meters Centerline goodness [0,1] 0.2825441850316387 Centerline is valid? [False, False] Translation: X:2.64, Y:0.29, Z:-0.28 [[ 0.99997427 0.00308621 -0.00647601 2.63612193] [-0.0031415 0.99995856 -0.00854495 0.29462999] [ 0.00644937 0.00856507 0.99994252 -0.27999554] [ 0. 0. 0. 1. ]] SLAMing on 213.96313336499998 meters Centerline goodness [0,1] 0.2804819696376528 Centerline is valid? [False, False] Translation: X:2.64, Y:0.30, Z:-0.28 [[ 0.99997464 0.00306225 -0.00643039 2.63598957] [-0.00311816 0.99995728 -0.00870199 0.29596269] [ 0.00640347 0.00872182 0.99994146 -0.27999182] [ 0. 0. 0. 1. ]] SLAMing on 213.99313336499998 meters Centerline goodness [0,1] 0.28187263966662324 Centerline is valid? [False, False] Translation: X:2.64, Y:0.30, Z:-0.28 [[ 0.99997429 0.00298901 -0.00651751 2.63639328] [-0.0030472 0.99995542 -0.00893675 0.29740992] [ 0.00649051 0.00895638 0.99993883 -0.2803062 ] [ 0. 0. 0. 1. ]] SLAMing on 214.02313336499998 meters Centerline goodness [0,1] 0.2783121852100041 Centerline is valid? [False, False] Translation: X:2.64, Y:0.30, Z:-0.28 [[ 0.9999733 0.00287797 -0.00671622 2.63732352] [-0.00293981 0.99995321 -0.00921586 0.29877265] [ 0.00668938 0.00923536 0.99993498 -0.28102876] [ 0. 0. 0. 1. ]] SLAMing on 214.05313336499998 meters Centerline goodness [0,1] 0.27833938137204073 Centerline is valid? [False, False] Translation: X:2.64, Y:0.30, Z:-0.28 [[ 0.99997222 0.00269583 -0.00694853 2.63832167] [-0.00276271 0.99994978 -0.00963356 0.30058382] [ 0.00692221 0.00965249 0.99992945 -0.28176965] [ 0. 0. 0. 1. ]] SLAMing on 214.08313336499998 meters Centerline goodness [0,1] 0.27957950753527727 Centerline is valid? [False, False] Translation: X:2.62, Y:0.31, Z:-0.28 [[ 0.99996952 -0.00310005 -0.00716592 2.61708187] [ 0.00305161 0.99997249 -0.00676091 0.30776137] [ 0.00718668 0.00673884 0.99995147 -0.28257995] [ 0. 0. 0. 1. ]] SLAMing on 214.11313336499998 meters Centerline goodness [0,1] 0.2805291352355964 Centerline is valid? [False, False] Translation: X:2.61, Y:0.31, Z:-0.28 [[ 9.99978818e-01 -3.32324603e-04 -6.50029983e-03 2.61451774e+00] [ 3.04708526e-04 9.99990927e-01 -4.24896040e-03 3.10542080e-01] [ 6.50165288e-03 4.24688970e-03 9.99969846e-01 -2.81468565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14313336499998 meters Centerline goodness [0,1] 0.27966249509440544 Centerline is valid? [False, False] Translation: X:2.61, Y:0.31, Z:-0.28 [[ 9.99981153e-01 -3.28100827e-04 -6.13081479e-03 2.61334220e+00] [ 2.99032709e-04 9.99988714e-01 -4.74162925e-03 3.14122703e-01] [ 6.13230133e-03 4.73970657e-03 9.99969965e-01 -2.81078631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17313336499998 meters Centerline goodness [0,1] 0.27812236606081564 Centerline is valid? [False, False] Translation: X:2.61, Y:0.32, Z:-0.28 [[ 9.99981853e-01 -5.28984200e-04 -6.00107228e-03 2.61288436e+00] [ 4.96303534e-04 9.99985047e-01 -5.44598712e-03 3.17961372e-01] [ 6.00386339e-03 5.44290994e-03 9.99967164e-01 -2.80918777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20313336499999 meters Centerline goodness [0,1] 0.27871419561103983 Centerline is valid? [False, False] Translation: X:2.61, Y:0.32, Z:-0.28 [[ 9.99981277e-01 -8.30878382e-04 -6.06264788e-03 2.61295821e+00] [ 7.92836407e-04 9.99980001e-01 -6.27451957e-03 3.21990375e-01] [ 6.06773999e-03 6.26959541e-03 9.99961937e-01 -2.80909241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.233133365 meters Centerline goodness [0,1] 0.2782042940793754 Centerline is valid? [False, False] Translation: X:2.62, Y:0.33, Z:-0.28 [[ 9.99972034e-01 1.21110870e-03 -7.38002347e-03 2.61816188e+00] [-1.24993592e-03 9.99985391e-01 -5.25878551e-03 3.30683755e-01] [ 7.37354670e-03 5.26786300e-03 9.99958939e-01 -2.83677164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.263133365 meters Centerline goodness [0,1] 0.27773086499945865 Centerline is valid? [False, False] Translation: X:2.62, Y:0.33, Z:-0.28 [[ 9.99971675e-01 1.06579765e-03 -7.45076532e-03 2.61841696e+00] [-1.11007829e-03 9.99981733e-01 -5.94149182e-03 3.34990774e-01] [ 7.44429679e-03 5.94959446e-03 9.99954591e-01 -2.83874782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.293133365 meters Centerline goodness [0,1] 0.27727312239221136 Centerline is valid? [False, False] Translation: X:2.62, Y:0.34, Z:-0.28 [[ 9.99973984e-01 8.43558742e-04 -7.16375607e-03 2.61757494e+00] [-8.91272295e-04 9.99977426e-01 -6.65983141e-03 3.39041285e-01] [ 7.15797640e-03 6.66604301e-03 9.99952162e-01 -2.83666425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.323133365 meters Centerline goodness [0,1] 0.2800574387537531 Centerline is valid? [False, False] Translation: X:2.62, Y:0.34, Z:-0.28 [[ 9.99977432e-01 6.16575663e-04 -6.68998655e-03 2.61592030e+00] [-6.65956281e-04 9.99972534e-01 -7.38155803e-03 3.42904802e-01] [ 6.68525151e-03 7.38584668e-03 9.99950377e-01 -2.82894882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.353133365 meters Centerline goodness [0,1] 0.27830690126483415 Centerline is valid? [False, False] Translation: X:2.61, Y:0.35, Z:-0.28 [[ 9.99980421e-01 3.92131718e-04 -6.24536715e-03 2.61438302e+00] [-4.42947489e-04 9.99966794e-01 -8.13725093e-03 3.47060238e-01] [ 6.24196889e-03 8.13985798e-03 9.99947389e-01 -2.82215558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.383133365 meters Centerline goodness [0,1] 0.28125961411681977 Centerline is valid? [False, False] Translation: X:2.59, Y:0.35, Z:-0.28 [[ 0.99996853 -0.00546127 -0.00575459 2.59083407] [ 0.0054304 0.99997086 -0.0053653 0.3527636 ] [ 0.00578372 0.00533388 0.99996905 -0.28193796] [ 0. 0. 0. 1. ]] SLAMing on 214.413133365 meters Centerline goodness [0,1] 0.28198547959027 Centerline is valid? [False, False] Translation: X:2.59, Y:0.36, Z:-0.28 [[ 9.99977674e-01 -2.10981490e-03 -6.34041999e-03 2.59237936e+00] [ 2.09177510e-03 9.99993750e-01 -2.85049138e-03 3.59258730e-01] [ 6.34639437e-03 2.83716501e-03 9.99975837e-01 -2.82427486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.443133365 meters Centerline goodness [0,1] 0.27674358197324556 Centerline is valid? [False, False] Translation: X:2.60, Y:0.36, Z:-0.28 [[ 9.99972028e-01 -5.59528048e-04 -7.45856175e-03 2.59708821e+00] [ 5.47361522e-04 9.99998517e-01 -1.63315754e-03 3.62175861e-01] [ 7.45946449e-03 1.62902932e-03 9.99970851e-01 -2.84811762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.473133365 meters Centerline goodness [0,1] 0.27935771788589425 Centerline is valid? [False, False] Translation: X:2.60, Y:0.37, Z:-0.29 [[ 9.99969224e-01 -6.97560152e-04 -7.81437135e-03 2.59821464e+00] [ 6.80243448e-04 9.99997308e-01 -2.21844614e-03 3.65681249e-01] [ 7.81589782e-03 2.21306219e-03 9.99967007e-01 -2.85388584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.503133365 meters Centerline goodness [0,1] 0.27935771788589425 Centerline is valid? [False, False] Translation: X:2.60, Y:0.37, Z:-0.29 [[ 9.99969224e-01 -6.97560152e-04 -7.81437135e-03 2.59821464e+00] [ 6.80243448e-04 9.99997308e-01 -2.21844614e-03 3.65681249e-01] [ 7.81589782e-03 2.21306219e-03 9.99967007e-01 -2.85388584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.533133365 meters Centerline goodness [0,1] 0.2784598698481562 Centerline is valid? [False, False] Translation: X:2.60, Y:0.37, Z:-0.29 [[ 9.99965798e-01 -8.16310621e-04 -8.23027502e-03 2.59949777e+00] [ 7.93300535e-04 9.99995769e-01 -2.79866288e-03 3.69235198e-01] [ 8.23252477e-03 2.79203808e-03 9.99962214e-01 -2.85978519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.563133365 meters Centerline goodness [0,1] 0.280074365704287 Centerline is valid? [False, False] Translation: X:2.60, Y:0.37, Z:-0.29 [[ 9.99965453e-01 -1.01392369e-03 -8.25013961e-03 2.59956909e+00] [ 9.85972390e-04 9.99993763e-01 -3.39134102e-03 3.72377887e-01] [ 8.25352672e-03 3.38308945e-03 9.99960216e-01 -2.86120887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.593133365 meters Centerline goodness [0,1] 0.27762433942978926 Centerline is valid? [False, False] Translation: X:2.60, Y:0.38, Z:-0.29 [[ 9.99966361e-01 -1.20549073e-03 -8.11323014e-03 2.59907642e+00] [ 1.17374432e-03 9.99991641e-01 -3.91654310e-03 3.75135976e-01] [ 8.11788369e-03 3.90688849e-03 9.99959417e-01 -2.85917641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.623133365 meters Centerline goodness [0,1] 0.2804454634785457 Centerline is valid? [False, False] Translation: X:2.60, Y:0.38, Z:-0.29 [[ 9.99968344e-01 -1.35666077e-03 -7.84035636e-03 2.59801671e+00] [ 1.32254811e-03 9.99989645e-01 -4.35445515e-03 3.77504043e-01] [ 7.84618269e-03 4.34394806e-03 9.99959783e-01 -2.85296104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.653133365 meters Centerline goodness [0,1] 0.2824033584047577 Centerline is valid? [False, False] Translation: X:2.60, Y:0.38, Z:-0.29 [[ 9.99970176e-01 -1.48782918e-03 -7.57852177e-03 2.59722171e+00] [ 1.45143613e-03 9.99987401e-01 -4.80536805e-03 3.80239803e-01] [ 7.58557585e-03 4.79422499e-03 9.99959736e-01 -2.85060454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68313336499997 meters Centerline goodness [0,1] 0.28209796652554453 Centerline is valid? [False, False] Translation: X:2.60, Y:0.39, Z:-0.28 [[ 9.99972119e-01 -1.78211247e-03 -7.25151469e-03 2.59628303e+00] [ 1.73984863e-03 9.99981489e-01 -5.83041697e-03 3.87436194e-01] [ 7.26177092e-03 5.81763788e-03 9.99956710e-01 -2.84887696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71313336499998 meters Centerline goodness [0,1] 0.2761055449991363 Centerline is valid? [False, False] Translation: X:2.62, Y:0.40, Z:-0.29 [[ 0.99994884 -0.00754738 -0.00673452 2.61792187] [ 0.00752578 0.99996648 -0.00322616 0.39502393] [ 0.00675864 0.00317531 0.99997212 -0.28522489] [ 0. 0. 0. 1. ]] SLAMing on 214.74313336499998 meters Centerline goodness [0,1] 0.28258280774489486 Centerline is valid? [False, False] Translation: X:2.57, Y:0.40, Z:-0.28 [[ 0.99994095 -0.00651941 -0.00869494 2.57148936] [ 0.00649264 0.99997411 -0.00310335 0.39727401] [ 0.00871494 0.00304672 0.99995738 -0.28392431] [ 0. 0. 0. 1. ]] SLAMing on 214.77313336499998 meters Centerline goodness [0,1] 0.2782061643985233 Centerline is valid? [False, False] Translation: X:2.59, Y:0.41, Z:-0.28 [[ 9.99963493e-01 4.29632054e-03 -7.38612582e-03 2.59153918e+00] [-4.31449802e-03 9.99987699e-01 -2.44686042e-03 4.05053431e-01] [ 7.37552247e-03 2.47863851e-03 9.99969729e-01 -2.83327833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80313336499998 meters Centerline goodness [0,1] 0.276103044903097 Centerline is valid? [False, False] Translation: X:2.61, Y:0.42, Z:-0.28 [[ 9.99946756e-01 -1.15273294e-03 -1.02545359e-02 2.60832667e+00] [ 1.13844222e-03 9.99998373e-01 -1.39932786e-03 4.15666497e-01] [ 1.02561322e-02 1.38757915e-03 9.99946442e-01 -2.80582137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83313336499998 meters Centerline goodness [0,1] 0.28120623249299714 Centerline is valid? [False, False] Translation: X:2.61, Y:0.42, Z:-0.28 [[ 9.99945977e-01 -1.43032769e-03 -1.02954625e-02 2.60837257e+00] [ 1.40714357e-03 9.99996459e-01 -2.25876890e-03 4.20136952e-01] [ 1.02986568e-02 2.24415968e-03 9.99944449e-01 -2.80683802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86313336499998 meters Centerline goodness [0,1] 0.2779010573032241 Centerline is valid? [False, False] Translation: X:2.61, Y:0.42, Z:-0.28 [[ 9.99946305e-01 -1.69465135e-03 -1.02232643e-02 2.60805717e+00] [ 1.66446536e-03 9.99994233e-01 -2.96046210e-03 4.23728236e-01] [ 1.02282223e-02 2.94328687e-03 9.99943359e-01 -2.80580733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89313336499998 meters Centerline goodness [0,1] 0.28026807295099976 Centerline is valid? [False, False] Translation: X:2.61, Y:0.43, Z:-0.28 [[ 9.99947064e-01 -1.88407725e-03 -1.01153032e-02 2.60750480e+00] [ 1.84921404e-03 9.99992322e-01 -3.45482843e-03 4.26324776e-01] [ 1.01217347e-02 3.43594018e-03 9.99942871e-01 -2.80157369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92313336499998 meters Centerline goodness [0,1] 0.2764439805149618 Centerline is valid? [False, False] Translation: X:2.61, Y:0.43, Z:-0.28 [[ 9.99947036e-01 -1.97577854e-03 -1.01005891e-02 2.60725764e+00] [ 1.93840754e-03 9.99991245e-01 -3.70833507e-03 4.28047619e-01] [ 1.01078275e-02 3.68855960e-03 9.99942111e-01 -2.79825316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95313336499999 meters Centerline goodness [0,1] 0.2788776714304445 Centerline is valid? [False, False] Translation: X:2.61, Y:0.43, Z:-0.28 [[ 9.99944193e-01 -2.38709842e-03 -1.02914247e-02 2.60755541e+00] [ 2.34368826e-03 9.99988315e-01 -4.22808978e-03 4.30120903e-01] [ 1.03013973e-02 4.20373393e-03 9.99938103e-01 -2.79448862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.983133365 meters Centerline goodness [0,1] 0.2763323359784918 Centerline is valid? [False, False] Translation: X:2.61, Y:0.43, Z:-0.28 [[ 9.99941602e-01 -2.56627758e-03 -1.04979067e-02 2.60806684e+00] [ 2.51898213e-03 9.99986630e-01 -4.51597107e-03 4.31145179e-01] [ 1.05093556e-02 4.48926331e-03 9.99934698e-01 -2.79471749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.013133365 meters Centerline goodness [0,1] 0.2786060988616329 Centerline is valid? [False, False] Translation: X:2.61, Y:0.43, Z:-0.28 [[ 0.99994054 -0.00269435 -0.01056704 2.60819992] [ 0.00264339 0.99998482 -0.00483369 0.43277109] [ 0.0105799 0.00480547 0.99993248 -0.27941679] [ 0. 0. 0. 1. ]] SLAMing on 215.043133365 meters Centerline goodness [0,1] 0.2804864711157775 Centerline is valid? [False, False] Translation: X:2.61, Y:0.44, Z:-0.28 [[ 0.99994025 -0.00281248 -0.01056314 2.60824513] [ 0.00275712 0.99998241 -0.00525172 0.43518964] [ 0.01057772 0.00522228 0.99993042 -0.27953995] [ 0. 0. 0. 1. ]] SLAMing on 215.073133365 meters Centerline goodness [0,1] 0.2778438967390129 Centerline is valid? [False, False] Translation: X:2.61, Y:0.44, Z:-0.28 [[ 0.99993993 -0.00289404 -0.01057158 2.60833164] [ 0.00283397 0.99997978 -0.00569204 0.43794636] [ 0.01058784 0.00566174 0.99992792 -0.27974174] [ 0. 0. 0. 1. ]] SLAMing on 215.103133365 meters Centerline goodness [0,1] 0.2776342919153554 Centerline is valid? [False, False] Translation: X:2.61, Y:0.44, Z:-0.28 [[ 0.9999394 -0.00303205 -0.01058324 2.608262 ] [ 0.00296606 0.9999761 -0.00624582 0.44108274] [ 0.01060193 0.00621406 0.99992449 -0.27973125] [ 0. 0. 0. 1. ]] SLAMing on 215.133133365 meters Centerline goodness [0,1] 0.2762932992924988 Centerline is valid? [False, False] Translation: X:2.61, Y:0.44, Z:-0.28 [[ 9.99938554e-01 3.72816430e-05 -1.10854509e-02 2.61022522e+00] [-7.83997438e-05 9.99993119e-01 -3.70878375e-03 4.44694547e-01] [ 1.10852363e-02 3.70942496e-03 9.99931677e-01 -2.80738506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.163133365 meters Centerline goodness [0,1] 0.2789395721692154 Centerline is valid? [False, False] Translation: X:2.61, Y:0.45, Z:-0.28 [[ 9.99937042e-01 -1.11897023e-04 -1.12204649e-02 2.61059034e+00] [ 6.61694155e-05 9.99991692e-01 -4.07566392e-03 4.46340416e-01] [ 1.12208278e-02 4.07466487e-03 9.99928743e-01 -2.80899449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.193133365 meters Centerline goodness [0,1] 0.27467903765238966 Centerline is valid? [False, False] Translation: X:2.61, Y:0.45, Z:-0.28 [[ 9.99936380e-01 -2.20080952e-04 -1.12777540e-02 2.61060392e+00] [ 1.71644153e-04 9.99990759e-01 -4.29568561e-03 4.47321216e-01] [ 1.12785952e-02 4.29347655e-03 9.99927177e-01 -2.80747238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.223133365 meters Centerline goodness [0,1] 0.2783814978549184 Centerline is valid? [False, False] Translation: X:2.61, Y:0.45, Z:-0.28 [[ 9.99936335e-01 -2.47141981e-04 -1.12811757e-02 2.61032739e+00] [ 1.97979122e-04 9.99990481e-01 -4.35886400e-03 4.47843371e-01] [ 1.12821456e-02 4.35635305e-03 9.99926865e-01 -2.80276694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.253133365 meters Centerline goodness [0,1] 0.2805283414975507 Centerline is valid? [False, False] Translation: X:2.61, Y:0.45, Z:-0.28 [[ 9.99938200e-01 -2.62347801e-04 -1.11142604e-02 2.60957300e+00] [ 2.12958025e-04 9.99990099e-01 -4.44477071e-03 4.48624767e-01] [ 1.11153165e-02 4.44212916e-03 9.99928356e-01 -2.79704738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.283133365 meters Centerline goodness [0,1] 0.2772094437566517 Centerline is valid? [False, False] Translation: X:2.61, Y:0.45, Z:-0.28 [[ 9.99938819e-01 -2.75669584e-04 -1.10581077e-02 2.60908033e+00] [ 2.26357444e-04 9.99990027e-01 -4.46036892e-03 4.48870860e-01] [ 1.10592270e-02 4.45759295e-03 9.99928909e-01 -2.79098345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.313133365 meters Centerline goodness [0,1] 0.276597127445246 Centerline is valid? [False, False] Translation: X:2.61, Y:0.45, Z:-0.28 [[ 9.99937438e-01 -3.84435880e-04 -1.11791052e-02 2.60928892e+00] [ 3.34328857e-04 9.99989892e-01 -4.48372678e-03 4.48693240e-01] [ 1.11807159e-02 4.47970877e-03 9.99927459e-01 -2.78869018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.343133365 meters Centerline goodness [0,1] 0.28284651449450815 Centerline is valid? [False, False] Translation: X:2.57, Y:0.45, Z:-0.28 [[ 9.99904075e-01 -4.37492962e-04 -1.38437280e-02 2.56554322e+00] [ 3.65405532e-04 9.99986365e-01 -5.20932771e-03 4.46744536e-01] [ 1.38458183e-02 5.20376943e-03 9.99890601e-01 -2.78634783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.373133365 meters Centerline goodness [0,1] 0.2803774897799426 Centerline is valid? [False, False] Translation: X:2.59, Y:0.45, Z:-0.28 [[ 0.99986749 -0.00879453 -0.01369884 2.58530875] [ 0.0087376 0.99995296 -0.00421064 0.45199144] [ 0.01373523 0.00409038 0.9998973 -0.27767967] [ 0. 0. 0. 1. ]] SLAMing on 215.403133365 meters Centerline goodness [0,1] 0.27991611691205387 Centerline is valid? [False, False] Translation: X:2.59, Y:0.45, Z:-0.28 [[ 0.999867 -0.00876714 -0.01375237 2.5853845 ] [ 0.00871067 0.99995341 -0.00416055 0.45183276] [ 0.01378821 0.0040402 0.99989678 -0.2775879 ] [ 0. 0. 0. 1. ]] SLAMing on 215.43313336499997 meters Centerline goodness [0,1] 0.27529168194267717 Centerline is valid? [False, False] Translation: X:2.61, Y:0.45, Z:-0.28 [[ 9.99916304e-01 -7.57218965e-04 -1.29155948e-02 2.60590934e+00] [ 6.94529908e-04 9.99987961e-01 -4.85754405e-03 4.49043272e-01] [ 1.29191176e-02 4.84816722e-03 9.99904791e-01 -2.76455884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46313336499998 meters Centerline goodness [0,1] 0.2783846841542923 Centerline is valid? [False, False] Translation: X:2.61, Y:0.45, Z:-0.28 [[ 9.99916975e-01 -7.84100240e-04 -1.28618986e-02 2.60555723e+00] [ 7.21142686e-04 9.99987741e-01 -4.89879577e-03 4.49163146e-01] [ 1.28655821e-02 4.88911378e-03 9.99905282e-01 -2.76133035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49313336499998 meters Centerline goodness [0,1] 0.2763994703826702 Centerline is valid? [False, False] Translation: X:2.61, Y:0.45, Z:-0.28 [[ 9.99915907e-01 -7.22947033e-04 -1.29481830e-02 2.60574804e+00] [ 6.60358360e-04 9.99988082e-01 -4.83740365e-03 4.49125954e-01] [ 1.29515259e-02 4.82844642e-03 9.99904467e-01 -2.76122846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52313336499998 meters Centerline goodness [0,1] 0.2764852829368959 Centerline is valid? [False, False] Translation: X:2.61, Y:0.45, Z:-0.28 [[ 9.99913460e-01 -6.31814615e-04 -1.31405109e-02 2.60656462e+00] [ 5.69220864e-04 9.99988478e-01 -4.76661310e-03 4.49147103e-01] [ 1.31433711e-02 4.75872075e-03 9.99902298e-01 -2.76708596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55313336499998 meters Centerline goodness [0,1] 0.27948818725708546 Centerline is valid? [False, False] Translation: X:2.61, Y:0.45, Z:-0.28 [[ 9.99912259e-01 -6.06326737e-04 -1.32327585e-02 2.60692850e+00] [ 5.44086264e-04 9.99988776e-01 -4.70660790e-03 4.48848840e-01] [ 1.32354637e-02 4.69899518e-03 9.99901366e-01 -2.76960681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58313336499998 meters Centerline goodness [0,1] 0.2751634269881813 Centerline is valid? [False, False] Translation: X:2.61, Y:0.45, Z:-0.28 [[ 9.99912288e-01 -5.55198585e-04 -1.32328241e-02 2.60682845e+00] [ 4.94046255e-04 9.99989187e-01 -4.62408172e-03 4.48554548e-01] [ 1.32352483e-02 4.61713850e-03 9.99901750e-01 -2.76813206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61313336499998 meters Centerline goodness [0,1] 0.281322480416612 Centerline is valid? [False, False] Translation: X:2.61, Y:0.45, Z:-0.28 [[ 9.99913331e-01 -5.46843337e-04 -1.31541732e-02 2.60645462e+00] [ 4.86398666e-04 9.99989312e-01 -4.59785513e-03 4.48323527e-01] [ 1.31565469e-02 4.59105846e-03 9.99902909e-01 -2.76500144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64313336499998 meters Centerline goodness [0,1] 0.279059101035251 Centerline is valid? [False, False] Translation: X:2.61, Y:0.45, Z:-0.28 [[ 9.99912442e-01 -5.74797297e-04 -1.32203915e-02 2.60646772e+00] [ 5.12764577e-04 9.99988846e-01 -4.69511100e-03 4.48821426e-01] [ 1.32229428e-02 4.68792096e-03 9.99901584e-01 -2.76281535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67313336499998 meters Centerline goodness [0,1] 0.2797368421052632 Centerline is valid? [False, False] Translation: X:2.61, Y:0.45, Z:-0.28 [[ 9.99902229e-01 -4.31635002e-04 -1.39766298e-02 2.60852116e+00] [ 3.60345558e-04 9.99986916e-01 -5.10273421e-03 4.52044908e-01] [ 1.39786495e-02 5.09719889e-03 9.99889302e-01 -2.76963763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70313336499999 meters Centerline goodness [0,1] 0.2755132981027463 Centerline is valid? [False, False] Translation: X:2.63, Y:0.46, Z:-0.28 [[ 9.99873576e-01 -6.01943342e-03 -1.47172737e-02 2.63067866e+00] [ 5.98776046e-03 9.99979664e-01 -2.19521241e-03 4.58489900e-01] [ 1.47301883e-02 2.10681138e-03 9.99889285e-01 -2.77498687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.733133365 meters Centerline goodness [0,1] 0.27570958677325896 Centerline is valid? [False, False] Translation: X:2.63, Y:0.46, Z:-0.28 [[ 9.99874571e-01 -6.05247089e-03 -1.46359093e-02 2.63044921e+00] [ 6.01384609e-03 9.99978321e-01 -2.68161666e-03 4.61687919e-01] [ 1.46518224e-02 2.59326220e-03 9.99889293e-01 -2.77608662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.763133365 meters Centerline goodness [0,1] 0.2799473453268978 Centerline is valid? [False, False] Translation: X:2.63, Y:0.47, Z:-0.28 [[ 0.99987648 -0.00613488 -0.01447038 2.6298989 ] [ 0.00608845 0.99997618 -0.00325008 0.46512941] [ 0.01448997 0.00316158 0.99989002 -0.27754194] [ 0. 0. 0. 1. ]] SLAMing on 215.793133365 meters Centerline goodness [0,1] 0.27524412257236686 Centerline is valid? [False, False] Translation: X:2.65, Y:0.47, Z:-0.28 [[ 9.99910450e-01 2.14487220e-03 -1.32095485e-02 2.65006128e+00] [-2.20304440e-03 9.99987934e-01 -4.39082392e-03 4.67371914e-01] [ 1.31999713e-02 4.41953195e-03 9.99903110e-01 -2.76633214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.823133365 meters Centerline goodness [0,1] 0.27172550883712887 Centerline is valid? [False, False] Translation: X:2.65, Y:0.47, Z:-0.28 [[ 9.99910089e-01 1.99954579e-03 -1.32595337e-02 2.65001809e+00] [-2.06613607e-03 9.99985314e-01 -5.01027206e-03 4.70906605e-01] [ 1.32493207e-02 5.03721759e-03 9.99899536e-01 -2.76543420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.853133365 meters Centerline goodness [0,1] 0.2773682833217027 Centerline is valid? [False, False] Translation: X:2.65, Y:0.48, Z:-0.28 [[ 9.99903336e-01 1.90369035e-03 -1.37729531e-02 2.65104958e+00] [-1.98420115e-03 9.99981012e-01 -5.83427135e-03 4.77081532e-01] [ 1.37615849e-02 5.86103570e-03 9.99888127e-01 -2.76477601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.883133365 meters Centerline goodness [0,1] 0.27529125897641726 Centerline is valid? [False, False] Translation: X:2.65, Y:0.48, Z:-0.28 [[ 9.99903541e-01 1.77737597e-03 -1.37749853e-02 2.65084406e+00] [-1.86290222e-03 9.99979054e-01 -6.19846642e-03 4.79130616e-01] [ 1.37636797e-02 6.22352997e-03 9.99885908e-01 -2.76196910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.913133365 meters Centerline goodness [0,1] 0.27267615381288113 Centerline is valid? [False, False] Translation: X:2.65, Y:0.48, Z:-0.28 [[ 9.99902861e-01 1.67259343e-03 -1.38372782e-02 2.65085779e+00] [-1.76180311e-03 9.99977728e-01 -6.43737796e-03 4.80352217e-01] [ 1.38262029e-02 6.46113121e-03 9.99883538e-01 -2.75998020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.943133365 meters Centerline goodness [0,1] 0.2729019997408543 Centerline is valid? [False, False] Translation: X:2.65, Y:0.48, Z:-0.28 [[ 9.99901683e-01 1.59969080e-03 -1.39307427e-02 2.65114515e+00] [-1.69166305e-03 9.99976836e-01 -6.59282759e-03 4.81234727e-01] [ 1.39198735e-02 6.61574553e-03 9.99881227e-01 -2.76092200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.973133365 meters Centerline goodness [0,1] 0.27294920820100677 Centerline is valid? [False, False] Translation: X:2.65, Y:0.48, Z:-0.28 [[ 9.99899853e-01 1.56519039e-03 -1.40653548e-02 2.65148079e+00] [-1.65911822e-03 9.99976387e-01 -6.66877100e-03 4.81904025e-01] [ 1.40545847e-02 6.69143923e-03 9.99878839e-01 -2.76058946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.003133365 meters Centerline goodness [0,1] 0.27515069745174414 Centerline is valid? [False, False] Translation: X:2.65, Y:0.48, Z:-0.28 [[ 9.99898544e-01 1.56332443e-03 -1.41583263e-02 2.65185969e+00] [-1.65712424e-03 9.99976743e-01 -6.61575674e-03 4.81774728e-01] [ 1.41476544e-02 6.63854763e-03 9.99877879e-01 -2.76223607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.033133365 meters Centerline goodness [0,1] 0.2795880725484169 Centerline is valid? [False, False] Translation: X:2.65, Y:0.48, Z:-0.28 [[ 9.99896381e-01 1.04603852e-03 -1.43573272e-02 2.65245110e+00] [-1.14310903e-03 9.99976535e-01 -6.75450290e-03 4.80481025e-01] [ 1.43499248e-02 6.77021500e-03 9.99874114e-01 -2.76229701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.063133365 meters Centerline goodness [0,1] 0.27649189787197115 Centerline is valid? [False, False] Translation: X:2.67, Y:0.48, Z:-0.28 [[ 0.99987148 -0.00793925 -0.01392824 2.6729211 ] [ 0.00785484 0.99995051 -0.00610493 0.48409238] [ 0.01397602 0.00599474 0.99988436 -0.27544991] [ 0. 0. 0. 1. ]] SLAMing on 216.093133365 meters Centerline goodness [0,1] 0.28000351625167574 Centerline is valid? [False, False] Translation: X:2.65, Y:0.48, Z:-0.28 [[ 9.99900427e-01 3.57360130e-04 -1.41070377e-02 2.65313986e+00] [-4.57514992e-04 9.99974711e-01 -7.09704940e-03 4.76839118e-01] [ 1.41041447e-02 7.10279690e-03 9.99875304e-01 -2.76171522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.123133365 meters Centerline goodness [0,1] 0.2807880686581653 Centerline is valid? [False, False] Translation: X:2.65, Y:0.48, Z:-0.28 [[ 9.99901357e-01 4.02866210e-04 -1.40397531e-02 2.65287226e+00] [-4.99798528e-04 9.99976061e-01 -6.90130801e-03 4.75796570e-01] [ 1.40366367e-02 6.90764429e-03 9.99877621e-01 -2.75920137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.153133365 meters Centerline goodness [0,1] 0.277259177056814 Centerline is valid? [False, False] Translation: X:2.67, Y:0.48, Z:-0.27 [[ 0.99988569 -0.00780535 -0.01294929 2.6718305 ] [ 0.00773364 0.99995454 -0.00557835 0.48063282] [ 0.01299224 0.00547757 0.99990059 -0.27497031] [ 0. 0. 0. 1. ]] SLAMing on 216.18313336499997 meters Centerline goodness [0,1] 0.27495462794918335 Centerline is valid? [False, False] Translation: X:2.67, Y:0.48, Z:-0.27 [[ 9.99911854e-01 -4.46383316e-03 -1.25043220e-02 2.67071799e+00] [ 4.43707543e-03 9.99987809e-01 -2.16680438e-03 4.80213994e-01] [ 1.25138418e-02 2.11113076e-03 9.99919470e-01 -2.74825001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21313336499998 meters Centerline goodness [0,1] 0.27553978624897235 Centerline is valid? [False, False] Translation: X:2.67, Y:0.48, Z:-0.27 [[ 9.99911747e-01 -4.51568271e-03 -1.24942905e-02 2.67063989e+00] [ 4.48565815e-03 9.99986987e-01 -2.43004399e-03 4.81745245e-01] [ 1.25051013e-02 2.37378442e-03 9.99918991e-01 -2.74835206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24313336499998 meters Centerline goodness [0,1] 0.2768928649356317 Centerline is valid? [False, False] Translation: X:2.67, Y:0.48, Z:-0.27 [[ 9.99910487e-01 -4.56465619e-03 -1.25770552e-02 2.67070880e+00] [ 4.53103169e-03 9.99986088e-01 -2.70067853e-03 4.83375208e-01] [ 1.25892079e-02 2.64344974e-03 9.99917259e-01 -2.74753057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27313336499998 meters Centerline goodness [0,1] 0.27809099252655045 Centerline is valid? [False, False] Translation: X:2.67, Y:0.49, Z:-0.27 [[ 0.99990907 -0.00462281 -0.01266786 2.67096352] [ 0.00458504 0.99998496 -0.00300893 0.48517367] [ 0.01268158 0.00295057 0.99991523 -0.27490648] [ 0. 0. 0. 1. ]] SLAMing on 216.30313336499998 meters Centerline goodness [0,1] 0.27503691479197434 Centerline is valid? [False, False] Translation: X:2.67, Y:0.49, Z:-0.27 [[ 0.99990867 -0.0046273 -0.01269794 2.67092512] [ 0.00458623 0.99998416 -0.00326172 0.48700055] [ 0.01271283 0.00320318 0.99991406 -0.27484466] [ 0. 0. 0. 1. ]] SLAMing on 216.33313336499998 meters Centerline goodness [0,1] 0.27574642304928243 Centerline is valid? [False, False] Translation: X:2.67, Y:0.49, Z:-0.27 [[ 0.99991022 -0.00464148 -0.01257037 2.67026063] [ 0.00459825 0.99998342 -0.00346597 0.4884821 ] [ 0.01258625 0.00340786 0.99991498 -0.27437613] [ 0. 0. 0. 1. ]] SLAMing on 216.36313336499998 meters Centerline goodness [0,1] 0.2759417006165443 Centerline is valid? [False, False] Translation: X:2.67, Y:0.49, Z:-0.27 [[ 0.99990866 -0.00481943 -0.01262752 2.66992212] [ 0.00476967 0.99998075 -0.00396782 0.49091273] [ 0.0126464 0.00390723 0.9999124 -0.27368525] [ 0. 0. 0. 1. ]] SLAMing on 216.39313336499998 meters Centerline goodness [0,1] 0.2759417006165443 Centerline is valid? [False, False] Translation: X:2.67, Y:0.49, Z:-0.27 [[ 0.99990866 -0.00481943 -0.01262752 2.66992212] [ 0.00476967 0.99998075 -0.00396782 0.49091273] [ 0.0126464 0.00390723 0.9999124 -0.27368525] [ 0. 0. 0. 1. ]] SLAMing on 216.42313336499998 meters Centerline goodness [0,1] 0.27304856895056373 Centerline is valid? [False, False] Translation: X:2.67, Y:0.49, Z:-0.27 [[ 0.99990525 -0.00490679 -0.01286136 2.67060286] [ 0.00485279 0.99997929 -0.0042266 0.49212473] [ 0.01288183 0.00416379 0.99990836 -0.27395182] [ 0. 0. 0. 1. ]] SLAMing on 216.45313336499999 meters Centerline goodness [0,1] 0.2751043966855419 Centerline is valid? [False, False] Translation: X:2.67, Y:0.49, Z:-0.27 [[ 0.99990275 -0.00499063 -0.0130222 2.67103445] [ 0.00493195 0.99997756 -0.00453453 0.49384243] [ 0.01304453 0.00446987 0.99990493 -0.27411746] [ 0. 0. 0. 1. ]] SLAMing on 216.483133365 meters Centerline goodness [0,1] 0.27530426073893444 Centerline is valid? [False, False] Translation: X:2.67, Y:0.50, Z:-0.27 [[ 0.99990081 -0.00508569 -0.01313416 2.67131852] [ 0.00502079 0.99997504 -0.00497009 0.49648328] [ 0.01315911 0.00490366 0.99990139 -0.27426064] [ 0. 0. 0. 1. ]] SLAMing on 216.513133365 meters Centerline goodness [0,1] 0.27520394363739475 Centerline is valid? [False, False] Translation: X:2.67, Y:0.50, Z:-0.27 [[ 0.99989996 -0.00519243 -0.01315689 2.67131897] [ 0.00512039 0.99997175 -0.00550326 0.49965982] [ 0.01318509 0.00543534 0.9998983 -0.27429401] [ 0. 0. 0. 1. ]] SLAMing on 216.543133365 meters Centerline goodness [0,1] 0.2714903742158772 Centerline is valid? [False, False] Translation: X:2.67, Y:0.50, Z:-0.27 [[ 0.99989785 -0.00535593 -0.01325151 2.67141867] [ 0.00527503 0.99996728 -0.00613219 0.50307793] [ 0.01328392 0.00606166 0.99989339 -0.27428289] [ 0. 0. 0. 1. ]] SLAMing on 216.573133365 meters Centerline goodness [0,1] 0.27446608520777316 Centerline is valid? [False, False] Translation: X:2.65, Y:0.51, Z:-0.27 [[ 0.99988604 0.00406462 -0.01453897 2.65105546] [-0.00416953 0.99996544 -0.00719279 0.50524004] [ 0.01450923 0.00725259 0.99986843 -0.27447514] [ 0. 0. 0. 1. ]] SLAMing on 216.603133365 meters Centerline goodness [0,1] 0.27222812995073675 Centerline is valid? [False, False] Translation: X:2.67, Y:0.51, Z:-0.27 [[ 9.99889977e-01 -2.17445061e-03 -1.46732685e-02 2.67136438e+00] [ 2.11217469e-03 9.99988703e-01 -4.25833839e-03 5.12407814e-01] [ 1.46823623e-02 4.22687737e-03 9.99883274e-01 -2.73744574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.633133365 meters Centerline goodness [0,1] 0.27280447705942557 Centerline is valid? [False, False] Translation: X:2.67, Y:0.51, Z:-0.27 [[ 9.99890742e-01 -2.29483403e-03 -1.46026635e-02 2.67082900e+00] [ 2.22661134e-03 9.99986539e-01 -4.68647852e-03 5.14976364e-01] [ 1.46132216e-02 4.65345203e-03 9.99882393e-01 -2.73250679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.663133365 meters Centerline goodness [0,1] 0.27300566861412157 Centerline is valid? [False, False] Translation: X:2.67, Y:0.52, Z:-0.27 [[ 9.99891868e-01 -2.40451615e-03 -1.45075880e-02 2.67037027e+00] [ 2.33115033e-03 9.99984421e-01 -5.07185808e-03 5.17227294e-01] [ 1.45195573e-02 5.03749028e-03 9.99881896e-01 -2.72933036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.693133365 meters Centerline goodness [0,1] 0.27531715025679293 Centerline is valid? [False, False] Translation: X:2.65, Y:0.51, Z:-0.27 [[ 0.9998739 0.00618049 -0.01462814 2.65086322] [-0.00627538 0.99995951 -0.0064499 0.51365775] [ 0.01458769 0.00654089 0.9998722 -0.27388643] [ 0. 0. 0. 1. ]] SLAMing on 216.723133365 meters Centerline goodness [0,1] 0.27091780316992264 Centerline is valid? [False, False] Translation: X:2.67, Y:0.52, Z:-0.27 [[ 9.99879257e-01 -2.11440511e-03 -1.53948163e-02 2.67023182e+00] [ 2.02426087e-03 9.99980730e-01 -5.86872235e-03 5.23214448e-01] [ 1.54069285e-02 5.83685061e-03 9.99864270e-01 -2.72065470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.753133365 meters Centerline goodness [0,1] 0.2740842430977751 Centerline is valid? [False, False] Translation: X:2.67, Y:0.52, Z:-0.27 [[ 9.99874299e-01 -2.16597595e-03 -1.57064881e-02 2.67086232e+00] [ 2.07091165e-03 9.99979456e-01 -6.06629017e-03 5.24497684e-01] [ 1.57193049e-02 6.03300088e-03 9.99858243e-01 -2.71919173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.783133365 meters Centerline goodness [0,1] 0.27329206086236213 Centerline is valid? [False, False] Translation: X:2.67, Y:0.53, Z:-0.27 [[ 9.99871663e-01 -2.16852689e-03 -1.58730930e-02 2.67128392e+00] [ 2.07139086e-03 9.99979045e-01 -6.13342487e-03 5.25159081e-01] [ 1.58860609e-02 6.09975834e-03 9.99855203e-01 -2.71938316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.813133365 meters Centerline goodness [0,1] 0.27335858585858586 Centerline is valid? [False, False] Translation: X:2.67, Y:0.53, Z:-0.27 [[ 9.99871432e-01 -2.22069993e-03 -1.58804421e-02 2.67119881e+00] [ 2.12253970e-03 9.99978556e-01 -6.19538761e-03 5.25244341e-01] [ 1.58938597e-02 6.16088421e-03 9.99854704e-01 -2.71744217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.843133365 meters Centerline goodness [0,1] 0.2745110906943169 Centerline is valid? [False, False] Translation: X:2.67, Y:0.52, Z:-0.27 [[ 9.99874539e-01 -2.27414959e-03 -1.56759136e-02 2.67045241e+00] [ 2.17840869e-03 9.99978888e-01 -6.12188815e-03 5.24388276e-01] [ 1.56895047e-02 6.08697155e-03 9.99858384e-01 -2.71280268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.873133365 meters Centerline goodness [0,1] 0.2740904031254774 Centerline is valid? [False, False] Translation: X:2.67, Y:0.52, Z:-0.27 [[ 9.99879771e-01 -2.27935342e-03 -1.53377725e-02 2.66935709e+00] [ 2.18943448e-03 9.99980334e-01 -5.87682139e-03 5.22899858e-01] [ 1.53508662e-02 5.84253378e-03 9.99865099e-01 -2.70705335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.903133365 meters Centerline goodness [0,1] 0.27280806329251106 Centerline is valid? [False, False] Translation: X:2.67, Y:0.52, Z:-0.27 [[ 9.99891210e-01 -2.35676795e-03 -1.45606902e-02 2.66719726e+00] [ 2.28105060e-03 9.99983803e-01 -5.21454166e-03 5.18702664e-01] [ 1.45727438e-02 5.18076069e-03 9.99880390e-01 -2.69942917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93313336499997 meters Centerline goodness [0,1] 0.2696549193948681 Centerline is valid? [False, False] Translation: X:2.67, Y:0.52, Z:-0.27 [[ 9.99889999e-01 -2.23338518e-03 -1.46629381e-02 2.66766795e+00] [ 2.16488918e-03 9.99986679e-01 -4.68558125e-03 5.15748520e-01] [ 1.46732075e-02 4.65332220e-03 9.99881515e-01 -2.70161508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96313336499998 meters Centerline goodness [0,1] 0.27776677013847606 Centerline is valid? [False, False] Translation: X:2.62, Y:0.51, Z:-0.27 [[ 9.99848045e-01 -2.55442645e-03 -1.72441694e-02 2.62341552e+00] [ 2.45435732e-03 9.99980042e-01 -5.82174118e-03 5.10266627e-01] [ 1.72586965e-02 5.77853318e-03 9.99834359e-01 -2.69683050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99313336499998 meters Centerline goodness [0,1] 0.27510783843841224 Centerline is valid? [False, False] Translation: X:2.62, Y:0.51, Z:-0.27 [[ 9.99845001e-01 -2.46615858e-03 -1.74324951e-02 2.62402751e+00] [ 2.37222743e-03 9.99982569e-01 -5.40690547e-03 5.07635643e-01] [ 1.74455255e-02 5.36471356e-03 9.99833423e-01 -2.69880439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02313336499998 meters Centerline goodness [0,1] 0.2753345246916271 Centerline is valid? [False, False] Translation: X:2.62, Y:0.51, Z:-0.27 [[ 9.99843399e-01 -2.33129206e-03 -1.75426030e-02 2.62432660e+00] [ 2.24307701e-03 9.99984750e-01 -5.04661526e-03 5.05688556e-01] [ 1.75541006e-02 5.00647554e-03 9.99833380e-01 -2.69939163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05313336499998 meters Centerline goodness [0,1] 0.2768231395527465 Centerline is valid? [False, False] Translation: X:2.62, Y:0.50, Z:-0.27 [[ 9.99843309e-01 -2.17989541e-03 -1.75671941e-02 2.62422978e+00] [ 2.09672890e-03 9.99986515e-01 -4.75122299e-03 5.04366457e-01] [ 1.75773144e-02 4.71364487e-03 9.99834396e-01 -2.69706240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08313336499998 meters Centerline goodness [0,1] 0.27159425307252905 Centerline is valid? [False, False] Translation: X:2.65, Y:0.50, Z:-0.27 [[ 0.99983853 0.00605096 -0.01692026 2.64531947] [-0.00613818 0.99996812 -0.00510756 0.50114002] [ 0.01688882 0.00521059 0.9998438 -0.26881668] [ 0. 0. 0. 1. ]] SLAMing on 217.11313336499998 meters Centerline goodness [0,1] 0.2722882695597566 Centerline is valid? [False, False] Translation: X:2.64, Y:0.50, Z:-0.27 [[ 0.99984362 0.00649468 -0.0164484 2.64419496] [-0.00657555 0.99996653 -0.00486761 0.50092439] [ 0.01641623 0.00497501 0.99985287 -0.2689232 ] [ 0. 0. 0. 1. ]] SLAMing on 217.14313336499998 meters Centerline goodness [0,1] 0.27505954852385217 Centerline is valid? [False, False] Translation: X:2.64, Y:0.50, Z:-0.27 [[ 0.99984546 0.00655749 -0.0163111 2.64390166] [-0.00663969 0.9999655 -0.00499071 0.50174424] [ 0.01627781 0.00509824 0.99985451 -0.26911072] [ 0. 0. 0. 1. ]] SLAMing on 217.17313336499998 meters Centerline goodness [0,1] 0.2717757904127771 Centerline is valid? [False, False] Translation: X:2.64, Y:0.50, Z:-0.27 [[ 0.9998399 0.0068135 -0.01654529 2.6445418 ] [-0.00689816 0.99996338 -0.00506529 0.50321369] [ 0.01651017 0.00517861 0.99985029 -0.26946062] [ 0. 0. 0. 1. ]] SLAMing on 217.20313336499999 meters Centerline goodness [0,1] 0.26867477689664854 Centerline is valid? [False, False] Translation: X:2.66, Y:0.51, Z:-0.27 [[ 9.99848411e-01 1.14822504e-03 -1.73734242e-02 2.66411941e+00] [-1.18158931e-03 9.99997477e-01 -1.91027654e-03 5.08877034e-01] [ 1.73711869e-02 1.93051522e-03 9.99847246e-01 -2.68564640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.233133365 meters Centerline goodness [0,1] 0.2699627189179816 Centerline is valid? [False, False] Translation: X:2.66, Y:0.51, Z:-0.27 [[ 9.99847809e-01 1.18686286e-03 -1.74054663e-02 2.66433038e+00] [-1.22261582e-03 9.99997164e-01 -2.04362572e-03 5.09918315e-01] [ 1.74029914e-02 2.06459490e-03 9.99846425e-01 -2.68893667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.263133365 meters Centerline goodness [0,1] 0.2706271344978356 Centerline is valid? [False, False] Translation: X:2.66, Y:0.51, Z:-0.27 [[ 9.99847945e-01 1.18663136e-03 -1.73976784e-02 2.66432209e+00] [-1.22283868e-03 9.99997108e-01 -2.07066784e-03 5.09984711e-01] [ 1.73951710e-02 2.09162754e-03 9.99846505e-01 -2.68989988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.293133365 meters Centerline goodness [0,1] 0.2686592913674495 Centerline is valid? [False, False] Translation: X:2.68, Y:0.51, Z:-0.27 [[ 9.99837456e-01 -7.60317220e-03 -1.63479113e-02 2.68339844e+00] [ 7.58848031e-03 9.99970746e-01 -9.60546905e-04 5.12990020e-01] [ 1.63547363e-02 8.36334970e-04 9.99865903e-01 -2.67773917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.323133365 meters Centerline goodness [0,1] 0.27331203780685254 Centerline is valid? [False, False] Translation: X:2.66, Y:0.51, Z:-0.27 [[ 9.99873282e-01 -5.50367777e-04 -1.59096493e-02 2.66201101e+00] [ 5.04397304e-04 9.99995687e-01 -2.89333944e-03 5.05095549e-01] [ 1.59111731e-02 2.88494802e-03 9.99869247e-01 -2.68035880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.353133365 meters Centerline goodness [0,1] 0.2733007069059271 Centerline is valid? [False, False] Translation: X:2.66, Y:0.50, Z:-0.27 [[ 9.99869619e-01 -6.19242759e-04 -1.61357385e-02 2.66268800e+00] [ 5.78795584e-04 9.99996679e-01 -2.51123203e-03 5.02384428e-01] [ 1.61372400e-02 2.50156532e-03 9.99866657e-01 -2.68090251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.383133365 meters Centerline goodness [0,1] 0.27578818487909396 Centerline is valid? [False, False] Translation: X:2.66, Y:0.50, Z:-0.27 [[ 0.99985965 -0.00418952 -0.01622141 2.66287189] [ 0.00410668 0.99997837 -0.00513695 0.49655736] [ 0.01624259 0.00506961 0.99985523 -0.26782636] [ 0. 0. 0. 1. ]] SLAMing on 217.413133365 meters Centerline goodness [0,1] 0.27575625680087046 Centerline is valid? [False, False] Translation: X:2.66, Y:0.49, Z:-0.27 [[ 0.99986522 -0.00428022 -0.01584971 2.66184732] [ 0.0042085 0.99998077 -0.00455547 0.49264498] [ 0.01586891 0.00448815 0.99986401 -0.2673638 ] [ 0. 0. 0. 1. ]] SLAMing on 217.443133365 meters Centerline goodness [0,1] 0.2751616683303676 Centerline is valid? [False, False] Translation: X:2.66, Y:0.49, Z:-0.27 [[ 0.99986872 -0.00428357 -0.01562687 2.66134216] [ 0.004223 0.99998345 -0.00390742 0.48859366] [ 0.01564335 0.00384092 0.99987026 -0.26716036] [ 0. 0. 0. 1. ]] SLAMing on 217.473133365 meters Centerline goodness [0,1] 0.27929296264500647 Centerline is valid? [False, False] Translation: X:2.64, Y:0.48, Z:-0.27 [[ 9.99879128e-01 2.10198426e-03 -1.54049041e-02 2.63882781e+00] [-2.20098486e-03 9.99977018e-01 -6.41243031e-03 4.80433846e-01] [ 1.53910713e-02 6.44556118e-03 9.99860775e-01 -2.67023688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.503133365 meters Centerline goodness [0,1] 0.27552889858233365 Centerline is valid? [False, False] Translation: X:2.66, Y:0.48, Z:-0.27 [[ 0.99986102 -0.00676082 -0.01523902 2.65993206] [ 0.00668031 0.99996349 -0.00532821 0.4810359 ] [ 0.01527448 0.00522566 0.99986968 -0.26673124] [ 0. 0. 0. 1. ]] SLAMing on 217.533133365 meters Centerline goodness [0,1] 0.2753828084217853 Centerline is valid? [False, False] Translation: X:2.66, Y:0.48, Z:-0.27 [[ 0.9998586 -0.00644502 -0.01553192 2.66132246] [ 0.00637819 0.9999702 -0.00434894 0.47552192] [ 0.01555948 0.00424926 0.99986991 -0.26765391] [ 0. 0. 0. 1. ]] SLAMing on 217.563133365 meters Centerline goodness [0,1] 0.27588235294117647 Centerline is valid? [False, False] Translation: X:2.66, Y:0.47, Z:-0.27 [[ 0.99985703 -0.00626404 -0.01570582 2.66192855] [ 0.00620303 0.99997304 -0.00393025 0.47345081] [ 0.01573001 0.00383226 0.99986893 -0.26790683] [ 0. 0. 0. 1. ]] SLAMing on 217.593133365 meters Centerline goodness [0,1] 0.2739131378464611 Centerline is valid? [False, False] Translation: X:2.66, Y:0.47, Z:-0.27 [[ 0.99985662 -0.00612604 -0.01578638 2.66215269] [ 0.00606977 0.99997506 -0.00361015 0.47170633] [ 0.01580811 0.00351381 0.99986887 -0.26794312] [ 0. 0. 0. 1. ]] SLAMing on 217.623133365 meters Centerline goodness [0,1] 0.2754735075521457 Centerline is valid? [False, False] Translation: X:2.66, Y:0.47, Z:-0.27 [[ 0.99985514 -0.00600861 -0.0159249 2.66264155] [ 0.00595626 0.99997671 -0.00333294 0.47011318] [ 0.01594456 0.0032376 0.99986764 -0.2682209 ] [ 0. 0. 0. 1. ]] SLAMing on 217.653133365 meters Centerline goodness [0,1] 0.2754676620173313 Centerline is valid? [False, False] Translation: X:2.66, Y:0.47, Z:-0.27 [[ 0.99985466 -0.00588785 -0.01599952 2.66284468] [ 0.00583865 0.99997809 -0.00311976 0.4690099 ] [ 0.01601754 0.00302589 0.99986713 -0.26834651] [ 0. 0. 0. 1. ]] SLAMing on 217.68313336499997 meters Centerline goodness [0,1] 0.2727489435475132 Centerline is valid? [False, False] Translation: X:2.66, Y:0.47, Z:-0.27 [[ 0.99985342 -0.00566307 -0.01615763 2.6632961 ] [ 0.00561851 0.99998029 -0.00280234 0.46788602] [ 0.01617318 0.00271115 0.99986553 -0.26849576] [ 0. 0. 0. 1. ]] SLAMing on 217.71313336499998 meters Centerline goodness [0,1] 0.2730446473101026 Centerline is valid? [False, False] Translation: X:2.66, Y:0.47, Z:-0.27 [[ 9.99858977e-01 -5.39892514e-03 -1.59021405e-02 2.66256982e+00] [ 5.36030217e-03 9.99982582e-01 -2.47041343e-03 4.66816795e-01] [ 1.59152011e-02 2.38482476e-03 9.99870501e-01 -2.68352992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74313336499998 meters Centerline goodness [0,1] 0.2758339755587361 Centerline is valid? [False, False] Translation: X:2.64, Y:0.46, Z:-0.27 [[ 9.99883832e-01 1.76729260e-03 -1.51393575e-02 2.63906731e+00] [-1.83793758e-03 9.99987483e-01 -4.65367108e-03 4.61639890e-01] [ 1.51309436e-02 4.68095566e-03 9.99874564e-01 -2.67756814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77313336499998 meters Centerline goodness [0,1] 0.2754644737414611 Centerline is valid? [False, False] Translation: X:2.66, Y:0.47, Z:-0.27 [[ 0.9998881 -0.00658123 -0.01343443 2.65766998] [ 0.00653295 0.99997206 -0.00363427 0.46565646] [ 0.01345797 0.0035461 0.99990315 -0.26685908] [ 0. 0. 0. 1. ]] SLAMing on 217.80313336499998 meters Centerline goodness [0,1] 0.27392380869640764 Centerline is valid? [False, False] Translation: X:2.66, Y:0.47, Z:-0.27 [[ 0.99988939 -0.00656709 -0.01334478 2.65740767] [ 0.00651908 0.99997213 -0.00363822 0.46569186] [ 0.0133683 0.00355082 0.99990434 -0.2668467 ] [ 0. 0. 0. 1. ]] SLAMing on 217.83313336499998 meters Centerline goodness [0,1] 0.2753563268414754 Centerline is valid? [False, False] Translation: X:2.66, Y:0.47, Z:-0.27 [[ 0.99988801 -0.00648243 -0.01348908 2.65806994] [ 0.00643493 0.99997295 -0.00356158 0.46568384] [ 0.0135118 0.00347438 0.99990268 -0.26735777] [ 0. 0. 0. 1. ]] SLAMing on 217.86313336499998 meters Centerline goodness [0,1] 0.2701838529176659 Centerline is valid? [False, False] Translation: X:2.66, Y:0.47, Z:-0.27 [[ 0.99988458 -0.00636645 -0.01379475 2.65925195] [ 0.00631881 0.99997393 -0.00349387 0.46589151] [ 0.01381663 0.0034063 0.99989874 -0.26814774] [ 0. 0. 0. 1. ]] SLAMing on 217.89313336499998 meters Centerline goodness [0,1] 0.27331707741879296 Centerline is valid? [False, False] Translation: X:2.66, Y:0.47, Z:-0.27 [[ 0.99987471 -0.00614804 -0.01458631 2.66182408] [ 0.0061002 0.99997588 -0.00332216 0.46586849] [ 0.01460638 0.00323277 0.9998881 -0.26933034] [ 0. 0. 0. 1. ]] SLAMing on 217.92313336499998 meters Centerline goodness [0,1] 0.2735003697420505 Centerline is valid? [False, False] Translation: X:2.66, Y:0.46, Z:-0.27 [[ 0.99987115 -0.0060287 -0.01487764 2.66257803] [ 0.00598371 0.99997739 -0.00306696 0.46480029] [ 0.01489579 0.00297754 0.99988462 -0.26937731] [ 0. 0. 0. 1. ]] SLAMing on 217.95313336499999 meters Centerline goodness [0,1] 0.2729019719171052 Centerline is valid? [False, False] Translation: X:2.66, Y:0.46, Z:-0.27 [[ 0.99987034 -0.00596729 -0.01495645 2.66272335] [ 0.00592556 0.99997843 -0.00283311 0.46348847] [ 0.01497303 0.00274412 0.99988413 -0.26922694] [ 0. 0. 0. 1. ]] SLAMing on 217.983133365 meters Centerline goodness [0,1] 0.27228279681550704 Centerline is valid? [False, False] Translation: X:2.68, Y:0.46, Z:-0.27 [[ 9.99901864e-01 1.46956964e-03 -1.39320497e-02 2.68132690e+00] [-1.52258463e-03 9.99991638e-01 -3.79541095e-03 4.59091200e-01] [ 1.39263556e-02 3.81625121e-03 9.99895741e-01 -2.67782077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.013133365 meters Centerline goodness [0,1] 0.2735356785667695 Centerline is valid? [False, False] Translation: X:2.68, Y:0.46, Z:-0.27 [[ 9.99905649e-01 1.47384503e-03 -1.36572441e-02 2.68053021e+00] [-1.52175509e-03 9.99992723e-01 -3.49830510e-03 4.57207291e-01] [ 1.36519888e-02 3.51875801e-03 9.99900616e-01 -2.67460357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.043133365 meters Centerline goodness [0,1] 0.27548678948403593 Centerline is valid? [False, False] Translation: X:2.68, Y:0.45, Z:-0.27 [[ 9.99908832e-01 1.52743092e-03 -1.34161711e-02 2.67989360e+00] [-1.56772571e-03 9.99994291e-01 -2.99344573e-03 4.54718873e-01] [ 1.34115222e-02 3.01420570e-03 9.99905518e-01 -2.67212820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.073133365 meters Centerline goodness [0,1] 0.2779454861952714 Centerline is valid? [False, False] Translation: X:2.68, Y:0.45, Z:-0.27 [[ 9.99907683e-01 1.60898758e-03 -1.34921193e-02 2.68011406e+00] [-1.64746102e-03 9.99994608e-01 -2.84091932e-03 4.54339826e-01] [ 1.34874755e-02 2.86288480e-03 9.99904941e-01 -2.67206616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.103133365 meters Centerline goodness [0,1] 0.27350705754614546 Centerline is valid? [False, False] Translation: X:2.70, Y:0.46, Z:-0.27 [[ 9.99890772e-01 -6.75399351e-03 -1.31463964e-02 2.70000427e+00] [ 6.72960467e-03 9.99975554e-01 -1.89852728e-03 4.59205203e-01] [ 1.31588976e-02 1.80984985e-03 9.99911780e-01 -2.66561447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.133133365 meters Centerline goodness [0,1] 0.2741348103888174 Centerline is valid? [False, False] Translation: X:2.70, Y:0.46, Z:-0.27 [[ 9.99888914e-01 -6.77401621e-03 -1.32767437e-02 2.70030932e+00] [ 6.75001388e-03 9.99975504e-01 -1.85182585e-03 4.58643918e-01] [ 1.32889627e-02 1.76200194e-03 9.99910145e-01 -2.66533765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.163133365 meters Centerline goodness [0,1] 0.2745076729122289 Centerline is valid? [False, False] Translation: X:2.70, Y:0.46, Z:-0.27 [[ 9.99887233e-01 -6.71926854e-03 -1.34302848e-02 2.70042032e+00] [ 6.69763864e-03 9.99976201e-01 -1.65486091e-03 4.57524959e-01] [ 1.34410847e-02 1.56472310e-03 9.99908440e-01 -2.66100917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.193133365 meters Centerline goodness [0,1] 0.27289687188164347 Centerline is valid? [False, False] Translation: X:2.70, Y:0.46, Z:-0.27 [[ 9.99886844e-01 -6.58224345e-03 -1.35267845e-02 2.70064959e+00] [ 6.56207048e-03 9.99977291e-01 -1.53517866e-03 4.57656927e-01] [ 1.35365822e-02 1.44624123e-03 9.99907330e-01 -2.66121244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.223133365 meters Centerline goodness [0,1] 0.27595986038394416 Centerline is valid? [False, False] Translation: X:2.70, Y:0.46, Z:-0.27 [[ 9.99888270e-01 -6.51109980e-03 -1.34556044e-02 2.70045254e+00] [ 6.49185935e-03 9.99977843e-01 -1.47310502e-03 4.57703746e-01] [ 1.34648978e-02 1.38558854e-03 9.99908384e-01 -2.66075224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.253133365 meters Centerline goodness [0,1] 0.2737255582803446 Centerline is valid? [False, False] Translation: X:2.70, Y:0.46, Z:-0.27 [[ 9.99887965e-01 -6.52273308e-03 -1.34725967e-02 2.70055258e+00] [ 6.50261722e-03 9.99977678e-01 -1.53636149e-03 4.57895349e-01] [ 1.34823172e-02 1.44858223e-03 9.99908060e-01 -2.66181408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.283133365 meters Centerline goodness [0,1] 0.2759389620042849 Centerline is valid? [False, False] Translation: X:2.70, Y:0.46, Z:-0.27 [[ 9.99885560e-01 -6.56778737e-03 -1.36282831e-02 2.70095005e+00] [ 6.54603642e-03 9.99977230e-01 -1.64001015e-03 4.58155932e-01] [ 1.36387440e-02 1.55061123e-03 9.99905786e-01 -2.66292959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.313133365 meters Centerline goodness [0,1] 0.2759389620042849 Centerline is valid? [False, False] Translation: X:2.70, Y:0.46, Z:-0.27 [[ 9.99885560e-01 -6.56778737e-03 -1.36282831e-02 2.70095005e+00] [ 6.54603642e-03 9.99977230e-01 -1.64001015e-03 4.58155932e-01] [ 1.36387440e-02 1.55061123e-03 9.99905786e-01 -2.66292959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.343133365 meters Centerline goodness [0,1] 0.2767839548072081 Centerline is valid? [False, False] Translation: X:2.70, Y:0.46, Z:-0.27 [[ 9.99882509e-01 -6.53161298e-03 -1.38674452e-02 2.70162676e+00] [ 6.50813139e-03 9.99977312e-01 -1.73774236e-03 4.58882203e-01] [ 1.38784809e-02 1.64728704e-03 9.99902332e-01 -2.66586679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.373133365 meters Centerline goodness [0,1] 0.2747714248217332 Centerline is valid? [False, False] Translation: X:2.70, Y:0.46, Z:-0.27 [[ 9.99901349e-01 -2.57737042e-03 -1.38075524e-02 2.70139567e+00] [ 2.60462232e-03 9.99994695e-01 1.95607604e-03 4.59806738e-01] [ 1.38024376e-02 -1.99184653e-03 9.99902758e-01 -2.66602649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.403133365 meters Centerline goodness [0,1] 0.2710189219064959 Centerline is valid? [False, False] Translation: X:2.72, Y:0.46, Z:-0.27 [[ 9.99902210e-01 5.72763961e-03 -1.27578872e-02 2.72180987e+00] [-5.71564642e-03 9.99983189e-01 9.76323890e-04 4.59489770e-01] [ 1.27632648e-02 -9.03308844e-04 9.99918138e-01 -2.65822895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43313336499997 meters Centerline goodness [0,1] 0.2712093469352167 Centerline is valid? [False, False] Translation: X:2.72, Y:0.46, Z:-0.27 [[ 9.99905186e-01 5.64053652e-03 -1.25619931e-02 2.72132456e+00] [-5.63330761e-03 9.99983946e-01 6.10768409e-04 4.61331963e-01] [ 1.25652365e-02 -5.39944928e-04 9.99920909e-01 -2.65934830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46313336499998 meters Centerline goodness [0,1] 0.27274115106972285 Centerline is valid? [False, False] Translation: X:2.72, Y:0.46, Z:-0.27 [[ 9.99907631e-01 5.57388235e-03 -1.23960437e-02 2.72094969e+00] [-5.57020790e-03 9.99984432e-01 3.30927549e-04 4.62786765e-01] [ 1.23976953e-02 -2.61848441e-04 9.99923111e-01 -2.66082959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49313336499998 meters Centerline goodness [0,1] 0.2733093760209082 Centerline is valid? [False, False] Translation: X:2.72, Y:0.46, Z:-0.27 [[ 9.99909698e-01 5.51344488e-03 -1.22555078e-02 2.72052009e+00] [-5.51259891e-03 9.99984800e-01 1.02808339e-04 4.63994666e-01] [ 1.22558883e-02 -3.52393563e-05 9.99924893e-01 -2.66012936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52313336499998 meters Centerline goodness [0,1] 0.2741206523875025 Centerline is valid? [False, False] Translation: X:2.72, Y:0.46, Z:-0.26 [[ 9.99914549e-01 5.48542659e-03 -1.18661019e-02 2.71859797e+00] [-5.48517494e-03 9.99984955e-01 5.37526744e-05 4.64223523e-01] [ 1.18662182e-02 1.13395636e-05 9.99929594e-01 -2.64456085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55313336499998 meters Centerline goodness [0,1] 0.2762984734163888 Centerline is valid? [False, False] Translation: X:2.72, Y:0.46, Z:-0.26 [[ 9.99920101e-01 5.49059227e-03 -1.13862160e-02 2.71689020e+00] [-5.48804662e-03 9.99984908e-01 2.54806339e-04 4.63087550e-01] [ 1.13874432e-02 -1.92297895e-04 9.99935142e-01 -2.63412486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58313336499998 meters Centerline goodness [0,1] 0.2763539015184763 Centerline is valid? [False, False] Translation: X:2.72, Y:0.46, Z:-0.26 [[ 9.99924069e-01 5.55482960e-03 -1.10000435e-02 2.71564835e+00] [-5.54874728e-03 9.99984435e-01 5.83378352e-04 4.61407228e-01] [ 1.10031129e-02 -5.22297594e-04 9.99939328e-01 -2.62756836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61313336499998 meters Centerline goodness [0,1] 0.27013930950938825 Centerline is valid? [False, False] Translation: X:2.74, Y:0.46, Z:-0.26 [[ 9.99945990e-01 -2.78134363e-03 -1.00140163e-02 2.73514976e+00] [ 2.79974600e-03 9.99994417e-01 1.82411158e-03 4.64894858e-01] [ 1.00088869e-02 -1.85204976e-03 9.99948195e-01 -2.61970148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64313336499998 meters Centerline goodness [0,1] 0.27472647225491476 Centerline is valid? [False, False] Translation: X:2.73, Y:0.46, Z:-0.26 [[ 9.99947500e-01 -2.73634368e-03 -9.87470194e-03 2.73491194e+00] [ 2.75651214e-03 9.99994142e-01 2.02940526e-03 4.63640180e-01] [ 9.86909094e-03 -2.05651846e-03 9.99949185e-01 -2.62062595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67313336499998 meters Centerline goodness [0,1] 0.2754113385414394 Centerline is valid? [False, False] Translation: X:2.73, Y:0.46, Z:-0.26 [[ 9.99948197e-01 -2.73087054e-03 -9.80541360e-03 2.73478466e+00] [ 2.75205603e-03 9.99993907e-01 2.14774850e-03 4.62708489e-01] [ 9.79948863e-03 -2.17462229e-03 9.99949619e-01 -2.62105240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70313336499999 meters Centerline goodness [0,1] 0.27186980639312774 Centerline is valid? [False, False] Translation: X:2.75, Y:0.46, Z:-0.26 [[ 9.99944920e-01 4.68142213e-03 -9.39370875e-03 2.75426677e+00] [-4.67283515e-03 9.99988644e-01 9.35860408e-04 4.57023818e-01] [ 9.39798324e-03 -8.91913608e-04 9.99955440e-01 -2.60214388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.733133365 meters Centerline goodness [0,1] 0.2751574039781268 Centerline is valid? [False, False] Translation: X:2.73, Y:0.46, Z:-0.26 [[ 9.99956165e-01 -3.25502873e-03 -8.77907377e-03 2.73325548e+00] [ 3.27241060e-03 9.99992713e-01 1.96628259e-03 4.58712761e-01] [ 8.77260949e-03 -1.99492513e-03 9.99959530e-01 -2.61402442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.763133365 meters Centerline goodness [0,1] 0.27488791189657424 Centerline is valid? [False, False] Translation: X:2.73, Y:0.46, Z:-0.26 [[ 9.99956560e-01 -3.16491065e-03 -8.76706725e-03 2.73306686e+00] [ 3.18443952e-03 9.99992478e-01 2.21446341e-03 4.57463431e-01] [ 8.75999272e-03 -2.24228541e-03 9.99959117e-01 -2.61118292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.793133365 meters Centerline goodness [0,1] 0.2785557023337737 Centerline is valid? [False, False] Translation: X:2.71, Y:0.45, Z:-0.26 [[ 9.99941286e-01 4.89038978e-03 -9.66998406e-03 2.71460492e+00] [-4.88241570e-03 9.99987721e-01 8.48056472e-04 4.50283090e-01] [ 9.67401266e-03 -8.00793797e-04 9.99952885e-01 -2.62430660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.823133365 meters Centerline goodness [0,1] 0.2779812690544601 Centerline is valid? [False, False] Translation: X:2.72, Y:0.45, Z:-0.26 [[ 9.99937415e-01 4.92498708e-03 -1.00454177e-02 2.71572319e+00] [-4.91445502e-03 9.99987348e-01 1.07286034e-03 4.48751268e-01] [ 1.00505744e-02 -1.02342544e-03 9.99948968e-01 -2.62804919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.853133365 meters Centerline goodness [0,1] 0.2780109428904173 Centerline is valid? [False, False] Translation: X:2.72, Y:0.45, Z:-0.26 [[ 9.99934302e-01 4.98738104e-03 -1.03207459e-02 2.71647151e+00] [-4.97392528e-03 9.99986747e-01 1.32901570e-03 4.47140479e-01] [ 1.03272374e-02 -1.27759377e-03 9.99945856e-01 -2.62970630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.883133365 meters Centerline goodness [0,1] 0.277117352492924 Centerline is valid? [False, False] Translation: X:2.74, Y:0.45, Z:-0.26 [[ 9.99954987e-01 -3.70861854e-03 -8.73331615e-03 2.73574705e+00] [ 3.73085119e-03 9.99989838e-01 2.53081410e-03 4.47161524e-01] [ 8.72384157e-03 -2.56328288e-03 9.99958661e-01 -2.62033637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.913133365 meters Centerline goodness [0,1] 0.27803784101548046 Centerline is valid? [False, False] Translation: X:2.73, Y:0.44, Z:-0.26 [[ 0.99996017 -0.0037447 -0.00810113 2.73390302] [ 0.00376882 0.99998851 0.00296355 0.44413865] [ 0.00808994 -0.00299396 0.99996279 -0.26131321] [ 0. 0. 0. 1. ]] SLAMing on 218.943133365 meters Centerline goodness [0,1] 0.27629779196248294 Centerline is valid? [False, False] Translation: X:2.73, Y:0.44, Z:-0.26 [[ 0.99996407 -0.00377095 -0.00759248 2.73239433] [ 0.00379734 0.99998679 0.00346465 0.44075827] [ 0.00757931 -0.00349336 0.99996517 -0.26060935] [ 0. 0. 0. 1. ]] SLAMing on 218.973133365 meters Centerline goodness [0,1] 0.2788271350011955 Centerline is valid? [False, False] Translation: X:2.73, Y:0.44, Z:-0.26 [[ 0.9999645 -0.00366534 -0.00758722 2.73250001] [ 0.00369576 0.99998518 0.00399887 0.43773537] [ 0.00757245 -0.00402677 0.99996322 -0.2606388 ] [ 0. 0. 0. 1. ]] SLAMing on 219.003133365 meters Centerline goodness [0,1] 0.27597220423842206 Centerline is valid? [False, False] Translation: X:2.75, Y:0.43, Z:-0.26 [[ 9.99944915e-01 2.74004261e-03 -1.01320794e-02 2.75158831e+00] [-2.70644374e-03 9.99990799e-01 3.32831459e-03 4.30391637e-01] [ 1.01411059e-02 -3.30070935e-03 9.99943130e-01 -2.58506508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.033133365 meters Centerline goodness [0,1] 0.2769297768100163 Centerline is valid? [False, False] Translation: X:2.75, Y:0.43, Z:-0.26 [[ 0.99993619 0.00293555 -0.01090832 2.75441674] [-0.00289198 0.99998779 0.00400762 0.42599999] [ 0.01091995 -0.00397581 0.99993247 -0.25996178] [ 0. 0. 0. 1. ]] SLAMing on 219.063133365 meters Centerline goodness [0,1] 0.2757908018970543 Centerline is valid? [False, False] Translation: X:2.76, Y:0.43, Z:-0.26 [[ 0.99993379 0.00300289 -0.01110893 2.75504268] [-0.00295689 0.999987 0.00415511 0.42504538] [ 0.01112126 -0.00412198 0.99992966 -0.26025872] [ 0. 0. 0. 1. ]] SLAMing on 219.093133365 meters Centerline goodness [0,1] 0.27740121613669555 Centerline is valid? [False, False] Translation: X:2.75, Y:0.42, Z:-0.26 [[ 0.9999338 0.00304862 -0.01109505 2.75481094] [-0.00300197 0.9999866 0.00421859 0.42463777] [ 0.01110776 -0.00418501 0.99992955 -0.25997929] [ 0. 0. 0. 1. ]] SLAMing on 219.123133365 meters Centerline goodness [0,1] 0.27758789593991506 Centerline is valid? [False, False] Translation: X:2.75, Y:0.42, Z:-0.26 [[ 0.99993495 0.00312377 -0.01096968 2.7541386 ] [-0.003077 0.99998612 0.00427765 0.42454752] [ 0.01098289 -0.00424362 0.99993068 -0.25945997] [ 0. 0. 0. 1. ]] SLAMing on 219.153133365 meters Centerline goodness [0,1] 0.27517069470033595 Centerline is valid? [False, False] Translation: X:2.75, Y:0.42, Z:-0.26 [[ 0.99993587 0.00319725 -0.01086413 2.75374601] [-0.00315078 0.99998583 0.00429104 0.42489849] [ 0.0108777 -0.00425654 0.99993178 -0.25929822] [ 0. 0. 0. 1. ]] SLAMing on 219.18313336499997 meters Centerline goodness [0,1] 0.2782115594329335 Centerline is valid? [False, False] Translation: X:2.75, Y:0.43, Z:-0.26 [[ 0.99993572 0.00326409 -0.01085814 2.75379446] [-0.00321794 0.99998573 0.00426508 0.42542625] [ 0.0108719 -0.00422986 0.99993195 -0.25949244] [ 0. 0. 0. 1. ]] SLAMing on 219.21313336499998 meters Centerline goodness [0,1] 0.27696269367263915 Centerline is valid? [False, False] Translation: X:2.75, Y:0.43, Z:-0.26 [[ 0.99993363 0.00324476 -0.01105492 2.75445003] [-0.00320034 0.99998674 0.00403363 0.42654649] [ 0.01106786 -0.00399798 0.99993076 -0.25991889] [ 0. 0. 0. 1. ]] SLAMing on 219.24313336499998 meters Centerline goodness [0,1] 0.2715646024546998 Centerline is valid? [False, False] Translation: X:2.75, Y:0.43, Z:-0.26 [[ 0.99993417 0.0032047 -0.01101774 2.75422867] [-0.00316085 0.99998702 0.00399506 0.42650154] [ 0.0110304 -0.00395998 0.99993132 -0.25976761] [ 0. 0. 0. 1. ]] SLAMing on 219.27313336499998 meters Centerline goodness [0,1] 0.2785722082742059 Centerline is valid? [False, False] Translation: X:2.73, Y:0.43, Z:-0.26 [[ 0.99993418 -0.00529558 -0.01017815 2.73058504] [ 0.00534361 0.99997469 0.00469805 0.42819529] [ 0.01015301 -0.00475213 0.99993716 -0.25996461] [ 0. 0. 0. 1. ]] SLAMing on 219.30313336499998 meters Centerline goodness [0,1] 0.27631150211795374 Centerline is valid? [False, False] Translation: X:2.73, Y:0.43, Z:-0.26 [[ 0.9999346 -0.00526187 -0.01015401 2.73057502] [ 0.00531253 0.99997354 0.00496869 0.42662751] [ 0.01012759 -0.00502231 0.9999361 -0.2599408 ] [ 0. 0. 0. 1. ]] SLAMing on 219.33313336499998 meters Centerline goodness [0,1] 0.2766902950293729 Centerline is valid? [False, False] Translation: X:2.73, Y:0.42, Z:-0.26 [[ 0.99993269 -0.0053337 -0.01030416 2.7310708 ] [ 0.00538701 0.99997221 0.00515317 0.42494485] [ 0.01027639 -0.00520833 0.99993363 -0.26005063] [ 0. 0. 0. 1. ]] SLAMing on 219.36313336499998 meters Centerline goodness [0,1] 0.27359831194556883 Centerline is valid? [False, False] Translation: X:2.75, Y:0.42, Z:-0.26 [[ 9.99922782e-01 8.29918994e-04 -1.23992552e-02 2.75018242e+00] [-7.82848243e-04 9.99992471e-01 3.80062768e-03 4.19237681e-01] [ 1.24023161e-02 -3.79062747e-03 9.99915903e-01 -2.57735651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39313336499998 meters Centerline goodness [0,1] 0.2803045175926532 Centerline is valid? [False, False] Translation: X:2.71, Y:0.41, Z:-0.26 [[ 9.99880015e-01 4.08799163e-04 -1.54850771e-02 2.70655883e+00] [-3.55299776e-04 9.99993960e-01 3.45749314e-03 4.14111843e-01] [ 1.54863969e-02 -3.45157645e-03 9.99874121e-01 -2.57474072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42313336499998 meters Centerline goodness [0,1] 0.2789508196721312 Centerline is valid? [False, False] Translation: X:2.71, Y:0.41, Z:-0.26 [[ 9.99875970e-01 5.15083935e-04 -1.57409883e-02 2.70725134e+00] [-4.56237785e-04 9.99992895e-01 3.74176493e-03 4.12801102e-01] [ 1.57428038e-02 -3.73411921e-03 9.99869102e-01 -2.57550243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45313336499999 meters Centerline goodness [0,1] 0.2794262134014541 Centerline is valid? [False, False] Translation: X:2.71, Y:0.41, Z:-0.26 [[ 9.99876290e-01 5.95619919e-04 -1.57178528e-02 2.70686580e+00] [-5.33101055e-04 9.99991932e-01 3.98146044e-03 4.11521400e-01] [ 1.57200974e-02 -3.97258869e-03 9.99868540e-01 -2.56953871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.483133365 meters Centerline goodness [0,1] 0.2793408272399869 Centerline is valid? [False, False] Translation: X:2.71, Y:0.41, Z:-0.26 [[ 9.99878278e-01 5.69220839e-04 -1.55918544e-02 2.70640479e+00] [-5.08018864e-04 9.99992153e-01 3.92893261e-03 4.11602232e-01] [ 1.55939685e-02 -3.92053342e-03 9.99870720e-01 -2.56764323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.513133365 meters Centerline goodness [0,1] 0.2765441192400182 Centerline is valid? [False, False] Translation: X:2.71, Y:0.41, Z:-0.26 [[ 9.99878791e-01 5.25736371e-04 -1.55603959e-02 2.70620289e+00] [-4.66658862e-04 9.99992671e-01 3.80004590e-03 4.12182388e-01] [ 1.55622796e-02 -3.79232391e-03 9.99871709e-01 -2.56605338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.543133365 meters Centerline goodness [0,1] 0.27871114713162337 Centerline is valid? [False, False] Translation: X:2.71, Y:0.41, Z:-0.26 [[ 9.99877845e-01 4.79459426e-04 -1.56225616e-02 2.70633633e+00] [-4.23247211e-04 9.99993426e-01 3.60125094e-03 4.13344972e-01] [ 1.56241856e-02 -3.59419883e-03 9.99871475e-01 -2.56675247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.573133365 meters Centerline goodness [0,1] 0.27925380332324956 Centerline is valid? [False, False] Translation: X:2.71, Y:0.41, Z:-0.26 [[ 9.99877092e-01 4.54113744e-04 -1.56714305e-02 2.70653642e+00] [-4.00634493e-04 9.99994087e-01 3.41550232e-03 4.14438640e-01] [ 1.56728888e-02 -3.40880402e-03 9.99871362e-01 -2.56869111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.603133365 meters Centerline goodness [0,1] 0.27881773399014775 Centerline is valid? [False, False] Translation: X:2.71, Y:0.42, Z:-0.26 [[ 9.99878178e-01 4.02981488e-04 -1.56033963e-02 2.70652441e+00] [-3.52963688e-04 9.99994791e-01 3.20819252e-03 4.15625226e-01] [ 1.56046079e-02 -3.20229426e-03 9.99873113e-01 -2.57188732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.633133365 meters Centerline goodness [0,1] 0.2756976945744496 Centerline is valid? [False, False] Translation: X:2.73, Y:0.42, Z:-0.26 [[ 9.99859929e-01 8.92355970e-03 -1.41595462e-02 2.72693603e+00] [-8.88825957e-03 9.99957237e-01 2.55400243e-03 4.15250328e-01] [ 1.41817315e-02 -2.42779097e-03 9.99896487e-01 -2.56106133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.663133365 meters Centerline goodness [0,1] 0.27858124468293954 Centerline is valid? [False, False] Translation: X:2.71, Y:0.42, Z:-0.26 [[ 9.99907477e-01 7.86553430e-04 -1.35800953e-02 2.70589563e+00] [-7.41438248e-04 9.99994191e-01 3.32687009e-03 4.18530651e-01] [ 1.35826332e-02 -3.31649348e-03 9.99902252e-01 -2.57270579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.693133365 meters Centerline goodness [0,1] 0.2798493491619497 Centerline is valid? [False, False] Translation: X:2.71, Y:0.42, Z:-0.26 [[ 9.99905352e-01 7.39229549e-04 -1.37382860e-02 2.70621734e+00] [-6.93380864e-04 9.99994176e-01 3.34175649e-03 4.18088322e-01] [ 1.37406763e-02 -3.33191433e-03 9.99900041e-01 -2.57187471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.723133365 meters Centerline goodness [0,1] 0.28140592572967726 Centerline is valid? [False, False] Translation: X:2.71, Y:0.42, Z:-0.26 [[ 9.99903114e-01 7.00601972e-04 -1.39022505e-02 2.70667226e+00] [-6.53019744e-04 9.99993915e-01 3.42687209e-03 4.17240765e-01] [ 1.39045668e-02 -3.41746163e-03 9.99897487e-01 -2.57265046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.753133365 meters Centerline goodness [0,1] 0.2771531515888175 Centerline is valid? [False, False] Translation: X:2.73, Y:0.42, Z:-0.26 [[ 9.99884896e-01 6.61455434e-03 -1.36544177e-02 2.72964854e+00] [-6.60276166e-03 9.99977789e-01 9.08553788e-04 4.15843009e-01] [ 1.36601241e-02 -8.18292344e-04 9.99906361e-01 -2.57382001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.783133365 meters Centerline goodness [0,1] 0.2768372617962408 Centerline is valid? [False, False] Translation: X:2.73, Y:0.41, Z:-0.26 [[ 9.99885203e-01 6.65159603e-03 -1.36138385e-02 2.72954156e+00] [-6.63620223e-03 9.99977289e-01 1.17560885e-03 4.14264760e-01] [ 1.36213490e-02 -1.08512971e-03 9.99906636e-01 -2.57292668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.813133365 meters Centerline goodness [0,1] 0.27703331673630205 Centerline is valid? [False, False] Translation: X:2.73, Y:0.41, Z:-0.26 [[ 9.99894711e-01 6.62786277e-03 -1.29088213e-02 2.72735499e+00] [-6.60735467e-03 9.99976842e-01 1.63069085e-03 4.11401202e-01] [ 1.29193303e-02 -1.54522600e-03 9.99915348e-01 -2.56298198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.843133365 meters Centerline goodness [0,1] 0.27974220519073334 Centerline is valid? [False, False] Translation: X:2.73, Y:0.41, Z:-0.26 [[ 9.99897017e-01 6.65102943e-03 -1.27169031e-02 2.72670320e+00] [-6.62838411e-03 9.99976372e-01 1.82204590e-03 4.10147980e-01] [ 1.27287211e-02 -1.73756574e-03 9.99917477e-01 -2.55948103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.873133365 meters Centerline goodness [0,1] 0.28089618010864115 Centerline is valid? [False, False] Translation: X:2.73, Y:0.41, Z:-0.26 [[ 9.99896472e-01 6.65978320e-03 -1.27550734e-02 2.72685722e+00] [-6.63557969e-03 9.99976105e-01 1.93894170e-03 4.09208829e-01] [ 1.27676815e-02 -1.85410366e-03 9.99916771e-01 -2.56025494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.903133365 meters Centerline goodness [0,1] 0.28171201119762046 Centerline is valid? [False, False] Translation: X:2.73, Y:0.41, Z:-0.26 [[ 9.99894473e-01 6.67057138e-03 -1.29052493e-02 2.72742584e+00] [-6.64511127e-03 9.99975891e-01 2.01472523e-03 4.08611987e-01] [ 1.29183776e-02 -1.92875580e-03 9.99914694e-01 -2.56367956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93313336499997 meters Centerline goodness [0,1] 0.27913603341018833 Centerline is valid? [False, False] Translation: X:2.73, Y:0.41, Z:-0.26 [[ 9.99893180e-01 6.63415675e-03 -1.30237191e-02 2.72800557e+00] [-6.60946826e-03 9.99976280e-01 1.93778405e-03 4.08860879e-01] [ 1.30362657e-02 -1.85149720e-03 9.99913310e-01 -2.56883446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96313336499998 meters Centerline goodness [0,1] 0.28108487359950884 Centerline is valid? [False, False] Translation: X:2.73, Y:0.41, Z:-0.26 [[ 9.99892680e-01 6.64628812e-03 -1.30558587e-02 2.72821178e+00] [-6.62153623e-03 9.99976199e-01 1.93815870e-03 4.08882393e-01] [ 1.30684295e-02 -1.85150086e-03 9.99912890e-01 -2.57127548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99313336499998 meters Centerline goodness [0,1] 0.28236278005193893 Centerline is valid? [False, False] Translation: X:2.73, Y:0.41, Z:-0.26 [[ 9.99893168e-01 6.72302680e-03 -1.29789785e-02 2.72775420e+00] [-6.69748501e-03 9.99975551e-01 2.01039895e-03 4.08810690e-01] [ 1.29921771e-02 -1.92325766e-03 9.99913748e-01 -2.56691810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02313336499998 meters Centerline goodness [0,1] 0.2868592937008746 Centerline is valid? [False, False] Translation: X:2.73, Y:0.41, Z:-0.26 [[ 9.99894599e-01 6.76349453e-03 -1.28470198e-02 2.72721985e+00] [-6.73742756e-03 9.99975158e-01 2.07122647e-03 4.08673880e-01] [ 1.28607094e-02 -1.98445230e-03 9.99915328e-01 -2.56348742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05313336499998 meters Centerline goodness [0,1] 0.2809292982226298 Centerline is valid? [False, False] Translation: X:2.75, Y:0.41, Z:-0.26 [[ 9.99928584e-01 -1.30074709e-03 -1.18800538e-02 2.74655327e+00] [ 1.33859237e-03 9.99994054e-01 3.17821937e-03 4.12978222e-01] [ 1.18758491e-02 -3.19389494e-03 9.99924379e-01 -2.55601563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08313336499998 meters Centerline goodness [0,1] 0.28060411619633774 Centerline is valid? [False, False] Translation: X:2.75, Y:0.41, Z:-0.26 [[ 9.99930739e-01 -1.28065648e-03 -1.16994286e-02 2.74642460e+00] [ 1.32057720e-03 9.99993331e-01 3.40510597e-03 4.11124834e-01] [ 1.16949898e-02 -3.42032013e-03 9.99925762e-01 -2.56053173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11313336499998 meters Centerline goodness [0,1] 0.27808391547706857 Centerline is valid? [False, False] Translation: X:2.75, Y:0.41, Z:-0.26 [[ 9.99930564e-01 -1.27208592e-03 -1.17153522e-02 2.74663518e+00] [ 1.31418575e-03 9.99992705e-01 3.58656367e-03 4.09701670e-01] [ 1.17107044e-02 -3.60171079e-03 9.99924941e-01 -2.56280523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14313336499998 meters Centerline goodness [0,1] 0.2796296296296297 Centerline is valid? [False, False] Translation: X:2.75, Y:0.41, Z:-0.26 [[ 9.99929938e-01 -1.18967403e-03 -1.17772425e-02 2.74679117e+00] [ 1.23566217e-03 9.99991638e-01 3.89832541e-03 4.07890533e-01] [ 1.17725063e-02 -3.91260498e-03 9.99923047e-01 -2.56261779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17313336499998 meters Centerline goodness [0,1] 0.27709511735257786 Centerline is valid? [False, False] Translation: X:2.75, Y:0.41, Z:-0.26 [[ 9.99928689e-01 -1.08121507e-03 -1.18931653e-02 2.74708233e+00] [ 1.13193895e-03 9.99990290e-01 4.25905642e-03 4.05968947e-01] [ 1.18884449e-02 -4.27221504e-03 9.99920203e-01 -2.56222587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20313336499999 meters Centerline goodness [0,1] 0.27709511735257786 Centerline is valid? [False, False] Translation: X:2.75, Y:0.41, Z:-0.26 [[ 9.99928689e-01 -1.08121507e-03 -1.18931653e-02 2.74708233e+00] [ 1.13193895e-03 9.99990290e-01 4.25905642e-03 4.05968947e-01] [ 1.18884449e-02 -4.27221504e-03 9.99920203e-01 -2.56222587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.233133365 meters Centerline goodness [0,1] 0.2808775376555337 Centerline is valid? [False, False] Translation: X:2.75, Y:0.40, Z:-0.26 [[ 9.99928213e-01 -9.64279691e-04 -1.19431352e-02 2.74713659e+00] [ 1.01948212e-03 9.99988822e-01 4.61688032e-03 4.04080145e-01] [ 1.19385498e-02 -4.62872471e-03 9.99918020e-01 -2.56038587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.263133365 meters Centerline goodness [0,1] 0.2819176998153522 Centerline is valid? [False, False] Translation: X:2.75, Y:0.40, Z:-0.26 [[ 9.99927898e-01 -9.03546972e-04 -1.19742294e-02 2.74720601e+00] [ 9.61324420e-04 9.99987920e-01 4.82027256e-03 4.02944155e-01] [ 1.19697295e-02 -4.83143612e-03 9.99916688e-01 -2.55984855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.293133365 meters Centerline goodness [0,1] 0.28012703384668924 Centerline is valid? [False, False] Translation: X:2.77, Y:0.40, Z:-0.25 [[ 0.99990495 0.00714956 -0.01178839 2.76736187] [-0.00710386 0.99996711 0.00391364 0.39863363] [ 0.01181598 -0.00382952 0.99992286 -0.25477135] [ 0. 0. 0. 1. ]] SLAMing on 220.323133365 meters Centerline goodness [0,1] 0.2792851410848678 Centerline is valid? [False, False] Translation: X:2.77, Y:0.40, Z:-0.25 [[ 0.99990654 0.00720368 -0.01161951 2.76687007] [-0.00715825 0.99996659 0.00394611 0.39863901] [ 0.01164755 -0.00386256 0.9999247 -0.25468044] [ 0. 0. 0. 1. ]] SLAMing on 220.353133365 meters Centerline goodness [0,1] 0.2818854983508442 Centerline is valid? [False, False] Translation: X:2.77, Y:0.40, Z:-0.25 [[ 0.99990892 0.00722015 -0.01140286 2.76630907] [-0.00717554 0.99996646 0.00394807 0.39867364] [ 0.01143098 -0.00386589 0.99992719 -0.25467594] [ 0. 0. 0. 1. ]] SLAMing on 220.383133365 meters Centerline goodness [0,1] 0.28362137029563994 Centerline is valid? [False, False] Translation: X:2.77, Y:0.40, Z:-0.25 [[ 0.99991044 0.00724801 -0.01125096 2.76590671] [-0.00720365 0.99996614 0.00397811 0.39858797] [ 0.01127941 -0.0038967 0.99992879 -0.25462965] [ 0. 0. 0. 1. ]] SLAMing on 220.413133365 meters Centerline goodness [0,1] 0.2802317476912354 Centerline is valid? [False, False] Translation: X:2.77, Y:0.40, Z:-0.25 [[ 0.99991015 0.00725475 -0.01127215 2.76604124] [-0.00721052 0.99996616 0.00395953 0.3987255 ] [ 0.01130049 -0.0038779 0.99992863 -0.25479961] [ 0. 0. 0. 1. ]] SLAMing on 220.443133365 meters Centerline goodness [0,1] 0.27947103548942287 Centerline is valid? [False, False] Translation: X:2.77, Y:0.40, Z:-0.26 [[ 0.99990602 0.00726883 -0.01162403 2.76724935] [-0.00722448 0.99996648 0.00385301 0.39940344] [ 0.01165165 -0.00376867 0.99992502 -0.25548819] [ 0. 0. 0. 1. ]] SLAMing on 220.473133365 meters Centerline goodness [0,1] 0.27987599877745273 Centerline is valid? [False, False] Translation: X:2.77, Y:0.40, Z:-0.26 [[ 0.99990553 0.00721844 -0.0116971 2.76749081] [-0.00717501 0.99996723 0.00375074 0.39978381] [ 0.01172379 -0.00366646 0.99992455 -0.25563036] [ 0. 0. 0. 1. ]] SLAMing on 220.503133365 meters Centerline goodness [0,1] 0.28190217033509624 Centerline is valid? [False, False] Translation: X:2.77, Y:0.40, Z:-0.26 [[ 0.99990678 0.00718191 -0.01161267 2.76727071] [-0.00714029 0.99996795 0.00362146 0.40054727] [ 0.01163831 -0.00353821 0.99992601 -0.25566343] [ 0. 0. 0. 1. ]] SLAMing on 220.533133365 meters Centerline goodness [0,1] 0.27843622471129637 Centerline is valid? [False, False] Translation: X:2.79, Y:0.41, Z:-0.25 [[ 9.99940980e-01 -6.79821275e-04 -1.08431833e-02 2.78578937e+00] [ 7.32071789e-04 9.99988137e-01 4.81550200e-03 4.06996936e-01] [ 1.08397810e-02 -4.82315578e-03 9.99929616e-01 -2.54293115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.563133365 meters Centerline goodness [0,1] 0.27547905164014286 Centerline is valid? [False, False] Translation: X:2.79, Y:0.41, Z:-0.25 [[ 9.99942932e-01 -7.32491104e-04 -1.06581967e-02 2.78512443e+00] [ 7.81553447e-04 9.99989115e-01 4.59981323e-03 4.08378425e-01] [ 1.06547113e-02 -4.60788068e-03 9.99932620e-01 -2.53993358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.593133365 meters Centerline goodness [0,1] 0.27876739045637755 Centerline is valid? [False, False] Translation: X:2.78, Y:0.41, Z:-0.25 [[ 9.99946191e-01 -9.74049857e-04 -1.03279840e-02 2.78396240e+00] [ 1.01514771e-03 9.99991585e-01 3.97477654e-03 4.11402075e-01] [ 1.03240255e-02 -3.98504709e-03 9.99938765e-01 -2.53549465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.623133365 meters Centerline goodness [0,1] 0.28214293498398024 Centerline is valid? [False, False] Translation: X:2.78, Y:0.41, Z:-0.25 [[ 9.99947060e-01 -1.11243525e-03 -1.02293055e-02 2.78356052e+00] [ 1.14931337e-03 9.99992860e-01 3.59997226e-03 4.13242291e-01] [ 1.02252277e-02 -3.61153836e-03 9.99941199e-01 -2.53370608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.653133365 meters Centerline goodness [0,1] 0.28113879003558717 Centerline is valid? [False, False] Translation: X:2.78, Y:0.42, Z:-0.25 [[ 9.99948167e-01 -1.25178218e-03 -1.01042574e-02 2.78317791e+00] [ 1.28419439e-03 9.99994049e-01 3.20192664e-03 4.15345777e-01] [ 1.01001892e-02 -3.21473651e-03 9.99943824e-01 -2.53322404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68313336499997 meters Centerline goodness [0,1] 0.2770429700184003 Centerline is valid? [False, False] Translation: X:2.80, Y:0.42, Z:-0.25 [[ 9.99933639e-01 6.72375598e-03 -9.35460588e-03 2.80259209e+00] [-6.70648307e-03 9.99975750e-01 1.87660523e-03 4.16191433e-01] [ 9.36699688e-03 -1.81374419e-03 9.99954484e-01 -2.51958167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71313336499998 meters Centerline goodness [0,1] 0.2802362444087376 Centerline is valid? [False, False] Translation: X:2.80, Y:0.42, Z:-0.25 [[ 9.99936095e-01 6.52433473e-03 -9.23249428e-03 2.80222155e+00] [-6.51230352e-03 9.99977907e-01 1.33260182e-03 4.18991204e-01] [ 9.24098464e-03 -1.27239185e-03 9.99956492e-01 -2.51916901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74313336499998 meters Centerline goodness [0,1] 0.27600112134216026 Centerline is valid? [False, False] Translation: X:2.80, Y:0.42, Z:-0.25 [[ 9.99937826e-01 6.30800846e-03 -9.19522848e-03 2.80224319e+00] [-6.30104609e-03 9.99979839e-01 7.85946019e-04 4.21678657e-01] [ 9.20000085e-03 -7.27957595e-04 9.99957414e-01 -2.52155826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77313336499998 meters Centerline goodness [0,1] 0.2783133050920723 Centerline is valid? [False, False] Translation: X:2.80, Y:0.43, Z:-0.25 [[ 9.99941297e-01 5.96009962e-03 -9.04873561e-03 2.80165867e+00] [-5.96054766e-03 9.99982236e-01 -2.25463343e-05 4.25679971e-01] [ 9.04844048e-03 7.64804306e-05 9.99959059e-01 -2.51885950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80313336499998 meters Centerline goodness [0,1] 0.2830221601814692 Centerline is valid? [False, False] Translation: X:2.78, Y:0.43, Z:-0.25 [[ 9.99963569e-01 -2.02491267e-03 -8.29216935e-03 2.78132101e+00] [ 2.03148733e-03 9.99997629e-01 7.84529091e-04 4.30639758e-01] [ 8.29056109e-03 -8.01345947e-04 9.99965312e-01 -2.53500638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83313336499998 meters Centerline goodness [0,1] 0.2784878448983117 Centerline is valid? [False, False] Translation: X:2.80, Y:0.43, Z:-0.25 [[ 9.99950391e-01 5.40220726e-03 -8.36849411e-03 2.80072385e+00] [-5.40767838e-03 9.99985179e-01 -6.31286456e-04 4.29400978e-01] [ 8.36495974e-03 6.76509263e-04 9.99964784e-01 -2.51581682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86313336499998 meters Centerline goodness [0,1] 0.28126764846431207 Centerline is valid? [False, False] Translation: X:2.80, Y:0.43, Z:-0.25 [[ 9.99948450e-01 5.32304570e-03 -8.64654795e-03 2.80130777e+00] [-5.32913706e-03 9.99985568e-01 -6.81598011e-04 4.29315350e-01] [ 8.64279498e-03 7.27641513e-04 9.99962386e-01 -2.51409626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89313336499998 meters Centerline goodness [0,1] 0.28061302016627954 Centerline is valid? [False, False] Translation: X:2.80, Y:0.43, Z:-0.25 [[ 9.99947844e-01 5.26350892e-03 -8.75236833e-03 2.80151034e+00] [-5.26958754e-03 9.99985890e-01 -6.71595401e-04 4.28886836e-01] [ 8.74870989e-03 7.17681745e-04 9.99961472e-01 -2.51311917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92313336499998 meters Centerline goodness [0,1] 0.2845800524934383 Centerline is valid? [False, False] Translation: X:2.80, Y:0.43, Z:-0.25 [[ 9.99954558e-01 5.05444133e-03 -8.08296026e-03 2.79949756e+00] [-5.05981176e-03 9.99986992e-01 -6.44102371e-04 4.27704462e-01] [ 8.07959953e-03 6.84971359e-04 9.99967125e-01 -2.50468166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95313336499999 meters Centerline goodness [0,1] 0.2803181769321724 Centerline is valid? [False, False] Translation: X:2.82, Y:0.43, Z:-0.25 [[ 9.99973128e-01 -3.01895070e-03 -6.68046286e-03 2.81840776e+00] [ 3.02270421e-03 9.99995279e-01 5.51838428e-04 4.31621083e-01] [ 6.67876535e-03 -5.72016663e-04 9.99977533e-01 -2.49516781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.983133365 meters Centerline goodness [0,1] 0.2879437902201988 Centerline is valid? [False, False] Translation: X:2.77, Y:0.43, Z:-0.25 [[ 9.99960549e-01 -2.54952516e-03 -8.50889633e-03 2.77165949e+00] [ 2.55403087e-03 9.99996604e-01 5.18705583e-04 4.28108126e-01] [ 8.50754498e-03 -5.40417104e-04 9.99963664e-01 -2.48169340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.013133365 meters Centerline goodness [0,1] 0.28490016096054294 Centerline is valid? [False, False] Translation: X:2.77, Y:0.43, Z:-0.25 [[ 9.99960035e-01 -2.45244211e-03 -8.59737841e-03 2.77179643e+00] [ 2.45806193e-03 9.99996772e-01 6.43161453e-04 4.27830130e-01] [ 8.59577334e-03 -6.64268637e-04 9.99962835e-01 -2.48077938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.043133365 meters Centerline goodness [0,1] 0.28277774167695535 Centerline is valid? [False, False] Translation: X:2.77, Y:0.43, Z:-0.25 [[ 9.99958770e-01 -2.35521843e-03 -8.76991272e-03 2.77241305e+00] [ 2.36166998e-03 9.99996948e-01 7.25362685e-04 4.27684871e-01] [ 8.76817757e-03 -7.46044418e-04 9.99961280e-01 -2.48476967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.073133365 meters Centerline goodness [0,1] 0.28578581847473494 Centerline is valid? [False, False] Translation: X:2.77, Y:0.43, Z:-0.25 [[ 9.99957828e-01 -2.29393912e-03 -8.89267910e-03 2.77286858e+00] [ 2.30120926e-03 9.99997026e-01 8.07396206e-04 4.27189411e-01] [ 8.89080054e-03 -8.27826072e-04 9.99960133e-01 -2.48751683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.103133365 meters Centerline goodness [0,1] 0.28291571753986333 Centerline is valid? [False, False] Translation: X:2.77, Y:0.43, Z:-0.25 [[ 9.99957611e-01 -2.16336842e-03 -8.94959910e-03 2.77329756e+00] [ 2.17153156e-03 9.99997235e-01 9.02507006e-04 4.26454499e-01] [ 8.94762190e-03 -9.21903087e-04 9.99959544e-01 -2.49348101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.133133365 meters Centerline goodness [0,1] 0.28328206905514886 Centerline is valid? [False, False] Translation: X:2.77, Y:0.43, Z:-0.25 [[ 9.99957919e-01 -2.10511223e-03 -8.92904284e-03 2.77330469e+00] [ 2.11332866e-03 9.99997352e-01 9.10855964e-04 4.26643839e-01] [ 8.92710174e-03 -9.29687637e-04 9.99959720e-01 -2.49522362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.163133365 meters Centerline goodness [0,1] 0.2839937502712556 Centerline is valid? [False, False] Translation: X:2.77, Y:0.43, Z:-0.25 [[ 9.99959693e-01 -2.02042199e-03 -8.74810592e-03 2.77271035e+00] [ 2.02872325e-03 9.99997500e-01 9.40150920e-04 4.26935965e-01] [ 8.74618455e-03 -9.57860512e-04 9.99961293e-01 -2.49302226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.193133365 meters Centerline goodness [0,1] 0.2844588143390331 Centerline is valid? [False, False] Translation: X:2.77, Y:0.43, Z:-0.25 [[ 9.99966357e-01 -1.78802613e-03 -8.00550532e-03 2.77031800e+00] [ 1.79711095e-03 9.99997749e-01 1.12777236e-03 4.27073059e-01] [ 8.00347082e-03 -1.14212120e-03 9.99967319e-01 -2.48345970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.223133365 meters Centerline goodness [0,1] 0.28265288469855554 Centerline is valid? [False, False] Translation: X:2.77, Y:0.43, Z:-0.25 [[ 9.99966481e-01 -1.80613428e-03 -7.98589557e-03 2.77037662e+00] [ 1.81494891e-03 9.99997752e-01 1.09666425e-03 4.27053528e-01] [ 7.98389689e-03 -1.11112149e-03 9.99967511e-01 -2.48552898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.253133365 meters Centerline goodness [0,1] 0.28756624184294666 Centerline is valid? [False, False] Translation: X:2.75, Y:0.42, Z:-0.25 [[ 9.99938594e-01 6.02714304e-03 -9.29960077e-03 2.75236399e+00] [-6.03209813e-03 9.99981679e-01 -5.04870996e-04 4.21031629e-01] [ 9.29638747e-03 5.60936099e-04 9.99956630e-01 -2.50160292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.283133365 meters Centerline goodness [0,1] 0.2836730268863833 Centerline is valid? [False, False] Translation: X:2.77, Y:0.43, Z:-0.25 [[ 9.99949302e-01 -2.34036085e-03 -9.79362795e-03 2.77294873e+00] [ 2.34233616e-03 9.99997239e-01 1.90227833e-04 4.25931762e-01] [ 9.79315570e-03 -2.13158158e-04 9.99952023e-01 -2.49706577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.313133365 meters Centerline goodness [0,1] 0.285477214664716 Centerline is valid? [False, False] Translation: X:2.77, Y:0.42, Z:-0.25 [[ 9.99947891e-01 -2.29782282e-03 -9.94659832e-03 2.77340617e+00] [ 2.30149156e-03 9.99997288e-01 3.57413509e-04 4.24933586e-01] [ 9.94575007e-03 -3.80286896e-04 9.99950467e-01 -2.49829689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.343133365 meters Centerline goodness [0,1] 0.2831367106176267 Centerline is valid? [False, False] Translation: X:2.77, Y:0.42, Z:-0.25 [[ 9.99947302e-01 -2.19580399e-03 -1.00285238e-02 2.77343482e+00] [ 2.20216666e-03 9.99997381e-01 6.23458257e-04 4.23757237e-01] [ 1.00271285e-02 -6.45509882e-04 9.99949519e-01 -2.49518586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.373133365 meters Centerline goodness [0,1] 0.28389500129948886 Centerline is valid? [False, False] Translation: X:2.77, Y:0.42, Z:-0.25 [[ 9.99947179e-01 -2.12711777e-03 -1.00556183e-02 2.77332994e+00] [ 2.13819354e-03 9.99997119e-01 1.09082855e-03 4.21253364e-01] [ 1.00532690e-02 -1.11227179e-03 9.99948846e-01 -2.49093502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.403133365 meters Centerline goodness [0,1] 0.2831804679199462 Centerline is valid? [False, False] Translation: X:2.77, Y:0.42, Z:-0.25 [[ 9.99945012e-01 -2.10884848e-03 -1.02725418e-02 2.77392742e+00] [ 2.12285769e-03 9.99996831e-01 1.35304039e-03 4.19471311e-01] [ 1.02696559e-02 -1.37477313e-03 9.99946321e-01 -2.49140879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43313336499997 meters Centerline goodness [0,1] 0.2846724862311426 Centerline is valid? [False, False] Translation: X:2.77, Y:0.42, Z:-0.25 [[ 9.99944008e-01 -2.10469878e-03 -1.03706802e-02 2.77432952e+00] [ 2.12142349e-03 9.99996467e-01 1.60195491e-03 4.17725122e-01] [ 1.03672719e-02 -1.62386582e-03 9.99944940e-01 -2.49334839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46313336499998 meters Centerline goodness [0,1] 0.2841160400676467 Centerline is valid? [False, False] Translation: X:2.78, Y:0.42, Z:-0.25 [[ 9.99941941e-01 -2.04761029e-03 -1.05793610e-02 2.77502202e+00] [ 2.06805432e-03 9.99996015e-01 1.92186709e-03 4.15869069e-01] [ 1.05753836e-02 -1.94363420e-03 9.99942190e-01 -2.49579642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49313336499998 meters Centerline goodness [0,1] 0.28186656282450673 Centerline is valid? [False, False] Translation: X:2.78, Y:0.41, Z:-0.25 [[ 9.99941089e-01 -1.97598879e-03 -1.06730097e-02 2.77545004e+00] [ 2.00060255e-03 9.99995363e-01 2.29598394e-03 4.13738527e-01] [ 1.06684234e-02 -2.31720113e-03 9.99940406e-01 -2.49788063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52313336499998 meters Centerline goodness [0,1] 0.2851913985054141 Centerline is valid? [False, False] Translation: X:2.78, Y:0.41, Z:-0.25 [[ 9.99941197e-01 -1.90916209e-03 -1.06751123e-02 2.77553882e+00] [ 1.93786255e-03 9.99994534e-01 2.67884226e-03 4.11520874e-01] [ 1.06699396e-02 -2.69937164e-03 9.99939431e-01 -2.49824410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55313336499998 meters Centerline goodness [0,1] 0.2860100239703639 Centerline is valid? [False, False] Translation: X:2.78, Y:0.41, Z:-0.25 [[ 9.99940116e-01 -2.02878231e-03 -1.07539753e-02 2.77592276e+00] [ 2.06321524e-03 9.99992778e-01 3.19175250e-03 4.07393995e-01] [ 1.07474223e-02 -3.21374913e-03 9.99937080e-01 -2.49941600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58313336499998 meters Centerline goodness [0,1] 0.2847529237537295 Centerline is valid? [False, False] Translation: X:2.78, Y:0.41, Z:-0.25 [[ 9.99937153e-01 -1.94581175e-03 -1.10410482e-02 2.77670531e+00] [ 1.98423186e-03 9.99992011e-01 3.46986557e-03 4.05841483e-01] [ 1.10342083e-02 -3.49155550e-03 9.99933025e-01 -2.50047965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61313336499998 meters Centerline goodness [0,1] 0.2850221604240897 Centerline is valid? [False, False] Translation: X:2.78, Y:0.40, Z:-0.25 [[ 9.99935405e-01 -1.83040461e-03 -1.12176367e-02 2.77717816e+00] [ 1.87258395e-03 9.99991213e-01 3.75074294e-03 4.04489795e-01] [ 1.12106728e-02 -3.77150663e-03 9.99930046e-01 -2.50085785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64313336499998 meters Centerline goodness [0,1] 0.2847973632283106 Centerline is valid? [False, False] Translation: X:2.78, Y:0.40, Z:-0.25 [[ 9.99935419e-01 -1.77188820e-03 -1.12258137e-02 2.77704822e+00] [ 1.81546182e-03 9.99990854e-01 3.87255511e-03 4.03866912e-01] [ 1.12188492e-02 -3.89268505e-03 9.99929490e-01 -2.49850136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67313336499998 meters Centerline goodness [0,1] 0.2851006594932315 Centerline is valid? [False, False] Translation: X:2.78, Y:0.40, Z:-0.25 [[ 9.99938087e-01 -1.76128105e-03 -1.09873134e-02 2.77618997e+00] [ 1.80431427e-03 9.99990736e-01 3.90794535e-03 4.03471738e-01] [ 1.09803286e-02 -3.92752796e-03 9.99932001e-01 -2.49406339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70313336499999 meters Centerline goodness [0,1] 0.2859566692769512 Centerline is valid? [False, False] Translation: X:2.77, Y:0.40, Z:-0.25 [[ 9.99942942e-01 -1.77489816e-03 -1.05338448e-02 2.77483725e+00] [ 1.81498987e-03 9.99991142e-01 3.79765222e-03 4.03891138e-01] [ 1.05270111e-02 -3.81655436e-03 9.99937306e-01 -2.49026342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.733133365 meters Centerline goodness [0,1] 0.2868100825727944 Centerline is valid? [False, False] Translation: X:2.77, Y:0.40, Z:-0.25 [[ 9.99955476e-01 -1.04161676e-03 -9.37877993e-03 2.77168415e+00] [ 1.08060440e-03 9.99990793e-01 4.15289811e-03 4.04756497e-01] [ 9.37436785e-03 -4.16284795e-03 9.99947395e-01 -2.48442969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.763133365 meters Centerline goodness [0,1] 0.28707749157700246 Centerline is valid? [False, False] Translation: X:2.77, Y:0.41, Z:-0.25 [[ 9.99956351e-01 -8.26958371e-04 -9.30660869e-03 2.77162708e+00] [ 8.64520331e-04 9.99991495e-01 4.03275344e-03 4.06431316e-01] [ 9.30319461e-03 -4.04062316e-03 9.99948561e-01 -2.48776380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.793133365 meters Centerline goodness [0,1] 0.28190398030365205 Centerline is valid? [False, False] Translation: X:2.77, Y:0.41, Z:-0.25 [[ 9.99954402e-01 -6.88177781e-04 -9.52472971e-03 2.77215452e+00] [ 7.24266077e-04 9.99992571e-01 3.78597445e-03 4.08362801e-01] [ 9.52205352e-03 -3.79270026e-03 9.99947472e-01 -2.49029814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.823133365 meters Centerline goodness [0,1] 0.28290685329231036 Centerline is valid? [False, False] Translation: X:2.77, Y:0.41, Z:-0.25 [[ 9.99954603e-01 -3.94108352e-04 -9.52030356e-03 2.77204963e+00] [ 4.27520933e-04 9.99993756e-01 3.50783281e-03 4.10837845e-01] [ 9.51886165e-03 -3.51174370e-03 9.99948528e-01 -2.49209273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.853133365 meters Centerline goodness [0,1] 0.28235955542100943 Centerline is valid? [False, False] Translation: X:2.77, Y:0.41, Z:-0.25 [[ 9.99954115e-01 -3.91162071e-04 -9.57155848e-03 2.77220027e+00] [ 4.23729155e-04 9.99994128e-01 3.40069360e-03 4.11635964e-01] [ 9.57017205e-03 -3.40459330e-03 9.99948409e-01 -2.49349555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.883133365 meters Centerline goodness [0,1] 0.2857640703955393 Centerline is valid? [False, False] Translation: X:2.77, Y:0.41, Z:-0.25 [[ 9.99953873e-01 -3.17985051e-04 -9.59947436e-03 2.77228986e+00] [ 3.51472943e-04 9.99993859e-01 3.48702759e-03 4.11628728e-01] [ 9.59830658e-03 -3.49024070e-03 9.99947844e-01 -2.49447363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.913133365 meters Centerline goodness [0,1] 0.28151732480774216 Centerline is valid? [False, False] Translation: X:2.77, Y:0.41, Z:-0.25 [[ 9.99952761e-01 -2.66993684e-04 -9.71622001e-03 2.77244494e+00] [ 3.02399374e-04 9.99993320e-01 3.64269122e-03 4.10920457e-01] [ 9.71518253e-03 -3.64545732e-03 9.99946161e-01 -2.49221841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.943133365 meters Centerline goodness [0,1] 0.285782546370705 Centerline is valid? [False, False] Translation: X:2.77, Y:0.41, Z:-0.25 [[ 9.99952345e-01 -2.80689259e-04 -9.75855903e-03 2.77243728e+00] [ 3.18725042e-04 9.99992358e-01 3.89634766e-03 4.09205468e-01] [ 9.75739079e-03 -3.89927228e-03 9.99944793e-01 -2.48928744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.973133365 meters Centerline goodness [0,1] 0.28560583054965083 Centerline is valid? [False, False] Translation: X:2.77, Y:0.41, Z:-0.25 [[ 9.99953646e-01 -4.56748545e-04 -9.61759271e-03 2.77191026e+00] [ 4.96239632e-04 9.99991455e-01 4.10414416e-03 4.07005188e-01] [ 9.61563596e-03 -4.10872654e-03 9.99945327e-01 -2.48444996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.003133365 meters Centerline goodness [0,1] 0.29003810560696786 Centerline is valid? [False, False] Translation: X:2.77, Y:0.40, Z:-0.25 [[ 9.99952945e-01 -3.07694837e-03 -9.19998198e-03 2.76875125e+00] [ 3.09788594e-03 9.99992642e-01 2.26244440e-03 4.01956425e-01] [ 9.19295286e-03 -2.29083844e-03 9.99955120e-01 -2.45683099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.033133365 meters Centerline goodness [0,1] 0.2897498859166866 Centerline is valid? [False, False] Translation: X:2.77, Y:0.40, Z:-0.25 [[ 9.99954595e-01 -3.02380076e-03 -9.03680514e-03 2.76823551e+00] [ 3.04836207e-03 9.99991694e-01 2.70538260e-03 3.99539927e-01] [ 9.02854955e-03 -2.73280721e-03 9.99955508e-01 -2.45290727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.063133365 meters Centerline goodness [0,1] 0.2905492115280044 Centerline is valid? [False, False] Translation: X:2.77, Y:0.40, Z:-0.25 [[ 0.99995501 -0.00298199 -0.00900522 2.76806771] [ 0.00300971 0.99999077 0.00306632 0.39741783] [ 0.00899599 -0.00309329 0.99995475 -0.24500004] [ 0. 0. 0. 1. ]] SLAMing on 222.093133365 meters Centerline goodness [0,1] 0.28913675621717805 Centerline is valid? [False, False] Translation: X:2.77, Y:0.40, Z:-0.24 [[ 0.99995523 -0.00296602 -0.00898598 2.76798471] [ 0.00299607 0.99998996 0.00333246 0.39572815] [ 0.00897601 -0.00335923 0.99995407 -0.24484225] [ 0. 0. 0. 1. ]] SLAMing on 222.123133365 meters Centerline goodness [0,1] 0.28913675621717805 Centerline is valid? [False, False] Translation: X:2.77, Y:0.40, Z:-0.24 [[ 0.99995523 -0.00296602 -0.00898598 2.76798471] [ 0.00299607 0.99998996 0.00333246 0.39572815] [ 0.00897601 -0.00335923 0.99995407 -0.24484225] [ 0. 0. 0. 1. ]] SLAMing on 222.153133365 meters Centerline goodness [0,1] 0.2890097322025852 Centerline is valid? [False, False] Translation: X:2.77, Y:0.39, Z:-0.24 [[ 0.99995412 -0.00294962 -0.00911394 2.76833098] [ 0.0029828 0.99998896 0.00362947 0.39387493] [ 0.00910314 -0.00365648 0.99995188 -0.24478634] [ 0. 0. 0. 1. ]] SLAMing on 222.18313336499997 meters Centerline goodness [0,1] 0.288637937002423 Centerline is valid? [False, False] Translation: X:2.77, Y:0.39, Z:-0.25 [[ 0.99995277 -0.00295163 -0.00926004 2.76882917] [ 0.00298564 0.99998884 0.00366097 0.39361665] [ 0.00924913 -0.00368845 0.99995042 -0.24501972] [ 0. 0. 0. 1. ]] SLAMing on 222.21313336499998 meters Centerline goodness [0,1] 0.2864356307453282 Centerline is valid? [False, False] Translation: X:2.77, Y:0.39, Z:-0.25 [[ 0.99995091 -0.00297817 -0.00945032 2.76943662] [ 0.00301299 0.99998872 0.00367237 0.39341431] [ 0.00943928 -0.00370066 0.9999486 -0.24523827] [ 0. 0. 0. 1. ]] SLAMing on 222.24313336499998 meters Centerline goodness [0,1] 0.2931282722513089 Centerline is valid? [False, False] Translation: X:2.75, Y:0.39, Z:-0.25 [[ 9.99943463e-01 4.92071862e-03 -9.42645336e-03 2.75086212e+00] [-4.89776149e-03 9.99984988e-01 2.45693259e-03 3.87503498e-01] [ 9.43840172e-03 -2.41062516e-03 9.99952552e-01 -2.46718528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27313336499998 meters Centerline goodness [0,1] 0.2878526814559552 Centerline is valid? [False, False] Translation: X:2.77, Y:0.39, Z:-0.25 [[ 0.99995942 -0.00306035 -0.00847328 2.76991309] [ 0.00309205 0.99998826 0.00373099 0.39225043] [ 0.00846176 -0.00375704 0.99995714 -0.24544719] [ 0. 0. 0. 1. ]] SLAMing on 222.30313336499998 meters Centerline goodness [0,1] 0.28714491848469836 Centerline is valid? [False, False] Translation: X:2.77, Y:0.39, Z:-0.25 [[ 0.99995985 -0.00301995 -0.00843691 2.76977005] [ 0.00305311 0.99998766 0.00391978 0.39128084] [ 0.00842497 -0.00394539 0.99995673 -0.24529928] [ 0. 0. 0. 1. ]] SLAMing on 222.33313336499998 meters Centerline goodness [0,1] 0.2957789716039908 Centerline is valid? [False, False] Translation: X:2.73, Y:0.39, Z:-0.25 [[ 9.99924204e-01 -5.02237471e-03 -1.12411103e-02 2.72666075e+00] [ 5.05198260e-03 9.99983840e-01 2.60704886e-03 3.85146171e-01] [ 1.12278351e-02 -2.66364115e-03 9.99933418e-01 -2.45432405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36313336499998 meters Centerline goodness [0,1] 0.29466518779495876 Centerline is valid? [False, False] Translation: X:2.75, Y:0.38, Z:-0.24 [[ 9.99925439e-01 1.71399508e-03 -1.20904122e-02 2.74561150e+00] [-1.69835418e-03 9.99997708e-01 1.30380988e-03 3.79525511e-01] [ 1.20926192e-02 -1.28317886e-03 9.99926058e-01 -2.43537500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39313336499998 meters Centerline goodness [0,1] 0.29543129530069867 Centerline is valid? [False, False] Translation: X:2.75, Y:0.38, Z:-0.24 [[ 9.99921175e-01 1.62082903e-03 -1.24505418e-02 2.74652460e+00] [-1.59988341e-03 9.99997289e-01 1.69208116e-03 3.76806380e-01] [ 1.24532506e-02 -1.67202837e-03 9.99921057e-01 -2.43575842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42313336499998 meters Centerline goodness [0,1] 0.2936542384652112 Centerline is valid? [False, False] Translation: X:2.75, Y:0.37, Z:-0.24 [[ 9.99919448e-01 1.21206428e-03 -1.26344444e-02 2.74692638e+00] [-1.18829911e-03 9.99997511e-01 1.88831972e-03 3.73671607e-01] [ 1.26367017e-02 -1.87315411e-03 9.99918399e-01 -2.43426596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45313336499999 meters Centerline goodness [0,1] 0.294753756622948 Centerline is valid? [False, False] Translation: X:2.75, Y:0.37, Z:-0.24 [[ 9.99921635e-01 5.70846122e-04 -1.25059574e-02 2.74640499e+00] [-5.46634027e-04 9.99997970e-01 1.93937758e-03 3.69555203e-01] [ 1.25070391e-02 -1.93238942e-03 9.99919917e-01 -2.43010625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.483133365 meters Centerline goodness [0,1] 0.2974280732345248 Centerline is valid? [False, False] Translation: X:2.75, Y:0.36, Z:-0.24 [[ 9.99915364e-01 -2.53079589e-03 -1.27616269e-02 2.74681839e+00] [ 2.53372543e-03 9.99996767e-01 2.13395686e-04 3.59625283e-01] [ 1.27610456e-02 -2.45712084e-04 9.99918544e-01 -2.42662709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.513133365 meters Centerline goodness [0,1] 0.29901492796389517 Centerline is valid? [False, False] Translation: X:2.75, Y:0.36, Z:-0.24 [[ 9.99912735e-01 -2.34458816e-03 -1.30009859e-02 2.74755304e+00] [ 2.35824632e-03 9.99996683e-01 1.03531716e-03 3.55274222e-01] [ 1.29985154e-02 -1.06588634e-03 9.99914948e-01 -2.42837414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.543133365 meters Centerline goodness [0,1] 0.29620775833967183 Centerline is valid? [False, False] Translation: X:2.75, Y:0.35, Z:-0.24 [[ 9.99913090e-01 -2.13736833e-03 -1.30093950e-02 2.74770666e+00] [ 2.15966312e-03 9.99996223e-01 1.69993858e-03 3.51783493e-01] [ 1.30057125e-02 -1.72788675e-03 9.99913929e-01 -2.42969294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.573133365 meters Centerline goodness [0,1] 0.2970764047386154 Centerline is valid? [False, False] Translation: X:2.75, Y:0.35, Z:-0.24 [[ 9.99913781e-01 -2.04643540e-03 -1.29708491e-02 2.74745687e+00] [ 2.07340822e-03 9.99995715e-01 2.06638892e-03 3.49408207e-01] [ 1.29665648e-02 -2.09310463e-03 9.99913740e-01 -2.42684778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.603133365 meters Centerline goodness [0,1] 0.2972767216252664 Centerline is valid? [False, False] Translation: X:2.75, Y:0.35, Z:-0.24 [[ 9.99915166e-01 -1.99792736e-03 -1.28712557e-02 2.74686832e+00] [ 2.02746033e-03 9.99995341e-01 2.28185045e-03 3.47844707e-01] [ 1.28666367e-02 -2.30775283e-03 9.99914558e-01 -2.42129740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.633133365 meters Centerline goodness [0,1] 0.29718650211443864 Centerline is valid? [False, False] Translation: X:2.77, Y:0.34, Z:-0.24 [[ 9.99905582e-01 6.06362849e-03 -1.23312435e-02 2.76561330e+00] [-6.05126452e-03 9.99981150e-01 1.03971821e-03 3.43698715e-01] [ 1.23373155e-02 -9.65000425e-04 9.99923427e-01 -2.39893252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.663133365 meters Centerline goodness [0,1] 0.30228328512577785 Centerline is valid? [False, False] Translation: X:2.74, Y:0.35, Z:-0.24 [[ 9.99919100e-01 5.87139903e-04 -1.27062860e-02 2.74261881e+00] [-5.29022338e-04 9.99989386e-01 4.57680008e-03 3.45020708e-01] [ 1.27088383e-02 -4.56970791e-03 9.99908797e-01 -2.39104126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.693133365 meters Centerline goodness [0,1] 0.30054096501177907 Centerline is valid? [False, False] Translation: X:2.74, Y:0.35, Z:-0.24 [[ 9.99918623e-01 5.85379693e-04 -1.27437835e-02 2.74284151e+00] [-5.27678366e-04 9.99989597e-01 4.53069364e-03 3.45213006e-01] [ 1.27463031e-02 -4.52360032e-03 9.99908530e-01 -2.39351574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.723133365 meters Centerline goodness [0,1] 0.2980181434507364 Centerline is valid? [False, False] Translation: X:2.74, Y:0.35, Z:-0.24 [[ 9.99918868e-01 5.18359442e-04 -1.27274923e-02 2.74278698e+00] [-4.61752435e-04 9.99989991e-01 4.45015247e-03 3.45218644e-01] [ 1.27296717e-02 -4.44391447e-03 9.99909099e-01 -2.39323873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.753133365 meters Centerline goodness [0,1] 0.3002164076332874 Centerline is valid? [False, False] Translation: X:2.74, Y:0.34, Z:-0.24 [[ 9.99919789e-01 4.53357005e-04 -1.26574117e-02 2.74252190e+00] [-3.97318068e-04 9.99990111e-01 4.42952517e-03 3.44824123e-01] [ 1.26592947e-02 -4.42414086e-03 9.99910081e-01 -2.39199307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.783133365 meters Centerline goodness [0,1] 0.29602677607428196 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.24 [[ 9.99914155e-01 6.14690372e-03 -1.15714029e-02 2.76432581e+00] [-6.13127582e-03 9.99980244e-01 1.38555367e-03 3.43470079e-01] [ 1.15796912e-02 -1.31448727e-03 9.99932089e-01 -2.39106628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.813133365 meters Centerline goodness [0,1] 0.29874036879923815 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.24 [[ 9.99914537e-01 6.07493102e-03 -1.15764186e-02 2.76413954e+00] [-6.05758934e-03 9.99980478e-01 1.53249357e-03 3.42279450e-01] [ 1.15855024e-02 -1.46223741e-03 9.99931817e-01 -2.38789424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.843133365 meters Centerline goodness [0,1] 0.29980707953092145 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.24 [[ 9.99928283e-01 4.23415990e-03 -1.12027526e-02 2.76141962e+00] [-4.23244394e-03 9.99991028e-01 1.76876950e-04 3.41191199e-01] [ 1.12034010e-02 -1.29449242e-04 9.99937232e-01 -2.36606828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.873133365 meters Centerline goodness [0,1] 0.30395423260707555 Centerline is valid? [False, False] Translation: X:2.74, Y:0.34, Z:-0.24 [[ 9.99925476e-01 -4.79693343e-03 -1.12263905e-02 2.73988359e+00] [ 4.80620679e-03 9.99988131e-01 7.99198328e-04 3.43330916e-01] [ 1.12224235e-02 -8.53095123e-04 9.99936663e-01 -2.37201847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.903133365 meters Centerline goodness [0,1] 0.3015969714111657 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.23 [[ 9.99918952e-01 7.14658375e-04 -1.27113380e-02 2.75537853e+00] [-7.22603425e-04 9.99999546e-01 -6.20454711e-04 3.37562573e-01] [ 1.27108888e-02 6.29589681e-04 9.99919015e-01 -2.34685436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93313336499997 meters Centerline goodness [0,1] 0.3023392705312956 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.23 [[ 9.99916532e-01 5.39911702e-04 -1.29087814e-02 2.75601805e+00] [-5.46114094e-04 9.99999737e-01 -4.76958309e-04 3.36163377e-01] [ 1.29085205e-02 4.83968166e-04 9.99916564e-01 -2.34972452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96313336499998 meters Centerline goodness [0,1] 0.29883127784593533 Centerline is valid? [False, False] Translation: X:2.78, Y:0.34, Z:-0.23 [[ 9.99887987e-01 -9.03071740e-03 -1.19356587e-02 2.77681760e+00] [ 9.03043624e-03 9.99959222e-01 -7.74513588e-05 3.36647209e-01] [ 1.19358714e-02 -3.03415214e-05 9.99928764e-01 -2.34563201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99313336499998 meters Centerline goodness [0,1] 0.3015663821972562 Centerline is valid? [False, False] Translation: X:2.78, Y:0.34, Z:-0.23 [[ 9.99891784e-01 -9.08612601e-03 -1.15698737e-02 2.77570547e+00] [ 9.08739985e-03 9.99958707e-01 5.75310088e-05 3.35514532e-01] [ 1.15688732e-02 -1.62664852e-04 9.99933065e-01 -2.34147229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02313336499998 meters Centerline goodness [0,1] 0.30169337572179333 Centerline is valid? [False, False] Translation: X:2.78, Y:0.33, Z:-0.23 [[ 9.99893246e-01 -9.12165704e-03 -1.14145739e-02 2.77521349e+00] [ 9.12350128e-03 9.99958374e-01 1.09506661e-04 3.34963138e-01] [ 1.14130999e-02 -2.13635850e-04 9.99934846e-01 -2.33921929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05313336499998 meters Centerline goodness [0,1] 0.3029319508582382 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.24 [[ 9.99933623e-01 -1.01258318e-03 -1.14771465e-02 2.75588303e+00] [ 9.99006357e-04 9.99998795e-01 -1.18861528e-03 3.31355710e-01] [ 1.14783362e-02 1.17707064e-03 9.99933429e-01 -2.35691017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08313336499998 meters Centerline goodness [0,1] 0.3019113249252373 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.24 [[ 9.99930458e-01 -1.07295891e-03 -1.17442661e-02 2.75675956e+00] [ 1.05641901e-03 9.99998442e-01 -1.41445119e-03 3.32719948e-01] [ 1.17457655e-02 1.40194596e-03 9.99930033e-01 -2.36070719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11313336499998 meters Centerline goodness [0,1] 0.30200422170478536 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.24 [[ 9.99922220e-01 -1.02375520e-03 -1.24300509e-02 2.75886506e+00] [ 1.00100630e-03 9.99997813e-01 -1.83623729e-03 3.35973827e-01] [ 1.24319036e-02 1.82365191e-03 9.99921058e-01 -2.36857145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14313336499998 meters Centerline goodness [0,1] 0.30119722747321986 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.24 [[ 9.99921645e-01 -1.09868522e-03 -1.24698098e-02 2.75902522e+00] [ 1.07205984e-03 9.99997132e-01 -2.14167115e-03 3.37711806e-01] [ 1.24721271e-02 2.12813496e-03 9.99919955e-01 -2.36990962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17313336499998 meters Centerline goodness [0,1] 0.2999566066391842 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.24 [[ 9.99922352e-01 -1.17170923e-03 -1.24062950e-02 2.75877400e+00] [ 1.14197587e-03 9.99996460e-01 -2.40344844e-03 3.39216790e-01] [ 1.24090672e-02 2.38909413e-03 9.99920150e-01 -2.36840045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20313336499999 meters Centerline goodness [0,1] 0.301178155308208 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.24 [[ 9.99922471e-01 -1.24576115e-03 -1.23895004e-02 2.75863045e+00] [ 1.21348820e-03 9.99995852e-01 -2.61203951e-03 3.40423788e-01] [ 1.23927030e-02 2.59680249e-03 9.99919836e-01 -2.36711749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.233133365 meters Centerline goodness [0,1] 0.29595794191157454 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.24 [[ 9.99918528e-01 -1.38658060e-03 -1.26891849e-02 2.75959465e+00] [ 1.35329260e-03 9.99995622e-01 -2.63154644e-03 3.40088893e-01] [ 1.26927782e-02 2.61415986e-03 9.99916026e-01 -2.37181630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.263133365 meters Centerline goodness [0,1] 0.29972153330722706 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.24 [[ 9.99914444e-01 -1.39860340e-03 -1.30057001e-02 2.76056821e+00] [ 1.36654262e-03 9.99996007e-01 -2.47369296e-03 3.38963905e-01] [ 1.30091079e-02 2.45570847e-03 9.99912362e-01 -2.37567915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.293133365 meters Centerline goodness [0,1] 0.30112173191916547 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.24 [[ 9.99911666e-01 -1.36057711e-03 -1.32215306e-02 2.76116436e+00] [ 1.33182530e-03 9.99996730e-01 -2.18318186e-03 3.37279223e-01] [ 1.32244578e-02 2.16538024e-03 9.99910208e-01 -2.37745446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.323133365 meters Centerline goodness [0,1] 0.2995250130730347 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.24 [[ 9.99911324e-01 -1.30835171e-03 -1.32525998e-02 2.76128916e+00] [ 1.28313894e-03 9.99997351e-01 -1.91080187e-03 3.35749069e-01] [ 1.32550647e-02 1.89362750e-03 9.99910355e-01 -2.37839571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.353133365 meters Centerline goodness [0,1] 0.29796918008626105 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.24 [[ 9.99912844e-01 -1.27706830e-03 -1.31404978e-02 2.76100528e+00] [ 1.25513348e-03 9.99997806e-01 -1.67736434e-03 3.34311493e-01] [ 1.31426111e-02 1.66072506e-03 9.99912253e-01 -2.37854226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.383133365 meters Centerline goodness [0,1] 0.2987247170262226 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.24 [[ 9.99914830e-01 -1.24643161e-03 -1.29915110e-02 2.76058977e+00] [ 1.22646154e-03 9.99998054e-01 -1.54501676e-03 3.33549188e-01] [ 1.29934115e-02 1.52895159e-03 9.99914413e-01 -2.37747489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.413133365 meters Centerline goodness [0,1] 0.2984002611818478 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.24 [[ 9.99915434e-01 -1.26015908e-03 -1.29436120e-02 2.76039977e+00] [ 1.23889454e-03 9.99997870e-01 -1.65074612e-03 3.34142483e-01] [ 1.29456646e-02 1.63457076e-03 9.99914865e-01 -2.37598357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.443133365 meters Centerline goodness [0,1] 0.3012889014895427 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.24 [[ 9.99913377e-01 -1.30151165e-03 -1.30975067e-02 2.76075812e+00] [ 1.27717588e-03 9.99997443e-01 -1.86623904e-03 3.35451047e-01] [ 1.30999021e-02 1.84934956e-03 9.99912482e-01 -2.37569602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.473133365 meters Centerline goodness [0,1] 0.2979249869769057 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.24 [[ 9.99909309e-01 -1.31920247e-03 -1.34027428e-02 2.76162132e+00] [ 1.29126920e-03 9.99996977e-01 -2.09258573e-03 3.36902840e-01] [ 1.34054629e-02 2.07508940e-03 9.99907990e-01 -2.37803158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.503133365 meters Centerline goodness [0,1] 0.2955805275758687 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.24 [[ 9.99904493e-01 -1.31120968e-03 -1.37580776e-02 2.76264273e+00] [ 1.27970074e-03 9.99996539e-01 -2.29876793e-03 3.38437676e-01] [ 1.37610441e-02 2.28094216e-03 9.99902711e-01 -2.38094670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.533133365 meters Centerline goodness [0,1] 0.29787141521535887 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.24 [[ 9.99904818e-01 -1.36878198e-03 -1.37288653e-02 2.76258414e+00] [ 1.33325829e-03 9.99995741e-01 -2.59633683e-03 3.40349602e-01] [ 1.37323606e-02 2.57778558e-03 9.99902384e-01 -2.38104697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.563133365 meters Centerline goodness [0,1] 0.29943367458070136 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.24 [[ 9.99905918e-01 -1.50294080e-03 -1.36344091e-02 2.76223760e+00] [ 1.46212053e-03 9.99994421e-01 -3.00339010e-03 3.42441187e-01] [ 1.36388469e-02 2.98317239e-03 9.99902537e-01 -2.37860823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.593133365 meters Centerline goodness [0,1] 0.2968709200104448 Centerline is valid? [False, False] Translation: X:2.76, Y:0.35, Z:-0.24 [[ 9.99908804e-01 -1.75904285e-03 -1.33898907e-02 2.76128570e+00] [ 1.71026264e-03 9.99991863e-01 -3.65364191e-03 3.45695858e-01] [ 1.33962087e-02 3.63040848e-03 9.99903676e-01 -2.37300330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.623133365 meters Centerline goodness [0,1] 0.2964077690925232 Centerline is valid? [False, False] Translation: X:2.76, Y:0.35, Z:-0.24 [[ 9.99908977e-01 -1.79908399e-03 -1.33716713e-02 2.76135224e+00] [ 1.74896512e-03 9.99991406e-01 -3.75888737e-03 3.46475698e-01] [ 1.33783189e-02 3.73515864e-03 9.99903530e-01 -2.37477647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.653133365 meters Centerline goodness [0,1] 0.3032932011331445 Centerline is valid? [False, False] Translation: X:2.72, Y:0.35, Z:-0.24 [[ 9.99873219e-01 -1.93310845e-03 -1.58053219e-02 2.71712615e+00] [ 1.86729534e-03 9.99989530e-01 -4.17768158e-03 3.48798064e-01] [ 1.58132323e-02 4.14763873e-03 9.99866360e-01 -2.37514196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68313336499997 meters Centerline goodness [0,1] 0.29763251806075375 Centerline is valid? [False, False] Translation: X:2.74, Y:0.35, Z:-0.24 [[ 0.99983044 -0.01097193 -0.01478893 2.7375511 ] [ 0.01091475 0.99993267 -0.00394127 0.35401518] [ 0.01483117 0.00377918 0.99988287 -0.23644104] [ 0. 0. 0. 1. ]] SLAMing on 223.71313336499998 meters Centerline goodness [0,1] 0.2945319420139564 Centerline is valid? [False, False] Translation: X:2.76, Y:0.35, Z:-0.23 [[ 0.99990915 -0.00326428 -0.0130784 2.75514465] [ 0.0031972 0.99998164 -0.00514676 0.35148269] [ 0.01309496 0.00510448 0.99990123 -0.23479429] [ 0. 0. 0. 1. ]] SLAMing on 223.74313336499998 meters Centerline goodness [0,1] 0.298658230609796 Centerline is valid? [False, False] Translation: X:2.75, Y:0.35, Z:-0.23 [[ 0.99991211 -0.0033127 -0.01283733 2.75416487] [ 0.00324495 0.99998072 -0.00529453 0.35253361] [ 0.01285462 0.00525241 0.99990358 -0.23411745] [ 0. 0. 0. 1. ]] SLAMing on 223.77313336499998 meters Centerline goodness [0,1] 0.29934418371571125 Centerline is valid? [False, False] Translation: X:2.75, Y:0.35, Z:-0.23 [[ 0.99991362 -0.00339566 -0.01269696 2.75362159] [ 0.00332584 0.99997926 -0.00551608 0.35381009] [ 0.01271543 0.00547338 0.99990418 -0.233767 ] [ 0. 0. 0. 1. ]] SLAMing on 223.80313336499998 meters Centerline goodness [0,1] 0.29810468726254313 Centerline is valid? [False, False] Translation: X:2.75, Y:0.36, Z:-0.23 [[ 0.99991303 -0.00351257 -0.0127119 2.7536575 ] [ 0.00343954 0.99997748 -0.00576254 0.35501577] [ 0.01273185 0.00571831 0.9999026 -0.2337409 ] [ 0. 0. 0. 1. ]] SLAMing on 223.83313336499998 meters Centerline goodness [0,1] 0.29781564001747485 Centerline is valid? [False, False] Translation: X:2.75, Y:0.36, Z:-0.23 [[ 0.99991195 -0.00365696 -0.01275603 2.75384599] [ 0.00357991 0.99997524 -0.0060578 0.3563226 ] [ 0.01277787 0.0060116 0.99990029 -0.23387819] [ 0. 0. 0. 1. ]] SLAMing on 223.86313336499998 meters Centerline goodness [0,1] 0.2982551918415478 Centerline is valid? [False, False] Translation: X:2.76, Y:0.36, Z:-0.23 [[ 0.99990504 -0.00386283 -0.01322819 2.75531136] [ 0.00377725 0.99997182 -0.00648838 0.35861237] [ 0.01325288 0.00643779 0.99989145 -0.23445101] [ 0. 0. 0. 1. ]] SLAMing on 223.89313336499998 meters Centerline goodness [0,1] 0.296966008867252 Centerline is valid? [False, False] Translation: X:2.76, Y:0.36, Z:-0.23 [[ 0.99990315 -0.00387885 -0.01336619 2.75583384] [ 0.00379109 0.99997113 -0.00658516 0.35956582] [ 0.01339135 0.00653385 0.99988898 -0.23477103] [ 0. 0. 0. 1. ]] SLAMing on 223.92313336499998 meters Centerline goodness [0,1] 0.29644663439623176 Centerline is valid? [False, False] Translation: X:2.76, Y:0.36, Z:-0.23 [[ 0.99990338 -0.00387605 -0.0133492 2.75580423] [ 0.00378754 0.99997072 -0.00664918 0.36036733] [ 0.01337458 0.00659798 0.99988879 -0.23477125] [ 0. 0. 0. 1. ]] SLAMing on 223.95313336499999 meters Centerline goodness [0,1] 0.29656995514723405 Centerline is valid? [False, False] Translation: X:2.76, Y:0.36, Z:-0.23 [[ 0.99990525 -0.0039391 -0.01318964 2.75528583] [ 0.00384972 0.9999695 -0.00679516 0.36117173] [ 0.013216 0.00674374 0.99988992 -0.234564 ] [ 0. 0. 0. 1. ]] SLAMing on 223.983133365 meters Centerline goodness [0,1] 0.29234443583785175 Centerline is valid? [False, False] Translation: X:2.75, Y:0.36, Z:-0.23 [[ 0.99990782 -0.00406628 -0.01295465 2.75435763] [ 0.00397613 0.99996775 -0.00697716 0.36178691] [ 0.0129826 0.00692501 0.99989174 -0.23399795] [ 0. 0. 0. 1. ]] SLAMing on 224.013133365 meters Centerline goodness [0,1] 0.29234443583785175 Centerline is valid? [False, False] Translation: X:2.75, Y:0.36, Z:-0.23 [[ 0.99990782 -0.00406628 -0.01295465 2.75435763] [ 0.00397613 0.99996775 -0.00697716 0.36178691] [ 0.0129826 0.00692501 0.99989174 -0.23399795] [ 0. 0. 0. 1. ]] SLAMing on 224.043133365 meters Centerline goodness [0,1] 0.29643036263328904 Centerline is valid? [False, False] Translation: X:2.73, Y:0.36, Z:-0.23 [[ 0.99991246 0.00411913 -0.01257425 2.73294031] [-0.00422343 0.99995681 -0.00827938 0.35914803] [ 0.0125396 0.00833176 0.99988666 -0.23484184] [ 0. 0. 0. 1. ]] SLAMing on 224.073133365 meters Centerline goodness [0,1] 0.2957266071389776 Centerline is valid? [False, False] Translation: X:2.73, Y:0.36, Z:-0.24 [[ 0.99991208 0.0039664 -0.01265329 2.73323073] [-0.004075 0.99995498 -0.00856915 0.36066717] [ 0.01261873 0.00861995 0.99988323 -0.23500374] [ 0. 0. 0. 1. ]] SLAMing on 224.103133365 meters Centerline goodness [0,1] 0.29240975273541825 Centerline is valid? [False, False] Translation: X:2.75, Y:0.37, Z:-0.23 [[ 0.99990119 -0.00421407 -0.01341105 2.75440792] [ 0.00411308 0.99996305 -0.00754855 0.36537288] [ 0.01344236 0.00749264 0.99988157 -0.23402822] [ 0. 0. 0. 1. ]] SLAMing on 224.133133365 meters Centerline goodness [0,1] 0.29867551113923496 Centerline is valid? [False, False] Translation: X:2.73, Y:0.36, Z:-0.24 [[ 0.99988147 0.0044784 -0.0147307 2.7344113 ] [-0.00460569 0.99995225 -0.00861891 0.36405345] [ 0.0146914 0.00868573 0.99985435 -0.23534373] [ 0. 0. 0. 1. ]] SLAMing on 224.163133365 meters Centerline goodness [0,1] 0.29483837330552654 Centerline is valid? [False, False] Translation: X:2.73, Y:0.37, Z:-0.24 [[ 0.9998808 0.00440742 -0.01479746 2.73476587] [-0.00453804 0.99995093 -0.00880574 0.36509972] [ 0.01475792 0.00887184 0.99985174 -0.23564225] [ 0. 0. 0. 1. ]] SLAMing on 224.193133365 meters Centerline goodness [0,1] 0.29539265875177 Centerline is valid? [False, False] Translation: X:2.74, Y:0.37, Z:-0.24 [[ 0.99987655 0.00422963 -0.01513271 2.73598905] [-0.00436952 0.99994792 -0.00922314 0.36717581] [ 0.01509292 0.00928812 0.99984295 -0.23628027] [ 0. 0. 0. 1. ]] SLAMing on 224.223133365 meters Centerline goodness [0,1] 0.2936794924539332 Centerline is valid? [False, False] Translation: X:2.76, Y:0.37, Z:-0.23 [[ 0.99985574 -0.00381238 -0.01655201 2.75621837] [ 0.00367691 0.99995956 -0.0082075 0.37204021] [ 0.01658263 0.00814545 0.99982932 -0.23430688] [ 0. 0. 0. 1. ]] SLAMing on 224.253133365 meters Centerline goodness [0,1] 0.29586748189584144 Centerline is valid? [False, False] Translation: X:2.76, Y:0.37, Z:-0.23 [[ 0.99985324 -0.00384038 -0.01669576 2.75663044] [ 0.00370155 0.99995839 -0.00833801 0.37299822] [ 0.01672709 0.00827498 0.99982585 -0.23438752] [ 0. 0. 0. 1. ]] SLAMing on 224.283133365 meters Centerline goodness [0,1] 0.2935229274019959 Centerline is valid? [False, False] Translation: X:2.76, Y:0.37, Z:-0.23 [[ 0.99985322 -0.00386531 -0.01669153 2.75659721] [ 0.00372529 0.99995768 -0.00841148 0.37353145] [ 0.01672334 0.00834806 0.9998253 -0.23437328] [ 0. 0. 0. 1. ]] SLAMing on 224.313133365 meters Centerline goodness [0,1] 0.2906287069988137 Centerline is valid? [False, False] Translation: X:2.76, Y:0.37, Z:-0.23 [[ 0.99985553 -0.00389214 -0.01654607 2.75611358] [ 0.00375363 0.99995772 -0.00839414 0.37319506] [ 0.01657805 0.00833082 0.99982787 -0.23417922] [ 0. 0. 0. 1. ]] SLAMing on 224.343133365 meters Centerline goodness [0,1] 0.2929362582424686 Centerline is valid? [False, False] Translation: X:2.76, Y:0.37, Z:-0.23 [[ 0.99985797 -0.00389209 -0.01639792 2.75566168] [ 0.00375716 0.9999589 -0.00825087 0.37210067] [ 0.01642936 0.00818809 0.9998315 -0.23409213] [ 0. 0. 0. 1. ]] SLAMing on 224.373133365 meters Centerline goodness [0,1] 0.29306230475529327 Centerline is valid? [False, False] Translation: X:2.75, Y:0.37, Z:-0.23 [[ 0.99986214 -0.00428699 -0.01604105 2.75484105] [ 0.00415801 0.99995883 -0.00806526 0.36895964] [ 0.01607497 0.00799745 0.99983881 -0.23429722] [ 0. 0. 0. 1. ]] SLAMing on 224.403133365 meters Centerline goodness [0,1] 0.299604743083004 Centerline is valid? [False, False] Translation: X:2.74, Y:0.36, Z:-0.24 [[ 0.99986477 0.00391863 -0.01597118 2.73504624] [-0.00406449 0.99995024 -0.00911079 0.36330886] [ 0.01593468 0.00917448 0.99983094 -0.23626049] [ 0. 0. 0. 1. ]] SLAMing on 224.43313336499997 meters Centerline goodness [0,1] 0.2951101628494296 Centerline is valid? [False, False] Translation: X:2.76, Y:0.36, Z:-0.24 [[ 0.99986167 -0.00468429 -0.01595898 2.75581062] [ 0.00455785 0.99995801 -0.00795052 0.36368765] [ 0.01599555 0.00787669 0.99984104 -0.23516052] [ 0. 0. 0. 1. ]] SLAMing on 224.46313336499998 meters Centerline goodness [0,1] 0.29263793028606155 Centerline is valid? [False, False] Translation: X:2.76, Y:0.36, Z:-0.24 [[ 0.99986098 -0.00460109 -0.01602658 2.7559858 ] [ 0.0044774 0.99995998 -0.00774495 0.36256949] [ 0.01606157 0.00767211 0.99984157 -0.23520915] [ 0. 0. 0. 1. ]] SLAMing on 224.49313336499998 meters Centerline goodness [0,1] 0.2925492744206194 Centerline is valid? [False, False] Translation: X:2.76, Y:0.36, Z:-0.24 [[ 0.99985976 -0.00450401 -0.0161302 2.75616522] [ 0.00438165 0.99996142 -0.00761353 0.36213048] [ 0.01616387 0.00754178 0.99984091 -0.23507377] [ 0. 0. 0. 1. ]] SLAMing on 224.52313336499998 meters Centerline goodness [0,1] 0.2909255351220983 Centerline is valid? [False, False] Translation: X:2.75, Y:0.36, Z:-0.23 [[ 9.99874965e-01 -6.06213182e-04 -1.58015063e-02 2.75457218e+00] [ 5.45819142e-04 9.99992532e-01 -3.82607566e-03 3.61490924e-01] [ 1.58037077e-02 3.81697250e-03 9.99867828e-01 -2.34015675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55313336499998 meters Centerline goodness [0,1] 0.2946842128046405 Centerline is valid? [False, False] Translation: X:2.75, Y:0.36, Z:-0.23 [[ 9.99878627e-01 -5.16449023e-04 -1.55712441e-02 2.75383690e+00] [ 4.55801520e-04 9.99992298e-01 -3.89813732e-03 3.62216483e-01] [ 1.55731374e-02 3.89056679e-03 9.99871162e-01 -2.33645440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58313336499998 meters Centerline goodness [0,1] 0.2937817670595869 Centerline is valid? [False, False] Translation: X:2.75, Y:0.36, Z:-0.23 [[ 9.99879017e-01 -5.20283549e-04 -1.55460528e-02 2.75395284e+00] [ 4.57765833e-04 9.99991796e-01 -4.02474052e-03 3.62783074e-01] [ 1.55480193e-02 4.01713714e-03 9.99871053e-01 -2.33919366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61313336499998 meters Centerline goodness [0,1] 0.2992268321899162 Centerline is valid? [False, False] Translation: X:2.75, Y:0.36, Z:-0.23 [[ 9.99876906e-01 -4.86437063e-04 -1.56823402e-02 2.75457180e+00] [ 4.23604359e-04 9.99991872e-01 -4.00966259e-03 3.62725969e-01] [ 1.56841632e-02 4.00252592e-03 9.99868985e-01 -2.34388367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64313336499998 meters Centerline goodness [0,1] 0.293998316679975 Centerline is valid? [False, False] Translation: X:2.76, Y:0.36, Z:-0.23 [[ 9.99874206e-01 -3.74102187e-04 -1.58566175e-02 2.75523411e+00] [ 3.13641539e-04 9.99992673e-01 -3.81527531e-03 3.61989418e-01] [ 1.58579286e-02 3.80982208e-03 9.99866997e-01 -2.34817338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67313336499998 meters Centerline goodness [0,1] 0.2933877125997917 Centerline is valid? [False, False] Translation: X:2.76, Y:0.36, Z:-0.23 [[ 9.99873711e-01 -2.51239832e-04 -1.58902020e-02 2.75527812e+00] [ 1.93952568e-04 9.99993477e-01 -3.60663249e-03 3.61353817e-01] [ 1.58910045e-02 3.60309507e-03 9.99867238e-01 -2.34796104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70313336499999 meters Centerline goodness [0,1] 0.29676352879763357 Centerline is valid? [False, False] Translation: X:2.75, Y:0.36, Z:-0.23 [[ 9.99876883e-01 -2.20094977e-04 -1.56898274e-02 2.75437219e+00] [ 1.65769602e-04 9.99993988e-01 -3.46367491e-03 3.60429209e-01] [ 1.56904954e-02 3.46064757e-03 9.99870908e-01 -2.34139911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.733133365 meters Centerline goodness [0,1] 0.2983154870723427 Centerline is valid? [False, False] Translation: X:2.75, Y:0.36, Z:-0.23 [[ 9.99877221e-01 -2.41336269e-04 -1.56679670e-02 2.75421407e+00] [ 1.87063991e-04 9.99993978e-01 -3.46527365e-03 3.60284289e-01] [ 1.56687089e-02 3.46191727e-03 9.99871245e-01 -2.34008913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.763133365 meters Centerline goodness [0,1] 0.3005822256398989 Centerline is valid? [False, False] Translation: X:2.75, Y:0.36, Z:-0.23 [[ 9.99876095e-01 -2.39622359e-04 -1.57396630e-02 2.75454549e+00] [ 1.85196322e-04 9.99994000e-01 -3.45925738e-03 3.60406988e-01] [ 1.57403975e-02 3.45591384e-03 9.99870140e-01 -2.34332693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.793133365 meters Centerline goodness [0,1] 0.2967320832150887 Centerline is valid? [False, False] Translation: X:2.75, Y:0.36, Z:-0.23 [[ 9.99875313e-01 -2.27393097e-04 -1.57894504e-02 2.75495706e+00] [ 1.72691403e-04 9.99993979e-01 -3.46572278e-03 3.60737030e-01] [ 1.57901434e-02 3.46256395e-03 9.99869332e-01 -2.34782603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.823133365 meters Centerline goodness [0,1] 0.29566728200673253 Centerline is valid? [False, False] Translation: X:2.75, Y:0.36, Z:-0.23 [[ 9.99878794e-01 -2.72290008e-04 -1.55667409e-02 2.75423727e+00] [ 2.18070881e-04 9.99993905e-01 -3.48460215e-03 3.60783545e-01] [ 1.55675948e-02 3.48078514e-03 9.99872759e-01 -2.34490083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.853133365 meters Centerline goodness [0,1] 0.2924766445878012 Centerline is valid? [False, False] Translation: X:2.75, Y:0.36, Z:-0.23 [[ 9.99881676e-01 -3.11773840e-04 -1.53797384e-02 2.75357212e+00] [ 2.59635990e-04 9.99994214e-01 -3.39191518e-03 3.59923345e-01] [ 1.53807069e-02 3.38752070e-03 9.99875972e-01 -2.34218311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.883133365 meters Centerline goodness [0,1] 0.29730905610302594 Centerline is valid? [False, False] Translation: X:2.75, Y:0.36, Z:-0.23 [[ 9.99883965e-01 -3.36809477e-04 -1.52296835e-02 2.75292779e+00] [ 2.87029556e-04 9.99994610e-01 -3.27067929e-03 3.58997362e-01] [ 1.52307030e-02 3.26592841e-03 9.99878672e-01 -2.33835753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.913133365 meters Centerline goodness [0,1] 0.2949715328784389 Centerline is valid? [False, False] Translation: X:2.75, Y:0.36, Z:-0.23 [[ 9.99884091e-01 -3.04738800e-04 -1.52220678e-02 2.75294752e+00] [ 2.58465033e-04 9.99995340e-01 -3.04178817e-03 3.57669535e-01] [ 1.52229238e-02 3.03750123e-03 9.99879511e-01 -2.33959137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.943133365 meters Centerline goodness [0,1] 0.2935340626015379 Centerline is valid? [False, False] Translation: X:2.75, Y:0.36, Z:-0.23 [[ 9.99880588e-01 -2.59894285e-04 -1.54513109e-02 2.75371435e+00] [ 2.17322430e-04 9.99996176e-01 -2.75684133e-03 3.56139606e-01] [ 1.54519683e-02 2.75315421e-03 9.99876821e-01 -2.34375557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.973133365 meters Centerline goodness [0,1] 0.29676306133146946 Centerline is valid? [False, False] Translation: X:2.75, Y:0.35, Z:-0.24 [[ 9.99876089e-01 -2.32143356e-04 -1.57401407e-02 2.75475518e+00] [ 1.93445200e-04 9.99996955e-01 -2.46004275e-03 3.54273148e-01] [ 1.57406639e-02 2.45669307e-03 9.99873090e-01 -2.35037649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.003133365 meters Centerline goodness [0,1] 0.2939103741974535 Centerline is valid? [False, False] Translation: X:2.76, Y:0.35, Z:-0.24 [[ 9.99855116e-01 -2.58027818e-03 -1.68252346e-02 2.75915771e+00] [ 2.50609443e-03 9.99987053e-01 -4.42867140e-03 3.51385975e-01] [ 1.68364440e-02 4.38586413e-03 9.99848638e-01 -2.37112928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.033133365 meters Centerline goodness [0,1] 0.29641948738016044 Centerline is valid? [False, False] Translation: X:2.76, Y:0.35, Z:-0.24 [[ 9.99856293e-01 -2.52445277e-03 -1.67636537e-02 2.75876908e+00] [ 2.45226654e-03 9.99987639e-01 -4.32527655e-03 3.50947114e-01] [ 1.67743654e-02 4.28354603e-03 9.99850125e-01 -2.36768974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.063133365 meters Centerline goodness [0,1] 0.29674024584616054 Centerline is valid? [False, False] Translation: X:2.76, Y:0.35, Z:-0.24 [[ 9.99859574e-01 -2.44805762e-03 -1.65782977e-02 2.75797678e+00] [ 2.37681946e-03 9.99987864e-01 -4.31541395e-03 3.51440070e-01] [ 1.65886609e-02 4.27540433e-03 9.99853258e-01 -2.36182378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.093133365 meters Centerline goodness [0,1] 0.2957189949134412 Centerline is valid? [False, False] Translation: X:2.76, Y:0.35, Z:-0.24 [[ 9.99861825e-01 -2.42555522e-03 -1.64452943e-02 2.75748141e+00] [ 2.35272181e-03 9.99987346e-01 -4.44673118e-03 3.52515478e-01] [ 1.64558720e-02 4.40742555e-03 9.99854879e-01 -2.35807025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.123133365 meters Centerline goodness [0,1] 0.2919057134876125 Centerline is valid? [False, False] Translation: X:2.80, Y:0.35, Z:-0.24 [[ 9.99894645e-01 -2.37787676e-03 -1.43193610e-02 2.80077765e+00] [ 2.31992280e-03 9.99989057e-01 -4.06249656e-03 3.50862040e-01] [ 1.43288644e-02 4.02884874e-03 9.99889220e-01 -2.35411982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.153133365 meters Centerline goodness [0,1] 0.2942506740888927 Centerline is valid? [False, False] Translation: X:2.78, Y:0.35, Z:-0.24 [[ 0.99987653 0.00632018 -0.01438649 2.77930398] [-0.00640176 0.99996365 -0.00563168 0.35141955] [ 0.01435037 0.00572308 0.99988065 -0.2368138 ] [ 0. 0. 0. 1. ]] SLAMing on 225.18313336499997 meters Centerline goodness [0,1] 0.2991815901790822 Centerline is valid? [False, False] Translation: X:2.76, Y:0.36, Z:-0.24 [[ 9.99907659e-01 5.17353228e-04 -1.35796439e-02 2.75747126e+00] [-5.58060766e-04 9.99995362e-01 -2.99407010e-03 3.57255571e-01] [ 1.35780319e-02 3.00137189e-03 9.99903310e-01 -2.37370008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21313336499998 meters Centerline goodness [0,1] 0.29539736248481696 Centerline is valid? [False, False] Translation: X:2.78, Y:0.36, Z:-0.24 [[ 9.99906742e-01 -5.68972758e-03 -1.24150579e-02 2.77924831e+00] [ 5.69163816e-03 9.99983795e-01 1.18564864e-04 3.58323556e-01] [ 1.24141821e-02 -1.89215824e-04 9.99922923e-01 -2.37153260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24313336499998 meters Centerline goodness [0,1] 0.2960574877339238 Centerline is valid? [False, False] Translation: X:2.78, Y:0.36, Z:-0.24 [[ 9.99906135e-01 -5.89621885e-03 -1.23675324e-02 2.77917456e+00] [ 5.89751136e-03 9.99982607e-01 6.80400745e-05 3.57606982e-01] [ 1.23669161e-02 -1.40971351e-04 9.99923517e-01 -2.37284366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27313336499998 meters Centerline goodness [0,1] 0.29802103063157204 Centerline is valid? [False, False] Translation: X:2.78, Y:0.36, Z:-0.24 [[ 9.99905867e-01 -5.94411886e-03 -1.23662826e-02 2.77915632e+00] [ 5.94691794e-03 9.99982299e-01 1.89587415e-04 3.56433866e-01] [ 1.23649367e-02 -2.63110836e-04 9.99923517e-01 -2.37370719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30313336499998 meters Centerline goodness [0,1] 0.29484442719451454 Centerline is valid? [False, False] Translation: X:2.80, Y:0.35, Z:-0.24 [[ 9.99925058e-01 1.17639354e-03 -1.21858369e-02 2.79767392e+00] [-1.18746185e-03 9.99998889e-01 -9.01097770e-04 3.49954624e-01] [ 1.21847633e-02 9.15500457e-04 9.99925344e-01 -2.36180337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33313336499998 meters Centerline goodness [0,1] 0.2983309239059009 Centerline is valid? [False, False] Translation: X:2.78, Y:0.35, Z:-0.24 [[ 9.99895251e-01 -6.66530038e-03 -1.28475701e-02 2.77777734e+00] [ 6.67055888e-03 9.99977684e-01 3.66490013e-04 3.54613592e-01] [ 1.28448407e-02 -4.52152096e-04 9.99917399e-01 -2.37280077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36313336499998 meters Centerline goodness [0,1] 0.2932389426511658 Centerline is valid? [False, False] Translation: X:2.80, Y:0.35, Z:-0.24 [[ 9.99916078e-01 9.17230908e-04 -1.29227106e-02 2.79744413e+00] [-9.20690727e-04 9.99999542e-01 -2.61785084e-04 3.48529403e-01] [ 1.29224645e-02 2.73660934e-04 9.99916464e-01 -2.36463651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39313336499998 meters Centerline goodness [0,1] 0.29610350009801145 Centerline is valid? [False, False] Translation: X:2.80, Y:0.35, Z:-0.24 [[ 9.99913487e-01 9.53420135e-04 -1.31190689e-02 2.79809322e+00] [-9.55731869e-04 9.99999529e-01 -1.69943425e-04 3.48165874e-01] [ 1.31189007e-02 1.82467035e-04 9.99913927e-01 -2.36771896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42313336499998 meters Centerline goodness [0,1] 0.2964271692186886 Centerline is valid? [False, False] Translation: X:2.80, Y:0.35, Z:-0.24 [[ 9.99907794e-01 9.98641065e-04 -1.35427362e-02 2.79950927e+00] [-1.00041365e-03 9.99999492e-01 -1.24114456e-04 3.48205384e-01] [ 1.35426053e-02 1.37651350e-04 9.99908285e-01 -2.37459937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45313336499999 meters Centerline goodness [0,1] 0.2939686525805334 Centerline is valid? [False, False] Translation: X:2.80, Y:0.35, Z:-0.24 [[ 9.99908411e-01 1.07139692e-03 -1.34915115e-02 2.79933428e+00] [-1.07254453e-03 9.99999422e-01 -7.78263837e-05 3.48312164e-01] [ 1.34914203e-02 9.22895025e-05 9.99908982e-01 -2.37340745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.483133365 meters Centerline goodness [0,1] 0.2941316897434785 Centerline is valid? [False, False] Translation: X:2.80, Y:0.35, Z:-0.24 [[ 9.99911712e-01 1.10553746e-03 -1.32418082e-02 2.79850349e+00] [-1.10672751e-03 9.99999384e-01 -8.25436914e-05 3.48469026e-01] [ 1.32417088e-02 9.71914773e-05 9.99912320e-01 -2.36928275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.513133365 meters Centerline goodness [0,1] 0.2984487703137221 Centerline is valid? [False, False] Translation: X:2.80, Y:0.35, Z:-0.24 [[ 9.99915198e-01 1.07348723e-03 -1.29786388e-02 2.79751999e+00] [-1.07539623e-03 9.99999412e-01 -1.40109475e-04 3.48486169e-01] [ 1.29784807e-02 1.54054772e-04 9.99915764e-01 -2.36355405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.543133365 meters Centerline goodness [0,1] 0.29163259157233246 Centerline is valid? [False, False] Translation: X:2.80, Y:0.35, Z:-0.24 [[ 9.99917443e-01 1.01089325e-03 -1.28095749e-02 2.79690369e+00] [-1.01336538e-03 9.99999469e-01 -1.86501275e-04 3.48052964e-01] [ 1.28093796e-02 1.99466658e-04 9.99917937e-01 -2.36068335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.573133365 meters Centerline goodness [0,1] 0.2949311747900615 Centerline is valid? [False, False] Translation: X:2.80, Y:0.35, Z:-0.24 [[ 9.99919164e-01 1.01565204e-03 -1.26741129e-02 2.79649259e+00] [-1.01668709e-03 9.99999480e-01 -7.52239837e-05 3.47117563e-01] [ 1.26740299e-02 8.81035100e-05 9.99919677e-01 -2.35982881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.603133365 meters Centerline goodness [0,1] 0.2940628385698808 Centerline is valid? [False, False] Translation: X:2.80, Y:0.34, Z:-0.24 [[ 9.99919075e-01 1.17905029e-03 -1.26670053e-02 2.79653250e+00] [-1.17318042e-03 9.99999201e-01 4.70819338e-04 3.44241637e-01] [ 1.26675503e-02 -4.55920554e-04 9.99919659e-01 -2.36232562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.633133365 meters Centerline goodness [0,1] 0.29436321162830936 Centerline is valid? [False, False] Translation: X:2.80, Y:0.34, Z:-0.24 [[ 9.99918188e-01 1.28618501e-03 -1.27264784e-02 2.79688946e+00] [-1.27598436e-03 9.99998858e-01 8.09616692e-04 3.42437798e-01] [ 1.27275052e-02 -7.93311668e-04 9.99918687e-01 -2.36633985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.663133365 meters Centerline goodness [0,1] 0.2933965737552249 Centerline is valid? [False, False] Translation: X:2.80, Y:0.34, Z:-0.24 [[ 9.99917661e-01 1.39082300e-03 -1.27567990e-02 2.79701535e+00] [-1.37630759e-03 9.99998396e-01 1.14656496e-03 3.40546231e-01] [ 1.27583732e-02 -1.12891327e-03 9.99917971e-01 -2.36809906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.693133365 meters Centerline goodness [0,1] 0.29616770105464174 Centerline is valid? [False, False] Translation: X:2.80, Y:0.34, Z:-0.24 [[ 9.99918880e-01 1.43576718e-03 -1.26558973e-02 2.79658103e+00] [-1.41873913e-03 9.99998076e-01 1.35433943e-03 3.39123829e-01] [ 1.26578175e-02 -1.33627415e-03 9.99918994e-01 -2.36556989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.723133365 meters Centerline goodness [0,1] 0.29580794170588365 Centerline is valid? [False, False] Translation: X:2.80, Y:0.34, Z:-0.24 [[ 9.99923672e-01 1.52302980e-03 -1.22609739e-02 2.79500665e+00] [-1.50392414e-03 9.99997641e-01 1.56731956e-03 3.37973351e-01] [ 1.22633320e-02 -1.54876035e-03 9.99923603e-01 -2.35571422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.753133365 meters Centerline goodness [0,1] 0.2986504516721713 Centerline is valid? [False, False] Translation: X:2.79, Y:0.34, Z:-0.24 [[ 9.99924913e-01 1.56365950e-03 -1.21541306e-02 2.79468603e+00] [-1.54402287e-03 9.99997488e-01 1.62484971e-03 3.37821508e-01] [ 1.21566408e-02 -1.60596145e-03 9.99924816e-01 -2.35422233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.783133365 meters Centerline goodness [0,1] 0.2934099401689094 Centerline is valid? [False, False] Translation: X:2.81, Y:0.34, Z:-0.23 [[ 9.99912070e-01 -6.62411187e-03 -1.14879657e-02 2.81499849e+00] [ 6.65625954e-03 9.99974031e-01 2.76240416e-03 3.39979567e-01] [ 1.14693689e-02 -2.83862814e-03 9.99930195e-01 -2.34475059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.813133365 meters Centerline goodness [0,1] 0.29273292193501055 Centerline is valid? [False, False] Translation: X:2.82, Y:0.34, Z:-0.23 [[ 9.99912105e-01 -6.66958982e-03 -1.14585927e-02 2.81512560e+00] [ 6.70103711e-03 9.99973880e-01 2.70823042e-03 3.39863316e-01] [ 1.14402306e-02 -2.78477683e-03 9.99930681e-01 -2.34775249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.843133365 meters Centerline goodness [0,1] 0.2967830223515868 Centerline is valid? [False, False] Translation: X:2.80, Y:0.34, Z:-0.24 [[ 9.99930727e-01 1.55675065e-03 -1.16669148e-02 2.79539656e+00] [-1.54240327e-03 9.99998043e-01 1.23864629e-03 3.36494592e-01] [ 1.16688202e-02 -1.22056540e-03 9.99931172e-01 -2.36629505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.873133365 meters Centerline goodness [0,1] 0.29879512812677345 Centerline is valid? [False, False] Translation: X:2.80, Y:0.34, Z:-0.24 [[ 9.99930764e-01 1.56166469e-03 -1.16630954e-02 2.79547707e+00] [-1.54742796e-03 9.99998047e-01 1.22958926e-03 3.36574574e-01] [ 1.16649928e-02 -1.21145633e-03 9.99931228e-01 -2.36800411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.903133365 meters Centerline goodness [0,1] 0.2983015325503209 Centerline is valid? [False, False] Translation: X:2.80, Y:0.34, Z:-0.24 [[ 9.99928381e-01 1.69373144e-03 -1.18475447e-02 2.79618817e+00] [-1.67819592e-03 9.99997719e-01 1.32110437e-03 3.36774866e-01] [ 1.18497553e-02 -1.30112726e-03 9.99928943e-01 -2.37207363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93313336499997 meters Centerline goodness [0,1] 0.2983015325503209 Centerline is valid? [False, False] Translation: X:2.80, Y:0.34, Z:-0.24 [[ 9.99928381e-01 1.69373144e-03 -1.18475447e-02 2.79618817e+00] [-1.67819592e-03 9.99997719e-01 1.32110437e-03 3.36774866e-01] [ 1.18497553e-02 -1.30112726e-03 9.99928943e-01 -2.37207363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96313336499998 meters Centerline goodness [0,1] 0.2936177555378211 Centerline is valid? [False, False] Translation: X:2.82, Y:0.34, Z:-0.24 [[ 9.99915111e-01 -6.35295103e-03 -1.13758659e-02 2.81630295e+00] [ 6.38195121e-03 9.99976473e-01 2.51478815e-03 3.39433861e-01] [ 1.13596219e-02 -2.58717490e-03 9.99932130e-01 -2.36057419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99313336499998 meters Centerline goodness [0,1] 0.2952989502510269 Centerline is valid? [False, False] Translation: X:2.80, Y:0.34, Z:-0.24 [[ 9.99935350e-01 2.03994984e-03 -1.11863629e-02 2.79609739e+00] [-2.02591316e-03 9.99997146e-01 1.26599059e-03 3.36272707e-01] [ 1.11889135e-02 -1.24324614e-03 9.99936629e-01 -2.37829529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02313336499998 meters Centerline goodness [0,1] 0.2957225686467564 Centerline is valid? [False, False] Translation: X:2.80, Y:0.34, Z:-0.24 [[ 9.99934303e-01 2.07117767e-03 -1.12738917e-02 2.79636187e+00] [-2.05647740e-03 9.99997020e-01 1.31535864e-03 3.36102894e-01] [ 1.12765825e-02 -1.29208772e-03 9.99935583e-01 -2.37930158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05313336499998 meters Centerline goodness [0,1] 0.2954777804363431 Centerline is valid? [False, False] Translation: X:2.80, Y:0.34, Z:-0.24 [[ 9.99932044e-01 2.08842070e-03 -1.14693318e-02 2.79696921e+00] [-2.07315770e-03 9.99996950e-01 1.34249472e-03 3.36020495e-01] [ 1.14721005e-02 -1.31862576e-03 9.99933324e-01 -2.38164125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08313336499998 meters Centerline goodness [0,1] 0.2905759727227605 Centerline is valid? [False, False] Translation: X:2.80, Y:0.34, Z:-0.24 [[ 9.99929786e-01 2.15212065e-03 -1.16529387e-02 2.79767138e+00] [-2.13521466e-03 9.99996650e-01 1.46303839e-03 3.35526202e-01] [ 1.16560483e-02 -1.43805414e-03 9.99931032e-01 -2.38608518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11313336499998 meters Centerline goodness [0,1] 0.29565596080566137 Centerline is valid? [False, False] Translation: X:2.80, Y:0.33, Z:-0.24 [[ 9.99930428e-01 2.15163992e-03 -1.15978434e-02 2.79744497e+00] [-2.13190476e-03 9.99996259e-01 1.71371816e-03 3.33614006e-01] [ 1.16014874e-02 -1.68887343e-03 9.99931274e-01 -2.38538991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14313336499998 meters Centerline goodness [0,1] 0.29510979564299544 Centerline is valid? [False, False] Translation: X:2.80, Y:0.33, Z:-0.24 [[ 9.99932342e-01 2.12428040e-03 -1.14367005e-02 2.79669204e+00] [-2.10413619e-03 9.99996214e-01 1.77310934e-03 3.32946755e-01] [ 1.14404238e-02 -1.74892500e-03 9.99933027e-01 -2.38016198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17313336499998 meters Centerline goodness [0,1] 0.2900056027237857 Centerline is valid? [False, False] Translation: X:2.80, Y:0.33, Z:-0.24 [[ 9.99932218e-01 2.12149809e-03 -1.14481119e-02 2.79642349e+00] [-2.10053281e-03 9.99996095e-01 1.84304458e-03 3.32491762e-01] [ 1.14519772e-02 -1.81887252e-03 9.99932770e-01 -2.37580292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20313336499999 meters Centerline goodness [0,1] 0.2909616089327671 Centerline is valid? [False, False] Translation: X:2.80, Y:0.33, Z:-0.24 [[ 9.99930460e-01 2.25455641e-03 -1.15754838e-02 2.79700119e+00] [-2.23069955e-03 9.99995362e-01 2.07347922e-03 3.31963829e-01] [ 1.15801049e-02 -2.04751360e-03 9.99930852e-01 -2.38031228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.233133365 meters Centerline goodness [0,1] 0.2930169668949274 Centerline is valid? [False, False] Translation: X:2.78, Y:0.34, Z:-0.24 [[ 0.99991462 -0.00549187 -0.01185757 2.7781093 ] [ 0.00553244 0.99997895 0.00339075 0.33654338] [ 0.0118387 -0.00345606 0.99992395 -0.24008686] [ 0. 0. 0. 1. ]] SLAMing on 226.263133365 meters Centerline goodness [0,1] 0.294338298199048 Centerline is valid? [False, False] Translation: X:2.78, Y:0.34, Z:-0.24 [[ 0.99991544 -0.00548959 -0.01178866 2.77811219] [ 0.00553185 0.99997838 0.0035552 0.33537302] [ 0.01176889 -0.00362011 0.99992419 -0.24040152] [ 0. 0. 0. 1. ]] SLAMing on 226.293133365 meters Centerline goodness [0,1] 0.29199212411017594 Centerline is valid? [False, False] Translation: X:2.80, Y:0.33, Z:-0.24 [[ 9.99934214e-01 -1.52214424e-05 -1.14702431e-02 2.80043691e+00] [ 2.31256311e-05 9.99999762e-01 6.88971535e-04 3.30566077e-01] [ 1.14702299e-02 -6.89191468e-04 9.99933977e-01 -2.40930268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.323133365 meters Centerline goodness [0,1] 0.29150332459769124 Centerline is valid? [False, False] Translation: X:2.80, Y:0.33, Z:-0.24 [[ 9.99933579e-01 -1.04862787e-05 -1.15254712e-02 2.80055298e+00] [ 2.03810504e-05 9.99999631e-01 8.58396305e-04 3.29291465e-01] [ 1.15254580e-02 -8.58574191e-04 9.99933211e-01 -2.40968097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.353133365 meters Centerline goodness [0,1] 0.2952085533262936 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.24 [[ 9.99897874e-01 -2.52921515e-04 -1.42890499e-02 2.75704665e+00] [ 2.53368212e-04 9.99999967e-01 2.94512464e-05 3.31703709e-01] [ 1.42890420e-02 -3.30686297e-05 9.99897906e-01 -2.41212276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.383133365 meters Centerline goodness [0,1] 0.2939226760286967 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.24 [[ 9.99896969e-01 -1.44610301e-04 -1.43537737e-02 2.75739574e+00] [ 1.51941786e-04 9.99999859e-01 5.09681349e-04 3.28906499e-01] [ 1.43536979e-02 -5.11809774e-04 9.99896849e-01 -2.41632954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.413133365 meters Centerline goodness [0,1] 0.2914856646394439 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.24 [[ 9.99902319e-01 -8.97433249e-05 -1.39765361e-02 2.75622702e+00] [ 9.89830034e-05 9.99999777e-01 6.60394660e-04 3.27946544e-01] [ 1.39764737e-02 -6.61713592e-04 9.99902105e-01 -2.41197835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.443133365 meters Centerline goodness [0,1] 0.29065841305571183 Centerline is valid? [False, False] Translation: X:2.75, Y:0.33, Z:-0.24 [[ 9.99907436e-01 -7.99759602e-05 -1.36055997e-02 2.75499715e+00] [ 8.95518993e-05 9.99999749e-01 7.03215602e-04 3.27471600e-01] [ 1.36055400e-02 -7.04368917e-04 9.99907192e-01 -2.40596480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.473133365 meters Centerline goodness [0,1] 0.29565558412131243 Centerline is valid? [False, False] Translation: X:2.75, Y:0.33, Z:-0.24 [[ 9.99910004e-01 -7.86820473e-05 -1.34155984e-02 2.75427784e+00] [ 8.74707838e-05 9.99999782e-01 6.54527761e-04 3.27751282e-01] [ 1.34155440e-02 -6.55642329e-04 9.99909793e-01 -2.40104625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.503133365 meters Centerline goodness [0,1] 0.2955563812812835 Centerline is valid? [False, False] Translation: X:2.75, Y:0.33, Z:-0.24 [[ 9.99911106e-01 -4.37047267e-05 -1.33333762e-02 2.75404783e+00] [ 5.21020055e-05 9.99999801e-01 6.29447169e-04 3.28099029e-01] [ 1.33333460e-02 -6.30085911e-04 9.99910908e-01 -2.40028427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.533133365 meters Centerline goodness [0,1] 0.2903350765059074 Centerline is valid? [False, False] Translation: X:2.77, Y:0.32, Z:-0.24 [[ 9.99884534e-01 8.04176166e-03 -1.28937520e-02 2.77396517e+00] [-8.04402279e-03 9.99967639e-01 -1.23514485e-04 3.23111433e-01] [ 1.28923415e-02 2.27217858e-04 9.99916864e-01 -2.39081682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.563133365 meters Centerline goodness [0,1] 0.2977779729492359 Centerline is valid? [False, False] Translation: X:2.73, Y:0.33, Z:-0.24 [[ 9.99844038e-01 9.34095095e-03 -1.49881830e-02 2.72872686e+00] [-9.33897313e-03 9.99956370e-01 2.01945446e-04 3.27136177e-01] [ 1.49894154e-02 -6.19397123e-05 9.99887650e-01 -2.38851862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.593133365 meters Centerline goodness [0,1] 0.29088274728601704 Centerline is valid? [False, False] Translation: X:2.75, Y:0.33, Z:-0.24 [[ 9.99887007e-01 9.94456200e-04 -1.49994667e-02 2.75003829e+00] [-9.80214795e-04 9.99999062e-01 9.56782641e-04 3.28988601e-01] [ 1.50004041e-02 -9.41971833e-04 9.99887044e-01 -2.38105380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.623133365 meters Centerline goodness [0,1] 0.2937132912769197 Centerline is valid? [False, False] Translation: X:2.75, Y:0.33, Z:-0.24 [[ 9.99887308e-01 1.03120673e-03 -1.49768984e-02 2.75021404e+00] [-1.01424496e-03 9.99998836e-01 1.14008092e-03 3.27794006e-01] [ 1.49780566e-02 -1.12476220e-03 9.99887190e-01 -2.38514932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.653133365 meters Centerline goodness [0,1] 0.2928079588157352 Centerline is valid? [False, False] Translation: X:2.75, Y:0.33, Z:-0.24 [[ 9.99887851e-01 1.04797611e-03 -1.49394180e-02 2.75020061e+00] [-1.02746244e-03 9.99998519e-01 1.38073310e-03 3.26112037e-01] [ 1.49408429e-02 -1.36522856e-03 9.99887447e-01 -2.38733609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68313336499997 meters Centerline goodness [0,1] 0.2930677984546741 Centerline is valid? [False, False] Translation: X:2.75, Y:0.32, Z:-0.24 [[ 9.99888073e-01 1.05854869e-03 -1.49238443e-02 2.75019061e+00] [-1.03324272e-03 9.99998016e-01 1.70328252e-03 3.23965893e-01] [ 1.49256177e-02 -1.68767192e-03 9.99887182e-01 -2.38885028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71313336499998 meters Centerline goodness [0,1] 0.2963416768772974 Centerline is valid? [False, False] Translation: X:2.75, Y:0.32, Z:-0.24 [[ 9.99886589e-01 1.14439734e-03 -1.50166136e-02 2.75045076e+00] [-1.11219409e-03 9.99997064e-01 2.15268392e-03 3.21446732e-01] [ 1.50190330e-02 -2.13573840e-03 9.99884927e-01 -2.39105800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74313336499998 meters Centerline goodness [0,1] 0.2880540330585646 Centerline is valid? [False, False] Translation: X:2.77, Y:0.32, Z:-0.24 [[ 0.99985267 -0.00758803 -0.01539667 2.77384308] [ 0.00764129 0.99996501 0.00340305 0.31800203] [ 0.01537031 -0.0035202 0.99987567 -0.2389745 ] [ 0. 0. 0. 1. ]] SLAMing on 226.77313336499998 meters Centerline goodness [0,1] 0.29308354209781073 Centerline is valid? [False, False] Translation: X:2.75, Y:0.31, Z:-0.24 [[ 9.99888752e-01 3.26027242e-04 -1.49122958e-02 2.75479803e+00] [-2.93166200e-04 9.99997524e-01 2.20575350e-03 3.12340210e-01] [ 1.49129780e-02 -2.20113633e-03 9.99886373e-01 -2.41690889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80313336499998 meters Centerline goodness [0,1] 0.2936690552889356 Centerline is valid? [False, False] Translation: X:2.75, Y:0.31, Z:-0.24 [[ 9.99891623e-01 3.89767955e-04 -1.47169873e-02 2.75437235e+00] [-3.53744104e-04 9.99996935e-01 2.45029727e-03 3.10790776e-01] [ 1.47178973e-02 -2.44482567e-03 9.99888697e-01 -2.41750403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83313336499998 meters Centerline goodness [0,1] 0.291313789359392 Centerline is valid? [False, False] Translation: X:2.75, Y:0.31, Z:-0.24 [[ 9.99894297e-01 4.59350465e-04 -1.45321482e-02 2.75383507e+00] [-4.21513013e-04 9.99996514e-01 2.60666246e-03 3.09828309e-01] [ 1.45332950e-02 -2.60026144e-03 9.99891005e-01 -2.41574699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86313336499998 meters Centerline goodness [0,1] 0.2908338927264459 Centerline is valid? [False, False] Translation: X:2.75, Y:0.31, Z:-0.24 [[ 9.99896823e-01 5.34325295e-04 -1.43546822e-02 2.75320650e+00] [-4.96069459e-04 9.99996317e-01 2.66847081e-03 3.09582987e-01] [ 1.43560551e-02 -2.66107457e-03 9.99893406e-01 -2.41217829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89313336499998 meters Centerline goodness [0,1] 0.29446838142490317 Centerline is valid? [False, False] Translation: X:2.75, Y:0.31, Z:-0.24 [[ 9.99900037e-01 6.12464704e-04 -1.41259103e-02 2.75260998e+00] [-5.74483590e-04 9.99996210e-01 2.69265617e-03 3.09717832e-01] [ 1.41275059e-02 -2.68427190e-03 9.99896599e-01 -2.41065907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92313336499998 meters Centerline goodness [0,1] 0.2929854390095039 Centerline is valid? [False, False] Translation: X:2.75, Y:0.31, Z:-0.24 [[ 9.99907822e-01 8.59607531e-04 -1.35501964e-02 2.75134765e+00] [-8.23619977e-04 9.99996120e-01 2.66122616e-03 3.10339349e-01] [ 1.35524314e-02 -2.64982064e-03 9.99904650e-01 -2.41095908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95313336499999 meters Centerline goodness [0,1] 0.2945783789680375 Centerline is valid? [False, False] Translation: X:2.75, Y:0.31, Z:-0.24 [[ 9.99911040e-01 8.66485689e-04 -1.33101673e-02 2.75072040e+00] [-8.32423401e-04 9.99996365e-01 2.56444484e-03 3.10733825e-01] [ 1.33123410e-02 -2.55313701e-03 9.99908127e-01 -2.40955836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.983133365 meters Centerline goodness [0,1] 0.2973817381738174 Centerline is valid? [False, False] Translation: X:2.75, Y:0.31, Z:-0.24 [[ 9.99913050e-01 8.73284552e-04 -1.31578815e-02 2.75025768e+00] [-8.40284242e-04 9.99996489e-01 2.51334585e-03 3.11025428e-01] [ 1.31600301e-02 -2.50207095e-03 9.99910273e-01 -2.40807610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.013133365 meters Centerline goodness [0,1] 0.2889676656998603 Centerline is valid? [False, False] Translation: X:2.80, Y:0.31, Z:-0.24 [[ 9.99931353e-01 6.68753314e-04 -1.16979126e-02 2.79536693e+00] [-6.39492717e-04 9.99996658e-01 2.50491362e-03 3.08753826e-01] [ 1.16995487e-02 -2.49726093e-03 9.99928440e-01 -2.40715093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.043133365 meters Centerline goodness [0,1] 0.2926126516464471 Centerline is valid? [False, False] Translation: X:2.80, Y:0.31, Z:-0.24 [[ 9.99929108e-01 7.18503160e-04 -1.18853785e-02 2.79594964e+00] [-6.89196310e-04 9.99996713e-01 2.46970228e-03 3.09300626e-01] [ 1.18871139e-02 -2.46133584e-03 9.99926316e-01 -2.40919458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.073133365 meters Centerline goodness [0,1] 0.29355042336910386 Centerline is valid? [False, False] Translation: X:2.80, Y:0.31, Z:-0.24 [[ 9.99931994e-01 7.94913217e-04 -1.16350649e-02 2.79543329e+00] [-7.70085317e-04 9.99997418e-01 2.13821046e-03 3.11409098e-01] [ 1.16367346e-02 -2.12910506e-03 9.99930024e-01 -2.40927424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.103133365 meters Centerline goodness [0,1] 0.2937482282648989 Centerline is valid? [False, False] Translation: X:2.79, Y:0.31, Z:-0.24 [[ 9.99934852e-01 7.84777570e-04 -1.13875224e-02 2.79466720e+00] [-7.62907411e-04 9.99997857e-01 1.92475396e-03 3.12713249e-01] [ 1.13890085e-02 -1.91594094e-03 9.99933308e-01 -2.40606521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.133133365 meters Centerline goodness [0,1] 0.29314676832438047 Centerline is valid? [False, False] Translation: X:2.79, Y:0.31, Z:-0.24 [[ 9.99937500e-01 8.51576084e-04 -1.11476642e-02 2.79386715e+00] [-8.32229346e-04 9.99998140e-01 1.74002086e-03 3.14334393e-01] [ 1.11491252e-02 -1.73063470e-03 9.99936349e-01 -2.40186883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.163133365 meters Centerline goodness [0,1] 0.2956937590077303 Centerline is valid? [False, False] Translation: X:2.79, Y:0.32, Z:-0.24 [[ 9.99940069e-01 9.70473077e-04 -1.09048902e-02 2.79324438e+00] [-9.52608863e-04 9.99998196e-01 1.64325858e-03 3.15828196e-01] [ 1.09064653e-02 -1.63277201e-03 9.99939190e-01 -2.40058300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.193133365 meters Centerline goodness [0,1] 0.2924350445316055 Centerline is valid? [False, False] Translation: X:2.79, Y:0.32, Z:-0.24 [[ 9.99939960e-01 1.00939838e-03 -1.09113497e-02 2.79347356e+00] [-9.93029294e-04 9.99998374e-01 1.50550235e-03 3.17054278e-01] [ 1.09128517e-02 -1.49457667e-03 9.99939336e-01 -2.40385790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.223133365 meters Centerline goodness [0,1] 0.29222060769047253 Centerline is valid? [False, False] Translation: X:2.79, Y:0.32, Z:-0.24 [[ 9.99939758e-01 9.26469974e-04 -1.09371553e-02 2.79373992e+00] [-9.12292764e-04 9.99998737e-01 1.30116087e-03 3.17873201e-01] [ 1.09383469e-02 -1.29110459e-03 9.99939341e-01 -2.40741451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.253133365 meters Centerline goodness [0,1] 0.2917902852069212 Centerline is valid? [False, False] Translation: X:2.79, Y:0.32, Z:-0.24 [[ 9.99939188e-01 7.96131423e-04 -1.09994284e-02 2.79418453e+00] [-7.84373479e-04 9.99999116e-01 1.07323224e-03 3.18498895e-01] [ 1.10002731e-02 -1.06453931e-03 9.99938929e-01 -2.41218574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.283133365 meters Centerline goodness [0,1] 0.2922190077291765 Centerline is valid? [False, False] Translation: X:2.79, Y:0.32, Z:-0.24 [[ 9.99939380e-01 7.86367605e-04 -1.09826238e-02 2.79407967e+00] [-7.75298212e-04 9.99999187e-01 1.01212171e-03 3.18884596e-01] [ 1.09834108e-02 -1.00354554e-03 9.99939177e-01 -2.41105406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.313133365 meters Centerline goodness [0,1] 0.2913994515341928 Centerline is valid? [False, False] Translation: X:2.79, Y:0.32, Z:-0.24 [[ 9.99940567e-01 7.94503786e-04 -1.08733795e-02 2.79378912e+00] [-7.84015819e-04 9.99999223e-01 9.68783077e-04 3.19335711e-01] [ 1.08741408e-02 -9.60200598e-04 9.99940414e-01 -2.41094497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.343133365 meters Centerline goodness [0,1] 0.29289473114320985 Centerline is valid? [False, False] Translation: X:2.79, Y:0.32, Z:-0.24 [[ 9.99941244e-01 7.97066560e-04 -1.08108068e-02 2.79363101e+00] [-7.87648000e-04 9.99999307e-01 8.75446805e-04 3.20056385e-01] [ 1.08114971e-02 -8.66880257e-04 9.99941178e-01 -2.41087948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.373133365 meters Centerline goodness [0,1] 0.294705753664406 Centerline is valid? [False, False] Translation: X:2.79, Y:0.32, Z:-0.24 [[ 9.99941395e-01 7.81578093e-04 -1.07979638e-02 2.79362159e+00] [-7.73762804e-04 9.99999436e-01 7.27933021e-04 3.21099845e-01] [ 1.07985266e-02 -7.19535297e-04 9.99941435e-01 -2.41126996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.403133365 meters Centerline goodness [0,1] 0.3006310830629749 Centerline is valid? [False, False] Translation: X:2.75, Y:0.32, Z:-0.24 [[ 9.99914703e-01 1.92120350e-03 -1.29188067e-02 2.74924013e+00] [-1.90514503e-03 9.99997397e-01 1.25522214e-03 3.23982185e-01] [ 1.29211846e-02 -1.23050287e-03 9.99915761e-01 -2.41615965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43313336499997 meters Centerline goodness [0,1] 0.2932539854915077 Centerline is valid? [False, False] Translation: X:2.79, Y:0.33, Z:-0.24 [[ 9.99928809e-01 3.37886091e-03 -1.14437838e-02 2.79300195e+00] [-3.35634052e-03 9.99992394e-01 1.98654924e-03 3.26530550e-01] [ 1.14504091e-02 -1.94799858e-03 9.99932544e-01 -2.41194904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46313336499998 meters Centerline goodness [0,1] 0.2933217315640635 Centerline is valid? [False, False] Translation: X:2.79, Y:0.33, Z:-0.24 [[ 9.99930892e-01 3.30675732e-03 -1.12817084e-02 2.79251982e+00] [-3.28934998e-03 9.99993371e-01 1.56117698e-03 3.28817994e-01] [ 1.12867961e-02 -1.52395960e-03 9.99935141e-01 -2.41031274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49313336499998 meters Centerline goodness [0,1] 0.2936241246992001 Centerline is valid? [False, False] Translation: X:2.79, Y:0.33, Z:-0.24 [[ 9.99931951e-01 3.32183925e-03 -1.11829481e-02 2.79215990e+00] [-3.30818358e-03 9.99993760e-01 1.23939179e-03 3.30972832e-01] [ 1.11869954e-02 -1.20231220e-03 9.99936701e-01 -2.40840631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52313336499998 meters Centerline goodness [0,1] 0.29534300359908383 Centerline is valid? [False, False] Translation: X:2.79, Y:0.33, Z:-0.24 [[ 9.99932252e-01 3.38025444e-03 -1.11384303e-02 2.79199032e+00] [-3.36931587e-03 9.99993823e-01 1.00067549e-03 3.32807579e-01] [ 1.11417441e-02 -9.63078806e-04 9.99937465e-01 -2.40733518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55313336499998 meters Centerline goodness [0,1] 0.29593705043811847 Centerline is valid? [False, False] Translation: X:2.79, Y:0.33, Z:-0.24 [[ 9.99931215e-01 3.37228399e-03 -1.12336007e-02 2.79235642e+00] [-3.36393816e-03 9.99994052e-01 7.61746958e-04 3.34322397e-01] [ 1.12361027e-02 -7.23905423e-04 9.99936611e-01 -2.40985181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58313336499998 meters Centerline goodness [0,1] 0.29651390520955734 Centerline is valid? [False, False] Translation: X:2.79, Y:0.34, Z:-0.24 [[ 9.99925195e-01 3.40771652e-03 -1.17470324e-02 2.79412867e+00] [-3.40233373e-03 9.99994098e-01 4.78179516e-04 3.35881719e-01] [ 1.17485926e-02 -4.38176421e-04 9.99930887e-01 -2.41950817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61313336499998 meters Centerline goodness [0,1] 0.2949982617764645 Centerline is valid? [False, False] Translation: X:2.79, Y:0.34, Z:-0.24 [[ 9.99925561e-01 3.41264585e-03 -1.17143913e-02 2.79417513e+00] [-3.40774658e-03 9.99994098e-01 4.38161572e-04 3.36045514e-01] [ 1.17158174e-02 -3.98209278e-04 9.99931288e-01 -2.42200131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64313336499998 meters Centerline goodness [0,1] 0.2913898714519886 Centerline is valid? [False, False] Translation: X:2.79, Y:0.34, Z:-0.24 [[ 9.99926308e-01 3.43671372e-03 -1.16433449e-02 2.79400568e+00] [-3.43195417e-03 9.99994019e-01 4.28734260e-04 3.36198595e-01] [ 1.16447487e-02 -3.88743240e-04 9.99932122e-01 -2.42207158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67313336499998 meters Centerline goodness [0,1] 0.2932379573401336 Centerline is valid? [False, False] Translation: X:2.79, Y:0.34, Z:-0.24 [[ 9.99927839e-01 3.47211180e-03 -1.15004977e-02 2.79355414e+00] [-3.46703033e-03 9.99993883e-01 4.61755425e-04 3.36089750e-01] [ 1.15020306e-02 -4.21849530e-04 9.99933760e-01 -2.42069078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70313336499999 meters Centerline goodness [0,1] 0.29242499300006464 Centerline is valid? [False, False] Translation: X:2.79, Y:0.34, Z:-0.24 [[ 9.99928620e-01 3.50133102e-03 -1.14234292e-02 2.79331555e+00] [-3.49593459e-03 9.99993768e-01 4.92334188e-04 3.35797848e-01] [ 1.14250818e-02 -4.52363484e-04 9.99934629e-01 -2.42009327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.733133365 meters Centerline goodness [0,1] 0.2917539804273154 Centerline is valid? [False, False] Translation: X:2.79, Y:0.34, Z:-0.24 [[ 9.99927614e-01 3.51010704e-03 -1.15084730e-02 2.79358270e+00] [-3.50460795e-03 9.99993735e-01 4.97961827e-04 3.35447617e-01] [ 1.15101488e-02 -4.57593096e-04 9.99933651e-01 -2.42121075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.763133365 meters Centerline goodness [0,1] 0.29543722095175873 Centerline is valid? [False, False] Translation: X:2.79, Y:0.33, Z:-0.24 [[ 9.99920949e-01 3.92034093e-03 -1.19468032e-02 2.79492164e+00] [-3.90992552e-03 9.99991956e-01 8.95047303e-04 3.34292919e-01] [ 1.19502160e-02 -8.48265438e-04 9.99928234e-01 -2.42698886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.793133365 meters Centerline goodness [0,1] 0.292820778324273 Centerline is valid? [False, False] Translation: X:2.81, Y:0.34, Z:-0.24 [[ 0.99992859 -0.00297164 -0.01157528 2.8138174 ] [ 0.00300538 0.99999128 0.00289879 0.33801497] [ 0.01156657 -0.00293337 0.9999288 -0.24124895] [ 0. 0. 0. 1. ]] SLAMing on 227.823133365 meters Centerline goodness [0,1] 0.292820778324273 Centerline is valid? [False, False] Translation: X:2.81, Y:0.34, Z:-0.24 [[ 0.99992859 -0.00297164 -0.01157528 2.8138174 ] [ 0.00300538 0.99999128 0.00289879 0.33801497] [ 0.01156657 -0.00293337 0.9999288 -0.24124895] [ 0. 0. 0. 1. ]] SLAMing on 227.853133365 meters Centerline goodness [0,1] 0.2928314480128289 Centerline is valid? [False, False] Translation: X:2.81, Y:0.34, Z:-0.24 [[ 0.99993087 -0.00284291 -0.01140941 2.81333682] [ 0.00287641 0.9999916 0.00292157 0.33829705] [ 0.011401 -0.00295418 0.99993064 -0.24110204] [ 0. 0. 0. 1. ]] SLAMing on 227.883133365 meters Centerline goodness [0,1] 0.2934909200707415 Centerline is valid? [False, False] Translation: X:2.81, Y:0.34, Z:-0.24 [[ 9.99933575e-01 -2.79414979e-03 -1.11820857e-02 2.81274009e+00] [ 2.82607325e-03 9.99991974e-01 2.84009337e-03 3.38828815e-01] [ 1.11740603e-02 -2.87150611e-03 9.99933445e-01 -2.41049292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.913133365 meters Centerline goodness [0,1] 0.29149954716004656 Centerline is valid? [False, False] Translation: X:2.81, Y:0.34, Z:-0.24 [[ 9.99935319e-01 -2.77450310e-03 -1.10299872e-02 2.81229431e+00] [ 2.80462664e-03 9.99992377e-01 2.71652923e-03 3.39493406e-01] [ 1.10223661e-02 -2.74728852e-03 9.99935478e-01 -2.40977356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.943133365 meters Centerline goodness [0,1] 0.29142918825561315 Centerline is valid? [False, False] Translation: X:2.81, Y:0.34, Z:-0.24 [[ 9.99937319e-01 -2.71004583e-03 -1.08634541e-02 2.81190577e+00] [ 2.73876462e-03 9.99992792e-01 2.62961031e-03 3.40325034e-01] [ 1.08562495e-02 -2.65919793e-03 9.99937533e-01 -2.41039373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.973133365 meters Centerline goodness [0,1] 0.29588755403966893 Centerline is valid? [False, False] Translation: X:2.81, Y:0.34, Z:-0.24 [[ 9.99939993e-01 -2.23771959e-03 -1.07239361e-02 2.81162172e+00] [ 2.26754461e-03 9.99993593e-01 2.76981265e-03 3.41738232e-01] [ 1.07176693e-02 -2.79396344e-03 9.99938661e-01 -2.41186390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.003133365 meters Centerline goodness [0,1] 0.2947140381282496 Centerline is valid? [False, False] Translation: X:2.81, Y:0.34, Z:-0.24 [[ 9.99938772e-01 -2.21886923e-03 -1.08410518e-02 2.81195260e+00] [ 2.24813787e-03 9.99993859e-01 2.68835704e-03 3.42430762e-01] [ 1.08350201e-02 -2.71256462e-03 9.99937620e-01 -2.41343660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.033133365 meters Centerline goodness [0,1] 0.29034270593550326 Centerline is valid? [False, False] Translation: X:2.81, Y:0.34, Z:-0.24 [[ 9.99937617e-01 -2.25005031e-03 -1.09407376e-02 2.81232168e+00] [ 2.27837881e-03 9.99994083e-01 2.57749430e-03 3.42924130e-01] [ 1.09348734e-02 -2.60226066e-03 9.99936826e-01 -2.41562561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.063133365 meters Centerline goodness [0,1] 0.29446133796698526 Centerline is valid? [False, False] Translation: X:2.79, Y:0.34, Z:-0.24 [[ 9.99921833e-01 5.47080847e-03 -1.12427067e-02 2.79365765e+00] [-5.46104698e-03 9.99984684e-01 8.98766676e-04 3.38356835e-01] [ 1.12474515e-02 -8.37299473e-04 9.99936395e-01 -2.43544736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.093133365 meters Centerline goodness [0,1] 0.2940972297546478 Centerline is valid? [False, False] Translation: X:2.79, Y:0.34, Z:-0.24 [[ 9.99921840e-01 5.37105001e-03 -1.12900474e-02 2.79370650e+00] [-5.36290303e-03 9.99985337e-01 7.51758073e-04 3.38653744e-01] [ 1.12939196e-02 -6.91151887e-04 9.99935983e-01 -2.43457425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.123133365 meters Centerline goodness [0,1] 0.29536918434250237 Centerline is valid? [False, False] Translation: X:2.79, Y:0.34, Z:-0.24 [[ 9.99921060e-01 5.34962228e-03 -1.13690537e-02 2.79391060e+00] [-5.34205302e-03 9.99985489e-01 6.96041972e-04 3.38932097e-01] [ 1.13726123e-02 -6.35252939e-04 9.99935128e-01 -2.43556780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.153133365 meters Centerline goodness [0,1] 0.2935789747142362 Centerline is valid? [False, False] Translation: X:2.79, Y:0.34, Z:-0.24 [[ 9.99919959e-01 5.33787442e-03 -1.14709304e-02 2.79429743e+00] [-5.33099615e-03 9.99985592e-01 6.30119619e-04 3.39486218e-01] [ 1.14741286e-02 -5.68917698e-04 9.99934008e-01 -2.43801788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18313336499997 meters Centerline goodness [0,1] 0.29027588739818955 Centerline is valid? [False, False] Translation: X:2.80, Y:0.34, Z:-0.24 [[ 9.99917385e-01 5.30767936e-03 -1.17069274e-02 2.79529439e+00] [-5.30224687e-03 9.99985820e-01 4.95029786e-04 3.40348095e-01] [ 1.17093889e-02 -4.32915869e-04 9.99931349e-01 -2.44504687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21313336499998 meters Centerline goodness [0,1] 0.29161176038538805 Centerline is valid? [False, False] Translation: X:2.80, Y:0.34, Z:-0.24 [[ 9.99917433e-01 5.24096446e-03 -1.17328169e-02 2.79537796e+00] [-5.23652084e-03 9.99986206e-01 4.09423170e-04 3.40391745e-01] [ 1.17348009e-02 -3.47950225e-04 9.99931084e-01 -2.44539675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24313336499998 meters Centerline goodness [0,1] 0.29573470055634343 Centerline is valid? [False, False] Translation: X:2.78, Y:0.34, Z:-0.25 [[ 9.99920433e-01 -3.07883994e-03 -1.22330905e-02 2.77573791e+00] [ 3.09668157e-03 9.99994169e-01 1.43979950e-03 3.43563546e-01] [ 1.22285863e-02 -1.47756693e-03 9.99924136e-01 -2.46050280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27313336499998 meters Centerline goodness [0,1] 0.2956924885183815 Centerline is valid? [False, False] Translation: X:2.78, Y:0.34, Z:-0.25 [[ 9.99917088e-01 -3.06572668e-03 -1.25067387e-02 2.77648198e+00] [ 3.08484612e-03 9.99994102e-01 1.50972584e-03 3.43191276e-01] [ 1.25020366e-02 -1.54818203e-03 9.99920648e-01 -2.46228015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30313336499998 meters Centerline goodness [0,1] 0.2936956851526775 Centerline is valid? [False, False] Translation: X:2.78, Y:0.34, Z:-0.25 [[ 9.99912004e-01 -2.97895607e-03 -1.29271035e-02 2.77792657e+00] [ 3.00159698e-03 9.99993995e-01 1.73238077e-03 3.42329779e-01] [ 1.29218652e-02 -1.77103028e-03 9.99914941e-01 -2.46910978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33313336499998 meters Centerline goodness [0,1] 0.2914059285884416 Centerline is valid? [False, False] Translation: X:2.78, Y:0.34, Z:-0.25 [[ 9.99912877e-01 -2.97152295e-03 -1.28611458e-02 2.77780390e+00] [ 2.99530239e-03 9.99993839e-01 1.83006846e-03 3.41651880e-01] [ 1.28556284e-02 -1.86843204e-03 9.99915617e-01 -2.46945375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36313336499998 meters Centerline goodness [0,1] 0.29555842281365496 Centerline is valid? [False, False] Translation: X:2.78, Y:0.34, Z:-0.25 [[ 9.99914654e-01 -2.94457032e-03 -1.27284740e-02 2.77720586e+00] [ 2.97034661e-03 9.99993575e-01 2.00665822e-03 3.40545046e-01] [ 1.27224835e-02 -2.04429494e-03 9.99916976e-01 -2.46483036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39313336499998 meters Centerline goodness [0,1] 0.29449468027710035 Centerline is valid? [False, False] Translation: X:2.80, Y:0.34, Z:-0.24 [[ 9.99924363e-01 4.72493788e-03 -1.13552856e-02 2.79555635e+00] [-4.71513828e-03 9.99988488e-01 8.89615675e-04 3.35651938e-01] [ 1.13593583e-02 -8.36006645e-04 9.99935131e-01 -2.44629297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42313336499998 meters Centerline goodness [0,1] 0.29939846685052873 Centerline is valid? [False, False] Translation: X:2.79, Y:0.33, Z:-0.24 [[ 9.99928175e-01 4.55917204e-03 -1.10841907e-02 2.79450356e+00] [-4.54379618e-03 9.99988680e-01 1.41197593e-03 3.31914857e-01] [ 1.10905026e-02 -1.36151021e-03 9.99937572e-01 -2.43904126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45313336499999 meters Centerline goodness [0,1] 0.2951473473171363 Centerline is valid? [False, False] Translation: X:2.79, Y:0.33, Z:-0.24 [[ 9.99927066e-01 4.48177961e-03 -1.12149758e-02 2.79487137e+00] [-4.46315920e-03 9.99988621e-01 1.68479407e-03 3.29737109e-01] [ 1.12223991e-02 -1.63461697e-03 9.99935691e-01 -2.43965714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.483133365 meters Centerline goodness [0,1] 0.29969652642839983 Centerline is valid? [False, False] Translation: X:2.77, Y:0.33, Z:-0.24 [[ 9.99923368e-01 -4.50740538e-03 -1.15300104e-02 2.77332281e+00] [ 4.53492224e-03 9.99986929e-01 2.36151260e-03 3.30828218e-01] [ 1.15192154e-02 -2.41361934e-03 9.99930739e-01 -2.44585640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.513133365 meters Centerline goodness [0,1] 0.2951815010980493 Centerline is valid? [False, False] Translation: X:2.80, Y:0.33, Z:-0.24 [[ 9.99945275e-01 1.10298479e-03 -1.04034086e-02 2.79529363e+00] [-1.10607520e-03 9.99999346e-01 -2.91308716e-04 3.26983082e-01] [ 1.04030805e-02 3.02799727e-04 9.99945841e-01 -2.44865781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.543133365 meters Centerline goodness [0,1] 0.29949744389567623 Centerline is valid? [False, False] Translation: X:2.79, Y:0.32, Z:-0.24 [[ 9.99946569e-01 1.19412318e-03 -1.02681106e-02 2.79478653e+00] [-1.19306456e-03 9.99999282e-01 1.09223123e-04 3.24887889e-01] [ 1.02682337e-02 -9.69667683e-05 9.99947276e-01 -2.44550661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.573133365 meters Centerline goodness [0,1] 0.30801530073865635 Centerline is valid? [False, False] Translation: X:2.77, Y:0.33, Z:-0.25 [[ 9.99918782e-01 -7.28844230e-03 -1.04550705e-02 2.77320261e+00] [ 7.30133583e-03 9.99972630e-01 1.19559312e-03 3.26396754e-01] [ 1.04460704e-02 -1.27183200e-03 9.99944629e-01 -2.45080015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.603133365 meters Centerline goodness [0,1] 0.30393608220490265 Centerline is valid? [False, False] Translation: X:2.79, Y:0.32, Z:-0.24 [[ 9.99960376e-01 -5.80380063e-04 -8.88312176e-03 2.79116191e+00] [ 5.75704493e-04 9.99999694e-01 -5.28891148e-04 3.18678266e-01] [ 8.88342601e-03 5.23756138e-04 9.99960404e-01 -2.43278522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.633133365 meters Centerline goodness [0,1] 0.30693948251596836 Centerline is valid? [False, False] Translation: X:2.79, Y:0.32, Z:-0.24 [[ 9.99959977e-01 -5.36484914e-04 -8.93067801e-03 2.79117882e+00] [ 5.34787769e-04 9.99999838e-01 -1.92422344e-04 3.16543412e-01] [ 8.93077979e-03 1.87638626e-04 9.99960102e-01 -2.43116825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.663133365 meters Centerline goodness [0,1] 0.30856110724233987 Centerline is valid? [False, False] Translation: X:2.79, Y:0.31, Z:-0.24 [[ 9.99959398e-01 -4.63422385e-04 -8.99936251e-03 2.79140843e+00] [ 4.64537306e-04 9.99999885e-01 1.21798980e-04 3.14755410e-01] [ 8.99930503e-03 -1.25974574e-04 9.99959497e-01 -2.43242171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.693133365 meters Centerline goodness [0,1] 0.30673820488313497 Centerline is valid? [False, False] Translation: X:2.79, Y:0.31, Z:-0.24 [[ 9.99958947e-01 -3.85960336e-04 -9.05286743e-03 2.79163133e+00] [ 3.89736385e-04 9.99999838e-01 4.15350353e-04 3.13191576e-01] [ 9.05270565e-03 -4.18861534e-04 9.99958936e-01 -2.43363185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.723133365 meters Centerline goodness [0,1] 0.30372123037212306 Centerline is valid? [False, False] Translation: X:2.79, Y:0.31, Z:-0.24 [[ 9.99958489e-01 -3.32626117e-04 -9.10550727e-03 2.79179796e+00] [ 3.38840061e-04 9.99999711e-01 6.80903809e-04 3.11464530e-01] [ 9.10527815e-03 -6.83960854e-04 9.99958312e-01 -2.43425779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.753133365 meters Centerline goodness [0,1] 0.3121295930462268 Centerline is valid? [False, False] Translation: X:2.75, Y:0.31, Z:-0.24 [[ 9.99933567e-01 -1.21374218e-03 -1.14625021e-02 2.74696186e+00] [ 1.21362954e-03 9.99999263e-01 -1.67825340e-05 3.09911086e-01] [ 1.14625140e-02 2.87018800e-06 9.99934303e-01 -2.43036000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.783133365 meters Centerline goodness [0,1] 0.3022494887525562 Centerline is valid? [False, False] Translation: X:2.79, Y:0.31, Z:-0.24 [[ 9.99949334e-01 -1.55297955e-03 -9.94576266e-03 2.79104165e+00] [ 1.55537038e-03 9.99998763e-01 2.32655813e-04 3.06147508e-01] [ 9.94538905e-03 -2.48113370e-04 9.99950513e-01 -2.43093662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.813133365 meters Centerline goodness [0,1] 0.3085173364597581 Centerline is valid? [False, False] Translation: X:2.79, Y:0.30, Z:-0.24 [[ 9.99949055e-01 -1.40157526e-03 -9.99615183e-03 2.79139234e+00] [ 1.40826678e-03 9.99998789e-01 6.62401903e-04 3.04047452e-01] [ 9.99521132e-03 -6.76445405e-04 9.99949818e-01 -2.43477908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.843133365 meters Centerline goodness [0,1] 0.31229460030034606 Centerline is valid? [False, False] Translation: X:2.79, Y:0.30, Z:-0.24 [[ 9.99947313e-01 -1.30901131e-03 -1.01812713e-02 2.79198067e+00] [ 1.32020019e-03 9.99998532e-01 1.09232359e-03 3.01556691e-01] [ 1.01798265e-02 -1.10570736e-03 9.99947573e-01 -2.43742984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.873133365 meters Centerline goodness [0,1] 0.30486106647813693 Centerline is valid? [False, False] Translation: X:2.82, Y:0.30, Z:-0.24 [[ 9.99931148e-01 4.16820313e-03 -1.09693012e-02 2.81510673e+00] [-4.18784937e-03 9.99989667e-01 -1.76866046e-03 2.96278452e-01] [ 1.09618158e-02 1.81447647e-03 9.99938271e-01 -2.43901717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.903133365 meters Centerline goodness [0,1] 0.30573193195362447 Centerline is valid? [False, False] Translation: X:2.80, Y:0.30, Z:-0.25 [[ 9.99904015e-01 -4.35920136e-03 -1.31513785e-02 2.79616852e+00] [ 4.35098564e-03 9.99990321e-01 -6.53251257e-04 2.97294762e-01] [ 1.31540989e-02 5.95967095e-04 9.99913303e-01 -2.45084343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93313336499997 meters Centerline goodness [0,1] 0.3020941054808687 Centerline is valid? [False, False] Translation: X:2.80, Y:0.30, Z:-0.25 [[ 9.99898409e-01 -4.22635237e-03 -1.36128617e-02 2.79767792e+00] [ 4.22341348e-03 9.99991051e-01 -2.44631444e-04 2.95197173e-01] [ 1.36137737e-02 1.87113848e-04 9.99907311e-01 -2.45766614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96313336499998 meters Centerline goodness [0,1] 0.3088922530112552 Centerline is valid? [False, False] Translation: X:2.76, Y:0.29, Z:-0.25 [[ 9.99849542e-01 -3.19149776e-03 -1.70501275e-02 2.75633732e+00] [ 3.21563212e-03 9.99993866e-01 1.38826633e-03 2.91297964e-01] [ 1.70455923e-02 -1.44288439e-03 9.99853672e-01 -2.46916213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99313336499998 meters Centerline goodness [0,1] 0.30460381949725157 Centerline is valid? [False, False] Translation: X:2.78, Y:0.29, Z:-0.25 [[ 9.99844678e-01 4.51621735e-03 -1.70359486e-02 2.77540681e+00] [-4.51272512e-03 9.99989788e-01 2.43428838e-04 2.85683145e-01] [ 1.70368741e-02 -1.66512475e-04 9.99854848e-01 -2.45422137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02313336499998 meters Centerline goodness [0,1] 0.3052214916075445 Centerline is valid? [False, False] Translation: X:2.78, Y:0.29, Z:-0.25 [[ 9.99843305e-01 4.46608991e-03 -1.71295037e-02 2.77556991e+00] [-4.46218284e-03 9.99990009e-01 2.66303593e-04 2.85021809e-01] [ 1.71305219e-02 -1.89826887e-04 9.99853244e-01 -2.45301710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05313336499998 meters Centerline goodness [0,1] 0.3026600814487479 Centerline is valid? [False, False] Translation: X:2.78, Y:0.28, Z:-0.25 [[ 9.99843381e-01 4.40993259e-03 -1.71395818e-02 2.77552970e+00] [-4.40616570e-03 9.99990260e-01 2.57533719e-04 2.84617062e-01] [ 1.71405505e-02 -1.81973547e-04 9.99853073e-01 -2.45262973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08313336499998 meters Centerline goodness [0,1] 0.3042458464545553 Centerline is valid? [False, False] Translation: X:2.78, Y:0.28, Z:-0.25 [[ 9.99841341e-01 4.46305387e-03 -1.72445570e-02 2.77569252e+00] [-4.45754401e-03 9.99990001e-01 3.57936909e-04 2.84319657e-01] [ 1.72459820e-02 -2.81011747e-04 9.99851238e-01 -2.45178478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11313336499998 meters Centerline goodness [0,1] 0.306755960821099 Centerline is valid? [False, False] Translation: X:2.78, Y:0.28, Z:-0.25 [[ 9.99841937e-01 4.51085166e-03 -1.71974621e-02 2.77562013e+00] [-4.50411518e-03 9.99989764e-01 4.30426410e-04 2.84375846e-01] [ 1.71992276e-02 -3.52899026e-04 9.99852020e-01 -2.45260517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14313336499998 meters Centerline goodness [0,1] 0.30156841535965384 Centerline is valid? [False, False] Translation: X:2.80, Y:0.29, Z:-0.24 [[ 9.99845496e-01 -4.26996398e-03 -1.70514617e-02 2.79664045e+00] [ 4.28574514e-03 9.99990421e-01 8.89067188e-04 2.87562302e-01] [ 1.70475021e-02 -9.62008042e-04 9.99854218e-01 -2.44290332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17313336499998 meters Centerline goodness [0,1] 0.30025103878116344 Centerline is valid? [False, False] Translation: X:2.80, Y:0.29, Z:-0.24 [[ 9.99845695e-01 -4.44396095e-03 -1.69951994e-02 2.79634067e+00] [ 4.45821092e-03 9.99989742e-01 8.00675180e-04 2.87152011e-01] [ 1.69914669e-02 -8.76319815e-04 9.99855251e-01 -2.44083623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20313336499999 meters Centerline goodness [0,1] 0.2999264037404217 Centerline is valid? [False, False] Translation: X:2.80, Y:0.29, Z:-0.24 [[ 9.99847139e-01 -4.47703670e-03 -1.69013048e-02 2.79582145e+00] [ 4.49199949e-03 9.99989552e-01 8.47444388e-04 2.86905970e-01] [ 1.68973342e-02 -9.23235500e-04 9.99856804e-01 -2.43665619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.233133365 meters Centerline goodness [0,1] 0.30488549618320615 Centerline is valid? [False, False] Translation: X:2.80, Y:0.29, Z:-0.24 [[ 9.99848424e-01 -4.38382206e-03 -1.68496339e-02 2.79541009e+00] [ 4.40134277e-03 9.99989811e-01 1.00288469e-03 2.86824137e-01] [ 1.68450657e-02 -1.07689369e-03 9.99857532e-01 -2.43255868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.263133365 meters Centerline goodness [0,1] 0.3032217170834062 Centerline is valid? [False, False] Translation: X:2.80, Y:0.29, Z:-0.24 [[ 9.99849416e-01 -4.38173752e-03 -1.67912508e-02 2.79526872e+00] [ 4.39884016e-03 9.99989843e-01 9.81746298e-04 2.87307605e-01] [ 1.67867785e-02 -1.05546049e-03 9.99858535e-01 -2.43242869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.293133365 meters Centerline goodness [0,1] 0.302783464738424 Centerline is valid? [False, False] Translation: X:2.80, Y:0.29, Z:-0.24 [[ 9.99848274e-01 -4.53552301e-03 -1.68183771e-02 2.79543895e+00] [ 4.54841254e-03 9.99989391e-01 7.28223689e-04 2.88193755e-01] [ 1.68148958e-02 -8.04610116e-04 9.99858296e-01 -2.43362799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.323133365 meters Centerline goodness [0,1] 0.2967764163741683 Centerline is valid? [False, False] Translation: X:2.81, Y:0.29, Z:-0.24 [[ 9.99889715e-01 1.94811525e-03 -1.47228878e-02 2.81453820e+00] [-1.98238881e-03 9.99995359e-01 -2.31367473e-03 2.89121450e-01] [ 1.47183122e-02 2.34260605e-03 9.99888936e-01 -2.42575175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.353133365 meters Centerline goodness [0,1] 0.30452046426389734 Centerline is valid? [False, False] Translation: X:2.79, Y:0.30, Z:-0.24 [[ 9.99901298e-01 -3.85564756e-03 -1.35102994e-02 2.79153326e+00] [ 3.86154755e-03 9.99992460e-01 4.10643738e-04 2.95885868e-01] [ 1.35086142e-02 -4.62773871e-04 9.99908647e-01 -2.42543631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.383133365 meters Centerline goodness [0,1] 0.2998037820471354 Centerline is valid? [False, False] Translation: X:2.81, Y:0.30, Z:-0.24 [[ 9.99913824e-01 4.57485859e-03 -1.23050937e-02 2.81190412e+00] [-4.57986726e-03 9.99989441e-01 -3.78891990e-04 2.95946881e-01] [ 1.23032304e-02 4.35215035e-04 9.99924218e-01 -2.41701400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.413133365 meters Centerline goodness [0,1] 0.3032994923857868 Centerline is valid? [False, False] Translation: X:2.79, Y:0.30, Z:-0.24 [[ 9.99917914e-01 -1.56292368e-03 -1.27170448e-02 2.78977667e+00] [ 1.59162572e-03 9.99996208e-01 2.24716592e-03 3.02811044e-01] [ 1.27134844e-02 -2.26722224e-03 9.99916610e-01 -2.41749732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.443133365 meters Centerline goodness [0,1] 0.2990830810195624 Centerline is valid? [False, False] Translation: X:2.83, Y:0.30, Z:-0.24 [[ 9.99934435e-01 -1.54230580e-03 -1.13466699e-02 2.83469376e+00] [ 1.56544687e-03 9.99996712e-01 2.03085992e-03 3.04729772e-01] [ 1.13435004e-02 -2.04848937e-03 9.99933562e-01 -2.41990003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.473133365 meters Centerline goodness [0,1] 0.3003996111891133 Centerline is valid? [False, False] Translation: X:2.84, Y:0.31, Z:-0.24 [[ 9.99933627e-01 -1.76224804e-03 -1.13857548e-02 2.83507698e+00] [ 1.78046820e-03 9.99997150e-01 1.59032160e-03 3.06543682e-01] [ 1.13829198e-02 -1.61048802e-03 9.99933916e-01 -2.42456744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.503133365 meters Centerline goodness [0,1] 0.2987479963609583 Centerline is valid? [False, False] Translation: X:2.84, Y:0.31, Z:-0.24 [[ 9.99932774e-01 -2.09514297e-03 -1.14043310e-02 2.83518979e+00] [ 2.10790556e-03 9.99997165e-01 1.10719516e-03 3.08372662e-01] [ 1.14019789e-02 -1.13115998e-03 9.99934356e-01 -2.42604068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.533133365 meters Centerline goodness [0,1] 0.2989124559468984 Centerline is valid? [False, False] Translation: X:2.83, Y:0.31, Z:-0.24 [[ 9.99934002e-01 -2.11961218e-03 -1.12915662e-02 2.83474617e+00] [ 2.13156936e-03 9.99997180e-01 1.04701804e-03 3.08914612e-01] [ 1.12893150e-02 -1.07101769e-03 9.99935700e-01 -2.42325621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.563133365 meters Centerline goodness [0,1] 0.30207813076806145 Centerline is valid? [False, False] Translation: X:2.83, Y:0.31, Z:-0.24 [[ 9.99934956e-01 -2.15292048e-03 -1.12004143e-02 2.83433910e+00] [ 2.16421675e-03 9.99997162e-01 9.96535001e-04 3.09238263e-01] [ 1.11982371e-02 -1.02071031e-03 9.99936777e-01 -2.42004128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.593133365 meters Centerline goodness [0,1] 0.30166049663354333 Centerline is valid? [False, False] Translation: X:2.83, Y:0.31, Z:-0.24 [[ 9.99934918e-01 -2.22530830e-03 -1.11895906e-02 2.83423798e+00] [ 2.23561218e-03 9.99997088e-01 9.08421781e-04 3.09508952e-01] [ 1.11875365e-02 -9.33378244e-04 9.99936982e-01 -2.41877773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.623133365 meters Centerline goodness [0,1] 0.300820932700847 Centerline is valid? [False, False] Translation: X:2.83, Y:0.31, Z:-0.24 [[ 9.99933526e-01 -2.27744685e-03 -1.13029540e-02 2.83461215e+00] [ 2.28702443e-03 9.99997037e-01 8.34498973e-04 3.09779780e-01] [ 1.13010200e-02 -8.60293633e-04 9.99935771e-01 -2.42047861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.653133365 meters Centerline goodness [0,1] 0.2963234501347709 Centerline is valid? [False, False] Translation: X:2.84, Y:0.31, Z:-0.24 [[ 9.99926303e-01 -2.26780530e-03 -1.19266445e-02 2.83666359e+00] [ 2.27709532e-03 9.99997114e-01 7.65407741e-04 3.10624953e-01] [ 1.19248743e-02 -7.92509439e-04 9.99928582e-01 -2.42938121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68313336499997 meters Centerline goodness [0,1] 0.30007834943849565 Centerline is valid? [False, False] Translation: X:2.84, Y:0.31, Z:-0.24 [[ 9.99923740e-01 -2.26140279e-03 -1.21408537e-02 2.83746783e+00] [ 2.27031373e-03 9.99997163e-01 7.20231259e-04 3.11141322e-01] [ 1.21391905e-02 -7.47739881e-04 9.99926038e-01 -2.43411912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71313336499998 meters Centerline goodness [0,1] 0.2938726177886172 Centerline is valid? [False, False] Translation: X:2.84, Y:0.31, Z:-0.24 [[ 9.99921260e-01 -2.26701176e-03 -1.23424184e-02 2.83806442e+00] [ 2.27538541e-03 9.99997191e-01 6.64444278e-04 3.11551222e-01] [ 1.23408774e-02 -6.92475719e-04 9.99923609e-01 -2.43592320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74313336499998 meters Centerline goodness [0,1] 0.2938726177886172 Centerline is valid? [False, False] Translation: X:2.84, Y:0.31, Z:-0.24 [[ 9.99921260e-01 -2.26701176e-03 -1.23424184e-02 2.83806442e+00] [ 2.27538541e-03 9.99997191e-01 6.64444278e-04 3.11551222e-01] [ 1.23408774e-02 -6.92475719e-04 9.99923609e-01 -2.43592320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77313336499998 meters Centerline goodness [0,1] 0.2932028393202839 Centerline is valid? [False, False] Translation: X:2.84, Y:0.31, Z:-0.24 [[ 9.99919932e-01 -2.28019156e-03 -1.24470631e-02 2.83828846e+00] [ 2.28859303e-03 9.99997163e-01 6.60773823e-04 3.11386407e-01] [ 1.24455211e-02 -6.89207178e-04 9.99922314e-01 -2.43567842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80313336499998 meters Centerline goodness [0,1] 0.29471076535268803 Centerline is valid? [False, False] Translation: X:2.82, Y:0.31, Z:-0.25 [[ 9.99902814e-01 5.96056713e-03 -1.26029585e-02 2.81873027e+00] [-5.96706946e-03 9.99982082e-01 -4.78396527e-04 3.07572018e-01] [ 1.25998812e-02 5.53552762e-04 9.99920465e-01 -2.45221798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83313336499998 meters Centerline goodness [0,1] 0.2983784960278594 Centerline is valid? [False, False] Translation: X:2.82, Y:0.31, Z:-0.25 [[ 9.99900262e-01 5.99850622e-03 -1.27860702e-02 2.81905183e+00] [-6.00409811e-03 9.99981896e-01 -3.99000982e-04 3.07204904e-01] [ 1.27834453e-02 4.75730006e-04 9.99918175e-01 -2.45067504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86313336499998 meters Centerline goodness [0,1] 0.2963871107735706 Centerline is valid? [False, False] Translation: X:2.82, Y:0.31, Z:-0.24 [[ 9.99896377e-01 6.01117945e-03 -1.30805686e-02 2.81969767e+00] [-6.01601446e-03 9.99981849e-01 -3.30316148e-04 3.06743562e-01] [ 1.30783456e-02 4.08974809e-04 9.99914391e-01 -2.44970171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89313336499998 meters Centerline goodness [0,1] 0.2939711550955 Centerline is valid? [False, False] Translation: X:2.82, Y:0.31, Z:-0.25 [[ 9.99896264e-01 5.97902829e-03 -1.31038833e-02 2.81975964e+00] [-5.98448720e-03 9.99982022e-01 -3.77414739e-04 3.06713206e-01] [ 1.31013912e-02 4.55795609e-04 9.99914069e-01 -2.45009172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92313336499998 meters Centerline goodness [0,1] 0.2947436589314625 Centerline is valid? [False, False] Translation: X:2.82, Y:0.31, Z:-0.24 [[ 9.99895650e-01 5.95859732e-03 -1.31599265e-02 2.81979602e+00] [-5.96473691e-03 9.99982119e-01 -4.27335838e-04 3.06936524e-01] [ 1.31571448e-02 5.05786744e-04 9.99913313e-01 -2.44866644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95313336499999 meters Centerline goodness [0,1] 0.2948684609716985 Centerline is valid? [False, False] Translation: X:2.82, Y:0.31, Z:-0.24 [[ 9.99894521e-01 5.94305536e-03 -1.32524507e-02 2.81993127e+00] [-5.95005597e-03 9.99982179e-01 -4.88884036e-04 3.07441235e-01] [ 1.32493091e-02 5.67685293e-04 9.99912063e-01 -2.44755799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.983133365 meters Centerline goodness [0,1] 0.2978229952959195 Centerline is valid? [False, False] Translation: X:2.80, Y:0.31, Z:-0.25 [[ 9.99908084e-01 -1.90564947e-03 -1.34235316e-02 2.80137639e+00] [ 1.91334606e-03 9.99998012e-01 5.60546231e-04 3.14415066e-01] [ 1.34224367e-02 -5.86178569e-04 9.99909743e-01 -2.46269823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.013133365 meters Centerline goodness [0,1] 0.29262662869962897 Centerline is valid? [False, False] Translation: X:2.82, Y:0.31, Z:-0.25 [[ 9.99893495e-01 5.93515973e-03 -1.33331219e-02 2.82145324e+00] [-5.94312230e-03 9.99982184e-01 -5.57659245e-04 3.11436091e-01] [ 1.33295746e-02 6.36840225e-04 9.99910954e-01 -2.45309177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.043133365 meters Centerline goodness [0,1] 0.2913742847889452 Centerline is valid? [False, False] Translation: X:2.82, Y:0.31, Z:-0.25 [[ 9.99892574e-01 5.72418033e-03 -1.34934965e-02 2.82204912e+00] [-5.73948637e-03 9.99982929e-01 -1.09587524e-03 3.14281804e-01] [ 1.34869932e-02 1.17320326e-03 9.99908358e-01 -2.45579806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.073133365 meters Centerline goodness [0,1] 0.29287382167257636 Centerline is valid? [False, False] Translation: X:2.82, Y:0.31, Z:-0.25 [[ 9.99895311e-01 5.62776838e-03 -1.33302052e-02 2.82155243e+00] [-5.64469241e-03 9.99983309e-01 -1.23231622e-03 3.14813850e-01] [ 1.33230476e-02 1.30743212e-03 9.99910389e-01 -2.45424223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.103133365 meters Centerline goodness [0,1] 0.2923333045057511 Centerline is valid? [False, False] Translation: X:2.82, Y:0.31, Z:-0.25 [[ 9.99901081e-01 5.49683603e-03 -1.29465264e-02 2.82043168e+00] [-5.51414119e-03 9.99983950e-01 -1.30134704e-03 3.14674203e-01] [ 1.29391653e-02 1.37260728e-03 9.99915343e-01 -2.45137153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.133133365 meters Centerline goodness [0,1] 0.2963999739600286 Centerline is valid? [False, False] Translation: X:2.82, Y:0.31, Z:-0.24 [[ 9.99906595e-01 5.33846772e-03 -1.25817994e-02 2.81927877e+00] [-5.35586593e-03 9.99984747e-01 -1.34951850e-03 3.14265073e-01] [ 1.25744032e-02 1.41677888e-03 9.99919935e-01 -2.44712042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.163133365 meters Centerline goodness [0,1] 0.29339916839916835 Centerline is valid? [False, False] Translation: X:2.82, Y:0.31, Z:-0.24 [[ 9.99909268e-01 5.17763060e-03 -1.24357240e-02 2.81884312e+00] [-5.19488310e-03 9.99985588e-01 -1.35543204e-03 3.13625670e-01] [ 1.24285269e-02 1.41991119e-03 9.99921755e-01 -2.44625971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.193133365 meters Centerline goodness [0,1] 0.30023282375680904 Centerline is valid? [False, False] Translation: X:2.80, Y:0.32, Z:-0.25 [[ 9.99897561e-01 -4.00482383e-03 -1.37414706e-02 2.79854633e+00] [ 3.99072767e-03 9.99991483e-01 -1.05307903e-03 3.17148844e-01] [ 1.37455710e-02 9.98132683e-04 9.99905027e-01 -2.45324345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.223133365 meters Centerline goodness [0,1] 0.2936136057963469 Centerline is valid? [False, False] Translation: X:2.82, Y:0.31, Z:-0.24 [[ 9.99897458e-01 3.41989528e-03 -1.39060253e-02 2.81763566e+00] [-3.44881040e-03 9.99991940e-01 -2.05587411e-03 3.11049823e-01] [ 1.38988823e-02 2.10362254e-03 9.99901193e-01 -2.44148766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.253133365 meters Centerline goodness [0,1] 0.29717724288840264 Centerline is valid? [False, False] Translation: X:2.82, Y:0.31, Z:-0.24 [[ 9.99898290e-01 3.42395934e-03 -1.38450729e-02 2.81738996e+00] [-3.45204813e-03 9.99992031e-01 -2.00540398e-03 3.10694141e-01] [ 1.38380962e-02 2.05299387e-03 9.99902141e-01 -2.43992256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.283133365 meters Centerline goodness [0,1] 0.29548715273248993 Centerline is valid? [False, False] Translation: X:2.82, Y:0.31, Z:-0.24 [[ 9.99900281e-01 3.42143051e-03 -1.37011393e-02 2.81683015e+00] [-3.44979719e-03 9.99991954e-01 -2.04728953e-03 3.10974513e-01] [ 1.36940244e-02 2.09435153e-03 9.99904039e-01 -2.43624428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.313133365 meters Centerline goodness [0,1] 0.2914902306386089 Centerline is valid? [False, False] Translation: X:2.84, Y:0.31, Z:-0.24 [[ 9.99916229e-01 -4.43728621e-03 -1.21592019e-02 2.83585266e+00] [ 4.42942592e-03 9.99989963e-01 -6.73301719e-04 3.14130414e-01] [ 1.21620675e-02 6.19387032e-04 9.99925847e-01 -2.42149303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.343133365 meters Centerline goodness [0,1] 0.29823528128612875 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:-0.24 [[ 9.99923732e-01 4.28094091e-03 -1.15846291e-02 2.81354496e+00] [-4.29845675e-03 9.99989655e-01 -1.48751416e-03 3.12056348e-01] [ 1.15781413e-02 1.53719674e-03 9.99931790e-01 -2.42872795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.373133365 meters Centerline goodness [0,1] 0.292488333584224 Centerline is valid? [False, False] Translation: X:2.84, Y:0.31, Z:-0.24 [[ 9.99960555e-01 -1.41148610e-03 -8.76899304e-03 2.83655632e+00] [ 1.41971898e-03 9.99998557e-01 9.32708102e-04 3.12914447e-01] [ 8.76766388e-03 -9.45120818e-04 9.99961117e-01 -2.44086847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40313336499997 meters Centerline goodness [0,1] 0.2997625944721538 Centerline is valid? [False, False] Translation: X:2.82, Y:0.31, Z:-0.25 [[ 9.99922968e-01 7.14062091e-03 -1.01522996e-02 2.81619091e+00] [-7.14301415e-03 9.99974468e-01 -1.99492960e-04 3.11745152e-01] [ 1.01506159e-02 2.71995613e-04 9.99948444e-01 -2.45241510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43313336499997 meters Centerline goodness [0,1] 0.29485850075610287 Centerline is valid? [False, False] Translation: X:2.84, Y:0.32, Z:-0.24 [[ 9.99929782e-01 -6.49473578e-04 -1.18325563e-02 2.83762750e+00] [ 6.57320129e-04 9.99999567e-01 6.59255420e-04 3.15861662e-01] [ 1.18321230e-02 -6.66986906e-04 9.99929776e-01 -2.44318018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46313336499998 meters Centerline goodness [0,1] 0.29246995763810846 Centerline is valid? [False, False] Translation: X:2.84, Y:0.32, Z:-0.25 [[ 9.99925884e-01 -6.61032960e-04 -1.21568480e-02 2.83884768e+00] [ 6.67661817e-04 9.99999631e-01 5.41227180e-04 3.16627527e-01] [ 1.21564857e-02 -5.49303730e-04 9.99925956e-01 -2.45031595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49313336499998 meters Centerline goodness [0,1] 0.2936434175546285 Centerline is valid? [False, False] Translation: X:2.84, Y:0.32, Z:-0.25 [[ 9.99923385e-01 -6.74206833e-04 -1.23600107e-02 2.83949421e+00] [ 6.79748316e-04 9.99999670e-01 4.44144178e-04 3.17234566e-01] [ 1.23597072e-02 -4.52511846e-04 9.99923514e-01 -2.45295482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52313336499998 meters Centerline goodness [0,1] 0.2925595173740999 Centerline is valid? [False, False] Translation: X:2.84, Y:0.32, Z:-0.25 [[ 9.99922195e-01 -6.56775998e-04 -1.24568570e-02 2.83959745e+00] [ 6.61215784e-04 9.99999719e-01 3.52297863e-04 3.18029484e-01] [ 1.24566221e-02 -3.60507123e-04 9.99922348e-01 -2.45112324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55313336499998 meters Centerline goodness [0,1] 0.2933743757534011 Centerline is valid? [False, False] Translation: X:2.84, Y:0.32, Z:-0.24 [[ 9.99919013e-01 -6.25729213e-04 -1.27112604e-02 2.84001139e+00] [ 6.26468924e-04 9.99999802e-01 5.42116151e-05 3.20358503e-01] [ 1.27112240e-02 -6.21704343e-05 9.99919207e-01 -2.44748682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58313336499998 meters Centerline goodness [0,1] 0.29349728783523865 Centerline is valid? [False, False] Translation: X:2.84, Y:0.32, Z:-0.24 [[ 9.99918130e-01 -6.97057699e-04 -1.27768288e-02 2.84006900e+00] [ 6.94624143e-04 9.99999740e-01 -1.94903117e-04 3.21724730e-01] [ 1.27769613e-02 1.86012067e-04 9.99918354e-01 -2.44574534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61313336499998 meters Centerline goodness [0,1] 0.29541788376858347 Centerline is valid? [False, False] Translation: X:2.84, Y:0.32, Z:-0.24 [[ 9.99919349e-01 -7.34500014e-04 -1.26789496e-02 2.83978714e+00] [ 7.29888923e-04 9.99999666e-01 -3.68304294e-04 3.22826370e-01] [ 1.26792159e-02 3.59020366e-04 9.99919551e-01 -2.44510277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64313336499998 meters Centerline goodness [0,1] 0.29598727779714185 Centerline is valid? [False, False] Translation: X:2.84, Y:0.32, Z:-0.24 [[ 9.99920184e-01 -7.52733298e-04 -1.26118530e-02 2.83967216e+00] [ 7.47070417e-04 9.99999618e-01 -4.53717747e-04 3.23465898e-01] [ 1.26121897e-02 4.44259591e-04 9.99920364e-01 -2.44574028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67313336499998 meters Centerline goodness [0,1] 0.2964251334558502 Centerline is valid? [False, False] Translation: X:2.84, Y:0.32, Z:-0.24 [[ 9.99921022e-01 -7.42822077e-04 -1.25458178e-02 2.83950776e+00] [ 7.36981689e-04 9.99999618e-01 -4.70141448e-04 3.23728727e-01] [ 1.25461623e-02 4.60858279e-04 9.99921188e-01 -2.44601100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70313336499999 meters Centerline goodness [0,1] 0.2937267121347482 Centerline is valid? [False, False] Translation: X:2.84, Y:0.32, Z:-0.24 [[ 9.99919594e-01 -7.41614434e-04 -1.26592075e-02 2.83973623e+00] [ 7.35973558e-04 9.99999628e-01 -4.50247551e-04 3.23659213e-01] [ 1.26595367e-02 4.40894507e-04 9.99919768e-01 -2.44548908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.733133365 meters Centerline goodness [0,1] 0.29670257631711205 Centerline is valid? [False, False] Translation: X:2.84, Y:0.32, Z:-0.24 [[ 9.99914751e-01 -7.69480391e-04 -1.30345118e-02 2.84032473e+00] [ 7.62802373e-04 9.99999575e-01 -5.17297353e-04 3.24115167e-01] [ 1.30349043e-02 5.07310497e-04 9.99914913e-01 -2.44116629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.763133365 meters Centerline goodness [0,1] 0.29495573488786897 Centerline is valid? [False, False] Translation: X:2.84, Y:0.32, Z:-0.24 [[ 9.99911805e-01 -7.76705119e-04 -1.32581934e-02 2.84079212e+00] [ 7.68434818e-04 9.99999507e-01 -6.28870835e-04 3.24928507e-01] [ 1.32586753e-02 6.18627314e-04 9.99911909e-01 -2.43975845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.793133365 meters Centerline goodness [0,1] 0.2952683170683996 Centerline is valid? [False, False] Translation: X:2.84, Y:0.33, Z:-0.24 [[ 9.99910918e-01 -8.47589230e-04 -1.33205422e-02 2.84088448e+00] [ 8.35128656e-04 9.99999209e-01 -9.40975071e-04 3.26710323e-01] [ 1.33213292e-02 9.29766880e-04 9.99910835e-01 -2.43834488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.823133365 meters Centerline goodness [0,1] 0.2937327228749136 Centerline is valid? [False, False] Translation: X:2.84, Y:0.33, Z:-0.24 [[ 9.99912560e-01 -9.46311544e-04 -1.31900495e-02 2.84038995e+00] [ 9.28777517e-04 9.99998677e-01 -1.33539964e-03 3.28831800e-01] [ 1.31912958e-02 1.32303225e-03 9.99912116e-01 -2.43496033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.853133365 meters Centerline goodness [0,1] 0.2948487538704718 Centerline is valid? [False, False] Translation: X:2.84, Y:0.33, Z:-0.24 [[ 9.99916805e-01 -1.06975811e-03 -1.28545408e-02 2.83926639e+00] [ 1.04694060e-03 9.99997865e-01 -1.78165232e-03 3.31140488e-01] [ 1.28564193e-02 1.76804616e-03 9.99915790e-01 -2.42933650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.883133365 meters Centerline goodness [0,1] 0.2975095160413268 Centerline is valid? [False, False] Translation: X:2.84, Y:0.33, Z:-0.24 [[ 9.99920411e-01 -1.20759602e-03 -1.25584325e-02 2.83822145e+00] [ 1.17925970e-03 9.99996743e-01 -2.26351801e-03 3.33603658e-01] [ 1.25611251e-02 2.24852821e-03 9.99918578e-01 -2.42334735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.913133365 meters Centerline goodness [0,1] 0.29705092672787115 Centerline is valid? [False, False] Translation: X:2.84, Y:0.34, Z:-0.24 [[ 9.99922840e-01 -1.34945066e-03 -1.23488337e-02 2.83740177e+00] [ 1.31336714e-03 9.99994846e-01 -2.92966194e-03 3.37501363e-01] [ 1.23527234e-02 2.91321734e-03 9.99919458e-01 -2.41785501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.943133365 meters Centerline goodness [0,1] 0.3034615130054934 Centerline is valid? [False, False] Translation: X:2.79, Y:0.34, Z:-0.24 [[ 9.99894996e-01 -1.12811948e-03 -1.44473286e-02 2.79215281e+00] [ 1.07582020e-03 9.99992843e-01 -3.62725702e-03 3.41920262e-01] [ 1.44513171e-02 3.61133341e-03 9.99889053e-01 -2.41245605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.973133365 meters Centerline goodness [0,1] 0.30358672494454086 Centerline is valid? [False, False] Translation: X:2.79, Y:0.34, Z:-0.24 [[ 9.99894953e-01 -1.24989859e-03 -1.44402578e-02 2.79213011e+00] [ 1.19449534e-03 9.99991896e-01 -3.84470954e-03 3.42810905e-01] [ 1.44449462e-02 3.82705684e-03 9.99888342e-01 -2.41248871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.003133365 meters Centerline goodness [0,1] 0.29894393032117583 Centerline is valid? [False, False] Translation: X:2.79, Y:0.34, Z:-0.24 [[ 9.99898354e-01 -1.31958360e-03 -1.41964587e-02 2.79143193e+00] [ 1.26369977e-03 9.99991421e-01 -3.94471294e-03 3.43218241e-01] [ 1.42015423e-02 3.92637191e-03 9.99891444e-01 -2.41097617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.033133365 meters Centerline goodness [0,1] 0.3016365503528743 Centerline is valid? [False, False] Translation: X:2.79, Y:0.34, Z:-0.24 [[ 9.99901838e-01 -1.31122675e-03 -1.39497620e-02 2.79060790e+00] [ 1.25650505e-03 9.99991485e-01 -3.93081104e-03 3.43398143e-01] [ 1.39547974e-02 3.91289723e-03 9.99894971e-01 -2.40735180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.063133365 meters Centerline goodness [0,1] 0.3023362145920878 Centerline is valid? [False, False] Translation: X:2.79, Y:0.34, Z:-0.24 [[ 9.99905244e-01 -1.27806039e-03 -1.37065423e-02 2.78989124e+00] [ 1.22468238e-03 9.99991637e-01 -3.90203181e-03 3.43698289e-01] [ 1.37114147e-02 3.88487590e-03 9.99898447e-01 -2.40501226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.093133365 meters Centerline goodness [0,1] 0.300351275282002 Centerline is valid? [False, False] Translation: X:2.79, Y:0.34, Z:-0.24 [[ 9.99904203e-01 -1.67437506e-03 -1.37397414e-02 2.79017097e+00] [ 1.61637643e-03 9.99989742e-01 -4.23125154e-03 3.43987929e-01] [ 1.37466852e-02 4.20863761e-03 9.99896653e-01 -2.40838390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.123133365 meters Centerline goodness [0,1] 0.297462569637883 Centerline is valid? [False, False] Translation: X:2.79, Y:0.34, Z:-0.24 [[ 9.99899924e-01 -1.76202752e-03 -1.40370161e-02 2.79107602e+00] [ 1.70195972e-03 9.99989349e-01 -4.29003989e-03 3.43971611e-01] [ 1.40444258e-02 4.26572012e-03 9.99892273e-01 -2.41216743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15313336499997 meters Centerline goodness [0,1] 0.2962008317449315 Centerline is valid? [False, False] Translation: X:2.79, Y:0.34, Z:-0.24 [[ 9.99895436e-01 -1.77762312e-03 -1.43512210e-02 2.79200971e+00] [ 1.71568585e-03 9.99989167e-01 -4.32697815e-03 3.44335569e-01] [ 1.43587573e-02 4.30190352e-03 9.99887654e-01 -2.41551047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18313336499997 meters Centerline goodness [0,1] 0.29993007604230404 Centerline is valid? [False, False] Translation: X:2.79, Y:0.35, Z:-0.24 [[ 9.99892468e-01 -1.77258721e-03 -1.45571388e-02 2.79259844e+00] [ 1.70861783e-03 9.99988835e-01 -4.40562666e-03 3.45284372e-01] [ 1.45647856e-02 4.38028032e-03 9.99884333e-01 -2.41713917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21313336499998 meters Centerline goodness [0,1] 0.29481976605395077 Centerline is valid? [False, False] Translation: X:2.79, Y:0.35, Z:-0.24 [[ 9.99890333e-01 -1.80251395e-03 -1.46993951e-02 2.79316147e+00] [ 1.73547136e-03 9.99988041e-01 -4.57238935e-03 3.46568671e-01] [ 1.47074611e-02 4.54637753e-03 9.99881503e-01 -2.42036673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24313336499998 meters Centerline goodness [0,1] 0.29354461618392 Centerline is valid? [False, False] Translation: X:2.79, Y:0.35, Z:-0.24 [[ 9.99888781e-01 -1.89373080e-03 -1.47932149e-02 2.79347940e+00] [ 1.82207733e-03 9.99986551e-01 -4.85564902e-03 3.48124925e-01] [ 1.48022113e-02 4.82815459e-03 9.99878784e-01 -2.42144605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27313336499998 meters Centerline goodness [0,1] 0.29746352315107627 Centerline is valid? [False, False] Translation: X:2.79, Y:0.35, Z:-0.24 [[ 9.99888641e-01 -2.15062409e-03 -1.47675519e-02 2.79333062e+00] [ 2.06903606e-03 9.99982525e-01 -5.53787486e-03 3.51674080e-01] [ 1.47792038e-02 5.50670357e-03 9.99875618e-01 -2.41977944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30313336499998 meters Centerline goodness [0,1] 0.2947815953038674 Centerline is valid? [False, False] Translation: X:2.79, Y:0.35, Z:-0.24 [[ 9.99887538e-01 -2.23245420e-03 -1.48299669e-02 2.79348022e+00] [ 2.14624413e-03 9.99980722e-01 -5.82660752e-03 3.53468191e-01] [ 1.48426886e-02 5.79412352e-03 9.99873053e-01 -2.41964278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33313336499998 meters Centerline goodness [0,1] 0.2936034531375399 Centerline is valid? [False, False] Translation: X:2.79, Y:0.36, Z:-0.24 [[ 9.99885036e-01 -2.32108851e-03 -1.49842409e-02 2.79392724e+00] [ 2.22998960e-03 9.99978948e-01 -6.09349566e-03 3.55157624e-01] [ 1.49980690e-02 6.05938042e-03 9.99869162e-01 -2.42072641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36313336499998 meters Centerline goodness [0,1] 0.293556962846089 Centerline is valid? [False, False] Translation: X:2.79, Y:0.36, Z:-0.24 [[ 9.99881547e-01 -2.38248940e-03 -1.52057694e-02 2.79472088e+00] [ 2.28811870e-03 9.99978034e-01 -6.22062571e-03 3.55899843e-01] [ 1.52202560e-02 6.18509626e-03 9.99865035e-01 -2.42494387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39313336499998 meters Centerline goodness [0,1] 0.29096563789119023 Centerline is valid? [False, False] Translation: X:2.80, Y:0.36, Z:-0.24 [[ 9.99879924e-01 -2.48385962e-03 -1.52960448e-02 2.79529150e+00] [ 2.38776999e-03 9.99977323e-01 -6.29705413e-03 3.55950406e-01] [ 1.53113390e-02 6.25977456e-03 9.99863180e-01 -2.43072374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42313336499998 meters Centerline goodness [0,1] 0.29586447215586575 Centerline is valid? [False, False] Translation: X:2.75, Y:0.36, Z:-0.24 [[ 0.99983623 -0.00313545 -0.01782375 2.75106287] [ 0.00300024 0.99996656 -0.00760743 0.35866813] [ 0.01784701 0.00755271 0.9998122 -0.24315456] [ 0. 0. 0. 1. ]] SLAMing on 231.45313336499999 meters Centerline goodness [0,1] 0.2907110464990127 Centerline is valid? [False, False] Translation: X:2.75, Y:0.36, Z:-0.24 [[ 0.99983133 -0.00403408 -0.01791729 2.75144543] [ 0.00389381 0.99996155 -0.00785684 0.35610345] [ 0.0179483 0.00778575 0.9998086 -0.24369605] [ 0. 0. 0. 1. ]] SLAMing on 231.483133365 meters Centerline goodness [0,1] 0.29064007441216555 Centerline is valid? [False, False] Translation: X:2.75, Y:0.35, Z:-0.24 [[ 0.99982917 -0.00401533 -0.01804171 2.75179665] [ 0.0038819 0.9999649 -0.00742451 0.35356139] [ 0.01807088 0.00735321 0.99980967 -0.24394496] [ 0. 0. 0. 1. ]] SLAMing on 231.513133365 meters Centerline goodness [0,1] 0.28862967451523547 Centerline is valid? [False, False] Translation: X:2.75, Y:0.35, Z:-0.24 [[ 0.99982761 -0.00395573 -0.01814096 2.7521341 ] [ 0.00382984 0.99996838 -0.00696865 0.35101108] [ 0.01816795 0.00689798 0.99981115 -0.24422403] [ 0. 0. 0. 1. ]] SLAMing on 231.543133365 meters Centerline goodness [0,1] 0.29020356786318846 Centerline is valid? [False, False] Translation: X:2.75, Y:0.35, Z:-0.24 [[ 0.999825 -0.00387616 -0.01830128 2.75258978] [ 0.00375686 0.9999715 -0.00654809 0.34857745] [ 0.01832614 0.00647819 0.99981107 -0.24445584] [ 0. 0. 0. 1. ]] SLAMing on 231.573133365 meters Centerline goodness [0,1] 0.2894480624851251 Centerline is valid? [False, False] Translation: X:2.75, Y:0.35, Z:-0.24 [[ 0.99982257 -0.00375591 -0.01845861 2.75305646] [ 0.00364323 0.99997455 -0.00613457 0.34625739] [ 0.01848119 0.00606624 0.99981081 -0.24470112] [ 0. 0. 0. 1. ]] SLAMing on 231.603133365 meters Centerline goodness [0,1] 0.28636540372402475 Centerline is valid? [False, False] Translation: X:2.75, Y:0.34, Z:-0.24 [[ 0.99982473 -0.00345028 -0.01840138 2.75269526] [ 0.00335173 0.99997989 -0.00538352 0.34241211] [ 0.01841959 0.0053209 0.99981619 -0.2444718 ] [ 0. 0. 0. 1. ]] SLAMing on 231.633133365 meters Centerline goodness [0,1] 0.28636540372402475 Centerline is valid? [False, False] Translation: X:2.75, Y:0.34, Z:-0.24 [[ 0.99982473 -0.00345028 -0.01840138 2.75269526] [ 0.00335173 0.99997989 -0.00538352 0.34241211] [ 0.01841959 0.0053209 0.99981619 -0.2444718 ] [ 0. 0. 0. 1. ]] SLAMing on 231.663133365 meters Centerline goodness [0,1] 0.2904257402049296 Centerline is valid? [False, False] Translation: X:2.75, Y:0.34, Z:-0.24 [[ 0.99982992 -0.0033015 -0.0181449 2.75183443] [ 0.00321058 0.99998216 -0.00503779 0.34067325] [ 0.01816121 0.00497868 0.99982268 -0.24411908] [ 0. 0. 0. 1. ]] SLAMing on 231.693133365 meters Centerline goodness [0,1] 0.29020469426377504 Centerline is valid? [False, False] Translation: X:2.75, Y:0.34, Z:-0.24 [[ 0.99983327 -0.00313977 -0.01798835 2.75134891] [ 0.00305705 0.99998464 -0.0046243 0.3385449 ] [ 0.0180026 0.00456854 0.9998275 -0.24398421] [ 0. 0. 0. 1. ]] SLAMing on 231.723133365 meters Centerline goodness [0,1] 0.28771228771228774 Centerline is valid? [False, False] Translation: X:2.75, Y:0.33, Z:-0.24 [[ 9.99837705e-01 -2.80276377e-03 -1.77962795e-02 2.75084608e+00] [ 2.73468311e-03 9.99988854e-01 -3.84873968e-03 3.34551463e-01] [ 1.78068682e-02 3.79944786e-03 9.99834226e-01 -2.44047747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.753133365 meters Centerline goodness [0,1] 0.2885761517379388 Centerline is valid? [False, False] Translation: X:2.75, Y:0.33, Z:-0.24 [[ 9.99837758e-01 -2.63514188e-03 -1.78189296e-02 2.75085507e+00] [ 2.57338473e-03 9.99990606e-01 -3.48785855e-03 3.32766109e-01] [ 1.78279532e-02 3.44143771e-03 9.99835147e-01 -2.44013459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.783133365 meters Centerline goodness [0,1] 0.2932325886990802 Centerline is valid? [False, False] Translation: X:2.75, Y:0.33, Z:-0.24 [[ 9.99836880e-01 -2.50668661e-03 -1.78865602e-02 2.75094610e+00] [ 2.44915366e-03 9.99991759e-01 -3.23772735e-03 3.31560700e-01] [ 1.78945287e-02 3.19339228e-03 9.99834780e-01 -2.43937774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.813133365 meters Centerline goodness [0,1] 0.2896436259268118 Centerline is valid? [False, False] Translation: X:2.75, Y:0.33, Z:-0.24 [[ 9.99836452e-01 -2.33128540e-03 -1.79341450e-02 2.75090467e+00] [ 2.27786664e-03 9.99992910e-01 -2.99845726e-03 3.30603148e-01] [ 1.79410081e-02 2.95711528e-03 9.99834674e-01 -2.43685883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.843133365 meters Centerline goodness [0,1] 0.28886638367558015 Centerline is valid? [False, False] Translation: X:2.75, Y:0.33, Z:-0.24 [[ 9.99838455e-01 -2.22631531e-03 -1.78355624e-02 2.75028024e+00] [ 2.17561143e-03 9.99993539e-01 -2.86175147e-03 3.29847567e-01] [ 1.78418183e-02 2.82248592e-03 9.99836838e-01 -2.43060093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.873133365 meters Centerline goodness [0,1] 0.29408426107836716 Centerline is valid? [False, False] Translation: X:2.73, Y:0.33, Z:-0.24 [[ 0.99983404 0.00638162 -0.01706361 2.72827496] [-0.00644573 0.99997236 -0.00370493 0.32589889] [ 0.01703949 0.0038143 0.99984754 -0.24418948] [ 0. 0. 0. 1. ]] SLAMing on 231.90313336499997 meters Centerline goodness [0,1] 0.28963309103496016 Centerline is valid? [False, False] Translation: X:2.75, Y:0.33, Z:-0.24 [[ 9.99876360e-01 -1.08017318e-03 -1.56875157e-02 2.74663037e+00] [ 1.04892121e-03 9.99997449e-01 -2.00024723e-03 3.25593145e-01] [ 1.56896363e-02 1.98354495e-03 9.99874943e-01 -2.42920313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93313336499997 meters Centerline goodness [0,1] 0.28916156301216256 Centerline is valid? [False, False] Translation: X:2.75, Y:0.32, Z:-0.24 [[ 9.99876562e-01 -9.12136155e-04 -1.56853242e-02 2.74658403e+00] [ 8.84791153e-04 9.99998077e-01 -1.75020072e-03 3.24725953e-01] [ 1.56868904e-02 1.73610644e-03 9.99875446e-01 -2.42858515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96313336499998 meters Centerline goodness [0,1] 0.28839347375690605 Centerline is valid? [False, False] Translation: X:2.75, Y:0.32, Z:-0.24 [[ 9.99877866e-01 -7.97627418e-04 -1.56082143e-02 2.74635633e+00] [ 7.73650395e-04 9.99998512e-01 -1.54215755e-03 3.23802517e-01] [ 1.56094211e-02 1.52989390e-03 9.99876995e-01 -2.42820562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99313336499998 meters Centerline goodness [0,1] 0.28852686008524264 Centerline is valid? [False, False] Translation: X:2.75, Y:0.32, Z:-0.24 [[ 9.99879915e-01 -6.90543908e-04 -1.54815618e-02 2.74601399e+00] [ 6.70890026e-04 9.99998963e-01 -1.27466016e-03 3.22357550e-01] [ 1.54824260e-02 1.26412066e-03 9.99879341e-01 -2.42807600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02313336499998 meters Centerline goodness [0,1] 0.29417410081357553 Centerline is valid? [False, False] Translation: X:2.75, Y:0.32, Z:-0.24 [[ 9.99880843e-01 -5.89247196e-04 -1.54257342e-02 2.74576340e+00] [ 5.74698159e-04 9.99999386e-01 -9.47582420e-04 3.20415871e-01] [ 1.54262831e-02 9.38604368e-04 9.99880567e-01 -2.42711468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05313336499998 meters Centerline goodness [0,1] 0.28983903857000304 Centerline is valid? [False, False] Translation: X:2.75, Y:0.32, Z:-0.24 [[ 9.99881412e-01 -4.89427030e-04 -1.53923112e-02 2.74556552e+00] [ 4.80252240e-04 9.99999705e-01 -5.99753833e-04 3.18459912e-01] [ 1.53926002e-02 5.92290517e-04 9.99881351e-01 -2.42591653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08313336499998 meters Centerline goodness [0,1] 0.2913479923518164 Centerline is valid? [False, False] Translation: X:2.75, Y:0.32, Z:-0.24 [[ 9.99881572e-01 -3.32056286e-04 -1.53860699e-02 2.74551802e+00] [ 3.29426007e-04 9.99999931e-01 -1.73486124e-04 3.16396477e-01] [ 1.53861264e-02 1.68397006e-04 9.99881612e-01 -2.42628652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11313336499998 meters Centerline goodness [0,1] 0.2880371410062621 Centerline is valid? [False, False] Translation: X:2.75, Y:0.31, Z:-0.24 [[ 9.99878769e-01 -1.31215569e-04 -1.55701703e-02 2.74611706e+00] [ 1.37665611e-04 9.99999905e-01 4.13185279e-04 3.13445294e-01] [ 1.55701146e-02 -4.15278665e-04 9.99878692e-01 -2.43018614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14313336499998 meters Centerline goodness [0,1] 0.29067875658908005 Centerline is valid? [False, False] Translation: X:2.75, Y:0.31, Z:-0.24 [[ 9.99878606e-01 -3.77551831e-05 -1.55811350e-02 2.74608859e+00] [ 4.81511934e-05 9.99999777e-01 6.66843177e-04 3.12169976e-01] [ 1.55811063e-02 -6.67512476e-04 9.99878384e-01 -2.42972429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17313336499998 meters Centerline goodness [0,1] 0.2888053702939324 Centerline is valid? [False, False] Translation: X:2.75, Y:0.31, Z:-0.24 [[ 9.99878585e-01 5.08346380e-05 -1.55824610e-02 2.74607674e+00] [-3.71408607e-05 9.99999613e-01 8.79082394e-04 3.11190820e-01] [ 1.55824996e-02 -8.78396914e-04 9.99878200e-01 -2.43006695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20313336499999 meters Centerline goodness [0,1] 0.28805028729424975 Centerline is valid? [False, False] Translation: X:2.75, Y:0.31, Z:-0.24 [[ 9.99878521e-01 1.28315139e-04 -1.55861295e-02 2.74616906e+00] [-1.12453643e-04 9.99999475e-01 1.01853953e-03 3.10690037e-01] [ 1.55862520e-02 -1.01666309e-03 9.99878010e-01 -2.43157209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.233133365 meters Centerline goodness [0,1] 0.29325397693704736 Centerline is valid? [False, False] Translation: X:2.70, Y:0.31, Z:-0.24 [[ 9.99838757e-01 5.58123303e-04 -1.79484775e-02 2.70072461e+00] [-5.39909906e-04 9.99999334e-01 1.01958970e-03 3.13637609e-01] [ 1.79490346e-02 -1.00973473e-03 9.99838393e-01 -2.42770047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.263133365 meters Centerline goodness [0,1] 0.29281960707354837 Centerline is valid? [False, False] Translation: X:2.70, Y:0.31, Z:-0.24 [[ 9.99836775e-01 5.86867400e-04 -1.80576833e-02 2.70112344e+00] [-5.67429301e-04 9.99999254e-01 1.08154960e-03 3.13350842e-01] [ 1.80583046e-02 -1.07112661e-03 9.99836362e-01 -2.42984615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.293133365 meters Centerline goodness [0,1] 0.29301145806000173 Centerline is valid? [False, False] Translation: X:2.70, Y:0.31, Z:-0.24 [[ 9.99834769e-01 5.93448321e-04 -1.81681775e-02 2.70143852e+00] [-5.73353306e-04 9.99999218e-01 1.11124444e-03 3.13150042e-01] [ 1.81688227e-02 -1.10064404e-03 9.99834328e-01 -2.43109609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.323133365 meters Centerline goodness [0,1] 0.2924056984532146 Centerline is valid? [False, False] Translation: X:2.70, Y:0.31, Z:-0.24 [[ 9.99834120e-01 6.95453458e-04 -1.82002414e-02 2.70134367e+00] [-6.71016563e-04 9.99998865e-01 1.34874114e-03 3.12074950e-01] [ 1.82011587e-02 -1.33630475e-03 9.99833452e-01 -2.42890134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.353133365 meters Centerline goodness [0,1] 0.28604961667671636 Centerline is valid? [False, False] Translation: X:2.72, Y:0.31, Z:-0.24 [[ 9.99825763e-01 -7.64431752e-03 -1.70296355e-02 2.72145670e+00] [ 7.68768325e-03 9.99967368e-01 2.48247832e-03 3.12812442e-01] [ 1.70101029e-02 -2.61296422e-03 9.99851903e-01 -2.41731219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.383133365 meters Centerline goodness [0,1] 0.29013408917475203 Centerline is valid? [False, False] Translation: X:2.70, Y:0.31, Z:-0.24 [[ 9.99869854e-01 4.32532774e-04 -1.61272419e-02 2.70036249e+00] [-4.06507101e-04 9.99998610e-01 1.61701407e-03 3.07598964e-01] [ 1.61279189e-02 -1.61024779e-03 9.99868640e-01 -2.43259979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.413133365 meters Centerline goodness [0,1] 0.2907159373500283 Centerline is valid? [False, False] Translation: X:2.70, Y:0.31, Z:-0.24 [[ 9.99870581e-01 4.41658996e-04 -1.60818445e-02 2.70013443e+00] [-4.12156133e-04 9.99998226e-01 1.83781281e-03 3.06026050e-01] [ 1.60826276e-02 -1.83094673e-03 9.99868990e-01 -2.43134618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.443133365 meters Centerline goodness [0,1] 0.29211496911896295 Centerline is valid? [False, False] Translation: X:2.70, Y:0.30, Z:-0.24 [[ 9.99870663e-01 5.09740249e-04 -1.60747288e-02 2.70013825e+00] [-4.74560367e-04 9.99997484e-01 2.19225961e-03 3.03854480e-01] [ 1.60758058e-02 -2.18434764e-03 9.99868390e-01 -2.43266150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.473133365 meters Centerline goodness [0,1] 0.2905493644436705 Centerline is valid? [False, False] Translation: X:2.70, Y:0.30, Z:-0.24 [[ 9.99868549e-01 5.89949530e-04 -1.62029915e-02 2.70066910e+00] [-5.47882655e-04 9.99996468e-01 2.60055754e-03 3.01435591e-01] [ 1.62044685e-02 -2.59133835e-03 9.99865341e-01 -2.43734074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.503133365 meters Centerline goodness [0,1] 0.2905276958374303 Centerline is valid? [False, False] Translation: X:2.70, Y:0.30, Z:-0.24 [[ 9.99859520e-01 8.41223894e-04 -1.67401759e-02 2.70215000e+00] [-7.81378206e-04 9.99993282e-01 3.58119326e-03 2.96201930e-01] [ 1.67430760e-02 -3.56760977e-03 9.99853460e-01 -2.44307883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.533133365 meters Centerline goodness [0,1] 0.28853746319118767 Centerline is valid? [False, False] Translation: X:2.70, Y:0.29, Z:-0.24 [[ 9.99858695e-01 9.77356412e-04 -1.67819762e-02 2.70222187e+00] [-9.10120903e-04 9.99991531e-01 4.01358195e-03 2.93829375e-01] [ 1.67857568e-02 -3.99774118e-03 9.99851117e-01 -2.44351843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.563133365 meters Centerline goodness [0,1] 0.2851743872152035 Centerline is valid? [False, False] Translation: X:2.70, Y:0.29, Z:-0.24 [[ 9.99859723e-01 1.12733044e-03 -1.67111609e-02 2.70172860e+00] [-1.05372791e-03 9.99989710e-01 4.41254454e-03 2.91671967e-01] [ 1.67159633e-02 -4.39431654e-03 9.99850622e-01 -2.43885530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.593133365 meters Centerline goodness [0,1] 0.28739426894527875 Centerline is valid? [False, False] Translation: X:2.70, Y:0.29, Z:-0.24 [[ 9.99863249e-01 1.25332594e-03 -1.64897851e-02 2.70068652e+00] [-1.17657031e-03 9.99988433e-01 4.66361681e-03 2.90422019e-01] [ 1.64954394e-02 -4.64357766e-03 9.99853158e-01 -2.43073663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.623133365 meters Centerline goodness [0,1] 0.2892723213318016 Centerline is valid? [False, False] Translation: X:2.70, Y:0.29, Z:-0.24 [[ 9.99869782e-01 1.59244399e-03 -1.60587549e-02 2.69891088e+00] [-1.51393326e-03 9.99986849e-01 4.89993967e-03 2.89817950e-01] [ 1.60663465e-02 -4.87498973e-03 9.99859044e-01 -2.41785797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65313336499997 meters Centerline goodness [0,1] 0.2889555352718738 Centerline is valid? [False, False] Translation: X:2.70, Y:0.29, Z:-0.24 [[ 9.99867405e-01 1.63132343e-03 -1.62021680e-02 2.69928231e+00] [-1.55461051e-03 9.99987528e-01 4.74619855e-03 2.90766615e-01] [ 1.62097085e-02 -4.72038117e-03 9.99857472e-01 -2.41765290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68313336499997 meters Centerline goodness [0,1] 0.2906133646874388 Centerline is valid? [False, False] Translation: X:2.70, Y:0.29, Z:-0.24 [[ 9.99864973e-01 1.70681645e-03 -1.63438881e-02 2.69960759e+00] [-1.63202373e-03 9.99988141e-01 4.58843421e-03 2.92020686e-01] [ 1.63515259e-02 -4.56114103e-03 9.99855901e-01 -2.41701098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71313336499998 meters Centerline goodness [0,1] 0.28770021154427317 Centerline is valid? [False, False] Translation: X:2.70, Y:0.29, Z:-0.24 [[ 9.99867169e-01 1.83183807e-03 -1.61953053e-02 2.69906387e+00] [-1.76066243e-03 9.99988735e-01 4.40799776e-03 2.93671348e-01] [ 1.62031976e-02 -4.37889777e-03 9.99859131e-01 -2.41349597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74313336499998 meters Centerline goodness [0,1] 0.29271159874608155 Centerline is valid? [False, False] Translation: X:2.70, Y:0.30, Z:-0.24 [[ 9.99879581e-01 2.06413227e-03 -1.53805815e-02 2.69682948e+00] [-1.99830167e-03 9.99988783e-01 4.29425082e-03 2.95338543e-01] [ 1.53892729e-02 -4.26299867e-03 9.99872490e-01 -2.40706265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77313336499998 meters Centerline goodness [0,1] 0.29268504827346264 Centerline is valid? [False, False] Translation: X:2.69, Y:0.30, Z:-0.24 [[ 9.99897828e-01 2.68326894e-03 -1.40404563e-02 2.69282570e+00] [-2.62478713e-03 9.99987811e-01 4.18200674e-03 2.98937315e-01] [ 1.40515066e-02 -4.14472624e-03 9.99892682e-01 -2.39190972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80313336499998 meters Centerline goodness [0,1] 0.2938046205762741 Centerline is valid? [False, False] Translation: X:2.69, Y:0.30, Z:-0.24 [[ 9.99894864e-01 2.62441356e-03 -1.42608919e-02 2.69327151e+00] [-2.57094073e-03 9.99989601e-01 3.76665334e-03 3.01299794e-01] [ 1.42706289e-02 -3.72959342e-03 9.99891214e-01 -2.39054009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83313336499998 meters Centerline goodness [0,1] 0.29367143476376245 Centerline is valid? [False, False] Translation: X:2.69, Y:0.30, Z:-0.24 [[ 9.99889772e-01 2.59882750e-03 -1.46181035e-02 2.69418604e+00] [-2.54959106e-03 9.99991018e-01 3.38581033e-03 3.03767520e-01] [ 1.46267714e-02 -3.34816693e-03 9.99887417e-01 -2.39165747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86313336499998 meters Centerline goodness [0,1] 0.2961895403428322 Centerline is valid? [False, False] Translation: X:2.69, Y:0.31, Z:-0.24 [[ 9.99887193e-01 2.57859892e-03 -1.47970449e-02 2.69470282e+00] [-2.53481371e-03 9.99992356e-01 2.97704295e-03 3.06491566e-01] [ 1.48046084e-02 -2.93919937e-03 9.99886086e-01 -2.39277031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89313336499998 meters Centerline goodness [0,1] 0.29591613889495527 Centerline is valid? [False, False] Translation: X:2.69, Y:0.31, Z:-0.24 [[ 9.99887682e-01 2.51975719e-03 -1.47741365e-02 2.69465781e+00] [-2.48237541e-03 9.99993673e-01 2.54801095e-03 3.09028973e-01] [ 1.47804634e-02 -2.51104981e-03 9.99887610e-01 -2.39246509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92313336499998 meters Centerline goodness [0,1] 0.2926797583735683 Centerline is valid? [False, False] Translation: X:2.69, Y:0.31, Z:-0.24 [[ 9.99889509e-01 2.40107147e-03 -1.46698471e-02 2.69429698e+00] [-2.37068359e-03 9.99995009e-01 2.08849039e-03 3.11445858e-01] [ 1.46747885e-02 -2.05348207e-03 9.99890211e-01 -2.39017445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95313336499999 meters Centerline goodness [0,1] 0.29689172364081173 Centerline is valid? [False, False] Translation: X:2.69, Y:0.32, Z:-0.24 [[ 9.99896301e-01 2.34124312e-03 -1.42093320e-02 2.69330187e+00] [-2.32213474e-03 9.99996378e-01 1.36112699e-03 3.15864051e-01] [ 1.42124673e-02 -1.32798986e-03 9.99898116e-01 -2.39048127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.983133365 meters Centerline goodness [0,1] 0.299561114768488 Centerline is valid? [False, False] Translation: X:2.69, Y:0.32, Z:-0.24 [[ 9.99896517e-01 2.30029724e-03 -1.42008103e-02 2.69339908e+00] [-2.28624672e-03 9.99996881e-01 1.00557165e-03 3.18223738e-01] [ 1.42030791e-02 -9.73001032e-04 9.99898658e-01 -2.39221632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.013133365 meters Centerline goodness [0,1] 0.29565972222222225 Centerline is valid? [False, False] Translation: X:2.71, Y:0.32, Z:-0.24 [[ 0.99986845 -0.00341294 -0.01585656 2.71450189] [ 0.00347093 0.99998738 0.00363084 0.32330002] [ 0.01584397 -0.0036854 0.99986768 -0.2378107 ] [ 0. 0. 0. 1. ]] SLAMing on 233.043133365 meters Centerline goodness [0,1] 0.29323503340323875 Centerline is valid? [False, False] Translation: X:2.72, Y:0.33, Z:-0.24 [[ 0.9998647 -0.00344795 -0.01608377 2.71526265] [ 0.00350251 0.9999882 0.00336501 0.3250395 ] [ 0.01607198 -0.00342089 0.99986499 -0.2381635 ] [ 0. 0. 0. 1. ]] SLAMing on 233.073133365 meters Centerline goodness [0,1] 0.2929758504284602 Centerline is valid? [False, False] Translation: X:2.72, Y:0.33, Z:-0.24 [[ 0.99986208 -0.00352925 -0.01622849 2.71565699] [ 0.00358054 0.99998868 0.00313257 0.3262031 ] [ 0.01621725 -0.00319025 0.9998634 -0.2382719 ] [ 0. 0. 0. 1. ]] SLAMing on 233.103133365 meters Centerline goodness [0,1] 0.2925342703453062 Centerline is valid? [False, False] Translation: X:2.72, Y:0.33, Z:-0.24 [[ 0.99985943 -0.00361262 -0.01637302 2.71602465] [ 0.0036609 0.99998904 0.0029196 0.32721676] [ 0.01636229 -0.00297913 0.99986169 -0.23837024] [ 0. 0. 0. 1. ]] SLAMing on 233.133133365 meters Centerline goodness [0,1] 0.2956950692135515 Centerline is valid? [False, False] Translation: X:2.72, Y:0.33, Z:-0.24 [[ 9.99854781e-01 -3.70377234e-03 -1.66342685e-02 2.71664595e+00] [ 3.74563466e-03 9.99989895e-01 2.48618169e-03 3.29799932e-01] [ 1.66248922e-02 -2.54812654e-03 9.99858550e-01 -2.38380245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.163133365 meters Centerline goodness [0,1] 0.29776560788608986 Centerline is valid? [False, False] Translation: X:2.72, Y:0.33, Z:-0.24 [[ 9.99853602e-01 -3.73292537e-03 -1.66985277e-02 2.71672235e+00] [ 3.77037489e-03 9.99990446e-01 2.21176419e-03 3.31617410e-01] [ 1.66901118e-02 -2.27440010e-03 9.99858124e-01 -2.38250747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.193133365 meters Centerline goodness [0,1] 0.2920125718001517 Centerline is valid? [False, False] Translation: X:2.74, Y:0.33, Z:-0.24 [[ 9.99863264e-01 4.33266854e-03 -1.59587068e-02 2.73665335e+00] [-4.31718133e-03 9.99990176e-01 1.00477823e-03 3.30087223e-01] [ 1.59629034e-02 -9.35744206e-04 9.99872147e-01 -2.37020951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.223133365 meters Centerline goodness [0,1] 0.29419399498139653 Centerline is valid? [False, False] Translation: X:2.74, Y:0.33, Z:-0.24 [[ 9.99865565e-01 4.18626871e-03 -1.58532844e-02 2.73629923e+00] [-4.17942103e-03 9.99991158e-01 4.65047556e-04 3.32887638e-01] [ 1.58550910e-02 -3.98727487e-04 9.99874221e-01 -2.36822002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.253133365 meters Centerline goodness [0,1] 0.2934721562189485 Centerline is valid? [False, False] Translation: X:2.74, Y:0.34, Z:-0.24 [[ 9.99863779e-01 4.06377031e-03 -1.59971916e-02 2.73650341e+00] [-4.06471816e-03 9.99991739e-01 -2.67373626e-05 3.35543695e-01] [ 1.59969508e-02 9.17577958e-05 9.99872036e-01 -2.36609615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.283133365 meters Centerline goodness [0,1] 0.29427060761029733 Centerline is valid? [False, False] Translation: X:2.74, Y:0.34, Z:-0.24 [[ 9.99848974e-01 4.38671295e-03 -1.68162520e-02 2.73869881e+00] [-4.39411318e-03 9.99990265e-01 -4.03140073e-04 3.39806077e-01] [ 1.68143198e-02 4.76971703e-04 9.99858516e-01 -2.37063618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.313133365 meters Centerline goodness [0,1] 0.2966561376756345 Centerline is valid? [False, False] Translation: X:2.74, Y:0.34, Z:-0.24 [[ 9.99849236e-01 4.27630428e-03 -1.68290729e-02 2.73889415e+00] [-4.29054647e-03 9.99990467e-01 -8.10270200e-04 3.41973572e-01] [ 1.68254475e-02 8.82353960e-04 9.99858053e-01 -2.37323038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.343133365 meters Centerline goodness [0,1] 0.2934719190958791 Centerline is valid? [False, False] Translation: X:2.76, Y:0.35, Z:-0.24 [[ 9.99850243e-01 -3.29658522e-03 -1.69889185e-02 2.75686543e+00] [ 3.30360119e-03 9.99994469e-01 3.84925303e-04 3.47984840e-01] [ 1.69875556e-02 -4.40992270e-04 9.99855604e-01 -2.35187064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.373133365 meters Centerline goodness [0,1] 0.2942299349240781 Centerline is valid? [False, False] Translation: X:2.76, Y:0.35, Z:-0.23 [[ 9.99853327e-01 -3.38154955e-03 -1.67895831e-02 2.75617537e+00] [ 3.38448825e-03 9.99994262e-01 1.46619934e-04 3.49215939e-01] [ 1.67889910e-02 -2.03422575e-04 9.99859034e-01 -2.34894680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40313336499997 meters Centerline goodness [0,1] 0.29702560978263237 Centerline is valid? [False, False] Translation: X:2.76, Y:0.35, Z:-0.23 [[ 9.99855114e-01 -3.42663101e-03 -1.66736216e-02 2.75566662e+00] [ 3.42708740e-03 9.99994128e-01 -1.20073947e-06 3.50072241e-01] [ 1.66735278e-02 -5.59413929e-05 9.99860986e-01 -2.34548391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43313336499997 meters Centerline goodness [0,1] 0.29596480912872103 Centerline is valid? [False, False] Translation: X:2.76, Y:0.35, Z:-0.23 [[ 9.99854250e-01 -3.44110338e-03 -1.67223733e-02 2.75578195e+00] [ 3.44034995e-03 9.99994079e-01 -7.38229383e-05 3.50623488e-01] [ 1.67225283e-02 1.62813626e-05 9.99860169e-01 -2.34571760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46313336499998 meters Centerline goodness [0,1] 0.2956602913401212 Centerline is valid? [False, False] Translation: X:2.76, Y:0.35, Z:-0.23 [[ 9.99851035e-01 -3.43342999e-03 -1.69150353e-02 2.75644881e+00] [ 3.43275494e-03 9.99994106e-01 -6.89425277e-05 3.50718885e-01] [ 1.69151723e-02 1.08670866e-05 9.99856928e-01 -2.34924174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49313336499998 meters Centerline goodness [0,1] 0.29682852143482064 Centerline is valid? [False, False] Translation: X:2.76, Y:0.35, Z:-0.23 [[ 9.99853027e-01 -3.43163304e-03 -1.67972560e-02 2.75611456e+00] [ 3.43144197e-03 9.99994112e-01 -4.01966289e-05 3.50508149e-01] [ 1.67972951e-02 -1.74480883e-05 9.99858915e-01 -2.34871311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52313336499998 meters Centerline goodness [0,1] 0.29574468085106387 Centerline is valid? [False, False] Translation: X:2.76, Y:0.35, Z:-0.23 [[ 9.99855434e-01 -3.39919242e-03 -1.66600434e-02 2.75554548e+00] [ 3.40086355e-03 9.99994214e-01 7.19778003e-05 3.49865867e-01] [ 1.66597024e-02 -1.28625929e-04 9.99861209e-01 -2.34517958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55313336499998 meters Centerline goodness [0,1] 0.29574468085106387 Centerline is valid? [False, False] Translation: X:2.76, Y:0.35, Z:-0.23 [[ 9.99855434e-01 -3.39919242e-03 -1.66600434e-02 2.75554548e+00] [ 3.40086355e-03 9.99994214e-01 7.19778003e-05 3.49865867e-01] [ 1.66597024e-02 -1.28625929e-04 9.99861209e-01 -2.34517958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58313336499998 meters Centerline goodness [0,1] 0.29809471965160583 Centerline is valid? [False, False] Translation: X:2.75, Y:0.35, Z:-0.23 [[ 9.99858717e-01 -3.35388750e-03 -1.64710882e-02 2.75481261e+00] [ 3.35684527e-03 9.99994354e-01 1.51929451e-04 3.49550707e-01] [ 1.64704857e-02 -2.07198881e-04 9.99864331e-01 -2.34082589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61313336499998 meters Centerline goodness [0,1] 0.2946557327651148 Centerline is valid? [False, False] Translation: X:2.77, Y:0.35, Z:-0.23 [[ 9.99869302e-01 4.59431373e-03 -1.55006976e-02 2.77426785e+00] [-4.60784775e-03 9.99989033e-01 -8.37521863e-04 3.45541013e-01] [ 1.54966798e-02 9.08837255e-04 9.99879506e-01 -2.32728303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64313336499998 meters Centerline goodness [0,1] 0.29841353087714695 Centerline is valid? [False, False] Translation: X:2.75, Y:0.35, Z:-0.23 [[ 9.99879027e-01 -3.06799612e-03 -1.52485646e-02 2.75431599e+00] [ 3.07391959e-03 9.99995209e-01 3.65038023e-04 3.50241712e-01] [ 1.52473716e-02 -4.11866725e-04 9.99883667e-01 -2.34275926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67313336499998 meters Centerline goodness [0,1] 0.29581972708202675 Centerline is valid? [False, False] Translation: X:2.77, Y:0.35, Z:-0.23 [[ 9.99884206e-01 5.03714498e-03 -1.43597046e-02 2.77412160e+00] [-5.04650808e-03 9.99987077e-01 -6.15879493e-04 3.46657354e-01] [ 1.43564167e-02 6.88274543e-04 9.99896704e-01 -2.33200666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70313336499999 meters Centerline goodness [0,1] 0.2960656235758773 Centerline is valid? [False, False] Translation: X:2.77, Y:0.35, Z:-0.23 [[ 9.99886198e-01 5.30530035e-03 -1.41225098e-02 2.77358132e+00] [-5.31107605e-03 9.99985827e-01 -3.71497698e-04 3.46064069e-01] [ 1.41203388e-02 4.46461144e-04 9.99900203e-01 -2.33289693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.733133365 meters Centerline goodness [0,1] 0.29710050989542824 Centerline is valid? [False, False] Translation: X:2.77, Y:0.35, Z:-0.23 [[ 9.99887242e-01 5.36270759e-03 -1.40266042e-02 2.77344576e+00] [-5.36716621e-03 9.99985557e-01 -2.80244433e-04 3.45540167e-01] [ 1.40248988e-02 3.55495949e-04 9.99901583e-01 -2.33439133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.763133365 meters Centerline goodness [0,1] 0.29682313892840206 Centerline is valid? [False, False] Translation: X:2.77, Y:0.34, Z:-0.23 [[ 9.99887601e-01 5.44746053e-03 -1.39681658e-02 2.77337758e+00] [-5.44951935e-03 9.99985145e-01 -1.09335621e-04 3.44593852e-01] [ 1.39673627e-02 1.85443121e-04 9.99902434e-01 -2.33608256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.793133365 meters Centerline goodness [0,1] 0.29768317217210716 Centerline is valid? [False, False] Translation: X:2.77, Y:0.34, Z:-0.23 [[ 9.99887206e-01 5.53354870e-03 -1.39626309e-02 2.77339307e+00] [-5.53259748e-03 9.99984689e-01 1.06752373e-04 3.43370568e-01] [ 1.39630079e-02 -2.94907148e-05 9.99902512e-01 -2.33672207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.823133365 meters Centerline goodness [0,1] 0.30068980619730645 Centerline is valid? [False, False] Translation: X:2.75, Y:0.35, Z:-0.23 [[ 9.99896718e-01 -2.56629212e-03 -1.41409905e-02 2.75344660e+00] [ 2.58401711e-03 9.99995898e-01 1.23531889e-03 3.45513419e-01] [ 1.41377623e-02 -1.27173186e-03 9.99899248e-01 -2.34920782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.853133365 meters Centerline goodness [0,1] 0.29899779688107475 Centerline is valid? [False, False] Translation: X:2.77, Y:0.34, Z:-0.23 [[ 9.99889011e-01 5.38915921e-03 -1.38896348e-02 2.77302765e+00] [-5.38457048e-03 9.99985435e-01 3.67746765e-04 3.39888644e-01] [ 1.38914143e-02 -2.92916232e-04 9.99903467e-01 -2.33480768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.883133365 meters Centerline goodness [0,1] 0.29769708469898226 Centerline is valid? [False, False] Translation: X:2.77, Y:0.34, Z:-0.23 [[ 9.99885409e-01 5.74773508e-03 -1.40047101e-02 2.77336862e+00] [-5.73320370e-03 9.99982985e-01 1.07753416e-03 3.36679775e-01] [ 1.40106651e-02 -9.97118824e-04 9.99901349e-01 -2.33631567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.913133365 meters Centerline goodness [0,1] 0.3006147091108672 Centerline is valid? [False, False] Translation: X:2.73, Y:0.33, Z:-0.23 [[ 9.99848406e-01 5.77359798e-03 -1.64265020e-02 2.72880007e+00] [-5.75739810e-03 9.99982892e-01 1.03332350e-03 3.34337560e-01] [ 1.64321870e-02 -9.38592940e-04 9.99864542e-01 -2.33743276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.943133365 meters Centerline goodness [0,1] 0.29937580199656366 Centerline is valid? [False, False] Translation: X:2.75, Y:0.34, Z:-0.23 [[ 9.99865355e-01 -2.29593631e-03 -1.62480775e-02 2.74878917e+00] [ 2.32933226e-03 9.99995213e-01 2.03675192e-03 3.36397110e-01] [ 1.62433235e-02 -2.07432486e-03 9.99865917e-01 -2.32919384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.973133365 meters Centerline goodness [0,1] 0.300316697608387 Centerline is valid? [False, False] Translation: X:2.75, Y:0.33, Z:-0.23 [[ 9.99864564e-01 -2.20397791e-03 -1.63093616e-02 2.74905355e+00] [ 2.24176222e-03 9.99994845e-01 2.29880604e-03 3.34877132e-01] [ 1.63042110e-02 -2.33505641e-03 9.99864351e-01 -2.33137291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.003133365 meters Centerline goodness [0,1] 0.30090965020214444 Centerline is valid? [False, False] Translation: X:2.75, Y:0.33, Z:-0.23 [[ 9.99865062e-01 -2.07212881e-03 -1.62961561e-02 2.74913865e+00] [ 2.11467562e-03 9.99994400e-01 2.59405161e-03 3.33415756e-01] [ 1.62906896e-02 -2.62816265e-03 9.99863844e-01 -2.33313577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.033133365 meters Centerline goodness [0,1] 0.2993158619483727 Centerline is valid? [False, False] Translation: X:2.75, Y:0.33, Z:-0.23 [[ 9.99864397e-01 -1.97337914e-03 -1.63491115e-02 2.74933079e+00] [ 2.01929559e-03 9.99994062e-01 2.79246609e-03 3.32434670e-01] [ 1.63435038e-02 -2.82510112e-03 9.99862445e-01 -2.33441514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.063133365 meters Centerline goodness [0,1] 0.29876747528417746 Centerline is valid? [False, False] Translation: X:2.75, Y:0.33, Z:-0.23 [[ 9.99864876e-01 -1.82970102e-03 -1.63365099e-02 2.74929546e+00] [ 1.88044153e-03 9.99993454e-01 3.09113684e-03 3.30691535e-01] [ 1.63307472e-02 -3.12143901e-03 9.99861772e-01 -2.33449983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.093133365 meters Centerline goodness [0,1] 0.2988986112924993 Centerline is valid? [False, False] Translation: X:2.75, Y:0.33, Z:-0.23 [[ 9.99863742e-01 -1.72848789e-03 -1.64167352e-02 2.74951623e+00] [ 1.78320205e-03 9.99992903e-01 3.31877510e-03 3.29565328e-01] [ 1.64108822e-02 -3.34759724e-03 9.99859728e-01 -2.33506007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.123133365 meters Centerline goodness [0,1] 0.2997036520526454 Centerline is valid? [False, False] Translation: X:2.75, Y:0.33, Z:-0.23 [[ 9.99861986e-01 -1.62998822e-03 -1.65333411e-02 2.74999842e+00] [ 1.68947097e-03 9.99992149e-01 3.58441643e-03 3.28180333e-01] [ 1.65273688e-02 -3.61185433e-03 9.99856890e-01 -2.33873892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15313336499997 meters Centerline goodness [0,1] 0.29583965330444206 Centerline is valid? [False, False] Translation: X:2.75, Y:0.33, Z:-0.23 [[ 9.99858389e-01 -1.52557936e-03 -1.67592920e-02 2.75085315e+00] [ 1.59081645e-03 9.99991208e-01 3.87995039e-03 3.26579356e-01] [ 1.67532255e-02 -3.90606190e-03 9.99852025e-01 -2.34399503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18313336499997 meters Centerline goodness [0,1] 0.29826727312107426 Centerline is valid? [False, False] Translation: X:2.75, Y:0.32, Z:-0.23 [[ 9.99856099e-01 -1.45184604e-03 -1.69018944e-02 2.75134587e+00] [ 1.52225079e-03 9.99990216e-01 4.15337447e-03 3.24998300e-01] [ 1.68956989e-02 -4.17850571e-03 9.99848526e-01 -2.34660930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21313336499998 meters Centerline goodness [0,1] 0.30153846153846153 Centerline is valid? [False, False] Translation: X:2.73, Y:0.32, Z:-0.24 [[ 9.99859714e-01 4.74750693e-03 -1.60628252e-02 2.72850780e+00] [-4.71624541e-03 9.99986911e-01 1.98352473e-03 3.17839506e-01] [ 1.60720318e-02 -1.90749024e-03 9.99869017e-01 -2.35184636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24313336499998 meters Centerline goodness [0,1] 0.29444973178750644 Centerline is valid? [False, False] Translation: X:2.75, Y:0.32, Z:-0.23 [[ 0.99988437 -0.00308471 -0.01489044 2.74779058] [ 0.00313317 0.99998987 0.0032321 0.32069096] [ 0.01488032 -0.00327838 0.99988391 -0.23400376] [ 0. 0. 0. 1. ]] SLAMing on 234.27313336499998 meters Centerline goodness [0,1] 0.29910012231347194 Centerline is valid? [False, False] Translation: X:2.75, Y:0.32, Z:-0.23 [[ 0.99988512 -0.00304901 -0.01484757 2.74762584] [ 0.00309882 0.99998964 0.00333297 0.32008634] [ 0.01483726 -0.0033786 0.99988421 -0.23390222] [ 0. 0. 0. 1. ]] SLAMing on 234.30313336499998 meters Centerline goodness [0,1] 0.29695222405271826 Centerline is valid? [False, False] Translation: X:2.77, Y:0.32, Z:-0.23 [[ 9.99876410e-01 4.83316905e-03 -1.49601148e-02 2.76704151e+00] [-4.80478136e-03 9.99986589e-01 1.93291903e-03 3.16245942e-01] [ 1.49692563e-02 -1.86080006e-03 9.99886223e-01 -2.31934422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33313336499998 meters Centerline goodness [0,1] 0.2987585189043712 Centerline is valid? [False, False] Translation: X:2.77, Y:0.32, Z:-0.23 [[ 9.99876110e-01 4.98400602e-03 -1.49306216e-02 2.76691168e+00] [-4.95351053e-03 9.99985571e-01 2.07876506e-03 3.16167829e-01] [ 1.49407668e-02 -2.00454853e-03 9.99886371e-01 -2.31903671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36313336499998 meters Centerline goodness [0,1] 0.2996969040917947 Centerline is valid? [False, False] Translation: X:2.77, Y:0.32, Z:-0.23 [[ 9.99878383e-01 5.09338152e-03 -1.47402740e-02 2.76629329e+00] [-5.06076915e-03 9.99984665e-01 2.24892267e-03 3.15668722e-01] [ 1.47515026e-02 -2.17405204e-03 9.99888827e-01 -2.31676373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39313336499998 meters Centerline goodness [0,1] 0.3001064130127913 Centerline is valid? [False, False] Translation: X:2.77, Y:0.31, Z:-0.23 [[ 9.99881322e-01 5.15349544e-03 -1.45183927e-02 2.76548527e+00] [-5.11890219e-03 9.99983973e-01 2.41887391e-03 3.14696854e-01] [ 1.45306257e-02 -2.34426861e-03 9.99891677e-01 -2.31214441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42313336499998 meters Centerline goodness [0,1] 0.3013725447545298 Centerline is valid? [False, False] Translation: X:2.77, Y:0.31, Z:-0.23 [[ 9.99882997e-01 5.13948159e-03 -1.44075342e-02 2.76506451e+00] [-5.10368837e-03 9.99983801e-01 2.52000848e-03 3.13679401e-01] [ 1.44202524e-02 -2.44618207e-03 9.99893031e-01 -2.30988757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45313336499999 meters Centerline goodness [0,1] 0.3022129563272309 Centerline is valid? [False, False] Translation: X:2.77, Y:0.31, Z:-0.23 [[ 9.99880899e-01 5.15686602e-03 -1.45462638e-02 2.76542106e+00] [-5.11856436e-03 9.99983338e-01 2.66909499e-03 3.12592670e-01] [ 1.45597855e-02 -2.59432112e-03 9.99890635e-01 -2.31032402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.483133365 meters Centerline goodness [0,1] 0.30118015938683973 Centerline is valid? [False, False] Translation: X:2.77, Y:0.31, Z:-0.23 [[ 9.99877333e-01 5.21533342e-03 -1.47688558e-02 2.76605772e+00] [-5.17463816e-03 9.99982713e-01 2.79235334e-03 3.12030198e-01] [ 1.47831635e-02 -2.71558732e-03 9.99887035e-01 -2.31252786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.513133365 meters Centerline goodness [0,1] 0.29810961217816856 Centerline is valid? [False, False] Translation: X:2.77, Y:0.31, Z:-0.23 [[ 9.99877041e-01 5.33909933e-03 -1.47444129e-02 2.76602717e+00] [-5.29830662e-03 9.99982032e-01 2.80433354e-03 3.12595299e-01] [ 1.47591205e-02 -2.72586830e-03 9.99887363e-01 -2.31267409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.543133365 meters Centerline goodness [0,1] 0.3035970285416395 Centerline is valid? [False, False] Translation: X:2.77, Y:0.31, Z:-0.23 [[ 9.99881116e-01 5.25092428e-03 -1.44976373e-02 2.76519162e+00] [-5.21414909e-03 9.99983095e-01 2.57326779e-03 3.13475636e-01] [ 1.45109043e-02 -2.49736903e-03 9.99891593e-01 -2.30879492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.573133365 meters Centerline goodness [0,1] 0.3039299025698031 Centerline is valid? [False, False] Translation: X:2.76, Y:0.31, Z:-0.23 [[ 9.99883506e-01 5.17369056e-03 -1.43599260e-02 2.76475517e+00] [-5.14116598e-03 9.99984137e-01 2.30094707e-03 3.14736023e-01] [ 1.43716026e-02 -2.22685226e-03 9.99894243e-01 -2.30734396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.603133365 meters Centerline goodness [0,1] 0.2991333519709254 Centerline is valid? [False, False] Translation: X:2.79, Y:0.32, Z:-0.23 [[ 9.99894264e-01 -3.12576352e-04 -1.45382993e-02 2.78671831e+00] [ 3.85919867e-04 9.99987213e-01 5.04231653e-03 3.19335997e-01] [ 1.45365372e-02 -5.04739399e-03 9.99881599e-01 -2.30631948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.633133365 meters Centerline goodness [0,1] 0.3024369016536118 Centerline is valid? [False, False] Translation: X:2.77, Y:0.32, Z:-0.23 [[ 0.99983645 0.00845727 -0.01598601 2.76667864] [-0.00838714 0.99995493 0.00444912 0.317032 ] [ 0.01602292 -0.00431432 0.99986232 -0.23184613] [ 0. 0. 0. 1. ]] SLAMing on 234.663133365 meters Centerline goodness [0,1] 0.2997795261974754 Centerline is valid? [False, False] Translation: X:2.77, Y:0.32, Z:-0.23 [[ 0.99980708 0.00895545 -0.01748146 2.77115351] [-0.00888089 0.99995115 0.00433823 0.32007337] [ 0.01751945 -0.00418215 0.99983778 -0.23350136] [ 0. 0. 0. 1. ]] SLAMing on 234.693133365 meters Centerline goodness [0,1] 0.29589348525064196 Centerline is valid? [False, False] Translation: X:2.77, Y:0.32, Z:-0.23 [[ 0.99980662 0.00876413 -0.01760427 2.77149778] [-0.00869583 0.99995438 0.00395252 0.32146887] [ 0.01763811 -0.00379868 0.99983722 -0.23365382] [ 0. 0. 0. 1. ]] SLAMing on 234.723133365 meters Centerline goodness [0,1] 0.30118678266906773 Centerline is valid? [False, False] Translation: X:2.77, Y:0.32, Z:-0.23 [[ 0.99980756 0.00862882 -0.01761768 2.77131627] [-0.00856518 0.99995653 0.00368464 0.32253154] [ 0.0176487 -0.00353304 0.99983801 -0.23337801] [ 0. 0. 0. 1. ]] SLAMing on 234.753133365 meters Centerline goodness [0,1] 0.300753348820043 Centerline is valid? [False, False] Translation: X:2.77, Y:0.32, Z:-0.23 [[ 0.9998113 0.00857604 -0.0174303 2.77063705] [-0.00851572 0.9999575 0.00353164 0.32344359] [ 0.01745985 -0.00338254 0.99984184 -0.23303544] [ 0. 0. 0. 1. ]] SLAMing on 234.783133365 meters Centerline goodness [0,1] 0.3012048192771084 Centerline is valid? [False, False] Translation: X:2.77, Y:0.32, Z:-0.23 [[ 0.99981578 0.0085291 -0.01719497 2.7699669 ] [-0.00847263 0.99995848 0.00335411 0.3246244 ] [ 0.01722286 -0.0032078 0.99984653 -0.23285285] [ 0. 0. 0. 1. ]] SLAMing on 234.813133365 meters Centerline goodness [0,1] 0.30738074798036497 Centerline is valid? [False, False] Translation: X:2.75, Y:0.33, Z:-0.23 [[ 9.99863563e-01 2.05247148e-04 -1.65170422e-02 2.74950577e+00] [-1.39013668e-04 9.99991946e-01 4.01105675e-03 3.30396541e-01] [ 1.65177325e-02 -4.00821340e-03 9.99855539e-01 -2.34675902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.843133365 meters Centerline goodness [0,1] 0.3024624337705203 Centerline is valid? [False, False] Translation: X:2.77, Y:0.33, Z:-0.23 [[ 9.99837236e-01 8.15928478e-03 -1.60912392e-02 2.77016912e+00] [-8.12179000e-03 9.99964152e-01 2.39411184e-03 3.31871869e-01] [ 1.61101966e-02 -2.26303250e-03 9.99867661e-01 -2.33803845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.873133365 meters Centerline goodness [0,1] 0.30462565153861254 Centerline is valid? [False, False] Translation: X:2.77, Y:0.33, Z:-0.23 [[ 9.99837001e-01 8.10306208e-03 -1.61341752e-02 2.77016173e+00] [-8.07007491e-03 9.99965213e-01 2.10861129e-03 3.33711051e-01] [ 1.61507002e-02 -1.97806358e-03 9.99867612e-01 -2.33719226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90313336499997 meters Centerline goodness [0,1] 0.3010757352303288 Centerline is valid? [False, False] Translation: X:2.77, Y:0.34, Z:-0.23 [[ 9.99836993e-01 8.12637864e-03 -1.61229340e-02 2.77002306e+00] [-8.09604416e-03 9.99965333e-01 1.94582904e-03 3.35242268e-01] [ 1.61381876e-02 -1.81497987e-03 9.99868124e-01 -2.33565279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93313336499997 meters Centerline goodness [0,1] 0.3028695652173913 Centerline is valid? [False, False] Translation: X:2.77, Y:0.34, Z:-0.23 [[ 9.99837085e-01 8.10595402e-03 -1.61275391e-02 2.76994699e+00] [-8.07728751e-03 9.99965682e-01 1.84183357e-03 3.35958656e-01] [ 1.61419155e-02 -1.71126673e-03 9.99868246e-01 -2.33445681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96313336499998 meters Centerline goodness [0,1] 0.3021106748519491 Centerline is valid? [False, False] Translation: X:2.77, Y:0.34, Z:-0.23 [[ 9.99836926e-01 8.02412611e-03 -1.61782106e-02 2.76998581e+00] [-7.99624728e-03 9.99966432e-01 1.78718485e-03 3.35672446e-01] [ 1.61920081e-02 -1.65752843e-03 9.99867527e-01 -2.33321768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99313336499998 meters Centerline goodness [0,1] 0.3056669572798605 Centerline is valid? [False, False] Translation: X:2.77, Y:0.33, Z:-0.23 [[ 9.99835363e-01 7.99338093e-03 -1.62896363e-02 2.77001081e+00] [-7.96408273e-03 9.99966551e-01 1.86265768e-03 3.34744318e-01] [ 1.63039803e-02 -1.73261901e-03 9.99865580e-01 -2.32958035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02313336499998 meters Centerline goodness [0,1] 0.30539766563977955 Centerline is valid? [False, False] Translation: X:2.79, Y:0.34, Z:-0.23 [[ 9.99874635e-01 1.55649038e-04 -1.58331914e-02 2.78899326e+00] [-1.00366561e-04 9.99993897e-01 3.49229083e-03 3.36326432e-01] [ 1.58336383e-02 -3.49026389e-03 9.99868548e-01 -2.30982341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05313336499998 meters Centerline goodness [0,1] 0.30389851351642894 Centerline is valid? [False, False] Translation: X:2.79, Y:0.33, Z:-0.23 [[ 9.99877035e-01 3.11785118e-04 -1.56785872e-02 2.78840985e+00] [-2.51833394e-04 9.99992651e-01 3.82562525e-03 3.34906480e-01] [ 1.56796647e-02 -3.82120643e-03 9.99869765e-01 -2.30600473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08313336499998 meters Centerline goodness [0,1] 0.3079052934507718 Centerline is valid? [False, False] Translation: X:2.79, Y:0.33, Z:-0.23 [[ 9.99880478e-01 4.22182261e-04 -1.54547891e-02 2.78765715e+00] [-3.58045346e-04 9.99991314e-01 4.15250194e-03 3.33098463e-01] [ 1.54564080e-02 -4.14647211e-03 9.99871945e-01 -2.30200323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11313336499998 meters Centerline goodness [0,1] 0.30993146959643203 Centerline is valid? [False, False] Translation: X:2.79, Y:0.33, Z:-0.23 [[ 9.99883439e-01 5.09450865e-04 -1.52593953e-02 2.78707916e+00] [-4.40442433e-04 9.99989663e-01 4.52537624e-03 3.30757702e-01] [ 1.52615430e-02 -4.51812787e-03 9.99873328e-01 -2.29954874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14313336499998 meters Centerline goodness [0,1] 0.310557790583886 Centerline is valid? [False, False] Translation: X:2.79, Y:0.33, Z:-0.23 [[ 9.99883784e-01 7.03464040e-04 -1.52290452e-02 2.78697700e+00] [-6.26340061e-04 9.99986959e-01 5.06844616e-03 3.27897765e-01] [ 1.52324121e-02 -5.05831857e-03 9.99871185e-01 -2.29867330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17313336499998 meters Centerline goodness [0,1] 0.310346328827358 Centerline is valid? [False, False] Translation: X:2.79, Y:0.32, Z:-0.23 [[ 9.99881807e-01 9.65000530e-04 -1.53440552e-02 2.78744206e+00] [-8.77671661e-04 9.99983386e-01 5.69709707e-03 3.24924714e-01] [ 1.53492980e-02 -5.68295667e-03 9.99866043e-01 -2.30139829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20313336499999 meters Centerline goodness [0,1] 0.3056137999610903 Centerline is valid? [False, False] Translation: X:2.79, Y:0.32, Z:-0.23 [[ 9.99874006e-01 1.39692275e-03 -1.58120492e-02 2.78934891e+00] [-1.29080742e-03 9.99976592e-01 6.71925954e-03 3.18842475e-01] [ 1.58210654e-02 -6.69800264e-03 9.99852404e-01 -2.31202418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.233133365 meters Centerline goodness [0,1] 0.3097302610025118 Centerline is valid? [False, False] Translation: X:2.79, Y:0.32, Z:-0.23 [[ 9.99870804e-01 1.54334979e-03 -1.59998217e-02 2.78994289e+00] [-1.42913294e-03 9.99973434e-01 7.14761029e-03 3.16267862e-01] [ 1.60104279e-02 -7.12382097e-03 9.99846447e-01 -2.31385141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.263133365 meters Centerline goodness [0,1] 0.30405551472177783 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:-0.23 [[ 0.99982126 0.00955825 -0.0163119 2.80988057] [-0.00945918 0.99993641 0.00613986 0.31014338] [ 0.01636955 -0.00598447 0.9998481 -0.22948362] [ 0. 0. 0. 1. ]] SLAMing on 235.293133365 meters Centerline goodness [0,1] 0.30799169126489556 Centerline is valid? [False, False] Translation: X:2.79, Y:0.31, Z:-0.23 [[ 9.99851751e-01 1.09760128e-03 -1.71834430e-02 2.78987987e+00] [-9.72544658e-04 9.99972995e-01 7.28440492e-03 3.11094147e-01] [ 1.71909743e-02 -7.26661335e-03 9.99825818e-01 -2.30555957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.323133365 meters Centerline goodness [0,1] 0.3056814977113478 Centerline is valid? [False, False] Translation: X:2.79, Y:0.31, Z:-0.23 [[ 9.99848928e-01 1.26924646e-03 -1.73352435e-02 2.79040806e+00] [-1.13779145e-03 9.99970542e-01 7.59086597e-03 3.09723692e-01] [ 1.73443676e-02 -7.56999531e-03 9.99820918e-01 -2.30852091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.353133365 meters Centerline goodness [0,1] 0.3068090205904783 Centerline is valid? [False, False] Translation: X:2.79, Y:0.31, Z:-0.23 [[ 9.99844179e-01 1.52142049e-03 -1.75870262e-02 2.79142622e+00] [-1.38182181e-03 9.99967467e-01 7.94702300e-03 3.07889355e-01] [ 1.75985448e-02 -7.92148255e-03 9.99813753e-01 -2.31501874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.383133365 meters Centerline goodness [0,1] 0.3059574653534385 Centerline is valid? [False, False] Translation: X:2.79, Y:0.31, Z:-0.23 [[ 9.99841846e-01 1.55845812e-03 -1.77159179e-02 2.79191304e+00] [-1.41745871e-03 9.99967245e-01 7.96868331e-03 3.07642285e-01] [ 1.77277565e-02 -7.94231145e-03 9.99811305e-01 -2.31832753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.413133365 meters Centerline goodness [0,1] 0.3007587056611115 Centerline is valid? [False, False] Translation: X:2.79, Y:0.31, Z:-0.23 [[ 9.99839685e-01 1.56016673e-03 -1.78373326e-02 2.79241563e+00] [-1.41946821e-03 9.99967804e-01 7.89780953e-03 3.07911658e-01] [ 1.78490803e-02 -7.87122387e-03 9.99809709e-01 -2.32218919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.443133365 meters Centerline goodness [0,1] 0.3007587056611115 Centerline is valid? [False, False] Translation: X:2.79, Y:0.31, Z:-0.23 [[ 9.99839685e-01 1.56016673e-03 -1.78373326e-02 2.79241563e+00] [-1.41946821e-03 9.99967804e-01 7.89780953e-03 3.07911658e-01] [ 1.78490803e-02 -7.87122387e-03 9.99809709e-01 -2.32218919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.473133365 meters Centerline goodness [0,1] 0.2988909985328385 Centerline is valid? [False, False] Translation: X:2.79, Y:0.31, Z:-0.23 [[ 9.99839677e-01 1.56635965e-03 -1.78372557e-02 2.79253534e+00] [-1.42765333e-03 9.99968667e-01 7.78629476e-03 3.08600082e-01] [ 1.78488930e-02 -7.75958101e-03 9.99810585e-01 -2.32492993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.503133365 meters Centerline goodness [0,1] 0.30043362889133385 Centerline is valid? [False, False] Translation: X:2.79, Y:0.31, Z:-0.23 [[ 9.99847224e-01 1.70507084e-03 -1.73960022e-02 2.79132961e+00] [-1.56944963e-03 9.99968295e-01 7.80678957e-03 3.09404186e-01] [ 1.74087618e-02 -7.77829473e-03 9.99818200e-01 -2.32337428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.533133365 meters Centerline goodness [0,1] 0.3027065681409409 Centerline is valid? [False, False] Translation: X:2.79, Y:0.31, Z:-0.23 [[ 9.99850323e-01 1.69401965e-03 -1.72180446e-02 2.79083632e+00] [-1.56017829e-03 9.99968489e-01 7.78378207e-03 3.09552705e-01] [ 1.72306879e-02 -7.75575380e-03 9.99821460e-01 -2.32224419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.563133365 meters Centerline goodness [0,1] 0.30379911245805824 Centerline is valid? [False, False] Translation: X:2.79, Y:0.31, Z:-0.23 [[ 9.99849759e-01 1.65342732e-03 -1.72547488e-02 2.79076889e+00] [-1.51822627e-03 9.99968069e-01 7.84574466e-03 3.08889317e-01] [ 1.72671702e-02 -7.81836929e-03 9.99820343e-01 -2.31953701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.593133365 meters Centerline goodness [0,1] 0.3062474032931709 Centerline is valid? [False, False] Translation: X:2.79, Y:0.31, Z:-0.23 [[ 9.99848103e-01 1.62992815e-03 -1.73526451e-02 2.79077696e+00] [-1.49118236e-03 9.99966843e-01 8.00559509e-03 3.07636281e-01] [ 1.73651183e-02 -7.97850310e-03 9.99817381e-01 -2.31554456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.623133365 meters Centerline goodness [0,1] 0.3044991676215597 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:-0.23 [[ 0.99984344 0.00701077 -0.01624627 2.81233454] [-0.00693602 0.99996512 0.00465296 0.30585291] [ 0.01627832 -0.00453955 0.99985719 -0.23109792] [ 0. 0. 0. 1. ]] SLAMing on 235.65313336499997 meters Centerline goodness [0,1] 0.30829281057153446 Centerline is valid? [False, False] Translation: X:2.79, Y:0.31, Z:-0.23 [[ 9.99868237e-01 -2.02638715e-03 -1.61060022e-02 2.78995486e+00] [ 2.11587326e-03 9.99982410e-01 5.54097523e-03 3.06332877e-01] [ 1.60944907e-02 -5.57432339e-03 9.99854937e-01 -2.31411720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68313336499997 meters Centerline goodness [0,1] 0.3045194693129112 Centerline is valid? [False, False] Translation: X:2.81, Y:0.30, Z:-0.23 [[ 9.99931370e-01 1.84885303e-03 -1.15688348e-02 2.81246125e+00] [-1.81805210e-03 9.99994777e-01 2.67235561e-03 3.04219367e-01] [ 1.15737151e-02 -2.65113946e-03 9.99929508e-01 -2.32756597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71313336499998 meters Centerline goodness [0,1] 0.312469664210387 Centerline is valid? [False, False] Translation: X:2.77, Y:0.30, Z:-0.23 [[ 9.99907728e-01 8.71323838e-04 -1.35564031e-02 2.76729964e+00] [-8.38597891e-04 9.99996721e-01 2.41955549e-03 3.00943055e-01] [ 1.35584669e-02 -2.40796386e-03 9.99905180e-01 -2.32424962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74313336499998 meters Centerline goodness [0,1] 0.3078024337866857 Centerline is valid? [False, False] Translation: X:2.79, Y:0.30, Z:-0.23 [[ 9.99872076e-01 9.04199799e-03 -1.31936860e-02 2.78757807e+00] [-9.02900532e-03 9.99958693e-01 1.04399919e-03 2.99213573e-01] [ 1.32025808e-02 -9.24739780e-04 9.99912415e-01 -2.31528876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77313336499998 meters Centerline goodness [0,1] 0.3056443719412725 Centerline is valid? [False, False] Translation: X:2.79, Y:0.30, Z:-0.23 [[ 9.99867747e-01 8.98504785e-03 -1.35557029e-02 2.78861075e+00] [-8.97688167e-03 9.99959487e-01 6.63144762e-04 3.01335486e-01] [ 1.35611121e-02 -5.41369119e-04 9.99907897e-01 -2.31957216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80313336499998 meters Centerline goodness [0,1] 0.3081733692347781 Centerline is valid? [False, False] Translation: X:2.79, Y:0.30, Z:-0.23 [[ 9.99863674e-01 9.07986810e-03 -1.37909356e-02 2.78920997e+00] [-9.07556262e-03 9.99958746e-01 3.74748815e-04 3.03750009e-01] [ 1.37937693e-02 -2.49537227e-04 9.99904830e-01 -2.32175405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83313336499998 meters Centerline goodness [0,1] 0.30565857678877395 Centerline is valid? [False, False] Translation: X:2.79, Y:0.31, Z:-0.23 [[ 9.99862984e-01 9.16625685e-03 -1.37837809e-02 2.78899260e+00] [-9.16577502e-03 9.99957989e-01 9.81298973e-05 3.06204622e-01] [ 1.37841013e-02 2.82225827e-05 9.99904994e-01 -2.31991790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86313336499998 meters Centerline goodness [0,1] 0.3040844582900658 Centerline is valid? [False, False] Translation: X:2.79, Y:0.31, Z:-0.23 [[ 9.99867287e-01 9.00565858e-03 -1.35759876e-02 2.78814519e+00] [-9.01311887e-03 9.99959262e-01 -4.88435916e-04 3.09086768e-01] [ 1.35710359e-02 6.10733084e-04 9.99907723e-01 -2.31532459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89313336499998 meters Centerline goodness [0,1] 0.30578909440307467 Centerline is valid? [False, False] Translation: X:2.77, Y:0.31, Z:-0.23 [[ 9.99901675e-01 2.78897465e-04 -1.40200548e-02 2.76831568e+00] [-2.76704006e-04 9.99999949e-01 1.58391089e-04 3.12673766e-01] [ 1.40200983e-02 -1.54496110e-04 9.99901702e-01 -2.32930351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92313336499998 meters Centerline goodness [0,1] 0.3052119949659332 Centerline is valid? [False, False] Translation: X:2.77, Y:0.31, Z:-0.23 [[ 9.99897872e-01 2.02822078e-04 -1.42899791e-02 2.76906027e+00] [-2.01487720e-04 9.99999975e-01 9.48168130e-05 3.12643258e-01] [ 1.42899980e-02 -9.19278743e-05 9.99897889e-01 -2.33143343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95313336499999 meters Centerline goodness [0,1] 0.3059302401108537 Centerline is valid? [False, False] Translation: X:2.77, Y:0.31, Z:-0.23 [[ 9.99894983e-01 2.25172418e-04 -1.44904344e-02 2.76959321e+00] [-2.22859351e-04 9.99999962e-01 1.61241742e-04 3.12480066e-01] [ 1.44904702e-02 -1.57995480e-04 9.99894995e-01 -2.33193109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.983133365 meters Centerline goodness [0,1] 0.3049597709874 Centerline is valid? [False, False] Translation: X:2.77, Y:0.31, Z:-0.23 [[ 9.99892699e-01 2.54127690e-04 -1.46467285e-02 2.76994067e+00] [-2.50486664e-04 9.99999937e-01 2.50423639e-04 3.12154013e-01] [ 1.46467912e-02 -2.46727958e-04 9.99892700e-01 -2.33136403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.013133365 meters Centerline goodness [0,1] 0.305421726145059 Centerline is valid? [False, False] Translation: X:2.77, Y:0.31, Z:-0.23 [[ 9.99890854e-01 2.26623917e-04 -1.47725344e-02 2.77024603e+00] [-2.22782402e-04 9.99999941e-01 2.61689502e-04 3.11950238e-01] [ 1.47725929e-02 -2.58369879e-04 9.99890846e-01 -2.33094829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.043133365 meters Centerline goodness [0,1] 0.30789873083606445 Centerline is valid? [False, False] Translation: X:2.77, Y:0.31, Z:-0.23 [[ 9.99890691e-01 1.20328134e-04 -1.47848595e-02 2.76996920e+00] [-1.17769679e-04 9.99999978e-01 1.73916136e-04 3.11955209e-01] [ 1.47848801e-02 -1.72155918e-04 9.99890683e-01 -2.32579912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.073133365 meters Centerline goodness [0,1] 0.30132364391383337 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:-0.23 [[ 9.99913158e-01 6.79640970e-04 -1.31611203e-02 2.81369041e+00] [-6.76897658e-04 9.99999748e-01 2.12894034e-04 3.14916751e-01] [ 1.31612617e-02 -2.03966814e-04 9.99913366e-01 -2.32292696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.103133365 meters Centerline goodness [0,1] 0.3017056877877943 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:-0.23 [[ 9.99912555e-01 6.61560976e-04 -1.32077458e-02 2.81386057e+00] [-6.58871865e-04 9.99999761e-01 2.07951288e-04 3.14865325e-01] [ 1.32078802e-02 -1.99230892e-04 9.99912752e-01 -2.32387580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.133133365 meters Centerline goodness [0,1] 0.2980035358544263 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:-0.23 [[ 9.99909920e-01 6.08787439e-04 -1.34082691e-02 2.81460770e+00] [-6.06407131e-04 9.99999800e-01 1.81590306e-04 3.14697787e-01] [ 1.34083770e-02 -1.73443078e-04 9.99910089e-01 -2.32809581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.163133365 meters Centerline goodness [0,1] 0.30007831534980856 Centerline is valid? [False, False] Translation: X:2.82, Y:0.31, Z:-0.23 [[ 9.99907272e-01 6.27532416e-04 -1.36034268e-02 2.81531800e+00] [-6.23753520e-04 9.99999766e-01 2.82031006e-04 3.13952899e-01] [ 1.36036006e-02 -2.73519669e-04 9.99907429e-01 -2.33184579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.193133365 meters Centerline goodness [0,1] 0.3019813850077381 Centerline is valid? [False, False] Translation: X:2.82, Y:0.31, Z:-0.23 [[ 9.99904147e-01 6.51950789e-04 -1.38301098e-02 2.81596244e+00] [-6.46134198e-04 9.99999701e-01 4.25038494e-04 3.13017243e-01] [ 1.38303828e-02 -4.16061646e-04 9.99904269e-01 -2.33353298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.223133365 meters Centerline goodness [0,1] 0.30094112021561004 Centerline is valid? [False, False] Translation: X:2.82, Y:0.31, Z:-0.23 [[ 9.99902249e-01 8.11702999e-04 -1.39582493e-02 2.81591298e+00] [-7.99221200e-04 9.99999276e-01 8.99778701e-04 3.10799083e-01] [ 1.39589696e-02 -8.88535019e-04 9.99902174e-01 -2.32735622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.253133365 meters Centerline goodness [0,1] 0.29808771475438145 Centerline is valid? [False, False] Translation: X:2.82, Y:0.31, Z:-0.23 [[ 9.99904452e-01 8.70154642e-04 -1.37960022e-02 2.81532264e+00] [-8.55284548e-04 9.99999047e-01 1.08371868e-03 3.09900921e-01] [ 1.37969321e-02 -1.07181562e-03 9.99904243e-01 -2.32384161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.283133365 meters Centerline goodness [0,1] 0.30281613569642274 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:-0.23 [[ 9.99907132e-01 8.98277720e-04 -1.35985244e-02 2.81466835e+00] [-8.82422940e-04 9.99998924e-01 1.17187432e-03 3.09390076e-01] [ 1.35995625e-02 -1.15976584e-03 9.99906849e-01 -2.32061505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.313133365 meters Centerline goodness [0,1] 0.3038884653087899 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:-0.23 [[ 9.99910449e-01 9.01178171e-04 -1.33521944e-02 2.81388808e+00] [-8.85441175e-04 9.99998907e-01 1.18447218e-03 3.09255207e-01] [ 1.33532472e-02 -1.17254353e-03 9.99910154e-01 -2.31761321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.343133365 meters Centerline goodness [0,1] 0.3012351029252438 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:-0.23 [[ 9.99911679e-01 9.15531978e-04 -1.32587711e-02 2.81355198e+00] [-9.00990856e-04 9.99998986e-01 1.10264894e-03 3.09905059e-01] [ 1.32597671e-02 -1.09060552e-03 9.99911491e-01 -2.31620631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.373133365 meters Centerline goodness [0,1] 0.30006276105352003 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:-0.23 [[ 9.99913122e-01 8.92389830e-04 -1.31510951e-02 2.81336872e+00] [-8.80399499e-04 9.99999192e-01 9.17497497e-04 3.11094909e-01] [ 1.31519032e-02 -9.05839570e-04 9.99913100e-01 -2.31779939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40313336499997 meters Centerline goodness [0,1] 0.29922130880853737 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:-0.23 [[ 9.99907046e-01 9.72733455e-04 -1.35997662e-02 2.81478831e+00] [-9.64811221e-04 9.99999361e-01 5.89075979e-04 3.13458456e-01] [ 1.36003305e-02 -5.75900014e-04 9.99907345e-01 -2.32537284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43313336499997 meters Centerline goodness [0,1] 0.29980615511946507 Centerline is valid? [False, False] Translation: X:2.82, Y:0.31, Z:-0.23 [[ 9.99905407e-01 9.15624090e-04 -1.37236825e-02 2.81504354e+00] [-9.10088563e-04 9.99999502e-01 4.09595533e-04 3.14363532e-01] [ 1.37240507e-02 -3.97067022e-04 9.99905742e-01 -2.32533267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46313336499998 meters Centerline goodness [0,1] 0.29740997559026205 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:-0.23 [[ 9.99905096e-01 8.51837737e-04 -1.37504186e-02 2.81499716e+00] [-8.48582022e-04 9.99999611e-01 2.42604771e-04 3.15227569e-01] [ 1.37506199e-02 -2.30913389e-04 9.99905429e-01 -2.32384826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49313336499998 meters Centerline goodness [0,1] 0.29989385438554683 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:-0.23 [[ 9.99906522e-01 8.06730582e-04 -1.36490505e-02 2.81452171e+00] [-8.05198785e-04 9.99999669e-01 1.17722363e-04 3.15883788e-01] [ 1.36491410e-02 -1.06721159e-04 9.99906840e-01 -2.32053108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52313336499998 meters Centerline goodness [0,1] 0.3001145722994444 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:-0.23 [[ 9.99908242e-01 7.31560116e-04 -1.35267270e-02 2.81397260e+00] [-7.32681320e-04 9.99999729e-01 -7.79325702e-05 3.16914235e-01] [ 1.35266663e-02 8.78361994e-05 9.99908507e-01 -2.31692871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55313336499998 meters Centerline goodness [0,1] 0.30214374144783995 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:-0.23 [[ 9.99910450e-01 6.85280062e-04 -1.33649799e-02 2.81344245e+00] [-6.88673279e-04 9.99999732e-01 -2.49288102e-04 3.17916622e-01] [ 1.33648055e-02 2.58469882e-04 9.99910654e-01 -2.31492774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58313336499998 meters Centerline goodness [0,1] 0.30047019896382077 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:-0.23 [[ 9.99912166e-01 6.65950805e-04 -1.32369278e-02 2.81311206e+00] [-6.74081142e-04 9.99999587e-01 -6.09764285e-04 3.20578618e-01] [ 1.32365162e-02 6.18633490e-04 9.99912202e-01 -2.31533994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61313336499998 meters Centerline goodness [0,1] 0.29863288052943227 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:-0.23 [[ 9.99913370e-01 6.30382982e-04 -1.31474536e-02 2.81286577e+00] [-6.40496281e-04 9.99999502e-01 -7.65024657e-04 3.21510392e-01] [ 1.31469648e-02 7.73379278e-04 9.99913276e-01 -2.31507884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64313336499998 meters Centerline goodness [0,1] 0.2985973687071871 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:-0.23 [[ 9.99914164e-01 5.46898902e-04 -1.30906840e-02 2.81265719e+00] [-5.59410583e-04 9.99999390e-01 -9.52127278e-04 3.22291521e-01] [ 1.30901553e-02 9.59368618e-04 9.99913860e-01 -2.31418542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67313336499998 meters Centerline goodness [0,1] 0.301796798431885 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:-0.23 [[ 9.99915511e-01 4.45217635e-04 -1.29912576e-02 2.81228714e+00] [-4.60662037e-04 9.99999191e-01 -1.18586222e-03 3.23290344e-01] [ 1.29907191e-02 1.19174660e-03 9.99914907e-01 -2.31234110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70313336499999 meters Centerline goodness [0,1] 0.29904228288487844 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:-0.23 [[ 9.99915769e-01 3.37950628e-04 -1.29746060e-02 2.81207522e+00] [-3.57059664e-04 9.99998855e-01 -1.47051458e-03 3.24621379e-01] [ 1.29740942e-02 1.47502343e-03 9.99914745e-01 -2.30969966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.733133365 meters Centerline goodness [0,1] 0.2983687528433093 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:-0.23 [[ 9.99915609e-01 2.46662454e-04 -1.29890278e-02 2.81201677e+00] [-2.69867328e-04 9.99998371e-01 -1.78477571e-03 3.26343100e-01] [ 1.29885664e-02 1.78813041e-03 9.99914046e-01 -2.30927483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.763133365 meters Centerline goodness [0,1] 0.29879135689752623 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:-0.23 [[ 9.99913233e-01 2.11833167e-04 -1.31712657e-02 2.81242614e+00] [-2.41644930e-04 9.99997413e-01 -2.26184367e-03 3.29500877e-01] [ 1.31707525e-02 2.26483019e-03 9.99910697e-01 -2.31050027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.793133365 meters Centerline goodness [0,1] 0.29928554261618123 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:-0.23 [[ 9.99912942e-01 1.39462153e-04 -1.31943104e-02 2.81254876e+00] [-1.72513755e-04 9.99996850e-01 -2.50388400e-03 3.30791203e-01] [ 1.31939196e-02 2.50594222e-03 9.99909816e-01 -2.31224985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.823133365 meters Centerline goodness [0,1] 0.29570723331186954 Centerline is valid? [False, False] Translation: X:2.86, Y:0.34, Z:-0.23 [[ 9.99939911e-01 2.91560312e-05 -1.09624056e-02 2.85564336e+00] [-6.26829233e-05 9.99995322e-01 -3.05802058e-03 3.35034548e-01] [ 1.09622651e-02 3.05852398e-03 9.99935235e-01 -2.30732882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.853133365 meters Centerline goodness [0,1] 0.29939664901467145 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:-0.23 [[ 9.99914135e-01 -9.53794047e-04 -1.30695623e-02 2.80884844e+00] [ 9.09786871e-04 9.99993899e-01 -3.37268181e-03 3.30472478e-01] [ 1.30726994e-02 3.36050170e-03 9.99908902e-01 -2.29213953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.883133365 meters Centerline goodness [0,1] 0.3004225474821397 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:-0.23 [[ 9.99912279e-01 -9.63045079e-04 -1.32101236e-02 2.80909600e+00] [ 9.20361022e-04 9.99994338e-01 -3.23686137e-03 3.29511546e-01] [ 1.32131661e-02 3.22441934e-03 9.99907503e-01 -2.29070099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.913133365 meters Centerline goodness [0,1] 0.2970378378378379 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:-0.23 [[ 9.99907089e-01 -9.68000393e-04 -1.35969507e-02 2.81017974e+00] [ 9.25429037e-04 9.99994652e-01 -3.13689169e-03 3.28823448e-01] [ 1.35999145e-02 3.12401723e-03 9.99902637e-01 -2.29317333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.943133365 meters Centerline goodness [0,1] 0.2987061240547274 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:-0.23 [[ 9.99903521e-01 -9.73754188e-04 -1.38564166e-02 2.81104641e+00] [ 9.31013238e-04 9.99994790e-01 -3.09067639e-03 3.28459914e-01] [ 1.38593540e-02 3.07747770e-03 9.99899219e-01 -2.29719942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.973133365 meters Centerline goodness [0,1] 0.29633150412651776 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:-0.23 [[ 9.99900857e-01 -9.79153796e-04 -1.40469990e-02 2.81161006e+00] [ 9.36512693e-04 9.99994935e-01 -3.04185916e-03 3.28118171e-01] [ 1.40499063e-02 3.02840239e-03 9.99896709e-01 -2.29859114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.003133365 meters Centerline goodness [0,1] 0.297835535277964 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:-0.23 [[ 9.99899988e-01 -9.48967894e-04 -1.41107328e-02 2.81152739e+00] [ 9.06776706e-04 9.99995101e-01 -2.99610426e-03 3.28122137e-01] [ 1.41135069e-02 2.98300933e-03 9.99895950e-01 -2.29514221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.033133365 meters Centerline goodness [0,1] 0.3032716362593483 Centerline is valid? [False, False] Translation: X:2.77, Y:0.32, Z:-0.23 [[ 9.99871245e-01 -9.59556822e-04 -1.60178882e-02 2.76532200e+00] [ 9.19266592e-04 9.99996396e-01 -2.52250054e-03 3.24467843e-01] [ 1.60202509e-02 2.50745104e-03 9.99868523e-01 -2.28562593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.063133365 meters Centerline goodness [0,1] 0.30277943351656844 Centerline is valid? [False, False] Translation: X:2.77, Y:0.32, Z:-0.23 [[ 9.99872350e-01 -9.42438246e-04 -1.59498072e-02 2.76502494e+00] [ 9.02154883e-04 9.99996386e-01 -2.53263985e-03 3.24591159e-01] [ 1.59521365e-02 2.51792736e-03 9.99869586e-01 -2.28349807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.093133365 meters Centerline goodness [0,1] 0.2979103956724687 Centerline is valid? [False, False] Translation: X:2.77, Y:0.32, Z:-0.23 [[ 9.99870425e-01 -9.43269706e-04 -1.60699375e-02 2.76533199e+00] [ 9.01903676e-04 9.99996262e-01 -2.58117793e-03 3.24861579e-01] [ 1.60723121e-02 2.56634994e-03 9.99867539e-01 -2.28398802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.123133365 meters Centerline goodness [0,1] 0.30107077680789784 Centerline is valid? [False, False] Translation: X:2.77, Y:0.33, Z:-0.23 [[ 9.99868516e-01 -9.48458080e-04 -1.61880236e-02 2.76578878e+00] [ 9.05982693e-04 9.99996128e-01 -2.63100917e-03 3.25045381e-01] [ 1.61904563e-02 2.61599716e-03 9.99865504e-01 -2.28716656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15313336499997 meters Centerline goodness [0,1] 0.29562170113351216 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:-0.23 [[ 9.99888717e-01 -2.92546730e-04 -1.49153535e-02 2.81023633e+00] [ 2.52409363e-04 9.99996342e-01 -2.69282160e-03 3.28208864e-01] [ 1.49160867e-02 2.68875716e-03 9.99885134e-01 -2.28692186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18313336499997 meters Centerline goodness [0,1] 0.2985272395516553 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:-0.23 [[ 9.99898520e-01 -1.66605902e-04 -1.42450440e-02 2.80834847e+00] [ 1.29051174e-04 9.99996514e-01 -2.63721495e-03 3.28393450e-01] [ 1.42454338e-02 2.63510899e-03 9.99895056e-01 -2.28218975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21313336499998 meters Centerline goodness [0,1] 0.2986826347305389 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:-0.23 [[ 9.99903643e-01 -1.02492863e-04 -1.38814222e-02 2.80709236e+00] [ 6.68007314e-05 9.99996691e-01 -2.57165499e-03 3.28296659e-01] [ 1.38816399e-02 2.57047990e-03 9.99900341e-01 -2.27604648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24313336499998 meters Centerline goodness [0,1] 0.2989829624478443 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:-0.23 [[ 9.99905956e-01 -2.43881585e-05 -1.37141780e-02 2.80644360e+00] [-9.47139143e-06 9.99996952e-01 -2.46887453e-03 3.28105781e-01] [ 1.37141964e-02 2.46877224e-03 9.99902908e-01 -2.27238025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27313336499998 meters Centerline goodness [0,1] 0.29619582908357023 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:-0.23 [[ 9.99901465e-01 1.73449842e-04 -1.40367693e-02 2.80743306e+00] [-2.04032114e-04 9.99997609e-01 -2.17732311e-03 3.27392816e-01] [ 1.40363581e-02 2.17997252e-03 9.99899109e-01 -2.27619534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30313336499998 meters Centerline goodness [0,1] 0.29758643183300715 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:-0.23 [[ 9.99898297e-01 2.31021035e-04 -1.42598078e-02 2.80810810e+00] [-2.59902171e-04 9.99997919e-01 -2.02353249e-03 3.26636724e-01] [ 1.42593106e-02 2.02703284e-03 9.99896276e-01 -2.27846562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33313336499998 meters Centerline goodness [0,1] 0.29967626214016974 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:-0.23 [[ 9.99897641e-01 2.64298261e-04 -1.43051574e-02 2.80835602e+00] [-2.91242489e-04 9.99998188e-01 -1.88148199e-03 3.25741958e-01] [ 1.43046342e-02 1.88545567e-03 9.99895906e-01 -2.28079200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36313336499998 meters Centerline goodness [0,1] 0.29967626214016974 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:-0.23 [[ 9.99897641e-01 2.64298261e-04 -1.43051574e-02 2.80835602e+00] [-2.91242489e-04 9.99998188e-01 -1.88148199e-03 3.25741958e-01] [ 1.43046342e-02 1.88545567e-03 9.99895906e-01 -2.28079200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39313336499998 meters Centerline goodness [0,1] 0.297686285627058 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:-0.23 [[ 9.99896587e-01 3.13916196e-04 -1.43776642e-02 2.80844083e+00] [-3.38127971e-04 9.99998529e-01 -1.68158540e-03 3.24551964e-01] [ 1.43771151e-02 1.68627299e-03 9.99895222e-01 -2.27919172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42313336499998 meters Centerline goodness [0,1] 0.29984338974202807 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:-0.23 [[ 9.99897907e-01 3.78914275e-04 -1.42839802e-02 2.80810984e+00] [-3.99514600e-04 9.99998884e-01 -1.43937198e-03 3.23224213e-01] [ 1.42834188e-02 1.44493169e-03 9.99896943e-01 -2.27705178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45313336499999 meters Centerline goodness [0,1] 0.29830618892508143 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:-0.23 [[ 9.99899113e-01 4.49004762e-04 -1.41972490e-02 2.80779882e+00] [-4.65810576e-04 9.99999195e-01 -1.18045270e-03 3.21908056e-01] [ 1.41967075e-02 1.18694683e-03 9.99898517e-01 -2.27500776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.483133365 meters Centerline goodness [0,1] 0.2962482430533031 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:-0.23 [[ 9.99899273e-01 4.48734461e-04 -1.41860126e-02 2.80774547e+00] [-4.57495346e-04 9.99999707e-01 -6.14332932e-04 3.18368870e-01] [ 1.41857328e-02 6.20761087e-04 9.99899185e-01 -2.27297113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.513133365 meters Centerline goodness [0,1] 0.29842977546442495 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:-0.23 [[ 9.99896729e-01 4.47561351e-04 -1.43642531e-02 2.80828444e+00] [-4.52627562e-04 9.99999837e-01 -3.49446722e-04 3.16392997e-01] [ 1.43640944e-02 3.55912291e-04 9.99896768e-01 -2.27427780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.543133365 meters Centerline goodness [0,1] 0.29605320162897497 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:-0.23 [[ 9.99893838e-01 4.77295736e-04 -1.45631621e-02 2.80886171e+00] [-4.78247778e-04 9.99999884e-01 -6.18907955e-05 3.14439211e-01] [ 1.45631308e-02 6.88490249e-05 9.99893950e-01 -2.27514391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.573133365 meters Centerline goodness [0,1] 0.2969408595141876 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:-0.23 [[ 9.99893281e-01 5.62740935e-04 -1.45982864e-02 2.80887014e+00] [-5.59456372e-04 9.99999817e-01 2.29079278e-04 3.12831797e-01] [ 1.45984126e-02 -2.20887726e-04 9.99893413e-01 -2.27366339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.603133365 meters Centerline goodness [0,1] 0.2993115506502022 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:-0.23 [[ 9.99893549e-01 6.56479242e-04 -1.45760285e-02 2.80870142e+00] [-6.49840806e-04 9.99999683e-01 4.60166786e-04 3.11748073e-01] [ 1.45763260e-02 -4.50645702e-04 9.99893658e-01 -2.27172873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.633133365 meters Centerline goodness [0,1] 0.2987397427246806 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:-0.23 [[ 9.99895858e-01 7.34275080e-04 -1.44129793e-02 2.80817350e+00] [-7.25344848e-04 9.99999542e-01 6.24814231e-04 3.11066206e-01] [ 1.44134315e-02 -6.14294782e-04 9.99895932e-01 -2.26905409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.663133365 meters Centerline goodness [0,1] 0.29711602951039573 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:-0.23 [[ 9.99897292e-01 7.48679118e-04 -1.43124022e-02 2.80782357e+00] [-7.39508901e-04 9.99999518e-01 6.45999847e-04 3.10639851e-01] [ 1.43128790e-02 -6.35349348e-04 9.99897364e-01 -2.26746435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.693133365 meters Centerline goodness [0,1] 0.297773897861196 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:-0.23 [[ 9.99897446e-01 7.33528532e-04 -1.43024512e-02 2.80784815e+00] [-7.25417646e-04 9.99999573e-01 5.72277279e-04 3.10981590e-01] [ 1.43028649e-02 -5.61843339e-04 9.99897551e-01 -2.26873746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.723133365 meters Centerline goodness [0,1] 0.2989958524339664 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:-0.23 [[ 9.99895922e-01 7.30026891e-04 -1.44087294e-02 2.80831526e+00] [-7.23951129e-04 9.99999647e-01 4.26883674e-04 3.11900173e-01] [ 1.44090359e-02 -4.16408029e-04 9.99896098e-01 -2.27318968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.753133365 meters Centerline goodness [0,1] 0.2982666521312548 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:-0.23 [[ 9.99894465e-01 6.97951325e-04 -1.45110769e-02 2.80875908e+00] [-6.94669204e-04 9.99999732e-01 2.31219664e-04 3.12948052e-01] [ 1.45112344e-02 -2.21114864e-04 9.99894682e-01 -2.27727329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.783133365 meters Centerline goodness [0,1] 0.2971005042601287 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:-0.23 [[ 9.99895021e-01 6.36477998e-04 -1.44755517e-02 2.80878123e+00] [-6.36095789e-04 9.99999797e-01 3.10079504e-05 3.13976299e-01] [ 1.44755685e-02 -2.17968577e-05 9.99895223e-01 -2.27954744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.813133365 meters Centerline goodness [0,1] 0.29893145117234443 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:-0.23 [[ 9.99901110e-01 5.97671027e-04 -1.40503607e-02 2.80749101e+00] [-6.01208490e-04 9.99999789e-01 -2.47547762e-04 3.15656968e-01] [ 1.40502098e-02 2.55970478e-04 9.99901258e-01 -2.27564933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.843133365 meters Centerline goodness [0,1] 0.2950423216444982 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:-0.23 [[ 9.99903813e-01 5.76674985e-04 -1.38575777e-02 2.80679202e+00] [-5.82414108e-04 9.99999746e-01 -4.10118464e-04 3.16895140e-01] [ 1.38573377e-02 4.18149864e-04 9.99903895e-01 -2.27211789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.873133365 meters Centerline goodness [0,1] 0.29960578186596587 Centerline is valid? [False, False] Translation: X:2.76, Y:0.31, Z:-0.23 [[ 9.99871466e-01 5.75890627e-04 -1.60224725e-02 2.76113661e+00] [-5.74592773e-04 9.99999831e-01 8.56054938e-05 3.14690238e-01] [ 1.60225191e-02 -7.63880937e-05 9.99871628e-01 -2.26713050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90313336499997 meters Centerline goodness [0,1] 0.2981451947654731 Centerline is valid? [False, False] Translation: X:2.76, Y:0.32, Z:-0.23 [[ 9.99869538e-01 5.05949078e-04 -1.61447122e-02 2.76167455e+00] [-5.09015227e-04 9.99999853e-01 -1.85807961e-04 3.16238349e-01] [ 1.61446158e-02 1.94001624e-04 9.99869648e-01 -2.27174224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93313336499997 meters Centerline goodness [0,1] 0.29310232527844726 Centerline is valid? [False, False] Translation: X:2.76, Y:0.32, Z:-0.23 [[ 9.99866821e-01 4.11514492e-04 -1.63147253e-02 2.76252315e+00] [-4.18967091e-04 9.99999809e-01 -4.53386677e-04 3.17621932e-01] [ 1.63145356e-02 4.60161628e-04 9.99866803e-01 -2.27957025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96313336499998 meters Centerline goodness [0,1] 0.2931508034343303 Centerline is valid? [False, False] Translation: X:2.76, Y:0.32, Z:-0.23 [[ 9.99864947e-01 3.05226121e-04 -1.64315258e-02 2.76309936e+00] [-3.17372135e-04 9.99999678e-01 -7.36587127e-04 3.19055830e-01] [ 1.64312957e-02 7.41702557e-04 9.99864722e-01 -2.28464101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99313336499998 meters Centerline goodness [0,1] 0.296519367157665 Centerline is valid? [False, False] Translation: X:2.76, Y:0.32, Z:-0.23 [[ 9.99865179e-01 1.53597575e-04 -1.64195136e-02 2.76291467e+00] [-1.71819194e-04 9.99999371e-01 -1.10834899e-03 3.20854322e-01] [ 1.64193330e-02 1.11102075e-03 9.99864576e-01 -2.28264447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02313336499998 meters Centerline goodness [0,1] 0.2942749087115284 Centerline is valid? [False, False] Translation: X:2.76, Y:0.32, Z:-0.23 [[ 9.99864851e-01 1.28072055e-04 -1.64396773e-02 2.76272369e+00] [-1.47585017e-04 9.99999286e-01 -1.18573539e-03 3.21480765e-01] [ 1.64395137e-02 1.18800139e-03 9.99864156e-01 -2.27890620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05313336499998 meters Centerline goodness [0,1] 0.29506528376242336 Centerline is valid? [False, False] Translation: X:2.76, Y:0.32, Z:-0.23 [[ 9.99865070e-01 1.16857930e-04 -1.64264675e-02 2.76245474e+00] [-1.36921264e-04 9.99999246e-01 -1.22028348e-03 3.21812578e-01] [ 1.64263125e-02 1.22236796e-03 9.99864332e-01 -2.27515391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08313336499998 meters Centerline goodness [0,1] 0.2971928752291976 Centerline is valid? [False, False] Translation: X:2.76, Y:0.32, Z:-0.23 [[ 9.99866475e-01 8.06006270e-05 -1.63409490e-02 2.76196817e+00] [-1.01107445e-04 9.99999208e-01 -1.25411210e-03 3.21926238e-01] [ 1.63408349e-02 1.25559684e-03 9.99865691e-01 -2.27050647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11313336499998 meters Centerline goodness [0,1] 0.2963019228265116 Centerline is valid? [False, False] Translation: X:2.76, Y:0.32, Z:-0.23 [[ 9.99869934e-01 5.00273820e-05 -1.61279825e-02 2.76137330e+00] [-7.09613798e-05 9.99999156e-01 -1.29742269e-03 3.22126227e-01] [ 1.61279039e-02 1.29839840e-03 9.99869094e-01 -2.26874682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14313336499998 meters Centerline goodness [0,1] 0.2930043641705915 Centerline is valid? [False, False] Translation: X:2.76, Y:0.32, Z:-0.23 [[ 9.99871696e-01 -2.41931993e-05 -1.60184435e-02 2.76110855e+00] [ 2.86919478e-08 9.99998862e-01 -1.50854130e-03 3.23186841e-01] [ 1.60184617e-02 1.50834729e-03 9.99870559e-01 -2.26893475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17313336499998 meters Centerline goodness [0,1] 0.294047619047619 Centerline is valid? [False, False] Translation: X:2.76, Y:0.32, Z:-0.23 [[ 9.99868222e-01 -1.07438634e-04 -1.62334943e-02 2.76185339e+00] [ 7.87897101e-05 9.99998439e-01 -1.76543255e-03 3.24455128e-01] [ 1.62336586e-02 1.76392087e-03 9.99866670e-01 -2.27327885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20313336499999 meters Centerline goodness [0,1] 0.294692919546225 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.23 [[ 9.99864318e-01 -1.84965904e-04 -1.64715551e-02 2.76258591e+00] [ 1.51265764e-04 9.99997893e-01 -2.04718218e-03 3.25883195e-01] [ 1.64718991e-02 2.04441283e-03 9.99862239e-01 -2.27659650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.233133365 meters Centerline goodness [0,1] 0.29162255018474903 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.23 [[ 9.99862664e-01 -2.25610453e-04 -1.65711507e-02 2.76277078e+00] [ 1.87850338e-04 9.99997383e-01 -2.28018708e-03 3.27174503e-01] [ 1.65716218e-02 2.27676103e-03 9.99860089e-01 -2.27642181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.263133365 meters Centerline goodness [0,1] 0.29339165078815177 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.23 [[ 9.99864071e-01 -3.35897427e-04 -1.64841469e-02 2.76238637e+00] [ 2.93115139e-04 9.99996583e-01 -2.59770696e-03 3.28684474e-01] [ 1.64849631e-02 2.59252210e-03 9.99860753e-01 -2.27429012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.293133365 meters Centerline goodness [0,1] 0.2958893400794771 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.23 [[ 9.99866777e-01 -3.78691972e-04 -1.63182133e-02 2.76180760e+00] [ 3.33329270e-04 9.99996073e-01 -2.78251188e-03 3.29740036e-01] [ 1.63192029e-02 2.77670184e-03 9.99862977e-01 -2.27228421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.323133365 meters Centerline goodness [0,1] 0.29937516385563223 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.23 [[ 9.99874446e-01 -4.22314071e-04 -1.58402706e-02 2.76030226e+00] [ 3.73651569e-04 9.99995203e-01 -3.07490892e-03 3.31715590e-01] [ 1.58414932e-02 3.06860411e-03 9.99869807e-01 -2.26722061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.353133365 meters Centerline goodness [0,1] 0.2960286458333333 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.23 [[ 9.99877079e-01 -4.48814436e-04 -1.56724343e-02 2.75982704e+00] [ 3.98627459e-04 9.99994784e-01 -3.20522226e-03 3.32710015e-01] [ 1.56737911e-02 3.19858081e-03 9.99872042e-01 -2.26630724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.383133365 meters Centerline goodness [0,1] 0.2951617458558735 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.23 [[ 9.99877590e-01 -4.91903039e-04 -1.56384820e-02 2.75963941e+00] [ 4.39196652e-04 9.99994213e-01 -3.37355646e-03 3.33827635e-01] [ 1.56400510e-02 3.36627513e-03 9.99872020e-01 -2.26500792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.413133365 meters Centerline goodness [0,1] 0.2973938812864987 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.23 [[ 9.99876484e-01 -5.72318230e-04 -1.57063641e-02 2.75992139e+00] [ 5.16183403e-04 9.99993466e-01 -3.57783920e-03 3.34857095e-01] [ 1.57083091e-02 3.56928991e-03 9.99870246e-01 -2.26696227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.443133365 meters Centerline goodness [0,1] 0.29537770215736314 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.23 [[ 9.99875471e-01 -6.73233223e-04 -1.57667182e-02 2.76022213e+00] [ 6.13270890e-04 9.99992563e-01 -3.80762158e-03 3.35934648e-01] [ 1.57691643e-02 3.79747816e-03 9.99868448e-01 -2.26971150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.473133365 meters Centerline goodness [0,1] 0.29584383966611594 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.23 [[ 9.99876406e-01 -8.90006200e-04 -1.56964948e-02 2.75984597e+00] [ 8.23051040e-04 9.99990538e-01 -4.27155642e-03 3.37996547e-01] [ 1.57001480e-02 4.25810947e-03 9.99867678e-01 -2.26671870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.503133365 meters Centerline goodness [0,1] 0.2950300453391761 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.23 [[ 9.99877598e-01 -9.14670231e-04 -1.56189473e-02 2.75927111e+00] [ 8.46505090e-04 9.99990092e-01 -4.37031324e-03 3.38766370e-01] [ 1.56227899e-02 4.35655679e-03 9.99868466e-01 -2.26104788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.533133365 meters Centerline goodness [0,1] 0.2971491943375302 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.23 [[ 9.99878197e-01 -9.11626630e-04 -1.55807917e-02 2.75892168e+00] [ 8.43987113e-04 9.99990195e-01 -4.34723601e-03 3.38823400e-01] [ 1.55846020e-02 4.33355651e-03 9.99869162e-01 -2.25695262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.563133365 meters Centerline goodness [0,1] 0.2966212108051768 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.23 [[ 9.99879070e-01 -1.06548212e-03 -1.55148087e-02 2.75858529e+00] [ 1.00147574e-03 9.99990959e-01 -4.13268749e-03 3.37034842e-01] [ 1.55190717e-02 4.11665002e-03 9.99871097e-01 -2.25290509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.593133365 meters Centerline goodness [0,1] 0.2963227805586254 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.23 [[ 9.99879912e-01 -1.17569196e-03 -1.54524787e-02 2.75854970e+00] [ 1.11450253e-03 9.99991507e-01 -3.96786031e-03 3.35381185e-01] [ 1.54570125e-02 3.95016199e-03 9.99872730e-01 -2.25361281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.623133365 meters Centerline goodness [0,1] 0.3001383125864454 Centerline is valid? [False, False] Translation: X:2.74, Y:0.33, Z:-0.23 [[ 0.99988427 0.00429873 -0.01459351 2.73666814] [-0.00439988 0.99996647 -0.00690608 0.32904576] [ 0.01456333 0.0069695 0.99986966 -0.22617305] [ 0. 0. 0. 1. ]] SLAMing on 238.65313336499997 meters Centerline goodness [0,1] 0.30013939710751003 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.22 [[ 0.99988588 -0.00398575 -0.01457187 2.75665676] [ 0.00390021 0.99997503 -0.0058938 0.33162336] [ 0.01459499 0.0058363 0.99987645 -0.2247484 ] [ 0. 0. 0. 1. ]] SLAMing on 238.68313336499997 meters Centerline goodness [0,1] 0.3001705514496873 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.22 [[ 0.99988474 -0.00383962 -0.01468862 2.75701782] [ 0.00376001 0.99997811 -0.00544405 0.32951834] [ 0.01470921 0.00538819 0.9998773 -0.22479446] [ 0. 0. 0. 1. ]] SLAMing on 238.71313336499998 meters Centerline goodness [0,1] 0.3002272627944583 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.22 [[ 0.99988347 -0.00369128 -0.0148129 2.75744565] [ 0.0036169 0.99998073 -0.00504491 0.3276644 ] [ 0.01483124 0.00499075 0.99987756 -0.22497505] [ 0. 0. 0. 1. ]] SLAMing on 238.74313336499998 meters Centerline goodness [0,1] 0.2945300328890428 Centerline is valid? [False, False] Translation: X:2.76, Y:0.32, Z:-0.23 [[ 0.99987451 -0.0036425 -0.01541744 2.75948443] [ 0.00357195 0.99998304 -0.00460074 0.32462221] [ 0.01543394 0.00454509 0.99987056 -0.22585336] [ 0. 0. 0. 1. ]] SLAMing on 238.77313336499998 meters Centerline goodness [0,1] 0.29620863371840533 Centerline is valid? [False, False] Translation: X:2.76, Y:0.32, Z:-0.23 [[ 0.99987012 -0.0035878 -0.01571235 2.76053097] [ 0.00351794 0.99998381 -0.00447148 0.32389959] [ 0.01572814 0.00441563 0.99986656 -0.22641564] [ 0. 0. 0. 1. ]] SLAMing on 238.80313336499998 meters Centerline goodness [0,1] 0.29666254635352285 Centerline is valid? [False, False] Translation: X:2.76, Y:0.32, Z:-0.23 [[ 0.99986636 -0.00352103 -0.01596467 2.76142817] [ 0.00345111 0.99998434 -0.00440563 0.32379143] [ 0.01597993 0.00434995 0.99986285 -0.22691461] [ 0. 0. 0. 1. ]] SLAMing on 238.83313336499998 meters Centerline goodness [0,1] 0.2939651820812994 Centerline is valid? [False, False] Translation: X:2.76, Y:0.32, Z:-0.23 [[ 0.9998627 -0.00345206 -0.01620704 2.76212667] [ 0.00338066 0.99998447 -0.00443088 0.3243262 ] [ 0.01622208 0.00437548 0.99985884 -0.22717959] [ 0. 0. 0. 1. ]] SLAMing on 238.86313336499998 meters Centerline goodness [0,1] 0.294232437120555 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.23 [[ 0.999861 -0.00344313 -0.01631359 2.76255945] [ 0.00336888 0.99998385 -0.00457708 0.32533731] [ 0.01632908 0.00452149 0.99985645 -0.22752649] [ 0. 0. 0. 1. ]] SLAMing on 238.89313336499998 meters Centerline goodness [0,1] 0.29590457083042565 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.23 [[ 0.9998621 -0.00346248 -0.01624182 2.76244066] [ 0.00338529 0.99998286 -0.00477774 0.32656406] [ 0.01625809 0.0047221 0.99985668 -0.22765175] [ 0. 0. 0. 1. ]] SLAMing on 238.92313336499998 meters Centerline goodness [0,1] 0.2931549551889856 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.23 [[ 0.99986173 -0.00346801 -0.01626339 2.76245166] [ 0.00338686 0.99998169 -0.0050145 0.32799406] [ 0.01628048 0.00495872 0.99985517 -0.22767335] [ 0. 0. 0. 1. ]] SLAMing on 238.95313336499999 meters Centerline goodness [0,1] 0.2950489474140171 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.23 [[ 0.99986336 -0.00351352 -0.01615306 2.76200555] [ 0.00342876 0.99998022 -0.00527207 0.32942224] [ 0.01617127 0.00521596 0.99985563 -0.22745315] [ 0. 0. 0. 1. ]] SLAMing on 238.983133365 meters Centerline goodness [0,1] 0.292871945427856 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:-0.23 [[ 0.99986456 -0.0035881 -0.016062 2.7615095 ] [ 0.0034985 0.99997819 -0.00560265 0.33121342] [ 0.01608175 0.0055457 0.9998553 -0.22709501] [ 0. 0. 0. 1. ]] SLAMing on 239.013133365 meters Centerline goodness [0,1] 0.29702775408437765 Centerline is valid? [False, False] Translation: X:2.74, Y:0.33, Z:-0.23 [[ 0.99985582 0.00484598 -0.01627413 2.74022075] [-0.00495502 0.9999655 -0.0066666 0.32941561] [ 0.01624126 0.00674628 0.99984534 -0.22760751] [ 0. 0. 0. 1. ]] SLAMing on 239.043133365 meters Centerline goodness [0,1] 0.29045437928735784 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.23 [[ 9.99871755e-01 -2.67006072e-03 -1.57906473e-02 2.75845610e+00] [ 2.58167338e-03 9.99980902e-01 -5.61518639e-03 3.35997753e-01] [ 1.58053386e-02 5.57369997e-03 9.99859553e-01 -2.26081825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.073133365 meters Centerline goodness [0,1] 0.29723542493350197 Centerline is valid? [False, False] Translation: X:2.74, Y:0.33, Z:-0.23 [[ 0.9998729 0.00507981 -0.01511206 2.73799504] [-0.00518047 0.9999646 -0.00662965 0.3306393 ] [ 0.01507785 0.00670709 0.99986383 -0.22706877] [ 0. 0. 0. 1. ]] SLAMing on 239.103133365 meters Centerline goodness [0,1] 0.2988658960295435 Centerline is valid? [False, False] Translation: X:2.74, Y:0.33, Z:-0.23 [[ 0.99987729 0.0050837 -0.01481787 2.73693376] [-0.00518169 0.99996491 -0.00658221 0.33048596] [ 0.01478389 0.00665818 0.99986854 -0.22646017] [ 0. 0. 0. 1. ]] SLAMing on 239.133133365 meters Centerline goodness [0,1] 0.29775013005028617 Centerline is valid? [False, False] Translation: X:2.75, Y:0.34, Z:-0.22 [[ 9.99894387e-01 -2.47833129e-03 -1.43203720e-02 2.75486406e+00] [ 2.40598244e-03 9.99984267e-01 -5.06718374e-03 3.35408049e-01] [ 1.43327048e-02 5.03219401e-03 9.99884619e-01 -2.24071139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.163133365 meters Centerline goodness [0,1] 0.3013746378232359 Centerline is valid? [False, False] Translation: X:2.75, Y:0.34, Z:-0.22 [[ 9.99893758e-01 -2.45254897e-03 -1.43686316e-02 2.75483298e+00] [ 2.38086174e-03 9.99984645e-01 -5.00413087e-03 3.35188032e-01] [ 1.43806839e-02 4.96938950e-03 9.99884244e-01 -2.23834418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.193133365 meters Centerline goodness [0,1] 0.29646104107448956 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.22 [[ 9.99887647e-01 -2.56335639e-03 -1.47689867e-02 2.75599645e+00] [ 2.48739504e-03 9.99983597e-01 -5.15937642e-03 3.35888521e-01] [ 1.47819697e-02 5.12206044e-03 9.99877621e-01 -2.24177626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.223133365 meters Centerline goodness [0,1] 0.2986062717770035 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.22 [[ 9.99886561e-01 -2.58344454e-03 -1.48388423e-02 2.75629752e+00] [ 2.50647077e-03 9.99983320e-01 -5.20357338e-03 3.36229167e-01] [ 1.48520380e-02 5.16578997e-03 9.99876358e-01 -2.24409922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.253133365 meters Centerline goodness [0,1] 0.2986062717770035 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.22 [[ 9.99886561e-01 -2.58344454e-03 -1.48388423e-02 2.75629752e+00] [ 2.50647077e-03 9.99983320e-01 -5.20357338e-03 3.36229167e-01] [ 1.48520380e-02 5.16578997e-03 9.99876358e-01 -2.24409922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.283133365 meters Centerline goodness [0,1] 0.29877465890327626 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.22 [[ 9.99887251e-01 -2.57689029e-03 -1.47933953e-02 2.75618534e+00] [ 2.50026635e-03 9.99983376e-01 -5.19576456e-03 3.36376891e-01] [ 1.48065383e-02 5.15819131e-03 9.99877072e-01 -2.24397212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.313133365 meters Centerline goodness [0,1] 0.2942821494643548 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.22 [[ 9.99887844e-01 -2.58039152e-03 -1.47526771e-02 2.75579430e+00] [ 2.50358740e-03 9.99983230e-01 -5.22221407e-03 3.36744683e-01] [ 1.47659050e-02 5.18469375e-03 9.99877536e-01 -2.23959273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.343133365 meters Centerline goodness [0,1] 0.29331333047578223 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.22 [[ 9.99889841e-01 -2.55308476e-03 -1.46214594e-02 2.75521609e+00] [ 2.47720316e-03 9.99983383e-01 -5.20550375e-03 3.37017940e-01] [ 1.46345065e-02 5.16870999e-03 9.99879551e-01 -2.23540145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.373133365 meters Centerline goodness [0,1] 0.29785200790565336 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:-0.22 [[ 0.99985564 -0.00338091 -0.01665123 2.70943612] [ 0.00328879 0.99997916 -0.00555637 0.33483611] [ 0.01666966 0.00550081 0.99984592 -0.22305978] [ 0. 0. 0. 1. ]] SLAMing on 239.40313336499997 meters Centerline goodness [0,1] 0.298670887448234 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:-0.22 [[ 0.9998547 -0.00342166 -0.0166994 2.70970121] [ 0.00333049 0.99997942 -0.00548398 0.33397585] [ 0.01671782 0.00542757 0.99984552 -0.22325218] [ 0. 0. 0. 1. ]] SLAMing on 239.43313336499997 meters Centerline goodness [0,1] 0.2975454820448554 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:-0.22 [[ 0.9998531 -0.00343819 -0.01679144 2.70992735] [ 0.00335004 0.99998048 -0.00527503 0.33236865] [ 0.01680925 0.005218 0.9998451 -0.22320734] [ 0. 0. 0. 1. ]] SLAMing on 239.46313336499998 meters Centerline goodness [0,1] 0.3000453338514345 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:-0.22 [[ 0.99985417 -0.00339076 -0.01673743 2.70980879] [ 0.00330889 0.99998244 -0.0049167 0.3302267 ] [ 0.01675381 0.0048606 0.99984783 -0.22314895] [ 0. 0. 0. 1. ]] SLAMing on 239.49313336499998 meters Centerline goodness [0,1] 0.29823429468567864 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:-0.22 [[ 0.99985497 -0.00328678 -0.0167104 2.70973043] [ 0.00321211 0.99998475 -0.0044933 0.32796557] [ 0.01672491 0.00443897 0.99985028 -0.22305698] [ 0. 0. 0. 1. ]] SLAMing on 239.52313336499998 meters Centerline goodness [0,1] 0.2999309660439229 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:-0.22 [[ 0.99985656 -0.00319136 -0.01663354 2.7095504 ] [ 0.0031226 0.99998648 -0.00415811 0.32615522] [ 0.01664658 0.00410558 0.99985301 -0.22299999] [ 0. 0. 0. 1. ]] SLAMing on 239.55313336499998 meters Centerline goodness [0,1] 0.3000865988309158 Centerline is valid? [False, False] Translation: X:2.71, Y:0.32, Z:-0.22 [[ 0.99985856 -0.00313308 -0.01652381 2.70936372] [ 0.00306879 0.99998763 -0.00391494 0.32456993] [ 0.01653588 0.00386367 0.99985581 -0.22304184] [ 0. 0. 0. 1. ]] SLAMing on 239.58313336499998 meters Centerline goodness [0,1] 0.3012572323487188 Centerline is valid? [False, False] Translation: X:2.71, Y:0.32, Z:-0.22 [[ 0.99985856 -0.00313429 -0.01652408 2.70957266] [ 0.00306874 0.99998733 -0.00399074 0.32496251] [ 0.01653638 0.00393947 0.9998555 -0.22339853] [ 0. 0. 0. 1. ]] SLAMing on 239.61313336499998 meters Centerline goodness [0,1] 0.2991273011462313 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:-0.22 [[ 0.99985413 -0.00312184 -0.01679201 2.71045747] [ 0.003052 0.99998659 -0.00418317 0.32618328] [ 0.01680485 0.00413131 0.99985025 -0.22387499] [ 0. 0. 0. 1. ]] SLAMing on 239.64313336499998 meters Centerline goodness [0,1] 0.2966112698000519 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:-0.22 [[ 0.99984324 -0.00296094 -0.01745633 2.71231814] [ 0.00288569 0.99998644 -0.0043347 0.32765402] [ 0.01746892 0.00428365 0.99983823 -0.22446098] [ 0. 0. 0. 1. ]] SLAMing on 239.67313336499998 meters Centerline goodness [0,1] 0.3019058050383352 Centerline is valid? [False, False] Translation: X:2.69, Y:0.32, Z:-0.23 [[ 0.99982149 0.00549889 -0.01807619 2.69258825] [-0.00559766 0.99996966 -0.00541782 0.32472354] [ 0.01804585 0.00551803 0.99982193 -0.22625701] [ 0. 0. 0. 1. ]] SLAMing on 239.70313336499999 meters Centerline goodness [0,1] 0.30046907385185995 Centerline is valid? [False, False] Translation: X:2.69, Y:0.33, Z:-0.23 [[ 0.99981865 0.00545987 -0.01824464 2.69312764] [-0.00556575 0.99996794 -0.00575761 0.32665356] [ 0.01821262 0.00585811 0.99981697 -0.22662161] [ 0. 0. 0. 1. ]] SLAMing on 239.733133365 meters Centerline goodness [0,1] 0.2990047692676234 Centerline is valid? [False, False] Translation: X:2.69, Y:0.33, Z:-0.23 [[ 0.99981948 0.0056133 -0.01815184 2.69271528] [-0.00572411 0.99996526 -0.00605837 0.32943576] [ 0.01811721 0.00616118 0.99981689 -0.22648318] [ 0. 0. 0. 1. ]] SLAMing on 239.763133365 meters Centerline goodness [0,1] 0.29658479430654405 Centerline is valid? [False, False] Translation: X:2.69, Y:0.33, Z:-0.23 [[ 0.99981887 0.00555322 -0.01820398 2.69273271] [-0.00566802 0.99996434 -0.00626077 0.33061876] [ 0.01816856 0.00636282 0.99981469 -0.22631759] [ 0. 0. 0. 1. ]] SLAMing on 239.793133365 meters Centerline goodness [0,1] 0.2949176653159755 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:-0.22 [[ 9.99820833e-01 -1.91323711e-03 -1.88319442e-02 2.71094519e+00] [ 1.81446020e-03 9.99984515e-01 -5.26086858e-03 3.37428643e-01] [ 1.88417179e-02 5.22575619e-03 9.99808822e-01 -2.24287661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.823133365 meters Centerline goodness [0,1] 0.2978191928406968 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:-0.22 [[ 9.99819097e-01 -1.97902250e-03 -1.89171164e-02 2.71118631e+00] [ 1.87821472e-03 9.99983950e-01 -5.34520097e-03 3.37657743e-01] [ 1.89273911e-02 5.30870360e-03 9.99806767e-01 -2.24326873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.853133365 meters Centerline goodness [0,1] 0.2996010551328726 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:-0.22 [[ 9.99818354e-01 -2.02082723e-03 -1.89519372e-02 2.71112648e+00] [ 1.91846769e-03 9.99983484e-01 -5.41763320e-03 3.38014240e-01] [ 1.89625723e-02 5.38029042e-03 9.99805718e-01 -2.24091316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.883133365 meters Centerline goodness [0,1] 0.2946532602597851 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:-0.22 [[ 9.99819045e-01 -1.98807874e-03 -1.89189221e-02 2.71075701e+00] [ 1.88677579e-03 9.99983796e-01 -5.37092751e-03 3.38055703e-01] [ 1.89292934e-02 5.33425985e-03 9.99806595e-01 -2.23651721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.913133365 meters Centerline goodness [0,1] 0.29764928045842287 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:-0.22 [[ 9.99816508e-01 -1.87269503e-03 -1.90642097e-02 2.71092839e+00] [ 1.77620282e-03 9.99985534e-01 -5.07710742e-03 3.36926243e-01] [ 1.90734418e-02 5.04231391e-03 9.99805371e-01 -2.23331412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.943133365 meters Centerline goodness [0,1] 0.2990045524842624 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:-0.22 [[ 9.99816039e-01 -1.88071293e-03 -1.90880055e-02 2.71098281e+00] [ 1.78437625e-03 9.99985592e-01 -5.06275182e-03 3.36745070e-01] [ 1.90972521e-02 5.02776029e-03 9.99804989e-01 -2.23326138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.973133365 meters Centerline goodness [0,1] 0.29818387208898156 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:-0.22 [[ 9.99818981e-01 -1.91918945e-03 -1.89294180e-02 2.71053162e+00] [ 1.82291815e-03 9.99985324e-01 -5.10174775e-03 3.36704849e-01] [ 1.89389314e-02 5.06631746e-03 9.99807806e-01 -2.23207665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.003133365 meters Centerline goodness [0,1] 0.30087784103254966 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:-0.22 [[ 9.99824579e-01 -1.96683326e-03 -1.86264264e-02 2.70960409e+00] [ 1.86992144e-03 9.99984633e-01 -5.21890868e-03 3.37190607e-01] [ 1.86364049e-02 5.18316322e-03 9.99812892e-01 -2.22874294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.033133365 meters Centerline goodness [0,1] 0.3000894551960378 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:-0.22 [[ 9.99829819e-01 -1.96203536e-03 -1.83434926e-02 2.70875976e+00] [ 1.86416711e-03 9.99983946e-01 -5.35088914e-03 3.38181139e-01] [ 1.83536968e-02 5.31578319e-03 9.99817425e-01 -2.22635245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.063133365 meters Centerline goodness [0,1] 0.3007769872102667 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:-0.22 [[ 9.99839059e-01 -1.27694844e-03 -1.78948256e-02 2.70758143e+00] [ 1.18520956e-03 9.99986107e-01 -5.13622750e-03 3.40403705e-01] [ 1.79011357e-02 5.11419176e-03 9.99826682e-01 -2.22538222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.093133365 meters Centerline goodness [0,1] 0.2994852190534112 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:-0.22 [[ 9.99838712e-01 -1.21727139e-03 -1.79183693e-02 2.70766523e+00] [ 1.12225801e-03 9.99985263e-01 -5.31166921e-03 3.41901043e-01] [ 1.79245710e-02 5.29070347e-03 9.99825344e-01 -2.22649336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.123133365 meters Centerline goodness [0,1] 0.2994852190534112 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:-0.22 [[ 9.99838712e-01 -1.21727139e-03 -1.79183693e-02 2.70766523e+00] [ 1.12225801e-03 9.99985263e-01 -5.31166921e-03 3.41901043e-01] [ 1.79245710e-02 5.29070347e-03 9.99825344e-01 -2.22649336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15313336499997 meters Centerline goodness [0,1] 0.2943788257608414 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:-0.22 [[ 9.99834049e-01 -1.32150765e-03 -1.81694146e-02 2.70845237e+00] [ 1.21482893e-03 9.99981968e-01 -5.88111924e-03 3.44857333e-01] [ 1.81768590e-02 5.85807053e-03 9.99817626e-01 -2.23129238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18313336499997 meters Centerline goodness [0,1] 0.2989239348261741 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 9.99832349e-01 -1.43042529e-03 -1.82545178e-02 2.70881176e+00] [ 1.31784261e-03 9.99980048e-01 -6.17792710e-03 3.46235135e-01] [ 1.82629906e-02 6.15283479e-03 9.99814286e-01 -2.23450776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21313336499998 meters Centerline goodness [0,1] 0.2957816699904622 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 9.99831017e-01 -1.47796461e-03 -1.83235886e-02 2.70911119e+00] [ 1.36244109e-03 9.99979129e-01 -6.31551488e-03 3.46971022e-01] [ 1.83325403e-02 6.28948285e-03 9.99812163e-01 -2.23696220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24313336499998 meters Centerline goodness [0,1] 0.2955038625119347 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 9.99833430e-01 -1.49262865e-03 -1.81902381e-02 2.70870760e+00] [ 1.37722063e-03 9.99978856e-01 -6.35537960e-03 3.47261115e-01] [ 1.81993397e-02 6.32926901e-03 9.99814345e-01 -2.23563981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27313336499998 meters Centerline goodness [0,1] 0.2984179415855355 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 9.99837321e-01 -1.52067108e-03 -1.79727559e-02 2.70803004e+00] [ 1.40703088e-03 9.99978951e-01 -6.33386915e-03 3.46951644e-01] [ 1.79820093e-02 6.30755054e-03 9.99818415e-01 -2.23296197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30313336499998 meters Centerline goodness [0,1] 0.2994785416621212 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 9.99840788e-01 -1.59171521e-03 -1.77726135e-02 2.70730938e+00] [ 1.47921374e-03 9.99978799e-01 -6.34139944e-03 3.46624397e-01] [ 1.77823304e-02 6.31410032e-03 9.99821945e-01 -2.22864705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33313336499998 meters Centerline goodness [0,1] 0.29875043237634036 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 9.99846269e-01 -1.69983266e-03 -1.74513315e-02 2.70622929e+00] [ 1.58856978e-03 9.99978338e-01 -6.38749397e-03 3.46449483e-01] [ 1.74618111e-02 6.35878936e-03 9.99827311e-01 -2.22262991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36313336499998 meters Centerline goodness [0,1] 0.2993406019455507 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 9.99847543e-01 -1.71596859e-03 -1.73766095e-02 2.70587975e+00] [ 1.60388006e-03 9.99977832e-01 -6.46242367e-03 3.46964375e-01] [ 1.73873136e-02 6.43356843e-03 9.99828130e-01 -2.22029065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39313336499998 meters Centerline goodness [0,1] 0.29698033860094075 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 9.99844605e-01 -1.75201447e-03 -1.75412892e-02 2.70630100e+00] [ 1.63655584e-03 9.99976918e-01 -6.59429859e-03 3.47824986e-01] [ 1.75524376e-02 6.56456657e-03 9.99824394e-01 -2.22092277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42313336499998 meters Centerline goodness [0,1] 0.29669376693766936 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 9.99839656e-01 -1.75600830e-03 -1.78207606e-02 2.70720745e+00] [ 1.63636833e-03 9.99976042e-01 -6.72587919e-03 3.48695725e-01] [ 1.78321443e-02 6.69563940e-03 9.99818575e-01 -2.22522910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45313336499999 meters Centerline goodness [0,1] 0.2974756354322676 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 9.99832710e-01 -1.74009766e-03 -1.82078071e-02 2.70852793e+00] [ 1.61533123e-03 9.99975132e-01 -6.86482333e-03 3.49671656e-01] [ 1.82192998e-02 6.83426327e-03 9.99810657e-01 -2.23227177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.483133365 meters Centerline goodness [0,1] 0.29553115146243336 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 9.99825536e-01 -1.73684744e-03 -1.85978541e-02 2.70973389e+00] [ 1.60689600e-03 9.99974208e-01 -7.00010759e-03 3.50565225e-01] [ 1.86095326e-02 6.96900151e-03 9.99802540e-01 -2.23734899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.513133365 meters Centerline goodness [0,1] 0.29339980492034246 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 9.99817835e-01 -1.75458803e-03 -1.90057394e-02 2.71112150e+00] [ 1.61738997e-03 9.99972543e-01 -7.23173758e-03 3.51934212e-01] [ 1.90179062e-02 7.19968052e-03 9.99793221e-01 -2.24509414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.543133365 meters Centerline goodness [0,1] 0.2949482680085894 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 9.99819082e-01 -1.74473806e-03 -1.89409313e-02 2.71084210e+00] [ 1.60842660e-03 9.99972718e-01 -7.20951139e-03 3.51836857e-01] [ 1.89529933e-02 7.17774196e-03 9.99794611e-01 -2.24332425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.573133365 meters Centerline goodness [0,1] 0.29852601282107194 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 9.99823342e-01 -1.76116794e-03 -1.87131748e-02 2.71008165e+00] [ 1.62700594e-03 9.99972884e-01 -7.18219455e-03 3.51526962e-01] [ 1.87253164e-02 7.15047931e-03 9.99799096e-01 -2.23966635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.603133365 meters Centerline goodness [0,1] 0.29580545269494796 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 9.99825908e-01 -1.75516376e-03 -1.85761445e-02 2.70950687e+00] [ 1.62332304e-03 9.99973406e-01 -7.11001461e-03 3.51164677e-01] [ 1.85881297e-02 7.07862173e-03 9.99802168e-01 -2.23564092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.633133365 meters Centerline goodness [0,1] 0.2996352835833934 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 9.99827697e-01 -1.71792484e-03 -1.84830876e-02 2.70919143e+00] [ 1.58830127e-03 9.99974060e-01 -7.02548591e-03 3.50866879e-01] [ 1.84946774e-02 6.99491869e-03 9.99804490e-01 -2.23400139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.663133365 meters Centerline goodness [0,1] 0.2958418245674891 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 9.99823748e-01 -1.66003015e-03 -1.87007460e-02 2.71047875e+00] [ 1.52836658e-03 9.99973962e-01 -7.05264504e-03 3.51742402e-01] [ 1.87119666e-02 7.02282040e-03 9.99800251e-01 -2.24551619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.693133365 meters Centerline goodness [0,1] 0.2941951082615547 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.23 [[ 9.99819216e-01 -1.68594857e-03 -1.89391802e-02 2.71155098e+00] [ 1.55073619e-03 9.99973224e-01 -7.15171322e-03 3.52243586e-01] [ 1.89507305e-02 7.12105063e-03 9.99795059e-01 -2.25354874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.723133365 meters Centerline goodness [0,1] 0.2949038357057481 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.23 [[ 9.99816799e-01 -1.72241582e-03 -1.90630862e-02 2.71213479e+00] [ 1.58476345e-03 9.99972581e-01 -7.23363825e-03 3.52559149e-01] [ 1.90750228e-02 7.20210256e-03 9.99792115e-01 -2.25825443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.753133365 meters Centerline goodness [0,1] 0.29732086412486647 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.23 [[ 9.99814804e-01 -1.72034689e-03 -1.91676218e-02 2.71237181e+00] [ 1.58184549e-03 9.99972550e-01 -7.23861966e-03 3.52680622e-01] [ 1.91795486e-02 7.20695888e-03 9.99790080e-01 -2.25815427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.783133365 meters Centerline goodness [0,1] 0.2961438805060205 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.23 [[ 9.99815530e-01 -1.70314473e-03 -1.91312404e-02 2.71218104e+00] [ 1.56484308e-03 9.99972554e-01 -7.24174551e-03 3.52890598e-01] [ 1.91430491e-02 7.21047224e-03 9.99790754e-01 -2.25671098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.813133365 meters Centerline goodness [0,1] 0.2943477790986707 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.23 [[ 9.99816753e-01 -1.69572112e-03 -1.90678852e-02 2.71184867e+00] [ 1.55721638e-03 9.99972315e-01 -7.27627357e-03 3.53303591e-01] [ 1.90796958e-02 7.24524739e-03 9.99791714e-01 -2.25370320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.843133365 meters Centerline goodness [0,1] 0.2965168075443819 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 9.99821535e-01 -1.78784679e-03 -1.88069641e-02 2.71088735e+00] [ 1.64830237e-03 9.99971019e-01 -7.43271357e-03 3.53709279e-01] [ 1.88197076e-02 7.40038753e-03 9.99795506e-01 -2.24882302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.873133365 meters Centerline goodness [0,1] 0.29880747345701886 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 9.99822849e-01 -1.80550200e-03 -1.87352913e-02 2.71076878e+00] [ 1.66601993e-03 9.99970802e-01 -7.45782317e-03 3.53692609e-01] [ 1.87482094e-02 7.42528864e-03 9.99796664e-01 -2.24962782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90313336499997 meters Centerline goodness [0,1] 0.29746560777676523 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.23 [[ 9.99823831e-01 -1.73366424e-03 -1.86896070e-02 2.71070481e+00] [ 1.59617974e-03 9.99971577e-01 -7.36861003e-03 3.53542744e-01] [ 1.87018504e-02 7.33747994e-03 9.99798181e-01 -2.25046551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93313336499997 meters Centerline goodness [0,1] 0.29432937474405674 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.23 [[ 9.99825875e-01 -1.67156737e-03 -1.85856224e-02 2.71046907e+00] [ 1.53610369e-03 9.99972171e-01 -7.30051640e-03 3.53508821e-01] [ 1.85973085e-02 7.27069575e-03 9.99800619e-01 -2.25071896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96313336499998 meters Centerline goodness [0,1] 0.2950103770321688 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.23 [[ 9.99827155e-01 -1.67408352e-03 -1.85164290e-02 2.71037865e+00] [ 1.53865321e-03 9.99971982e-01 -7.32589202e-03 3.53684120e-01] [ 1.85281743e-02 7.29613541e-03 9.99801717e-01 -2.25229783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99313336499998 meters Centerline goodness [0,1] 0.29596917348573404 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.23 [[ 9.99828181e-01 -1.72747788e-03 -1.84560018e-02 2.71013693e+00] [ 1.59017590e-03 9.99970973e-01 -7.45150870e-03 3.54210836e-01] [ 1.84683384e-02 7.42088011e-03 9.99801906e-01 -2.25119403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02313336499998 meters Centerline goodness [0,1] 0.29474703982777184 Centerline is valid? [False, False] Translation: X:2.71, Y:0.36, Z:-0.23 [[ 9.99828254e-01 -1.81858516e-03 -1.84432970e-02 2.71010474e+00] [ 1.67644788e-03 9.99968801e-01 -7.71925222e-03 3.55526434e-01] [ 1.84567597e-02 7.68700725e-03 9.99800109e-01 -2.25175278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05313336499998 meters Centerline goodness [0,1] 0.298028755448572 Centerline is valid? [False, False] Translation: X:2.71, Y:0.36, Z:-0.23 [[ 9.99829146e-01 -1.82454541e-03 -1.83942796e-02 2.70997871e+00] [ 1.68156848e-03 9.99968280e-01 -7.78537452e-03 3.56058847e-01] [ 1.84079009e-02 7.75311312e-03 9.99800499e-01 -2.25185690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08313336499998 meters Centerline goodness [0,1] 0.298424870917845 Centerline is valid? [False, False] Translation: X:2.71, Y:0.36, Z:-0.23 [[ 9.99830074e-01 -1.83835865e-03 -1.83423857e-02 2.70986496e+00] [ 1.69486063e-03 9.99967863e-01 -7.83578239e-03 3.56464519e-01] [ 1.83562012e-02 7.80336310e-03 9.99801059e-01 -2.25200891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11313336499998 meters Centerline goodness [0,1] 0.29400000000000004 Centerline is valid? [False, False] Translation: X:2.73, Y:0.36, Z:-0.22 [[ 0.99978886 -0.00974793 -0.01808891 2.72899927] [ 0.00962603 0.99993045 -0.00681412 0.36212287] [ 0.01815407 0.00663855 0.99981316 -0.22371354] [ 0. 0. 0. 1. ]] SLAMing on 241.14313336499998 meters Centerline goodness [0,1] 0.29623135701452474 Centerline is valid? [False, False] Translation: X:2.71, Y:0.36, Z:-0.23 [[ 9.99853545e-01 -2.15193086e-03 -1.69781398e-02 2.71025232e+00] [ 2.02021505e-03 9.99967762e-01 -7.77130496e-03 3.56153681e-01] [ 1.69943157e-02 7.73586732e-03 9.99825660e-01 -2.25564606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17313336499998 meters Centerline goodness [0,1] 0.29623135701452474 Centerline is valid? [False, False] Translation: X:2.71, Y:0.36, Z:-0.23 [[ 9.99853545e-01 -2.15193086e-03 -1.69781398e-02 2.71025232e+00] [ 2.02021505e-03 9.99967762e-01 -7.77130496e-03 3.56153681e-01] [ 1.69943157e-02 7.73586732e-03 9.99825660e-01 -2.25564606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20313336499999 meters Centerline goodness [0,1] 0.30199442701362533 Centerline is valid? [False, False] Translation: X:2.69, Y:0.35, Z:-0.23 [[ 0.99987831 0.00328899 -0.01524978 2.68673914] [-0.00344805 0.99993981 -0.01041598 0.35006058] [ 0.01521461 0.01046729 0.99982946 -0.22532663] [ 0. 0. 0. 1. ]] SLAMing on 241.233133365 meters Centerline goodness [0,1] 0.30034472225858533 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 0.99987421 -0.00490552 -0.01508281 2.70619892] [ 0.00476514 0.99994513 -0.00932921 0.35345217] [ 0.01512775 0.00925617 0.99984272 -0.22377818] [ 0. 0. 0. 1. ]] SLAMing on 241.263133365 meters Centerline goodness [0,1] 0.2955249569707401 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 0.99987081 -0.0048806 -0.01531463 2.70692133] [ 0.00474151 0.99994731 -0.00910483 0.3520699 ] [ 0.01535826 0.00903104 0.99984127 -0.22400371] [ 0. 0. 0. 1. ]] SLAMing on 241.293133365 meters Centerline goodness [0,1] 0.299396501013094 Centerline is valid? [False, False] Translation: X:2.69, Y:0.35, Z:-0.23 [[ 0.99986537 0.00321213 -0.01609097 2.68801423] [-0.00337304 0.99994449 -0.00998242 0.3454611 ] [ 0.01605801 0.01003535 0.9998207 -0.22549721] [ 0. 0. 0. 1. ]] SLAMing on 241.323133365 meters Centerline goodness [0,1] 0.3005225528565494 Centerline is valid? [False, False] Translation: X:2.69, Y:0.34, Z:-0.23 [[ 0.99986228 0.00325336 -0.01627405 2.68873252] [-0.00341331 0.99994605 -0.00981072 0.34443342] [ 0.01624126 0.00986492 0.99981944 -0.22595039] [ 0. 0. 0. 1. ]] SLAMing on 241.353133365 meters Centerline goodness [0,1] 0.29651401525793697 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 0.99985282 -0.00469859 -0.01650048 2.70861188] [ 0.00455352 0.99995075 -0.00881832 0.34841621] [ 0.0165411 0.00874189 0.99982497 -0.22479716] [ 0. 0. 0. 1. ]] SLAMing on 241.383133365 meters Centerline goodness [0,1] 0.29610642439974044 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 0.99985176 -0.00458956 -0.01659491 2.70883907] [ 0.00444797 0.99995348 -0.00855856 0.34711313] [ 0.01663341 0.00848348 0.99982566 -0.22480697] [ 0. 0. 0. 1. ]] SLAMing on 241.413133365 meters Centerline goodness [0,1] 0.2955032119914347 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:-0.22 [[ 0.9998513 -0.00445079 -0.01666017 2.70896492] [ 0.00431426 0.99995689 -0.00822189 0.34552854] [ 0.01669604 0.00814879 0.9998274 -0.22474615] [ 0. 0. 0. 1. ]] SLAMing on 241.443133365 meters Centerline goodness [0,1] 0.29923301520895973 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:-0.22 [[ 0.99985309 -0.00430059 -0.01659223 2.70872441] [ 0.00417059 0.9999604 -0.00786132 0.34384537] [ 0.01662538 0.00779097 0.99983143 -0.22458637] [ 0. 0. 0. 1. ]] SLAMing on 241.473133365 meters Centerline goodness [0,1] 0.29755540225920496 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:-0.22 [[ 0.99985785 -0.00404266 -0.0163686 2.70841642] [ 0.00392472 0.99996615 -0.00723121 0.34072628] [ 0.01639727 0.00716594 0.99983988 -0.22486883] [ 0. 0. 0. 1. ]] SLAMing on 241.503133365 meters Centerline goodness [0,1] 0.2995189153728406 Centerline is valid? [False, False] Translation: X:2.69, Y:0.33, Z:-0.23 [[ 0.99985648 0.00414216 -0.01642771 2.68880313] [-0.00427343 0.99995916 -0.00796372 0.33393733] [ 0.01639406 0.00803278 0.99983334 -0.22671568] [ 0. 0. 0. 1. ]] SLAMing on 241.533133365 meters Centerline goodness [0,1] 0.2951998445293774 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:-0.23 [[ 0.99986676 -0.00334508 -0.01597706 2.707882 ] [ 0.0032405 0.99997319 -0.006567 0.33800186] [ 0.0159986 0.00651435 0.99985079 -0.22570052] [ 0. 0. 0. 1. ]] SLAMing on 241.563133365 meters Centerline goodness [0,1] 0.2976399074134164 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:-0.23 [[ 0.99986928 -0.00312507 -0.01586394 2.70782289] [ 0.00302785 0.99997651 -0.00614925 0.33618395] [ 0.01588278 0.00610041 0.99985525 -0.2260205 ] [ 0. 0. 0. 1. ]] SLAMing on 241.593133365 meters Centerline goodness [0,1] 0.2990300552390066 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:-0.23 [[ 0.99986992 -0.00308808 -0.01583051 2.70767888] [ 0.00299264 0.99997723 -0.0060485 0.33551584] [ 0.01584883 0.00600034 0.9998564 -0.22595097] [ 0. 0. 0. 1. ]] SLAMing on 241.623133365 meters Centerline goodness [0,1] 0.3007444059110689 Centerline is valid? [False, False] Translation: X:2.69, Y:0.33, Z:-0.23 [[ 0.9998563 0.00502947 -0.01618869 2.6876078 ] [-0.00514222 0.99996276 -0.0069305 0.32906614] [ 0.01615324 0.00701275 0.99984494 -0.22724127] [ 0. 0. 0. 1. ]] SLAMing on 241.65313336499997 meters Centerline goodness [0,1] 0.29896189253302574 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:-0.23 [[ 9.99869004e-01 -2.64713951e-03 -1.59677071e-02 2.70710828e+00] [ 2.55457784e-03 9.99979833e-01 -5.81441839e-03 3.33226899e-01] [ 1.59827767e-02 5.77286597e-03 9.99855602e-01 -2.26205985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68313336499997 meters Centerline goodness [0,1] 0.2966554821950428 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:-0.23 [[ 9.99868469e-01 -2.56926769e-03 -1.60138765e-02 2.70739113e+00] [ 2.47825300e-03 9.99980680e-01 -5.70074397e-03 3.32724291e-01] [ 1.60282139e-02 5.66030770e-03 9.99855518e-01 -2.26508056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71313336499998 meters Centerline goodness [0,1] 0.2989820200951877 Centerline is valid? [False, False] Translation: X:2.66, Y:0.33, Z:-0.23 [[ 0.99982821 -0.0027691 -0.01832689 2.66317058] [ 0.00266503 0.9999802 -0.00570031 0.32877872] [ 0.01834231 0.00565049 0.9998158 -0.22697001] [ 0. 0. 0. 1. ]] SLAMing on 241.74313336499998 meters Centerline goodness [0,1] 0.2960522022838499 Centerline is valid? [False, False] Translation: X:2.68, Y:0.33, Z:-0.23 [[ 0.99982396 0.00528073 -0.0180045 2.68284519] [-0.00540533 0.99996173 -0.00687882 0.32546706] [ 0.01796748 0.00697493 0.99981424 -0.22558528] [ 0. 0. 0. 1. ]] SLAMing on 241.77313336499998 meters Centerline goodness [0,1] 0.29762320104666373 Centerline is valid? [False, False] Translation: X:2.68, Y:0.33, Z:-0.23 [[ 0.99982589 0.00524436 -0.01790788 2.68255214] [-0.00536915 0.99996159 -0.00692747 0.32547097] [ 0.01787086 0.00702242 0.99981564 -0.22553539] [ 0. 0. 0. 1. ]] SLAMing on 241.80313336499998 meters Centerline goodness [0,1] 0.29369454733396505 Centerline is valid? [False, False] Translation: X:2.70, Y:0.33, Z:-0.22 [[ 9.99843502e-01 -2.32168385e-03 -1.75380206e-02 2.70130182e+00] [ 2.21943722e-03 9.99980442e-01 -5.84721409e-03 3.30982990e-01] [ 1.75512529e-02 5.80737447e-03 9.99829099e-01 -2.24249740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83313336499998 meters Centerline goodness [0,1] 0.29442855905034226 Centerline is valid? [False, False] Translation: X:2.70, Y:0.33, Z:-0.22 [[ 9.99844891e-01 -2.23953178e-03 -1.74693728e-02 2.70144496e+00] [ 2.13910566e-03 9.99981093e-01 -5.76526537e-03 3.31001019e-01] [ 1.74819540e-02 5.72700229e-03 9.99830777e-01 -2.24751881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86313336499998 meters Centerline goodness [0,1] 0.2946276078261809 Centerline is valid? [False, False] Translation: X:2.70, Y:0.33, Z:-0.22 [[ 9.99844111e-01 -2.24830311e-03 -1.75128400e-02 2.70167733e+00] [ 2.14759625e-03 9.99981064e-01 -5.76714415e-03 3.30974401e-01] [ 1.75254746e-02 5.72863460e-03 9.99830006e-01 -2.24950360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89313336499998 meters Centerline goodness [0,1] 0.29449915404971583 Centerline is valid? [False, False] Translation: X:2.70, Y:0.33, Z:-0.23 [[ 9.99842424e-01 -2.29551227e-03 -1.76027844e-02 2.70203806e+00] [ 2.19352578e-03 9.99980711e-01 -5.81089106e-03 3.30871724e-01] [ 1.76157839e-02 5.77136325e-03 9.99828173e-01 -2.25183287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92313336499998 meters Centerline goodness [0,1] 0.2950713218900842 Centerline is valid? [False, False] Translation: X:2.70, Y:0.33, Z:-0.23 [[ 9.99839340e-01 -2.32885009e-03 -1.77727606e-02 2.70246480e+00] [ 2.22516779e-03 9.99980405e-01 -5.85132324e-03 3.30884380e-01] [ 1.77860392e-02 5.81083579e-03 9.99824930e-01 -2.25248028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95313336499999 meters Centerline goodness [0,1] 0.2948315093726298 Centerline is valid? [False, False] Translation: X:2.70, Y:0.33, Z:-0.23 [[ 9.99838031e-01 -2.27602235e-03 -1.78530492e-02 2.70265025e+00] [ 2.17285379e-03 9.99980842e-01 -5.79603497e-03 3.30951797e-01] [ 1.78658991e-02 5.75630412e-03 9.99823822e-01 -2.25265446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.983133365 meters Centerline goodness [0,1] 0.2966022680457079 Centerline is valid? [False, False] Translation: X:2.70, Y:0.33, Z:-0.22 [[ 9.99844788e-01 -2.11890107e-03 -1.74902768e-02 2.70140180e+00] [ 2.02044273e-03 9.99982025e-01 -5.64507053e-03 3.31302763e-01] [ 1.75019238e-02 5.60885624e-03 9.99831097e-01 -2.24652114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.013133365 meters Centerline goodness [0,1] 0.29750934538815965 Centerline is valid? [False, False] Translation: X:2.70, Y:0.33, Z:-0.22 [[ 9.99849315e-01 -2.15470770e-03 -1.72251070e-02 2.70044337e+00] [ 2.05633399e-03 9.99981488e-01 -5.72673854e-03 3.31670266e-01] [ 1.72371276e-02 5.69045503e-03 9.99835237e-01 -2.24138991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.043133365 meters Centerline goodness [0,1] 0.2960766916967822 Centerline is valid? [False, False] Translation: X:2.70, Y:0.33, Z:-0.22 [[ 9.99852003e-01 -2.22749185e-03 -1.70590469e-02 2.69983569e+00] [ 2.12761504e-03 9.99980504e-01 -5.87068309e-03 3.32199771e-01] [ 1.70717912e-02 5.83351916e-03 9.99837249e-01 -2.23855593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.073133365 meters Centerline goodness [0,1] 0.2976041171128314 Centerline is valid? [False, False] Translation: X:2.70, Y:0.33, Z:-0.22 [[ 9.99851244e-01 -2.30086842e-03 -1.70937499e-02 2.69991951e+00] [ 2.19788569e-03 9.99979338e-01 -6.04092924e-03 3.32932273e-01] [ 1.71072961e-02 6.00246051e-03 9.99835642e-01 -2.23912507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.103133365 meters Centerline goodness [0,1] 0.3005514705882353 Centerline is valid? [False, False] Translation: X:2.68, Y:0.33, Z:-0.23 [[ 0.99982293 0.00576087 -0.01791401 2.68052476] [-0.00588891 0.99995743 -0.00710333 0.32823101] [ 0.01787232 0.00720757 0.9998143 -0.2254565 ] [ 0. 0. 0. 1. ]] SLAMing on 242.133133365 meters Centerline goodness [0,1] 0.29812145041502836 Centerline is valid? [False, False] Translation: X:2.68, Y:0.33, Z:-0.23 [[ 0.99982198 0.00576438 -0.01796589 2.680958 ] [-0.00589419 0.99995684 -0.00718108 0.32894409] [ 0.01792372 0.00728569 0.99981281 -0.2259514 ] [ 0. 0. 0. 1. ]] SLAMing on 242.163133365 meters Centerline goodness [0,1] 0.29745970453608694 Centerline is valid? [False, False] Translation: X:2.70, Y:0.33, Z:-0.22 [[ 9.99833965e-01 -1.68899461e-03 -1.81435835e-02 2.69957193e+00] [ 1.58899550e-03 9.99983477e-01 -5.52454428e-03 3.33657287e-01] [ 1.81526146e-02 5.49479694e-03 9.99820129e-01 -2.23524728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.193133365 meters Centerline goodness [0,1] 0.2958578601108033 Centerline is valid? [False, False] Translation: X:2.70, Y:0.33, Z:-0.22 [[ 9.99831491e-01 -1.62949547e-03 -1.82848171e-02 2.69989561e+00] [ 1.53200522e-03 9.99984545e-01 -5.34450103e-03 3.32732537e-01] [ 1.82932433e-02 5.31558800e-03 9.99818534e-01 -2.23491771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.223133365 meters Centerline goodness [0,1] 0.2983721589051842 Centerline is valid? [False, False] Translation: X:2.70, Y:0.33, Z:-0.22 [[ 9.99830574e-01 -1.60656338e-03 -1.83369229e-02 2.70012237e+00] [ 1.51133973e-03 9.99985308e-01 -5.20567742e-03 3.31776794e-01] [ 1.83450167e-02 5.17708212e-03 9.99818313e-01 -2.23655641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.253133365 meters Centerline goodness [0,1] 0.2971340416748147 Centerline is valid? [False, False] Translation: X:2.70, Y:0.33, Z:-0.22 [[ 9.99831209e-01 -1.56515645e-03 -1.83058509e-02 2.70020984e+00] [ 1.47194771e-03 9.99985891e-01 -5.10411187e-03 3.31181218e-01] [ 1.83135814e-02 5.07630508e-03 9.99819406e-01 -2.23892841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.283133365 meters Centerline goodness [0,1] 0.29776997594434695 Centerline is valid? [False, False] Translation: X:2.70, Y:0.33, Z:-0.22 [[ 9.99833550e-01 -1.56580987e-03 -1.81774836e-02 2.69999316e+00] [ 1.47273960e-03 9.99985745e-01 -5.13234343e-03 3.31403042e-01] [ 1.81852608e-02 5.10471845e-03 9.99821603e-01 -2.24071124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.313133365 meters Centerline goodness [0,1] 0.2970303506017792 Centerline is valid? [False, False] Translation: X:2.70, Y:0.33, Z:-0.22 [[ 9.99838254e-01 -1.50716398e-03 -1.79219035e-02 2.69946365e+00] [ 1.41483001e-03 9.99985668e-01 -5.16358166e-03 3.32094453e-01] [ 1.79294290e-02 5.13739003e-03 9.99826056e-01 -2.24201739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.343133365 meters Centerline goodness [0,1] 0.29800689083693144 Centerline is valid? [False, False] Translation: X:2.70, Y:0.33, Z:-0.22 [[ 9.99848668e-01 -1.43869366e-03 -1.73370070e-02 2.69794434e+00] [ 1.34589491e-03 9.99984713e-01 -5.36311867e-03 3.33855556e-01] [ 1.73444578e-02 5.33897326e-03 9.99835319e-01 -2.24010106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.373133365 meters Centerline goodness [0,1] 0.296207351636702 Centerline is valid? [False, False] Translation: X:2.70, Y:0.34, Z:-0.22 [[ 9.99848349e-01 -1.55277625e-03 -1.73455231e-02 2.69801226e+00] [ 1.45466994e-03 9.99982883e-01 -5.66718784e-03 3.35283494e-01] [ 1.73540260e-02 5.64109639e-03 9.99833494e-01 -2.24120509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40313336499997 meters Centerline goodness [0,1] 0.29786353638086116 Centerline is valid? [False, False] Translation: X:2.70, Y:0.34, Z:-0.22 [[ 9.99847577e-01 -1.64490598e-03 -1.73814899e-02 2.69835805e+00] [ 1.54134569e-03 9.99980993e-01 -5.96979662e-03 3.36874114e-01] [ 1.73909793e-02 5.94209580e-03 9.99831108e-01 -2.24636570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43313336499997 meters Centerline goodness [0,1] 0.2981975265327603 Centerline is valid? [False, False] Translation: X:2.70, Y:0.34, Z:-0.23 [[ 9.99843522e-01 -1.73268652e-03 -1.76048072e-02 2.69924609e+00] [ 1.62112289e-03 9.99978528e-01 -6.34940797e-03 3.39077610e-01] [ 1.76154307e-02 6.31987487e-03 9.99824863e-01 -2.25292306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46313336499998 meters Centerline goodness [0,1] 0.2940371456500489 Centerline is valid? [False, False] Translation: X:2.70, Y:0.34, Z:-0.23 [[ 9.99822553e-01 1.75797275e-04 -1.88369951e-02 2.70412724e+00] [-2.71075981e-04 9.99987183e-01 -5.05562889e-03 3.44219275e-01] [ 1.88358649e-02 5.05983804e-03 9.99809786e-01 -2.27594171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49313336499998 meters Centerline goodness [0,1] 0.29441128594682586 Centerline is valid? [False, False] Translation: X:2.70, Y:0.35, Z:-0.23 [[ 9.99825265e-01 4.45809458e-06 -1.86932742e-02 2.70358061e+00] [-1.06407060e-04 9.99985128e-01 -5.45278680e-03 3.46046483e-01] [ 1.86929719e-02 5.45382310e-03 9.99810396e-01 -2.27306776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52313336499998 meters Centerline goodness [0,1] 0.2949676241797401 Centerline is valid? [False, False] Translation: X:2.70, Y:0.35, Z:-0.23 [[ 9.99829588e-01 -1.39087835e-04 -1.84601097e-02 2.70270907e+00] [ 3.27589703e-05 9.99983410e-01 -5.76010338e-03 3.47401548e-01] [ 1.84606046e-02 5.75851705e-03 9.99813005e-01 -2.26849220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55313336499998 meters Centerline goodness [0,1] 0.294256354786371 Centerline is valid? [False, False] Translation: X:2.70, Y:0.35, Z:-0.23 [[ 9.99833622e-01 -2.59845626e-04 -1.82389649e-02 2.70192094e+00] [ 1.49698319e-04 9.99981746e-01 -6.04022602e-03 3.48830036e-01] [ 1.82402015e-02 6.03649072e-03 9.99815411e-01 -2.26468625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58313336499998 meters Centerline goodness [0,1] 0.294197584124245 Centerline is valid? [False, False] Translation: X:2.70, Y:0.35, Z:-0.23 [[ 9.99837222e-01 -3.45061911e-04 -1.80391237e-02 2.70127457e+00] [ 2.31763674e-04 9.99980239e-01 -6.28240851e-03 3.50290735e-01] [ 1.80409350e-02 6.27720506e-03 9.99817544e-01 -2.26205366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61313336499998 meters Centerline goodness [0,1] 0.29633168994201076 Centerline is valid? [False, False] Translation: X:2.70, Y:0.35, Z:-0.23 [[ 9.99840203e-01 -5.41045647e-04 -1.78683123e-02 2.70108392e+00] [ 4.21759916e-04 9.99977607e-01 -6.67891908e-03 3.52320218e-01] [ 1.78715258e-02 6.67031567e-03 9.99818041e-01 -2.26513426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64313336499998 meters Centerline goodness [0,1] 0.294923605558317 Centerline is valid? [False, False] Translation: X:2.70, Y:0.35, Z:-0.23 [[ 9.99835668e-01 -7.02642269e-04 -1.81147529e-02 2.70191429e+00] [ 5.76065156e-04 9.99975391e-01 -6.99178666e-03 3.53603573e-01] [ 1.81192199e-02 6.98020241e-03 9.99811468e-01 -2.26899493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67313336499998 meters Centerline goodness [0,1] 0.2961741712888152 Centerline is valid? [False, False] Translation: X:2.70, Y:0.35, Z:-0.23 [[ 9.99829044e-01 -8.65900528e-04 -1.84697966e-02 2.70310281e+00] [ 7.30643937e-04 9.99972878e-01 -7.32861426e-03 3.54974924e-01] [ 1.84756415e-02 7.31386655e-03 9.99802560e-01 -2.27514036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70313336499999 meters Centerline goodness [0,1] 0.2910492763611302 Centerline is valid? [False, False] Translation: X:2.72, Y:0.36, Z:-0.23 [[ 0.99976444 -0.00842539 -0.02000192 2.72352238] [ 0.00829194 0.99994287 -0.00674506 0.36258911] [ 0.02005761 0.00657761 0.99977719 -0.22638935] [ 0. 0. 0. 1. ]] SLAMing on 242.733133365 meters Centerline goodness [0,1] 0.2934749488530013 Centerline is valid? [False, False] Translation: X:2.70, Y:0.36, Z:-0.23 [[ 9.99778296e-01 -4.28775240e-05 -2.10560535e-02 2.70459160e+00] [-1.18594588e-04 9.99970598e-01 -7.66737025e-03 3.58784458e-01] [ 2.10557631e-02 7.66816750e-03 9.99748895e-01 -2.27910344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.763133365 meters Centerline goodness [0,1] 0.2920670730384607 Centerline is valid? [False, False] Translation: X:2.71, Y:0.36, Z:-0.23 [[ 9.99772972e-01 -3.31516676e-05 -2.13073769e-02 2.70525519e+00] [-1.32690731e-04 9.99969712e-01 -7.78187156e-03 3.59841476e-01] [ 2.13069895e-02 7.78293215e-03 9.99742686e-01 -2.28060994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.793133365 meters Centerline goodness [0,1] 0.2944219816529716 Centerline is valid? [False, False] Translation: X:2.70, Y:0.36, Z:-0.23 [[ 9.99774708e-01 -1.76727908e-04 -2.12250100e-02 2.70469066e+00] [ 4.41171742e-06 9.99967046e-01 -8.11831705e-03 3.61397894e-01] [ 2.12257453e-02 8.11639442e-03 9.99741763e-01 -2.27495124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.823133365 meters Centerline goodness [0,1] 0.2892485598830711 Centerline is valid? [False, False] Translation: X:2.72, Y:0.37, Z:-0.23 [[ 0.99976176 -0.00817077 -0.02024002 2.72322393] [ 0.00802561 0.99994156 -0.00724267 0.36734334] [ 0.02029802 0.00707851 0.99976892 -0.22598159] [ 0. 0. 0. 1. ]] SLAMing on 242.853133365 meters Centerline goodness [0,1] 0.29112395411023895 Centerline is valid? [False, False] Translation: X:2.72, Y:0.37, Z:-0.23 [[ 0.99976907 -0.00819502 -0.01986585 2.72209105] [ 0.00805024 0.99994053 -0.00735697 0.3681979 ] [ 0.01992496 0.00719535 0.99977559 -0.22565588] [ 0. 0. 0. 1. ]] SLAMing on 242.883133365 meters Centerline goodness [0,1] 0.294997287032013 Centerline is valid? [False, False] Translation: X:2.72, Y:0.37, Z:-0.23 [[ 0.99977599 -0.00814536 -0.01953518 2.72114352] [ 0.0080019 0.99994052 -0.00741092 0.36908791] [ 0.01959439 0.00725294 0.9997817 -0.2254558 ] [ 0. 0. 0. 1. ]] SLAMing on 242.913133365 meters Centerline goodness [0,1] 0.2943179353719366 Centerline is valid? [False, False] Translation: X:2.72, Y:0.37, Z:-0.23 [[ 0.99980456 -0.00494004 -0.01914277 2.72016738] [ 0.00486228 0.99997975 -0.00410658 0.36874333] [ 0.01916267 0.0040127 0.99980833 -0.22531257] [ 0. 0. 0. 1. ]] SLAMing on 242.943133365 meters Centerline goodness [0,1] 0.2957243362157217 Centerline is valid? [False, False] Translation: X:2.72, Y:0.37, Z:-0.23 [[ 0.99980794 -0.00495581 -0.01896089 2.7196325 ] [ 0.00487692 0.99997927 -0.00420478 0.3693592 ] [ 0.01898134 0.0041115 0.99981138 -0.22516611] [ 0. 0. 0. 1. ]] SLAMing on 242.973133365 meters Centerline goodness [0,1] 0.29517876136930987 Centerline is valid? [False, False] Translation: X:2.72, Y:0.37, Z:-0.22 [[ 0.99980606 -0.00508939 -0.01902481 2.71963453] [ 0.00500531 0.99997751 -0.00446474 0.37027557] [ 0.0190471 0.00436865 0.99980904 -0.22499112] [ 0. 0. 0. 1. ]] SLAMing on 243.003133365 meters Centerline goodness [0,1] 0.29252861153098686 Centerline is valid? [False, False] Translation: X:2.72, Y:0.37, Z:-0.23 [[ 0.99980292 -0.00507206 -0.01919347 2.72003905] [ 0.00498736 0.99997762 -0.00445847 0.37044068] [ 0.01921566 0.00436187 0.99980585 -0.22502612] [ 0. 0. 0. 1. ]] SLAMing on 243.033133365 meters Centerline goodness [0,1] 0.2922674506582503 Centerline is valid? [False, False] Translation: X:2.72, Y:0.37, Z:-0.23 [[ 0.9998002 -0.00498342 -0.01935772 2.72043215] [ 0.00490076 0.99997868 -0.0043149 0.37017307] [ 0.01937881 0.00421917 0.99980331 -0.22501585] [ 0. 0. 0. 1. ]] SLAMing on 243.063133365 meters Centerline goodness [0,1] 0.2922674506582503 Centerline is valid? [False, False] Translation: X:2.72, Y:0.37, Z:-0.23 [[ 0.9998002 -0.00498342 -0.01935772 2.72043215] [ 0.00490076 0.99997868 -0.0043149 0.37017307] [ 0.01937881 0.00421917 0.99980331 -0.22501585] [ 0. 0. 0. 1. ]] SLAMing on 243.093133365 meters Centerline goodness [0,1] 0.2925624824790287 Centerline is valid? [False, False] Translation: X:2.72, Y:0.37, Z:-0.22 [[ 0.99980187 -0.00492164 -0.01928724 2.72022128] [ 0.00484536 0.99998026 -0.00399963 0.36855947] [ 0.01930654 0.00390539 0.99980598 -0.2248312 ] [ 0. 0. 0. 1. ]] SLAMing on 243.123133365 meters Centerline goodness [0,1] 0.2969458128078818 Centerline is valid? [False, False] Translation: X:2.70, Y:0.36, Z:-0.23 [[ 9.99825996e-01 1.13887748e-03 -1.86193852e-02 2.69726561e+00] [-1.26324725e-03 9.99976963e-01 -6.66918902e-03 3.63390073e-01] [ 1.86113608e-02 6.69154944e-03 9.99804401e-01 -2.25158177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15313336499997 meters Centerline goodness [0,1] 0.2929459691252144 Centerline is valid? [False, False] Translation: X:2.74, Y:0.36, Z:-0.22 [[ 9.99864811e-01 6.76167189e-04 -1.64287189e-02 2.73988902e+00] [-7.87107735e-04 9.99976927e-01 -6.74731485e-03 3.63479147e-01] [ 1.64237775e-02 6.75933385e-03 9.99842273e-01 -2.24379177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18313336499997 meters Centerline goodness [0,1] 0.2982135871691225 Centerline is valid? [False, False] Translation: X:2.72, Y:0.36, Z:-0.23 [[ 0.99983873 -0.00786725 -0.0161436 2.71775126] [ 0.00777258 0.99995228 -0.0059188 0.3646608 ] [ 0.01618939 0.00579237 0.99985217 -0.22525776] [ 0. 0. 0. 1. ]] SLAMing on 243.21313336499998 meters Centerline goodness [0,1] 0.29605716253443526 Centerline is valid? [False, False] Translation: X:2.74, Y:0.36, Z:-0.22 [[ 9.99884650e-01 2.98823456e-04 -1.51854622e-02 2.73681855e+00] [-3.97622009e-04 9.99978773e-01 -6.50352483e-03 3.60561825e-01] [ 1.51831964e-02 6.50881271e-03 9.99863544e-01 -2.23885194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24313336499998 meters Centerline goodness [0,1] 0.29645089430542637 Centerline is valid? [False, False] Translation: X:2.74, Y:0.36, Z:-0.22 [[ 9.99884730e-01 3.84379287e-04 -1.51782684e-02 2.73671361e+00] [-4.79992053e-04 9.99980064e-01 -6.29617934e-03 3.59582365e-01] [ 1.51755457e-02 6.30273902e-03 9.99864980e-01 -2.23750357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27313336499998 meters Centerline goodness [0,1] 0.297214836769385 Centerline is valid? [False, False] Translation: X:2.74, Y:0.36, Z:-0.22 [[ 9.99876719e-01 3.20389586e-04 -1.56985587e-02 2.73864048e+00] [-4.20025884e-04 9.99979789e-01 -6.34395774e-03 3.59140832e-01] [ 1.56962089e-02 6.34976945e-03 9.99856644e-01 -2.24919654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30313336499998 meters Centerline goodness [0,1] 0.29495028439928794 Centerline is valid? [False, False] Translation: X:2.74, Y:0.36, Z:-0.23 [[ 9.99868456e-01 3.52337423e-04 -1.62156262e-02 2.74044646e+00] [-4.56692362e-04 9.99979209e-01 -6.43220233e-03 3.59792265e-01] [ 1.62130228e-02 6.43876176e-03 9.99847829e-01 -2.25945345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33313336499998 meters Centerline goodness [0,1] 0.29190601649894177 Centerline is valid? [False, False] Translation: X:2.74, Y:0.36, Z:-0.23 [[ 9.99863574e-01 4.48896548e-04 -1.65115963e-02 2.74151191e+00] [-5.56561370e-04 9.99978612e-01 -6.51654096e-03 3.60889084e-01] [ 1.65083179e-02 6.52484165e-03 9.99842439e-01 -2.26606331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36313336499998 meters Centerline goodness [0,1] 0.29178543664161705 Centerline is valid? [False, False] Translation: X:2.74, Y:0.36, Z:-0.23 [[ 9.99865379e-01 5.00449466e-04 -1.64004318e-02 2.74118394e+00] [-6.10284208e-04 9.99977417e-01 -6.69274368e-03 3.62417952e-01] [ 1.63967121e-02 6.70185162e-03 9.99843104e-01 -2.26585769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39313336499998 meters Centerline goodness [0,1] 0.29549604382227634 Centerline is valid? [False, False] Translation: X:2.74, Y:0.36, Z:-0.23 [[ 9.99869465e-01 4.49655308e-04 -1.61508652e-02 2.74052021e+00] [-5.62934214e-04 9.99975272e-01 -7.00993667e-03 3.64260950e-01] [ 1.61473138e-02 7.01811350e-03 9.99844993e-01 -2.26486303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42313336499998 meters Centerline goodness [0,1] 0.29600751321364605 Centerline is valid? [False, False] Translation: X:2.74, Y:0.37, Z:-0.23 [[ 9.99873353e-01 3.30621683e-04 -1.59112647e-02 2.73968660e+00] [-4.48614218e-04 9.99972425e-01 -7.41266258e-03 3.66194735e-01] [ 1.59083751e-02 7.41886181e-03 9.99845930e-01 -2.26108467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45313336499999 meters Centerline goodness [0,1] 0.2970617149098853 Centerline is valid? [False, False] Translation: X:2.74, Y:0.37, Z:-0.23 [[ 9.99884781e-01 3.62728210e-04 -1.51754057e-02 2.73743292e+00] [-4.79819051e-04 9.99970140e-01 -7.71290009e-03 3.68478771e-01] [ 1.51721549e-02 7.71929286e-03 9.99855099e-01 -2.25352287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.483133365 meters Centerline goodness [0,1] 0.29511005095955767 Centerline is valid? [False, False] Translation: X:2.76, Y:0.37, Z:-0.22 [[ 0.99986899 -0.0071974 -0.01449816 2.75574078] [ 0.00710741 0.99995521 -0.00624925 0.37465917] [ 0.01454249 0.00614539 0.99987537 -0.22386615] [ 0. 0. 0. 1. ]] SLAMing on 243.513133365 meters Centerline goodness [0,1] 0.2946022111424236 Centerline is valid? [False, False] Translation: X:2.76, Y:0.37, Z:-0.22 [[ 0.99986909 -0.00717552 -0.01450211 2.75586975] [ 0.00708542 0.99995534 -0.00625451 0.37484849] [ 0.01454634 0.00615094 0.99987528 -0.22406404] [ 0. 0. 0. 1. ]] SLAMing on 243.543133365 meters Centerline goodness [0,1] 0.2953374633192044 Centerline is valid? [False, False] Translation: X:2.76, Y:0.37, Z:-0.22 [[ 0.99986738 -0.00721227 -0.01460127 2.75641013] [ 0.00712075 0.99995474 -0.00630979 0.37488946] [ 0.01464612 0.00620498 0.99987349 -0.22454617] [ 0. 0. 0. 1. ]] SLAMing on 243.573133365 meters Centerline goodness [0,1] 0.29223911451828244 Centerline is valid? [False, False] Translation: X:2.78, Y:0.37, Z:-0.22 [[ 9.99881028e-01 4.40624212e-04 -1.54186887e-02 2.77651660e+00] [-5.55698596e-04 9.99972021e-01 -7.45981723e-03 3.72021511e-01] [ 1.54149703e-02 7.46749786e-03 9.99853297e-01 -2.22811210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.603133365 meters Centerline goodness [0,1] 0.29560707748627213 Centerline is valid? [False, False] Translation: X:2.76, Y:0.38, Z:-0.22 [[ 0.9998439 -0.00750174 -0.01599662 2.75708066] [ 0.00740359 0.99995346 -0.00618605 0.3756551 ] [ 0.01604228 0.00606665 0.99985291 -0.22442643] [ 0. 0. 0. 1. ]] SLAMing on 243.633133365 meters Centerline goodness [0,1] 0.2947526497921519 Centerline is valid? [False, False] Translation: X:2.76, Y:0.38, Z:-0.22 [[ 9.99862897e-01 -3.57995249e-03 -1.61669970e-02 2.75739302e+00] [ 3.53916553e-03 9.99990484e-01 -2.55075921e-03 3.76990345e-01] [ 1.61759747e-02 2.49319182e-03 9.99866052e-01 -2.24393496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.663133365 meters Centerline goodness [0,1] 0.2917460180055401 Centerline is valid? [False, False] Translation: X:2.76, Y:0.38, Z:-0.22 [[ 0.99986195 -0.00364872 -0.01621007 2.75756473] [ 0.00360051 0.99998901 -0.00300235 0.37953521] [ 0.01622085 0.00294357 0.9998641 -0.22464504] [ 0. 0. 0. 1. ]] SLAMing on 243.693133365 meters Centerline goodness [0,1] 0.2911678580656274 Centerline is valid? [False, False] Translation: X:2.76, Y:0.38, Z:-0.22 [[ 0.99986264 -0.00365109 -0.01616723 2.7575356 ] [ 0.00359678 0.9999878 -0.00338679 0.38196364] [ 0.0161794 0.00332818 0.99986357 -0.22493931] [ 0. 0. 0. 1. ]] SLAMing on 243.723133365 meters Centerline goodness [0,1] 0.29238713036686703 Centerline is valid? [False, False] Translation: X:2.76, Y:0.38, Z:-0.23 [[ 0.99986438 -0.00362837 -0.01606417 2.75729535] [ 0.00356785 0.99998644 -0.0037945 0.38480632] [ 0.01607772 0.00373668 0.99986376 -0.22510899] [ 0. 0. 0. 1. ]] SLAMing on 243.753133365 meters Centerline goodness [0,1] 0.28991932867616843 Centerline is valid? [False, False] Translation: X:2.76, Y:0.39, Z:-0.23 [[ 9.99860159e-01 -1.08433368e-03 -1.66879321e-02 2.76019696e+00] [ 1.05599760e-03 9.99997986e-01 -1.70671677e-03 3.88352542e-01] [ 1.66897492e-02 1.68885568e-03 9.99859290e-01 -2.26706070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.783133365 meters Centerline goodness [0,1] 0.2870334495673511 Centerline is valid? [False, False] Translation: X:2.76, Y:0.40, Z:-0.23 [[ 9.99854064e-01 1.49205534e-03 -1.70183738e-02 2.76253941e+00] [-1.49265928e-03 9.99998886e-01 -2.27856623e-05 3.95003128e-01] [ 1.70183208e-02 4.81849706e-05 9.99855177e-01 -2.28613095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.813133365 meters Centerline goodness [0,1] 0.291699604743083 Centerline is valid? [False, False] Translation: X:2.72, Y:0.39, Z:-0.23 [[ 9.99819520e-01 1.33646831e-03 -1.89510128e-02 2.71724614e+00] [-1.34979042e-03 9.99998851e-01 -6.90202373e-04 3.94384468e-01] [ 1.89500686e-02 7.15657701e-04 9.99820175e-01 -2.28879468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.843133365 meters Centerline goodness [0,1] 0.2891649862312713 Centerline is valid? [False, False] Translation: X:2.74, Y:0.40, Z:-0.23 [[ 9.99809519e-01 -6.45772078e-03 -1.84180213e-02 2.73532957e+00] [ 6.46295995e-03 9.99979090e-01 2.24950141e-04 4.02318671e-01] [ 1.84161835e-02 -3.43942226e-04 9.99830349e-01 -2.27395706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.873133365 meters Centerline goodness [0,1] 0.2900636170857316 Centerline is valid? [False, False] Translation: X:2.74, Y:0.40, Z:-0.23 [[ 9.99810606e-01 -6.53879358e-03 -1.83302206e-02 2.73501872e+00] [ 6.53953802e-03 9.99978617e-01 -1.93284803e-05 4.03693375e-01] [ 1.83299550e-02 -1.00546355e-04 9.99831987e-01 -2.27295782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90313336499997 meters Centerline goodness [0,1] 0.28698333297397527 Centerline is valid? [False, False] Translation: X:2.74, Y:0.41, Z:-0.23 [[ 9.99809289e-01 -6.60925853e-03 -1.83767220e-02 2.73536615e+00] [ 6.60486344e-03 9.99978143e-01 -2.99849716e-04 4.05761038e-01] [ 1.83783022e-02 1.78416792e-04 9.99831089e-01 -2.27690361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93313336499997 meters Centerline goodness [0,1] 0.2908157693567762 Centerline is valid? [False, False] Translation: X:2.72, Y:0.40, Z:-0.23 [[ 9.99819481e-01 1.47711511e-03 -1.89426291e-02 2.71650984e+00] [-1.50747783e-03 9.99997602e-01 -1.58869912e-03 4.01261133e-01] [ 1.89402370e-02 1.61696792e-03 9.99819310e-01 -2.29384674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96313336499998 meters Centerline goodness [0,1] 0.2934253157303123 Centerline is valid? [False, False] Translation: X:2.72, Y:0.40, Z:-0.23 [[ 9.99817828e-01 1.37007659e-03 -1.90376793e-02 2.71695576e+00] [-1.40446450e-03 9.99997406e-01 -1.79305547e-03 4.01985091e-01] [ 1.90351733e-02 1.81946657e-03 9.99817159e-01 -2.29773223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99313336499998 meters Centerline goodness [0,1] 0.28510976500408125 Centerline is valid? [False, False] Translation: X:2.76, Y:0.41, Z:-0.23 [[ 9.99845529e-01 1.00519486e-03 -1.75472805e-02 2.76253828e+00] [-1.04381936e-03 9.99997052e-01 -2.19214777e-03 4.06974773e-01] [ 1.75450252e-02 2.21012533e-03 9.99843631e-01 -2.29952375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02313336499998 meters Centerline goodness [0,1] 0.28820752674202066 Centerline is valid? [False, False] Translation: X:2.76, Y:0.41, Z:-0.23 [[ 9.99844258e-01 9.46367623e-04 -1.76228318e-02 2.76282041e+00] [-9.87228908e-04 9.99996844e-01 -2.31010080e-03 4.07456579e-01] [ 1.76205900e-02 2.32713879e-03 9.99842037e-01 -2.30146615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05313336499998 meters Centerline goodness [0,1] 0.29207137520326987 Centerline is valid? [False, False] Translation: X:2.72, Y:0.40, Z:-0.23 [[ 9.99803084e-01 8.67337985e-04 -1.98252716e-02 2.71794662e+00] [-9.15983222e-04 9.99996592e-01 -2.44474942e-03 4.04567475e-01] [ 1.98230836e-02 2.46242763e-03 9.99800471e-01 -2.30447278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08313336499998 meters Centerline goodness [0,1] 0.2871519696577881 Centerline is valid? [False, False] Translation: X:2.76, Y:0.41, Z:-0.23 [[ 9.99850031e-01 9.21461275e-04 -1.72935387e-02 2.75982557e+00] [-9.55585650e-04 9.99997613e-01 -1.96508462e-03 4.07467794e-01] [ 1.72916866e-02 1.98131537e-03 9.99848525e-01 -2.29524534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11313336499998 meters Centerline goodness [0,1] 0.28561620322691383 Centerline is valid? [False, False] Translation: X:2.76, Y:0.41, Z:-0.23 [[ 9.99851225e-01 9.28401847e-04 -1.72239886e-02 2.75950718e+00] [-9.60701467e-04 9.99997796e-01 -1.86709010e-03 4.06785674e-01] [ 1.72222173e-02 1.88335943e-03 9.99849913e-01 -2.29245494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14313336499998 meters Centerline goodness [0,1] 0.2886256334733833 Centerline is valid? [False, False] Translation: X:2.76, Y:0.41, Z:-0.23 [[ 9.99850758e-01 8.79983289e-04 -1.72536322e-02 2.75965076e+00] [-9.11835848e-04 9.99997894e-01 -1.83835656e-03 4.06156268e-01] [ 1.72519782e-02 1.85381468e-03 9.99849455e-01 -2.29336275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17313336499998 meters Centerline goodness [0,1] 0.2884494323485358 Centerline is valid? [False, False] Translation: X:2.76, Y:0.41, Z:-0.23 [[ 9.99847145e-01 9.21010122e-04 -1.74596171e-02 2.76021090e+00] [-9.50656577e-04 9.99998120e-01 -1.68977781e-03 4.05276710e-01] [ 1.74580280e-02 1.70611762e-03 9.99846141e-01 -2.29461125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20313336499999 meters Centerline goodness [0,1] 0.29070753179002284 Centerline is valid? [False, False] Translation: X:2.76, Y:0.40, Z:-0.23 [[ 9.99843743e-01 9.91356268e-04 -1.76495620e-02 2.76075031e+00] [-1.01893181e-03 9.99998274e-01 -1.55346872e-03 4.04735367e-01] [ 1.76479915e-02 1.57120968e-03 9.99843028e-01 -2.29595034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.233133365 meters Centerline goodness [0,1] 0.2889500010826963 Centerline is valid? [False, False] Translation: X:2.76, Y:0.40, Z:-0.23 [[ 9.99842537e-01 1.06607792e-03 -1.77133833e-02 2.76090909e+00] [-1.09194647e-03 9.99998351e-01 -1.45078841e-03 4.04501038e-01] [ 1.77118075e-02 1.46990203e-03 9.99842053e-01 -2.29627948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.263133365 meters Centerline goodness [0,1] 0.29225336667105317 Centerline is valid? [False, False] Translation: X:2.74, Y:0.40, Z:-0.23 [[ 9.99794253e-01 9.13726400e-03 -1.81097190e-02 2.74142122e+00] [-9.18625253e-03 9.99954363e-01 -2.62375593e-03 3.98277279e-01] [ 1.80849186e-02 2.78957656e-03 9.99832563e-01 -2.30929197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.293133365 meters Centerline goodness [0,1] 0.28553591802467004 Centerline is valid? [False, False] Translation: X:2.76, Y:0.40, Z:-0.23 [[ 9.99836010e-01 1.24163842e-03 -1.80668534e-02 2.76098109e+00] [-1.27188569e-03 9.99997809e-01 -1.66279184e-03 4.03551071e-01] [ 1.80647492e-02 1.68549813e-03 9.99835398e-01 -2.30027960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.323133365 meters Centerline goodness [0,1] 0.2874220374220374 Centerline is valid? [False, False] Translation: X:2.76, Y:0.40, Z:-0.23 [[ 9.99833530e-01 1.25978617e-03 -1.82023542e-02 2.76163930e+00] [-1.28945836e-03 9.99997859e-01 -1.61848478e-03 4.03315049e-01] [ 1.82002763e-02 1.64168653e-03 9.99833013e-01 -2.30585147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.353133365 meters Centerline goodness [0,1] 0.2876266516239613 Centerline is valid? [False, False] Translation: X:2.76, Y:0.40, Z:-0.23 [[ 9.99832364e-01 1.29452064e-03 -1.82638221e-02 2.76202888e+00] [-1.32250292e-03 9.99997970e-01 -1.52012036e-03 4.02848124e-01] [ 1.82618172e-02 1.54401949e-03 9.99832047e-01 -2.30975675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.383133365 meters Centerline goodness [0,1] 0.28506952653184037 Centerline is valid? [False, False] Translation: X:2.78, Y:0.41, Z:-0.23 [[ 9.99815953e-01 -6.72620544e-03 -1.79671374e-02 2.78126102e+00] [ 6.72025863e-03 9.99977342e-01 -3.91339780e-04 4.07863249e-01] [ 1.79693625e-02 2.70523945e-04 9.99838501e-01 -2.29652562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.413133365 meters Centerline goodness [0,1] 0.28714304229489784 Centerline is valid? [False, False] Translation: X:2.78, Y:0.41, Z:-0.23 [[ 9.99816794e-01 -6.75832255e-03 -1.79081791e-02 2.78088533e+00] [ 6.75430956e-03 9.99977149e-01 -2.84561653e-04 4.06870441e-01] [ 1.79096931e-02 1.63552135e-04 9.99839595e-01 -2.29212316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.443133365 meters Centerline goodness [0,1] 0.2901277483271052 Centerline is valid? [False, False] Translation: X:2.78, Y:0.40, Z:-0.23 [[ 9.99832445e-01 -7.33660551e-03 -1.67706963e-02 2.77761208e+00] [ 7.33322084e-03 9.99973077e-01 -2.63308295e-04 4.04061256e-01] [ 1.67721765e-02 1.40280957e-04 9.99859327e-01 -2.28054793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.473133365 meters Centerline goodness [0,1] 0.28927012661509877 Centerline is valid? [False, False] Translation: X:2.78, Y:0.40, Z:-0.23 [[ 9.99836765e-01 -7.23520420e-03 -1.65558165e-02 2.77693938e+00] [ 7.23940446e-03 9.99973776e-01 1.93784957e-04 4.01756492e-01] [ 1.65539802e-02 -3.13607576e-04 9.99862924e-01 -2.27659121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.503133365 meters Centerline goodness [0,1] 0.29324564830490085 Centerline is valid? [False, False] Translation: X:2.78, Y:0.40, Z:-0.23 [[ 9.99842246e-01 -7.12321993e-03 -1.62709478e-02 2.77628829e+00] [ 7.13451150e-03 9.99974347e-01 6.36029117e-04 3.99564837e-01] [ 1.62659999e-02 -7.52014045e-04 9.99867417e-01 -2.27582966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.533133365 meters Centerline goodness [0,1] 0.29320350366232695 Centerline is valid? [False, False] Translation: X:2.78, Y:0.40, Z:-0.23 [[ 9.99842748e-01 -7.04892133e-03 -1.62724156e-02 2.77642407e+00] [ 7.06637086e-03 9.99974518e-01 1.01508950e-03 3.97411988e-01] [ 1.62648456e-02 -1.12991680e-03 9.99867080e-01 -2.27649556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.563133365 meters Centerline goodness [0,1] 0.28795022497793277 Centerline is valid? [False, False] Translation: X:2.80, Y:0.39, Z:-0.23 [[ 9.99867848e-01 3.27663939e-04 -1.62535896e-02 2.79619328e+00] [-3.31595993e-04 9.99999916e-01 -2.39224709e-04 3.92419659e-01] [ 1.62535099e-02 2.44582720e-04 9.99867873e-01 -2.26058710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.593133365 meters Centerline goodness [0,1] 0.29444735235104247 Centerline is valid? [False, False] Translation: X:2.77, Y:0.39, Z:-0.23 [[ 0.99983326 0.0064584 -0.01708052 2.77441517] [-0.006513 0.99997385 -0.00314311 0.38739968] [ 0.01705978 0.00325383 0.99984918 -0.22627885] [ 0. 0. 0. 1. ]] SLAMing on 244.623133365 meters Centerline goodness [0,1] 0.2932489451476793 Centerline is valid? [False, False] Translation: X:2.78, Y:0.38, Z:-0.23 [[ 9.99824782e-01 6.61741922e-03 -1.75104029e-02 2.77579103e+00] [-6.66457603e-03 9.99974317e-01 -2.63609082e-03 3.84780011e-01] [ 1.74925090e-02 2.75232834e-03 9.99843206e-01 -2.26843085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65313336499997 meters Centerline goodness [0,1] 0.29203482045701845 Centerline is valid? [False, False] Translation: X:2.78, Y:0.38, Z:-0.23 [[ 9.99821963e-01 6.70258669e-03 -1.76385457e-02 2.77623623e+00] [-6.74576701e-03 9.99974392e-01 -2.38970722e-03 3.83484579e-01] [ 1.76220768e-02 2.50826728e-03 9.99841573e-01 -2.27054246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68313336499997 meters Centerline goodness [0,1] 0.2887039239001189 Centerline is valid? [False, False] Translation: X:2.80, Y:0.39, Z:-0.23 [[ 9.99840869e-01 -1.31309521e-03 -1.77907828e-02 2.79534830e+00] [ 1.28903818e-03 9.99998239e-01 -1.36361874e-03 3.87563511e-01] [ 1.77925421e-02 1.34046874e-03 9.99840802e-01 -2.25595486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71313336499998 meters Centerline goodness [0,1] 0.2914401287460311 Centerline is valid? [False, False] Translation: X:2.80, Y:0.39, Z:-0.23 [[ 9.99840827e-01 -1.30759239e-03 -1.77935583e-02 2.79533910e+00] [ 1.28388270e-03 9.99998273e-01 -1.34384553e-03 3.87333765e-01] [ 1.77952848e-02 1.32078678e-03 9.99840779e-01 -2.25584987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74313336499998 meters Centerline goodness [0,1] 0.28847562815153216 Centerline is valid? [False, False] Translation: X:2.80, Y:0.39, Z:-0.23 [[ 9.99840752e-01 -1.28297823e-03 -1.77995556e-02 2.79541681e+00] [ 1.25850423e-03 9.99998247e-01 -1.38611113e-03 3.87715481e-01] [ 1.78013028e-02 1.36348958e-03 9.99840615e-01 -2.25760714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77313336499998 meters Centerline goodness [0,1] 0.2937550547552952 Centerline is valid? [False, False] Translation: X:2.75, Y:0.39, Z:-0.23 [[ 9.99792888e-01 -2.03267825e-04 -2.03504392e-02 2.75063636e+00] [ 1.90762198e-04 9.99999792e-01 -6.16453185e-04 3.85299874e-01] [ 2.03505603e-02 6.12443415e-04 9.99792718e-01 -2.26005879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80313336499998 meters Centerline goodness [0,1] 0.28549628164897045 Centerline is valid? [False, False] Translation: X:2.80, Y:0.39, Z:-0.23 [[ 9.99795912e-01 2.08660167e-03 -2.00942851e-02 2.79701382e+00] [-2.07015296e-03 9.99997505e-01 8.39342948e-04 3.91827609e-01] [ 2.00959863e-02 -7.97573404e-04 9.99797737e-01 -2.26557190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83313336499998 meters Centerline goodness [0,1] 0.2901181784296959 Centerline is valid? [False, False] Translation: X:2.75, Y:0.39, Z:-0.23 [[ 9.99741808e-01 2.30633055e-03 -2.26052537e-02 2.75273421e+00] [-2.29578757e-03 9.99997243e-01 4.92335791e-04 3.91160860e-01] [ 2.26063269e-02 -4.40311813e-04 9.99744347e-01 -2.26949834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86313336499998 meters Centerline goodness [0,1] 0.2870623454379799 Centerline is valid? [False, False] Translation: X:2.75, Y:0.39, Z:-0.23 [[ 9.99742802e-01 2.17570076e-03 -2.25742318e-02 2.75272492e+00] [-2.17600705e-03 9.99997632e-01 1.09959313e-05 3.93515972e-01] [ 2.25742023e-02 3.81285842e-05 9.99745169e-01 -2.27198543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89313336499998 meters Centerline goodness [0,1] 0.28900461954153234 Centerline is valid? [False, False] Translation: X:2.75, Y:0.40, Z:-0.23 [[ 9.99745947e-01 2.01061986e-03 -2.24499287e-02 2.75234991e+00] [-2.02265107e-03 9.99997823e-01 -5.13218952e-04 3.96151776e-01] [ 2.24488479e-02 5.58496939e-04 9.99747837e-01 -2.27193360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92313336499998 meters Centerline goodness [0,1] 0.28904494994656604 Centerline is valid? [False, False] Translation: X:2.75, Y:0.40, Z:-0.23 [[ 9.99751772e-01 1.91494162e-03 -2.21974695e-02 2.75176668e+00] [-1.93751660e-03 9.99997627e-01 -9.95544730e-04 3.98979061e-01] [ 2.21955105e-02 1.03830557e-03 9.99753110e-01 -2.27359530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95313336499999 meters Centerline goodness [0,1] 0.28878453642022495 Centerline is valid? [False, False] Translation: X:2.75, Y:0.40, Z:-0.23 [[ 9.99758946e-01 1.82813226e-03 -2.18794102e-02 2.75099852e+00] [-1.86110485e-03 9.99997163e-01 -1.48674723e-03 4.02001057e-01] [ 2.18766302e-02 1.52710872e-03 9.99759512e-01 -2.27446566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.983133365 meters Centerline goodness [0,1] 0.28878453642022495 Centerline is valid? [False, False] Translation: X:2.75, Y:0.40, Z:-0.23 [[ 9.99758946e-01 1.82813226e-03 -2.18794102e-02 2.75099852e+00] [-1.86110485e-03 9.99997163e-01 -1.48674723e-03 4.02001057e-01] [ 2.18766302e-02 1.52710872e-03 9.99759512e-01 -2.27446566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.013133365 meters Centerline goodness [0,1] 0.2843473941121838 Centerline is valid? [False, False] Translation: X:2.75, Y:0.41, Z:-0.23 [[ 9.99766285e-01 1.61892834e-03 -2.15581773e-02 2.75008126e+00] [-1.67120491e-03 9.99995706e-01 -2.40711141e-03 4.08138843e-01] [ 2.15541878e-02 2.44257697e-03 9.99764698e-01 -2.27457253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.043133365 meters Centerline goodness [0,1] 0.28772522522522526 Centerline is valid? [False, False] Translation: X:2.75, Y:0.41, Z:-0.23 [[ 9.99765795e-01 1.41935687e-03 -2.15949069e-02 2.75031702e+00] [-1.48291634e-03 9.99994615e-01 -2.92753279e-03 4.10627835e-01] [ 2.15906354e-02 2.95887059e-03 9.99762517e-01 -2.27773692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.073133365 meters Centerline goodness [0,1] 0.28831863022032944 Centerline is valid? [False, False] Translation: X:2.75, Y:0.41, Z:-0.23 [[ 9.99763273e-01 1.24311182e-03 -2.17221802e-02 2.75071492e+00] [-1.31745160e-03 9.99993324e-01 -3.40832251e-03 4.13007233e-01] [ 2.17177983e-02 3.43613359e-03 9.99758236e-01 -2.28045093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.103133365 meters Centerline goodness [0,1] 0.28913793856774583 Centerline is valid? [False, False] Translation: X:2.75, Y:0.42, Z:-0.23 [[ 9.99765480e-01 1.11964747e-03 -2.16271092e-02 2.75045604e+00] [-1.20232206e-03 9.99992019e-01 -3.81010473e-03 4.15240723e-01] [ 2.16226706e-02 3.83521393e-03 9.99758847e-01 -2.28072323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.133133365 meters Centerline goodness [0,1] 0.2860079632995759 Centerline is valid? [False, False] Translation: X:2.77, Y:0.42, Z:-0.23 [[ 9.99776068e-01 -4.90554695e-03 -2.05851700e-02 2.77011766e+00] [ 4.88849386e-03 9.99987665e-01 -8.78655508e-04 4.21643310e-01] [ 2.05892264e-02 7.77828271e-04 9.99787717e-01 -2.27358153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.163133365 meters Centerline goodness [0,1] 0.2872037708799444 Centerline is valid? [False, False] Translation: X:2.77, Y:0.43, Z:-0.23 [[ 9.99778747e-01 -5.30357483e-03 -2.03550800e-02 2.76934674e+00] [ 5.26597424e-03 9.99984329e-01 -1.90039024e-03 4.26967683e-01] [ 2.03648398e-02 1.79278044e-03 9.99791008e-01 -2.27171854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.193133365 meters Centerline goodness [0,1] 0.28956485738565796 Centerline is valid? [False, False] Translation: X:2.77, Y:0.43, Z:-0.23 [[ 9.99773429e-01 -5.57288382e-03 -2.05434467e-02 2.76984815e+00] [ 5.52110396e-03 9.99981440e-01 -2.57636135e-03 4.30080325e-01] [ 2.05574232e-02 2.46235512e-03 9.99785642e-01 -2.27393629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.223133365 meters Centerline goodness [0,1] 0.28579786772991245 Centerline is valid? [False, False] Translation: X:2.77, Y:0.43, Z:-0.23 [[ 0.99976701 -0.00578402 -0.02079615 2.77046303] [ 0.00571837 0.99997848 -0.00321473 0.43331359] [ 0.0208143 0.00309506 0.99977857 -0.22757414] [ 0. 0. 0. 1. ]] SLAMing on 245.253133365 meters Centerline goodness [0,1] 0.2892889838266708 Centerline is valid? [False, False] Translation: X:2.77, Y:0.44, Z:-0.23 [[ 0.99976502 -0.00587848 -0.02086508 2.77050936] [ 0.00580198 0.99997623 -0.00372482 0.43664212] [ 0.02088648 0.00360289 0.99977536 -0.22756322] [ 0. 0. 0. 1. ]] SLAMing on 245.283133365 meters Centerline goodness [0,1] 0.28692130133704974 Centerline is valid? [False, False] Translation: X:2.77, Y:0.44, Z:-0.23 [[ 9.99779413e-01 -2.31063083e-03 -2.08754838e-02 2.77041181e+00] [ 2.30135797e-03 9.99997242e-01 -4.68211062e-04 4.39004887e-01] [ 2.08765081e-02 4.20065820e-04 9.99781974e-01 -2.27396275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.313133365 meters Centerline goodness [0,1] 0.28668122742901625 Centerline is valid? [False, False] Translation: X:2.79, Y:0.44, Z:-0.23 [[ 9.99789710e-01 5.63876892e-03 -1.97165101e-02 2.78969259e+00] [-5.67702620e-03 9.99982109e-01 -1.88493480e-03 4.41381508e-01] [ 1.97055286e-02 1.99646956e-03 9.99803834e-01 -2.25653196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.343133365 meters Centerline goodness [0,1] 0.28362673782981107 Centerline is valid? [False, False] Translation: X:2.79, Y:0.45, Z:-0.22 [[ 0.99979748 0.00524362 -0.01942934 2.78829069] [-0.00530048 0.99998182 -0.00287612 0.44657323] [ 0.0194139 0.00297852 0.9998071 -0.22471453] [ 0. 0. 0. 1. ]] SLAMing on 245.373133365 meters Centerline goodness [0,1] 0.28670630614990666 Centerline is valid? [False, False] Translation: X:2.79, Y:0.45, Z:-0.22 [[ 0.99979839 0.0051517 -0.01940698 2.7880174 ] [-0.00521409 0.9999814 -0.00316553 0.44839211] [ 0.01939031 0.00326608 0.99980666 -0.22442864] [ 0. 0. 0. 1. ]] SLAMing on 245.40313336499997 meters Centerline goodness [0,1] 0.2910320378151261 Centerline is valid? [False, False] Translation: X:2.79, Y:0.45, Z:-0.22 [[ 0.99979895 0.00510218 -0.01939136 2.78786569] [-0.00516767 0.99998111 -0.0033286 0.44956145] [ 0.01937401 0.00342814 0.99980643 -0.22424237] [ 0. 0. 0. 1. ]] SLAMing on 245.43313336499997 meters Centerline goodness [0,1] 0.28681649725840364 Centerline is valid? [False, False] Translation: X:2.81, Y:0.46, Z:-0.22 [[ 9.99811921e-01 -3.09282086e-03 -1.91456848e-02 2.80706643e+00] [ 3.04946716e-03 9.99992721e-01 -2.29319174e-03 4.56278057e-01] [ 1.91526379e-02 2.23437630e-03 9.99814075e-01 -2.22853466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46313336499998 meters Centerline goodness [0,1] 0.28470218355657007 Centerline is valid? [False, False] Translation: X:2.81, Y:0.46, Z:-0.22 [[ 9.99810958e-01 -3.20384987e-03 -1.91776885e-02 2.80730609e+00] [ 3.15828109e-03 9.99992118e-01 -2.40595068e-03 4.56490433e-01] [ 1.91852456e-02 2.34492732e-03 9.99813196e-01 -2.23049279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49313336499998 meters Centerline goodness [0,1] 0.2849657135463838 Centerline is valid? [False, False] Translation: X:2.81, Y:0.46, Z:-0.22 [[ 9.99811042e-01 -3.31301948e-03 -1.91547188e-02 2.80748851e+00] [ 3.26677024e-03 9.99991674e-01 -2.44529467e-03 4.56151514e-01] [ 1.91626606e-02 2.38225854e-03 9.99813541e-01 -2.23348182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52313336499998 meters Centerline goodness [0,1] 0.29007832898172325 Centerline is valid? [False, False] Translation: X:2.81, Y:0.45, Z:-0.22 [[ 9.99806374e-01 -3.43389121e-03 -1.93758248e-02 2.80832473e+00] [ 3.39282036e-03 9.99991928e-01 -2.15217038e-03 4.54115706e-01] [ 1.93830587e-02 2.08601497e-03 9.99809955e-01 -2.23681210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55313336499998 meters Centerline goodness [0,1] 0.28608158326851607 Centerline is valid? [False, False] Translation: X:2.81, Y:0.45, Z:-0.22 [[ 9.99799638e-01 -3.38871805e-03 -1.97281620e-02 2.80936989e+00] [ 3.35419700e-03 9.99992786e-01 -1.78266245e-03 4.51988617e-01] [ 1.97340606e-02 1.71613313e-03 9.99803792e-01 -2.23868968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58313336499998 meters Centerline goodness [0,1] 0.28499448565188246 Centerline is valid? [False, False] Translation: X:2.81, Y:0.45, Z:-0.22 [[ 9.99791757e-01 -3.34022804e-03 -2.01316833e-02 2.81055129e+00] [ 3.31263647e-03 9.99993528e-01 -1.40374644e-03 4.49597479e-01] [ 2.01362419e-02 1.33676517e-03 9.99796352e-01 -2.24123420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61313336499998 meters Centerline goodness [0,1] 0.28348381838848735 Centerline is valid? [False, False] Translation: X:2.81, Y:0.45, Z:-0.22 [[ 9.99786152e-01 -3.19369052e-03 -2.04316305e-02 2.81157923e+00] [ 3.17538996e-03 9.99994528e-01 -9.28077447e-04 4.46993930e-01] [ 2.04344827e-02 8.63000584e-04 9.99790822e-01 -2.24486867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64313336499998 meters Centerline goodness [0,1] 0.28480113636363635 Centerline is valid? [False, False] Translation: X:2.81, Y:0.44, Z:-0.22 [[ 9.99784532e-01 -3.05353786e-03 -2.05320523e-02 2.81198860e+00] [ 3.04350909e-03 9.99995233e-01 -5.19674970e-04 4.44753813e-01] [ 2.05335413e-02 4.57073509e-04 9.99789060e-01 -2.24676077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67313336499998 meters Centerline goodness [0,1] 0.29143619230853324 Centerline is valid? [False, False] Translation: X:2.79, Y:0.44, Z:-0.22 [[ 0.99977733 0.00354366 -0.0208021 2.78999497] [-0.00360713 0.99998895 -0.0030145 0.43873302] [ 0.02079119 0.00308886 0.99977907 -0.2249606 ] [ 0. 0. 0. 1. ]] SLAMing on 245.70313336499999 meters Centerline goodness [0,1] 0.29069134458356016 Centerline is valid? [False, False] Translation: X:2.79, Y:0.44, Z:-0.22 [[ 9.99783199e-01 3.75866847e-03 -2.04799400e-02 2.78917321e+00] [-3.80844857e-03 9.99989886e-01 -2.39221564e-03 4.35213828e-01] [ 2.04707413e-02 2.46969380e-03 9.99787402e-01 -2.24827133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.733133365 meters Centerline goodness [0,1] 0.2905015776302905 Centerline is valid? [False, False] Translation: X:2.79, Y:0.43, Z:-0.22 [[ 9.99785969e-01 3.89312731e-03 -2.03189534e-02 2.78861372e+00] [-3.93585740e-03 9.99990126e-01 -2.06340069e-03 4.33532523e-01] [ 2.03107197e-02 2.14293156e-03 9.99791420e-01 -2.24551983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.763133365 meters Centerline goodness [0,1] 0.2887455072965833 Centerline is valid? [False, False] Translation: X:2.79, Y:0.43, Z:-0.22 [[ 9.99787494e-01 4.04126877e-03 -2.02147278e-02 2.78830386e+00] [-4.07800325e-03 9.99990107e-01 -1.77632129e-03 4.32224082e-01] [ 2.02073492e-02 1.85837954e-03 9.99794084e-01 -2.24469831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.793133365 meters Centerline goodness [0,1] 0.28858828359660305 Centerline is valid? [False, False] Translation: X:2.79, Y:0.43, Z:-0.22 [[ 9.99786077e-01 4.15830550e-03 -2.02609988e-02 2.78864869e+00] [-4.19116972e-03 9.99989969e-01 -1.57985015e-03 4.31285406e-01] [ 2.02542261e-02 1.66442947e-03 9.99793477e-01 -2.24879031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.823133365 meters Centerline goodness [0,1] 0.28557848114940043 Centerline is valid? [False, False] Translation: X:2.79, Y:0.43, Z:-0.23 [[ 9.99775766e-01 4.21759162e-03 -2.07516266e-02 2.79044801e+00] [-4.24968877e-03 9.99989841e-01 -1.50287350e-03 4.29982214e-01] [ 2.07450772e-02 1.59072446e-03 9.99783532e-01 -2.25934155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.853133365 meters Centerline goodness [0,1] 0.28852687516334175 Centerline is valid? [False, False] Translation: X:2.79, Y:0.43, Z:-0.23 [[ 9.99772326e-01 4.27291058e-03 -2.09054419e-02 2.79112586e+00] [-4.30351408e-03 9.99989733e-01 -1.41913185e-03 4.29431917e-01] [ 2.08991634e-02 1.50877561e-03 9.99780450e-01 -2.26508678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.883133365 meters Centerline goodness [0,1] 0.2872273192843289 Centerline is valid? [False, False] Translation: X:2.79, Y:0.43, Z:-0.23 [[ 9.99770878e-01 4.37933670e-03 -2.09526452e-02 2.79135913e+00] [-4.40669266e-03 9.99989497e-01 -1.25961584e-03 4.28805093e-01] [ 2.09469088e-02 1.35165910e-03 9.99779676e-01 -2.26766558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.913133365 meters Centerline goodness [0,1] 0.28640998325977784 Centerline is valid? [False, False] Translation: X:2.79, Y:0.43, Z:-0.23 [[ 9.99773410e-01 4.46469306e-03 -2.08133555e-02 2.79101740e+00] [-4.48902775e-03 9.99989294e-01 -1.12261176e-03 4.28245230e-01] [ 2.08081205e-02 1.21578912e-03 9.99782748e-01 -2.26797797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.943133365 meters Centerline goodness [0,1] 0.2881013866886569 Centerline is valid? [False, False] Translation: X:2.79, Y:0.43, Z:-0.23 [[ 9.99778675e-01 4.53532674e-03 -2.05433938e-02 2.79013683e+00] [-4.55539930e-03 9.99989191e-01 -9.30389276e-04 4.27226710e-01] [ 2.05389521e-02 1.02376672e-03 9.99788529e-01 -2.26447046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.973133365 meters Centerline goodness [0,1] 0.287228727217431 Centerline is valid? [False, False] Translation: X:2.79, Y:0.43, Z:-0.23 [[ 9.99785693e-01 4.57844797e-03 -2.01892343e-02 2.78888605e+00] [-4.59427684e-03 9.99989174e-01 -7.37712435e-04 4.25928993e-01] [ 2.01856382e-02 8.30309270e-04 9.99795904e-01 -2.25825355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.003133365 meters Centerline goodness [0,1] 0.2886488362508406 Centerline is valid? [False, False] Translation: X:2.79, Y:0.43, Z:-0.23 [[ 9.99786847e-01 4.60098382e-03 -2.01268706e-02 2.78870487e+00] [-4.61637470e-03 9.99989087e-01 -7.18298787e-04 4.25971019e-01] [ 2.01233460e-02 8.11058856e-04 9.99797176e-01 -2.25818891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.033133365 meters Centerline goodness [0,1] 0.28429372221386995 Centerline is valid? [False, False] Translation: X:2.81, Y:0.43, Z:-0.22 [[ 9.99801785e-01 -2.77407443e-03 -1.97153405e-02 2.80693989e+00] [ 2.79196770e-03 9.99995715e-01 8.80113877e-04 4.32159757e-01] [ 1.97128146e-02 -9.34984019e-04 9.99805246e-01 -2.24558312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.063133365 meters Centerline goodness [0,1] 0.28610937061123953 Centerline is valid? [False, False] Translation: X:2.81, Y:0.43, Z:-0.22 [[ 9.99804961e-01 -2.79063823e-03 -1.95512528e-02 2.80669410e+00] [ 2.80639093e-03 9.99995759e-01 7.78322232e-04 4.32810226e-01] [ 1.95489979e-02 -8.33038888e-04 9.99808553e-01 -2.24846316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.093133365 meters Centerline goodness [0,1] 0.2846565643483141 Centerline is valid? [False, False] Translation: X:2.81, Y:0.43, Z:-0.23 [[ 9.99807031e-01 -2.83220076e-03 -1.94391313e-02 2.80656818e+00] [ 2.84473065e-03 9.99995763e-01 6.16948412e-04 4.33698414e-01] [ 1.94373016e-02 -6.72128452e-04 9.99810852e-01 -2.25166510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.123133365 meters Centerline goodness [0,1] 0.2870119452815054 Centerline is valid? [False, False] Translation: X:2.81, Y:0.44, Z:-0.23 [[ 9.99807677e-01 -2.89149264e-03 -1.93971067e-02 2.80647481e+00] [ 2.89952097e-03 9.99995722e-01 3.85782492e-04 4.35026237e-01] [ 1.93959082e-02 -4.41950615e-04 9.99811784e-01 -2.25281043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15313336499997 meters Centerline goodness [0,1] 0.2819561768363278 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:-0.22 [[ 9.99779773e-01 5.49084537e-03 -2.02547880e-02 2.82910373e+00] [-5.49932414e-03 9.99984813e-01 -3.62929472e-04 4.36379292e-01] [ 2.02524876e-02 4.74237190e-04 9.99794785e-01 -2.24290875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18313336499997 meters Centerline goodness [0,1] 0.2819561768363278 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:-0.22 [[ 9.99779773e-01 5.49084537e-03 -2.02547880e-02 2.82910373e+00] [-5.49932414e-03 9.99984813e-01 -3.62929472e-04 4.36379292e-01] [ 2.02524876e-02 4.74237190e-04 9.99794785e-01 -2.24290875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21313336499998 meters Centerline goodness [0,1] 0.2858503224689434 Centerline is valid? [False, False] Translation: X:2.81, Y:0.44, Z:-0.23 [[ 9.99780651e-01 -2.44719056e-03 -2.08004980e-02 2.80974033e+00] [ 2.46127977e-03 9.99996759e-01 6.51775871e-04 4.41612039e-01] [ 2.07988356e-02 -7.02828749e-04 9.99783434e-01 -2.26305381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24313336499998 meters Centerline goodness [0,1] 0.28726569796485746 Centerline is valid? [False, False] Translation: X:2.81, Y:0.44, Z:-0.23 [[ 9.99780936e-01 -2.52825771e-03 -2.07770961e-02 2.80941679e+00] [ 2.54030554e-03 9.99996620e-01 5.53488238e-04 4.41901051e-01] [ 2.07756265e-02 -6.06147161e-04 9.99783980e-01 -2.25906027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27313336499998 meters Centerline goodness [0,1] 0.2868561278863233 Centerline is valid? [False, False] Translation: X:2.81, Y:0.44, Z:-0.23 [[ 9.99782980e-01 -2.59100642e-03 -2.06707428e-02 2.80904842e+00] [ 2.60237904e-03 9.99996477e-01 5.23299062e-04 4.41845544e-01] [ 2.06693141e-02 -5.76978603e-04 9.99786200e-01 -2.25716202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30313336499998 meters Centerline goodness [0,1] 0.28807853528223615 Centerline is valid? [False, False] Translation: X:2.81, Y:0.44, Z:-0.23 [[ 9.99782349e-01 -2.61044406e-03 -2.06987967e-02 2.80899321e+00] [ 2.62263265e-03 9.99996403e-01 5.61731525e-04 4.41567858e-01] [ 2.06972559e-02 -6.15894604e-04 9.99785599e-01 -2.25476780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33313336499998 meters Centerline goodness [0,1] 0.2900232018561485 Centerline is valid? [False, False] Translation: X:2.81, Y:0.44, Z:-0.23 [[ 9.99783806e-01 -2.56136984e-03 -2.06344592e-02 2.80894114e+00] [ 2.57647498e-03 9.99996432e-01 7.05482716e-04 4.41122931e-01] [ 2.06325786e-02 -7.58494362e-04 9.99786838e-01 -2.25575119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36313336499998 meters Centerline goodness [0,1] 0.2900240122244051 Centerline is valid? [False, False] Translation: X:2.81, Y:0.44, Z:-0.23 [[ 9.99782039e-01 -2.54443826e-03 -2.07219629e-02 2.80917498e+00] [ 2.56126329e-03 9.99996411e-01 7.85442276e-04 4.40843955e-01] [ 2.07198901e-02 -8.38345483e-04 9.99784969e-01 -2.25556430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39313336499998 meters Centerline goodness [0,1] 0.2836543634994082 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:-0.23 [[ 9.99800094e-01 2.60631709e-03 -1.98237139e-02 2.83200303e+00] [-2.65329208e-03 9.99993734e-01 -2.34370397e-03 4.40243144e-01] [ 1.98174812e-02 2.39583356e-03 9.99800744e-01 -2.25421662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42313336499998 meters Centerline goodness [0,1] 0.2868896479130416 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:-0.23 [[ 9.99797297e-01 2.51823025e-03 -1.99755678e-02 2.83229180e+00] [-2.56588625e-03 9.99993922e-01 -2.36044350e-03 4.39733234e-01] [ 1.99695023e-02 2.41122006e-03 9.99797682e-01 -2.25275269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45313336499999 meters Centerline goodness [0,1] 0.2879234806749664 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:-0.23 [[ 9.99793277e-01 2.49712288e-03 -2.01784102e-02 2.83282251e+00] [-2.54452262e-03 9.99994063e-01 -2.32369896e-03 4.39277766e-01] [ 2.01724879e-02 2.37456302e-03 9.99793695e-01 -2.25341867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.483133365 meters Centerline goodness [0,1] 0.2878918918918919 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:-0.23 [[ 9.99790111e-01 2.61381939e-03 -2.03199982e-02 2.83312100e+00] [-2.65722155e-03 9.99994245e-01 -2.10922628e-03 4.38727309e-01] [ 2.03143681e-02 2.16277832e-03 9.99791303e-01 -2.25260302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.513133365 meters Centerline goodness [0,1] 0.2888681254210035 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:-0.23 [[ 9.99791429e-01 2.59025210e-03 -2.02580806e-02 2.83291897e+00] [-2.63385339e-03 9.99994272e-01 -2.12590632e-03 4.38659247e-01] [ 2.02524579e-02 2.17881973e-03 9.99792524e-01 -2.25181944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.543133365 meters Centerline goodness [0,1] 0.29005716265373294 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:-0.23 [[ 9.99791222e-01 2.54321924e-03 -2.02742173e-02 2.83294590e+00] [-2.58713725e-03 9.99994363e-01 -2.14026546e-03 4.38409161e-01] [ 2.02686599e-02 2.19227080e-03 9.99792166e-01 -2.25132894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.573133365 meters Centerline goodness [0,1] 0.2867972613982419 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:-0.23 [[ 9.99789565e-01 2.48889823e-03 -2.03624755e-02 2.83323768e+00] [-2.53392557e-03 9.99994401e-01 -2.18578784e-03 4.38249338e-01] [ 2.03569212e-02 2.23692487e-03 9.99790274e-01 -2.25260004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.603133365 meters Centerline goodness [0,1] 0.28998829293673845 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:-0.23 [[ 9.99786067e-01 2.46969782e-03 -2.05358233e-02 2.83374375e+00] [-2.51466204e-03 9.99994497e-01 -2.16401583e-03 4.37880720e-01] [ 2.05303658e-02 2.21519353e-03 9.99786776e-01 -2.25442147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.633133365 meters Centerline goodness [0,1] 0.288781163434903 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:-0.23 [[ 9.99783403e-01 2.48872531e-03 -2.06628573e-02 2.83423751e+00] [-2.53347739e-03 9.99994501e-01 -2.13992752e-03 4.37820900e-01] [ 2.06574179e-02 2.19181290e-03 9.99784210e-01 -2.25747865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.663133365 meters Centerline goodness [0,1] 0.29329590561196517 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:-0.23 [[ 9.99781720e-01 2.55954170e-03 -2.07355262e-02 2.83455166e+00] [-2.60256574e-03 9.99994516e-01 -2.04817535e-03 4.37580194e-01] [ 2.07301701e-02 2.10169384e-03 9.99782898e-01 -2.25985458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.693133365 meters Centerline goodness [0,1] 0.29103809627769894 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:-0.23 [[ 9.99784363e-01 2.50283206e-03 -2.06146294e-02 2.83434221e+00] [-2.54759538e-03 9.99994453e-01 -2.14545930e-03 4.37847354e-01] [ 2.06091454e-02 2.19751440e-03 9.99785194e-01 -2.26111547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.723133365 meters Centerline goodness [0,1] 0.28797989427160064 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:-0.23 [[ 9.99786947e-01 2.48284421e-03 -2.04913541e-02 2.83391180e+00] [-2.52886979e-03 9.99994337e-01 -2.22049072e-03 4.38156459e-01] [ 2.04857249e-02 2.27183760e-03 9.99787564e-01 -2.25987621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.753133365 meters Centerline goodness [0,1] 0.28998544206157795 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:-0.23 [[ 9.99789655e-01 2.50025013e-03 -2.03566967e-02 2.83349624e+00] [-2.54679846e-03 9.99994201e-01 -2.26103115e-03 4.38569555e-01] [ 2.03509255e-02 2.31239995e-03 9.99790224e-01 -2.25860226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.783133365 meters Centerline goodness [0,1] 0.28941726758916386 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:-0.23 [[ 9.99788579e-01 2.52948309e-03 -2.04058600e-02 2.83369914e+00] [-2.57778814e-03 9.99993937e-01 -2.34125799e-03 4.39368699e-01] [ 2.03998141e-02 2.39336498e-03 9.99789037e-01 -2.26060824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.813133365 meters Centerline goodness [0,1] 0.29210124372681645 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:-0.23 [[ 9.99785350e-01 2.51224965e-03 -2.05655573e-02 2.83428361e+00] [-2.56406065e-03 9.99993604e-01 -2.49332864e-03 4.40217569e-01] [ 2.05591619e-02 2.54552478e-03 9.99785398e-01 -2.26459272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.843133365 meters Centerline goodness [0,1] 0.2862948551664505 Centerline is valid? [False, False] Translation: X:2.84, Y:0.44, Z:-0.23 [[ 9.99777913e-01 2.51030678e-03 -2.09242042e-02 2.83544654e+00] [-2.57069649e-03 9.99992607e-01 -2.85971958e-03 4.42035219e-01] [ 2.09168707e-02 2.91287425e-03 9.99776975e-01 -2.27166861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.873133365 meters Centerline goodness [0,1] 0.2862948551664505 Centerline is valid? [False, False] Translation: X:2.84, Y:0.44, Z:-0.23 [[ 9.99777913e-01 2.51030678e-03 -2.09242042e-02 2.83544654e+00] [-2.57069649e-03 9.99992607e-01 -2.85971958e-03 4.42035219e-01] [ 2.09168707e-02 2.91287425e-03 9.99776975e-01 -2.27166861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90313336499997 meters Centerline goodness [0,1] 0.2863385613845322 Centerline is valid? [False, False] Translation: X:2.84, Y:0.44, Z:-0.23 [[ 9.99778882e-01 2.53289598e-03 -2.08751587e-02 2.83533459e+00] [-2.59517036e-03 9.99992262e-01 -2.95663090e-03 4.42809153e-01] [ 2.08675083e-02 3.01015173e-03 9.99777718e-01 -2.27289525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93313336499997 meters Centerline goodness [0,1] 0.28863942328570813 Centerline is valid? [False, False] Translation: X:2.84, Y:0.44, Z:-0.23 [[ 9.99780189e-01 2.58270853e-03 -2.08063274e-02 2.83517176e+00] [-2.64489848e-03 9.99992115e-01 -2.96202839e-03 4.43263150e-01] [ 2.07985133e-02 3.01640793e-03 9.99779137e-01 -2.27335277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96313336499998 meters Centerline goodness [0,1] 0.29119831722868594 Centerline is valid? [False, False] Translation: X:2.84, Y:0.44, Z:-0.23 [[ 9.99780437e-01 2.62529746e-03 -2.07890552e-02 2.83505502e+00] [-2.68632080e-03 9.99992164e-01 -2.90797728e-03 4.43216890e-01] [ 2.07812580e-02 2.96318486e-03 9.99779655e-01 -2.27236559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99313336499998 meters Centerline goodness [0,1] 0.288435256090418 Centerline is valid? [False, False] Translation: X:2.85, Y:0.45, Z:-0.23 [[ 9.99764485e-01 -5.62046041e-03 -2.09614973e-02 2.85460682e+00] [ 5.57790378e-03 9.99982263e-01 -2.08814380e-03 4.48085163e-01] [ 2.09728619e-02 1.97073080e-03 9.99778103e-01 -2.25904766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02313336499998 meters Centerline goodness [0,1] 0.2843145699642534 Centerline is valid? [False, False] Translation: X:2.87, Y:0.45, Z:-0.22 [[ 9.99759196e-01 1.90288595e-03 -2.18615823e-02 2.87424775e+00] [-1.97444112e-03 9.99992763e-01 -3.25198258e-03 4.45253573e-01] [ 2.18552360e-02 3.29436390e-03 9.99755718e-01 -2.23630054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05313336499998 meters Centerline goodness [0,1] 0.2865460505035258 Centerline is valid? [False, False] Translation: X:2.87, Y:0.45, Z:-0.22 [[ 9.99757513e-01 1.92971830e-03 -2.19360849e-02 2.87425414e+00] [-2.00111756e-03 9.99992770e-01 -3.23339210e-03 4.45345653e-01] [ 2.19296868e-02 3.27650473e-03 9.99754146e-01 -2.23366856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08313336499998 meters Centerline goodness [0,1] 0.2879532416928239 Centerline is valid? [False, False] Translation: X:2.87, Y:0.45, Z:-0.22 [[ 9.99760048e-01 1.95546507e-03 -2.18179243e-02 2.87378161e+00] [-2.02681769e-03 9.99992669e-01 -3.24873321e-03 4.45759795e-01] [ 2.18114116e-02 3.29217463e-03 9.99756682e-01 -2.23110139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11313336499998 meters Centerline goodness [0,1] 0.28643899490544855 Centerline is valid? [False, False] Translation: X:2.87, Y:0.45, Z:-0.22 [[ 9.99762924e-01 1.98095154e-03 -2.16834599e-02 2.87321742e+00] [-2.05142838e-03 9.99992684e-01 -3.22849711e-03 4.45903615e-01] [ 2.16769058e-02 3.27221377e-03 9.99759673e-01 -2.22774946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14313336499998 meters Centerline goodness [0,1] 0.2827421848162144 Centerline is valid? [False, False] Translation: X:2.87, Y:0.45, Z:-0.22 [[ 9.99761259e-01 1.91868473e-03 -2.17656429e-02 2.87341503e+00] [-1.99121888e-03 9.99992535e-01 -3.31132344e-03 4.46148769e-01] [ 2.17591270e-02 3.35387305e-03 9.99757617e-01 -2.22742128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17313336499998 meters Centerline goodness [0,1] 0.28925027683088345 Centerline is valid? [False, False] Translation: X:2.87, Y:0.45, Z:-0.22 [[ 9.99757067e-01 1.87734486e-03 -2.19609194e-02 2.87412455e+00] [-1.95170704e-03 9.99992433e-01 -3.36517139e-03 4.46222009e-01] [ 2.19544356e-02 3.40721516e-03 9.99753166e-01 -2.23134662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20313336499999 meters Centerline goodness [0,1] 0.28489261325693116 Centerline is valid? [False, False] Translation: X:2.88, Y:0.45, Z:-0.22 [[ 9.99749656e-01 1.84849346e-03 -2.22981755e-02 2.87516971e+00] [-1.92538356e-03 9.99992273e-01 -3.42729281e-03 4.46451310e-01] [ 2.22916679e-02 3.46936735e-03 9.99745490e-01 -2.23543267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.233133365 meters Centerline goodness [0,1] 0.2875611080934275 Centerline is valid? [False, False] Translation: X:2.88, Y:0.45, Z:-0.22 [[ 9.99744685e-01 1.83933618e-03 -2.25206763e-02 2.87584572e+00] [-1.91690403e-03 9.99992304e-01 -3.42319183e-03 4.46308235e-01] [ 2.25142066e-02 3.46548781e-03 9.99740517e-01 -2.23757306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.263133365 meters Centerline goodness [0,1] 0.287082891805973 Centerline is valid? [False, False] Translation: X:2.88, Y:0.45, Z:-0.22 [[ 9.99740988e-01 1.81396293e-03 -2.26862652e-02 2.87612399e+00] [-1.89313671e-03 9.99992191e-01 -3.46895357e-03 4.46503754e-01] [ 2.26797955e-02 3.51100327e-03 9.99736615e-01 -2.23564207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.293133365 meters Centerline goodness [0,1] 0.2874777628324727 Centerline is valid? [False, False] Translation: X:2.88, Y:0.45, Z:-0.22 [[ 9.99737969e-01 1.77945624e-03 -2.28216517e-02 2.87642809e+00] [-1.86202020e-03 9.99991797e-01 -3.59705092e-03 4.47180141e-01] [ 2.28150637e-02 3.63860276e-03 9.99733081e-01 -2.23581119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.323133365 meters Centerline goodness [0,1] 0.28374596340150704 Centerline is valid? [False, False] Translation: X:2.88, Y:0.45, Z:-0.22 [[ 9.99735755e-01 1.91209568e-03 -2.29077107e-02 2.87670505e+00] [-2.00188446e-03 9.99990402e-01 -3.89729668e-03 4.49847982e-01] [ 2.29000388e-02 3.94212543e-03 9.99729987e-01 -2.23809128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.353133365 meters Centerline goodness [0,1] 0.2827412370467717 Centerline is valid? [False, False] Translation: X:2.88, Y:0.45, Z:-0.22 [[ 9.99744827e-01 1.84434029e-03 -2.25139820e-02 2.87552653e+00] [-1.94080911e-03 9.99989027e-01 -4.26374258e-03 4.51945516e-01] [ 2.25058712e-02 4.30634993e-03 9.99737436e-01 -2.23551748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.383133365 meters Centerline goodness [0,1] 0.284695663447203 Centerline is valid? [False, False] Translation: X:2.87, Y:0.45, Z:-0.22 [[ 9.99757639e-01 1.74942209e-03 -2.19454377e-02 2.87371723e+00] [-1.85442848e-03 9.99986926e-01 -4.76544684e-03 4.54806277e-01] [ 2.19368140e-02 4.80498813e-03 9.99747812e-01 -2.22994493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.413133365 meters Centerline goodness [0,1] 0.2896017457719585 Centerline is valid? [False, False] Translation: X:2.87, Y:0.46, Z:-0.22 [[ 9.99766842e-01 1.68356878e-03 -2.15273495e-02 2.87230381e+00] [-1.79781623e-03 9.99984398e-01 -5.28883247e-03 4.58053126e-01] [ 2.15181095e-02 5.32630155e-03 9.99754271e-01 -2.22513625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.443133365 meters Centerline goodness [0,1] 0.2878365426505184 Centerline is valid? [False, False] Translation: X:2.87, Y:0.46, Z:-0.22 [[ 9.99767675e-01 1.66642932e-03 -2.14899930e-02 2.87198194e+00] [-1.79273814e-03 9.99981225e-01 -5.85963945e-03 4.61885007e-01] [ 2.14798249e-02 5.89680404e-03 9.99751892e-01 -2.22406996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.473133365 meters Centerline goodness [0,1] 0.28975103100656785 Centerline is valid? [False, False] Translation: X:2.87, Y:0.47, Z:-0.22 [[ 9.99764878e-01 1.54502164e-03 -2.16287116e-02 2.87225676e+00] [-1.68756077e-03 9.99976970e-01 -6.57357366e-03 4.66044627e-01] [ 2.16180572e-02 6.60852784e-03 9.99744461e-01 -2.22571552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.503133365 meters Centerline goodness [0,1] 0.2846491609425268 Centerline is valid? [False, False] Translation: X:2.87, Y:0.47, Z:-0.22 [[ 9.99748979e-01 1.80297030e-03 -2.23322041e-02 2.87414236e+00] [-1.96651812e-03 9.99971395e-01 -7.30361227e-03 4.74806646e-01] [ 2.23183971e-02 7.34569560e-03 9.99723927e-01 -2.23174430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.533133365 meters Centerline goodness [0,1] 0.2778183379858278 Centerline is valid? [False, False] Translation: X:2.90, Y:0.48, Z:-0.22 [[ 0.9997369 -0.00401827 -0.02258265 2.89553611] [ 0.00391497 0.99998168 -0.00461653 0.48284194] [ 0.02260079 0.0045269 0.99973432 -0.22291763] [ 0. 0. 0. 1. ]] SLAMing on 247.563133365 meters Centerline goodness [0,1] 0.2862625381596162 Centerline is valid? [False, False] Translation: X:2.87, Y:0.48, Z:-0.22 [[ 0.99971779 0.00473862 -0.02327864 2.87474082] [-0.00486806 0.99997299 -0.0055069 0.4807264 ] [ 0.02325191 0.00561867 0.99971385 -0.22341702] [ 0. 0. 0. 1. ]] SLAMing on 247.593133365 meters Centerline goodness [0,1] 0.28387557324565194 Centerline is valid? [False, False] Translation: X:2.89, Y:0.49, Z:-0.22 [[ 9.99729017e-01 -2.43526512e-03 -2.31508658e-02 2.89232420e+00] [ 2.34838214e-03 9.99990101e-01 -3.77935090e-03 4.90414567e-01] [ 2.31598403e-02 3.72395968e-03 9.99724839e-01 -2.21185320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.623133365 meters Centerline goodness [0,1] 0.2862340152059778 Centerline is valid? [False, False] Translation: X:2.89, Y:0.49, Z:-0.22 [[ 9.99729348e-01 -2.62101951e-03 -2.31162660e-02 2.89197508e+00] [ 2.52286466e-03 9.99987683e-01 -4.27427967e-03 4.92997635e-01] [ 2.31271842e-02 4.21480362e-03 9.99723646e-01 -2.20845325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65313336499997 meters Centerline goodness [0,1] 0.28702450102633537 Centerline is valid? [False, False] Translation: X:2.89, Y:0.50, Z:-0.22 [[ 0.99972173 -0.00301635 -0.02339588 2.89215631] [ 0.00289523 0.99998224 -0.00520893 0.49742501] [ 0.02341118 0.00513975 0.99971271 -0.22026852] [ 0. 0. 0. 1. ]] SLAMing on 247.68313336499997 meters Centerline goodness [0,1] 0.2841305242188684 Centerline is valid? [False, False] Translation: X:2.89, Y:0.50, Z:-0.22 [[ 0.99971877 -0.00312835 -0.02350739 2.89223343] [ 0.00299908 0.9999802 -0.00553226 0.49920966] [ 0.02352423 0.0054602 0.99970836 -0.22001335] [ 0. 0. 0. 1. ]] SLAMing on 247.71313336499998 meters Centerline goodness [0,1] 0.2878441116850847 Centerline is valid? [False, False] Translation: X:2.89, Y:0.50, Z:-0.22 [[ 0.99972152 -0.00322753 -0.02337676 2.89170482] [ 0.00309259 0.99997836 -0.00580638 0.50086748] [ 0.023395 0.00573247 0.99970986 -0.21971433] [ 0. 0. 0. 1. ]] SLAMing on 247.74313336499998 meters Centerline goodness [0,1] 0.286333914559721 Centerline is valid? [False, False] Translation: X:2.89, Y:0.50, Z:-0.22 [[ 0.99972385 -0.00329771 -0.02326671 2.89126353] [ 0.00315846 0.99997689 -0.00601948 0.50225039] [ 0.02328602 0.00594433 0.99971117 -0.21941727] [ 0. 0. 0. 1. ]] SLAMing on 247.77313336499998 meters Centerline goodness [0,1] 0.28121766126250436 Centerline is valid? [False, False] Translation: X:2.91, Y:0.50, Z:-0.22 [[ 0.99974832 0.0043303 -0.02201253 2.91080751] [-0.00448775 0.99996466 -0.00710874 0.50205153] [ 0.02198097 0.00720574 0.99973242 -0.21815599] [ 0. 0. 0. 1. ]] SLAMing on 247.80313336499998 meters Centerline goodness [0,1] 0.28595920138888886 Centerline is valid? [False, False] Translation: X:2.91, Y:0.50, Z:-0.22 [[ 0.99974735 0.0041804 -0.02208521 2.910809 ] [-0.00434488 0.99996314 -0.00740486 0.50333982] [ 0.02205344 0.00749895 0.99972867 -0.21791274] [ 0. 0. 0. 1. ]] SLAMing on 247.83313336499998 meters Centerline goodness [0,1] 0.2869322518043653 Centerline is valid? [False, False] Translation: X:2.91, Y:0.51, Z:-0.22 [[ 0.99974092 0.00392808 -0.02242004 2.91156097] [-0.00410741 0.9999599 -0.00795819 0.50593583] [ 0.02238788 0.00804822 0.99971696 -0.21787628] [ 0. 0. 0. 1. ]] SLAMing on 247.86313336499998 meters Centerline goodness [0,1] 0.2874330088592366 Centerline is valid? [False, False] Translation: X:2.91, Y:0.51, Z:-0.22 [[ 0.99973587 0.00383619 -0.02265989 2.9121367 ] [-0.00402147 0.99995881 -0.00813652 0.50682371] [ 0.02262774 0.0082255 0.99971012 -0.2178877 ] [ 0. 0. 0. 1. ]] SLAMing on 247.89313336499998 meters Centerline goodness [0,1] 0.2824722252184231 Centerline is valid? [False, False] Translation: X:2.93, Y:0.51, Z:-0.22 [[ 0.99973499 -0.00449551 -0.02257753 2.93174923] [ 0.00433491 0.99996499 -0.00715707 0.51336592] [ 0.02260892 0.0070573 0.99971948 -0.21662114] [ 0. 0. 0. 1. ]] SLAMing on 247.92313336499998 meters Centerline goodness [0,1] 0.2834307992202729 Centerline is valid? [False, False] Translation: X:2.93, Y:0.51, Z:-0.22 [[ 0.99973514 -0.00455455 -0.02255898 2.93146357] [ 0.0043934 0.99996452 -0.00718787 0.51350931] [ 0.02259092 0.00708686 0.99971967 -0.21616643] [ 0. 0. 0. 1. ]] SLAMing on 247.95313336499999 meters Centerline goodness [0,1] 0.28606674457862613 Centerline is valid? [False, False] Translation: X:2.93, Y:0.51, Z:-0.22 [[ 0.99974535 -0.00494761 -0.02201733 2.92970881] [ 0.00478614 0.99996131 -0.00738051 0.51358108] [ 0.02205299 0.00727326 0.99973035 -0.21523894] [ 0. 0. 0. 1. ]] SLAMing on 247.983133365 meters Centerline goodness [0,1] 0.2907227263824509 Centerline is valid? [False, False] Translation: X:2.93, Y:0.51, Z:-0.21 [[ 0.99974892 -0.00508561 -0.0218227 2.92905174] [ 0.00492428 0.9999602 -0.00743997 0.51341839] [ 0.02185967 0.00733064 0.99973417 -0.21481592] [ 0. 0. 0. 1. ]] SLAMing on 248.013133365 meters Centerline goodness [0,1] 0.28790533670798446 Centerline is valid? [False, False] Translation: X:2.93, Y:0.51, Z:-0.21 [[ 0.99974855 -0.00515504 -0.02182356 2.92895546] [ 0.00499373 0.99995986 -0.00743964 0.5131926 ] [ 0.02186104 0.00732879 0.99973416 -0.21457691] [ 0. 0. 0. 1. ]] SLAMing on 248.043133365 meters Centerline goodness [0,1] 0.289356457053888 Centerline is valid? [False, False] Translation: X:2.93, Y:0.51, Z:-0.21 [[ 0.9997446 -0.00514771 -0.02200529 2.92931645] [ 0.00498733 0.99996065 -0.00733692 0.51270491] [ 0.0220422 0.0072253 0.99973093 -0.21437876] [ 0. 0. 0. 1. ]] SLAMing on 248.073133365 meters Centerline goodness [0,1] 0.2848161023132054 Centerline is valid? [False, False] Translation: X:2.93, Y:0.51, Z:-0.21 [[ 0.99973865 -0.00514274 -0.02227509 2.9300161 ] [ 0.00498311 0.99996155 -0.00721617 0.51204632] [ 0.02231135 0.00710329 0.99972584 -0.21437122] [ 0. 0. 0. 1. ]] SLAMing on 248.103133365 meters Centerline goodness [0,1] 0.2893164513276245 Centerline is valid? [False, False] Translation: X:2.93, Y:0.51, Z:-0.21 [[ 0.99973283 -0.00513923 -0.02253562 2.93074553] [ 0.00498169 0.9999628 -0.00704135 0.51090201] [ 0.02257097 0.0069272 0.99972124 -0.21443072] [ 0. 0. 0. 1. ]] SLAMing on 248.133133365 meters Centerline goodness [0,1] 0.28870084619213543 Centerline is valid? [False, False] Translation: X:2.93, Y:0.51, Z:-0.21 [[ 0.99972001 -0.00572338 -0.02295944 2.9321439 ] [ 0.00556047 0.99995895 -0.00715334 0.50865703] [ 0.02299944 0.00702368 0.99971081 -0.21486846] [ 0. 0. 0. 1. ]] SLAMing on 248.163133365 meters Centerline goodness [0,1] 0.2916086047726877 Centerline is valid? [False, False] Translation: X:2.93, Y:0.51, Z:-0.21 [[ 0.99971968 -0.00570362 -0.022979 2.93221545] [ 0.00554677 0.99996092 -0.00688371 0.50684511] [ 0.02301736 0.00675432 0.99971225 -0.21481946] [ 0. 0. 0. 1. ]] SLAMing on 248.193133365 meters Centerline goodness [0,1] 0.29053290445970614 Centerline is valid? [False, False] Translation: X:2.93, Y:0.51, Z:-0.21 [[ 0.99971996 -0.00563357 -0.0229842 2.93221087] [ 0.00548291 0.9999631 -0.00661268 0.5053799 ] [ 0.0230206 0.0064848 0.99971396 -0.21472842] [ 0. 0. 0. 1. ]] SLAMing on 248.223133365 meters Centerline goodness [0,1] 0.2956689208412667 Centerline is valid? [False, False] Translation: X:2.93, Y:0.50, Z:-0.21 [[ 0.99972018 -0.00554623 -0.02299583 2.93215681] [ 0.00540205 0.99996539 -0.00632748 0.5039899 ] [ 0.02303013 0.00620148 0.99971554 -0.21450694] [ 0. 0. 0. 1. ]] SLAMing on 248.253133365 meters Centerline goodness [0,1] 0.2895020943991018 Centerline is valid? [False, False] Translation: X:2.95, Y:0.50, Z:-0.21 [[ 9.99701638e-01 2.30175039e-03 -2.43174214e-02 2.95383188e+00] [-2.45308347e-03 9.99977800e-01 -6.19524041e-03 4.98185842e-01] [ 2.43026217e-02 6.25304465e-03 9.99685091e-01 -2.13283119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.283133365 meters Centerline goodness [0,1] 0.2937839600086938 Centerline is valid? [False, False] Translation: X:2.95, Y:0.50, Z:-0.21 [[ 9.99699749e-01 2.38169992e-03 -2.43872616e-02 2.95427218e+00] [-2.52709584e-03 9.99979207e-01 -5.93287913e-03 4.96610948e-01] [ 2.43726242e-02 5.99272673e-03 9.99684982e-01 -2.13670140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.313133365 meters Centerline goodness [0,1] 0.2914319274356688 Centerline is valid? [False, False] Translation: X:2.95, Y:0.49, Z:-0.21 [[ 9.99698816e-01 2.39724959e-03 -2.44239856e-02 2.95452538e+00] [-2.53545667e-03 9.99980941e-01 -5.62926678e-03 4.94296228e-01] [ 2.44100254e-02 5.68949729e-03 9.99685841e-01 -2.13832988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.343133365 meters Centerline goodness [0,1] 0.2929614989845166 Centerline is valid? [False, False] Translation: X:2.95, Y:0.49, Z:-0.21 [[ 9.99700077e-01 2.44286462e-03 -2.43677617e-02 2.95452296e+00] [-2.56978579e-03 9.99983289e-01 -5.17861505e-03 4.91212225e-01] [ 2.43547038e-02 5.23968179e-03 9.99689649e-01 -2.13975528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.373133365 meters Centerline goodness [0,1] 0.28926242386415 Centerline is valid? [False, False] Translation: X:2.97, Y:0.49, Z:-0.21 [[ 0.99970174 -0.00629765 -0.0235959 2.97483503] [ 0.00620307 0.99997244 -0.00407956 0.49180815] [ 0.02362095 0.00393197 0.99971325 -0.21307502] [ 0. 0. 0. 1. ]] SLAMing on 248.40313336499997 meters Centerline goodness [0,1] 0.29789582919343804 Centerline is valid? [False, False] Translation: X:2.93, Y:0.48, Z:-0.21 [[ 0.99965656 -0.00674963 -0.02532209 2.9281837 ] [ 0.00665673 0.99997081 -0.00375126 0.47889052] [ 0.02534667 0.00358141 0.99967231 -0.21204069] [ 0. 0. 0. 1. ]] SLAMing on 248.43313336499997 meters Centerline goodness [0,1] 0.28788564775887715 Centerline is valid? [False, False] Translation: X:2.97, Y:0.48, Z:-0.21 [[ 0.9996916 -0.00772902 -0.02360011 2.97203654] [ 0.00765493 0.99996549 -0.00322818 0.47576537] [ 0.02362424 0.00304653 0.99971627 -0.21158258] [ 0. 0. 0. 1. ]] SLAMing on 248.46313336499998 meters Centerline goodness [0,1] 0.2902760432367254 Centerline is valid? [False, False] Translation: X:2.97, Y:0.47, Z:-0.21 [[ 9.99697983e-01 -7.61993873e-03 -2.33640761e-02 2.97157620e+00] [ 7.56130552e-03 9.99968041e-01 -2.59686377e-03 4.71990461e-01] [ 2.33831174e-02 2.41941655e-03 9.99723650e-01 -2.11565942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49313336499998 meters Centerline goodness [0,1] 0.29637344325556925 Centerline is valid? [False, False] Translation: X:2.95, Y:0.46, Z:-0.21 [[ 9.99735572e-01 -1.19518972e-03 -2.29642877e-02 2.94867689e+00] [ 1.08092394e-03 9.99986978e-01 -4.98757248e-03 4.64919903e-01] [ 2.29699498e-02 4.96143097e-03 9.99723845e-01 -2.11798329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52313336499998 meters Centerline goodness [0,1] 0.29169371943037703 Centerline is valid? [False, False] Translation: X:2.97, Y:0.46, Z:-0.21 [[ 0.99969486 -0.00976805 -0.02268867 2.97020396] [ 0.00968871 0.99994657 -0.00360458 0.46384578] [ 0.02272267 0.00338366 0.99973608 -0.21144455] [ 0. 0. 0. 1. ]] SLAMing on 248.55313336499998 meters Centerline goodness [0,1] 0.2948578631661306 Centerline is valid? [False, False] Translation: X:2.97, Y:0.46, Z:-0.21 [[ 9.99694439e-01 -9.62662515e-03 -2.27674383e-02 2.97045258e+00] [ 9.55846542e-03 9.99949510e-01 -3.10067271e-03 4.61045516e-01] [ 2.27961378e-02 2.88210350e-03 9.99735980e-01 -2.11474540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58313336499998 meters Centerline goodness [0,1] 0.29374480919701007 Centerline is valid? [False, False] Translation: X:2.97, Y:0.46, Z:-0.21 [[ 9.99698322e-01 -9.51492817e-03 -2.26435662e-02 2.96997383e+00] [ 9.46022457e-03 9.99952071e-01 -2.52175404e-03 4.57616046e-01] [ 2.26664752e-02 2.30678006e-03 9.99740421e-01 -2.11059158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61313336499998 meters Centerline goodness [0,1] 0.29348791851771594 Centerline is valid? [False, False] Translation: X:2.99, Y:0.45, Z:-0.21 [[ 9.99761589e-01 -2.34247530e-03 -2.17089599e-02 2.98793936e+00] [ 2.26678504e-03 9.99991269e-01 -3.51054262e-03 4.50280794e-01] [ 2.17169937e-02 3.46049612e-03 9.99758169e-01 -2.08749270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64313336499998 meters Centerline goodness [0,1] 0.2928399725274725 Centerline is valid? [False, False] Translation: X:2.99, Y:0.45, Z:-0.21 [[ 9.99768433e-01 -2.24708733e-03 -2.14016490e-02 2.98703456e+00] [ 2.18563645e-03 9.99993423e-01 -2.89427338e-03 4.46586681e-01] [ 2.14080119e-02 2.84682693e-03 9.99766769e-01 -2.08377316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67313336499998 meters Centerline goodness [0,1] 0.29546733624832244 Centerline is valid? [False, False] Translation: X:2.99, Y:0.44, Z:-0.21 [[ 9.99774140e-01 -2.04654082e-03 -2.11537231e-02 2.98648481e+00] [ 2.00042832e-03 9.99995577e-01 -2.20080713e-03 4.42926897e-01] [ 2.11581336e-02 2.15799355e-03 9.99773813e-01 -2.08339257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70313336499999 meters Centerline goodness [0,1] 0.29695838937822705 Centerline is valid? [False, False] Translation: X:2.99, Y:0.44, Z:-0.21 [[ 9.99782792e-01 -2.34855641e-03 -2.07087785e-02 2.98577649e+00] [ 2.31319845e-03 9.99995826e-01 -1.73117866e-03 4.35721490e-01] [ 2.07127579e-02 1.68289911e-03 9.99784051e-01 -2.08606841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.733133365 meters Centerline goodness [0,1] 0.29850843909459635 Centerline is valid? [False, False] Translation: X:2.99, Y:0.43, Z:-0.21 [[ 9.99781189e-01 -2.21514838e-03 -2.08006524e-02 2.98611399e+00] [ 2.18989259e-03 9.99996837e-01 -1.23688227e-03 4.32808160e-01] [ 2.08033265e-02 1.19106043e-03 9.99782878e-01 -2.08739250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.763133365 meters Centerline goodness [0,1] 0.2937483764828124 Centerline is valid? [False, False] Translation: X:2.99, Y:0.43, Z:-0.21 [[ 9.99774382e-01 -2.05729722e-03 -2.11412488e-02 2.98703623e+00] [ 2.03940889e-03 9.99997544e-01 -8.67659687e-04 4.30947911e-01] [ 2.11429819e-02 8.24348276e-04 9.99776122e-01 -2.08904068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.793133365 meters Centerline goodness [0,1] 0.2937483764828124 Centerline is valid? [False, False] Translation: X:2.99, Y:0.43, Z:-0.21 [[ 9.99774382e-01 -2.05729722e-03 -2.11412488e-02 2.98703623e+00] [ 2.03940889e-03 9.99997544e-01 -8.67659687e-04 4.30947911e-01] [ 2.11429819e-02 8.24348276e-04 9.99776122e-01 -2.08904068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.823133365 meters Centerline goodness [0,1] 0.2945180239741617 Centerline is valid? [False, False] Translation: X:2.99, Y:0.43, Z:-0.21 [[ 9.99769902e-01 -1.90063650e-03 -2.13665683e-02 2.98778071e+00] [ 1.88728446e-03 9.99998011e-01 -6.45050315e-04 4.30218852e-01] [ 2.13677518e-02 6.04577097e-04 9.99771501e-01 -2.09238521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.853133365 meters Centerline goodness [0,1] 0.29637341662328653 Centerline is valid? [False, False] Translation: X:2.99, Y:0.43, Z:-0.21 [[ 9.99768099e-01 -1.77976816e-03 -2.14611436e-02 2.98815189e+00] [ 1.76893086e-03 9.99998298e-01 -5.23946568e-04 4.29942250e-01] [ 2.14620396e-02 4.85861785e-04 9.99769546e-01 -2.09485867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.883133365 meters Centerline goodness [0,1] 0.2933136953366978 Centerline is valid? [False, False] Translation: X:2.99, Y:0.43, Z:-0.21 [[ 9.99766891e-01 -1.69761583e-03 -2.15239871e-02 2.98831004e+00] [ 1.68672891e-03 9.99998440e-01 -5.23948695e-04 4.30158368e-01] [ 2.15248430e-02 4.87521426e-04 9.99768195e-01 -2.09585015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.913133365 meters Centerline goodness [0,1] 0.2955569160799405 Centerline is valid? [False, False] Translation: X:2.99, Y:0.43, Z:-0.21 [[ 9.99762773e-01 -1.53010225e-03 -2.17268635e-02 2.98899195e+00] [ 1.51866790e-03 9.99998700e-01 -5.42767139e-04 4.30439211e-01] [ 2.17276657e-02 5.09642490e-04 9.99763797e-01 -2.10008344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.943133365 meters Centerline goodness [0,1] 0.2920799567801189 Centerline is valid? [False, False] Translation: X:3.01, Y:0.43, Z:-0.21 [[ 9.99750949e-01 6.47496416e-03 -2.13568362e-02 3.00937050e+00] [-6.51019265e-03 9.99977560e-01 -1.58040341e-03 4.27757188e-01] [ 2.13461238e-02 1.71904693e-03 9.99770668e-01 -2.08728351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.973133365 meters Centerline goodness [0,1] 0.2911321081830791 Centerline is valid? [False, False] Translation: X:3.01, Y:0.43, Z:-0.21 [[ 9.99750602e-01 6.46050244e-03 -2.13774453e-02 3.00954140e+00] [-6.49791463e-03 9.99977475e-01 -1.68107764e-03 4.28222949e-01] [ 2.13661032e-02 1.81956720e-03 9.99770063e-01 -2.08983315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.003133365 meters Centerline goodness [0,1] 0.29494357449042075 Centerline is valid? [False, False] Translation: X:3.01, Y:0.43, Z:-0.21 [[ 9.99749903e-01 6.43213140e-03 -2.14186824e-02 3.00980160e+00] [-6.47204373e-03 9.99977446e-01 -1.79463693e-03 4.28725253e-01] [ 2.14066559e-02 1.93281075e-03 9.99768983e-01 -2.09286361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.033133365 meters Centerline goodness [0,1] 0.28971882007935135 Centerline is valid? [False, False] Translation: X:3.03, Y:0.43, Z:-0.21 [[ 9.99774488e-01 -1.41894355e-03 -2.11886581e-02 3.02890143e+00] [ 1.40520323e-03 9.99998793e-01 -6.63349799e-04 4.34056271e-01] [ 2.11895738e-02 6.33425835e-04 9.99775275e-01 -2.08149016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.063133365 meters Centerline goodness [0,1] 0.2897561607740654 Centerline is valid? [False, False] Translation: X:3.03, Y:0.44, Z:-0.21 [[ 9.99781727e-01 -1.34310982e-03 -2.08493324e-02 3.02784158e+00] [ 1.32459322e-03 9.99998716e-01 -9.01899230e-04 4.36041202e-01] [ 2.08505169e-02 8.74085486e-04 9.99782222e-01 -2.07840438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.093133365 meters Centerline goodness [0,1] 0.2895414511696349 Centerline is valid? [False, False] Translation: X:3.03, Y:0.44, Z:-0.21 [[ 9.99781848e-01 -1.35666679e-03 -2.08426651e-02 3.02771201e+00] [ 1.33278980e-03 9.99998440e-01 -1.15943084e-03 4.37738296e-01] [ 2.08442055e-02 1.13139902e-03 9.99782096e-01 -2.07759763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.123133365 meters Centerline goodness [0,1] 0.2888068721402055 Centerline is valid? [False, False] Translation: X:3.03, Y:0.44, Z:-0.21 [[ 9.99781028e-01 -1.38435725e-03 -2.08801113e-02 3.02787165e+00] [ 1.35504567e-03 9.99998077e-01 -1.41788665e-03 4.39450673e-01] [ 2.08820340e-02 1.38928266e-03 9.99780981e-01 -2.07948781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15313336499997 meters Centerline goodness [0,1] 0.29001997741683316 Centerline is valid? [False, False] Translation: X:3.03, Y:0.44, Z:-0.21 [[ 9.99780862e-01 -1.38317278e-03 -2.08881286e-02 3.02802120e+00] [ 1.34852800e-03 9.99997692e-01 -1.67258144e-03 4.41437949e-01] [ 2.08903938e-02 1.64404669e-03 9.99780420e-01 -2.08236381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18313336499997 meters Centerline goodness [0,1] 0.293615995089227 Centerline is valid? [False, False] Translation: X:3.03, Y:0.44, Z:-0.21 [[ 9.99783751e-01 -1.40495775e-03 -2.07479347e-02 3.02772988e+00] [ 1.37024897e-03 9.99997638e-01 -1.68700049e-03 4.41449809e-01] [ 2.07502559e-02 1.65820584e-03 9.99783315e-01 -2.08294368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21313336499998 meters Centerline goodness [0,1] 0.2935998773838979 Centerline is valid? [False, False] Translation: X:3.03, Y:0.44, Z:-0.21 [[ 9.99785695e-01 -1.48497554e-03 -2.06484779e-02 3.02745238e+00] [ 1.45072348e-03 9.99997547e-01 -1.67369811e-03 4.40848614e-01] [ 2.06509126e-02 1.64338419e-03 9.99785397e-01 -2.08203281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24313336499998 meters Centerline goodness [0,1] 0.29300841940803746 Centerline is valid? [False, False] Translation: X:3.03, Y:0.44, Z:-0.21 [[ 9.99785268e-01 -1.48286187e-03 -2.06692617e-02 3.02731317e+00] [ 1.45218815e-03 9.99997822e-01 -1.49895645e-03 4.39690468e-01] [ 2.06714395e-02 1.46861892e-03 9.99785244e-01 -2.07859595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27313336499998 meters Centerline goodness [0,1] 0.2917635301018967 Centerline is valid? [False, False] Translation: X:3.03, Y:0.44, Z:-0.21 [[ 9.99787617e-01 -1.46185004e-03 -2.05568405e-02 3.02678384e+00] [ 1.43681906e-03 9.99998208e-01 -1.23236465e-03 4.38190827e-01] [ 2.05586052e-02 1.20256645e-03 9.99787926e-01 -2.07374704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30313336499998 meters Centerline goodness [0,1] 0.29269975421499717 Centerline is valid? [False, False] Translation: X:3.03, Y:0.44, Z:-0.21 [[ 9.99790247e-01 -1.36399538e-03 -2.04353182e-02 3.02627905e+00] [ 1.34740825e-03 9.99998752e-01 -8.25436197e-04 4.36222438e-01] [ 2.04364186e-02 7.97728342e-04 9.99790836e-01 -2.06954961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33313336499998 meters Centerline goodness [0,1] 0.29840157652726074 Centerline is valid? [False, False] Translation: X:2.98, Y:0.43, Z:-0.21 [[ 9.99772935e-01 -3.13365124e-03 -2.10774663e-02 2.97867646e+00] [ 3.09976557e-03 9.99993851e-01 -1.64015205e-03 4.28993326e-01] [ 2.10824764e-02 1.57444443e-03 9.99776500e-01 -2.06190523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36313336499998 meters Centerline goodness [0,1] 0.29278775896157483 Centerline is valid? [False, False] Translation: X:3.02, Y:0.43, Z:-0.21 [[ 9.99804439e-01 -4.34908330e-03 -1.92917029e-02 3.02232048e+00] [ 4.31242922e-03 9.99988817e-01 -1.94118669e-03 4.27880974e-01] [ 1.92999296e-02 1.85761296e-03 9.99812013e-01 -2.05565186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39313336499998 meters Centerline goodness [0,1] 0.2917662768409037 Centerline is valid? [False, False] Translation: X:3.02, Y:0.43, Z:-0.21 [[ 9.99804219e-01 -4.30929797e-03 -1.93119911e-02 3.02239074e+00] [ 4.27774786e-03 9.99989448e-01 -1.67471786e-03 4.26111325e-01] [ 1.93190041e-02 1.59177815e-03 9.99812104e-01 -2.05549936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42313336499998 meters Centerline goodness [0,1] 0.2957767886222994 Centerline is valid? [False, False] Translation: X:3.02, Y:0.43, Z:-0.21 [[ 9.99801334e-01 -4.21218703e-03 -1.94820391e-02 3.02275211e+00] [ 4.18418252e-03 9.99990154e-01 -1.47799199e-03 4.25264949e-01] [ 1.94880729e-02 1.39618196e-03 9.99809115e-01 -2.05484105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45313336499999 meters Centerline goodness [0,1] 0.2962995211144972 Centerline is valid? [False, False] Translation: X:3.02, Y:0.43, Z:-0.21 [[ 9.99797715e-01 -4.13669704e-03 -1.96829117e-02 3.02331975e+00] [ 4.10849138e-03 9.99990475e-01 -1.47322409e-03 4.25640469e-01] [ 1.96888185e-02 1.39205901e-03 9.99805187e-01 -2.05670348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.483133365 meters Centerline goodness [0,1] 0.2964934866569203 Centerline is valid? [False, False] Translation: X:3.02, Y:0.43, Z:-0.21 [[ 9.99795701e-01 -4.03764813e-03 -1.98054167e-02 3.02368438e+00] [ 4.00714792e-03 9.99990724e-01 -1.57943690e-03 4.26796530e-01] [ 1.98116102e-02 1.49975099e-03 9.99802606e-01 -2.05869402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.513133365 meters Centerline goodness [0,1] 0.2936313864664257 Centerline is valid? [False, False] Translation: X:3.05, Y:0.43, Z:-0.21 [[ 9.99799230e-01 5.29310397e-03 -1.93256869e-02 3.04534101e+00] [-5.33650537e-03 9.99983352e-01 -2.19490805e-03 4.28491181e-01] [ 1.93137473e-02 2.29759902e-03 9.99810832e-01 -2.05361308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.543133365 meters Centerline goodness [0,1] 0.29021009126915787 Centerline is valid? [False, False] Translation: X:3.05, Y:0.43, Z:-0.21 [[ 9.99792421e-01 5.34031985e-03 -1.96620350e-02 3.04618192e+00] [-5.39290710e-03 9.99982019e-01 -2.62250680e-03 4.31189464e-01] [ 1.96476764e-02 2.72799795e-03 9.99803244e-01 -2.05593160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.573133365 meters Centerline goodness [0,1] 0.29088865836791145 Centerline is valid? [False, False] Translation: X:3.05, Y:0.43, Z:-0.21 [[ 9.99789421e-01 5.42739027e-03 -1.97903093e-02 3.04652578e+00] [-5.48707341e-03 9.99980557e-01 -2.96272282e-03 4.33676808e-01] [ 1.97738446e-02 3.07068981e-03 9.99799763e-01 -2.05826631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.603133365 meters Centerline goodness [0,1] 0.28988167213681115 Centerline is valid? [False, False] Translation: X:3.05, Y:0.44, Z:-0.21 [[ 0.99978918 0.00545119 -0.019796 3.04645428] [-0.00551787 0.99997928 -0.00331546 0.43614107] [ 0.01977752 0.00342399 0.99979854 -0.20585722] [ 0. 0. 0. 1. ]] SLAMing on 249.633133365 meters Centerline goodness [0,1] 0.29079429823609815 Centerline is valid? [False, False] Translation: X:3.05, Y:0.44, Z:-0.21 [[ 0.99979205 0.00542434 -0.01965802 3.04601841] [-0.00549706 0.99997824 -0.00364749 0.43824059] [ 0.01963781 0.00375479 0.99980011 -0.20580761] [ 0. 0. 0. 1. ]] SLAMing on 249.663133365 meters Centerline goodness [0,1] 0.2939773796241605 Centerline is valid? [False, False] Translation: X:3.04, Y:0.44, Z:-0.21 [[ 0.99980045 0.00518891 -0.01929061 3.04495817] [-0.00527102 0.99997725 -0.00420801 0.44069289] [ 0.01926833 0.00430885 0.99980506 -0.20559973] [ 0. 0. 0. 1. ]] SLAMing on 249.693133365 meters Centerline goodness [0,1] 0.2910687188380663 Centerline is valid? [False, False] Translation: X:3.06, Y:0.45, Z:-0.20 [[ 9.99816356e-01 -3.03366137e-03 -1.89222168e-02 3.06377114e+00] [ 2.97286379e-03 9.99990331e-01 -3.24032819e-03 4.46283319e-01] [ 1.89318639e-02 3.18347995e-03 9.99815708e-01 -2.04060621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.723133365 meters Centerline goodness [0,1] 0.288322973350827 Centerline is valid? [False, False] Translation: X:3.06, Y:0.45, Z:-0.20 [[ 9.99816564e-01 -2.98994431e-03 -1.89182234e-02 3.06379036e+00] [ 2.93172734e-03 9.99990884e-01 -3.10428177e-03 4.45735166e-01] [ 1.89273326e-02 3.04824926e-03 9.99816215e-01 -2.04109740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.753133365 meters Centerline goodness [0,1] 0.29002981978477893 Centerline is valid? [False, False] Translation: X:3.06, Y:0.44, Z:-0.20 [[ 9.99816497e-01 -2.92141364e-03 -1.89324391e-02 3.06388070e+00] [ 2.86715909e-03 9.99991707e-01 -2.89220298e-03 4.44797315e-01] [ 1.89407315e-02 2.83738994e-03 9.99816582e-01 -2.04169837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.783133365 meters Centerline goodness [0,1] 0.29139992621687894 Centerline is valid? [False, False] Translation: X:3.06, Y:0.44, Z:-0.20 [[ 9.99811094e-01 -2.85892675e-03 -1.92250554e-02 3.06485041e+00] [ 2.80910874e-03 9.99992628e-01 -2.61781265e-03 4.43375810e-01] [ 1.92323978e-02 2.56331285e-03 9.99811754e-01 -2.04541573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.813133365 meters Centerline goodness [0,1] 0.29407248157248156 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:-0.21 [[ 9.99792239e-01 -3.20534192e-03 -2.01297018e-02 3.06784772e+00] [ 3.15430081e-03 9.99991731e-01 -2.56685088e-03 4.40674636e-01] [ 2.01377629e-02 2.50282245e-03 9.99794082e-01 -2.05765929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.843133365 meters Centerline goodness [0,1] 0.29152073334198125 Centerline is valid? [False, False] Translation: X:3.09, Y:0.44, Z:-0.20 [[ 0.9998041 0.0042077 -0.0193408 3.0869703 ] [-0.00428294 0.99998342 -0.00385048 0.43636579] [ 0.01932428 0.00393256 0.99980553 -0.20412829] [ 0. 0. 0. 1. ]] SLAMing on 249.873133365 meters Centerline goodness [0,1] 0.2932302923134019 Centerline is valid? [False, False] Translation: X:3.09, Y:0.44, Z:-0.20 [[ 0.99980769 0.00422347 -0.01915081 3.08639091] [-0.0042967 0.99998361 -0.00378426 0.43593234] [ 0.01913452 0.00386582 0.99980944 -0.20394765] [ 0. 0. 0. 1. ]] SLAMing on 249.90313336499997 meters Centerline goodness [0,1] 0.2893930897640512 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.20 [[ 9.99830913e-01 -1.76625428e-03 -1.83036869e-02 3.10735424e+00] [ 1.75277360e-03 9.99998181e-01 -7.52517394e-04 4.38707378e-01] [ 1.83049828e-02 7.20307934e-04 9.99832190e-01 -2.03980135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93313336499997 meters Centerline goodness [0,1] 0.2899223461021214 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.20 [[ 9.99830422e-01 -1.73304408e-03 -1.83336947e-02 3.10769598e+00] [ 1.71896452e-03 9.99998215e-01 -7.83691538e-04 4.39082251e-01] [ 1.83350201e-02 7.52043671e-04 9.99831617e-01 -2.04441390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96313336499998 meters Centerline goodness [0,1] 0.2932066945973809 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.20 [[ 9.99829076e-01 -1.74969549e-03 -1.84053448e-02 3.10811230e+00] [ 1.73351823e-03 9.99998097e-01 -8.94861499e-04 4.39588866e-01] [ 1.84068755e-02 8.62802545e-04 9.99830207e-01 -2.04919134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99313336499998 meters Centerline goodness [0,1] 0.2918768481475039 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.21 [[ 9.99823540e-01 -1.60409236e-03 -1.87167040e-02 3.10894572e+00] [ 1.58529989e-03 9.99998224e-01 -1.01884211e-03 4.40911176e-01] [ 1.87183051e-02 9.88990739e-04 9.99824308e-01 -2.05286070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02313336499998 meters Centerline goodness [0,1] 0.28906622717612873 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.21 [[ 9.99823530e-01 -1.55268469e-03 -1.87215912e-02 3.10901237e+00] [ 1.53215715e-03 9.99998209e-01 -1.11075696e-03 4.41946618e-01] [ 1.87232823e-02 1.08187653e-03 9.99824119e-01 -2.05458788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05313336499998 meters Centerline goodness [0,1] 0.2925275783575556 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.21 [[ 9.99824068e-01 -1.55310247e-03 -1.86928213e-02 3.10886379e+00] [ 1.53152376e-03 9.99998144e-01 -1.16864508e-03 4.42456575e-01] [ 1.86946017e-02 1.13981097e-03 9.99824591e-01 -2.05401350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08313336499998 meters Centerline goodness [0,1] 0.291515812431843 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.21 [[ 9.99826543e-01 -1.56832427e-03 -1.85586968e-02 3.10838480e+00] [ 1.54669641e-03 9.99998108e-01 -1.17967196e-03 4.42350815e-01] [ 1.85605117e-02 1.15076267e-03 9.99827077e-01 -2.05166413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11313336499998 meters Centerline goodness [0,1] 0.29079338878874095 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.21 [[ 9.99827454e-01 -1.60878850e-03 -1.85060676e-02 3.10819809e+00] [ 1.58747493e-03 9.99998060e-01 -1.16633938e-03 4.41927862e-01] [ 1.85079081e-02 1.13676022e-03 9.99828068e-01 -2.05043864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14313336499998 meters Centerline goodness [0,1] 0.2885201270499773 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.20 [[ 9.99827432e-01 -1.61647168e-03 -1.85065846e-02 3.10811868e+00] [ 1.59560227e-03 9.99998075e-01 -1.14238538e-03 4.41643692e-01] [ 1.85083956e-02 1.11265909e-03 9.99828086e-01 -2.04944828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17313336499998 meters Centerline goodness [0,1] 0.29141124370077887 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.21 [[ 9.99826127e-01 -1.52944588e-03 -1.85842872e-02 3.10850688e+00] [ 1.50809876e-03 9.99998187e-01 -1.16262531e-03 4.42548441e-01] [ 1.85860317e-02 1.13439622e-03 9.99826621e-01 -2.05330005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20313336499999 meters Centerline goodness [0,1] 0.2878335065835066 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.21 [[ 9.99825391e-01 -1.52764432e-03 -1.86240246e-02 3.10856477e+00] [ 1.50387070e-03 9.99998037e-01 -1.29044171e-03 4.43485080e-01] [ 1.86259594e-02 1.26220827e-03 9.99825725e-01 -2.05342802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.233133365 meters Centerline goodness [0,1] 0.28914721957144096 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.21 [[ 9.99823643e-01 -1.57143223e-03 -1.87139890e-02 3.10865278e+00] [ 1.54403258e-03 9.99997715e-01 -1.47848559e-03 4.44501289e-01] [ 1.87162696e-02 1.44932984e-03 9.99823785e-01 -2.05230776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.263133365 meters Centerline goodness [0,1] 0.28925190112009014 Centerline is valid? [False, False] Translation: X:3.11, Y:0.45, Z:-0.21 [[ 9.99819931e-01 -1.61612688e-03 -1.89075096e-02 3.10894499e+00] [ 1.58326873e-03 9.99997211e-01 -1.75267618e-03 4.46115381e-01] [ 1.89102894e-02 1.72242491e-03 9.99819701e-01 -2.05103039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.293133365 meters Centerline goodness [0,1] 0.28668809457039934 Centerline is valid? [False, False] Translation: X:3.11, Y:0.45, Z:-0.21 [[ 9.99814311e-01 -1.57471328e-03 -1.92058473e-02 3.10959603e+00] [ 1.53616528e-03 9.99996776e-01 -2.02168513e-03 4.48171827e-01] [ 1.92089690e-02 1.99180637e-03 9.99813507e-01 -2.05171864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.323133365 meters Centerline goodness [0,1] 0.2900991177431652 Centerline is valid? [False, False] Translation: X:3.11, Y:0.45, Z:-0.21 [[ 9.99812113e-01 -1.24110079e-03 -1.93442175e-02 3.11007185e+00] [ 1.19437975e-03 9.99996342e-01 -2.42661170e-03 4.52235044e-01] [ 1.93471584e-02 2.40305143e-03 9.99809938e-01 -2.05700280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.353133365 meters Centerline goodness [0,1] 0.2904754591131492 Centerline is valid? [False, False] Translation: X:3.11, Y:0.45, Z:-0.21 [[ 9.99817096e-01 -1.37281322e-03 -1.90758985e-02 3.10936361e+00] [ 1.31724174e-03 9.99994853e-01 -2.92543737e-03 4.54774879e-01] [ 1.90798164e-02 2.89977473e-03 9.99813759e-01 -2.05739432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.383133365 meters Centerline goodness [0,1] 0.28927365784601977 Centerline is valid? [False, False] Translation: X:3.11, Y:0.46, Z:-0.21 [[ 9.99823128e-01 -1.46384786e-03 -1.87501763e-02 3.10830616e+00] [ 1.40126637e-03 9.99993406e-01 -3.35035170e-03 4.57217320e-01] [ 1.87549570e-02 3.32348512e-03 9.99818587e-01 -2.05430070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.413133365 meters Centerline goodness [0,1] 0.28903647250952635 Centerline is valid? [False, False] Translation: X:3.11, Y:0.46, Z:-0.20 [[ 9.99826968e-01 -1.53711480e-03 -1.85383606e-02 3.10743975e+00] [ 1.46899795e-03 9.99992122e-01 -3.68743141e-03 4.59353070e-01] [ 1.85438825e-02 3.65956055e-03 9.99821350e-01 -2.04944291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.443133365 meters Centerline goodness [0,1] 0.2896464204446 Centerline is valid? [False, False] Translation: X:3.11, Y:0.46, Z:-0.20 [[ 9.99827094e-01 -1.60429927e-03 -1.85258633e-02 3.10716744e+00] [ 1.53041603e-03 9.99990822e-01 -4.00160193e-03 4.61327682e-01] [ 1.85321130e-02 3.97255775e-03 9.99820374e-01 -2.04673706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.473133365 meters Centerline goodness [0,1] 0.28588354408565086 Centerline is valid? [False, False] Translation: X:3.15, Y:0.47, Z:-0.20 [[ 9.99858892e-01 -1.27350768e-03 -1.67503722e-02 3.15138660e+00] [ 1.21251592e-03 9.99992600e-01 -3.65087006e-03 4.69326933e-01] [ 1.67548976e-02 3.63004480e-03 9.99853037e-01 -2.04671855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.503133365 meters Centerline goodness [0,1] 0.2904952563321438 Centerline is valid? [False, False] Translation: X:3.15, Y:0.47, Z:-0.20 [[ 9.99861112e-01 -1.39293791e-03 -1.66077453e-02 3.15111388e+00] [ 1.32793097e-03 9.99991417e-01 -3.92464002e-03 4.70584914e-01] [ 1.66130695e-02 3.90204099e-03 9.99854379e-01 -2.04818596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.533133365 meters Centerline goodness [0,1] 0.2899976013432478 Centerline is valid? [False, False] Translation: X:3.15, Y:0.47, Z:-0.20 [[ 9.99862831e-01 -1.48664438e-03 -1.64957308e-02 3.15089205e+00] [ 1.41914538e-03 9.99990576e-01 -4.10285888e-03 4.71370143e-01] [ 1.65016749e-02 4.07888626e-03 9.99855518e-01 -2.04887449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.563133365 meters Centerline goodness [0,1] 0.29152326881343305 Centerline is valid? [False, False] Translation: X:3.15, Y:0.47, Z:-0.20 [[ 9.99862869e-01 -1.54202183e-03 -1.64883333e-02 3.15088792e+00] [ 1.47289460e-03 9.99990079e-01 -4.20381500e-03 4.71770386e-01] [ 1.64946521e-02 4.17895295e-03 9.99855221e-01 -2.04916941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.593133365 meters Centerline goodness [0,1] 0.2883584680481719 Centerline is valid? [False, False] Translation: X:3.15, Y:0.47, Z:-0.20 [[ 9.99861658e-01 -1.53213934e-03 -1.65625187e-02 3.15088420e+00] [ 1.46373880e-03 9.99990354e-01 -4.14117359e-03 4.71536660e-01] [ 1.65687038e-02 4.11635749e-03 9.99854256e-01 -2.04622148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.623133365 meters Centerline goodness [0,1] 0.28684142450633787 Centerline is valid? [False, False] Translation: X:3.15, Y:0.47, Z:-0.20 [[ 9.99857122e-01 -1.45888555e-03 -1.68406545e-02 3.15134199e+00] [ 1.39644179e-03 9.99992109e-01 -3.71908178e-03 4.69320088e-01] [ 1.68459473e-02 3.69503341e-03 9.99851269e-01 -2.04174047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65313336499997 meters Centerline goodness [0,1] 0.29065342897130864 Centerline is valid? [False, False] Translation: X:3.11, Y:0.47, Z:-0.20 [[ 9.99805636e-01 -1.50917142e-03 -1.96573742e-02 3.10754534e+00] [ 1.42844478e-03 9.99990492e-01 -4.12007904e-03 4.65397930e-01] [ 1.96634052e-02 4.09119877e-03 9.99798286e-01 -2.04525824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68313336499997 meters Centerline goodness [0,1] 0.29065342897130864 Centerline is valid? [False, False] Translation: X:3.11, Y:0.47, Z:-0.20 [[ 9.99805636e-01 -1.50917142e-03 -1.96573742e-02 3.10754534e+00] [ 1.42844478e-03 9.99990492e-01 -4.12007904e-03 4.65397930e-01] [ 1.96634052e-02 4.09119877e-03 9.99798286e-01 -2.04525824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71313336499998 meters Centerline goodness [0,1] 0.2884136706997684 Centerline is valid? [False, False] Translation: X:3.11, Y:0.46, Z:-0.20 [[ 9.99804107e-01 -1.46681044e-03 -1.97381668e-02 3.10797348e+00] [ 1.38780788e-03 9.99990974e-01 -4.01563033e-03 4.64786214e-01] [ 1.97438788e-02 3.98745092e-03 9.99797119e-01 -2.04848065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74313336499998 meters Centerline goodness [0,1] 0.28910487265153817 Centerline is valid? [False, False] Translation: X:3.11, Y:0.46, Z:-0.21 [[ 9.99805571e-01 -1.45697745e-03 -1.96646383e-02 3.10794615e+00] [ 1.37890771e-03 9.99991117e-01 -3.98303286e-03 4.64384878e-01] [ 1.96702669e-02 3.95514272e-03 9.99798698e-01 -2.05089196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77313336499998 meters Centerline goodness [0,1] 0.2882537620439537 Centerline is valid? [False, False] Translation: X:3.11, Y:0.46, Z:-0.20 [[ 9.99807147e-01 -1.44671432e-03 -1.95851052e-02 3.10752031e+00] [ 1.36928035e-03 9.99991196e-01 -3.96655007e-03 4.64267387e-01] [ 1.95906712e-02 3.93896760e-03 9.99800325e-01 -2.04771912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80313336499998 meters Centerline goodness [0,1] 0.2911854896587721 Centerline is valid? [False, False] Translation: X:3.11, Y:0.46, Z:-0.20 [[ 9.99809113e-01 -1.38643951e-03 -1.94888529e-02 3.10703817e+00] [ 1.31022337e-03 9.99991447e-01 -3.92298023e-03 4.64345678e-01] [ 1.94941252e-02 3.89669663e-03 9.99802378e-01 -2.04427820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83313336499998 meters Centerline goodness [0,1] 0.2879279045643154 Centerline is valid? [False, False] Translation: X:3.11, Y:0.46, Z:-0.20 [[ 9.99804599e-01 -1.21582785e-03 -1.97303367e-02 3.10760427e+00] [ 1.14088520e-03 9.99992094e-01 -3.80915803e-03 4.64367887e-01] [ 1.97348120e-02 3.78590366e-03 9.99798082e-01 -2.04505651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86313336499998 meters Centerline goodness [0,1] 0.28870583134619554 Centerline is valid? [False, False] Translation: X:3.11, Y:0.46, Z:-0.20 [[ 9.99800440e-01 -1.22966035e-03 -1.99391231e-02 3.10828145e+00] [ 1.15263221e-03 9.99991831e-01 -3.87419804e-03 4.64559298e-01] [ 1.99437242e-02 3.85044243e-03 9.99793690e-01 -2.04843378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89313336499998 meters Centerline goodness [0,1] 0.29047359825802943 Centerline is valid? [False, False] Translation: X:3.11, Y:0.46, Z:-0.21 [[ 9.99798618e-01 -1.20207487e-03 -2.00319464e-02 3.10857144e+00] [ 1.12489713e-03 9.99991904e-01 -3.86355576e-03 4.64693513e-01] [ 2.00364285e-02 3.84024383e-03 9.99791875e-01 -2.05013524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92313336499998 meters Centerline goodness [0,1] 0.2872201978136387 Centerline is valid? [False, False] Translation: X:3.11, Y:0.46, Z:-0.20 [[ 9.99803508e-01 -1.16254959e-03 -1.97887084e-02 3.10769280e+00] [ 1.08710923e-03 9.99992103e-01 -3.82262360e-03 4.64768564e-01] [ 1.97929961e-02 3.80036000e-03 9.99796877e-01 -2.04555382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95313336499999 meters Centerline goodness [0,1] 0.2894324853228962 Centerline is valid? [False, False] Translation: X:3.11, Y:0.46, Z:-0.20 [[ 9.99805421e-01 -1.19240664e-03 -1.96900492e-02 3.10723741e+00] [ 1.11636475e-03 9.99991879e-01 -3.87248547e-03 4.64897434e-01] [ 1.96945068e-02 3.84975069e-03 9.99798633e-01 -2.04243573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.983133365 meters Centerline goodness [0,1] 0.29020155309309836 Centerline is valid? [False, False] Translation: X:3.11, Y:0.46, Z:-0.20 [[ 9.99802622e-01 -1.27508471e-03 -1.98265488e-02 3.10763629e+00] [ 1.19641584e-03 9.99991367e-01 -3.97921056e-03 4.64900976e-01] [ 1.98314515e-02 3.95470435e-03 9.99795516e-01 -2.04394721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.013133365 meters Centerline goodness [0,1] 0.28436192694182083 Centerline is valid? [False, False] Translation: X:3.11, Y:0.46, Z:-0.20 [[ 9.99795426e-01 -1.36231236e-03 -2.01804356e-02 3.10880247e+00] [ 1.28038875e-03 9.99990890e-01 -4.07192088e-03 4.64867485e-01] [ 2.01857990e-02 4.04524907e-03 9.99788062e-01 -2.04921251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.043133365 meters Centerline goodness [0,1] 0.28898943540006927 Centerline is valid? [False, False] Translation: X:3.11, Y:0.46, Z:-0.21 [[ 9.99790741e-01 -1.35288889e-03 -2.04118629e-02 3.10957301e+00] [ 1.27021320e-03 9.99990940e-01 -4.06279616e-03 4.64818671e-01] [ 2.04171745e-02 4.03601856e-03 9.99783401e-01 -2.05266744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.073133365 meters Centerline goodness [0,1] 0.2895788102475032 Centerline is valid? [False, False] Translation: X:3.11, Y:0.46, Z:-0.21 [[ 9.99790116e-01 -1.28560962e-03 -2.04467827e-02 3.10969801e+00] [ 1.20420310e-03 9.99991302e-01 -3.99319951e-03 4.64930764e-01] [ 2.04517385e-02 3.96773932e-03 9.99782968e-01 -2.05302042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.103133365 meters Centerline goodness [0,1] 0.2923252546540218 Centerline is valid? [False, False] Translation: X:3.11, Y:0.47, Z:-0.20 [[ 9.99795871e-01 -1.34058309e-03 -2.01598283e-02 3.10863732e+00] [ 1.25700409e-03 9.99990566e-01 -4.15791949e-03 4.65865594e-01] [ 2.01652122e-02 4.13172975e-03 9.99788124e-01 -2.04679426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.133133365 meters Centerline goodness [0,1] 0.29470111670680976 Centerline is valid? [False, False] Translation: X:3.11, Y:0.47, Z:-0.20 [[ 9.99798360e-01 -1.40781479e-03 -2.00313971e-02 3.10805569e+00] [ 1.32194299e-03 9.99989884e-01 -4.29945632e-03 4.66454788e-01] [ 2.00372473e-02 4.27210901e-03 9.99790107e-01 -2.04281305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.163133365 meters Centerline goodness [0,1] 0.2874458127547609 Centerline is valid? [False, False] Translation: X:3.15, Y:0.47, Z:-0.20 [[ 9.99828211e-01 -1.60631318e-03 -1.84653039e-02 3.15106697e+00] [ 1.52883993e-03 9.99989974e-01 -4.20896296e-03 4.70904823e-01] [ 1.84718796e-02 4.18000942e-03 9.99820643e-01 -2.03251876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.193133365 meters Centerline goodness [0,1] 0.2878584713871707 Centerline is valid? [False, False] Translation: X:3.15, Y:0.47, Z:-0.20 [[ 9.99827183e-01 -1.59745910e-03 -1.85216501e-02 3.15103608e+00] [ 1.51793260e-03 9.99989573e-01 -4.30696862e-03 4.71795320e-01] [ 1.85283371e-02 4.27810968e-03 9.99819183e-01 -2.03047751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.223133365 meters Centerline goodness [0,1] 0.29040107765176204 Centerline is valid? [False, False] Translation: X:3.15, Y:0.47, Z:-0.20 [[ 9.99826193e-01 -1.54455159e-03 -1.85795294e-02 3.15102063e+00] [ 1.46023010e-03 9.99988577e-01 -4.55111893e-03 4.74107552e-01] [ 1.85863467e-02 4.52319752e-03 9.99817027e-01 -2.02911973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.253133365 meters Centerline goodness [0,1] 0.2894725417842414 Centerline is valid? [False, False] Translation: X:3.15, Y:0.48, Z:-0.20 [[ 9.99826592e-01 -1.56694969e-03 -1.85561560e-02 3.15087454e+00] [ 1.47966130e-03 9.99987781e-01 -4.71680838e-03 4.75195857e-01] [ 1.85633202e-02 4.68853362e-03 9.99816694e-01 -2.02859727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.283133365 meters Centerline goodness [0,1] 0.29086402574248815 Centerline is valid? [False, False] Translation: X:3.15, Y:0.48, Z:-0.20 [[ 9.99824385e-01 -1.57468188e-03 -1.86740398e-02 3.15106941e+00] [ 1.48442774e-03 9.99987156e-01 -4.84601088e-03 4.76091484e-01] [ 1.86814309e-02 4.81743959e-03 9.99813881e-01 -2.02791189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.313133365 meters Centerline goodness [0,1] 0.29204716343743875 Centerline is valid? [False, False] Translation: X:3.15, Y:0.48, Z:-0.20 [[ 9.99822608e-01 -1.54475146e-03 -1.87714342e-02 3.15122679e+00] [ 1.45245892e-03 9.99986796e-01 -4.92928783e-03 4.76904050e-01] [ 1.87788008e-02 4.90114867e-03 9.99811650e-01 -2.02756714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.343133365 meters Centerline goodness [0,1] 0.28960858421304136 Centerline is valid? [False, False] Translation: X:3.15, Y:0.48, Z:-0.20 [[ 9.99822469e-01 -1.49452028e-03 -1.87829098e-02 3.15114605e+00] [ 1.40060389e-03 9.99986458e-01 -5.01225837e-03 4.77892852e-01] [ 1.87901464e-02 4.98506112e-03 9.99811022e-01 -2.02672667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.373133365 meters Centerline goodness [0,1] 0.28352317823969797 Centerline is valid? [False, False] Translation: X:3.17, Y:0.48, Z:-0.20 [[ 0.99982457 0.00648004 -0.01757382 3.17109058] [-0.00658787 0.99995979 -0.00608486 0.47717355] [ 0.01753368 0.00619956 0.99982705 -0.20106896] [ 0. 0. 0. 1. ]] SLAMing on 251.40313336499997 meters Centerline goodness [0,1] 0.28449942017781216 Centerline is valid? [False, False] Translation: X:3.17, Y:0.48, Z:-0.20 [[ 0.9998433 0.00673691 -0.0163702 3.16749564] [-0.00683934 0.99995733 -0.00620916 0.47889186] [ 0.01632767 0.00632015 0.99984672 -0.20006936] [ 0. 0. 0. 1. ]] SLAMing on 251.43313336499997 meters Centerline goodness [0,1] 0.28804489689376145 Centerline is valid? [False, False] Translation: X:3.15, Y:0.48, Z:-0.20 [[ 9.99875984e-01 -5.14692873e-04 -1.57401364e-02 3.14683890e+00] [ 4.33590675e-04 9.99986616e-01 -5.15555141e-03 4.84075733e-01] [ 1.57425792e-02 5.14808726e-03 9.99862825e-01 -2.02123621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46313336499998 meters Centerline goodness [0,1] 0.28752519014496525 Centerline is valid? [False, False] Translation: X:3.15, Y:0.49, Z:-0.20 [[ 9.99868434e-01 -4.33883736e-04 -1.62150293e-02 3.14823412e+00] [ 3.43992631e-04 9.99984561e-01 -5.54606861e-03 4.86819759e-01] [ 1.62171853e-02 5.53976108e-03 9.99853146e-01 -2.02784686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49313336499998 meters Centerline goodness [0,1] 0.2861183684926478 Centerline is valid? [False, False] Translation: X:3.15, Y:0.49, Z:-0.20 [[ 9.99862171e-01 -4.07281645e-04 -1.65974054e-02 3.14935428e+00] [ 3.08242861e-04 9.99982136e-01 -5.96924579e-03 4.89573499e-01] [ 1.65995401e-02 5.96330702e-03 9.99844435e-01 -2.03339290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52313336499998 meters Centerline goodness [0,1] 0.28702319838845924 Centerline is valid? [False, False] Translation: X:3.15, Y:0.49, Z:-0.20 [[ 9.99860924e-01 -4.79593125e-04 -1.66704330e-02 3.14946954e+00] [ 3.73381930e-04 9.99979618e-01 -6.37376051e-03 4.91843059e-01] [ 1.66731501e-02 6.36664964e-03 9.99840723e-01 -2.03450155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55313336499998 meters Centerline goodness [0,1] 0.28287478219717344 Centerline is valid? [False, False] Translation: X:3.15, Y:0.49, Z:-0.20 [[ 9.99863227e-01 -5.53389271e-04 -1.65293697e-02 3.14893211e+00] [ 4.42705670e-04 9.99977463e-01 -6.69908658e-03 4.93741584e-01] [ 1.65327044e-02 6.69085268e-03 9.99840938e-01 -2.03306047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58313336499998 meters Centerline goodness [0,1] 0.28646048708294336 Centerline is valid? [False, False] Translation: X:3.15, Y:0.50, Z:-0.20 [[ 9.99866019e-01 -5.87520199e-04 -1.63584441e-02 3.14798342e+00] [ 4.72930178e-04 9.99975332e-01 -7.00793372e-03 4.96224302e-01] [ 1.63621578e-02 6.99925839e-03 9.99841633e-01 -2.02626668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61313336499998 meters Centerline goodness [0,1] 0.2858690236346699 Centerline is valid? [False, False] Translation: X:3.15, Y:0.50, Z:-0.20 [[ 9.99862783e-01 -6.11760190e-04 -1.65541926e-02 3.14852012e+00] [ 4.93260341e-04 9.99974235e-01 -7.16143478e-03 4.97385839e-01] [ 1.65581472e-02 7.15228658e-03 9.99837323e-01 -2.02723014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64313336499998 meters Centerline goodness [0,1] 0.2873338120416912 Centerline is valid? [False, False] Translation: X:3.15, Y:0.50, Z:-0.20 [[ 9.99859129e-01 -6.76631072e-04 -1.67709554e-02 3.14925044e+00] [ 5.53986204e-04 9.99973081e-01 -7.31649997e-03 4.98177738e-01] [ 1.67754545e-02 7.30617841e-03 9.99832588e-01 -2.03097505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67313336499998 meters Centerline goodness [0,1] 0.2858073057973216 Centerline is valid? [False, False] Translation: X:3.15, Y:0.50, Z:-0.20 [[ 9.99856265e-01 -7.92359092e-04 -1.69358274e-02 3.14985798e+00] [ 6.66244141e-04 9.99972019e-01 -7.45098185e-03 4.98490399e-01] [ 1.69412574e-02 7.43862749e-03 9.99828816e-01 -2.03382553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70313336499999 meters Centerline goodness [0,1] 0.2845451412818746 Centerline is valid? [False, False] Translation: X:3.15, Y:0.50, Z:-0.20 [[ 9.99856675e-01 -8.88556695e-04 -1.69068142e-02 3.14959513e+00] [ 7.63050388e-04 9.99972118e-01 -7.42841877e-03 4.97868591e-01] [ 1.69129434e-02 7.41445334e-03 9.99829475e-01 -2.02985240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.733133365 meters Centerline goodness [0,1] 0.2886792452830189 Centerline is valid? [False, False] Translation: X:3.15, Y:0.50, Z:-0.20 [[ 9.99866179e-01 -1.23221844e-03 -1.63127531e-02 3.14791572e+00] [ 1.11202161e-03 9.99972184e-01 -7.37529500e-03 4.96391309e-01] [ 1.63213873e-02 7.35616790e-03 9.99839737e-01 -2.02316313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.763133365 meters Centerline goodness [0,1] 0.2889709877213952 Centerline is valid? [False, False] Translation: X:3.15, Y:0.50, Z:-0.20 [[ 9.99864332e-01 -1.13440622e-03 -1.64326266e-02 3.14826582e+00] [ 1.01791076e-03 9.99974306e-01 -7.09590821e-03 4.95299733e-01] [ 1.64402540e-02 7.07821857e-03 9.99839796e-01 -2.02310423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.793133365 meters Centerline goodness [0,1] 0.2918641390205371 Centerline is valid? [False, False] Translation: X:3.15, Y:0.49, Z:-0.20 [[ 9.99858669e-01 -1.12512946e-03 -1.67742398e-02 3.14933008e+00] [ 1.00831596e-03 9.99975196e-01 -6.97069439e-03 4.94604118e-01] [ 1.67816667e-02 6.95279548e-03 9.99835004e-01 -2.02654554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.823133365 meters Centerline goodness [0,1] 0.28809658227298385 Centerline is valid? [False, False] Translation: X:3.17, Y:0.50, Z:-0.20 [[ 0.99978436 -0.0100919 -0.01814917 3.17117164] [ 0.00997266 0.99992817 -0.00664848 0.49904972] [ 0.01821496 0.00646605 0.99981319 -0.20190383] [ 0. 0. 0. 1. ]] SLAMing on 251.853133365 meters Centerline goodness [0,1] 0.2878272733178855 Centerline is valid? [False, False] Translation: X:3.17, Y:0.50, Z:-0.20 [[ 0.9997852 -0.01008086 -0.01810865 3.17073101] [ 0.00996423 0.9999291 -0.00651967 0.49831873] [ 0.01817309 0.00633784 0.99981477 -0.20127943] [ 0. 0. 0. 1. ]] SLAMing on 251.883133365 meters Centerline goodness [0,1] 0.2867526529203692 Centerline is valid? [False, False] Translation: X:3.17, Y:0.50, Z:-0.20 [[ 0.99979194 -0.01001407 -0.01777077 3.1692458 ] [ 0.00990406 0.99993131 -0.00626798 0.4973309 ] [ 0.01783232 0.00609067 0.99982244 -0.20013032] [ 0. 0. 0. 1. ]] SLAMing on 251.913133365 meters Centerline goodness [0,1] 0.29130349729389005 Centerline is valid? [False, False] Translation: X:3.15, Y:0.49, Z:-0.20 [[ 9.99870478e-01 -2.34001666e-03 -1.59233161e-02 3.14988407e+00] [ 2.22886336e-03 9.99973053e-01 -6.99470708e-03 4.89822176e-01] [ 1.59392547e-02 6.95831022e-03 9.99848750e-01 -2.01499520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.943133365 meters Centerline goodness [0,1] 0.29186054061072997 Centerline is valid? [False, False] Translation: X:3.15, Y:0.49, Z:-0.20 [[ 9.99870526e-01 -2.36590462e-03 -1.59164477e-02 3.15002054e+00] [ 2.25736481e-03 9.99974101e-01 -6.83386171e-03 4.88626224e-01] [ 1.59322038e-02 6.79704767e-03 9.99849971e-01 -2.01608872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.973133365 meters Centerline goodness [0,1] 0.2954431209703857 Centerline is valid? [False, False] Translation: X:3.15, Y:0.49, Z:-0.20 [[ 9.99863302e-01 -2.46613174e-03 -1.63491708e-02 3.15139914e+00] [ 2.35645779e-03 9.99974616e-01 -6.72410112e-03 4.87112651e-01] [ 1.63653384e-02 6.68465581e-03 9.99843733e-01 -2.02091224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.003133365 meters Centerline goodness [0,1] 0.2915403274711946 Centerline is valid? [False, False] Translation: X:3.15, Y:0.49, Z:-0.20 [[ 9.99853740e-01 -2.53614058e-03 -1.69134761e-02 3.15318769e+00] [ 2.42590965e-03 9.99975706e-01 -6.53467837e-03 4.85348598e-01] [ 1.69296381e-02 6.49269205e-03 9.99835603e-01 -2.02740084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.033133365 meters Centerline goodness [0,1] 0.29241158391411626 Centerline is valid? [False, False] Translation: X:3.15, Y:0.48, Z:-0.20 [[ 9.99852814e-01 -2.49725870e-03 -1.69739458e-02 3.15318173e+00] [ 2.39949352e-03 9.99980430e-01 -5.77764760e-03 4.81043103e-01] [ 1.69880419e-02 5.73606834e-03 9.99839239e-01 -2.02285595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.063133365 meters Centerline goodness [0,1] 0.2920833966111991 Centerline is valid? [False, False] Translation: X:3.15, Y:0.48, Z:-0.20 [[ 9.99857541e-01 -2.34668816e-03 -1.67149792e-02 3.15229489e+00] [ 2.26055936e-03 9.99984081e-01 -5.16982274e-03 4.77941410e-01] [ 1.67268451e-02 5.13130105e-03 9.99846929e-01 -2.01688634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.093133365 meters Centerline goodness [0,1] 0.2964633588285285 Centerline is valid? [False, False] Translation: X:3.15, Y:0.47, Z:-0.20 [[ 9.99863549e-01 -2.35899326e-03 -1.63499051e-02 3.15130686e+00] [ 2.28304220e-03 9.99986524e-01 -4.66246052e-03 4.74496850e-01] [ 1.63606835e-02 4.62449680e-03 9.99855461e-01 -2.01249629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.123133365 meters Centerline goodness [0,1] 0.29882974542596397 Centerline is valid? [False, False] Translation: X:3.15, Y:0.47, Z:-0.20 [[ 9.99867701e-01 -2.42853906e-03 -1.60836456e-02 3.15079799e+00] [ 2.36107906e-03 9.99988342e-01 -4.21198413e-03 4.70863201e-01] [ 1.60936871e-02 4.17345213e-03 9.99861778e-01 -2.01212731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15313336499997 meters Centerline goodness [0,1] 0.2935405095844229 Centerline is valid? [False, False] Translation: X:3.15, Y:0.46, Z:-0.20 [[ 9.99865048e-01 -2.43109234e-03 -1.62473045e-02 3.15200352e+00] [ 2.37363931e-03 9.99990866e-01 -3.55450674e-03 4.64231296e-01] [ 1.62557975e-02 3.51546181e-03 9.99861686e-01 -2.02160268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18313336499997 meters Centerline goodness [0,1] 0.29518020161813696 Centerline is valid? [False, False] Translation: X:3.15, Y:0.46, Z:-0.20 [[ 9.99863453e-01 -2.22590001e-03 -1.63743965e-02 3.15268757e+00] [ 2.17500962e-03 9.99992752e-01 -3.12507705e-03 4.62344155e-01] [ 1.63812339e-02 3.08903586e-03 9.99861047e-01 -2.02724786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21313336499998 meters Centerline goodness [0,1] 0.29618704723897105 Centerline is valid? [False, False] Translation: X:3.15, Y:0.46, Z:-0.20 [[ 9.99863288e-01 -2.05348843e-03 -1.64069574e-02 3.15305534e+00] [ 2.00767744e-03 9.99994042e-01 -2.80815170e-03 4.61121373e-01] [ 1.64126261e-02 2.77482791e-03 9.99861453e-01 -2.03180206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24313336499998 meters Centerline goodness [0,1] 0.293731510872147 Centerline is valid? [False, False] Translation: X:3.15, Y:0.46, Z:-0.20 [[ 9.99863972e-01 -1.93741320e-03 -1.63793679e-02 3.15313083e+00] [ 1.89488811e-03 9.99994795e-01 -2.61138058e-03 4.60273016e-01] [ 1.63843420e-02 2.57998829e-03 9.99862439e-01 -2.03399217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27313336499998 meters Centerline goodness [0,1] 0.2940143897364771 Centerline is valid? [False, False] Translation: X:3.15, Y:0.46, Z:-0.20 [[ 9.99864208e-01 -1.84348899e-03 -1.63757997e-02 3.15349461e+00] [ 1.80436210e-03 9.99995483e-01 -2.40376590e-03 4.58819010e-01] [ 1.63801571e-02 2.37389161e-03 9.99863018e-01 -2.04007673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30313336499998 meters Centerline goodness [0,1] 0.29290717089142837 Centerline is valid? [False, False] Translation: X:3.15, Y:0.46, Z:-0.20 [[ 9.99862012e-01 -1.79334320e-03 -1.65148699e-02 3.15401928e+00] [ 1.75514826e-03 9.99995752e-01 -2.32696426e-03 4.58306453e-01] [ 1.65189728e-02 2.29765712e-03 9.99860912e-01 -2.04354867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33313336499998 meters Centerline goodness [0,1] 0.2931053167739558 Centerline is valid? [False, False] Translation: X:3.15, Y:0.46, Z:-0.20 [[ 9.99858237e-01 -1.71642490e-03 -1.67498986e-02 3.15467930e+00] [ 1.67922182e-03 9.99996093e-01 -2.23490454e-03 4.57868349e-01] [ 1.67536692e-02 2.20646092e-03 9.99857213e-01 -2.04565217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36313336499998 meters Centerline goodness [0,1] 0.29562931746100707 Centerline is valid? [False, False] Translation: X:3.16, Y:0.46, Z:-0.20 [[ 9.99855583e-01 -1.65045288e-03 -1.69141922e-02 3.15517905e+00] [ 1.61395391e-03 9.99996340e-01 -2.17131311e-03 4.57642627e-01] [ 1.69177140e-02 2.14370080e-03 9.99854587e-01 -2.04808403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39313336499998 meters Centerline goodness [0,1] 0.29463605701229467 Centerline is valid? [False, False] Translation: X:3.16, Y:0.46, Z:-0.20 [[ 9.99856111e-01 -1.58526534e-03 -1.68891485e-02 3.15507476e+00] [ 1.55040915e-03 9.99996642e-01 -2.07671556e-03 4.57167490e-01] [ 1.68923839e-02 2.05023166e-03 9.99855211e-01 -2.04810090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42313336499998 meters Centerline goodness [0,1] 0.2923680162908082 Centerline is valid? [False, False] Translation: X:3.15, Y:0.46, Z:-0.20 [[ 9.99861025e-01 -1.49623078e-03 -1.66039559e-02 3.15418917e+00] [ 1.46419833e-03 9.99997044e-01 -1.94119468e-03 4.56641638e-01] [ 1.66068113e-02 1.91661342e-03 9.99860260e-01 -2.04507139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45313336499999 meters Centerline goodness [0,1] 0.29087501615613287 Centerline is valid? [False, False] Translation: X:3.15, Y:0.46, Z:-0.20 [[ 9.99869016e-01 -1.29516299e-03 -1.61329970e-02 3.15283573e+00] [ 1.26567577e-03 9.99997510e-01 -1.83783453e-03 4.56866449e-01] [ 1.61353371e-02 1.81717466e-03 9.99868166e-01 -2.04202065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.483133365 meters Centerline goodness [0,1] 0.29664382664862743 Centerline is valid? [False, False] Translation: X:3.13, Y:0.45, Z:-0.21 [[ 9.99827988e-01 7.14535563e-03 -1.71154276e-02 3.13305727e+00] [-7.19631397e-03 9.99969850e-01 -2.91759722e-03 4.52063612e-01] [ 1.70940643e-02 3.04026335e-03 9.99849264e-01 -2.05304055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.513133365 meters Centerline goodness [0,1] 0.29249380999956565 Centerline is valid? [False, False] Translation: X:3.13, Y:0.45, Z:-0.21 [[ 9.99822537e-01 7.11631723e-03 -1.74428450e-02 3.13398349e+00] [-7.17183030e-03 9.99969408e-01 -3.12208472e-03 4.53212365e-01] [ 1.74200937e-02 3.24662779e-03 9.99842988e-01 -2.05650370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.543133365 meters Centerline goodness [0,1] 0.2930199213573461 Centerline is valid? [False, False] Translation: X:3.13, Y:0.45, Z:-0.21 [[ 0.99981883 0.00708001 -0.01766867 3.13452324] [-0.00713969 0.99996901 -0.0033172 0.45434723] [ 0.01764464 0.00344275 0.99983839 -0.20574503] [ 0. 0. 0. 1. ]] SLAMing on 252.573133365 meters Centerline goodness [0,1] 0.29175792007285817 Centerline is valid? [False, False] Translation: X:3.13, Y:0.46, Z:-0.21 [[ 0.99981599 0.00703644 -0.01784606 3.13467795] [-0.00710022 0.99996862 -0.00351287 0.45556928] [ 0.01782078 0.00363894 0.99983458 -0.20541016] [ 0. 0. 0. 1. ]] SLAMing on 252.603133365 meters Centerline goodness [0,1] 0.29175792007285817 Centerline is valid? [False, False] Translation: X:3.13, Y:0.46, Z:-0.21 [[ 0.99981599 0.00703644 -0.01784606 3.13467795] [-0.00710022 0.99996862 -0.00351287 0.45556928] [ 0.01782078 0.00363894 0.99983458 -0.20541016] [ 0. 0. 0. 1. ]] SLAMing on 252.633133365 meters Centerline goodness [0,1] 0.29205808842540726 Centerline is valid? [False, False] Translation: X:3.15, Y:0.46, Z:-0.20 [[ 9.99857814e-01 -3.26537900e-04 -1.68595495e-02 3.15117490e+00] [ 2.99763218e-04 9.99998690e-01 -1.59060454e-03 4.63282380e-01] [ 1.68600468e-02 1.58532450e-03 9.99856603e-01 -2.02441913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.663133365 meters Centerline goodness [0,1] 0.29615720524017464 Centerline is valid? [False, False] Translation: X:3.10, Y:0.46, Z:-0.20 [[ 9.99841084e-01 -1.35452833e-04 -1.78266457e-02 3.10333234e+00] [ 1.05479792e-04 9.99998579e-01 -1.68229127e-03 4.60254095e-01] [ 1.78268483e-02 1.68014358e-03 9.99839677e-01 -2.01507924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.693133365 meters Centerline goodness [0,1] 0.2959324635456638 Centerline is valid? [False, False] Translation: X:3.10, Y:0.46, Z:-0.20 [[ 9.99845837e-01 -2.59096863e-04 -1.75566490e-02 3.10256888e+00] [ 2.26786772e-04 9.99998277e-01 -1.84229954e-03 4.60776619e-01] [ 1.75570961e-02 1.83803391e-03 9.99844173e-01 -2.01281817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.723133365 meters Centerline goodness [0,1] 0.2923965226417542 Centerline is valid? [False, False] Translation: X:3.12, Y:0.47, Z:-0.20 [[ 9.99817816e-01 -8.65014236e-03 -1.70149781e-02 3.12219517e+00] [ 8.63246344e-03 9.99962121e-01 -1.11219394e-03 4.66449642e-01] [ 1.70239542e-02 9.65110138e-04 9.99854616e-01 -2.00197280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.753133365 meters Centerline goodness [0,1] 0.2957152533484825 Centerline is valid? [False, False] Translation: X:3.10, Y:0.46, Z:-0.20 [[ 9.99863723e-01 -9.24658934e-04 -1.64827448e-02 3.10371911e+00] [ 8.84044552e-04 9.99996556e-01 -2.47117046e-03 4.60693985e-01] [ 1.64849730e-02 2.45626221e-03 9.99861097e-01 -2.01857214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.783133365 meters Centerline goodness [0,1] 0.2931254460134507 Centerline is valid? [False, False] Translation: X:3.12, Y:0.46, Z:-0.20 [[ 9.99852804e-01 -8.82810867e-03 -1.47117054e-02 3.12180215e+00] [ 8.81799093e-03 9.99960838e-01 -7.52460765e-04 4.64560558e-01] [ 1.47177720e-02 6.22622322e-04 9.99891494e-01 -1.99733585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.813133365 meters Centerline goodness [0,1] 0.2938511887990637 Centerline is valid? [False, False] Translation: X:3.12, Y:0.46, Z:-0.20 [[ 9.99854528e-01 -8.74624309e-03 -1.46432696e-02 3.12128886e+00] [ 8.73962636e-03 9.99961676e-01 -5.15793741e-04 4.63514201e-01] [ 1.46472197e-02 3.87742003e-04 9.99892649e-01 -1.99119851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.843133365 meters Centerline goodness [0,1] 0.2943247095408802 Centerline is valid? [False, False] Translation: X:3.12, Y:0.46, Z:-0.20 [[ 9.99855398e-01 -8.74253628e-03 -1.45859691e-02 3.12092186e+00] [ 8.73909882e-03 9.99961769e-01 -2.99390787e-04 4.61999996e-01] [ 1.45880289e-02 1.71879269e-04 9.99893574e-01 -1.98638130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.873133365 meters Centerline goodness [0,1] 0.2998844585903948 Centerline is valid? [False, False] Translation: X:3.10, Y:0.45, Z:-0.20 [[ 9.99903650e-01 -1.00098005e-03 -1.38451376e-02 3.10254235e+00] [ 9.82581241e-04 9.99998625e-01 -1.33563866e-03 4.53831671e-01] [ 1.38464555e-02 1.32190600e-03 9.99903259e-01 -2.00626478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90313336499997 meters Centerline goodness [0,1] 0.2984850790062814 Centerline is valid? [False, False] Translation: X:3.10, Y:0.45, Z:-0.20 [[ 9.99902751e-01 -8.52899820e-04 -1.39198358e-02 3.10291608e+00] [ 8.40399088e-04 9.99999238e-01 -9.03876376e-04 4.51663535e-01] [ 1.39205961e-02 8.92090257e-04 9.99902706e-01 -2.00843860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93313336499997 meters Centerline goodness [0,1] 0.29962221546745404 Centerline is valid? [False, False] Translation: X:3.10, Y:0.45, Z:-0.20 [[ 9.99902461e-01 -7.06300522e-04 -1.39487957e-02 3.10343191e+00] [ 6.99871919e-04 9.99999647e-01 -4.65747560e-04 4.49469567e-01] [ 1.39491197e-02 4.55939761e-04 9.99902602e-01 -2.01481997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96313336499998 meters Centerline goodness [0,1] 0.2940771794044932 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.20 [[ 9.99885496e-01 -2.87439424e-03 -1.48570965e-02 3.10780039e+00] [ 2.84337155e-03 9.99993734e-01 -2.10877376e-03 4.44423902e-01] [ 1.48630649e-02 2.06628805e-03 9.99887404e-01 -2.03946491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99313336499998 meters Centerline goodness [0,1] 0.3013002933321658 Centerline is valid? [False, False] Translation: X:3.06, Y:0.44, Z:-0.20 [[ 9.99839847e-01 -3.27666031e-03 -1.75938443e-02 3.06419361e+00] [ 3.23190226e-03 9.99991470e-01 -2.57179156e-03 4.38177259e-01] [ 1.76021212e-02 2.51451810e-03 9.99841909e-01 -2.04286855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02313336499998 meters Centerline goodness [0,1] 0.2969009826152683 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:-0.20 [[ 9.99805918e-01 4.12647973e-03 -1.92638989e-02 3.08532582e+00] [-4.18613190e-03 9.99986565e-01 -3.05728108e-03 4.32083920e-01] [ 1.92510243e-02 3.13732894e-03 9.99809760e-01 -2.02709124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05313336499998 meters Centerline goodness [0,1] 0.3015696533682145 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:-0.20 [[ 9.99801116e-01 4.28930559e-03 -1.94764043e-02 3.08618240e+00] [-4.34128159e-03 9.99987126e-01 -2.62716910e-03 4.29873482e-01] [ 1.94648849e-02 2.71119915e-03 9.99806865e-01 -2.03216441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08313336499998 meters Centerline goodness [0,1] 0.29489648010730585 Centerline is valid? [False, False] Translation: X:3.11, Y:0.43, Z:-0.20 [[ 9.99799931e-01 -3.73635167e-03 -1.96504098e-02 3.10580419e+00] [ 3.70752974e-03 9.99991998e-01 -1.50296064e-03 4.32783074e-01] [ 1.96558682e-02 1.42980546e-03 9.99805782e-01 -2.02431402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11313336499998 meters Centerline goodness [0,1] 0.29370509014242074 Centerline is valid? [False, False] Translation: X:3.11, Y:0.43, Z:-0.20 [[ 9.99803282e-01 -3.42771599e-03 -1.95357911e-02 3.10562182e+00] [ 3.41187723e-03 9.99993823e-01 -8.44028843e-04 4.29292808e-01] [ 1.95385635e-02 7.77209087e-04 9.99808802e-01 -2.02524367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14313336499998 meters Centerline goodness [0,1] 0.2976236852356837 Centerline is valid? [False, False] Translation: X:3.11, Y:0.43, Z:-0.20 [[ 9.99806932e-01 -3.26197434e-03 -1.93767307e-02 3.10529954e+00] [ 3.25151952e-03 9.99994551e-01 -5.71036066e-04 4.28237176e-01] [ 1.93784878e-02 5.07921999e-04 9.99812090e-01 -2.02614186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17313336499998 meters Centerline goodness [0,1] 0.29964182755307067 Centerline is valid? [False, False] Translation: X:3.11, Y:0.43, Z:-0.20 [[ 9.99809787e-01 -3.14584292e-03 -1.92482224e-02 3.10522718e+00] [ 3.13919423e-03 9.99995002e-01 -3.75623752e-04 4.27384975e-01] [ 1.92493079e-02 3.15128395e-04 9.99814665e-01 -2.02988745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20313336499999 meters Centerline goodness [0,1] 0.29590374006342035 Centerline is valid? [False, False] Translation: X:3.11, Y:0.43, Z:-0.20 [[ 9.99809704e-01 -3.02978535e-03 -1.92711044e-02 3.10558377e+00] [ 3.02693977e-03 9.99995403e-01 -1.76827472e-04 4.26321169e-01] [ 1.92715516e-02 1.18461350e-04 9.99814279e-01 -2.03514035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.233133365 meters Centerline goodness [0,1] 0.29562581203984406 Centerline is valid? [False, False] Translation: X:3.11, Y:0.43, Z:-0.20 [[ 9.99808650e-01 -2.96231372e-03 -1.93361974e-02 3.10601716e+00] [ 2.96219799e-03 9.99995612e-01 -3.46271048e-05 4.25222026e-01] [ 1.93362152e-02 -2.26571662e-05 9.99813038e-01 -2.03974988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.263133365 meters Centerline goodness [0,1] 0.2986568400854738 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.20 [[ 9.99807484e-01 -2.89130681e-03 -1.94070797e-02 3.10629760e+00] [ 2.89507129e-03 9.99995796e-01 1.65882316e-04 4.23936547e-01] [ 1.94065184e-02 -2.22035260e-04 9.99811651e-01 -2.04180857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.293133365 meters Centerline goodness [0,1] 0.2941418338418923 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.20 [[ 9.99802005e-01 -2.60201351e-03 -1.97276496e-02 3.10715196e+00] [ 2.61798703e-03 9.99996266e-01 7.83919629e-04 4.20878465e-01] [ 1.97255362e-02 -8.35411147e-04 9.99805084e-01 -2.04291929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.323133365 meters Centerline goodness [0,1] 0.291886287047438 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.20 [[ 9.99802372e-01 -2.48020400e-03 -1.97247287e-02 3.10731034e+00] [ 2.50228472e-03 9.99996270e-01 1.09484147e-03 4.19233614e-01] [ 1.97219397e-02 -1.14398199e-03 9.99804849e-01 -2.04536262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.353133365 meters Centerline goodness [0,1] 0.29672106079472227 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.20 [[ 9.99805612e-01 -2.36059173e-03 -1.95746161e-02 3.10691506e+00] [ 2.38877117e-03 9.99996144e-01 1.41633377e-03 4.17483289e-01] [ 1.95711973e-02 -1.46281773e-03 9.99807396e-01 -2.04449852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.383133365 meters Centerline goodness [0,1] 0.2963637941508288 Centerline is valid? [False, False] Translation: X:3.12, Y:0.41, Z:-0.20 [[ 9.99834605e-01 5.32060365e-03 -1.73912163e-02 3.12478281e+00] [-5.31618306e-03 9.99985824e-01 3.00406442e-04 4.11218252e-01] [ 1.73925681e-02 -2.07901867e-04 9.99848716e-01 -2.02703676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.413133365 meters Centerline goodness [0,1] 0.29533026646992444 Centerline is valid? [False, False] Translation: X:3.12, Y:0.41, Z:-0.20 [[ 9.99835028e-01 5.40473126e-03 -1.73408746e-02 3.12467265e+00] [-5.39621731e-03 9.99985296e-01 5.37729464e-04 4.09972474e-01] [ 1.73435259e-02 -4.44065626e-04 9.99849491e-01 -2.02702674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.443133365 meters Centerline goodness [0,1] 0.2940371159111652 Centerline is valid? [False, False] Translation: X:3.13, Y:0.41, Z:-0.20 [[ 9.99832289e-01 5.47451307e-03 -1.74763962e-02 3.12512326e+00] [-5.46325613e-03 9.99984837e-01 6.91800681e-04 4.09254464e-01] [ 1.74799185e-02 -5.96206630e-04 9.99847037e-01 -2.02929625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.473133365 meters Centerline goodness [0,1] 0.2961168227359047 Centerline is valid? [False, False] Translation: X:3.13, Y:0.41, Z:-0.20 [[ 9.99828832e-01 5.55773200e-03 -1.76470767e-02 3.12569550e+00] [-5.54455642e-03 9.99984312e-01 7.95454458e-04 4.09121783e-01] [ 1.76512208e-02 -6.97473089e-04 9.99843962e-01 -2.03211229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.503133365 meters Centerline goodness [0,1] 0.29389758671395205 Centerline is valid? [False, False] Translation: X:3.14, Y:0.42, Z:-0.20 [[ 9.99838625e-01 -1.56640682e-03 -1.78960727e-02 3.14436276e+00] [ 1.60961778e-03 9.99995824e-01 2.40040094e-03 4.15574578e-01] [ 1.78922380e-02 -2.42881942e-03 9.99836971e-01 -2.01706490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.533133365 meters Centerline goodness [0,1] 0.29359689283311996 Centerline is valid? [False, False] Translation: X:3.14, Y:0.42, Z:-0.20 [[ 9.99839026e-01 -1.60139950e-03 -1.78705879e-02 3.14444704e+00] [ 1.64079420e-03 9.99996256e-01 2.18999884e-03 4.16965580e-01] [ 1.78670139e-02 -2.21896826e-03 9.99837910e-01 -2.01989569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.563133365 meters Centerline goodness [0,1] 0.29623198471956935 Centerline is valid? [False, False] Translation: X:3.14, Y:0.42, Z:-0.20 [[ 9.99839700e-01 -1.70881152e-03 -1.78228554e-02 3.14435260e+00] [ 1.74138051e-03 9.99996842e-01 1.81201285e-03 4.18894514e-01] [ 1.78197027e-02 -1.84275876e-03 9.99839518e-01 -2.02152580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.593133365 meters Centerline goodness [0,1] 0.2952180242031851 Centerline is valid? [False, False] Translation: X:3.14, Y:0.42, Z:-0.20 [[ 9.99844061e-01 -1.83173553e-03 -1.75641514e-02 3.14349442e+00] [ 1.85149484e-03 9.99997671e-01 1.10878475e-03 4.22912084e-01] [ 1.75620795e-02 -1.14113178e-03 9.99845124e-01 -2.02089944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.623133365 meters Centerline goodness [0,1] 0.29295945302695914 Centerline is valid? [False, False] Translation: X:3.14, Y:0.42, Z:-0.20 [[ 9.99848427e-01 -1.85175949e-03 -1.73116627e-02 3.14260101e+00] [ 1.86831949e-03 9.99997812e-01 9.40456309e-04 4.24304882e-01] [ 1.73098833e-02 -9.72657478e-04 9.99849700e-01 -2.01694979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65313336499997 meters Centerline goodness [0,1] 0.29105088543237534 Centerline is valid? [False, False] Translation: X:3.14, Y:0.42, Z:-0.20 [[ 9.99851695e-01 -1.82016931e-03 -1.71252587e-02 3.14185105e+00] [ 1.83695244e-03 9.99997848e-01 9.64342580e-04 4.24693602e-01] [ 1.71234666e-02 -9.95657849e-04 9.99852887e-01 -2.01224690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68313336499997 meters Centerline goodness [0,1] 0.2954803245790071 Centerline is valid? [False, False] Translation: X:3.12, Y:0.42, Z:-0.20 [[ 9.99873280e-01 3.21767933e-03 -1.55906897e-02 3.11986088e+00] [-3.25305523e-03 9.99992191e-01 -2.24421135e-03 4.18599722e-01] [ 1.55833468e-02 2.29464434e-03 9.99875939e-01 -2.01826621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71313336499998 meters Centerline goodness [0,1] 0.2975354807671281 Centerline is valid? [False, False] Translation: X:3.12, Y:0.42, Z:-0.20 [[ 9.99871486e-01 3.09162723e-03 -1.57306256e-02 3.12022431e+00] [-3.12592867e-03 9.99992789e-01 -2.15643124e-03 4.17238937e-01] [ 1.57238453e-02 2.20532692e-03 9.99873941e-01 -2.01803910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74313336499998 meters Centerline goodness [0,1] 0.2923313348195926 Centerline is valid? [False, False] Translation: X:3.14, Y:0.42, Z:-0.20 [[ 9.99857797e-01 -5.24475677e-03 -1.60274184e-02 3.14105164e+00] [ 5.22544225e-03 9.99985570e-01 -1.24673281e-03 4.20668329e-01] [ 1.60337259e-02 1.16280517e-03 9.99870775e-01 -2.00817465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77313336499998 meters Centerline goodness [0,1] 0.2965387199549189 Centerline is valid? [False, False] Translation: X:3.14, Y:0.42, Z:-0.20 [[ 9.99855666e-01 -5.12473557e-03 -1.61982918e-02 3.14153671e+00] [ 5.11139856e-03 9.99986563e-01 -8.64652377e-04 4.18745618e-01] [ 1.62025052e-02 7.81731653e-04 9.99868425e-01 -2.00811212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80313336499998 meters Centerline goodness [0,1] 0.2963035570367466 Centerline is valid? [False, False] Translation: X:3.14, Y:0.42, Z:-0.20 [[ 9.99859674e-01 -5.00226279e-03 -1.59877784e-02 3.14086751e+00] [ 4.99491357e-03 9.99987401e-01 -4.99575567e-04 4.16977756e-01] [ 1.59900760e-02 4.19647892e-04 9.99872062e-01 -2.00441606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83313336499998 meters Centerline goodness [0,1] 0.2971371301581768 Centerline is valid? [False, False] Translation: X:3.14, Y:0.42, Z:-0.20 [[ 9.99865746e-01 -4.93983960e-03 -1.56233110e-02 3.13979798e+00] [ 4.93645198e-03 9.99987783e-01 -2.55388027e-04 4.15699294e-01] [ 1.56243817e-02 1.78230016e-04 9.99877916e-01 -2.00018665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86313336499998 meters Centerline goodness [0,1] 0.2953772133243753 Centerline is valid? [False, False] Translation: X:3.14, Y:0.41, Z:-0.20 [[ 9.99866887e-01 -4.91099267e-03 -1.55592277e-02 3.13975372e+00] [ 4.90906089e-03 9.99987937e-01 -1.62346816e-04 4.14919304e-01] [ 1.55598373e-02 8.59440096e-05 9.99878935e-01 -2.00169756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89313336499998 meters Centerline goodness [0,1] 0.2969828994662891 Centerline is valid? [False, False] Translation: X:3.14, Y:0.42, Z:-0.20 [[ 9.99860244e-01 -4.89221068e-03 -1.59862164e-02 3.14132491e+00] [ 4.88885627e-03 9.99988018e-01 -2.48904503e-04 4.15433152e-01] [ 1.59872426e-02 1.70715403e-04 9.99872181e-01 -2.01177435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92313336499998 meters Centerline goodness [0,1] 0.29509944727336035 Centerline is valid? [False, False] Translation: X:3.14, Y:0.42, Z:-0.20 [[ 9.99848115e-01 -4.75777460e-03 -1.67663266e-02 3.14392257e+00] [ 4.75254802e-03 9.99988645e-01 -3.51561382e-04 4.16508794e-01] [ 1.67678089e-02 2.71825213e-04 9.99859373e-01 -2.02552162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95313336499999 meters Centerline goodness [0,1] 0.29613469081933974 Centerline is valid? [False, False] Translation: X:3.13, Y:0.41, Z:-0.20 [[ 9.99799210e-01 3.81079809e-03 -1.96727356e-02 3.12636210e+00] [-3.83775302e-03 9.99991748e-01 -1.33259585e-03 4.13250837e-01] [ 1.96674951e-02 1.40782738e-03 9.99805585e-01 -2.04701919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.983133365 meters Centerline goodness [0,1] 0.28991079335594094 Centerline is valid? [False, False] Translation: X:3.17, Y:0.42, Z:-0.20 [[ 9.99833326e-01 4.19305154e-03 -1.77690115e-02 3.16933727e+00] [-4.21213951e-03 9.99990591e-01 -1.03693847e-03 4.16600121e-01] [ 1.77644964e-02 1.11161119e-03 9.99841581e-01 -2.03998085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.013133365 meters Centerline goodness [0,1] 0.28920438632397616 Centerline is valid? [False, False] Translation: X:3.17, Y:0.42, Z:-0.20 [[ 9.99837607e-01 4.25841775e-03 -1.75107496e-02 3.16830720e+00] [-4.27420365e-03 9.99990492e-01 -8.64171326e-04 4.15783451e-01] [ 1.75069031e-02 9.38875500e-04 9.99846302e-01 -2.03389257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.043133365 meters Centerline goodness [0,1] 0.29413815646110264 Centerline is valid? [False, False] Translation: X:3.15, Y:0.42, Z:-0.20 [[ 9.99860238e-01 -4.01775859e-03 -1.62284490e-02 3.14651263e+00] [ 4.01842655e-03 9.99991926e-01 8.55080424e-06 4.17065311e-01] [ 1.62282836e-02 -7.37624394e-05 9.99868310e-01 -2.04536119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.073133365 meters Centerline goodness [0,1] 0.29212336943546113 Centerline is valid? [False, False] Translation: X:3.15, Y:0.42, Z:-0.20 [[ 9.99859521e-01 -3.96232285e-03 -1.62861375e-02 3.14666828e+00] [ 3.96765241e-03 9.99992085e-01 2.94947223e-04 4.15205652e-01] [ 1.62848399e-02 -3.59523522e-04 9.99867329e-01 -2.04467876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.103133365 meters Centerline goodness [0,1] 0.29505265682576365 Centerline is valid? [False, False] Translation: X:3.15, Y:0.41, Z:-0.20 [[ 9.99858176e-01 -3.96671387e-03 -1.63674121e-02 3.14683387e+00] [ 3.97526202e-03 9.99991979e-01 4.89765003e-04 4.13749348e-01] [ 1.63653381e-02 -5.54760295e-04 9.99865925e-01 -2.04346722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.133133365 meters Centerline goodness [0,1] 0.2920907365878903 Centerline is valid? [False, False] Translation: X:3.17, Y:0.41, Z:-0.20 [[ 9.99900330e-01 3.66755908e-03 -1.36337428e-02 3.16517403e+00] [-3.67338051e-03 9.99993172e-01 -4.01969464e-04 4.10030904e-01] [ 1.36321754e-02 4.52011324e-04 9.99906975e-01 -2.02829211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.163133365 meters Centerline goodness [0,1] 0.29662156301500564 Centerline is valid? [False, False] Translation: X:3.16, Y:0.41, Z:-0.20 [[ 9.99905997e-01 3.77764176e-03 -1.31805135e-02 3.16359304e+00] [-3.78003143e-03 9.99992843e-01 -1.56395790e-04 4.09203097e-01] [ 1.31798284e-02 2.06203844e-04 9.99913121e-01 -2.01990388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.193133365 meters Centerline goodness [0,1] 0.2976606789895523 Centerline is valid? [False, False] Translation: X:3.16, Y:0.41, Z:-0.20 [[ 9.99909751e-01 3.85582977e-03 -1.28694431e-02 3.16257973e+00] [-3.85561501e-03 9.99992566e-01 4.14985226e-05 4.08427831e-01] [ 1.28695074e-02 8.12484051e-06 9.99917184e-01 -2.01495091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.223133365 meters Centerline goodness [0,1] 0.29739462437902686 Centerline is valid? [False, False] Translation: X:3.16, Y:0.41, Z:-0.20 [[ 9.99909804e-01 3.87284745e-03 -1.28601915e-02 3.16255251e+00] [-3.87134357e-03 9.99992496e-01 1.41833270e-04 4.07737814e-01] [ 1.28606443e-02 -9.20342578e-05 9.99917294e-01 -2.01473728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.253133365 meters Centerline goodness [0,1] 0.2985236412513279 Centerline is valid? [False, False] Translation: X:3.16, Y:0.41, Z:-0.20 [[ 9.99906601e-01 3.85988775e-03 -1.31107185e-02 3.16323076e+00] [-3.85770031e-03 9.99992541e-01 1.92129244e-04 4.07151583e-01] [ 1.31113623e-02 -1.41534077e-04 9.99914032e-01 -2.01566827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.283133365 meters Centerline goodness [0,1] 0.2967690207380761 Centerline is valid? [False, False] Translation: X:3.16, Y:0.41, Z:-0.20 [[ 9.99901967e-01 3.84934800e-03 -1.34624728e-02 3.16410511e+00] [-3.84651950e-03 9.99992574e-01 2.35989095e-04 4.06643889e-01] [ 1.34632812e-02 -1.84182297e-04 9.99909349e-01 -2.01683209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.313133365 meters Centerline goodness [0,1] 0.302463334134773 Centerline is valid? [False, False] Translation: X:3.16, Y:0.41, Z:-0.20 [[ 9.99902810e-01 3.93331999e-03 -1.33753582e-02 3.16370619e+00] [-3.92777034e-03 9.99992189e-01 4.41159616e-04 4.05657864e-01] [ 1.33769889e-02 -3.88581405e-04 9.99910449e-01 -2.01332553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.343133365 meters Centerline goodness [0,1] 0.29756403057919056 Centerline is valid? [False, False] Translation: X:3.18, Y:0.41, Z:-0.20 [[ 9.99930155e-01 -3.69593149e-03 -1.12261265e-02 3.18153242e+00] [ 3.71727564e-03 9.99991322e-01 1.88102129e-03 4.09912097e-01] [ 1.12190769e-02 -1.92262052e-03 9.99935216e-01 -2.00080468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.373133365 meters Centerline goodness [0,1] 0.30058578129390656 Centerline is valid? [False, False] Translation: X:3.18, Y:0.41, Z:-0.20 [[ 9.99933760e-01 -3.65707611e-03 -1.09133214e-02 3.18055527e+00] [ 3.67928408e-03 9.99991200e-01 2.01555810e-03 4.09133253e-01] [ 1.09058543e-02 -2.05557780e-03 9.99938417e-01 -1.99684966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40313336499997 meters Centerline goodness [0,1] 0.3029088360275113 Centerline is valid? [False, False] Translation: X:3.16, Y:0.40, Z:-0.20 [[ 9.99928435e-01 4.16715274e-03 -1.12142457e-02 3.16144882e+00] [-4.15909229e-03 9.99991076e-01 7.41994664e-04 4.02930504e-01] [ 1.12172377e-02 -6.95300481e-04 9.99936843e-01 -2.01212073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43313336499997 meters Centerline goodness [0,1] 0.29687837312723975 Centerline is valid? [False, False] Translation: X:3.18, Y:0.41, Z:-0.20 [[ 9.99922406e-01 -3.47692334e-03 -1.19621187e-02 3.18128024e+00] [ 3.49640769e-03 9.99992594e-01 1.60831028e-03 4.08454721e-01] [ 1.19564382e-02 -1.65000993e-03 9.99927158e-01 -2.00350108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46313336499998 meters Centerline goodness [0,1] 0.29945537787228504 Centerline is valid? [False, False] Translation: X:3.18, Y:0.41, Z:-0.20 [[ 9.99919411e-01 -3.50385614e-03 -1.22022000e-02 3.18205827e+00] [ 3.52223338e-03 9.99992694e-01 1.48489477e-03 4.09015967e-01] [ 1.21969080e-02 -1.52775410e-03 9.99924448e-01 -2.00720953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49313336499998 meters Centerline goodness [0,1] 0.29945537787228504 Centerline is valid? [False, False] Translation: X:3.18, Y:0.41, Z:-0.20 [[ 9.99919411e-01 -3.50385614e-03 -1.22022000e-02 3.18205827e+00] [ 3.52223338e-03 9.99992694e-01 1.48489477e-03 4.09015967e-01] [ 1.21969080e-02 -1.52775410e-03 9.99924448e-01 -2.00720953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52313336499998 meters Centerline goodness [0,1] 0.2980199731961437 Centerline is valid? [False, False] Translation: X:3.18, Y:0.41, Z:-0.20 [[ 9.99917918e-01 -3.47789624e-03 -1.23313567e-02 3.18250126e+00] [ 3.49334110e-03 9.99993140e-01 1.23116845e-03 4.10560719e-01] [ 1.23269902e-02 -1.27414503e-03 9.99923208e-01 -2.01112278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55313336499998 meters Centerline goodness [0,1] 0.29723227638223626 Centerline is valid? [False, False] Translation: X:3.18, Y:0.41, Z:-0.20 [[ 9.99919932e-01 -3.48099525e-03 -1.21660591e-02 3.18195595e+00] [ 3.49459866e-03 9.99993292e-01 1.09706441e-03 4.11403715e-01] [ 1.21621587e-02 -1.13949206e-03 9.99925389e-01 -2.00962729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58313336499998 meters Centerline goodness [0,1] 0.29777149690183713 Centerline is valid? [False, False] Translation: X:3.18, Y:0.41, Z:-0.20 [[ 9.99921213e-01 -3.47958216e-03 -1.20606969e-02 3.18148776e+00] [ 3.49148981e-03 9.99993438e-01 9.66395619e-04 4.12341090e-01] [ 1.20572551e-02 -1.00842928e-03 9.99926800e-01 -2.00699850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61313336499998 meters Centerline goodness [0,1] 0.29723622457848076 Centerline is valid? [False, False] Translation: X:3.18, Y:0.41, Z:-0.20 [[ 9.99921884e-01 -3.44812902e-03 -1.20140302e-02 3.18131688e+00] [ 3.45899285e-03 9.99993627e-01 8.83600092e-04 4.13158084e-01] [ 1.20109069e-02 -9.25087513e-04 9.99927439e-01 -2.00678801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64313336499998 meters Centerline goodness [0,1] 0.2958520739630185 Centerline is valid? [False, False] Translation: X:3.18, Y:0.41, Z:-0.20 [[ 9.99917299e-01 -3.26641943e-03 -1.24388761e-02 3.18268326e+00] [ 3.27602315e-03 9.99994351e-01 7.51775336e-04 4.14715759e-01] [ 1.24363502e-02 -7.92463210e-04 9.99922352e-01 -2.01491977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67313336499998 meters Centerline goodness [0,1] 0.29543615648713073 Centerline is valid? [False, False] Translation: X:3.18, Y:0.42, Z:-0.20 [[ 9.99915460e-01 -3.28905610e-03 -1.25799352e-02 3.18344988e+00] [ 3.29627538e-03 9.99994414e-01 5.53181277e-04 4.15793855e-01] [ 1.25780455e-02 -5.94601442e-04 9.99920716e-01 -2.02294448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70313336499999 meters Centerline goodness [0,1] 0.29231932591552334 Centerline is valid? [False, False] Translation: X:3.20, Y:0.42, Z:-0.20 [[ 9.99910981e-01 4.75615176e-03 -1.24662969e-02 3.20453433e+00] [-4.76560953e-03 9.99988379e-01 -7.29070669e-04 4.15387531e-01] [ 1.24626844e-02 7.88415271e-04 9.99922027e-01 -2.01348201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.733133365 meters Centerline goodness [0,1] 0.2966688582073197 Centerline is valid? [False, False] Translation: X:3.18, Y:0.42, Z:-0.20 [[ 9.99911619e-01 -3.38778235e-03 -1.28559987e-02 3.18378279e+00] [ 3.39015593e-03 9.99994240e-01 1.62839651e-04 4.19526604e-01] [ 1.28553729e-02 -2.06409099e-04 9.99917345e-01 -2.02566672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.763133365 meters Centerline goodness [0,1] 0.2959290873276428 Centerline is valid? [False, False] Translation: X:3.18, Y:0.42, Z:-0.20 [[ 9.99911973e-01 -3.39970467e-03 -1.28253164e-02 3.18350959e+00] [ 3.39900142e-03 9.99994220e-01 -7.66301265e-05 4.21253742e-01] [ 1.28255028e-02 3.30301125e-05 9.99917749e-01 -2.02382488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.793133365 meters Centerline goodness [0,1] 0.2905808579425868 Centerline is valid? [False, False] Translation: X:3.19, Y:0.43, Z:-0.20 [[ 9.99899072e-01 -1.24739608e-03 -1.41524128e-02 3.18803530e+00] [ 1.26767904e-03 9.99998182e-01 1.42429968e-03 4.26506931e-01] [ 1.41506105e-02 -1.44209665e-03 9.99898835e-01 -2.04146612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.823133365 meters Centerline goodness [0,1] 0.2903583543533096 Centerline is valid? [False, False] Translation: X:3.19, Y:0.43, Z:-0.20 [[ 9.99895476e-01 -1.37838886e-03 -1.43922517e-02 3.18889029e+00] [ 1.39236086e-03 9.99998569e-01 9.60824869e-04 4.29025280e-01] [ 1.43909067e-02 -9.80763648e-04 9.99895965e-01 -2.04768659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.853133365 meters Centerline goodness [0,1] 0.28888119154832004 Centerline is valid? [False, False] Translation: X:3.19, Y:0.43, Z:-0.21 [[ 9.99893045e-01 -1.50836777e-03 -1.45472497e-02 3.18946474e+00] [ 1.51564494e-03 9.99998732e-01 4.89232085e-04 4.31781268e-01] [ 1.45464933e-02 -5.11228225e-04 9.99894063e-01 -2.05235852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.883133365 meters Centerline goodness [0,1] 0.2905431809300508 Centerline is valid? [False, False] Translation: X:3.19, Y:0.43, Z:-0.21 [[ 9.99893243e-01 -1.59978751e-03 -1.45238904e-02 3.18928957e+00] [ 1.60207311e-03 9.99998706e-01 1.45734729e-04 4.33911031e-01] [ 1.45236385e-02 -1.68987505e-04 9.99894512e-01 -2.05163008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.913133365 meters Centerline goodness [0,1] 0.2903812824956672 Centerline is valid? [False, False] Translation: X:3.19, Y:0.44, Z:-0.20 [[ 9.99896208e-01 -1.67176365e-03 -1.43100553e-02 3.18842185e+00] [ 1.67091437e-03 9.99998601e-01 -7.13041065e-05 4.35386461e-01] [ 1.43101545e-02 4.73858286e-05 9.99897603e-01 -2.04645073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.943133365 meters Centerline goodness [0,1] 0.29826797960260243 Centerline is valid? [False, False] Translation: X:3.14, Y:0.43, Z:-0.21 [[ 9.99953215e-01 -3.50843367e-03 -9.01435996e-03 3.14394577e+00] [ 3.50140820e-03 9.99993554e-01 -7.95027831e-04 4.33306521e-01] [ 9.01709116e-03 7.63427682e-04 9.99959054e-01 -2.05757073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.973133365 meters Centerline goodness [0,1] 0.2939336678178146 Centerline is valid? [False, False] Translation: X:3.17, Y:0.43, Z:-0.21 [[ 9.99968858e-01 2.50914561e-03 -7.48240309e-03 3.16567043e+00] [-2.53271489e-03 9.99991856e-01 -3.14215105e-03 4.33199925e-01] [ 7.47445804e-03 3.16100400e-03 9.99967070e-01 -2.05857873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.003133365 meters Centerline goodness [0,1] 0.29107189203218276 Centerline is valid? [False, False] Translation: X:3.17, Y:0.43, Z:-0.21 [[ 9.99966747e-01 2.38430111e-03 -7.79871642e-03 3.16669097e+00] [-2.40749525e-03 9.99992703e-01 -2.96606355e-03 4.31750075e-01] [ 7.79158753e-03 2.98474029e-03 9.99965191e-01 -2.06177410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.033133365 meters Centerline goodness [0,1] 0.294524282007109 Centerline is valid? [False, False] Translation: X:3.17, Y:0.43, Z:-0.21 [[ 9.99965146e-01 2.23879231e-03 -8.04335674e-03 3.16752761e+00] [-2.26150833e-03 9.99993477e-01 -2.81621182e-03 4.30099341e-01] [ 8.03699936e-03 2.83430378e-03 9.99963686e-01 -2.06455139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.063133365 meters Centerline goodness [0,1] 0.29265658747300216 Centerline is valid? [False, False] Translation: X:3.19, Y:0.43, Z:-0.21 [[ 9.99951669e-01 -6.37110462e-03 -7.48796384e-03 3.18786290e+00] [ 6.35566028e-03 9.99977630e-01 -2.08454463e-03 4.33638798e-01] [ 7.50107718e-03 2.03685292e-03 9.99969792e-01 -2.05833666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.093133365 meters Centerline goodness [0,1] 0.2982145975205168 Centerline is valid? [False, False] Translation: X:3.16, Y:0.43, Z:-0.21 [[ 9.99988426e-01 -9.65258013e-04 -4.71337420e-03 3.16436198e+00] [ 9.43243997e-04 9.99988648e-01 -4.67053429e-03 4.26089486e-01] [ 4.71782897e-03 4.66603437e-03 9.99977985e-01 -2.05932656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.123133365 meters Centerline goodness [0,1] 0.2919973331612792 Centerline is valid? [False, False] Translation: X:3.18, Y:0.43, Z:-0.20 [[ 0.99995287 -0.00874503 -0.00421767 3.18311971] [ 0.0087307 0.99995609 -0.00340389 0.43141425] [ 0.00424725 0.00336691 0.99998531 -0.2046709 ] [ 0. 0. 0. 1. ]] SLAMing on 255.15313336499997 meters Centerline goodness [0,1] 0.29453125 Centerline is valid? [False, False] Translation: X:3.16, Y:0.43, Z:-0.21 [[ 9.99984941e-01 1.39354809e-04 -5.48619629e-03 3.16396206e+00] [-1.61336014e-04 9.99991961e-01 -4.00639975e-03 4.27528319e-01] [ 5.48559388e-03 4.00722454e-03 9.99976925e-01 -2.05943201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18313336499997 meters Centerline goodness [0,1] 0.29544320818964587 Centerline is valid? [False, False] Translation: X:3.16, Y:0.43, Z:-0.21 [[ 9.99983995e-01 1.27550153e-04 -5.65629469e-03 3.16457728e+00] [-1.51376796e-04 9.99991117e-01 -4.21218398e-03 4.28779407e-01] [ 5.65570718e-03 4.21297280e-03 9.99975132e-01 -2.06387861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21313336499998 meters Centerline goodness [0,1] 0.2941176470588235 Centerline is valid? [False, False] Translation: X:3.16, Y:0.43, Z:-0.21 [[ 9.99983850e-01 1.36649230e-04 -5.68160301e-03 3.16462891e+00] [-1.61332497e-04 9.99990551e-01 -4.34418817e-03 4.29700309e-01] [ 5.68095569e-03 4.34503464e-03 9.99974423e-01 -2.06436775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24313336499998 meters Centerline goodness [0,1] 0.2937546177582685 Centerline is valid? [False, False] Translation: X:3.16, Y:0.43, Z:-0.21 [[ 9.99983977e-01 1.34530043e-04 -5.65933919e-03 3.16445721e+00] [-1.59745104e-04 9.99990063e-01 -4.45526194e-03 4.30502655e-01] [ 5.65868359e-03 4.45609460e-03 9.99974061e-01 -2.06351287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27313336499998 meters Centerline goodness [0,1] 0.2941688046266905 Centerline is valid? [False, False] Translation: X:3.16, Y:0.43, Z:-0.21 [[ 9.99983892e-01 1.95092252e-04 -5.67245644e-03 3.16443484e+00] [-2.20093582e-04 9.99990264e-01 -4.40720593e-03 4.30525786e-01] [ 5.67154140e-03 4.40838342e-03 9.99974200e-01 -2.06308915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30313336499998 meters Centerline goodness [0,1] 0.2906607986538088 Centerline is valid? [False, False] Translation: X:3.16, Y:0.43, Z:-0.21 [[ 9.99983335e-01 2.08605171e-04 -5.76941187e-03 3.16473922e+00] [-2.33559677e-04 9.99990620e-01 -4.32497635e-03 4.30009189e-01] [ 5.76845554e-03 4.32625178e-03 9.99974004e-01 -2.06413522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33313336499998 meters Centerline goodness [0,1] 0.2933769667548004 Centerline is valid? [False, False] Translation: X:3.16, Y:0.43, Z:-0.21 [[ 9.99985213e-01 -9.44814593e-05 -5.43737664e-03 3.16391077e+00] [ 7.18170110e-05 9.99991310e-01 -4.16831327e-03 4.27615934e-01] [ 5.43772322e-03 4.16786114e-03 9.99976530e-01 -2.06158746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36313336499998 meters Centerline goodness [0,1] 0.29236474976820404 Centerline is valid? [False, False] Translation: X:3.16, Y:0.43, Z:-0.21 [[ 9.99986204e-01 -7.55925109e-05 -5.25222081e-03 3.16331377e+00] [ 5.54848073e-05 9.99992670e-01 -3.82845955e-03 4.25629489e-01] [ 5.25247171e-03 3.82811532e-03 9.99978878e-01 -2.05775474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39313336499998 meters Centerline goodness [0,1] 0.29625272331154684 Centerline is valid? [False, False] Translation: X:3.14, Y:0.43, Z:-0.21 [[ 9.99952895e-01 -8.42280783e-03 -4.82331851e-03 3.14199047e+00] [ 8.41033573e-03 9.99961252e-01 -2.60026308e-03 4.25820189e-01] [ 4.84503313e-03 2.55957486e-03 9.99984987e-01 -2.07018313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42313336499998 meters Centerline goodness [0,1] 0.2950873007266023 Centerline is valid? [False, False] Translation: X:3.14, Y:0.42, Z:-0.21 [[ 9.99953207e-01 -8.37983831e-03 -4.83347137e-03 3.14205037e+00] [ 8.36889169e-03 9.99962380e-01 -2.28055019e-03 4.23901027e-01] [ 4.85240017e-03 2.23999267e-03 9.99985718e-01 -2.06936623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45313336499999 meters Centerline goodness [0,1] 0.29355840124175403 Centerline is valid? [False, False] Translation: X:3.16, Y:0.42, Z:-0.20 [[ 9.99967518e-01 -2.43683698e-03 -7.68275489e-03 3.15913618e+00] [ 2.41434428e-03 9.99992777e-01 -2.93560328e-03 4.18888481e-01] [ 7.68985298e-03 2.91695911e-03 9.99966178e-01 -2.04593600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.483133365 meters Centerline goodness [0,1] 0.2939528215821713 Centerline is valid? [False, False] Translation: X:3.16, Y:0.42, Z:-0.20 [[ 9.99965045e-01 -2.40712024e-03 -8.00721488e-03 3.16016738e+00] [ 2.38490437e-03 9.99993284e-01 -2.78287448e-03 4.17937384e-01] [ 8.01385981e-03 2.76368076e-03 9.99964069e-01 -2.04973076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.513133365 meters Centerline goodness [0,1] 0.29062479808748465 Centerline is valid? [False, False] Translation: X:3.16, Y:0.42, Z:-0.21 [[ 9.99961415e-01 -2.33446923e-03 -8.46867966e-03 3.16156414e+00] [ 2.31204790e-03 9.99993799e-01 -2.65638362e-03 4.17514631e-01] [ 8.47482839e-03 2.63670113e-03 9.99960612e-01 -2.05421192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.543133365 meters Centerline goodness [0,1] 0.2976294995610185 Centerline is valid? [False, False] Translation: X:3.12, Y:0.41, Z:-0.21 [[ 9.99936626e-01 -2.38423017e-03 -1.10027163e-02 3.11722013e+00] [ 2.35246588e-03 9.99993031e-01 -2.89898960e-03 4.14436248e-01] [ 1.10095514e-02 2.87292236e-03 9.99935266e-01 -2.05117043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.573133365 meters Centerline goodness [0,1] 0.2973133018971379 Centerline is valid? [False, False] Translation: X:3.12, Y:0.41, Z:-0.21 [[ 9.99935127e-01 -2.41755241e-03 -1.11309555e-02 3.11747132e+00] [ 2.38463181e-03 9.99992747e-01 -2.96989482e-03 4.14643470e-01] [ 1.11380546e-02 2.94315892e-03 9.99933639e-01 -2.05075174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.603133365 meters Centerline goodness [0,1] 0.2978723404255319 Centerline is valid? [False, False] Translation: X:3.12, Y:0.41, Z:-0.20 [[ 9.99936070e-01 -2.41034449e-03 -1.10474374e-02 3.11718686e+00] [ 2.37733559e-03 9.99992674e-01 -3.00008253e-03 4.14916242e-01] [ 1.10545877e-02 2.97362727e-03 9.99934475e-01 -2.04941751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.633133365 meters Centerline goodness [0,1] 0.29565179561916777 Centerline is valid? [False, False] Translation: X:3.12, Y:0.42, Z:-0.20 [[ 9.99939407e-01 -2.37078668e-03 -1.07499226e-02 3.11623684e+00] [ 2.33897349e-03 9.99992851e-01 -2.97099418e-03 4.15156227e-01] [ 1.07568894e-02 2.94567037e-03 9.99937804e-01 -2.04540372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.663133365 meters Centerline goodness [0,1] 0.29492052522460266 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.20 [[ 9.99948295e-01 -2.26369017e-03 -9.91380499e-03 3.11382201e+00] [ 2.23488202e-03 9.99993251e-01 -2.91597660e-03 4.15731403e-01] [ 9.92033895e-03 2.89366964e-03 9.99946605e-01 -2.03807441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.693133365 meters Centerline goodness [0,1] 0.29701937082853225 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.20 [[ 9.99951390e-01 -2.26488429e-03 -9.59625331e-03 3.11297037e+00] [ 2.23713946e-03 9.99993290e-01 -2.90096415e-03 4.15635246e-01] [ 9.60275926e-03 2.87935498e-03 9.99949747e-01 -2.03654000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.723133365 meters Centerline goodness [0,1] 0.29894630989856597 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.20 [[ 9.99951950e-01 -2.25781140e-03 -9.53939703e-03 3.11281078e+00] [ 2.23037659e-03 9.99993349e-01 -2.88560755e-03 4.15692540e-01] [ 9.54584875e-03 2.86419244e-03 9.99950335e-01 -2.03604276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.753133365 meters Centerline goodness [0,1] 0.2966516588713555 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.20 [[ 9.99951172e-01 -2.19703858e-03 -9.63463510e-03 3.11303594e+00] [ 2.17011977e-03 9.99993715e-01 -2.80352784e-03 4.15636706e-01] [ 9.64073401e-03 2.78248263e-03 9.99949656e-01 -2.03647068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.783133365 meters Centerline goodness [0,1] 0.2959781335415853 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.20 [[ 9.99950412e-01 -2.14249776e-03 -9.72542874e-03 3.11330831e+00] [ 2.11566443e-03 9.99993930e-01 -2.76854031e-03 4.15860951e-01] [ 9.73130129e-03 2.74782728e-03 9.99948874e-01 -2.03721364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.813133365 meters Centerline goodness [0,1] 0.2934700485698867 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.20 [[ 9.99950625e-01 -2.12335972e-03 -9.70770248e-03 3.11318664e+00] [ 2.09626628e-03 9.99993882e-01 -2.80024565e-03 4.16285024e-01] [ 9.71358902e-03 2.77975746e-03 9.99948958e-01 -2.03625313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.843133365 meters Centerline goodness [0,1] 0.29528899616395843 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.20 [[ 9.99953092e-01 -2.13088111e-03 -9.44845871e-03 3.11236159e+00] [ 2.10221271e-03 9.99993160e-01 -3.04308162e-03 4.18011449e-01] [ 9.45487853e-03 3.02307621e-03 9.99950732e-01 -2.03384686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.873133365 meters Centerline goodness [0,1] 0.29482175383814724 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.20 [[ 9.99954588e-01 -2.09298356e-03 -9.29735479e-03 3.11193676e+00] [ 2.06435861e-03 9.99993103e-01 -3.08735784e-03 4.18802949e-01] [ 9.30375246e-03 3.06802456e-03 9.99952013e-01 -2.03326968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90313336499997 meters Centerline goodness [0,1] 0.296425003257895 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.20 [[ 9.99955528e-01 -2.04589742e-03 -9.20636662e-03 3.11172007e+00] [ 2.01748681e-03 9.99993178e-01 -3.09420394e-03 4.19323544e-01] [ 9.21263423e-03 3.07549261e-03 9.99952833e-01 -2.03352683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93313336499997 meters Centerline goodness [0,1] 0.2970538849030683 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.20 [[ 9.99956688e-01 -2.04892712e-03 -9.07878951e-03 3.11139928e+00] [ 2.02116845e-03 9.99993258e-01 -3.06565054e-03 4.19168520e-01] [ 9.08500960e-03 3.04716800e-03 9.99954088e-01 -2.03313640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96313336499998 meters Centerline goodness [0,1] 0.29586336775115263 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.20 [[ 9.99956872e-01 -2.10315742e-03 -9.04606967e-03 3.11121846e+00] [ 2.07634930e-03 9.99993428e-01 -2.97188161e-03 4.18157378e-01] [ 9.05226056e-03 2.95297064e-03 9.99954667e-01 -2.03092670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99313336499998 meters Centerline goodness [0,1] 0.2984605991888709 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.20 [[ 9.99956846e-01 -2.15827779e-03 -9.03589406e-03 3.11113070e+00] [ 2.13313064e-03 9.99993828e-01 -2.79174119e-03 4.16572716e-01] [ 9.04186364e-03 2.77234597e-03 9.99955278e-01 -2.02920714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.023133365 meters Centerline goodness [0,1] 0.2976920067805451 Centerline is valid? [False, False] Translation: X:3.11, Y:0.41, Z:-0.20 [[ 9.99948141e-01 -2.42143881e-03 -9.89200726e-03 3.11326208e+00] [ 2.39680084e-03 9.99993998e-01 -2.50179089e-03 4.13536156e-01] [ 9.89800582e-03 2.47795197e-03 9.99947943e-01 -2.03068847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.053133365 meters Centerline goodness [0,1] 0.29501429707823623 Centerline is valid? [False, False] Translation: X:3.11, Y:0.41, Z:-0.20 [[ 9.99945008e-01 -2.34231918e-03 -1.02222700e-02 3.11431379e+00] [ 2.31979037e-03 9.99994856e-01 -2.21519585e-03 4.11965460e-01] [ 1.02274061e-02 2.19136051e-03 9.99945298e-01 -2.03423083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.083133365 meters Centerline goodness [0,1] 0.2955731139733737 Centerline is valid? [False, False] Translation: X:3.11, Y:0.41, Z:-0.20 [[ 9.99942926e-01 -2.31442514e-03 -1.04301363e-02 3.11499992e+00] [ 2.29332645e-03 9.99995301e-01 -2.03436423e-03 4.10558078e-01] [ 1.04347956e-02 2.01032842e-03 9.99943535e-01 -2.03670677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.113133365 meters Centerline goodness [0,1] 0.29750021699505247 Centerline is valid? [False, False] Translation: X:3.11, Y:0.41, Z:-0.20 [[ 9.99943133e-01 -2.30402759e-03 -1.04126112e-02 3.11498922e+00] [ 2.28357597e-03 9.99995441e-01 -1.97558273e-03 4.10097830e-01] [ 1.04171155e-02 1.95169240e-03 9.99943836e-01 -2.03715969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.143133365 meters Centerline goodness [0,1] 0.29755502819446566 Centerline is valid? [False, False] Translation: X:3.12, Y:0.41, Z:-0.20 [[ 9.99942319e-01 -2.27890788e-03 -1.04959446e-02 3.11537599e+00] [ 2.25901070e-03 9.99995630e-01 -1.90716782e-03 4.09646551e-01] [ 1.05002450e-02 1.88334736e-03 9.99943097e-01 -2.04042183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.173133365 meters Centerline goodness [0,1] 0.29099903215399503 Centerline is valid? [False, False] Translation: X:3.14, Y:0.41, Z:-0.20 [[ 9.99925795e-01 5.77070396e-03 -1.07286705e-02 3.13636811e+00] [-5.79947827e-03 9.99979664e-01 -2.65282755e-03 4.06440936e-01] [ 1.07131437e-02 2.71485139e-03 9.99938927e-01 -2.03192195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.203133365 meters Centerline goodness [0,1] 0.2962858261209933 Centerline is valid? [False, False] Translation: X:3.12, Y:0.41, Z:-0.21 [[ 9.99934972e-01 -2.14716675e-03 -1.12000892e-02 3.11731417e+00] [ 2.13259097e-03 9.99996864e-01 -1.31317891e-03 4.09462347e-01] [ 1.12028737e-02 1.28920831e-03 9.99936415e-01 -2.05329128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.233133365 meters Centerline goodness [0,1] 0.2980498351204385 Centerline is valid? [False, False] Translation: X:3.12, Y:0.41, Z:-0.21 [[ 9.99933276e-01 -2.11935168e-03 -1.13557370e-02 3.11787471e+00] [ 2.10523403e-03 9.99996996e-01 -1.25502741e-03 4.09089689e-01] [ 1.13583628e-02 1.23103719e-03 9.99934734e-01 -2.05625228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.263133365 meters Centerline goodness [0,1] 0.30145323836196436 Centerline is valid? [False, False] Translation: X:3.12, Y:0.41, Z:-0.21 [[ 9.99930509e-01 -2.09588276e-03 -1.16010302e-02 3.11811064e+00] [ 2.08438552e-03 9.99997325e-01 -1.00305508e-03 4.07252201e-01] [ 1.16031014e-02 9.78804359e-04 9.99932203e-01 -2.05109555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29313336499996 meters Centerline goodness [0,1] 0.2977423003306072 Centerline is valid? [False, False] Translation: X:3.14, Y:0.40, Z:-0.20 [[ 9.99921749e-01 5.64809246e-03 -1.11622229e-02 3.13776271e+00] [-5.66973961e-03 9.99982105e-01 -1.90862953e-03 4.03334397e-01] [ 1.11512431e-02 1.97176707e-03 9.99935879e-01 -2.03595262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.323133365 meters Centerline goodness [0,1] 0.29827687360118205 Centerline is valid? [False, False] Translation: X:3.14, Y:0.40, Z:-0.20 [[ 9.99921031e-01 5.73891957e-03 -1.11801597e-02 3.13783259e+00] [-5.75676292e-03 9.99982206e-01 -1.56445519e-03 4.01545986e-01] [ 1.11709825e-02 1.62869318e-03 9.99936276e-01 -2.03613853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35313336499996 meters Centerline goodness [0,1] 0.29755154359208325 Centerline is valid? [False, False] Translation: X:3.14, Y:0.40, Z:-0.20 [[ 9.99921743e-01 5.78768932e-03 -1.10909959e-02 3.13766742e+00] [-5.80087901e-03 9.99982505e-01 -1.15742422e-03 3.99056113e-01] [ 1.10841030e-02 1.22167117e-03 9.99937823e-01 -2.03616362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.383133365 meters Centerline goodness [0,1] 0.29555159760520155 Centerline is valid? [False, False] Translation: X:3.16, Y:0.40, Z:-0.20 [[ 9.99945344e-01 -2.69119907e-03 -1.01027953e-02 3.15803172e+00] [ 2.68885389e-03 9.99996355e-01 -2.45707548e-04 4.00376046e-01] [ 1.01034197e-02 2.18529179e-04 9.99948935e-01 -2.02886550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41313336499996 meters Centerline goodness [0,1] 0.29555159760520155 Centerline is valid? [False, False] Translation: X:3.16, Y:0.40, Z:-0.20 [[ 9.99945344e-01 -2.69119907e-03 -1.01027953e-02 3.15803172e+00] [ 2.68885389e-03 9.99996355e-01 -2.45707548e-04 4.00376046e-01] [ 1.01034197e-02 2.18529179e-04 9.99948935e-01 -2.02886550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.443133365 meters Centerline goodness [0,1] 0.3038652217786162 Centerline is valid? [False, False] Translation: X:3.11, Y:0.39, Z:-0.20 [[ 9.99933247e-01 -4.07918588e-03 -1.08102916e-02 3.11005958e+00] [ 4.07477761e-03 9.99991606e-01 -4.29778567e-04 3.90785249e-01] [ 1.08119540e-02 3.85700344e-04 9.99941475e-01 -2.00913262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47313336499997 meters Centerline goodness [0,1] 0.3010618772941793 Centerline is valid? [False, False] Translation: X:3.11, Y:0.39, Z:-0.20 [[ 9.99932938e-01 -3.89719725e-03 -1.09055877e-02 3.11024913e+00] [ 3.89888649e-03 9.99992390e-01 1.33640766e-04 3.87850656e-01] [ 1.09049839e-02 -1.76151453e-04 9.99940523e-01 -2.00796935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.503133365 meters Centerline goodness [0,1] 0.3070096434769237 Centerline is valid? [False, False] Translation: X:3.11, Y:0.39, Z:-0.20 [[ 9.99932730e-01 -3.74054835e-03 -1.09792665e-02 3.11050763e+00] [ 3.74769798e-03 9.99992778e-01 6.30691766e-04 3.85212516e-01] [ 1.09768281e-02 -6.71796314e-04 9.99939527e-01 -2.00854117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53313336499997 meters Centerline goodness [0,1] 0.2993945706659723 Centerline is valid? [False, False] Translation: X:3.13, Y:0.38, Z:-0.20 [[ 9.99933032e-01 4.01120176e-03 -1.08554825e-02 3.13024247e+00] [-4.01368343e-03 9.99991924e-01 -2.06833244e-04 3.78729526e-01] [ 1.08545651e-02 2.50389862e-04 9.99941056e-01 -1.99458473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.563133365 meters Centerline goodness [0,1] 0.30055121026601883 Centerline is valid? [False, False] Translation: X:3.13, Y:0.37, Z:-0.20 [[ 9.99934012e-01 4.37353164e-03 -1.06228364e-02 3.12976856e+00] [-4.36652724e-03 9.99990234e-01 6.82476028e-04 3.74330591e-01] [ 1.06257175e-02 -6.36046087e-04 9.99943343e-01 -1.99497998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59313336499997 meters Centerline goodness [0,1] 0.2972267184633647 Centerline is valid? [False, False] Translation: X:3.15, Y:0.38, Z:-0.20 [[ 9.99942912e-01 -3.04137453e-03 -1.02431491e-02 3.14844875e+00] [ 3.06542948e-03 9.99992579e-01 2.33351323e-03 3.77122614e-01] [ 1.02359760e-02 -2.36477966e-03 9.99944815e-01 -1.98202033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.623133365 meters Centerline goodness [0,1] 0.29834972062199505 Centerline is valid? [False, False] Translation: X:3.15, Y:0.38, Z:-0.20 [[ 9.99942933e-01 -2.89881162e-03 -1.02823783e-02 3.14856395e+00] [ 2.92656388e-03 9.99992113e-01 2.68499253e-03 3.75191378e-01] [ 1.02745139e-02 -2.71493135e-03 9.99943530e-01 -1.98221385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.653133365 meters Centerline goodness [0,1] 0.2979388153612498 Centerline is valid? [False, False] Translation: X:3.15, Y:0.37, Z:-0.20 [[ 9.99942481e-01 -2.78649145e-03 -1.03571013e-02 3.14868183e+00] [ 2.81846729e-03 9.99991303e-01 3.07402174e-03 3.72821067e-01] [ 1.03484455e-02 -3.10303608e-03 9.99941639e-01 -1.98100580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.683133365 meters Centerline goodness [0,1] 0.2989746357258499 Centerline is valid? [False, False] Translation: X:3.15, Y:0.37, Z:-0.20 [[ 9.99942796e-01 -2.57771804e-03 -1.03807977e-02 3.14864656e+00] [ 2.61577154e-03 9.99989904e-01 3.65385107e-03 3.69716830e-01] [ 1.03712743e-02 -3.68079585e-03 9.99939442e-01 -1.97921174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.713133365 meters Centerline goodness [0,1] 0.29449519693630855 Centerline is valid? [False, False] Translation: X:3.17, Y:0.36, Z:-0.20 [[ 9.99937160e-01 5.01596821e-03 -1.00258031e-02 3.16767213e+00] [-4.98880750e-03 9.99983823e-01 2.73225711e-03 3.62609871e-01] [ 1.00393458e-02 -2.68206861e-03 9.99946008e-01 -1.96179129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.743133365 meters Centerline goodness [0,1] 0.2987181147222582 Centerline is valid? [False, False] Translation: X:3.15, Y:0.36, Z:-0.20 [[ 0.99993964 -0.00364388 -0.01036501 3.14622482] [ 0.0036889 0.99998383 0.00432745 0.35666451] [ 0.01034907 -0.00436542 0.99993692 -0.19741145] [ 0. 0. 0. 1. ]] SLAMing on 256.773133365 meters Centerline goodness [0,1] 0.30131516124831803 Centerline is valid? [False, False] Translation: X:3.15, Y:0.35, Z:-0.20 [[ 0.99994152 -0.00343913 -0.01025367 3.14610214] [ 0.00349075 0.9999813 0.00502093 0.35272218] [ 0.01023621 -0.00505643 0.99993482 -0.19750882] [ 0. 0. 0. 1. ]] SLAMing on 256.803133365 meters Centerline goodness [0,1] 0.29856982855173597 Centerline is valid? [False, False] Translation: X:3.16, Y:0.34, Z:-0.20 [[ 0.99993962 0.00357828 -0.01038987 3.16387563] [-0.00354102 0.99998724 0.00360183 0.34445641] [ 0.01040262 -0.00356482 0.99993954 -0.19505055] [ 0. 0. 0. 1. ]] SLAMing on 256.833133365 meters Centerline goodness [0,1] 0.2993145960858695 Centerline is valid? [False, False] Translation: X:3.16, Y:0.34, Z:-0.19 [[ 0.99993924 0.00378053 -0.01035509 3.16372074] [-0.00373581 0.99998363 0.00433428 0.34015432] [ 0.0103713 -0.00429533 0.99993699 -0.19486181] [ 0. 0. 0. 1. ]] SLAMing on 256.863133365 meters Centerline goodness [0,1] 0.29763464884954993 Centerline is valid? [False, False] Translation: X:3.16, Y:0.33, Z:-0.20 [[ 9.99944725e-01 3.93638956e-04 -1.05067402e-02 3.16442868e+00] [-3.74953135e-04 9.99998345e-01 1.78037094e-03 3.33784447e-01] [ 1.05074236e-02 -1.77633300e-03 9.99943218e-01 -1.95313816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.893133365 meters Centerline goodness [0,1] 0.3003320253546634 Centerline is valid? [False, False] Translation: X:3.17, Y:0.33, Z:-0.20 [[ 9.99942446e-01 6.19739843e-04 -1.07107997e-02 3.16503166e+00] [-5.93448743e-04 9.99996804e-01 2.45763862e-03 3.29948586e-01] [ 1.07122885e-02 -2.45114086e-03 9.99939618e-01 -1.95436801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.923133365 meters Centerline goodness [0,1] 0.2977519629988168 Centerline is valid? [False, False] Translation: X:3.17, Y:0.33, Z:-0.20 [[ 9.99940528e-01 7.94082957e-04 -1.08770391e-02 3.16561589e+00] [-7.61934086e-04 9.99995330e-01 2.95948890e-03 3.27018781e-01] [ 1.08793384e-02 -2.95102531e-03 9.99936464e-01 -1.95682046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.953133365 meters Centerline goodness [0,1] 0.3005902009286985 Centerline is valid? [False, False] Translation: X:3.17, Y:0.32, Z:-0.20 [[ 9.99937901e-01 9.12778417e-04 -1.11068280e-02 3.16625887e+00] [-8.75955267e-04 9.99994106e-01 3.31977461e-03 3.24843901e-01] [ 1.11097928e-02 -3.30983937e-03 9.99932806e-01 -1.95825716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.983133365 meters Centerline goodness [0,1] 0.2976398318784351 Centerline is valid? [False, False] Translation: X:3.17, Y:0.32, Z:-0.20 [[ 9.99934908e-01 1.06049929e-03 -1.13602609e-02 3.16711754e+00] [-1.01910948e-03 9.99992825e-01 3.64855428e-03 3.23137774e-01] [ 1.13640487e-02 -3.63673944e-03 9.99928814e-01 -1.96217426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.013133365 meters Centerline goodness [0,1] 0.30075286702267356 Centerline is valid? [False, False] Translation: X:3.12, Y:0.32, Z:-0.20 [[ 9.99899634e-01 1.50322907e-03 -1.40876717e-02 3.12320471e+00] [-1.44068525e-03 9.99989067e-01 4.44871080e-03 3.19120891e-01] [ 1.40942051e-02 -4.42796840e-03 9.99890867e-01 -1.96234867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04313336499996 meters Centerline goodness [0,1] 0.2976349747529239 Centerline is valid? [False, False] Translation: X:3.14, Y:0.32, Z:-0.20 [[ 0.99986898 0.0103447 -0.01245068 3.14304018] [-0.01029793 0.9999397 0.00381419 0.31565651] [ 0.01248939 -0.00368548 0.99991521 -0.19526829] [ 0. 0. 0. 1. ]] SLAMing on 257.073133365 meters Centerline goodness [0,1] 0.29892607878303334 Centerline is valid? [False, False] Translation: X:3.14, Y:0.32, Z:-0.19 [[ 0.99987173 0.01033566 -0.01223543 3.14232893] [-0.01029058 0.99994005 0.00374166 0.31582317] [ 0.01227337 -0.00361528 0.99991814 -0.19498749] [ 0. 0. 0. 1. ]] SLAMing on 257.10313336499996 meters Centerline goodness [0,1] 0.29820346320346325 Centerline is valid? [False, False] Translation: X:3.14, Y:0.32, Z:-0.20 [[ 0.9998718 0.010325 -0.01223835 3.14232318] [-0.01028047 0.99994033 0.00369568 0.31581759] [ 0.01227578 -0.00356939 0.99991828 -0.19500014] [ 0. 0. 0. 1. ]] SLAMing on 257.133133365 meters Centerline goodness [0,1] 0.30141420285447396 Centerline is valid? [False, False] Translation: X:3.14, Y:0.32, Z:-0.20 [[ 0.99987068 0.01033066 -0.01232474 3.14273276] [-0.01028563 0.99994021 0.00371133 0.31553679] [ 0.01236234 -0.00358409 0.99991716 -0.19538273] [ 0. 0. 0. 1. ]] SLAMing on 257.16313336499996 meters Centerline goodness [0,1] 0.29702669243967594 Centerline is valid? [False, False] Translation: X:3.14, Y:0.32, Z:-0.20 [[ 0.99986837 0.01038436 -0.01246599 3.14331952] [-0.01033812 0.99993946 0.00376838 0.31530262] [ 0.01250436 -0.00363901 0.9999152 -0.19586346] [ 0. 0. 0. 1. ]] SLAMing on 257.193133365 meters Centerline goodness [0,1] 0.30188472736028715 Centerline is valid? [False, False] Translation: X:3.12, Y:0.32, Z:-0.20 [[ 9.99907694e-01 2.09838205e-03 -1.34239016e-02 3.12430809e+00] [-2.03017102e-03 9.99984970e-01 5.09292270e-03 3.17888735e-01] [ 1.34343868e-02 -5.06519978e-03 9.99896925e-01 -1.97764237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22313336499997 meters Centerline goodness [0,1] 0.297705274605764 Centerline is valid? [False, False] Translation: X:3.13, Y:0.32, Z:-0.20 [[ 9.99903045e-01 2.11957809e-03 -1.37625578e-02 3.12552217e+00] [-2.04843716e-03 9.99984479e-01 5.18120543e-03 3.17124789e-01] [ 1.37733262e-02 -5.15251135e-03 9.99891868e-01 -1.98453163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.253133365 meters Centerline goodness [0,1] 0.30047378878190434 Centerline is valid? [False, False] Translation: X:3.13, Y:0.32, Z:-0.20 [[ 9.99901245e-01 2.13364717e-03 -1.38905670e-02 3.12583813e+00] [-2.06075792e-03 9.99984045e-01 5.25959233e-03 3.16538694e-01] [ 1.39015675e-02 -5.23044783e-03 9.99889688e-01 -1.98492685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28313336499997 meters Centerline goodness [0,1] 0.29993223599361707 Centerline is valid? [False, False] Translation: X:3.13, Y:0.32, Z:-0.20 [[ 9.99899357e-01 2.18037415e-03 -1.40185957e-02 3.12603840e+00] [-2.10505072e-03 9.99983282e-01 5.38562068e-03 3.15940849e-01] [ 1.40301040e-02 -5.35556880e-03 9.99887231e-01 -1.98328249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.313133365 meters Centerline goodness [0,1] 0.3003941318151959 Centerline is valid? [False, False] Translation: X:3.13, Y:0.32, Z:-0.20 [[ 9.99898426e-01 2.22833927e-03 -1.40773465e-02 3.12596046e+00] [-2.15113800e-03 9.99982579e-01 5.49684155e-03 3.15513234e-01] [ 1.40893501e-02 -5.46600090e-03 9.99885800e-01 -1.97969011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34313336499997 meters Centerline goodness [0,1] 0.29731318585612265 Centerline is valid? [False, False] Translation: X:3.13, Y:0.32, Z:-0.20 [[ 9.99899551e-01 2.25419643e-03 -1.39931180e-02 3.12560661e+00] [-2.17725001e-03 9.99982440e-01 5.51167610e-03 3.15616371e-01] [ 1.40052966e-02 -5.48065594e-03 9.99886901e-01 -1.97753240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.373133365 meters Centerline goodness [0,1] 0.30012161223071576 Centerline is valid? [False, False] Translation: X:3.12, Y:0.32, Z:-0.20 [[ 9.99903376e-01 2.25985456e-03 -1.37161340e-02 3.12481580e+00] [-2.18486837e-03 9.99982600e-01 5.47953125e-03 3.15980346e-01] [ 1.37282783e-02 -5.44903384e-03 9.99890915e-01 -1.97543656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.403133365 meters Centerline goodness [0,1] 0.3012853916970645 Centerline is valid? [False, False] Translation: X:3.12, Y:0.32, Z:-0.20 [[ 9.99913519e-01 2.43311624e-03 -1.29241836e-02 3.12267152e+00] [-2.36286123e-03 9.99982366e-01 5.44842502e-03 3.17348749e-01] [ 1.29372123e-02 -5.41741578e-03 9.99901635e-01 -1.97112916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.433133365 meters Centerline goodness [0,1] 0.3011771900321052 Centerline is valid? [False, False] Translation: X:3.12, Y:0.32, Z:-0.20 [[ 9.99915717e-01 2.45911164e-03 -1.27480143e-02 3.12220847e+00] [-2.39057039e-03 9.99982621e-01 5.38907462e-03 3.18027183e-01] [ 1.27610451e-02 -5.35814539e-03 9.99904218e-01 -1.97066751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.463133365 meters Centerline goodness [0,1] 0.2999217935349322 Centerline is valid? [False, False] Translation: X:3.12, Y:0.32, Z:-0.20 [[ 9.99916404e-01 2.47636941e-03 -1.26906392e-02 3.12209490e+00] [-2.40804682e-03 9.99982541e-01 5.39615487e-03 3.18126539e-01] [ 1.27037805e-02 -5.36514412e-03 9.99904910e-01 -1.97117704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.493133365 meters Centerline goodness [0,1] 0.29973214869014175 Centerline is valid? [False, False] Translation: X:3.12, Y:0.32, Z:-0.20 [[ 9.99917145e-01 2.47960155e-03 -1.26314643e-02 3.12204202e+00] [-2.41098635e-03 9.99982273e-01 5.44442064e-03 3.17728340e-01] [ 1.26447404e-02 -5.41351526e-03 9.99905398e-01 -1.97261020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.523133365 meters Centerline goodness [0,1] 0.2989193067907543 Centerline is valid? [False, False] Translation: X:3.12, Y:0.32, Z:-0.20 [[ 9.99918068e-01 2.49366195e-03 -1.25554657e-02 3.12187233e+00] [-2.42342497e-03 9.99981348e-01 5.60624601e-03 3.16567850e-01] [ 1.25692116e-02 -5.57535945e-03 9.99905461e-01 -1.97253196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.553133365 meters Centerline goodness [0,1] 0.3008202412984984 Centerline is valid? [False, False] Translation: X:3.12, Y:0.31, Z:-0.20 [[ 9.99918688e-01 2.58091034e-03 -1.24882250e-02 3.12163143e+00] [-2.50661949e-03 9.99979092e-01 5.96087143e-03 3.14475765e-01] [ 1.25033483e-02 -5.92908351e-03 9.99904252e-01 -1.97061130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.583133365 meters Centerline goodness [0,1] 0.30095669797546143 Centerline is valid? [False, False] Translation: X:3.12, Y:0.31, Z:-0.20 [[ 9.99923488e-01 -1.06072756e-03 -1.23244515e-02 3.12127312e+00] [ 1.09682373e-03 9.99995128e-01 2.92243634e-03 3.10467455e-01] [ 1.23212916e-02 -2.93573049e-03 9.99919780e-01 -1.97019530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.613133365 meters Centerline goodness [0,1] 0.29747354782984237 Centerline is valid? [False, False] Translation: X:3.12, Y:0.31, Z:-0.20 [[ 9.99919343e-01 -1.05854522e-03 -1.26565301e-02 3.12226225e+00] [ 1.10128019e-03 9.99993715e-01 3.37002299e-03 3.07124661e-01] [ 1.26528832e-02 -3.38368956e-03 9.99914224e-01 -1.97230784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.643133365 meters Centerline goodness [0,1] 0.3013743526995434 Centerline is valid? [False, False] Translation: X:3.10, Y:0.30, Z:-0.20 [[ 9.99900092e-01 5.97988286e-03 -1.28080588e-02 3.10435585e+00] [-5.95419544e-03 9.99980187e-01 2.04276146e-03 2.97860950e-01] [ 1.28200205e-02 -1.96629568e-03 9.99915887e-01 -1.99536954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.673133365 meters Centerline goodness [0,1] 0.29931142682820533 Centerline is valid? [False, False] Translation: X:3.11, Y:0.29, Z:-0.20 [[ 9.99897454e-01 6.17053463e-03 -1.29230646e-02 3.10524185e+00] [-6.13774087e-03 9.99977847e-01 2.57574088e-03 2.94765068e-01] [ 1.29386720e-02 -2.49615833e-03 9.99913176e-01 -2.00404444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.703133365 meters Centerline goodness [0,1] 0.30036159275071883 Centerline is valid? [False, False] Translation: X:3.11, Y:0.29, Z:-0.20 [[ 9.99896160e-01 6.24544263e-03 -1.29870191e-02 3.10557660e+00] [-6.21159788e-03 9.99977210e-01 2.64475038e-03 2.94504107e-01] [ 1.30032408e-02 -2.56380561e-03 9.99912167e-01 -2.00745719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.733133365 meters Centerline goodness [0,1] 0.30075987841945284 Centerline is valid? [False, False] Translation: X:3.11, Y:0.29, Z:-0.20 [[ 9.99894741e-01 6.33021156e-03 -1.30550640e-02 3.10587666e+00] [-6.29585721e-03 9.99976614e-01 2.67091816e-03 2.94569840e-01] [ 1.30716662e-02 -2.58844420e-03 9.99911212e-01 -2.01032160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.763133365 meters Centerline goodness [0,1] 0.29734057516283297 Centerline is valid? [False, False] Translation: X:3.11, Y:0.29, Z:-0.20 [[ 9.99891265e-01 6.34946895e-03 -1.33095188e-02 3.10673453e+00] [-6.31560145e-03 9.99976715e-01 2.58509579e-03 2.94948158e-01] [ 1.33256229e-02 -2.50075708e-03 9.99908083e-01 -2.01516019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79313336499996 meters Centerline goodness [0,1] 0.29574869382357405 Centerline is valid? [False, False] Translation: X:3.11, Y:0.30, Z:-0.20 [[ 9.99889115e-01 6.31229122e-03 -1.34875187e-02 3.10739697e+00] [-6.27989653e-03 9.99977297e-01 2.44283152e-03 2.95458518e-01] [ 1.35026323e-02 -2.35786042e-03 9.99906055e-01 -2.01970781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.823133365 meters Centerline goodness [0,1] 0.3018110408029675 Centerline is valid? [False, False] Translation: X:3.11, Y:0.30, Z:-0.20 [[ 9.99889410e-01 6.31546066e-03 -1.34641091e-02 3.10731564e+00] [-6.28501455e-03 9.99977599e-01 2.30239410e-03 2.96222095e-01] [ 1.34783482e-02 -2.21751736e-03 9.99906704e-01 -2.02054510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85313336499996 meters Centerline goodness [0,1] 0.29825937302572814 Centerline is valid? [False, False] Translation: X:3.11, Y:0.30, Z:-0.20 [[ 9.99889648e-01 6.28492459e-03 -1.34607148e-02 3.10735356e+00] [-6.25583140e-03 9.99978007e-01 2.20235779e-03 2.96758034e-01] [ 1.34742604e-02 -2.11790680e-03 9.99906975e-01 -2.02181757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.883133365 meters Centerline goodness [0,1] 0.29740262567764686 Centerline is valid? [False, False] Translation: X:3.11, Y:0.30, Z:-0.20 [[ 9.99888673e-01 6.23934516e-03 -1.35540539e-02 3.10771311e+00] [-6.21178232e-03 9.99978554e-01 2.07469897e-03 2.97425537e-01] [ 1.35667080e-02 -1.99027316e-03 9.99905987e-01 -2.02421913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91313336499996 meters Centerline goodness [0,1] 0.29953463983745165 Centerline is valid? [False, False] Translation: X:3.11, Y:0.30, Z:-0.20 [[ 9.99888539e-01 6.18481656e-03 -1.35889121e-02 3.10789698e+00] [-6.15832284e-03 9.99979056e-01 1.99063744e-03 2.97652259e-01] [ 1.36009393e-02 -1.90673065e-03 9.99905685e-01 -2.02599330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.943133365 meters Centerline goodness [0,1] 0.298541038745468 Centerline is valid? [False, False] Translation: X:3.11, Y:0.30, Z:-0.20 [[ 9.99887959e-01 6.14683304e-03 -1.36486870e-02 3.10799653e+00] [-6.12012901e-03 9.99979277e-01 1.99743449e-03 2.97336688e-01] [ 1.36606821e-02 -1.91367897e-03 9.99904857e-01 -2.02518524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97313336499997 meters Centerline goodness [0,1] 0.2963783701579439 Centerline is valid? [False, False] Translation: X:3.11, Y:0.30, Z:-0.20 [[ 9.99887638e-01 6.10281696e-03 -1.36918295e-02 3.10807222e+00] [-6.07618373e-03 9.99979568e-01 1.98594865e-03 2.97047308e-01] [ 1.37036696e-02 -1.90253144e-03 9.99904290e-01 -2.02483289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.003133365 meters Centerline goodness [0,1] 0.29410491689750695 Centerline is valid? [False, False] Translation: X:3.11, Y:0.30, Z:-0.20 [[ 9.99885823e-01 6.17177901e-03 -1.37931031e-02 3.10817833e+00] [-6.14201795e-03 9.99978720e-01 2.19899770e-03 2.96091194e-01] [ 1.38063813e-02 -2.11402914e-03 9.99902453e-01 -2.02251324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03313336499997 meters Centerline goodness [0,1] 0.29925731760594143 Centerline is valid? [False, False] Translation: X:3.09, Y:0.30, Z:-0.20 [[ 9.99897733e-01 -2.15777781e-03 -1.41374506e-02 3.08849703e+00] [ 2.20997970e-03 9.99990795e-01 3.67787272e-03 2.98773088e-01] [ 1.41293844e-02 -3.70874007e-03 9.99893297e-01 -2.03886812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.063133365 meters Centerline goodness [0,1] 0.298144789458733 Centerline is valid? [False, False] Translation: X:3.09, Y:0.30, Z:-0.20 [[ 9.99898851e-01 -2.12612184e-03 -1.40629677e-02 3.08835296e+00] [ 2.17870154e-03 9.99990690e-01 3.72461343e-03 2.98775068e-01] [ 1.40549178e-02 -3.75487570e-03 9.99894174e-01 -2.03916157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09313336499997 meters Centerline goodness [0,1] 0.2966448801742919 Centerline is valid? [False, False] Translation: X:3.09, Y:0.30, Z:-0.20 [[ 9.99899852e-01 -2.17168768e-03 -1.39846112e-02 3.08821372e+00] [ 2.22233436e-03 9.99991025e-01 3.60708004e-03 2.99408706e-01] [ 1.39766522e-02 -3.63779728e-03 9.99895704e-01 -2.04020874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.123133365 meters Centerline goodness [0,1] 0.29712411486163604 Centerline is valid? [False, False] Translation: X:3.09, Y:0.30, Z:-0.20 [[ 9.99900466e-01 -2.22486169e-03 -1.39322860e-02 3.08808957e+00] [ 2.27303216e-03 9.99991491e-01 3.44259041e-03 3.00308775e-01] [ 1.39245082e-02 -3.47391628e-03 9.99897015e-01 -2.04077290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.153133365 meters Centerline goodness [0,1] 0.29789614549283727 Centerline is valid? [False, False] Translation: X:3.09, Y:0.30, Z:-0.20 [[ 9.99902280e-01 -2.24209950e-03 -1.37986465e-02 3.08777355e+00] [ 2.28724662e-03 9.99992080e-01 3.25694033e-03 3.01653399e-01] [ 1.37912349e-02 -3.28818297e-03 9.99899490e-01 -2.04149120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.183133365 meters Centerline goodness [0,1] 0.29427775257598343 Centerline is valid? [False, False] Translation: X:3.11, Y:0.30, Z:-0.20 [[ 9.99910721e-01 6.20828202e-03 -1.18324472e-02 3.10793446e+00] [-6.18149498e-03 9.99978251e-01 2.29909281e-03 3.02829826e-01] [ 1.18464633e-02 -2.22574534e-03 9.99927351e-01 -2.03770210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.213133365 meters Centerline goodness [0,1] 0.2969902722465235 Centerline is valid? [False, False] Translation: X:3.11, Y:0.30, Z:-0.20 [[ 9.99911103e-01 6.11165241e-03 -1.18504553e-02 3.10799339e+00] [-6.08695101e-03 9.99979228e-01 2.11937560e-03 3.03506679e-01] [ 1.18631621e-02 -2.04705405e-03 9.99927535e-01 -2.03828125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.243133365 meters Centerline goodness [0,1] 0.2971793368510195 Centerline is valid? [False, False] Translation: X:3.11, Y:0.30, Z:-0.20 [[ 9.99910476e-01 6.02333819e-03 -1.19482014e-02 3.10836814e+00] [-5.99989056e-03 9.99980006e-01 1.99731536e-03 3.03875280e-01] [ 1.19599930e-02 -1.92544865e-03 9.99926623e-01 -2.04063873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.273133365 meters Centerline goodness [0,1] 0.2933911019141231 Centerline is valid? [False, False] Translation: X:3.11, Y:0.30, Z:-0.20 [[ 9.99910156e-01 5.94827739e-03 -1.20124132e-02 3.10860537e+00] [-5.92531201e-03 9.99980551e-01 1.94648989e-03 3.03902214e-01] [ 1.20237579e-02 -1.87513772e-03 9.99925954e-01 -2.04182903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.303133365 meters Centerline goodness [0,1] 0.2933911019141231 Centerline is valid? [False, False] Translation: X:3.11, Y:0.30, Z:-0.20 [[ 9.99910156e-01 5.94827739e-03 -1.20124132e-02 3.10860537e+00] [-5.92531201e-03 9.99980551e-01 1.94648989e-03 3.03902214e-01] [ 1.20237579e-02 -1.87513772e-03 9.99925954e-01 -2.04182903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.333133365 meters Centerline goodness [0,1] 0.29906827554605164 Centerline is valid? [False, False] Translation: X:3.09, Y:0.31, Z:-0.21 [[ 9.99929053e-01 -2.95923485e-03 -1.15382781e-02 3.08690832e+00] [ 2.99144507e-03 9.99991674e-01 2.77533823e-03 3.06278027e-01] [ 1.15299692e-02 -2.80965745e-03 9.99929580e-01 -2.05302693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.363133365 meters Centerline goodness [0,1] 0.2979251485924539 Centerline is valid? [False, False] Translation: X:3.09, Y:0.31, Z:-0.20 [[ 9.99929458e-01 -2.98953642e-03 -1.14952845e-02 3.08651444e+00] [ 3.02359156e-03 9.99991089e-01 2.94629404e-03 3.05053186e-01] [ 1.14863740e-02 -2.98084325e-03 9.99929586e-01 -2.04769468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.393133365 meters Centerline goodness [0,1] 0.2997457571872487 Centerline is valid? [False, False] Translation: X:3.09, Y:0.30, Z:-0.20 [[ 9.99928707e-01 -3.02868301e-03 -1.15502572e-02 3.08652557e+00] [ 3.06533046e-03 9.99990320e-01 3.15648628e-03 3.03496102e-01] [ 1.15405854e-02 -3.19166660e-03 9.99928312e-01 -2.04489189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.423133365 meters Centerline goodness [0,1] 0.2978334638475594 Centerline is valid? [False, False] Translation: X:3.09, Y:0.30, Z:-0.20 [[ 9.99922622e-01 -3.03270460e-03 -1.20645325e-02 3.08782300e+00] [ 3.07640596e-03 9.99988768e-01 3.60539301e-03 3.00531501e-01] [ 1.20534629e-02 -3.64222943e-03 9.99920721e-01 -2.04556193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.453133365 meters Centerline goodness [0,1] 0.2973783096939552 Centerline is valid? [False, False] Translation: X:3.09, Y:0.30, Z:-0.20 [[ 9.99920114e-01 -2.95529517e-03 -1.22894875e-02 3.08861062e+00] [ 3.00302952e-03 9.99988012e-01 3.86752259e-03 2.99087537e-01] [ 1.22779105e-02 -3.90411932e-03 9.99917002e-01 -2.04918268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.483133365 meters Centerline goodness [0,1] 0.29243860404997846 Centerline is valid? [False, False] Translation: X:3.11, Y:0.29, Z:-0.20 [[ 9.99910013e-01 4.98744870e-03 -1.24535833e-02 3.10900294e+00] [-4.95518079e-03 9.99984289e-01 2.62056746e-03 2.94525284e-01] [ 1.24664576e-02 -2.55862188e-03 9.99919017e-01 -2.03912857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.513133365 meters Centerline goodness [0,1] 0.29456170415844163 Centerline is valid? [False, False] Translation: X:3.11, Y:0.29, Z:-0.20 [[ 9.99910563e-01 4.98965905e-03 -1.24084731e-02 3.10884732e+00] [-4.95594477e-03 9.99983948e-01 2.74630291e-03 2.93340657e-01] [ 1.24219771e-02 -2.68456158e-03 9.99919241e-01 -2.03836889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54313336499996 meters Centerline goodness [0,1] 0.29407833753691603 Centerline is valid? [False, False] Translation: X:3.11, Y:0.29, Z:-0.20 [[ 9.99916135e-01 4.99053588e-03 -1.19506617e-02 3.10684683e+00] [-4.95550537e-03 9.99983343e-01 2.95908105e-03 2.91558275e-01] [ 1.19652300e-02 -2.89961132e-03 9.99924210e-01 -2.02455112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.573133365 meters Centerline goodness [0,1] 0.2995702751974998 Centerline is valid? [False, False] Translation: X:3.11, Y:0.29, Z:-0.20 [[ 0.99991712 0.0050906 -0.01182532 3.10629429] [-0.00505318 0.99998214 0.00319198 0.29053225] [ 0.01184136 -0.00313196 0.99992498 -0.20202022] [ 0. 0. 0. 1. ]] SLAMing on 258.60313336499996 meters Centerline goodness [0,1] 0.29766161714669614 Centerline is valid? [False, False] Translation: X:3.11, Y:0.29, Z:-0.20 [[ 0.99991601 0.00515365 -0.01189194 3.10653625] [-0.00511352 0.99998114 0.00340242 0.28938851] [ 0.01190925 -0.00334132 0.9999235 -0.20215413] [ 0. 0. 0. 1. ]] SLAMing on 258.633133365 meters Centerline goodness [0,1] 0.2946340203967468 Centerline is valid? [False, False] Translation: X:3.11, Y:0.29, Z:-0.20 [[ 0.99991234 0.00514955 -0.01219788 3.10758177] [-0.00510604 0.9999805 0.00359528 0.28783012] [ 0.01221616 -0.00353268 0.99991914 -0.20264431] [ 0. 0. 0. 1. ]] SLAMing on 258.66313336499996 meters Centerline goodness [0,1] 0.29963183234211277 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:-0.20 [[ 0.99987136 -0.0040299 -0.01552515 3.08846278] [ 0.0040987 0.99998191 0.00440235 0.28362501] [ 0.01550713 -0.00446541 0.99986979 -0.20341902] [ 0. 0. 0. 1. ]] SLAMing on 258.693133365 meters Centerline goodness [0,1] 0.2973522980667229 Centerline is valid? [False, False] Translation: X:3.11, Y:0.28, Z:-0.20 [[ 0.9998522 0.00336261 -0.01686011 3.10711953] [-0.00330658 0.99998892 0.00334993 0.27616223] [ 0.01687119 -0.00329369 0.99985225 -0.20057338] [ 0. 0. 0. 1. ]] SLAMing on 258.72313336499997 meters Centerline goodness [0,1] 0.29711058005648494 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:-0.20 [[ 0.99985169 0.00355807 -0.01685036 3.10673861] [-0.00349133 0.99998595 0.00398809 0.2728874 ] [ 0.01686431 -0.00392867 0.99985007 -0.19995111] [ 0. 0. 0. 1. ]] SLAMing on 258.753133365 meters Centerline goodness [0,1] 0.30035982989859344 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:-0.20 [[ 0.99985232 0.00370765 -0.01678091 3.10615646] [-0.00363197 0.99998311 0.00453824 0.26978613] [ 0.01679745 -0.00447662 0.99984889 -0.19924174] [ 0. 0. 0. 1. ]] SLAMing on 258.78313336499997 meters Centerline goodness [0,1] 0.29846922158289 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:-0.20 [[ 0.99985274 0.00382017 -0.01673045 3.10581339] [-0.00373731 0.99998061 0.00498117 0.26720253] [ 0.01674915 -0.00491791 0.99984763 -0.19883343] [ 0. 0. 0. 1. ]] SLAMing on 258.813133365 meters Centerline goodness [0,1] 0.30333121896804394 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:-0.20 [[ 0.99985352 0.00389626 -0.01666601 3.10557434] [-0.00380918 0.99997895 0.00525344 0.265564 ] [ 0.01668613 -0.00518919 0.99984731 -0.1986701 ] [ 0. 0. 0. 1. ]] SLAMing on 258.84313336499997 meters Centerline goodness [0,1] 0.30369804734373296 Centerline is valid? [False, False] Translation: X:3.10, Y:0.26, Z:-0.20 [[ 0.99986062 0.00417095 -0.01616602 3.1042771 ] [-0.00408048 0.99997585 0.00562502 0.26424971] [ 0.01618909 -0.00555827 0.9998535 -0.19846625] [ 0. 0. 0. 1. ]] SLAMing on 258.873133365 meters Centerline goodness [0,1] 0.2992280067952605 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:-0.20 [[ 0.99980558 0.01269723 -0.01508556 3.12407213] [-0.01262884 0.99990958 0.00462004 0.26133711] [ 0.01514286 -0.00442863 0.99987553 -0.19739823] [ 0. 0. 0. 1. ]] SLAMing on 258.903133365 meters Centerline goodness [0,1] 0.3066136228762336 Centerline is valid? [False, False] Translation: X:3.10, Y:0.26, Z:-0.20 [[ 0.99986552 0.00391088 -0.01592636 3.10313903] [-0.00382273 0.99997723 0.00556199 0.26364855] [ 0.01594775 -0.00550036 0.9998577 -0.19799131] [ 0. 0. 0. 1. ]] SLAMing on 258.933133365 meters Centerline goodness [0,1] 0.30297526379519113 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:-0.20 [[ 0.99981066 0.0119545 -0.01535374 3.1227139 ] [-0.01189279 0.99992086 0.0041042 0.25991607] [ 0.01540159 -0.00392083 0.9998737 -0.19656878] [ 0. 0. 0. 1. ]] SLAMing on 258.963133365 meters Centerline goodness [0,1] 0.3051936696686194 Centerline is valid? [False, False] Translation: X:3.10, Y:0.26, Z:-0.20 [[ 9.99869122e-01 2.85405902e-03 -1.59245829e-02 3.10197765e+00] [-2.77652277e-03 9.99984194e-01 4.88895259e-03 2.61510272e-01] [ 1.59382846e-02 -4.84409777e-03 9.99861243e-01 -1.97507199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.993133365 meters Centerline goodness [0,1] 0.3052167652128379 Centerline is valid? [False, False] Translation: X:3.10, Y:0.26, Z:-0.20 [[ 9.99868037e-01 2.88969226e-03 -1.59862171e-02 3.10218312e+00] [-2.80762884e-03 9.99982779e-01 5.15344945e-03 2.59898320e-01] [ 1.60008337e-02 -5.10788602e-03 9.99858931e-01 -1.97583131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.023133365 meters Centerline goodness [0,1] 0.3062313505978699 Centerline is valid? [False, False] Translation: X:3.10, Y:0.26, Z:-0.20 [[ 9.99864647e-01 2.83451735e-03 -1.62065515e-02 3.10288118e+00] [-2.74175756e-03 9.99979750e-01 5.74295481e-03 2.56224357e-01] [ 1.62225018e-02 -5.69774305e-03 9.99852172e-01 -1.97764612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.053133365 meters Centerline goodness [0,1] 0.30067399172138787 Centerline is valid? [False, False] Translation: X:3.10, Y:0.25, Z:-0.20 [[ 9.99858805e-01 2.75144061e-03 -1.65770587e-02 3.10369123e+00] [-2.65123611e-03 9.99978101e-01 6.06371621e-03 2.53734359e-01] [ 1.65933797e-02 -6.01891035e-03 9.99844204e-01 -1.97652203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.083133365 meters Centerline goodness [0,1] 0.31037165466346583 Centerline is valid? [False, False] Translation: X:3.06, Y:0.25, Z:-0.20 [[ 9.99820192e-01 5.40655263e-04 -1.89549939e-02 3.05957255e+00] [-4.36559185e-04 9.99984805e-01 5.49545728e-03 2.48444140e-01] [ 1.89576770e-02 -5.48619418e-03 9.99805235e-01 -1.97639513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.113133365 meters Centerline goodness [0,1] 0.3067923372988104 Centerline is valid? [False, False] Translation: X:3.08, Y:0.24, Z:-0.20 [[ 9.99813412e-01 6.26143242e-03 -1.82738958e-02 3.08185677e+00] [-6.21693276e-03 9.99977572e-01 2.49094285e-03 2.44956453e-01] [ 1.82890829e-02 -2.37687049e-03 9.99829916e-01 -1.97860624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.143133365 meters Centerline goodness [0,1] 0.3022394524820238 Centerline is valid? [False, False] Translation: X:3.10, Y:0.25, Z:-0.20 [[ 9.99839693e-01 -1.83866600e-03 -1.78103107e-02 3.10230123e+00] [ 1.90019397e-03 9.99992284e-01 3.43831994e-03 2.46031327e-01] [ 1.78038513e-02 -3.47161180e-03 9.99835472e-01 -1.96684228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.173133365 meters Centerline goodness [0,1] 0.3059290087812956 Centerline is valid? [False, False] Translation: X:3.10, Y:0.24, Z:-0.20 [[ 9.99839661e-01 -1.74370047e-03 -1.78216938e-02 3.10236279e+00] [ 1.81222124e-03 9.99991026e-01 3.82936920e-03 2.43761488e-01] [ 1.78148566e-02 -3.86105205e-03 9.99833848e-01 -1.96719481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.203133365 meters Centerline goodness [0,1] 0.3043260324724856 Centerline is valid? [False, False] Translation: X:3.10, Y:0.24, Z:-0.20 [[ 9.99838738e-01 -1.65654402e-03 -1.78816845e-02 3.10283908e+00] [ 1.73421074e-03 9.99989127e-01 4.32873470e-03 2.40617712e-01] [ 1.78743193e-02 -4.35904725e-03 9.99830739e-01 -1.97208880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.233133365 meters Centerline goodness [0,1] 0.30078318841830465 Centerline is valid? [False, False] Translation: X:3.12, Y:0.24, Z:-0.20 [[ 9.99828117e-01 6.56172226e-03 -1.73401576e-02 3.12220178e+00] [-6.50771377e-03 9.99973802e-01 3.16924163e-03 2.36097197e-01] [ 1.73604990e-02 -3.05585211e-03 9.99844625e-01 -1.95969310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.263133365 meters Centerline goodness [0,1] 0.3045349797817296 Centerline is valid? [False, False] Translation: X:3.12, Y:0.24, Z:-0.20 [[ 0.99982751 0.00661035 -0.01735675 3.12223851] [-0.00655397 0.99997307 0.0033029 0.23533607] [ 0.01737811 -0.00318858 0.9998439 -0.19597047] [ 0. 0. 0. 1. ]] SLAMing on 259.29313336499996 meters Centerline goodness [0,1] 0.30305597185117616 Centerline is valid? [False, False] Translation: X:3.12, Y:0.23, Z:-0.20 [[ 0.99982087 0.00663908 -0.01772408 3.12335223] [-0.00657838 0.9999723 0.00348084 0.2340942 ] [ 0.0177467 -0.00336362 0.99983686 -0.19639383] [ 0. 0. 0. 1. ]] SLAMing on 259.323133365 meters Centerline goodness [0,1] 0.3040992870805077 Centerline is valid? [False, False] Translation: X:3.12, Y:0.23, Z:-0.20 [[ 0.9998165 0.00665231 -0.01796425 3.12411984] [-0.0065883 0.99997175 0.00361964 0.23308447] [ 0.01798782 -0.00350062 0.99983208 -0.19673141] [ 0. 0. 0. 1. ]] SLAMing on 259.35313336499996 meters Centerline goodness [0,1] 0.3036707211120765 Centerline is valid? [False, False] Translation: X:3.12, Y:0.23, Z:-0.20 [[ 0.99981188 0.00664819 -0.01822089 3.12485593] [-0.00658051 0.99997123 0.00377203 0.23182653] [ 0.01824544 -0.00365141 0.99982687 -0.19695399] [ 0. 0. 0. 1. ]] SLAMing on 259.383133365 meters Centerline goodness [0,1] 0.30492482022227063 Centerline is valid? [False, False] Translation: X:3.13, Y:0.23, Z:-0.20 [[ 0.9998074 0.00669465 -0.01844832 3.12539587] [-0.0066214 0.99996996 0.00402855 0.23028261] [ 0.01847474 -0.00390563 0.9998217 -0.19696853] [ 0. 0. 0. 1. ]] SLAMing on 259.41313336499996 meters Centerline goodness [0,1] 0.3018505322709507 Centerline is valid? [False, False] Translation: X:3.15, Y:0.23, Z:-0.20 [[ 9.99829043e-01 -1.19933958e-03 -1.84512112e-02 3.14560114e+00] [ 1.29129250e-03 9.99986803e-01 4.97246434e-03 2.32847381e-01] [ 1.84450041e-02 -4.99544018e-03 9.99817397e-01 -1.95577760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.443133365 meters Centerline goodness [0,1] 0.3048138849470582 Centerline is valid? [False, False] Translation: X:3.15, Y:0.23, Z:-0.20 [[ 9.99829548e-01 -1.15464790e-03 -1.84266386e-02 3.14531990e+00] [ 1.25195558e-03 9.99985329e-01 5.27015387e-03 2.31130689e-01] [ 1.84202831e-02 -5.29232490e-03 9.99816325e-01 -1.95241914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47313336499997 meters Centerline goodness [0,1] 0.3040783034257749 Centerline is valid? [False, False] Translation: X:3.15, Y:0.23, Z:-0.19 [[ 9.99828173e-01 -1.23387354e-03 -1.84960031e-02 3.14525831e+00] [ 1.33534597e-03 9.99984121e-01 5.47483535e-03 2.29357490e-01] [ 1.84889542e-02 -5.49859319e-03 9.99813945e-01 -1.94859267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.503133365 meters Centerline goodness [0,1] 0.303957186677399 Centerline is valid? [False, False] Translation: X:3.15, Y:0.23, Z:-0.19 [[ 9.99827941e-01 -1.29804825e-03 -1.85041226e-02 3.14501961e+00] [ 1.40350721e-03 9.99982842e-01 5.68736759e-03 2.27641681e-01] [ 1.84964227e-02 -5.71235970e-03 9.99812608e-01 -1.94457553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53313336499997 meters Centerline goodness [0,1] 0.30388615692588883 Centerline is valid? [False, False] Translation: X:3.14, Y:0.23, Z:-0.19 [[ 9.99830055e-01 -1.23242502e-03 -1.83941009e-02 3.14444410e+00] [ 1.34324345e-03 9.99981016e-01 6.01353359e-03 2.25860580e-01] [ 1.83863405e-02 -6.03721937e-03 9.99812730e-01 -1.93977921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.563133365 meters Centerline goodness [0,1] 0.3048690439994788 Centerline is valid? [False, False] Translation: X:3.14, Y:0.22, Z:-0.19 [[ 9.99841890e-01 -1.20108934e-03 -1.77412713e-02 3.14217326e+00] [ 1.31592038e-03 9.99978253e-01 6.46228198e-03 2.23283761e-01] [ 1.77331237e-02 -6.48460633e-03 9.99821727e-01 -1.92701243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59313336499997 meters Centerline goodness [0,1] 0.3062317112821069 Centerline is valid? [False, False] Translation: X:3.14, Y:0.22, Z:-0.19 [[ 9.99844627e-01 -1.17250834e-03 -1.75882814e-02 3.14139100e+00] [ 1.28929109e-03 9.99977191e-01 6.62993532e-03 2.22178730e-01] [ 1.75801066e-02 -6.65158162e-03 9.99823333e-01 -1.92021584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.623133365 meters Centerline goodness [0,1] 0.3102223190932868 Centerline is valid? [False, False] Translation: X:3.14, Y:0.22, Z:-0.19 [[ 9.99845717e-01 -1.18910928e-03 -1.75250988e-02 3.14088595e+00] [ 1.30782870e-03 9.99976266e-01 6.76434787e-03 2.20890754e-01] [ 1.75166393e-02 -6.78622407e-03 9.99823542e-01 -1.91441146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.653133365 meters Centerline goodness [0,1] 0.3056138453217956 Centerline is valid? [False, False] Translation: X:3.16, Y:0.22, Z:-0.19 [[ 0.99983488 0.00654256 -0.01695293 3.15895642] [-0.00645873 0.99996667 0.00499484 0.21545028] [ 0.01698504 -0.00488453 0.99984381 -0.18905239] [ 0. 0. 0. 1. ]] SLAMing on 259.683133365 meters Centerline goodness [0,1] 0.30840656248647247 Centerline is valid? [False, False] Translation: X:3.16, Y:0.21, Z:-0.19 [[ 0.99983524 0.00662067 -0.01690122 3.15851393] [-0.00653366 0.99996514 0.00519826 0.21447162] [ 0.01693504 -0.00508697 0.99984365 -0.18860843] [ 0. 0. 0. 1. ]] SLAMing on 259.713133365 meters Centerline goodness [0,1] 0.30723048246564655 Centerline is valid? [False, False] Translation: X:3.16, Y:0.21, Z:-0.19 [[ 0.99983599 0.00673262 -0.01681242 3.15812943] [-0.00664242 0.99996327 0.00541553 0.21371759] [ 0.01684826 -0.00530296 0.999844 -0.18836146] [ 0. 0. 0. 1. ]] SLAMing on 259.743133365 meters Centerline goodness [0,1] 0.3069712315483245 Centerline is valid? [False, False] Translation: X:3.16, Y:0.21, Z:-0.19 [[ 0.9998364 0.00677723 -0.01677053 3.1581224 ] [-0.00668572 0.99996249 0.00550713 0.21333636] [ 0.01680722 -0.00539411 0.9998442 -0.1884953 ] [ 0. 0. 0. 1. ]] SLAMing on 259.773133365 meters Centerline goodness [0,1] 0.3075102076274867 Centerline is valid? [False, False] Translation: X:3.16, Y:0.21, Z:-0.19 [[ 0.99983693 0.00666958 -0.01678186 3.15822472] [-0.00658146 0.99996429 0.00530058 0.21412787] [ 0.01681661 -0.00518926 0.99984512 -0.18861417] [ 0. 0. 0. 1. ]] SLAMing on 259.803133365 meters Centerline goodness [0,1] 0.31021866016203503 Centerline is valid? [False, False] Translation: X:3.16, Y:0.22, Z:-0.19 [[ 0.99983925 0.00657526 -0.01668082 3.15789259] [-0.00649175 0.99996615 0.00505589 0.21537887] [ 0.01671349 -0.00494679 0.99984808 -0.18847857] [ 0. 0. 0. 1. ]] SLAMing on 259.833133365 meters Centerline goodness [0,1] 0.3087513363733554 Centerline is valid? [False, False] Translation: X:3.16, Y:0.22, Z:-0.19 [[ 0.99984209 0.00651393 -0.01653355 3.15730488] [-0.00643501 0.99996767 0.00482232 0.21691082] [ 0.01656443 -0.00471516 0.99985168 -0.18815225] [ 0. 0. 0. 1. ]] SLAMing on 259.863133365 meters Centerline goodness [0,1] 0.30874038773962964 Centerline is valid? [False, False] Translation: X:3.16, Y:0.22, Z:-0.19 [[ 0.99984454 0.00645058 -0.01640984 3.15682108] [-0.00637693 0.99996938 0.00453663 0.21882912] [ 0.0164386 -0.00443128 0.99985506 -0.18784184] [ 0. 0. 0. 1. ]] SLAMing on 259.893133365 meters Centerline goodness [0,1] 0.30647354674379956 Centerline is valid? [False, False] Translation: X:3.16, Y:0.22, Z:-0.19 [[ 0.99984188 0.0060703 -0.01671398 3.15797806] [-0.00601052 0.99997537 0.00362487 0.22327096] [ 0.01673557 -0.00352383 0.99985374 -0.18852062] [ 0. 0. 0. 1. ]] SLAMing on 259.923133365 meters Centerline goodness [0,1] 0.30746476422481295 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:-0.19 [[ 9.99838110e-01 5.82734240e-03 -1.70234022e-02 3.15910702e+00] [-5.77455331e-03 9.99978371e-01 3.14848303e-03 2.25246137e-01] [ 1.70413813e-02 -3.04967078e-03 9.99850134e-01 -1.89206528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.953133365 meters Centerline goodness [0,1] 0.30746476422481295 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:-0.19 [[ 9.99838110e-01 5.82734240e-03 -1.70234022e-02 3.15910702e+00] [-5.77455331e-03 9.99978371e-01 3.14848303e-03 2.25246137e-01] [ 1.70413813e-02 -3.04967078e-03 9.99850134e-01 -1.89206528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.983133365 meters Centerline goodness [0,1] 0.30567798807363233 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:-0.19 [[ 9.99828902e-01 5.39429201e-03 -1.76937466e-02 3.16126966e+00] [-5.35277807e-03 9.99982811e-01 2.39277021e-03 2.28711801e-01] [ 1.77063498e-02 -2.29765012e-03 9.99840590e-01 -1.90180149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.013133365 meters Centerline goodness [0,1] 0.3071919676961694 Centerline is valid? [False, False] Translation: X:3.14, Y:0.23, Z:-0.19 [[ 0.99983318 -0.00321665 -0.0179793 3.14205164] [ 0.00327921 0.99998867 0.00345123 0.23451801] [ 0.017968 -0.00350961 0.9998324 -0.19200731] [ 0. 0. 0. 1. ]] SLAMing on 260.04313336499996 meters Centerline goodness [0,1] 0.3070684669406214 Centerline is valid? [False, False] Translation: X:3.14, Y:0.24, Z:-0.19 [[ 0.9998324 -0.00338125 -0.01799264 3.14222742] [ 0.00343947 0.99998895 0.00320586 0.23535581] [ 0.0179816 -0.00326721 0.99983298 -0.19220852] [ 0. 0. 0. 1. ]] SLAMing on 260.073133365 meters Centerline goodness [0,1] 0.3058617672790901 Centerline is valid? [False, False] Translation: X:3.14, Y:0.24, Z:-0.19 [[ 9.99827694e-01 -3.87431042e-03 -1.81540953e-02 3.14260818e+00] [ 3.92389742e-03 9.99988666e-01 2.69662604e-03 2.36555005e-01] [ 1.81434419e-02 -2.76739620e-03 9.99831564e-01 -1.92252716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10313336499996 meters Centerline goodness [0,1] 0.30406690293024463 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:-0.19 [[ 9.99824766e-01 4.02208555e-03 -1.82827625e-02 3.16245736e+00] [-3.99543828e-03 9.99990902e-01 1.49380112e-03 2.33416646e-01] [ 1.82886044e-02 -1.42049171e-03 9.99831740e-01 -1.91212216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.133133365 meters Centerline goodness [0,1] 0.30527602540874466 Centerline is valid? [False, False] Translation: X:3.15, Y:0.24, Z:-0.20 [[ 9.99882117e-01 -1.67800440e-03 -1.52622749e-02 3.14864047e+00] [ 1.71656668e-03 9.99995367e-01 2.51389134e-03 2.38591394e-01] [ 1.52579859e-02 -2.53979370e-03 9.99880365e-01 -1.95421674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16313336499996 meters Centerline goodness [0,1] 0.30226573914560484 Centerline is valid? [False, False] Translation: X:3.15, Y:0.24, Z:-0.20 [[ 9.99877963e-01 -1.78295596e-03 -1.55202860e-02 3.14954047e+00] [ 1.81850412e-03 9.99995755e-01 2.27662094e-03 2.39707024e-01] [ 1.55161610e-02 -2.30456681e-03 9.99876961e-01 -1.95900430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.193133365 meters Centerline goodness [0,1] 0.3053506742897045 Centerline is valid? [False, False] Translation: X:3.15, Y:0.24, Z:-0.20 [[ 9.99877391e-01 -1.87857698e-03 -1.55458626e-02 3.14961492e+00] [ 1.91081831e-03 9.99996054e-01 2.05935590e-03 2.40742477e-01] [ 1.55419326e-02 -2.08880873e-03 9.99877035e-01 -1.95939205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22313336499997 meters Centerline goodness [0,1] 0.3053506742897045 Centerline is valid? [False, False] Translation: X:3.15, Y:0.24, Z:-0.20 [[ 9.99877391e-01 -1.87857698e-03 -1.55458626e-02 3.14961492e+00] [ 1.91081831e-03 9.99996054e-01 2.05935590e-03 2.40742477e-01] [ 1.55419326e-02 -2.08880873e-03 9.99877035e-01 -1.95939205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.253133365 meters Centerline goodness [0,1] 0.3007038440714672 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:-0.19 [[ 9.99880211e-01 6.05569815e-03 -1.42440197e-02 3.16797002e+00] [-6.05070885e-03 9.99981617e-01 3.93342910e-04 2.38265491e-01] [ 1.42461398e-02 -3.07109376e-04 9.99898471e-01 -1.94454288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28313336499997 meters Centerline goodness [0,1] 0.30566004723996154 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:-0.20 [[ 9.99907836e-01 -2.20180830e-03 -1.33966628e-02 3.14815678e+00] [ 2.21741721e-03 9.99996880e-01 1.15039214e-03 2.45262442e-01] [ 1.33940881e-02 -1.17999211e-03 9.99909599e-01 -1.95659579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.313133365 meters Centerline goodness [0,1] 0.30469874787312945 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:-0.20 [[ 9.99908360e-01 -2.24484555e-03 -1.33503427e-02 3.14793442e+00] [ 2.25762828e-03 9.99997007e-01 9.42489800e-04 2.46602250e-01] [ 1.33481870e-02 -9.72543541e-04 9.99910436e-01 -1.95477890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34313336499997 meters Centerline goodness [0,1] 0.3035503733787501 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:-0.20 [[ 9.99906486e-01 -2.26542924e-03 -1.34865553e-02 3.14824557e+00] [ 2.27689066e-03 9.99997060e-01 8.34546891e-04 2.47425800e-01] [ 1.34846250e-02 -8.65176260e-04 9.99908704e-01 -1.95507473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.373133365 meters Centerline goodness [0,1] 0.3025751540085766 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:-0.20 [[ 9.99898581e-01 -2.47259396e-03 -1.40254675e-02 3.14940561e+00] [ 2.48437023e-03 9.99996576e-01 8.22273713e-04 2.46848783e-01] [ 1.40233864e-02 -8.57034773e-04 9.99901300e-01 -1.95456887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.403133365 meters Centerline goodness [0,1] 0.30379413892115814 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:-0.20 [[ 9.99898441e-01 -2.62559345e-03 -1.40076300e-02 3.14916168e+00] [ 2.63883645e-03 9.99996089e-01 9.27014213e-04 2.45470330e-01] [ 1.40051412e-02 -9.63883911e-04 9.99901459e-01 -1.95185547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.433133365 meters Centerline goodness [0,1] 0.2996080992815153 Centerline is valid? [False, False] Translation: X:3.15, Y:0.24, Z:-0.19 [[ 9.99896725e-01 -2.82541589e-03 -1.40910104e-02 3.14901966e+00] [ 2.84154017e-03 9.99995331e-01 1.12440552e-03 2.43293328e-01] [ 1.40877677e-02 -1.16432956e-03 9.99900085e-01 -1.94701866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.463133365 meters Centerline goodness [0,1] 0.3014268598191918 Centerline is valid? [False, False] Translation: X:3.15, Y:0.24, Z:-0.19 [[ 9.99897281e-01 -2.98014068e-03 -1.40194982e-02 3.14865814e+00] [ 2.99946506e-03 9.99994580e-01 1.35756861e-03 2.41180491e-01] [ 1.40153765e-02 -1.39948015e-03 9.99900800e-01 -1.94410446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.493133365 meters Centerline goodness [0,1] 0.2996555683122847 Centerline is valid? [False, False] Translation: X:3.15, Y:0.24, Z:-0.19 [[ 9.99896863e-01 -2.95030544e-03 -1.40555441e-02 3.14856641e+00] [ 2.97530752e-03 9.99994028e-01 1.75822703e-03 2.38882130e-01] [ 1.40502728e-02 -1.79986525e-03 9.99899670e-01 -1.94191288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.523133365 meters Centerline goodness [0,1] 0.3016905637388221 Centerline is valid? [False, False] Translation: X:3.15, Y:0.24, Z:-0.19 [[ 9.99899035e-01 -2.86539847e-03 -1.39179262e-02 3.14821086e+00] [ 2.89454517e-03 9.99993659e-01 2.07449151e-03 2.37205967e-01] [ 1.39118937e-02 -2.11456812e-03 9.99900989e-01 -1.94141992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.553133365 meters Centerline goodness [0,1] 0.2993456688477705 Centerline is valid? [False, False] Translation: X:3.15, Y:0.24, Z:-0.19 [[ 9.99906891e-01 -2.88533324e-03 -1.33373499e-02 3.14631661e+00] [ 2.91424437e-03 9.99993445e-01 2.14875541e-03 2.36349503e-01] [ 1.33310626e-02 -2.18742364e-03 9.99908745e-01 -1.93215304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.583133365 meters Centerline goodness [0,1] 0.3044326856349757 Centerline is valid? [False, False] Translation: X:3.14, Y:0.24, Z:-0.19 [[ 9.99914122e-01 -2.85620737e-03 -1.27902735e-02 3.14459726e+00] [ 2.88158895e-03 9.99993915e-01 1.96645501e-03 2.37671111e-01] [ 1.27845790e-02 -2.00314245e-03 9.99916267e-01 -1.92442804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.613133365 meters Centerline goodness [0,1] 0.3014658191723959 Centerline is valid? [False, False] Translation: X:3.14, Y:0.24, Z:-0.19 [[ 9.99923663e-01 -2.74879161e-03 -1.20462877e-02 3.14254747e+00] [ 2.76911464e-03 9.99994770e-01 1.67072341e-03 2.40035502e-01] [ 1.20416322e-02 -1.70395342e-03 9.99926045e-01 -1.91832160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.643133365 meters Centerline goodness [0,1] 0.3037820957668286 Centerline is valid? [False, False] Translation: X:3.14, Y:0.24, Z:-0.19 [[ 9.99927495e-01 -2.68869956e-03 -1.17378017e-02 3.14162300e+00] [ 2.70358070e-03 9.99995561e-01 1.25211239e-03 2.43028759e-01] [ 1.17343831e-02 -1.28375570e-03 9.99930326e-01 -1.91419564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.673133365 meters Centerline goodness [0,1] 0.30460773191377954 Centerline is valid? [False, False] Translation: X:3.14, Y:0.25, Z:-0.19 [[ 9.99925140e-01 -2.74529066e-03 -1.19238737e-02 3.14219172e+00] [ 2.75369348e-03 9.99995972e-01 6.88344729e-04 2.46417117e-01] [ 1.19219359e-02 -7.21127893e-04 9.99928671e-01 -1.91630091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.703133365 meters Centerline goodness [0,1] 0.3020018159021143 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:-0.19 [[ 9.99911870e-01 -5.82514015e-04 -1.32632538e-02 3.14740573e+00] [ 6.09204778e-04 9.99997798e-01 2.00843294e-03 2.53179475e-01] [ 1.32620547e-02 -2.01633597e-03 9.99910022e-01 -1.94171132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.733133365 meters Centerline goodness [0,1] 0.30467620465678336 Centerline is valid? [False, False] Translation: X:3.15, Y:0.26, Z:-0.19 [[ 9.99910399e-01 -7.32342860e-04 -1.33662733e-02 3.14787607e+00] [ 7.52233384e-04 9.99998617e-01 1.48314604e-03 2.56178849e-01] [ 1.33651686e-02 -1.49306770e-03 9.99909567e-01 -1.94541584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.763133365 meters Centerline goodness [0,1] 0.307057946220994 Centerline is valid? [False, False] Translation: X:3.10, Y:0.26, Z:-0.19 [[ 9.99876143e-01 -1.07499226e-03 -1.57016914e-02 3.10319020e+00] [ 1.09538732e-03 9.99998568e-01 1.29036634e-03 2.60210316e-01] [ 1.57002818e-02 -1.30740595e-03 9.99875888e-01 -1.94441033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79313336499996 meters Centerline goodness [0,1] 0.30106827883594445 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:-0.19 [[ 9.99867779e-01 6.66232310e-03 -1.48336604e-02 3.12258166e+00] [-6.67110040e-03 9.99977601e-01 -5.42312449e-04 2.58731692e-01] [ 1.48297151e-02 6.41197582e-04 9.99889828e-01 -1.93588378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.823133365 meters Centerline goodness [0,1] 0.30500032625008155 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:-0.19 [[ 9.99867674e-01 6.45267452e-03 -1.49331298e-02 3.12292324e+00] [-6.46817942e-03 9.99978591e-01 -9.90223208e-04 2.60669554e-01] [ 1.49264205e-02 1.08668234e-03 9.99888004e-01 -1.93783250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85313336499996 meters Centerline goodness [0,1] 0.301859799713877 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:-0.19 [[ 9.99864653e-01 6.26470773e-03 -1.52127879e-02 3.12377890e+00] [-6.28647567e-03 9.99979283e-01 -1.38349814e-03 2.62558654e-01] [ 1.52038055e-02 1.47894571e-03 9.99883322e-01 -1.94083122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.883133365 meters Centerline goodness [0,1] 0.302259272157409 Centerline is valid? [False, False] Translation: X:3.13, Y:0.27, Z:-0.20 [[ 9.99857995e-01 6.15654685e-03 -1.56871569e-02 3.12585184e+00] [-6.18673104e-03 9.99979102e-01 -1.87633135e-03 2.66427475e-01] [ 1.56752773e-02 1.97311712e-03 9.99875188e-01 -1.95484067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91313336499996 meters Centerline goodness [0,1] 0.29925578594166735 Centerline is valid? [False, False] Translation: X:3.15, Y:0.27, Z:-0.19 [[ 9.99862868e-01 -1.64372712e-03 -1.64785885e-02 3.14636521e+00] [ 1.62105643e-03 9.99997721e-01 -1.38902984e-03 2.72581310e-01] [ 1.64808342e-02 1.36212663e-03 9.99863254e-01 -1.94121387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.943133365 meters Centerline goodness [0,1] 0.30283485498877827 Centerline is valid? [False, False] Translation: X:3.13, Y:0.27, Z:-0.20 [[ 9.99831077e-01 6.40736105e-03 -1.72267889e-02 3.12574805e+00] [-6.45396912e-03 9.99975658e-01 -2.65132451e-03 2.71688479e-01] [ 1.72093816e-02 2.76205781e-03 9.99848093e-01 -1.95048801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97313336499997 meters Centerline goodness [0,1] 0.3026653891381037 Centerline is valid? [False, False] Translation: X:3.13, Y:0.27, Z:-0.19 [[ 0.99983155 0.00623318 -0.01726302 3.12571424] [-0.00628831 0.9999753 -0.00314097 0.27421554] [ 0.01724301 0.003249 0.99984605 -0.19481662] [ 0. 0. 0. 1. ]] SLAMing on 261.003133365 meters Centerline goodness [0,1] 0.3001753512436949 Centerline is valid? [False, False] Translation: X:3.14, Y:0.28, Z:-0.19 [[ 9.99844798e-01 -8.32783820e-04 -1.75979114e-02 3.14342270e+00] [ 7.99555611e-04 9.99997885e-01 -1.89514195e-03 2.81556932e-01] [ 1.75994524e-02 1.88077731e-03 9.99843349e-01 -1.91987833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03313336499997 meters Centerline goodness [0,1] 0.2988034040347315 Centerline is valid? [False, False] Translation: X:3.14, Y:0.28, Z:-0.19 [[ 9.99847572e-01 -9.69157412e-04 -1.74325506e-02 3.14292177e+00] [ 9.27560355e-04 9.99996704e-01 -2.39409879e-03 2.84421124e-01] [ 1.74348134e-02 2.37756412e-03 9.99845175e-01 -1.91793118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.063133365 meters Centerline goodness [0,1] 0.30378479552527915 Centerline is valid? [False, False] Translation: X:3.14, Y:0.29, Z:-0.19 [[ 9.99846897e-01 -1.33285660e-03 -1.74472389e-02 3.14288700e+00] [ 1.27379829e-03 9.99993424e-01 -3.39564124e-03 2.89915072e-01] [ 1.74516500e-02 3.37289709e-03 9.99842019e-01 -1.91642057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09313336499997 meters Centerline goodness [0,1] 0.2993749053706227 Centerline is valid? [False, False] Translation: X:3.14, Y:0.29, Z:-0.19 [[ 9.99845034e-01 -1.45804926e-03 -1.75436929e-02 3.14308696e+00] [ 1.39262092e-03 9.99992032e-01 -3.74109028e-03 2.91824584e-01] [ 1.75490078e-02 3.71607883e-03 9.99839099e-01 -1.91648211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.123133365 meters Centerline goodness [0,1] 0.29922212618841837 Centerline is valid? [False, False] Translation: X:3.14, Y:0.29, Z:-0.19 [[ 9.99845455e-01 -1.48528843e-03 -1.75174047e-02 3.14279563e+00] [ 1.41743882e-03 9.99991449e-01 -3.88504887e-03 2.92993508e-01] [ 1.75230254e-02 3.85961860e-03 9.99839011e-01 -1.91321494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.153133365 meters Centerline goodness [0,1] 0.30103776428540674 Centerline is valid? [False, False] Translation: X:3.14, Y:0.29, Z:-0.19 [[ 9.99857963e-01 -1.69347228e-03 -1.67685741e-02 3.14008238e+00] [ 1.62672892e-03 9.99990704e-01 -3.99310449e-03 2.93423005e-01] [ 1.67751804e-02 3.96525940e-03 9.99851424e-01 -1.89881291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.183133365 meters Centerline goodness [0,1] 0.2998032730181378 Centerline is valid? [False, False] Translation: X:3.14, Y:0.29, Z:-0.19 [[ 9.99864799e-01 -1.96177237e-03 -1.63258854e-02 3.13871717e+00] [ 1.89416112e-03 9.99989571e-01 -4.15578584e-03 2.93125067e-01] [ 1.63338679e-02 4.12430012e-03 9.99858087e-01 -1.89348806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.213133365 meters Centerline goodness [0,1] 0.30307562260224985 Centerline is valid? [False, False] Translation: X:3.14, Y:0.29, Z:-0.19 [[ 9.99868973e-01 -2.22372847e-03 -1.60340901e-02 3.13793605e+00] [ 2.15541287e-03 9.99988532e-01 -4.27667034e-03 2.92544439e-01] [ 1.60434163e-02 4.24154990e-03 9.99862300e-01 -1.89215432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.243133365 meters Centerline goodness [0,1] 0.3021289445870452 Centerline is valid? [False, False] Translation: X:3.14, Y:0.29, Z:-0.19 [[ 9.99868907e-01 -2.32810849e-03 -1.60234039e-02 3.13795842e+00] [ 2.26038025e-03 9.99988441e-01 -4.24364600e-03 2.91878644e-01] [ 1.60330983e-02 4.20687070e-03 9.99862612e-01 -1.89339335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.273133365 meters Centerline goodness [0,1] 0.303842638931198 Centerline is valid? [False, False] Translation: X:3.14, Y:0.29, Z:-0.19 [[ 9.99871318e-01 -2.31336307e-03 -1.58743871e-02 3.13773450e+00] [ 2.24767745e-03 9.99988844e-01 -4.15443116e-03 2.91590113e-01] [ 1.58838207e-02 4.11821606e-03 9.99865363e-01 -1.89597652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.303133365 meters Centerline goodness [0,1] 0.3039209283086234 Centerline is valid? [False, False] Translation: X:3.14, Y:0.29, Z:-0.19 [[ 9.99872982e-01 -2.24779715e-03 -1.57786846e-02 3.13750253e+00] [ 2.18394788e-03 9.99989363e-01 -4.06261742e-03 2.91612190e-01] [ 1.57876487e-02 4.02764157e-03 9.99867255e-01 -1.89569618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.333133365 meters Centerline goodness [0,1] 0.2973983285711217 Centerline is valid? [False, False] Translation: X:3.16, Y:0.30, Z:-0.19 [[ 9.99825820e-01 -1.03701646e-02 -1.55174047e-02 3.15798639e+00] [ 1.03210492e-02 9.99941481e-01 -3.24191962e-03 2.95389880e-01] [ 1.55501158e-02 3.08119904e-03 9.99874342e-01 -1.88482703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.363133365 meters Centerline goodness [0,1] 0.2972507851826356 Centerline is valid? [False, False] Translation: X:3.16, Y:0.30, Z:-0.19 [[ 0.99982258 -0.01042378 -0.01568951 3.15849151] [ 0.01037246 0.9999406 -0.00334909 0.29579838] [ 0.01572349 0.00318576 0.9998713 -0.18862699] [ 0. 0. 0. 1. ]] SLAMing on 261.393133365 meters Centerline goodness [0,1] 0.29645503101309445 Centerline is valid? [False, False] Translation: X:3.16, Y:0.30, Z:-0.19 [[ 0.9998198 -0.01048049 -0.01582777 3.15890459] [ 0.01042589 0.99993942 -0.00352827 0.2968197 ] [ 0.01586379 0.00336261 0.99986851 -0.18873564] [ 0. 0. 0. 1. ]] SLAMing on 261.423133365 meters Centerline goodness [0,1] 0.30346311876345133 Centerline is valid? [False, False] Translation: X:3.14, Y:0.30, Z:-0.19 [[ 9.99870327e-01 -1.95092119e-03 -1.59850770e-02 3.13834469e+00] [ 1.88058852e-03 9.99988491e-01 -4.41374642e-03 2.95125079e-01] [ 1.59935039e-02 4.38311272e-03 9.99862489e-01 -1.90208172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.453133365 meters Centerline goodness [0,1] 0.3002966587990732 Centerline is valid? [False, False] Translation: X:3.14, Y:0.30, Z:-0.19 [[ 9.99866092e-01 -1.97610719e-03 -1.62447641e-02 3.13925537e+00] [ 1.90146743e-03 9.99987571e-01 -4.60885881e-03 2.96395072e-01] [ 1.62536698e-02 4.57735276e-03 9.99857423e-01 -1.90678497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.483133365 meters Centerline goodness [0,1] 0.2993833861652698 Centerline is valid? [False, False] Translation: X:3.14, Y:0.30, Z:-0.19 [[ 9.99861950e-01 -2.09506152e-03 -1.64830994e-02 3.14012514e+00] [ 2.01391343e-03 9.99985779e-01 -4.93816823e-03 2.97988597e-01] [ 1.64932108e-02 4.90429098e-03 9.99851950e-01 -1.91157353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.513133365 meters Centerline goodness [0,1] 0.3001650451702571 Centerline is valid? [False, False] Translation: X:3.14, Y:0.30, Z:-0.19 [[ 9.99854422e-01 -2.35510853e-03 -1.68993738e-02 3.14134930e+00] [ 2.25955597e-03 9.99981366e-01 -5.67107538e-03 3.01457954e-01] [ 1.69124149e-02 5.63206471e-03 9.99841112e-01 -1.91523863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54313336499996 meters Centerline goodness [0,1] 0.2996240846570044 Centerline is valid? [False, False] Translation: X:3.14, Y:0.30, Z:-0.19 [[ 9.99853885e-01 -2.43743076e-03 -1.69194474e-02 3.14140217e+00] [ 2.33557583e-03 9.99979049e-01 -6.03714311e-03 3.03680977e-01] [ 1.69338081e-02 5.99674434e-03 9.99838630e-01 -1.91486858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.573133365 meters Centerline goodness [0,1] 0.29343338780424877 Centerline is valid? [False, False] Translation: X:3.14, Y:0.31, Z:-0.19 [[ 9.99852382e-01 -2.46460666e-03 -1.70041274e-02 3.14158082e+00] [ 2.35666862e-03 9.99976967e-01 -6.36487618e-03 3.06051404e-01] [ 1.70194227e-02 6.32386352e-03 9.99835160e-01 -1.91446625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60313336499996 meters Centerline goodness [0,1] 0.299853356387752 Centerline is valid? [False, False] Translation: X:3.10, Y:0.31, Z:-0.19 [[ 9.99817025e-01 -1.67273897e-03 -1.90556615e-02 3.09620186e+00] [ 1.55985825e-03 9.99981159e-01 -5.93706083e-03 3.10323845e-01] [ 1.90652336e-02 5.90625036e-03 9.99800797e-01 -1.91183903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.633133365 meters Centerline goodness [0,1] 0.29861126063085375 Centerline is valid? [False, False] Translation: X:3.12, Y:0.32, Z:-0.19 [[ 0.9997647 -0.00938678 -0.0195558 3.11606716] [ 0.00928631 0.99994325 -0.00522213 0.31649329] [ 0.01960371 0.0050393 0.99979513 -0.18967803] [ 0. 0. 0. 1. ]] SLAMing on 261.66313336499996 meters Centerline goodness [0,1] 0.29932357483089367 Centerline is valid? [False, False] Translation: X:3.10, Y:0.32, Z:-0.19 [[ 9.99794375e-01 -1.11861246e-03 -2.02473926e-02 3.09628384e+00] [ 9.87003822e-04 9.99978330e-01 -6.50885517e-03 3.15388022e-01] [ 2.02542347e-02 6.48753253e-03 9.99773813e-01 -1.91436319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.693133365 meters Centerline goodness [0,1] 0.300602383342791 Centerline is valid? [False, False] Translation: X:3.10, Y:0.32, Z:-0.19 [[ 9.99785286e-01 -1.34894149e-03 -2.06775795e-02 3.09766425e+00] [ 1.19897905e-03 9.99972905e-01 -7.26310032e-03 3.20062159e-01] [ 2.06868168e-02 7.23674884e-03 9.99759814e-01 -1.91944769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72313336499997 meters Centerline goodness [0,1] 0.29803367734926667 Centerline is valid? [False, False] Translation: X:3.10, Y:0.32, Z:-0.19 [[ 9.99782767e-01 -1.44290706e-03 -2.07926894e-02 3.09799304e+00] [ 1.28322745e-03 9.99969601e-01 -7.69090051e-03 3.22745345e-01] [ 2.08031546e-02 7.66254805e-03 9.99754227e-01 -1.91957847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.753133365 meters Centerline goodness [0,1] 0.2982016254539167 Centerline is valid? [False, False] Translation: X:3.10, Y:0.33, Z:-0.19 [[ 9.99784005e-01 -1.64784822e-03 -2.07178217e-02 3.09783624e+00] [ 1.47714891e-03 9.99964862e-01 -8.25185532e-03 3.25631557e-01] [ 2.07306915e-02 8.21946965e-03 9.99751308e-01 -1.91919259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78313336499997 meters Centerline goodness [0,1] 0.2983750244071768 Centerline is valid? [False, False] Translation: X:3.10, Y:0.33, Z:-0.19 [[ 9.99785165e-01 -1.89134218e-03 -2.06408762e-02 3.09740656e+00] [ 1.70950054e-03 9.99959608e-01 -8.82387466e-03 3.28304519e-01] [ 2.06567315e-02 8.78669340e-03 9.99748015e-01 -1.91496205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.813133365 meters Centerline goodness [0,1] 0.2987057957840973 Centerline is valid? [False, False] Translation: X:3.10, Y:0.33, Z:-0.19 [[ 9.99785774e-01 -2.08740066e-03 -2.05924492e-02 3.09690768e+00] [ 1.89500432e-03 9.99954416e-01 -9.35814624e-03 3.31190960e-01] [ 2.06110447e-02 9.31711870e-03 9.99744155e-01 -1.90893868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84313336499997 meters Centerline goodness [0,1] 0.3016466090281097 Centerline is valid? [False, False] Translation: X:3.09, Y:0.34, Z:-0.19 [[ 9.99816220e-01 2.03482644e-04 -1.91698757e-02 3.09166173e+00] [-3.51544471e-04 9.99970134e-01 -7.72061855e-03 3.37597070e-01] [ 1.91677322e-02 7.72593872e-03 9.99786431e-01 -1.88444362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.873133365 meters Centerline goodness [0,1] 0.30052544728157027 Centerline is valid? [False, False] Translation: X:3.09, Y:0.34, Z:-0.19 [[ 9.99821130e-01 1.51482622e-05 -1.89131634e-02 3.09078323e+00] [-1.70692123e-04 9.99966180e-01 -8.22251876e-03 3.40258321e-01] [ 1.89123992e-02 8.22427633e-03 9.99787319e-01 -1.87940783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.903133365 meters Centerline goodness [0,1] 0.2997742467656508 Centerline is valid? [False, False] Translation: X:3.09, Y:0.34, Z:-0.19 [[ 9.99826275e-01 -2.27952373e-04 -1.86378105e-02 3.08996199e+00] [ 6.44436231e-05 9.99961514e-01 -8.77308912e-03 3.42775898e-01] [ 1.86390931e-02 8.77036392e-03 9.99787810e-01 -1.87593796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.933133365 meters Centerline goodness [0,1] 0.2990351601547221 Centerline is valid? [False, False] Translation: X:3.09, Y:0.35, Z:-0.19 [[ 9.99830380e-01 -4.38587123e-04 -1.84124749e-02 3.08935191e+00] [ 2.67999235e-04 9.99957032e-01 -9.26624483e-03 3.45091069e-01] [ 1.84157478e-02 9.25973856e-03 9.99787536e-01 -1.87421757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.963133365 meters Centerline goodness [0,1] 0.29806423704985396 Centerline is valid? [False, False] Translation: X:3.09, Y:0.35, Z:-0.19 [[ 9.99831807e-01 -6.02406728e-04 -1.83301877e-02 3.08908504e+00] [ 4.25360925e-04 9.99953240e-01 -9.66106734e-03 3.47058151e-01] [ 1.83351505e-02 9.65164546e-03 9.99785311e-01 -1.87294387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.993133365 meters Centerline goodness [0,1] 0.3010263993389293 Centerline is valid? [False, False] Translation: X:3.09, Y:0.35, Z:-0.19 [[ 9.99828346e-01 -7.24290159e-04 -1.85136060e-02 3.08978331e+00] [ 5.40303922e-04 9.99950441e-01 -9.94096384e-03 3.48496380e-01] [ 1.85198886e-02 9.92925446e-03 9.99779187e-01 -1.87708900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.023133365 meters Centerline goodness [0,1] 0.29751476218285644 Centerline is valid? [False, False] Translation: X:3.09, Y:0.35, Z:-0.19 [[ 9.99801796e-01 -1.11427911e-03 -1.98778075e-02 3.09367227e+00] [ 9.09573552e-04 9.99946496e-01 -1.03042661e-02 3.49516938e-01] [ 1.98882258e-02 1.02841435e-02 9.99749316e-01 -1.88899952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.053133365 meters Centerline goodness [0,1] 0.29641256576241093 Centerline is valid? [False, False] Translation: X:3.09, Y:0.35, Z:-0.19 [[ 9.99793490e-01 -1.17300865e-03 -2.02879596e-02 3.09498262e+00] [ 9.64573948e-04 9.99946689e-01 -1.02805489e-02 3.49155023e-01] [ 2.02989372e-02 1.02588567e-02 9.99741321e-01 -1.89505691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.083133365 meters Centerline goodness [0,1] 0.2984375 Centerline is valid? [False, False] Translation: X:3.10, Y:0.35, Z:-0.19 [[ 9.99789810e-01 -1.15059640e-03 -2.04697969e-02 3.09563290e+00] [ 9.43389892e-04 9.99948252e-01 -1.01293264e-02 3.48378525e-01] [ 2.04803924e-02 1.01078863e-02 9.99739158e-01 -1.89940679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.113133365 meters Centerline goodness [0,1] 0.2984375 Centerline is valid? [False, False] Translation: X:3.10, Y:0.35, Z:-0.19 [[ 9.99789810e-01 -1.15059640e-03 -2.04697969e-02 3.09563290e+00] [ 9.43389892e-04 9.99948252e-01 -1.01293264e-02 3.48378525e-01] [ 2.04803924e-02 1.01078863e-02 9.99739158e-01 -1.89940679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.143133365 meters Centerline goodness [0,1] 0.2939753310435703 Centerline is valid? [False, False] Translation: X:3.10, Y:0.35, Z:-0.19 [[ 9.99788685e-01 -1.13697940e-03 -2.05254154e-02 3.09580576e+00] [ 9.32003798e-04 9.99949632e-01 -9.99323405e-03 3.47573461e-01] [ 2.05357437e-02 9.97199257e-03 9.99739387e-01 -1.90030964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.173133365 meters Centerline goodness [0,1] 0.29505014558395337 Centerline is valid? [False, False] Translation: X:3.09, Y:0.35, Z:-0.19 [[ 9.99794128e-01 -1.12335672e-03 -2.02592888e-02 3.09493446e+00] [ 9.23516693e-04 9.99950856e-01 -9.87077803e-03 3.46836054e-01] [ 2.02693815e-02 9.85003613e-03 9.99746032e-01 -1.89680087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.203133365 meters Centerline goodness [0,1] 0.3013049930167597 Centerline is valid? [False, False] Translation: X:3.09, Y:0.35, Z:-0.19 [[ 9.99803530e-01 -1.15348254e-03 -1.97881334e-02 3.09316266e+00] [ 9.57461303e-04 9.99950410e-01 -9.91261481e-03 3.46926284e-01] [ 1.97985861e-02 9.89172091e-03 9.99755055e-01 -1.88642084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.233133365 meters Centerline goodness [0,1] 0.30175530293131236 Centerline is valid? [False, False] Translation: X:3.09, Y:0.35, Z:-0.19 [[ 9.99822551e-01 -1.37026062e-03 -1.87880012e-02 3.08975472e+00] [ 1.17539666e-03 9.99945448e-01 -1.03788466e-02 3.48557489e-01] [ 1.88011980e-02 1.03549215e-02 9.99769619e-01 -1.86806492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.263133365 meters Centerline goodness [0,1] 0.30038835798752017 Centerline is valid? [False, False] Translation: X:3.09, Y:0.35, Z:-0.19 [[ 9.99824494e-01 -1.46890989e-03 -1.86768360e-02 3.08947568e+00] [ 1.26943585e-03 9.99942080e-01 -1.06876644e-02 3.50099472e-01] [ 1.86914535e-02 1.06620796e-02 9.99768448e-01 -1.86728945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29313336499996 meters Centerline goodness [0,1] 0.29800954387171663 Centerline is valid? [False, False] Translation: X:3.11, Y:0.35, Z:-0.19 [[ 0.99979825 -0.00739473 -0.01867583 3.11221012] [ 0.00724956 0.99994307 -0.00782916 0.35241945] [ 0.01873266 0.00769219 0.99979494 -0.18672887] [ 0. 0. 0. 1. ]] SLAMing on 262.323133365 meters Centerline goodness [0,1] 0.2983573294191292 Centerline is valid? [False, False] Translation: X:3.11, Y:0.35, Z:-0.19 [[ 0.99981708 -0.00402442 -0.01869814 3.1128154 ] [ 0.00394113 0.99998216 -0.00448911 0.35282193] [ 0.01871587 0.00441459 0.9998151 -0.18754382] [ 0. 0. 0. 1. ]] SLAMing on 262.35313336499996 meters Centerline goodness [0,1] 0.3006671317694253 Centerline is valid? [False, False] Translation: X:3.11, Y:0.36, Z:-0.19 [[ 0.99981207 -0.00414482 -0.01893769 3.11388886] [ 0.00405118 0.99997939 -0.00498009 0.35582588] [ 0.01895795 0.00490244 0.99980826 -0.18828351] [ 0. 0. 0. 1. ]] SLAMing on 262.383133365 meters Centerline goodness [0,1] 0.3030415592361142 Centerline is valid? [False, False] Translation: X:3.11, Y:0.36, Z:-0.19 [[ 0.99981001 -0.00432259 -0.01900677 3.11406702] [ 0.00422166 0.99997679 -0.00534741 0.35730467] [ 0.01902944 0.00526615 0.99980505 -0.18830407] [ 0. 0. 0. 1. ]] SLAMing on 262.41313336499996 meters Centerline goodness [0,1] 0.3004958246346555 Centerline is valid? [False, False] Translation: X:3.11, Y:0.36, Z:-0.19 [[ 0.99980536 -0.00444888 -0.01922086 3.1145241 ] [ 0.00434135 0.99997472 -0.00563204 0.35863618] [ 0.01924543 0.0055475 0.9997994 -0.18827289] [ 0. 0. 0. 1. ]] SLAMing on 262.443133365 meters Centerline goodness [0,1] 0.29699117352928384 Centerline is valid? [False, False] Translation: X:3.12, Y:0.36, Z:-0.19 [[ 0.9997997 -0.00450161 -0.01950121 3.11521953] [ 0.00438872 0.99997339 -0.0058278 0.36003717] [ 0.01952693 0.00574105 0.99979285 -0.18836614] [ 0. 0. 0. 1. ]] SLAMing on 262.47313336499997 meters Centerline goodness [0,1] 0.29891870766023976 Centerline is valid? [False, False] Translation: X:3.12, Y:0.36, Z:-0.19 [[ 0.9997955 -0.004511 -0.01971296 3.1158856 ] [ 0.00439421 0.99997256 -0.00596403 0.36132188] [ 0.01973932 0.00587619 0.99978789 -0.18861532] [ 0. 0. 0. 1. ]] SLAMing on 262.503133365 meters Centerline goodness [0,1] 0.2955203874259523 Centerline is valid? [False, False] Translation: X:3.12, Y:0.36, Z:-0.19 [[ 0.99979431 -0.00479527 -0.01970649 3.11582298] [ 0.00466621 0.9999674 -0.00658956 0.36437595] [ 0.01973744 0.00649625 0.99978409 -0.18852102] [ 0. 0. 0. 1. ]] SLAMing on 262.53313336499997 meters Centerline goodness [0,1] 0.299077877807884 Centerline is valid? [False, False] Translation: X:3.10, Y:0.36, Z:-0.19 [[ 0.99980614 0.00322554 -0.01942387 3.09626343] [-0.00338329 0.99996152 -0.00809419 0.36197664] [ 0.01939702 0.00815834 0.99977857 -0.19045537] [ 0. 0. 0. 1. ]] SLAMing on 262.563133365 meters Centerline goodness [0,1] 0.29786491614507227 Centerline is valid? [False, False] Translation: X:3.10, Y:0.36, Z:-0.19 [[ 0.99980768 0.00311999 -0.01936141 3.09612212] [-0.00327955 0.99996088 -0.0082148 0.36237481] [ 0.01933503 0.00827672 0.9997788 -0.19049129] [ 0. 0. 0. 1. ]] SLAMing on 262.59313336499997 meters Centerline goodness [0,1] 0.29664884600339025 Centerline is valid? [False, False] Translation: X:3.10, Y:0.36, Z:-0.19 [[ 9.99804894e-01 3.08810028e-03 -1.95099494e-02 3.09656978e+00] [-3.24735999e-03 9.99961624e-01 -8.13659887e-03 3.61995460e-01] [ 1.94840741e-02 8.19836720e-03 9.99776554e-01 -1.90727173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.623133365 meters Centerline goodness [0,1] 0.2951273892244085 Centerline is valid? [False, False] Translation: X:3.10, Y:0.36, Z:-0.19 [[ 0.99980262 0.00311568 -0.01962185 3.09694287] [-0.00327172 0.99996324 -0.00792551 0.36106947] [ 0.01959643 0.00798815 0.99977606 -0.1909761 ] [ 0. 0. 0. 1. ]] SLAMing on 262.653133365 meters Centerline goodness [0,1] 0.29547278682834766 Centerline is valid? [False, False] Translation: X:3.10, Y:0.36, Z:-0.19 [[ 0.99980427 0.00312426 -0.01953627 3.09672706] [-0.00327475 0.99996518 -0.00767602 0.35958278] [ 0.0195116 0.00773849 0.99977968 -0.19106251] [ 0. 0. 0. 1. ]] SLAMing on 262.683133365 meters Centerline goodness [0,1] 0.29707394312734525 Centerline is valid? [False, False] Translation: X:3.09, Y:0.36, Z:-0.19 [[ 9.99817775e-01 2.72825667e-03 -1.88937387e-02 3.09483573e+00] [-2.87315523e-03 9.99966639e-01 -7.64623778e-03 3.57291257e-01] [ 1.88722475e-02 7.69912909e-03 9.99792259e-01 -1.90582575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.713133365 meters Centerline goodness [0,1] 0.2987355570089383 Centerline is valid? [False, False] Translation: X:3.09, Y:0.36, Z:-0.19 [[ 9.99821864e-01 2.77993094e-03 -1.86685060e-02 3.09404877e+00] [-2.91875980e-03 9.99968261e-01 -7.41340318e-03 3.55915342e-01] [ 1.86473047e-02 7.46657146e-03 9.99798244e-01 -1.90244111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.743133365 meters Centerline goodness [0,1] 0.29343910806174955 Centerline is valid? [False, False] Translation: X:3.11, Y:0.36, Z:-0.19 [[ 0.99982806 -0.00541243 -0.01773557 3.11411065] [ 0.00530664 0.99996788 -0.00600662 0.35596689] [ 0.01776751 0.00591147 0.99982467 -0.18881339] [ 0. 0. 0. 1. ]] SLAMing on 262.773133365 meters Centerline goodness [0,1] 0.2980532362494822 Centerline is valid? [False, False] Translation: X:3.07, Y:0.36, Z:-0.19 [[ 0.99979315 -0.00455382 -0.01982244 3.06861329] [ 0.00444059 0.9999736 -0.00575221 0.35772336] [ 0.01984811 0.005663 0.99978697 -0.18875174] [ 0. 0. 0. 1. ]] SLAMing on 262.803133365 meters Centerline goodness [0,1] 0.29566060083988366 Centerline is valid? [False, False] Translation: X:3.07, Y:0.36, Z:-0.19 [[ 0.99979334 -0.00441297 -0.01984455 3.06870457] [ 0.00430612 0.99997602 -0.00542353 0.35607865] [ 0.01986801 0.00533696 0.99978837 -0.18885548] [ 0. 0. 0. 1. ]] SLAMing on 262.833133365 meters Centerline goodness [0,1] 0.2985136072109551 Centerline is valid? [False, False] Translation: X:3.07, Y:0.35, Z:-0.19 [[ 0.99979398 -0.00436203 -0.0198233 3.068607 ] [ 0.00425871 0.99997715 -0.00525092 0.35481982] [ 0.01984575 0.00516542 0.99978971 -0.18877434] [ 0. 0. 0. 1. ]] SLAMing on 262.863133365 meters Centerline goodness [0,1] 0.29623628035606253 Centerline is valid? [False, False] Translation: X:3.07, Y:0.35, Z:-0.19 [[ 0.99980152 -0.00426658 -0.01946055 3.06709612] [ 0.00416878 0.99997849 -0.0050631 0.35303652] [ 0.01948173 0.00498097 0.99979781 -0.18783787] [ 0. 0. 0. 1. ]] SLAMing on 262.893133365 meters Centerline goodness [0,1] 0.2974620820406756 Centerline is valid? [False, False] Translation: X:3.07, Y:0.35, Z:-0.19 [[ 0.99980189 -0.004135 -0.01946993 3.06683465] [ 0.0040393 0.99997958 -0.0049516 0.35276731] [ 0.01949001 0.00487197 0.99979818 -0.18736719] [ 0. 0. 0. 1. ]] SLAMing on 262.923133365 meters Centerline goodness [0,1] 0.30121956550246975 Centerline is valid? [False, False] Translation: X:3.04, Y:0.35, Z:-0.19 [[ 0.99981144 0.00518118 -0.01871466 3.04361267] [-0.00527699 0.9999732 -0.00507408 0.3497846 ] [ 0.01868786 0.00517188 0.99981199 -0.18798399] [ 0. 0. 0. 1. ]] SLAMing on 262.953133365 meters Centerline goodness [0,1] 0.3006540222367561 Centerline is valid? [False, False] Translation: X:3.04, Y:0.35, Z:-0.19 [[ 0.99981556 0.00530947 -0.0184569 3.04270423] [-0.0054039 0.99997255 -0.0050699 0.35020927] [ 0.01842947 0.0051687 0.9998168 -0.18741688] [ 0. 0. 0. 1. ]] SLAMing on 262.983133365 meters Centerline goodness [0,1] 0.2996754731775314 Centerline is valid? [False, False] Translation: X:3.04, Y:0.35, Z:-0.19 [[ 0.99981977 0.00538111 -0.01820646 3.04189386] [-0.00547483 0.999972 -0.00510165 0.35063869] [ 0.0181785 0.00520041 0.99982123 -0.18706276] [ 0. 0. 0. 1. ]] SLAMing on 263.013133365 meters Centerline goodness [0,1] 0.30172639288516867 Centerline is valid? [False, False] Translation: X:3.04, Y:0.35, Z:-0.19 [[ 0.99981686 0.00557228 -0.01830857 3.04240792] [-0.00566588 0.99997112 -0.00506448 0.35113685] [ 0.01827982 0.00516729 0.99981956 -0.1874849 ] [ 0. 0. 0. 1. ]] SLAMing on 263.04313336499996 meters Centerline goodness [0,1] 0.29804370357574705 Centerline is valid? [False, False] Translation: X:3.06, Y:0.35, Z:-0.19 [[ 9.99826854e-01 -2.39149828e-03 -1.84537741e-02 3.06250970e+00] [ 2.31892954e-03 9.99989499e-01 -3.95285742e-03 3.53656635e-01] [ 1.84630335e-02 3.90937999e-03 9.99821901e-01 -1.86302659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.073133365 meters Centerline goodness [0,1] 0.29888503094740015 Centerline is valid? [False, False] Translation: X:3.06, Y:0.35, Z:-0.19 [[ 9.99826165e-01 -2.44417398e-03 -1.84842078e-02 3.06256822e+00] [ 2.36998330e-03 9.99989053e-01 -4.03457380e-03 3.53759792e-01] [ 1.84938667e-02 3.99006518e-03 9.99821012e-01 -1.86277715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10313336499996 meters Centerline goodness [0,1] 0.29634256666523073 Centerline is valid? [False, False] Translation: X:3.06, Y:0.35, Z:-0.19 [[ 9.99823972e-01 -2.49959115e-03 -1.85950994e-02 3.06263970e+00] [ 2.42369153e-03 9.99988645e-01 -4.10311725e-03 3.53763595e-01] [ 1.86051444e-02 4.05732620e-03 9.99818677e-01 -1.86023253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.133133365 meters Centerline goodness [0,1] 0.2955275352947516 Centerline is valid? [False, False] Translation: X:3.06, Y:0.35, Z:-0.19 [[ 9.99817375e-01 -2.54073587e-03 -1.89410095e-02 3.06363162e+00] [ 2.46181569e-03 9.99988197e-01 -4.18878338e-03 3.54172421e-01] [ 1.89514285e-02 4.14138913e-03 9.99811828e-01 -1.86333330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16313336499996 meters Centerline goodness [0,1] 0.2963651696326248 Centerline is valid? [False, False] Translation: X:3.06, Y:0.35, Z:-0.19 [[ 9.99816093e-01 -2.48799027e-03 -1.90155043e-02 3.06390075e+00] [ 2.40932909e-03 9.99988451e-01 -4.15847710e-03 3.54493779e-01] [ 1.90256309e-02 4.11189772e-03 9.99810541e-01 -1.86509389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.193133365 meters Centerline goodness [0,1] 0.29843546284224254 Centerline is valid? [False, False] Translation: X:3.06, Y:0.36, Z:-0.19 [[ 9.99815789e-01 -2.43329086e-03 -1.90385778e-02 3.06394438e+00] [ 2.35440840e-03 9.99988556e-01 -4.16461406e-03 3.55194372e-01] [ 1.90484936e-02 4.11902230e-03 9.99810076e-01 -1.86483605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22313336499997 meters Centerline goodness [0,1] 0.2979441679290197 Centerline is valid? [False, False] Translation: X:3.06, Y:0.36, Z:-0.19 [[ 9.99815917e-01 -2.38795774e-03 -1.90376038e-02 3.06392222e+00] [ 2.30882515e-03 9.99988609e-01 -4.17754264e-03 3.55743564e-01] [ 1.90473627e-02 4.13281912e-03 9.99810041e-01 -1.86428008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.253133365 meters Centerline goodness [0,1] 0.2956625202812331 Centerline is valid? [False, False] Translation: X:3.06, Y:0.36, Z:-0.19 [[ 9.99815694e-01 -2.41709049e-03 -1.90456392e-02 3.06387890e+00] [ 2.33696465e-03 9.99988330e-01 -4.22817787e-03 3.56023142e-01] [ 1.90556368e-02 4.18288960e-03 9.99809675e-01 -1.86340821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28313336499997 meters Centerline goodness [0,1] 0.29708113277259784 Centerline is valid? [False, False] Translation: X:3.06, Y:0.36, Z:-0.19 [[ 9.99815853e-01 -2.46913920e-03 -1.90305866e-02 3.06397994e+00] [ 2.38839843e-03 9.99988056e-01 -4.26424551e-03 3.55911604e-01] [ 1.90408883e-02 4.21800764e-03 9.99809808e-01 -1.86563622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.313133365 meters Centerline goodness [0,1] 0.2961788970907512 Centerline is valid? [False, False] Translation: X:3.07, Y:0.35, Z:-0.19 [[ 9.99807115e-01 -2.60410854e-03 -1.94666812e-02 3.06536694e+00] [ 2.52344568e-03 9.99988134e-01 -4.16705300e-03 3.54878153e-01] [ 1.94773017e-02 4.11712613e-03 9.99801822e-01 -1.87310111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34313336499997 meters Centerline goodness [0,1] 0.2999387120780983 Centerline is valid? [False, False] Translation: X:3.07, Y:0.35, Z:-0.19 [[ 9.99805546e-01 -2.50779044e-03 -1.95596962e-02 3.06580493e+00] [ 2.43228716e-03 9.99989503e-01 -3.88298081e-03 3.53734768e-01] [ 1.95692286e-02 3.83465095e-03 9.99801151e-01 -1.87730776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.373133365 meters Centerline goodness [0,1] 0.29898630076742094 Centerline is valid? [False, False] Translation: X:3.07, Y:0.35, Z:-0.19 [[ 9.99804088e-01 -2.42239433e-03 -1.96447639e-02 3.06625808e+00] [ 2.35209800e-03 9.99990751e-01 -3.60069126e-03 3.52473254e-01] [ 1.96533046e-02 3.55377943e-03 9.99800539e-01 -1.88236979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.403133365 meters Centerline goodness [0,1] 0.29226708208922936 Centerline is valid? [False, False] Translation: X:3.11, Y:0.35, Z:-0.19 [[ 0.9998241 -0.00344114 -0.01843724 3.11110973] [ 0.00337641 0.99998803 -0.00354086 0.34781011] [ 0.01844921 0.00347799 0.99982375 -0.18835581] [ 0. 0. 0. 1. ]] SLAMing on 263.433133365 meters Centerline goodness [0,1] 0.2959761421100402 Centerline is valid? [False, False] Translation: X:3.11, Y:0.35, Z:-0.19 [[ 0.99982595 -0.00341911 -0.01834079 3.11093172] [ 0.00335673 0.99998848 -0.00343083 0.34708376] [ 0.0183523 0.00336866 0.99982591 -0.18846383] [ 0. 0. 0. 1. ]] SLAMing on 263.463133365 meters Centerline goodness [0,1] 0.29733782462240577 Centerline is valid? [False, False] Translation: X:3.11, Y:0.35, Z:-0.19 [[ 0.99982965 -0.0034426 -0.0181335 3.11016198] [ 0.00338017 0.99998826 -0.00347248 0.34714451] [ 0.01814524 0.00341059 0.99982954 -0.18802553] [ 0. 0. 0. 1. ]] SLAMing on 263.493133365 meters Centerline goodness [0,1] 0.29796834855452636 Centerline is valid? [False, False] Translation: X:3.13, Y:0.34, Z:-0.19 [[ 0.99988142 0.00477576 -0.01464036 3.12636203] [-0.0048428 0.99997794 -0.00454699 0.34497983] [ 0.01461832 0.00461735 0.99988249 -0.18594076] [ 0. 0. 0. 1. ]] SLAMing on 263.523133365 meters Centerline goodness [0,1] 0.2986875162436109 Centerline is valid? [False, False] Translation: X:3.12, Y:0.35, Z:-0.19 [[ 0.99988835 0.00473218 -0.01417344 3.12498904] [-0.00480231 0.99997638 -0.00491802 0.34705147] [ 0.01414983 0.00498553 0.99988746 -0.18536763] [ 0. 0. 0. 1. ]] SLAMing on 263.553133365 meters Centerline goodness [0,1] 0.29879883129531437 Centerline is valid? [False, False] Translation: X:3.12, Y:0.35, Z:-0.19 [[ 0.99989218 0.00469021 -0.01391534 3.12443233] [-0.00476427 0.99997464 -0.00529374 0.34922872] [ 0.01389016 0.00535947 0.99988916 -0.18533887] [ 0. 0. 0. 1. ]] SLAMing on 263.583133365 meters Centerline goodness [0,1] 0.30078321007046704 Centerline is valid? [False, False] Translation: X:3.13, Y:0.35, Z:-0.19 [[ 0.99988984 0.00464103 -0.01409835 3.12507806] [-0.00472062 0.99997308 -0.00561724 0.35117278] [ 0.0140719 0.00568318 0.99988483 -0.18565618] [ 0. 0. 0. 1. ]] SLAMing on 263.613133365 meters Centerline goodness [0,1] 0.29817277543518217 Centerline is valid? [False, False] Translation: X:3.15, Y:0.35, Z:-0.18 [[ 9.99883082e-01 -1.45923878e-03 -1.52214573e-02 3.14705787e+00] [ 1.41301493e-03 9.99994359e-01 -3.04706871e-03 3.54283898e-01] [ 1.52258178e-02 3.02520431e-03 9.99879504e-01 -1.84920990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.643133365 meters Centerline goodness [0,1] 0.3014715601180773 Centerline is valid? [False, False] Translation: X:3.10, Y:0.36, Z:-0.19 [[ 9.99839182e-01 -4.92665718e-04 -1.79267345e-02 3.10380056e+00] [ 4.40462969e-04 9.99995652e-01 -2.91583732e-03 3.58634371e-01] [ 1.79280931e-02 2.90747234e-03 9.99835051e-01 -1.85437235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.673133365 meters Centerline goodness [0,1] 0.2977431500141461 Centerline is valid? [False, False] Translation: X:3.10, Y:0.36, Z:-0.19 [[ 9.99833663e-01 -5.12293869e-04 -1.82313904e-02 3.10471036e+00] [ 4.57206473e-04 9.99995318e-01 -3.02560837e-03 3.59288505e-01] [ 1.82328551e-02 3.01676959e-03 9.99829216e-01 -1.85777246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.703133365 meters Centerline goodness [0,1] 0.2982653215527856 Centerline is valid? [False, False] Translation: X:3.11, Y:0.36, Z:-0.19 [[ 9.99828145e-01 -5.44562136e-04 -1.85306119e-02 3.10563256e+00] [ 4.86259290e-04 9.99994918e-01 -3.15065933e-03 3.60019374e-01] [ 1.85322334e-02 3.14110719e-03 9.99823329e-01 -1.86114629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.733133365 meters Centerline goodness [0,1] 0.29768453092727465 Centerline is valid? [False, False] Translation: X:3.11, Y:0.36, Z:-0.19 [[ 9.99819178e-01 -5.30888169e-04 -1.90086629e-02 3.10699028e+00] [ 4.69384387e-04 9.99994641e-01 -3.23988133e-03 3.61040256e-01] [ 1.90102811e-02 3.23037312e-03 9.99814070e-01 -1.86507015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.763133365 meters Centerline goodness [0,1] 0.2971502590673575 Centerline is valid? [False, False] Translation: X:3.11, Y:0.36, Z:-0.19 [[ 9.99819524e-01 -5.44941140e-04 -1.89900479e-02 3.10693781e+00] [ 4.82503467e-04 9.99994464e-01 -3.29234222e-03 3.61449429e-01] [ 1.89917369e-02 3.28258527e-03 9.99814252e-01 -1.86492539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79313336499996 meters Centerline goodness [0,1] 0.2959913560237709 Centerline is valid? [False, False] Translation: X:3.11, Y:0.36, Z:-0.19 [[ 9.99823313e-01 -5.93400959e-04 -1.87880259e-02 3.10624657e+00] [ 5.30026130e-04 9.99994154e-01 -3.37794980e-03 3.61806791e-01] [ 1.87899206e-02 3.36739481e-03 9.99817783e-01 -1.86180020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.823133365 meters Centerline goodness [0,1] 0.2969430422254479 Centerline is valid? [False, False] Translation: X:3.11, Y:0.36, Z:-0.19 [[ 9.99827283e-01 -6.42250530e-04 -1.85739482e-02 3.10542551e+00] [ 5.77479349e-04 9.99993735e-01 -3.49235912e-03 3.62289157e-01] [ 1.85760748e-02 3.48102986e-03 9.99821390e-01 -1.85715302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85313336499996 meters Centerline goodness [0,1] 0.30028169014084505 Centerline is valid? [False, False] Translation: X:3.10, Y:0.36, Z:-0.19 [[ 9.99830494e-01 -6.98883743e-04 -1.83982339e-02 3.10487604e+00] [ 6.33028787e-04 9.99993374e-01 -3.58499776e-03 3.62663958e-01] [ 1.84006175e-02 3.57274347e-03 9.99824311e-01 -1.85499722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.883133365 meters Centerline goodness [0,1] 0.2955230305639259 Centerline is valid? [False, False] Translation: X:3.10, Y:0.36, Z:-0.19 [[ 9.99831734e-01 -7.04409612e-04 -1.83305157e-02 3.10465308e+00] [ 6.39044931e-04 9.99993418e-01 -3.57150751e-03 3.62705820e-01] [ 1.83329108e-02 3.55919252e-03 9.99825603e-01 -1.85427636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91313336499996 meters Centerline goodness [0,1] 0.30055924047340354 Centerline is valid? [False, False] Translation: X:3.10, Y:0.36, Z:-0.19 [[ 9.99837210e-01 -6.72473964e-04 -1.80305571e-02 3.10404021e+00] [ 6.09346781e-04 9.99993667e-01 -3.50638745e-03 3.62736387e-01] [ 1.80328009e-02 3.49482978e-03 9.99831288e-01 -1.85541055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.943133365 meters Centerline goodness [0,1] 0.3044584311059453 Centerline is valid? [False, False] Translation: X:3.10, Y:0.36, Z:-0.19 [[ 9.99838485e-01 -7.22109031e-04 -1.79578080e-02 3.10377507e+00] [ 6.57551695e-04 9.99993302e-01 -3.60059002e-03 3.63135269e-01] [ 1.79602877e-02 3.58820028e-03 9.99832262e-01 -1.85409912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97313336499997 meters Centerline goodness [0,1] 0.30013323722779195 Centerline is valid? [False, False] Translation: X:3.10, Y:0.36, Z:-0.19 [[ 9.99836822e-01 -7.50135293e-04 -1.80490120e-02 3.10386777e+00] [ 6.83734889e-04 9.99992977e-01 -3.68478379e-03 3.63626550e-01] [ 1.80516493e-02 3.67184177e-03 9.99830313e-01 -1.85212808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.003133365 meters Centerline goodness [0,1] 0.2962150065629505 Centerline is valid? [False, False] Translation: X:3.12, Y:0.37, Z:-0.18 [[ 9.99799729e-01 -8.86428743e-03 -1.79422987e-02 3.12369011e+00] [ 8.81932988e-03 9.99957772e-01 -2.58325205e-03 3.67106459e-01] [ 1.79644398e-02 2.42449565e-03 9.99835687e-01 -1.83461860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03313336499997 meters Centerline goodness [0,1] 0.2962150065629505 Centerline is valid? [False, False] Translation: X:3.12, Y:0.37, Z:-0.18 [[ 9.99799729e-01 -8.86428743e-03 -1.79422987e-02 3.12369011e+00] [ 8.81932988e-03 9.99957772e-01 -2.58325205e-03 3.67106459e-01] [ 1.79644398e-02 2.42449565e-03 9.99835687e-01 -1.83461860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.063133365 meters Centerline goodness [0,1] 0.29955095288228095 Centerline is valid? [False, False] Translation: X:3.12, Y:0.37, Z:-0.18 [[ 9.99798170e-01 -8.86853579e-03 -1.80268951e-02 3.12367970e+00] [ 8.82225170e-03 9.99957584e-01 -2.64540941e-03 3.67695963e-01] [ 1.80495914e-02 2.48583768e-03 9.99834003e-01 -1.83128269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09313336499997 meters Centerline goodness [0,1] 0.3012142068696838 Centerline is valid? [False, False] Translation: X:3.10, Y:0.36, Z:-0.18 [[ 9.99848727e-01 -5.15886720e-04 -1.73855339e-02 3.10366542e+00] [ 4.53179007e-04 9.99993379e-01 -3.61063693e-03 3.64328075e-01] [ 1.73872815e-02 3.60221198e-03 9.99842341e-01 -1.84994190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.123133365 meters Centerline goodness [0,1] 0.2994617868675996 Centerline is valid? [False, False] Translation: X:3.10, Y:0.36, Z:-0.18 [[ 9.99851188e-01 -6.95230841e-04 -1.72371172e-02 3.10322165e+00] [ 6.30437166e-04 9.99992717e-01 -3.76411134e-03 3.63936817e-01] [ 1.72396086e-02 3.75268428e-03 9.99844345e-01 -1.84842907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.153133365 meters Centerline goodness [0,1] 0.2983778398631235 Centerline is valid? [False, False] Translation: X:3.10, Y:0.36, Z:-0.18 [[ 9.99850593e-01 -7.44821673e-04 -1.72695237e-02 3.10333016e+00] [ 6.79114626e-04 9.99992510e-01 -3.81035014e-03 3.63867039e-01] [ 1.72722324e-02 3.79805286e-03 9.99843610e-01 -1.84929538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.183133365 meters Centerline goodness [0,1] 0.2984663105290367 Centerline is valid? [False, False] Translation: X:3.10, Y:0.36, Z:-0.19 [[ 9.99848621e-01 -7.64708223e-04 -1.73824902e-02 3.10379916e+00] [ 6.98238223e-04 9.99992423e-01 -3.82971049e-03 3.64020403e-01] [ 1.73852871e-02 3.81699363e-03 9.99841579e-01 -1.85233989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.213133365 meters Centerline goodness [0,1] 0.3001671333376744 Centerline is valid? [False, False] Translation: X:3.10, Y:0.36, Z:-0.19 [[ 9.99847388e-01 -7.24088148e-04 -1.74549823e-02 3.10411813e+00] [ 6.57998882e-04 9.99992595e-01 -3.79171525e-03 3.64132615e-01] [ 1.74575986e-02 3.77965123e-03 9.99840461e-01 -1.85491355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.243133365 meters Centerline goodness [0,1] 0.29766152258951983 Centerline is valid? [False, False] Translation: X:3.10, Y:0.36, Z:-0.19 [[ 9.99847790e-01 -6.98555461e-04 -1.74329548e-02 3.10408195e+00] [ 6.32284497e-04 9.99992555e-01 -3.80669852e-03 3.64528124e-01] [ 1.74354842e-02 3.79509652e-03 9.99840788e-01 -1.85498466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.273133365 meters Centerline goodness [0,1] 0.29762365175540373 Centerline is valid? [False, False] Translation: X:3.10, Y:0.37, Z:-0.19 [[ 9.99849641e-01 -7.23843991e-04 -1.73254344e-02 3.10363126e+00] [ 6.56233481e-04 9.99992149e-01 -3.90775181e-03 3.65126711e-01] [ 1.73281270e-02 3.89579472e-03 9.99842267e-01 -1.85182287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.303133365 meters Centerline goodness [0,1] 0.29734623924806514 Centerline is valid? [False, False] Translation: X:3.10, Y:0.37, Z:-0.18 [[ 9.99848555e-01 -7.72230163e-04 -1.73859506e-02 3.10351560e+00] [ 7.01545202e-04 9.99991466e-01 -4.07136878e-03 3.65996209e-01] [ 1.73889462e-02 4.05855516e-03 9.99840564e-01 -1.84762598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.333133365 meters Centerline goodness [0,1] 0.29973228550455544 Centerline is valid? [False, False] Translation: X:3.10, Y:0.37, Z:-0.18 [[ 9.99845994e-01 -7.63312182e-04 -1.75330016e-02 3.10393995e+00] [ 6.91419855e-04 9.99991331e-01 -4.10609633e-03 3.66298183e-01] [ 1.75359838e-02 4.09334130e-03 9.99837854e-01 -1.84874962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.363133365 meters Centerline goodness [0,1] 0.30066495719066455 Centerline is valid? [False, False] Translation: X:3.10, Y:0.37, Z:-0.19 [[ 9.99841917e-01 -7.60494014e-04 -1.77640906e-02 3.10466292e+00] [ 6.87511132e-04 9.99991300e-01 -4.11419596e-03 3.66358995e-01] [ 1.77670649e-02 4.10133256e-03 9.99833741e-01 -1.85183230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.393133365 meters Centerline goodness [0,1] 0.3025314253403506 Centerline is valid? [False, False] Translation: X:3.11, Y:0.37, Z:-0.19 [[ 9.99834214e-01 -7.60341923e-04 -1.81924997e-02 3.10598053e+00] [ 6.85218321e-04 9.99991215e-01 -4.13524938e-03 3.66216823e-01] [ 1.81954841e-02 4.12209797e-03 9.99825951e-01 -1.85660065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.423133365 meters Centerline goodness [0,1] 0.3028681599584073 Centerline is valid? [False, False] Translation: X:3.11, Y:0.37, Z:-0.19 [[ 9.99832632e-01 -7.52806317e-04 -1.82795180e-02 3.10620071e+00] [ 6.76286778e-04 9.99990985e-01 -4.19190164e-03 3.66567915e-01] [ 1.82825089e-02 4.17883785e-03 9.99824128e-01 -1.85654939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.453133365 meters Centerline goodness [0,1] 0.3028602383531961 Centerline is valid? [False, False] Translation: X:3.11, Y:0.37, Z:-0.19 [[ 9.99833925e-01 -7.27503647e-04 -1.82096798e-02 3.10584988e+00] [ 6.49811110e-04 9.99990663e-01 -4.27210487e-03 3.67156676e-01] [ 1.82126178e-02 4.25956253e-03 9.99825063e-01 -1.85332859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.483133365 meters Centerline goodness [0,1] 0.30394653780012626 Centerline is valid? [False, False] Translation: X:3.11, Y:0.37, Z:-0.18 [[ 9.99837638e-01 -6.85637943e-04 -1.80063107e-02 3.10512436e+00] [ 6.06781595e-04 9.99990204e-01 -4.38447114e-03 3.68005200e-01] [ 1.80091404e-02 4.37283337e-03 9.99828260e-01 -1.84869694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.513133365 meters Centerline goodness [0,1] 0.3021384575344842 Centerline is valid? [False, False] Translation: X:3.10, Y:0.37, Z:-0.18 [[ 9.99844413e-01 -6.24217101e-04 -1.76283670e-02 3.10387491e+00] [ 5.43587191e-04 9.99989372e-01 -4.57829418e-03 3.69282131e-01] [ 1.76310375e-02 4.56799931e-03 9.99834126e-01 -1.84194654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54313336499996 meters Centerline goodness [0,1] 0.3026952015438322 Centerline is valid? [False, False] Translation: X:3.10, Y:0.37, Z:-0.18 [[ 9.99846706e-01 -6.02051051e-04 -1.74986034e-02 3.10329337e+00] [ 5.17565385e-04 9.99988191e-01 -4.83226538e-03 3.70758273e-01] [ 1.75013060e-02 4.82246795e-03 9.99835210e-01 -1.83691632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.573133365 meters Centerline goodness [0,1] 0.3031025218823121 Centerline is valid? [False, False] Translation: X:3.10, Y:0.37, Z:-0.18 [[ 9.99842102e-01 -6.48822998e-05 -1.77698282e-02 3.10371318e+00] [-1.98753434e-05 9.99988626e-01 -4.76953215e-03 3.72522142e-01] [ 1.77699356e-02 4.76913223e-03 9.99830728e-01 -1.83324749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60313336499996 meters Centerline goodness [0,1] 0.30272958241949144 Centerline is valid? [False, False] Translation: X:3.10, Y:0.37, Z:-0.18 [[ 9.99838828e-01 7.51188705e-06 -1.79532050e-02 3.10401234e+00] [-9.52458646e-05 9.99988059e-01 -4.88596417e-03 3.73751598e-01] [ 1.79529539e-02 4.88688666e-03 9.99826890e-01 -1.83159986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.633133365 meters Centerline goodness [0,1] 0.30332608695652175 Centerline is valid? [False, False] Translation: X:3.10, Y:0.37, Z:-0.18 [[ 9.99837771e-01 6.65435051e-05 -1.80118786e-02 3.10413481e+00] [-1.55851103e-04 9.99987702e-01 -4.95690288e-03 3.74575244e-01] [ 1.80113273e-02 4.95890590e-03 9.99825485e-01 -1.83110392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66313336499996 meters Centerline goodness [0,1] 0.3062010415299111 Centerline is valid? [False, False] Translation: X:3.10, Y:0.38, Z:-0.18 [[ 9.99840198e-01 5.01751028e-05 -1.78767017e-02 3.10378062e+00] [-1.41497973e-04 9.99986948e-01 -5.10725720e-03 3.75406986e-01] [ 1.78762121e-02 5.10897056e-03 9.99827155e-01 -1.83029454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.693133365 meters Centerline goodness [0,1] 0.3030513627972635 Centerline is valid? [False, False] Translation: X:3.10, Y:0.38, Z:-0.18 [[ 9.99844957e-01 4.89616384e-05 -1.76085262e-02 3.10296015e+00] [-1.40895234e-04 9.99986367e-01 -5.21976779e-03 3.76084227e-01] [ 1.76080306e-02 5.22143946e-03 9.99831333e-01 -1.82717159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72313336499997 meters Centerline goodness [0,1] 0.3036827684408103 Centerline is valid? [False, False] Translation: X:3.10, Y:0.38, Z:-0.18 [[ 9.99849151e-01 7.05284898e-05 -1.73686592e-02 3.10210756e+00] [-1.63461851e-04 9.99985679e-01 -5.34927380e-03 3.77062842e-01] [ 1.73680332e-02 5.35130598e-03 9.99834844e-01 -1.82235964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.753133365 meters Centerline goodness [0,1] 0.30710737319156356 Centerline is valid? [False, False] Translation: X:3.10, Y:0.38, Z:-0.18 [[ 9.99851093e-01 4.23461233e-04 -1.72514365e-02 3.10188135e+00] [-5.14750397e-04 9.99985888e-01 -5.28758808e-03 3.78418234e-01] [ 1.72489540e-02 5.29568091e-03 9.99837201e-01 -1.82254164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78313336499997 meters Centerline goodness [0,1] 0.30357682184924706 Centerline is valid? [False, False] Translation: X:3.12, Y:0.38, Z:-0.18 [[ 9.99836402e-01 -4.91359377e-03 -1.74076647e-02 3.12332880e+00] [ 4.88300680e-03 9.99986460e-01 -1.79916664e-03 3.80491529e-01] [ 1.74162694e-02 1.71387055e-03 9.99846856e-01 -1.81773578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.813133365 meters Centerline goodness [0,1] 0.30625446206434026 Centerline is valid? [False, False] Translation: X:3.12, Y:0.38, Z:-0.18 [[ 9.99838217e-01 -4.91143846e-03 -1.73036838e-02 3.12301111e+00] [ 4.87861721e-03 9.99986221e-01 -1.93848027e-03 3.81342878e-01] [ 1.73129661e-02 1.85374861e-03 9.99848401e-01 -1.81641260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84313336499997 meters Centerline goodness [0,1] 0.30301394706161755 Centerline is valid? [False, False] Translation: X:3.12, Y:0.38, Z:-0.18 [[ 9.99842981e-01 -4.90094851e-03 -1.70291856e-02 3.12205488e+00] [ 4.86651324e-03 9.99986030e-01 -2.06298399e-03 3.82105096e-01] [ 1.70390583e-02 1.97978731e-03 9.99852865e-01 -1.81160961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.873133365 meters Centerline goodness [0,1] 0.3045067515266191 Centerline is valid? [False, False] Translation: X:3.12, Y:0.38, Z:-0.18 [[ 9.99849140e-01 -4.89282248e-03 -1.66660416e-02 3.12092345e+00] [ 4.85632473e-03 9.99985722e-01 -2.22971435e-03 3.83103695e-01] [ 1.66767132e-02 2.14844227e-03 9.99858626e-01 -1.80722852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.903133365 meters Centerline goodness [0,1] 0.3051079058670426 Centerline is valid? [False, False] Translation: X:3.12, Y:0.38, Z:-0.18 [[ 9.99855575e-01 -4.86380404e-03 -1.62841246e-02 3.11983516e+00] [ 4.82535182e-03 9.99985478e-01 -2.39979068e-03 3.84352997e-01] [ 1.62955603e-02 2.32086746e-03 9.99864525e-01 -1.80390753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.933133365 meters Centerline goodness [0,1] 0.3048791075226809 Centerline is valid? [False, False] Translation: X:3.12, Y:0.39, Z:-0.18 [[ 9.99856965e-01 -4.39241785e-03 -1.63326705e-02 3.12013819e+00] [ 4.35422092e-03 9.99987704e-01 -2.37350747e-03 3.86389265e-01] [ 1.63428951e-02 2.30205192e-03 9.99863796e-01 -1.80710104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.963133365 meters Centerline goodness [0,1] 0.304341233048828 Centerline is valid? [False, False] Translation: X:3.12, Y:0.39, Z:-0.18 [[ 9.99852420e-01 -4.34184999e-03 -1.66218892e-02 3.12117635e+00] [ 4.30124723e-03 9.99987680e-01 -2.47769920e-03 3.87335213e-01] [ 1.66324422e-02 2.40583868e-03 9.99858777e-01 -1.81312671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.993133365 meters Centerline goodness [0,1] 0.3041547870372385 Centerline is valid? [False, False] Translation: X:3.12, Y:0.39, Z:-0.18 [[ 9.99846056e-01 -4.30895833e-03 -1.70087608e-02 3.12235987e+00] [ 4.26629406e-03 9.99987664e-01 -2.54385828e-03 3.87921154e-01] [ 1.70195123e-02 2.47090229e-03 9.99852104e-01 -1.81781990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.023133365 meters Centerline goodness [0,1] 0.30550392512737534 Centerline is valid? [False, False] Translation: X:3.12, Y:0.39, Z:-0.18 [[ 9.99840078e-01 -4.27117040e-03 -1.73659443e-02 3.12343139e+00] [ 4.22706285e-03 9.99987749e-01 -2.57580126e-03 3.88272702e-01] [ 1.73767333e-02 2.50198240e-03 9.99845883e-01 -1.82229603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.053133365 meters Centerline goodness [0,1] 0.3047691637630662 Centerline is valid? [False, False] Translation: X:3.12, Y:0.39, Z:-0.18 [[ 9.99834530e-01 -4.25549779e-03 -1.76862700e-02 3.12430116e+00] [ 4.20972623e-03 9.99987695e-01 -2.62439650e-03 3.88600713e-01] [ 1.76972205e-02 2.54950788e-03 9.99840141e-01 -1.82461583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.083133365 meters Centerline goodness [0,1] 0.2997916757085196 Centerline is valid? [False, False] Translation: X:3.13, Y:0.39, Z:-0.18 [[ 9.99825688e-01 -4.08258659e-03 -1.82188509e-02 3.12583205e+00] [ 4.03437854e-03 9.99988265e-01 -2.68202327e-03 3.89526745e-01] [ 1.82295867e-02 2.60805402e-03 9.99830426e-01 -1.82993743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.113133365 meters Centerline goodness [0,1] 0.30404947660569503 Centerline is valid? [False, False] Translation: X:3.13, Y:0.39, Z:-0.18 [[ 9.99827365e-01 -4.06994311e-03 -1.81294390e-02 3.12570762e+00] [ 4.01914437e-03 9.99987897e-01 -2.83755781e-03 3.90627462e-01] [ 1.81407683e-02 2.76420311e-03 9.99831622e-01 -1.83149633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.143133365 meters Centerline goodness [0,1] 0.3014635421203937 Centerline is valid? [False, False] Translation: X:3.13, Y:0.39, Z:-0.18 [[ 9.99829464e-01 -3.98589486e-03 -1.80320860e-02 3.12546372e+00] [ 3.93289119e-03 9.99987844e-01 -2.97391680e-03 3.91951508e-01] [ 1.80437205e-02 2.90249141e-03 9.99832986e-01 -1.83158745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.173133365 meters Centerline goodness [0,1] 0.3005349678369539 Centerline is valid? [False, False] Translation: X:3.13, Y:0.39, Z:-0.18 [[ 0.99982745 -0.00396786 -0.0181471 3.12569882] [ 0.0039099 0.99998714 -0.00322847 0.39364173] [ 0.01815968 0.00315696 0.99983012 -0.18315476] [ 0. 0. 0. 1. ]] SLAMing on 265.203133365 meters Centerline goodness [0,1] 0.29831218108072743 Centerline is valid? [False, False] Translation: X:3.13, Y:0.40, Z:-0.18 [[ 0.99982432 -0.00404775 -0.01830137 3.12605447] [ 0.00398236 0.99998556 -0.00360812 0.39558975] [ 0.01831571 0.0035346 0.99982601 -0.18318475] [ 0. 0. 0. 1. ]] SLAMing on 265.233133365 meters Centerline goodness [0,1] 0.30057426259462283 Centerline is valid? [False, False] Translation: X:3.13, Y:0.40, Z:-0.18 [[ 0.99981968 -0.00404715 -0.01855361 3.12675538] [ 0.00397549 0.9999845 -0.00389778 0.39734197] [ 0.0185691 0.00382332 0.99982027 -0.1834454 ] [ 0. 0. 0. 1. ]] SLAMing on 265.263133365 meters Centerline goodness [0,1] 0.3014199843191916 Centerline is valid? [False, False] Translation: X:3.13, Y:0.40, Z:-0.18 [[ 0.99983018 -0.00367535 -0.01805849 3.12539052] [ 0.00360264 0.99998528 -0.00405719 0.4001513 ] [ 0.01807314 0.00399144 0.9998287 -0.18316478] [ 0. 0. 0. 1. ]] SLAMing on 265.29313336499996 meters Centerline goodness [0,1] 0.30187520561465075 Centerline is valid? [False, False] Translation: X:3.12, Y:0.40, Z:-0.18 [[ 0.99983831 -0.00367033 -0.01760358 3.12402706] [ 0.00359498 0.99998425 -0.00431021 0.40189426] [ 0.01761912 0.00424623 0.99983575 -0.18263915] [ 0. 0. 0. 1. ]] SLAMing on 265.323133365 meters Centerline goodness [0,1] 0.2968151757744518 Centerline is valid? [False, False] Translation: X:3.12, Y:0.40, Z:-0.18 [[ 0.9998395 -0.00370785 -0.01752773 3.12375613] [ 0.00362801 0.99998291 -0.00458463 0.40348145] [ 0.01754443 0.0045203 0.99983587 -0.18254907] [ 0. 0. 0. 1. ]] SLAMing on 265.35313336499996 meters Centerline goodness [0,1] 0.2951055559134935 Centerline is valid? [False, False] Translation: X:3.14, Y:0.40, Z:-0.18 [[ 0.99983665 0.00419257 -0.01758117 3.14463354] [-0.00429431 0.99997423 -0.00575324 0.40194029] [ 0.0175566 0.0058278 0.99982889 -0.18137219] [ 0. 0. 0. 1. ]] SLAMing on 265.383133365 meters Centerline goodness [0,1] 0.29368613531246635 Centerline is valid? [False, False] Translation: X:3.15, Y:0.40, Z:-0.18 [[ 0.99983204 0.00415415 -0.01785053 3.14541564] [-0.00426119 0.99997314 -0.00596286 0.4031911 ] [ 0.01782528 0.00603792 0.99982289 -0.18164553] [ 0. 0. 0. 1. ]] SLAMing on 265.41313336499996 meters Centerline goodness [0,1] 0.2961763363258918 Centerline is valid? [False, False] Translation: X:3.13, Y:0.41, Z:-0.18 [[ 0.99983234 -0.0032413 -0.01802204 3.12706112] [ 0.00316058 0.99998485 -0.00450568 0.4081892 ] [ 0.01803637 0.00444797 0.99982744 -0.18388105] [ 0. 0. 0. 1. ]] SLAMing on 265.443133365 meters Centerline goodness [0,1] 0.29588744588744587 Centerline is valid? [False, False] Translation: X:3.12, Y:0.41, Z:-0.18 [[ 9.99845765e-01 -3.01642288e-03 -1.73016493e-02 3.12481632e+00] [ 2.94186432e-03 9.99986284e-01 -4.33316657e-03 4.08409459e-01] [ 1.73144826e-02 4.28159914e-03 9.99840926e-01 -1.83042662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47313336499997 meters Centerline goodness [0,1] 0.2959042299865784 Centerline is valid? [False, False] Translation: X:3.12, Y:0.41, Z:-0.18 [[ 9.99854180e-01 -2.95880968e-03 -1.68185635e-02 3.12330212e+00] [ 2.88816132e-03 9.99986911e-01 -4.22335595e-03 4.07953662e-01] [ 1.68308395e-02 4.17416538e-03 9.99849638e-01 -1.82447413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.503133365 meters Centerline goodness [0,1] 0.29887939304089994 Centerline is valid? [False, False] Translation: X:3.12, Y:0.41, Z:-0.18 [[ 9.99857037e-01 -2.92861398e-03 -1.66531845e-02 3.12272797e+00] [ 2.86082678e-03 9.99987532e-01 -4.09289149e-03 4.07145510e-01] [ 1.66649634e-02 4.04466449e-03 9.99852949e-01 -1.82197515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53313336499997 meters Centerline goodness [0,1] 0.2970230334637114 Centerline is valid? [False, False] Translation: X:3.12, Y:0.41, Z:-0.18 [[ 9.99854850e-01 -2.88772693e-03 -1.67910416e-02 3.12329913e+00] [ 2.82173746e-03 9.99988208e-01 -3.95240467e-03 4.06373111e-01] [ 1.68022570e-02 3.90445107e-03 9.99851209e-01 -1.82595026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.563133365 meters Centerline goodness [0,1] 0.29747873433775773 Centerline is valid? [False, False] Translation: X:3.12, Y:0.41, Z:-0.18 [[ 9.99851705e-01 -2.84010586e-03 -1.69853499e-02 3.12416981e+00] [ 2.77514308e-03 9.99988750e-01 -3.84698394e-03 4.05866215e-01] [ 1.69960846e-02 3.79927667e-03 9.99848338e-01 -1.83314056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59313336499997 meters Centerline goodness [0,1] 0.29468066718520436 Centerline is valid? [False, False] Translation: X:3.12, Y:0.41, Z:-0.18 [[ 9.99848930e-01 -2.77983063e-03 -1.71578059e-02 3.12497995e+00] [ 2.71548625e-03 9.99989198e-01 -3.77231071e-03 4.05719270e-01] [ 1.71681070e-02 3.72514904e-03 9.99845678e-01 -1.83951917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.623133365 meters Centerline goodness [0,1] 0.29648383171070936 Centerline is valid? [False, False] Translation: X:3.12, Y:0.41, Z:-0.18 [[ 9.99853690e-01 -2.65390260e-03 -1.68983715e-02 3.12442343e+00] [ 2.58967898e-03 9.99989345e-01 -3.82132933e-03 4.06776204e-01] [ 1.69083328e-02 3.77700888e-03 9.99849910e-01 -1.84099750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.653133365 meters Centerline goodness [0,1] 0.29342312590386155 Centerline is valid? [False, False] Translation: X:3.12, Y:0.41, Z:-0.18 [[ 9.99855202e-01 -2.61829093e-03 -1.68142395e-02 3.12415781e+00] [ 2.55138443e-03 9.99988748e-01 -3.99937656e-03 4.08237120e-01] [ 1.68245218e-02 3.95589787e-03 9.99850632e-01 -1.84073267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.683133365 meters Centerline goodness [0,1] 0.295880394333094 Centerline is valid? [False, False] Translation: X:3.12, Y:0.41, Z:-0.18 [[ 9.99855080e-01 -2.64387898e-03 -1.68175105e-02 3.12423021e+00] [ 2.57219167e-03 9.99987520e-01 -4.28286185e-03 4.10015953e-01] [ 1.68286240e-02 4.23898332e-03 9.99849403e-01 -1.84230282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.713133365 meters Centerline goodness [0,1] 0.2942373468415812 Centerline is valid? [False, False] Translation: X:3.12, Y:0.41, Z:-0.18 [[ 9.99852854e-01 -2.67352322e-03 -1.69447119e-02 3.12468898e+00] [ 2.59674951e-03 9.99986272e-01 -4.55122019e-03 4.11542962e-01] [ 1.69566471e-02 4.50654932e-03 9.99846070e-01 -1.84574145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.743133365 meters Centerline goodness [0,1] 0.29254653020684895 Centerline is valid? [False, False] Translation: X:3.13, Y:0.41, Z:-0.18 [[ 9.99850914e-01 -2.73763108e-03 -1.70485872e-02 3.12507585e+00] [ 2.65644739e-03 9.99985034e-01 -4.78272814e-03 4.12665344e-01] [ 1.70614254e-02 4.73672643e-03 9.99843223e-01 -1.84857656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.773133365 meters Centerline goodness [0,1] 0.29028576350754787 Centerline is valid? [False, False] Translation: X:3.13, Y:0.41, Z:-0.19 [[ 9.99848951e-01 -2.75863589e-03 -1.71600068e-02 3.12565063e+00] [ 2.67461313e-03 9.99984332e-01 -4.91745334e-03 4.13426823e-01] [ 1.71733034e-02 4.87081419e-03 9.99840664e-01 -1.85394549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.803133365 meters Centerline goodness [0,1] 0.2938908145580589 Centerline is valid? [False, False] Translation: X:3.13, Y:0.41, Z:-0.19 [[ 9.99847481e-01 -2.77306750e-03 -1.72430833e-02 3.12609445e+00] [ 2.68610354e-03 9.99983568e-01 -5.06452768e-03 4.14300446e-01] [ 1.72568442e-02 5.01743853e-03 9.99838500e-01 -1.85891285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.833133365 meters Centerline goodness [0,1] 0.292167498372749 Centerline is valid? [False, False] Translation: X:3.13, Y:0.41, Z:-0.19 [[ 9.99847272e-01 -2.70867491e-03 -1.72654624e-02 3.12629500e+00] [ 2.62335214e-03 9.99984245e-01 -4.96255234e-03 4.13979682e-01] [ 1.72786324e-02 4.91650103e-03 9.99838625e-01 -1.86115259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.863133365 meters Centerline goodness [0,1] 0.29042450295540034 Centerline is valid? [False, False] Translation: X:3.13, Y:0.41, Z:-0.19 [[ 9.99846292e-01 -2.63891589e-03 -1.73328910e-02 3.12663176e+00] [ 2.55574436e-03 9.99985123e-01 -4.81887910e-03 4.13332380e-01] [ 1.73453497e-02 4.77383996e-03 9.99838162e-01 -1.86427611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.893133365 meters Centerline goodness [0,1] 0.2924442716433385 Centerline is valid? [False, False] Translation: X:3.13, Y:0.41, Z:-0.19 [[ 9.99846972e-01 -2.58832621e-03 -1.73012721e-02 3.12676669e+00] [ 2.50728117e-03 9.99985791e-01 -4.70439135e-03 4.12724858e-01] [ 1.73132028e-02 4.66029229e-03 9.99839254e-01 -1.86771894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.923133365 meters Centerline goodness [0,1] 0.2920013895523036 Centerline is valid? [False, False] Translation: X:3.13, Y:0.41, Z:-0.19 [[ 9.99846514e-01 -2.52676321e-03 -1.73367959e-02 3.12710194e+00] [ 2.44752404e-03 9.99986469e-01 -4.59027429e-03 4.12137273e-01] [ 1.73481599e-02 4.54713752e-03 9.99839170e-01 -1.87172261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.953133365 meters Centerline goodness [0,1] 0.2920013895523036 Centerline is valid? [False, False] Translation: X:3.13, Y:0.41, Z:-0.19 [[ 9.99846514e-01 -2.52676321e-03 -1.73367959e-02 3.12710194e+00] [ 2.44752404e-03 9.99986469e-01 -4.59027429e-03 4.12137273e-01] [ 1.73481599e-02 4.54713752e-03 9.99839170e-01 -1.87172261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.983133365 meters Centerline goodness [0,1] 0.2890122420878246 Centerline is valid? [False, False] Translation: X:3.13, Y:0.41, Z:-0.19 [[ 9.99837896e-01 -2.33807814e-03 -1.78526087e-02 3.12866361e+00] [ 2.25884046e-03 9.99987515e-01 -4.45731281e-03 4.11936834e-01] [ 1.78628074e-02 4.41626406e-03 9.99830694e-01 -1.87824404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.013133365 meters Centerline goodness [0,1] 0.293740877105074 Centerline is valid? [False, False] Translation: X:3.11, Y:0.41, Z:-0.19 [[ 0.99981519 0.00608328 -0.01823655 3.1089676 ] [-0.006183 0.99996621 -0.00541668 0.40686803] [ 0.01820299 0.00552844 0.99981903 -0.18935195] [ 0. 0. 0. 1. ]] SLAMing on 266.04313336499996 meters Centerline goodness [0,1] 0.2906979254366082 Centerline is valid? [False, False] Translation: X:3.13, Y:0.41, Z:-0.19 [[ 9.99835572e-01 -1.39336092e-03 -1.80800172e-02 3.12690249e+00] [ 1.32242372e-03 9.99991384e-01 -3.93487655e-03 4.11678665e-01] [ 1.80853441e-02 3.91032011e-03 9.99828800e-01 -1.87373799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.073133365 meters Centerline goodness [0,1] 0.28993891251322124 Centerline is valid? [False, False] Translation: X:3.13, Y:0.41, Z:-0.19 [[ 9.99839246e-01 -1.31932612e-03 -1.78813007e-02 3.12635269e+00] [ 1.25177159e-03 9.99992040e-01 -3.78860884e-03 4.10965938e-01] [ 1.78861567e-02 3.76561650e-03 9.99832939e-01 -1.87317677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10313336499996 meters Centerline goodness [0,1] 0.2919344403709295 Centerline is valid? [False, False] Translation: X:3.13, Y:0.41, Z:-0.19 [[ 9.99845076e-01 -1.07908970e-03 -1.75686900e-02 3.12532463e+00] [ 1.02326559e-03 9.99994401e-01 -3.18615619e-03 4.07854916e-01] [ 1.75720298e-02 3.16768514e-03 9.99840582e-01 -1.86901863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.133133365 meters Centerline goodness [0,1] 0.29369974066729143 Centerline is valid? [False, False] Translation: X:3.12, Y:0.41, Z:-0.19 [[ 9.99846843e-01 -9.12585313e-04 -1.74773646e-02 3.12496297e+00] [ 8.64067519e-04 9.99995753e-01 -2.78338627e-03 4.05979817e-01] [ 1.74798305e-02 2.76785835e-03 9.99843385e-01 -1.86634212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16313336499996 meters Centerline goodness [0,1] 0.29207193187221714 Centerline is valid? [False, False] Translation: X:3.12, Y:0.40, Z:-0.19 [[ 9.99848941e-01 -7.60883765e-04 -1.73642441e-02 3.12457407e+00] [ 7.19310123e-04 9.99996861e-01 -2.40032973e-03 4.04068031e-01] [ 1.73660160e-02 2.38747687e-03 9.99846349e-01 -1.86408936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.193133365 meters Centerline goodness [0,1] 0.2930025996533796 Centerline is valid? [False, False] Translation: X:3.12, Y:0.40, Z:-0.19 [[ 9.99850794e-01 -6.64162992e-04 -1.72611780e-02 3.12411603e+00] [ 6.28247271e-04 9.99997627e-01 -2.08606174e-03 4.02258728e-01] [ 1.72625225e-02 2.07490619e-03 9.99848839e-01 -1.86074486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22313336499997 meters Centerline goodness [0,1] 0.2957388032105801 Centerline is valid? [False, False] Translation: X:3.12, Y:0.40, Z:-0.19 [[ 9.99853669e-01 -5.57473930e-04 -1.70976622e-02 3.12354674e+00] [ 5.27129772e-04 9.99998278e-01 -1.77921013e-03 4.00578182e-01] [ 1.70986247e-02 1.76993709e-03 9.99852241e-01 -1.85775131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.253133365 meters Centerline goodness [0,1] 0.2950434932391698 Centerline is valid? [False, False] Translation: X:3.12, Y:0.40, Z:-0.19 [[ 9.99854791e-01 -4.33753161e-04 -1.70354970e-02 3.12332108e+00] [ 4.08092877e-04 9.99998777e-01 -1.50973069e-03 3.99233064e-01] [ 1.70361310e-02 1.50255940e-03 9.99853746e-01 -1.85677354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28313336499997 meters Centerline goodness [0,1] 0.29758578538374225 Centerline is valid? [False, False] Translation: X:3.08, Y:0.39, Z:-0.19 [[ 9.99819064e-01 7.69198549e-04 -1.90064992e-02 3.07806950e+00] [-7.77950124e-04 9.99999595e-01 -4.53062318e-04 3.93814248e-01] [ 1.90061430e-02 4.67766451e-04 9.99819258e-01 -1.86123719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.313133365 meters Centerline goodness [0,1] 0.29154280298134505 Centerline is valid? [False, False] Translation: X:3.08, Y:0.39, Z:-0.19 [[ 9.99818352e-01 8.75042881e-04 -1.90393716e-02 3.07836328e+00] [-8.81846859e-04 9.99999550e-01 -3.48970859e-04 3.93482508e-01] [ 1.90390577e-02 3.65697279e-04 9.99818674e-01 -1.86506594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34313336499997 meters Centerline goodness [0,1] 0.2957589772677691 Centerline is valid? [False, False] Translation: X:3.06, Y:0.39, Z:-0.19 [[ 9.99761538e-01 9.04116733e-03 -1.98777357e-02 3.05917715e+00] [-9.07138133e-03 9.99957831e-01 -1.43034789e-03 3.87771828e-01] [ 1.98639655e-02 1.61032533e-03 9.99801395e-01 -1.88105132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.373133365 meters Centerline goodness [0,1] 0.2944986632468972 Centerline is valid? [False, False] Translation: X:3.08, Y:0.39, Z:-0.19 [[ 9.99788864e-01 1.43680266e-03 -2.04978687e-02 3.07774335e+00] [-1.44057464e-03 9.99998948e-01 -1.69253478e-04 3.92699144e-01] [ 2.04976040e-02 1.98746452e-04 9.99789882e-01 -1.86123168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.403133365 meters Centerline goodness [0,1] 0.29296714245489397 Centerline is valid? [False, False] Translation: X:3.08, Y:0.39, Z:-0.19 [[ 9.99787165e-01 1.50627098e-03 -2.05756272e-02 3.07789412e+00] [-1.50807881e-03 9.99998860e-01 -7.23469047e-05 3.92538877e-01] [ 2.05754947e-02 1.03361174e-04 9.99788297e-01 -1.86113318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.433133365 meters Centerline goodness [0,1] 0.29215846173655524 Centerline is valid? [False, False] Translation: X:3.10, Y:0.40, Z:-0.18 [[ 9.99774835e-01 -5.96560900e-03 -2.03639498e-02 3.09578801e+00] [ 5.99881212e-03 9.99980775e-01 1.56978836e-03 3.97318632e-01] [ 2.03541936e-02 -1.69159441e-03 9.99791401e-01 -1.84064772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.463133365 meters Centerline goodness [0,1] 0.29464634622899566 Centerline is valid? [False, False] Translation: X:3.08, Y:0.39, Z:-0.19 [[ 9.99821457e-01 9.86399129e-04 -1.88701304e-02 3.07719808e+00] [-9.78437439e-04 9.99999428e-01 4.31148029e-04 3.88634183e-01] [ 1.88705449e-02 -4.12607808e-04 9.99821850e-01 -1.86513194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.493133365 meters Centerline goodness [0,1] 0.29346467215588223 Centerline is valid? [False, False] Translation: X:3.08, Y:0.39, Z:-0.19 [[ 9.99816516e-01 9.37031184e-04 -1.91325769e-02 3.07808159e+00] [-9.24758561e-04 9.99999361e-01 6.50288881e-04 3.86670397e-01] [ 1.91331740e-02 -6.32476549e-04 9.99816744e-01 -1.86884328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.523133365 meters Centerline goodness [0,1] 0.29425764853520275 Centerline is valid? [False, False] Translation: X:3.08, Y:0.38, Z:-0.19 [[ 9.99809145e-01 9.18314001e-04 -1.95148781e-02 3.07940304e+00] [-9.00983719e-04 9.99999192e-01 8.96828373e-04 3.84680801e-01] [ 1.95156859e-02 -8.79074622e-04 9.99809164e-01 -1.87512320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.553133365 meters Centerline goodness [0,1] 0.2971586338833453 Centerline is valid? [False, False] Translation: X:3.08, Y:0.38, Z:-0.19 [[ 9.99802197e-01 9.67313933e-04 -1.98653025e-02 3.08058051e+00] [-9.44494138e-04 9.99998883e-01 1.15807640e-03 3.83027241e-01] [ 1.98664005e-02 -1.13908467e-03 9.99801995e-01 -1.88034329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.583133365 meters Centerline goodness [0,1] 0.29429488013178995 Centerline is valid? [False, False] Translation: X:3.08, Y:0.38, Z:-0.19 [[ 9.99797709e-01 1.04381081e-03 -2.00861166e-02 3.08122587e+00] [-1.01671517e-03 9.99998560e-01 1.35913796e-03 3.82094005e-01] [ 2.00875063e-02 -1.33844116e-03 9.99797330e-01 -1.88245073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.613133365 meters Centerline goodness [0,1] 0.29477490742946233 Centerline is valid? [False, False] Translation: X:3.08, Y:0.38, Z:-0.19 [[ 9.99796443e-01 1.11677358e-03 -2.01450987e-02 3.08132840e+00] [-1.08630394e-03 9.99998250e-01 1.52338810e-03 3.81365462e-01] [ 2.01467648e-02 -1.50119430e-03 9.99795906e-01 -1.88192494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.643133365 meters Centerline goodness [0,1] 0.2924890942858377 Centerline is valid? [False, False] Translation: X:3.08, Y:0.38, Z:-0.19 [[ 9.99793913e-01 1.15997309e-03 -2.02678432e-02 3.08156111e+00] [-1.12614664e-03 9.99997954e-01 1.68030517e-03 3.80352051e-01] [ 2.02697508e-02 -1.65713432e-03 9.99793174e-01 -1.88087973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.673133365 meters Centerline goodness [0,1] 0.29514894720913143 Centerline is valid? [False, False] Translation: X:3.08, Y:0.38, Z:-0.19 [[ 9.99792376e-01 1.16999122e-03 -2.03429524e-02 3.08180234e+00] [-1.13503667e-03 9.99997860e-01 1.72972472e-03 3.79840965e-01] [ 2.03449326e-02 -1.70627559e-03 9.99791564e-01 -1.88215720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.703133365 meters Centerline goodness [0,1] 0.29575234293648034 Centerline is valid? [False, False] Translation: X:3.08, Y:0.38, Z:-0.19 [[ 9.99794047e-01 1.14561797e-03 -2.02620782e-02 3.08153344e+00] [-1.11141997e-03 9.99997939e-01 1.69896427e-03 3.79832240e-01] [ 2.02639828e-02 -1.67609468e-03 9.99793259e-01 -1.88126332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.733133365 meters Centerline goodness [0,1] 0.2950759378650859 Centerline is valid? [False, False] Translation: X:3.08, Y:0.38, Z:-0.19 [[ 9.99797972e-01 1.17893354e-03 -2.00655396e-02 3.08080140e+00] [-1.14481407e-03 9.99997880e-01 1.71180308e-03 3.79880966e-01] [ 2.00675152e-02 -1.68848593e-03 9.99797201e-01 -1.87746223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.763133365 meters Centerline goodness [0,1] 0.29822549231768014 Centerline is valid? [False, False] Translation: X:3.08, Y:0.38, Z:-0.19 [[ 9.99801694e-01 1.22244548e-03 -1.98765538e-02 3.08023494e+00] [-1.18774234e-03 9.99997750e-01 1.75764524e-03 3.79794644e-01] [ 1.98786577e-02 -1.73368846e-03 9.99800897e-01 -1.87580272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79313336499996 meters Centerline goodness [0,1] 0.29705544601651035 Centerline is valid? [False, False] Translation: X:3.08, Y:0.38, Z:-0.19 [[ 9.99802897e-01 1.26216398e-03 -1.98135069e-02 3.07998015e+00] [-1.22582219e-03 9.99997544e-01 1.84623050e-03 3.79339618e-01] [ 1.98157885e-02 -1.82157877e-03 9.99801989e-01 -1.87458501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.823133365 meters Centerline goodness [0,1] 0.30173941581883823 Centerline is valid? [False, False] Translation: X:3.08, Y:0.38, Z:-0.19 [[ 9.99803487e-01 1.34150058e-03 -1.97784487e-02 3.07985166e+00] [-1.29912621e-03 9.99996834e-01 2.15514459e-03 3.77407156e-01] [ 1.97812772e-02 -2.12902638e-03 9.99802065e-01 -1.87375499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85313336499996 meters Centerline goodness [0,1] 0.2994000260858224 Centerline is valid? [False, False] Translation: X:3.08, Y:0.38, Z:-0.19 [[ 9.99802697e-01 1.41929114e-03 -1.98129353e-02 3.07985976e+00] [-1.37137828e-03 9.99996103e-01 2.43163883e-03 3.75813739e-01] [ 1.98163093e-02 -2.40398803e-03 9.99800748e-01 -1.87225171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.883133365 meters Centerline goodness [0,1] 0.3006685394481827 Centerline is valid? [False, False] Translation: X:3.08, Y:0.37, Z:-0.19 [[ 9.99802812e-01 1.48109128e-03 -1.98026360e-02 3.07968362e+00] [-1.42848709e-03 9.99995414e-01 2.67030533e-03 3.74379978e-01] [ 1.98065002e-02 -2.64149097e-03 9.99800343e-01 -1.86965237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91313336499996 meters Centerline goodness [0,1] 0.2996119975586363 Centerline is valid? [False, False] Translation: X:3.08, Y:0.37, Z:-0.19 [[ 9.99801598e-01 1.57068175e-03 -1.98569093e-02 3.07972797e+00] [-1.51238945e-03 9.99994504e-01 2.95029430e-03 3.72820977e-01] [ 1.98614341e-02 -2.91967758e-03 9.99798479e-01 -1.86800088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.943133365 meters Centerline goodness [0,1] 0.30302168969739374 Centerline is valid? [False, False] Translation: X:3.08, Y:0.37, Z:-0.19 [[ 9.99801243e-01 1.67549357e-03 -1.98662371e-02 3.07976924e+00] [-1.61170679e-03 9.99993496e-01 3.22638973e-03 3.71413720e-01] [ 1.98715137e-02 -3.19372991e-03 9.99797441e-01 -1.86857398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97313336499997 meters Centerline goodness [0,1] 0.29822408782692933 Centerline is valid? [False, False] Translation: X:3.12, Y:0.37, Z:-0.19 [[ 9.99832023e-01 2.11158055e-03 -1.82062331e-02 3.12319849e+00] [-2.04453382e-03 9.99991063e-01 3.70045229e-03 3.71888293e-01] [ 1.82138842e-02 -3.66260744e-03 9.99827405e-01 -1.86057276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.003133365 meters Centerline goodness [0,1] 0.30170554793177806 Centerline is valid? [False, False] Translation: X:3.10, Y:0.37, Z:-0.19 [[ 0.99983097 -0.00433009 -0.01786851 3.10043141] [ 0.00445071 0.99996754 0.00671588 0.3709357 ] [ 0.01783885 -0.00679427 0.99981779 -0.1866026 ] [ 0. 0. 0. 1. ]] SLAMing on 267.03313336499997 meters Centerline goodness [0,1] 0.3019630861540469 Centerline is valid? [False, False] Translation: X:3.10, Y:0.37, Z:-0.19 [[ 0.99983177 -0.00428084 -0.01783526 3.10048241] [ 0.00440205 0.99996745 0.00676235 0.37087077] [ 0.01780573 -0.00683972 0.99981807 -0.1868261 ] [ 0. 0. 0. 1. ]] SLAMing on 267.063133365 meters Centerline goodness [0,1] 0.3003740268777454 Centerline is valid? [False, False] Translation: X:3.10, Y:0.37, Z:-0.19 [[ 0.99982945 -0.0042752 -0.01796648 3.10087223] [ 0.00439592 0.99996799 0.00668533 0.37132465] [ 0.01793733 -0.00676317 0.99981624 -0.1870391 ] [ 0. 0. 0. 1. ]] SLAMing on 267.09313336499997 meters Centerline goodness [0,1] 0.3018880208333333 Centerline is valid? [False, False] Translation: X:3.10, Y:0.37, Z:-0.19 [[ 0.99982656 -0.00424319 -0.01813432 3.10149646] [ 0.00436404 0.9999685 0.0066296 0.37176748] [ 0.01810562 -0.00670759 0.99981358 -0.18748905] [ 0. 0. 0. 1. ]] SLAMing on 267.123133365 meters Centerline goodness [0,1] 0.30204826342883206 Centerline is valid? [False, False] Translation: X:3.10, Y:0.37, Z:-0.19 [[ 0.99982454 -0.00416749 -0.0182627 3.10198725] [ 0.00428961 0.99996867 0.00665306 0.37202845] [ 0.0182344 -0.00673023 0.99981109 -0.18785166] [ 0. 0. 0. 1. ]] SLAMing on 267.153133365 meters Centerline goodness [0,1] 0.30273233553776535 Centerline is valid? [False, False] Translation: X:3.10, Y:0.37, Z:-0.19 [[ 0.99983035 -0.00397513 -0.01798516 3.10151251] [ 0.00409841 0.99996833 0.00682251 0.37205113] [ 0.01795747 -0.00689507 0.99981498 -0.18811931] [ 0. 0. 0. 1. ]] SLAMing on 267.183133365 meters Centerline goodness [0,1] 0.299956738048886 Centerline is valid? [False, False] Translation: X:3.12, Y:0.37, Z:-0.19 [[ 0.99984703 0.00384946 -0.01706172 3.11989144] [-0.00375985 0.99997899 0.00528082 0.36945863] [ 0.01708169 -0.00521587 0.99984049 -0.18606295] [ 0. 0. 0. 1. ]] SLAMing on 267.213133365 meters Centerline goodness [0,1] 0.30095303956951136 Centerline is valid? [False, False] Translation: X:3.12, Y:0.37, Z:-0.19 [[ 0.99984834 0.00380796 -0.0169943 3.11955284] [-0.00371902 0.99997924 0.005262 0.36920478] [ 0.01701398 -0.005198 0.99984174 -0.18578094] [ 0. 0. 0. 1. ]] SLAMing on 267.243133365 meters Centerline goodness [0,1] 0.3012235050835774 Centerline is valid? [False, False] Translation: X:3.12, Y:0.37, Z:-0.19 [[ 0.99984996 0.00374268 -0.01691279 3.11937471] [-0.00365572 0.99997996 0.00516958 0.3693096 ] [ 0.0169318 -0.00510698 0.9998436 -0.18581835] [ 0. 0. 0. 1. ]] SLAMing on 267.273133365 meters Centerline goodness [0,1] 0.30586592178770955 Centerline is valid? [False, False] Translation: X:3.10, Y:0.37, Z:-0.19 [[ 0.99983456 -0.00476773 -0.01755355 3.09860773] [ 0.00487213 0.99997067 0.00590939 0.37225577] [ 0.01752486 -0.00599393 0.99982846 -0.1871264 ] [ 0. 0. 0. 1. ]] SLAMing on 267.303133365 meters Centerline goodness [0,1] 0.3012108000776984 Centerline is valid? [False, False] Translation: X:3.12, Y:0.37, Z:-0.19 [[ 0.99983634 0.00339007 -0.01777075 3.11946939] [-0.00330266 0.99998232 0.00494573 0.37038701] [ 0.0177872 -0.00488623 0.99982986 -0.18641208] [ 0. 0. 0. 1. ]] SLAMing on 267.333133365 meters Centerline goodness [0,1] 0.30205367814842987 Centerline is valid? [False, False] Translation: X:3.12, Y:0.37, Z:-0.19 [[ 0.99982795 0.0034166 -0.01823183 3.12113474] [-0.00333055 0.99998318 0.00474794 0.37182614] [ 0.01824775 -0.0046864 0.99982251 -0.18744442] [ 0. 0. 0. 1. ]] SLAMing on 267.363133365 meters Centerline goodness [0,1] 0.30223725853977956 Centerline is valid? [False, False] Translation: X:3.12, Y:0.37, Z:-0.19 [[ 0.9998239 0.0033374 -0.01846712 3.12178754] [-0.00325478 0.99998457 0.00450212 0.37297685] [ 0.01848186 -0.00444122 0.99981933 -0.18769019] [ 0. 0. 0. 1. ]] SLAMing on 267.393133365 meters Centerline goodness [0,1] 0.29786681104493773 Centerline is valid? [False, False] Translation: X:3.12, Y:0.37, Z:-0.19 [[ 0.99981969 0.00321856 -0.01871426 3.12249808] [-0.00314119 0.99998641 0.00416189 0.37456705] [ 0.01872741 -0.00410236 0.99981621 -0.18798754] [ 0. 0. 0. 1. ]] SLAMing on 267.423133365 meters Centerline goodness [0,1] 0.2943053668844471 Centerline is valid? [False, False] Translation: X:3.12, Y:0.38, Z:-0.19 [[ 9.99815838e-01 3.07391710e-03 -1.89430797e-02 3.12313594e+00] [-3.00347055e-03 9.99988473e-01 3.74618259e-03 3.76530277e-01] [ 1.89543768e-02 -3.68859771e-03 9.99813546e-01 -1.88230948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.453133365 meters Centerline goodness [0,1] 0.2940632195037979 Centerline is valid? [False, False] Translation: X:3.12, Y:0.38, Z:-0.19 [[ 9.99815040e-01 2.92791079e-03 -1.90082419e-02 3.12343601e+00] [-2.86614843e-03 9.99990528e-01 3.27567120e-03 3.78912271e-01] [ 1.90176527e-02 -3.22058489e-03 9.99813961e-01 -1.88598020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.483133365 meters Centerline goodness [0,1] 0.3009978554860169 Centerline is valid? [False, False] Translation: X:3.08, Y:0.38, Z:-0.19 [[ 0.99977909 0.00328162 -0.0207606 3.07718219] [-0.00321225 0.99998915 0.00337415 0.37844061] [ 0.02077145 -0.00330671 0.99977878 -0.18826961] [ 0. 0. 0. 1. ]] SLAMing on 267.513133365 meters Centerline goodness [0,1] 0.30189626202893494 Centerline is valid? [False, False] Translation: X:3.07, Y:0.38, Z:-0.19 [[ 9.99796832e-01 3.19751280e-03 -1.99015312e-02 3.07451559e+00] [-3.14356710e-03 9.99991302e-01 2.74132486e-03 3.82703739e-01] [ 1.99101235e-02 -2.67820611e-03 9.99798187e-01 -1.87412493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54313336499996 meters Centerline goodness [0,1] 0.29552277210738487 Centerline is valid? [False, False] Translation: X:3.12, Y:0.39, Z:-0.19 [[ 9.99841253e-01 3.31103364e-03 -1.75072860e-02 3.11702047e+00] [-3.26938992e-03 9.99991759e-01 2.40673700e-03 3.88970863e-01] [ 1.75151105e-02 -2.34911679e-03 9.99843839e-01 -1.86519253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.573133365 meters Centerline goodness [0,1] 0.29749908292514515 Centerline is valid? [False, False] Translation: X:3.12, Y:0.39, Z:-0.19 [[ 9.99841831e-01 3.17886360e-03 -1.74987691e-02 3.11665337e+00] [-3.14243523e-03 9.99992839e-01 2.10887088e-03 3.90441869e-01] [ 1.75053476e-02 -2.05354858e-03 9.99844661e-01 -1.86039612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60313336499996 meters Centerline goodness [0,1] 0.29725126657324563 Centerline is valid? [False, False] Translation: X:3.12, Y:0.39, Z:-0.19 [[ 9.99839642e-01 3.06455496e-03 -1.76436838e-02 3.11681951e+00] [-3.03145927e-03 9.99993596e-01 1.90222087e-03 3.91436378e-01] [ 1.76494002e-02 -1.84842973e-03 9.99842529e-01 -1.85784638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.633133365 meters Centerline goodness [0,1] 0.30596735467101355 Centerline is valid? [False, False] Translation: X:3.07, Y:0.39, Z:-0.19 [[ 9.99799164e-01 2.33571183e-03 -1.99041936e-02 3.07171732e+00] [-2.30634845e-03 9.99996218e-01 1.49806346e-03 3.88596659e-01] [ 1.99076173e-02 -1.45185659e-03 9.99800770e-01 -1.85295877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66313336499996 meters Centerline goodness [0,1] 0.2966742577235423 Centerline is valid? [False, False] Translation: X:3.11, Y:0.39, Z:-0.18 [[ 9.99837023e-01 2.47588441e-03 -1.78828722e-02 3.11479019e+00] [-2.44392556e-03 9.99995378e-01 1.80875369e-03 3.93433558e-01] [ 1.78872678e-02 -1.76475450e-03 9.99838453e-01 -1.83983838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.693133365 meters Centerline goodness [0,1] 0.3010379873014497 Centerline is valid? [False, False] Translation: X:3.11, Y:0.39, Z:-0.18 [[ 9.99838439e-01 2.43120215e-03 -1.78096885e-02 3.11438639e+00] [-2.40132014e-03 9.99995673e-01 1.69904437e-03 3.94062351e-01] [ 1.78137422e-02 -1.65600311e-03 9.99839951e-01 -1.83658482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72313336499997 meters Centerline goodness [0,1] 0.29768450897843457 Centerline is valid? [False, False] Translation: X:3.11, Y:0.40, Z:-0.18 [[ 9.99840493e-01 2.37122650e-03 -1.77021629e-02 3.11392016e+00] [-2.34481773e-03 9.99996107e-01 1.51244561e-03 3.95070848e-01] [ 1.77056803e-02 -1.47069602e-03 9.99842161e-01 -1.83358094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.753133365 meters Centerline goodness [0,1] 0.3047635680915164 Centerline is valid? [False, False] Translation: X:3.07, Y:0.39, Z:-0.18 [[ 9.99804883e-01 2.30244731e-03 -1.96187203e-02 3.06817377e+00] [-2.27850272e-03 9.99996632e-01 1.24276286e-03 3.93103668e-01] [ 1.96215156e-02 -1.19781907e-03 9.99806762e-01 -1.83105718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78313336499997 meters Centerline goodness [0,1] 0.30069656073138873 Centerline is valid? [False, False] Translation: X:3.07, Y:0.39, Z:-0.18 [[ 9.99804880e-01 2.23188682e-03 -1.96270300e-02 3.06813454e+00] [-2.21279702e-03 9.99997057e-01 9.94291633e-04 3.94415341e-01] [ 1.96291914e-02 -9.50666993e-04 9.99806877e-01 -1.83074258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.813133365 meters Centerline goodness [0,1] 0.3024161103016332 Centerline is valid? [False, False] Translation: X:3.07, Y:0.40, Z:-0.18 [[ 9.99805167e-01 2.20430216e-03 -1.96155094e-02 3.06823066e+00] [-2.18849437e-03 9.99997263e-01 8.27312275e-04 3.95489193e-01] [ 1.96172794e-02 -7.84222656e-04 9.99807255e-01 -1.83351430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84313336499997 meters Centerline goodness [0,1] 0.3024161103016332 Centerline is valid? [False, False] Translation: X:3.07, Y:0.40, Z:-0.18 [[ 9.99805167e-01 2.20430216e-03 -1.96155094e-02 3.06823066e+00] [-2.18849437e-03 9.99997263e-01 8.27312275e-04 3.95489193e-01] [ 1.96172794e-02 -7.84222656e-04 9.99807255e-01 -1.83351430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.873133365 meters Centerline goodness [0,1] 0.30015284265817066 Centerline is valid? [False, False] Translation: X:3.07, Y:0.40, Z:-0.18 [[ 9.99797262e-01 2.40944649e-03 -1.99907330e-02 3.06934402e+00] [-2.39139460e-03 9.99996711e-01 9.26869016e-04 3.95979466e-01] [ 1.99929005e-02 -8.78875374e-04 9.99799736e-01 -1.83820812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.903133365 meters Centerline goodness [0,1] 0.29787326013659554 Centerline is valid? [False, False] Translation: X:3.07, Y:0.40, Z:-0.18 [[ 9.99796377e-01 2.38399725e-03 -2.00380102e-02 3.06954482e+00] [-2.36573878e-03 9.99996765e-01 9.34847310e-04 3.95601702e-01] [ 2.00401740e-02 -8.87252255e-04 9.99798782e-01 -1.83954078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.933133365 meters Centerline goodness [0,1] 0.3018830914083954 Centerline is valid? [False, False] Translation: X:3.07, Y:0.39, Z:-0.18 [[ 9.99796374e-01 2.36177065e-03 -2.00407601e-02 3.06952069e+00] [-2.34123263e-03 9.99996710e-01 1.04821297e-03 3.94452644e-01] [ 2.00431698e-02 -1.00107945e-03 9.99798614e-01 -1.83910091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.963133365 meters Centerline goodness [0,1] 0.29687466345014757 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:-0.18 [[ 9.99794789e-01 -5.92714174e-03 -1.93713262e-02 3.08935826e+00] [ 5.96224719e-03 9.99980686e-01 1.75498631e-03 3.98192718e-01] [ 1.93605500e-02 -1.87012281e-03 9.99810818e-01 -1.83001789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.993133365 meters Centerline goodness [0,1] 0.30015545383884623 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:-0.18 [[ 9.99796393e-01 -5.86068495e-03 -1.93086740e-02 3.08916723e+00] [ 5.89968294e-03 9.99980669e-01 1.96336964e-03 3.97101941e-01] [ 1.92967941e-02 -2.07688494e-03 9.99811642e-01 -1.82904562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.023133365 meters Centerline goodness [0,1] 0.30272652637946684 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:-0.18 [[ 9.99795811e-01 -5.76353769e-03 -1.93679681e-02 3.08938947e+00] [ 5.80666127e-03 9.99980784e-01 2.17104191e-03 3.96327328e-01] [ 1.93550830e-02 -2.28306184e-03 9.99810066e-01 -1.83008597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.053133365 meters Centerline goodness [0,1] 0.2990910464840123 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:-0.18 [[ 9.99796750e-01 -5.71082484e-03 -1.93350755e-02 3.08967688e+00] [ 5.75610576e-03 9.99980818e-01 2.28706279e-03 3.95829374e-01] [ 1.93216436e-02 -2.39789268e-03 9.99810444e-01 -1.83541352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.083133365 meters Centerline goodness [0,1] 0.3013396715643907 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:-0.18 [[ 9.99793895e-01 -5.77402600e-03 -1.94634915e-02 3.08997851e+00] [ 5.81833023e-03 9.99980608e-01 2.22041420e-03 3.95779000e-01] [ 1.94502934e-02 -2.33320159e-03 9.99808103e-01 -1.83545933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.113133365 meters Centerline goodness [0,1] 0.30135973022952245 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:-0.18 [[ 9.99790662e-01 -5.82032723e-03 -1.96152102e-02 3.09033041e+00] [ 5.86345433e-03 9.99980516e-01 2.14186130e-03 3.95964502e-01] [ 1.96023617e-02 -2.25642582e-03 9.99805309e-01 -1.83580091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.143133365 meters Centerline goodness [0,1] 0.2997681423216104 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:-0.18 [[ 9.99786252e-01 -5.82576067e-03 -1.98371137e-02 3.09098934e+00] [ 5.86725089e-03 9.99980719e-01 2.03398708e-03 3.96668899e-01] [ 1.98248817e-02 -2.14994164e-03 9.99801156e-01 -1.83856727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.173133365 meters Centerline goodness [0,1] 0.29554891035432307 Centerline is valid? [False, False] Translation: X:3.11, Y:0.40, Z:-0.18 [[ 9.99777168e-01 1.98340345e-03 -2.10161775e-02 3.11124634e+00] [-1.96221865e-03 9.99997546e-01 1.02859689e-03 3.95089154e-01] [ 2.10181660e-02 -9.87129349e-04 9.99778607e-01 -1.82140762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.203133365 meters Centerline goodness [0,1] 0.2999717028362465 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:-0.18 [[ 9.99739969e-01 -6.00209632e-03 -2.19993223e-02 3.09254534e+00] [ 6.05329467e-03 9.99979122e-01 2.26141603e-03 3.98813323e-01] [ 2.19852898e-02 -2.39399637e-03 9.99755428e-01 -1.84450539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.233133365 meters Centerline goodness [0,1] 0.2965146523322352 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:-0.19 [[ 9.99733452e-01 -6.07220429e-03 -2.22745009e-02 3.09359707e+00] [ 6.11668719e-03 9.99979431e-01 1.92944416e-03 4.00577017e-01] [ 2.22623268e-02 -2.06517602e-03 9.99750031e-01 -1.85216638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.263133365 meters Centerline goodness [0,1] 0.29404292880363414 Centerline is valid? [False, False] Translation: X:3.11, Y:0.40, Z:-0.18 [[ 9.99761599e-01 1.99492791e-03 -2.17431491e-02 3.11261025e+00] [-1.98001923e-03 9.99997790e-01 7.07179348e-04 3.99645855e-01] [ 2.17445118e-02 -6.63958903e-04 9.99763340e-01 -1.83165596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29313336499996 meters Centerline goodness [0,1] 0.2957172431639783 Centerline is valid? [False, False] Translation: X:3.11, Y:0.40, Z:-0.18 [[ 9.99768606e-01 1.96361392e-03 -2.14214726e-02 3.11157592e+00] [-1.95171288e-03 9.99997929e-01 5.76458356e-04 4.00501987e-01] [ 2.14225602e-02 -5.34516403e-04 9.99770368e-01 -1.82776969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.323133365 meters Centerline goodness [0,1] 0.2961456517528569 Centerline is valid? [False, False] Translation: X:3.11, Y:0.40, Z:-0.18 [[ 9.99772703e-01 1.86003946e-03 -2.12387148e-02 3.11087372e+00] [-1.85400816e-03 9.99998235e-01 3.03663627e-04 4.01796452e-01] [ 2.12392421e-02 -2.64217855e-04 9.99774387e-01 -1.82394674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35313336499996 meters Centerline goodness [0,1] 0.2953407029968046 Centerline is valid? [False, False] Translation: X:3.11, Y:0.40, Z:-0.18 [[ 9.99774942e-01 1.72886664e-03 -2.11441996e-02 3.11061603e+00] [-1.73117397e-03 9.99998497e-01 -9.08197921e-05 4.03708181e-01] [ 2.11440109e-02 1.27403640e-04 9.99776432e-01 -1.82435375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.383133365 meters Centerline goodness [0,1] 0.2955264640860029 Centerline is valid? [False, False] Translation: X:3.11, Y:0.41, Z:-0.18 [[ 9.99776090e-01 1.63997508e-03 -2.10969073e-02 3.11055677e+00] [-1.65055071e-03 9.99998521e-01 -4.83885310e-04 4.05856967e-01] [ 2.10960825e-02 5.18598479e-04 9.99777318e-01 -1.82658370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41313336499996 meters Centerline goodness [0,1] 0.29905639675224926 Centerline is valid? [False, False] Translation: X:3.09, Y:0.41, Z:-0.18 [[ 9.99784931e-01 -3.35376639e-03 -2.04656993e-02 3.08878310e+00] [ 3.41420843e-03 9.99989911e-01 2.91910801e-03 4.11975156e-01] [ 2.04557028e-02 -2.98835436e-03 9.99786294e-01 -1.84057784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.443133365 meters Centerline goodness [0,1] 0.2929412779911119 Centerline is valid? [False, False] Translation: X:3.11, Y:0.41, Z:-0.18 [[ 9.99791301e-01 4.89529611e-03 -1.98340575e-02 3.10956166e+00] [-4.85730321e-03 9.99986276e-01 1.96326087e-03 4.12725274e-01] [ 1.98433960e-02 -1.86651110e-03 9.99801358e-01 -1.83028073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47313336499997 meters Centerline goodness [0,1] 0.2918391420911528 Centerline is valid? [False, False] Translation: X:3.11, Y:0.41, Z:-0.18 [[ 9.99791120e-01 4.74534700e-03 -1.98796134e-02 3.10951723e+00] [-4.71448468e-03 9.99987608e-01 1.59903902e-03 4.14450906e-01] [ 1.98869550e-02 -1.50498288e-03 9.99801102e-01 -1.82863486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.503133365 meters Centerline goodness [0,1] 0.29515600234492045 Centerline is valid? [False, False] Translation: X:3.09, Y:0.42, Z:-0.18 [[ 9.99810063e-01 -3.52446971e-03 -1.91681191e-02 3.08877758e+00] [ 3.56409501e-03 9.99991581e-01 2.03348137e-03 4.19411947e-01] [ 1.91607908e-02 -2.10141214e-03 9.99814207e-01 -1.84369667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53313336499997 meters Centerline goodness [0,1] 0.2954102197373554 Centerline is valid? [False, False] Translation: X:3.09, Y:0.42, Z:-0.18 [[ 9.99809259e-01 -3.60846445e-03 -1.91944074e-02 3.08855859e+00] [ 3.64289021e-03 9.99991818e-01 1.75886842e-03 4.21008438e-01] [ 1.91879035e-02 -1.82845605e-03 9.99814223e-01 -1.84004588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.563133365 meters Centerline goodness [0,1] 0.2951072327863159 Centerline is valid? [False, False] Translation: X:3.09, Y:0.42, Z:-0.18 [[ 9.99812345e-01 -3.65700415e-03 -1.90237005e-02 3.08780283e+00] [ 3.68698148e-03 9.99992016e-01 1.54095425e-03 4.22562510e-01] [ 1.90179133e-02 -1.61080511e-03 9.99817846e-01 -1.83526777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59313336499997 meters Centerline goodness [0,1] 0.29085486224358426 Centerline is valid? [False, False] Translation: X:3.11, Y:0.43, Z:-0.18 [[ 9.99854779e-01 4.05652177e-03 -1.65518990e-02 3.10707029e+00] [-4.05549746e-03 9.99991772e-01 9.54496665e-05 4.25613403e-01] [ 1.65521500e-02 -2.83096208e-05 9.99863003e-01 -1.82532328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.623133365 meters Centerline goodness [0,1] 0.2959041394335512 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:-0.18 [[ 9.99854821e-01 -4.43212746e-03 -1.64527363e-02 3.08540183e+00] [ 4.43942701e-03 9.99990063e-01 4.07171368e-04 4.30222842e-01] [ 1.64507682e-02 -4.80152977e-04 9.99864562e-01 -1.83592631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.653133365 meters Centerline goodness [0,1] 0.2963116181849852 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:-0.18 [[ 9.99853394e-01 -4.54826402e-03 -1.65076809e-02 3.08557510e+00] [ 4.54988313e-03 9.99989647e-01 6.05265206e-05 4.32122360e-01] [ 1.65072347e-02 -1.35625666e-04 9.99863737e-01 -1.83736946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.683133365 meters Centerline goodness [0,1] 0.2891943473505887 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.18 [[ 9.99863688e-01 4.00712167e-03 -1.60171195e-02 3.10759305e+00] [-4.01491278e-03 9.99991837e-01 -4.54297593e-04 4.35853686e-01] [ 1.60151683e-02 5.18543005e-04 9.99871615e-01 -1.83620174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.713133365 meters Centerline goodness [0,1] 0.2915164004808518 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.18 [[ 9.99863323e-01 3.84518384e-03 -1.60794855e-02 3.10763383e+00] [-3.85925261e-03 9.99992197e-01 -8.44013575e-04 4.37747840e-01] [ 1.60761146e-02 9.05953014e-04 9.99870360e-01 -1.83504134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.743133365 meters Centerline goodness [0,1] 0.29360465116279066 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.18 [[ 9.99862594e-01 3.67480658e-03 -1.61644030e-02 3.10777181e+00] [-3.69462778e-03 9.99992459e-01 -1.19653302e-03 4.39222305e-01] [ 1.61598841e-02 1.25609006e-03 9.99868632e-01 -1.83430741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.773133365 meters Centerline goodness [0,1] 0.2925158306498671 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.18 [[ 9.99861256e-01 3.48536078e-03 -1.62886824e-02 3.10808310e+00] [-3.51092545e-03 9.99992649e-01 -1.54114147e-03 4.40559689e-01] [ 1.62831913e-02 1.59811600e-03 9.99866143e-01 -1.83481377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.803133365 meters Centerline goodness [0,1] 0.2928095526520723 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.18 [[ 9.99858043e-01 3.32238582e-03 -1.65183408e-02 3.10884473e+00] [-3.35328187e-03 9.99992679e-01 -1.84306361e-03 4.41798657e-01] [ 1.65120965e-02 1.89819263e-03 9.99861864e-01 -1.83847173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.833133365 meters Centerline goodness [0,1] 0.2932574790715784 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.18 [[ 9.99851020e-01 3.10957535e-03 -1.69784927e-02 3.11018220e+00] [-3.14661214e-03 9.99992727e-01 -2.15511617e-03 4.43109416e-01] [ 1.69716677e-02 2.20821983e-03 9.99853532e-01 -1.84208735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.863133365 meters Centerline goodness [0,1] 0.2984944549752707 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.18 [[ 9.99851709e-01 3.00883794e-03 -1.69560049e-02 3.10988896e+00] [-3.04728070e-03 9.99992844e-01 -2.24182596e-03 4.43202525e-01] [ 1.69491382e-02 2.29316323e-03 9.99853723e-01 -1.83781378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.893133365 meters Centerline goodness [0,1] 0.2945405721463066 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.18 [[ 9.99853313e-01 2.89682714e-03 -1.68807993e-02 3.10949968e+00] [-2.93579098e-03 9.99993083e-01 -2.28385136e-03 4.42927904e-01] [ 1.68740666e-02 2.33307485e-03 9.99854901e-01 -1.83391385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.923133365 meters Centerline goodness [0,1] 0.29537227701311364 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.18 [[ 9.99854799e-01 2.84649523e-03 -1.68011177e-02 3.10897025e+00] [-2.88375392e-03 9.99993436e-01 -2.19382149e-03 4.42104784e-01] [ 1.67947627e-02 2.24195323e-03 9.99856444e-01 -1.82789814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.953133365 meters Centerline goodness [0,1] 0.29423690794582 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.18 [[ 9.99856738e-01 2.86663673e-03 -1.66818863e-02 3.10857359e+00] [-2.89987603e-03 9.99993857e-01 -1.96869076e-03 4.40904944e-01] [ 1.66761403e-02 2.01678412e-03 9.99858910e-01 -1.82512867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.983133365 meters Centerline goodness [0,1] 0.2968634926136118 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.18 [[ 9.99857859e-01 2.96002968e-03 -1.65981998e-02 3.10817485e+00] [-2.98740041e-03 9.99994218e-01 -1.62446587e-03 4.39214150e-01] [ 1.65932954e-02 1.67382043e-03 9.99860921e-01 -1.82106762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.013133365 meters Centerline goodness [0,1] 0.2963515646964684 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.18 [[ 9.99869069e-01 2.75032168e-03 -1.59461688e-02 3.10650309e+00] [-2.77034710e-03 9.99995401e-01 -1.23386008e-03 4.35405252e-01] [ 1.59427019e-02 1.27787495e-03 9.99872090e-01 -1.81649606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04313336499996 meters Centerline goodness [0,1] 0.2970162162162162 Centerline is valid? [False, False] Translation: X:3.11, Y:0.43, Z:-0.18 [[ 9.99867454e-01 2.78912277e-03 -1.60404232e-02 3.10684933e+00] [-2.80438849e-03 9.99995636e-01 -9.29288288e-04 4.33310057e-01] [ 1.60377613e-02 9.74148693e-04 9.99870912e-01 -1.81783490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.073133365 meters Centerline goodness [0,1] 0.2952707511159992 Centerline is valid? [False, False] Translation: X:3.11, Y:0.43, Z:-0.18 [[ 9.99865064e-01 2.87728324e-03 -1.61732611e-02 3.10732392e+00] [-2.88839574e-03 9.99995608e-01 -6.63774360e-04 4.31816058e-01] [ 1.61712802e-02 7.10399571e-04 9.99868984e-01 -1.82032294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10313336499996 meters Centerline goodness [0,1] 0.2963729229973492 Centerline is valid? [False, False] Translation: X:3.11, Y:0.43, Z:-0.18 [[ 9.99863499e-01 2.99484580e-03 -1.62485290e-02 3.10756079e+00] [-3.00294368e-03 9.99995379e-01 -4.74000747e-04 4.31149611e-01] [ 1.62470343e-02 5.22729463e-04 9.99867872e-01 -1.82133286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.133133365 meters Centerline goodness [0,1] 0.30009809264305176 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:-0.18 [[ 9.99860760e-01 -4.33553998e-03 -1.61141039e-02 3.08847518e+00] [ 4.35426122e-03 9.99989885e-01 1.12688903e-03 4.34574687e-01] [ 1.61090552e-02 -1.19689714e-03 9.99869524e-01 -1.84229344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16313336499996 meters Centerline goodness [0,1] 0.29685241516190974 Centerline is valid? [False, False] Translation: X:3.11, Y:0.43, Z:-0.18 [[ 9.99863892e-01 3.89941753e-03 -1.60309596e-02 3.10901201e+00] [-3.89983753e-03 9.99992396e-01 5.06143967e-06 4.34114863e-01] [ 1.60308574e-02 5.74573872e-05 9.99871496e-01 -1.82882441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.193133365 meters Centerline goodness [0,1] 0.29530564144701277 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.18 [[ 9.99857778e-01 4.48120770e-03 -1.62586336e-02 3.11004914e+00] [-4.48507886e-03 9.99989922e-01 -2.01643564e-04 4.37752622e-01] [ 1.62575661e-02 2.74536140e-04 9.99867799e-01 -1.83965321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22313336499997 meters Centerline goodness [0,1] 0.2934434044028428 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.18 [[ 9.99856329e-01 4.61260091e-03 -1.63109015e-02 3.11032423e+00] [-4.62167820e-03 9.99989185e-01 -5.18865461e-04 4.40359142e-01] [ 1.63083318e-02 5.94174653e-04 9.99866834e-01 -1.84432583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.253133365 meters Centerline goodness [0,1] 0.2898234862543697 Centerline is valid? [False, False] Translation: X:3.11, Y:0.44, Z:-0.18 [[ 9.99858187e-01 4.66382477e-03 -1.61819141e-02 3.11010894e+00] [-4.67924407e-03 9.99988634e-01 -9.15140803e-04 4.43308481e-01] [ 1.61774621e-02 9.90730150e-04 9.99868645e-01 -1.84774086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28313336499997 meters Centerline goodness [0,1] 0.2891475536813116 Centerline is valid? [False, False] Translation: X:3.11, Y:0.45, Z:-0.18 [[ 9.99860977e-01 4.53671705e-03 -1.60450835e-02 3.10974302e+00] [-4.56031364e-03 9.99988573e-01 -1.43436129e-03 4.46203585e-01] [ 1.60383928e-02 1.50733249e-03 9.99870241e-01 -1.84861574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.313133365 meters Centerline goodness [0,1] 0.29260846973239807 Centerline is valid? [False, False] Translation: X:3.11, Y:0.45, Z:-0.18 [[ 9.99861637e-01 4.33016386e-03 -1.60610247e-02 3.10968768e+00] [-4.36212331e-03 9.99988574e-01 -1.95537723e-03 4.48620005e-01] [ 1.60523741e-02 2.02516685e-03 9.99869101e-01 -1.84819366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34313336499997 meters Centerline goodness [0,1] 0.2915098827905367 Centerline is valid? [False, False] Translation: X:3.11, Y:0.45, Z:-0.18 [[ 9.99859375e-01 4.14650246e-03 -1.62491815e-02 3.10997972e+00] [-4.18506727e-03 9.99988505e-01 -2.34005328e-03 4.50241926e-01] [ 1.62392917e-02 2.40772812e-03 9.99865235e-01 -1.84672105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.373133365 meters Centerline goodness [0,1] 0.29220429528466496 Centerline is valid? [False, False] Translation: X:3.11, Y:0.45, Z:-0.18 [[ 9.99854542e-01 3.95502652e-03 -1.65907572e-02 3.11060344e+00] [-4.00049334e-03 9.99988331e-01 -2.70819827e-03 4.52251043e-01] [ 1.65798526e-02 2.77417555e-03 9.99858696e-01 -1.84398893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.403133365 meters Centerline goodness [0,1] 0.2951732538663998 Centerline is valid? [False, False] Translation: X:3.09, Y:0.46, Z:-0.19 [[ 9.99866404e-01 -4.08036827e-03 -1.58279865e-02 3.09004960e+00] [ 4.05239434e-03 9.99990171e-01 -1.79904168e-03 4.56127063e-01] [ 1.58351717e-02 1.73466009e-03 9.99873111e-01 -1.86288518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.433133365 meters Centerline goodness [0,1] 0.29725419952379917 Centerline is valid? [False, False] Translation: X:3.09, Y:0.46, Z:-0.19 [[ 9.99865969e-01 -4.25243876e-03 -1.58101194e-02 3.08989393e+00] [ 4.21997507e-03 9.99988920e-01 -2.08614369e-03 4.57173245e-01] [ 1.58188154e-02 2.01914577e-03 9.99872836e-01 -1.86096047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.463133365 meters Centerline goodness [0,1] 0.2946704372416794 Centerline is valid? [False, False] Translation: X:3.09, Y:0.46, Z:-0.19 [[ 9.99859515e-01 -4.62518565e-03 -1.61108001e-02 3.09044308e+00] [ 4.58026477e-03 9.99985523e-01 -2.82402924e-03 4.60338754e-01] [ 1.61236285e-02 2.74984078e-03 9.99866225e-01 -1.85892751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.493133365 meters Centerline goodness [0,1] 0.2945075963398466 Centerline is valid? [False, False] Translation: X:3.09, Y:0.46, Z:-0.19 [[ 9.99855558e-01 -4.66971656e-03 -1.63418649e-02 3.09107537e+00] [ 4.61939800e-03 9.99984477e-01 -3.11551395e-03 4.62436610e-01] [ 1.63561598e-02 3.03957436e-03 9.99861609e-01 -1.86108574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.523133365 meters Centerline goodness [0,1] 0.2900962180080504 Centerline is valid? [False, False] Translation: X:3.11, Y:0.46, Z:-0.19 [[ 9.99857219e-01 3.02952553e-03 -1.66242086e-02 3.11122729e+00] [-3.09321176e-03 9.99987971e-01 -3.80655848e-03 4.62021160e-01] [ 1.66124766e-02 3.85743717e-03 9.99854562e-01 -1.85308280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.553133365 meters Centerline goodness [0,1] 0.2914742797684854 Centerline is valid? [False, False] Translation: X:3.11, Y:0.46, Z:-0.19 [[ 9.99857178e-01 2.88700412e-03 -1.66520049e-02 3.11137094e+00] [-2.95569540e-03 9.99987219e-01 -4.10197121e-03 4.63348436e-01] [ 1.66399496e-02 4.15060361e-03 9.99852931e-01 -1.85445311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.583133365 meters Centerline goodness [0,1] 0.2920828310659549 Centerline is valid? [False, False] Translation: X:3.13, Y:0.47, Z:-0.18 [[ 0.99984276 -0.00554401 -0.01684367 3.13053797] [ 0.00548674 0.99997902 -0.00344412 0.46983842] [ 0.01686241 0.00335116 0.9998522 -0.18402788] [ 0. 0. 0. 1. ]] SLAMing on 269.613133365 meters Centerline goodness [0,1] 0.2938161053792745 Centerline is valid? [False, False] Translation: X:3.13, Y:0.47, Z:-0.18 [[ 0.99983779 -0.00566171 -0.01709807 3.13098927] [ 0.00560194 0.99997804 -0.00354192 0.46993453] [ 0.01711775 0.00344557 0.99984754 -0.18375735] [ 0. 0. 0. 1. ]] SLAMing on 269.643133365 meters Centerline goodness [0,1] 0.29578389737752286 Centerline is valid? [False, False] Translation: X:3.11, Y:0.46, Z:-0.18 [[ 9.99855007e-01 7.82042771e-04 -1.70103868e-02 3.11027498e+00] [-8.79150817e-04 9.99983357e-01 -5.70202148e-03 4.64183904e-01] [ 1.70056444e-02 5.71614942e-03 9.99839054e-01 -1.83594095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.673133365 meters Centerline goodness [0,1] 0.292622122885818 Centerline is valid? [False, False] Translation: X:3.15, Y:0.47, Z:-0.18 [[ 9.99883377e-01 -5.47030275e-04 -1.52621519e-02 3.15340116e+00] [ 4.54005946e-04 9.99981305e-01 -6.09789829e-03 4.65770590e-01] [ 1.52652023e-02 6.09025802e-03 9.99864932e-01 -1.82754509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.703133365 meters Centerline goodness [0,1] 0.2942354486530717 Centerline is valid? [False, False] Translation: X:3.15, Y:0.46, Z:-0.18 [[ 9.99889658e-01 -5.99363995e-04 -1.48429621e-02 3.15208875e+00] [ 5.12460203e-04 9.99982710e-01 -5.85799354e-03 4.64038437e-01] [ 1.48462165e-02 5.84974073e-03 9.99872677e-01 -1.82127384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.733133365 meters Centerline goodness [0,1] 0.2982230739079308 Centerline is valid? [False, False] Translation: X:3.15, Y:0.46, Z:-0.18 [[ 9.99897630e-01 -5.97966080e-04 -1.42958571e-02 3.15049505e+00] [ 5.18845552e-04 9.99984533e-01 -5.53757591e-03 4.62051536e-01] [ 1.42989472e-02 5.52959169e-03 9.99882475e-01 -1.81481844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.763133365 meters Centerline goodness [0,1] 0.2982230739079308 Centerline is valid? [False, False] Translation: X:3.15, Y:0.46, Z:-0.18 [[ 9.99897630e-01 -5.97966080e-04 -1.42958571e-02 3.15049505e+00] [ 5.18845552e-04 9.99984533e-01 -5.53757591e-03 4.62051536e-01] [ 1.42989472e-02 5.52959169e-03 9.99882475e-01 -1.81481844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79313336499996 meters Centerline goodness [0,1] 0.29425652472527475 Centerline is valid? [False, False] Translation: X:3.17, Y:0.46, Z:-0.18 [[ 0.99987961 -0.00888405 -0.01272199 3.16973337] [ 0.00883072 0.99995201 -0.00424182 0.46389566] [ 0.01275906 0.00412896 0.99991007 -0.18052057] [ 0. 0. 0. 1. ]] SLAMing on 269.823133365 meters Centerline goodness [0,1] 0.29566533347746193 Centerline is valid? [False, False] Translation: X:3.15, Y:0.46, Z:-0.18 [[ 9.99938139e-01 -1.46792049e-03 -1.10255887e-02 3.15116202e+00] [ 1.41190013e-03 9.99986064e-01 -5.08700697e-03 4.55014617e-01] [ 1.10329023e-02 5.07112525e-03 9.99926277e-01 -1.82637536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85313336499996 meters Centerline goodness [0,1] 0.29708022910296716 Centerline is valid? [False, False] Translation: X:3.15, Y:0.45, Z:-0.18 [[ 9.99937132e-01 -1.26323463e-03 -1.11416822e-02 3.15160365e+00] [ 1.21565364e-03 9.99990118e-01 -4.27627812e-03 4.49962443e-01] [ 1.11469740e-02 4.26246485e-03 9.99928786e-01 -1.82773768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.883133365 meters Centerline goodness [0,1] 0.2958233915865953 Centerline is valid? [False, False] Translation: X:3.15, Y:0.45, Z:-0.18 [[ 9.99935809e-01 -1.17706721e-03 -1.12690849e-02 3.15196014e+00] [ 1.13182177e-03 9.99991277e-01 -4.02054182e-03 4.48433653e-01] [ 1.12737191e-02 4.00752914e-03 9.99928419e-01 -1.82860029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91313336499996 meters Centerline goodness [0,1] 0.3005978910751168 Centerline is valid? [False, False] Translation: X:3.13, Y:0.44, Z:-0.18 [[ 0.99990749 0.007284 -0.01148716 3.13264761] [-0.00734159 0.99996065 -0.00497903 0.44235743] [ 0.01145044 0.0050629 0.99992162 -0.18425626] [ 0. 0. 0. 1. ]] SLAMing on 269.943133365 meters Centerline goodness [0,1] 0.29457514650120653 Centerline is valid? [False, False] Translation: X:3.15, Y:0.45, Z:-0.18 [[ 9.99929072e-01 4.60167772e-04 -1.19012248e-02 3.15138802e+00] [-4.97130228e-04 9.99995062e-01 -3.10299718e-03 4.47398594e-01] [ 1.18997381e-02 3.10869355e-03 9.99924363e-01 -1.82876015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97313336499997 meters Centerline goodness [0,1] 0.29369388858842616 Centerline is valid? [False, False] Translation: X:3.15, Y:0.45, Z:-0.18 [[ 9.99927494e-01 5.91806418e-04 -1.20273143e-02 3.15185187e+00] [-6.29489744e-04 9.99994905e-01 -3.12960135e-03 4.48082458e-01] [ 1.20254009e-02 3.13694551e-03 9.99922772e-01 -1.83262877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.003133365 meters Centerline goodness [0,1] 0.29635087111034064 Centerline is valid? [False, False] Translation: X:3.15, Y:0.45, Z:-0.18 [[ 9.99933270e-01 8.12914287e-04 -1.15236534e-02 3.15080489e+00] [-8.49605518e-04 9.99994585e-01 -3.17945513e-03 4.48929849e-01] [ 1.15210064e-02 3.18903352e-03 9.99928546e-01 -1.83614089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03313336499997 meters Centerline goodness [0,1] 0.29315309894266306 Centerline is valid? [False, False] Translation: X:3.15, Y:0.45, Z:-0.18 [[ 9.99935786e-01 8.64787987e-04 -1.12994164e-02 3.15007394e+00] [-8.99838249e-04 9.99994799e-01 -3.09723765e-03 4.48565676e-01] [ 1.12966792e-02 3.10720641e-03 9.99931363e-01 -1.83344432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.063133365 meters Centerline goodness [0,1] 0.29512998901501286 Centerline is valid? [False, False] Translation: X:3.15, Y:0.45, Z:-0.18 [[ 9.99938270e-01 9.56731176e-04 -1.10698212e-02 3.14935331e+00] [-9.88625829e-04 9.99995375e-01 -2.87611238e-03 4.47515132e-01] [ 1.10670183e-02 2.88687875e-03 9.99934591e-01 -1.83094039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09313336499997 meters Centerline goodness [0,1] 0.2994084899095337 Centerline is valid? [False, False] Translation: X:3.15, Y:0.45, Z:-0.18 [[ 9.99939004e-01 1.08524946e-03 -1.09913719e-02 3.14910895e+00] [-1.11296789e-03 9.99996215e-01 -2.51603252e-03 4.45775627e-01] [ 1.09885998e-02 2.52811210e-03 9.99936428e-01 -1.82962100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.123133365 meters Centerline goodness [0,1] 0.296301097571515 Centerline is valid? [False, False] Translation: X:3.15, Y:0.44, Z:-0.18 [[ 9.99937068e-01 1.20497106e-03 -1.11537971e-02 3.14965699e+00] [-1.22872170e-03 9.99996992e-01 -2.12276925e-03 4.43694245e-01] [ 1.11512057e-02 2.13634057e-03 9.99935541e-01 -1.83139360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.153133365 meters Centerline goodness [0,1] 0.2960867311679336 Centerline is valid? [False, False] Translation: X:3.15, Y:0.44, Z:-0.18 [[ 9.99931703e-01 1.12175167e-03 -1.16332152e-02 3.15133568e+00] [-1.14170544e-03 9.99997888e-01 -1.70874204e-03 4.39784662e-01] [ 1.16312738e-02 1.72190704e-03 9.99930872e-01 -1.83879405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.183133365 meters Centerline goodness [0,1] 0.2950159204626681 Centerline is valid? [False, False] Translation: X:3.15, Y:0.44, Z:-0.18 [[ 9.99931177e-01 1.21208471e-03 -1.16693134e-02 3.15142969e+00] [-1.22867649e-03 9.99998244e-01 -1.41476601e-03 4.38088000e-01] [ 1.16675781e-02 1.42900645e-03 9.99930910e-01 -1.83867619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.213133365 meters Centerline goodness [0,1] 0.29361729617985266 Centerline is valid? [False, False] Translation: X:3.15, Y:0.44, Z:-0.18 [[ 9.99931072e-01 1.34014853e-03 -1.16642670e-02 3.15138441e+00] [-1.35376191e-03 9.99998412e-01 -1.15928374e-03 4.37007150e-01] [ 1.16626948e-02 1.17499447e-03 9.99931298e-01 -1.83812130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.243133365 meters Centerline goodness [0,1] 0.2980461347448212 Centerline is valid? [False, False] Translation: X:3.13, Y:0.44, Z:-0.19 [[ 9.99909233e-01 -6.28048142e-03 -1.19198234e-02 3.13204402e+00] [ 6.28620735e-03 9.99980143e-01 4.42964353e-04 4.39308615e-01] [ 1.19168047e-02 -5.17854627e-04 9.99928858e-01 -1.85575893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.273133365 meters Centerline goodness [0,1] 0.2967619628693454 Centerline is valid? [False, False] Translation: X:3.13, Y:0.44, Z:-0.19 [[ 9.99908453e-01 -6.14192635e-03 -1.20566121e-02 3.13255055e+00] [ 6.14986631e-03 9.99980896e-01 6.21592589e-04 4.38936272e-01] [ 1.20525640e-02 -6.95682237e-04 9.99927123e-01 -1.85915486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.303133365 meters Centerline goodness [0,1] 0.2959790058124404 Centerline is valid? [False, False] Translation: X:3.13, Y:0.44, Z:-0.19 [[ 9.99906601e-01 -6.06588546e-03 -1.22472046e-02 3.13331900e+00] [ 6.07570723e-03 9.99981250e-01 7.64912778e-04 4.38248330e-01] [ 1.22423351e-02 -8.39251765e-04 9.99924708e-01 -1.86437118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.333133365 meters Centerline goodness [0,1] 0.29623981525859444 Centerline is valid? [False, False] Translation: X:3.13, Y:0.44, Z:-0.19 [[ 9.99900983e-01 -6.00365212e-03 -1.27271570e-02 3.13494108e+00] [ 6.01791015e-03 9.99981307e-01 1.08228228e-03 4.36201256e-01] [ 1.27204214e-02 -1.15876601e-03 9.99918421e-01 -1.87209496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.363133365 meters Centerline goodness [0,1] 0.2916055560348546 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.19 [[ 9.99914863e-01 1.79233462e-03 -1.29249783e-02 3.15483835e+00] [-1.78786055e-03 9.99998338e-01 3.57703193e-04 4.32065041e-01] [ 1.29255979e-02 -3.34564681e-04 9.99916405e-01 -1.85725731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.393133365 meters Centerline goodness [0,1] 0.29518425915860425 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.19 [[ 9.99914719e-01 1.90388843e-03 -1.29201084e-02 3.15463311e+00] [-1.89536105e-03 9.99997978e-01 6.72221291e-04 4.30620838e-01] [ 1.29213621e-02 -6.47675693e-04 9.99916306e-01 -1.85367318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.423133365 meters Centerline goodness [0,1] 0.2929288576722541 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.18 [[ 9.99913056e-01 1.98783148e-03 -1.30356636e-02 3.15465381e+00] [-1.97559951e-03 9.99997596e-01 9.51156813e-04 4.29250325e-01] [ 1.30375230e-02 -9.25320865e-04 9.99914580e-01 -1.84912107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.453133365 meters Centerline goodness [0,1] 0.2923066993674971 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.18 [[ 9.99911690e-01 2.04081995e-03 -1.31318879e-02 3.15475635e+00] [-2.02535645e-03 9.99997240e-01 1.19074516e-03 4.27915202e-01] [ 1.31342818e-02 -1.16404325e-03 9.99913064e-01 -1.84678202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.483133365 meters Centerline goodness [0,1] 0.2954275213490434 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.18 [[ 9.99910421e-01 2.07474662e-03 -1.32228990e-02 3.15499837e+00] [-2.05700081e-03 9.99996966e-01 1.35551049e-03 4.26887649e-01] [ 1.32256712e-02 -1.32818956e-03 9.99911655e-01 -1.84667791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.513133365 meters Centerline goodness [0,1] 0.2966413071669405 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.18 [[ 9.99913316e-01 2.10788122e-03 -1.29968517e-02 3.15423802e+00] [-2.08973538e-03 9.99996823e-01 1.40959418e-03 4.26806236e-01] [ 1.29997817e-02 -1.38231201e-03 9.99914544e-01 -1.84331291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54313336499996 meters Centerline goodness [0,1] 0.2969475129093405 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.18 [[ 9.99916147e-01 2.08694297e-03 -1.27805849e-02 3.15348737e+00] [-2.07028770e-03 9.99996991e-01 1.31626109e-03 4.27340401e-01] [ 1.27832934e-02 -1.28969123e-03 9.99917459e-01 -1.83940855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.573133365 meters Centerline goodness [0,1] 0.2947247706422018 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.18 [[ 9.99917641e-01 2.05990357e-03 -1.26675895e-02 3.15302094e+00] [-2.04452547e-03 9.99997157e-01 1.22680209e-03 4.27828197e-01] [ 1.26700806e-02 -1.20080184e-03 9.99919010e-01 -1.83659729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60313336499996 meters Centerline goodness [0,1] 0.3016414224203877 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.18 [[ 9.99919751e-01 2.03718980e-03 -1.25036328e-02 3.15206603e+00] [-2.02129584e-03 9.99997133e-01 1.28365247e-03 4.27345322e-01] [ 1.25062120e-02 -1.25827592e-03 9.99921003e-01 -1.82730922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.633133365 meters Centerline goodness [0,1] 0.295134622432042 Centerline is valid? [False, False] Translation: X:3.17, Y:0.43, Z:-0.18 [[ 9.99906051e-01 -6.27425180e-03 -1.21870240e-02 3.17195449e+00] [ 6.30172753e-03 9.99977685e-01 2.21741581e-03 4.31349483e-01] [ 1.21728394e-02 -2.29400679e-03 9.99923277e-01 -1.81473062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66313336499996 meters Centerline goodness [0,1] 0.2968655425853869 Centerline is valid? [False, False] Translation: X:3.17, Y:0.43, Z:-0.18 [[ 9.99903963e-01 -6.30572447e-03 -1.23411256e-02 3.17244642e+00] [ 6.33669895e-03 9.99976867e-01 2.47236703e-03 4.29573549e-01] [ 1.23252500e-02 -2.55033159e-03 9.99920789e-01 -1.81576064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.693133365 meters Centerline goodness [0,1] 0.2954119345731957 Centerline is valid? [False, False] Translation: X:3.17, Y:0.43, Z:-0.18 [[ 9.99898444e-01 -6.44512377e-03 -1.27107411e-02 3.17355391e+00] [ 6.48000517e-03 9.99975346e-01 2.70497319e-03 4.27486405e-01] [ 1.26929939e-02 -2.78706415e-03 9.99915557e-01 -1.81820741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72313336499997 meters Centerline goodness [0,1] 0.297185716756009 Centerline is valid? [False, False] Translation: X:3.17, Y:0.43, Z:-0.18 [[ 9.99896794e-01 -6.59721999e-03 -1.27623658e-02 3.17377388e+00] [ 6.63636489e-03 9.99973397e-01 3.02729863e-03 4.25024760e-01] [ 1.27420545e-02 -3.11168191e-03 9.99913975e-01 -1.81796614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.753133365 meters Centerline goodness [0,1] 0.30047030134122976 Centerline is valid? [False, False] Translation: X:3.17, Y:0.42, Z:-0.18 [[ 0.99990235 -0.00690701 -0.0121482 3.1717303 ] [ 0.00695121 0.99996936 0.0035996 0.41942651] [ 0.01212297 -0.00368369 0.99991973 -0.18050574] [ 0. 0. 0. 1. ]] SLAMing on 270.78313336499997 meters Centerline goodness [0,1] 0.3008100384607121 Centerline is valid? [False, False] Translation: X:3.19, Y:0.41, Z:-0.18 [[ 9.99937183e-01 3.76753544e-04 -1.12021708e-02 3.19040918e+00] [-3.47771143e-04 9.99996588e-01 2.58904838e-03 4.13483426e-01] [ 1.12031080e-02 -2.58498995e-03 9.99933902e-01 -1.78838295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.813133365 meters Centerline goodness [0,1] 0.3003412969283277 Centerline is valid? [False, False] Translation: X:3.19, Y:0.41, Z:-0.18 [[ 9.99939569e-01 4.18839223e-04 -1.09855600e-02 3.18988822e+00] [-3.85958183e-04 9.99995440e-01 2.99506389e-03 4.11035006e-01] [ 1.09867643e-02 -2.99064293e-03 9.99935171e-01 -1.78682053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84313336499997 meters Centerline goodness [0,1] 0.2991836734693878 Centerline is valid? [False, False] Translation: X:3.19, Y:0.41, Z:-0.18 [[ 9.99940694e-01 4.33016940e-04 -1.08821640e-02 3.18979633e+00] [-3.96271447e-04 9.99994214e-01 3.37860090e-03 4.08512443e-01] [ 1.08835640e-02 -3.37408824e-03 9.99935080e-01 -1.78844746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.873133365 meters Centerline goodness [0,1] 0.3034949218155325 Centerline is valid? [False, False] Translation: X:3.17, Y:0.40, Z:-0.18 [[ 9.99928894e-01 5.96068973e-03 -1.03284713e-02 3.16809002e+00] [-5.95798203e-03 9.99982208e-01 2.92908616e-04 4.02425568e-01] [ 1.03300335e-02 -2.31350942e-04 9.99946617e-01 -1.79826106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.903133365 meters Centerline goodness [0,1] 0.3003449019185169 Centerline is valid? [False, False] Translation: X:3.19, Y:0.40, Z:-0.18 [[ 9.99944043e-01 -2.34009338e-03 -1.03167608e-02 3.18824678e+00] [ 2.35545211e-03 9.99996135e-01 1.47681750e-03 4.04435187e-01] [ 1.03132651e-02 -1.50103550e-03 9.99945690e-01 -1.78786278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.933133365 meters Centerline goodness [0,1] 0.3025406152782578 Centerline is valid? [False, False] Translation: X:3.19, Y:0.40, Z:-0.18 [[ 9.99937464e-01 -2.22960621e-03 -1.09589101e-02 3.18989341e+00] [ 2.25360112e-03 9.99995089e-01 2.17767344e-03 4.00388951e-01] [ 1.09540009e-02 -2.20223426e-03 9.99937578e-01 -1.78944507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.963133365 meters Centerline goodness [0,1] 0.30146004432277407 Centerline is valid? [False, False] Translation: X:3.19, Y:0.40, Z:-0.18 [[ 9.99934483e-01 -2.13488764e-03 -1.12459895e-02 3.19062776e+00] [ 2.16342465e-03 9.99994470e-01 2.52597427e-03 3.98467974e-01] [ 1.12405346e-02 -2.55013863e-03 9.99933571e-01 -1.79015743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.993133365 meters Centerline goodness [0,1] 0.3041683862979777 Centerline is valid? [False, False] Translation: X:3.19, Y:0.40, Z:-0.18 [[ 9.99933047e-01 -2.05066922e-03 -1.13884365e-02 3.19097055e+00] [ 2.08370866e-03 9.99993653e-01 2.89003212e-03 3.96360479e-01] [ 1.13824378e-02 -2.91356881e-03 9.99930973e-01 -1.79004688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.023133365 meters Centerline goodness [0,1] 0.3060949477544348 Centerline is valid? [False, False] Translation: X:3.15, Y:0.39, Z:-0.18 [[ 9.99911172e-01 -2.60951710e-03 -1.30705057e-02 3.14512370e+00] [ 2.64166987e-03 9.99993526e-01 2.44328815e-03 3.92632784e-01] [ 1.30640452e-02 -2.47759908e-03 9.99911592e-01 -1.78485584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.053133365 meters Centerline goodness [0,1] 0.30422602501737317 Centerline is valid? [False, False] Translation: X:3.16, Y:0.39, Z:-0.18 [[ 9.99922229e-01 4.95871209e-03 -1.14431998e-02 3.16379940e+00] [-4.94441601e-03 9.99986961e-01 1.27726132e-03 3.87587341e-01] [ 1.14493842e-02 -1.22058205e-03 9.99933709e-01 -1.77339039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.083133365 meters Centerline goodness [0,1] 0.30183591137574695 Centerline is valid? [False, False] Translation: X:3.16, Y:0.39, Z:-0.18 [[ 9.99924898e-01 4.98283601e-03 -1.11968971e-02 3.16305751e+00] [-4.96694833e-03 9.99986619e-01 1.44629675e-03 3.86487198e-01] [ 1.12039540e-02 -1.39057372e-03 9.99936267e-01 -1.77079699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.113133365 meters Centerline goodness [0,1] 0.30378319783197827 Centerline is valid? [False, False] Translation: X:3.16, Y:0.39, Z:-0.18 [[ 9.99925268e-01 5.01356547e-03 -1.11500312e-02 3.16298856e+00] [-4.99619132e-03 9.99986262e-01 1.58552453e-03 3.85623019e-01] [ 1.11578272e-02 -1.52969835e-03 9.99936579e-01 -1.77141704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.143133365 meters Centerline goodness [0,1] 0.30281033997096485 Centerline is valid? [False, False] Translation: X:3.16, Y:0.38, Z:-0.18 [[ 9.99918766e-01 5.09215480e-03 -1.16846309e-02 3.16469398e+00] [-5.07171706e-03 9.99985558e-01 1.77807921e-03 3.84802005e-01] [ 1.16935164e-02 -1.71867363e-03 9.99930151e-01 -1.77944716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.173133365 meters Centerline goodness [0,1] 0.30297502714440827 Centerline is valid? [False, False] Translation: X:3.17, Y:0.38, Z:-0.18 [[ 9.99916100e-01 5.13248972e-03 -1.18933098e-02 3.16544967e+00] [-5.11047409e-03 9.99985173e-01 1.88074648e-03 3.84335031e-01] [ 1.19027864e-02 -1.81980824e-03 9.99927503e-01 -1.78384954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.203133365 meters Centerline goodness [0,1] 0.2994161621819592 Centerline is valid? [False, False] Translation: X:3.17, Y:0.38, Z:-0.18 [[ 9.99914541e-01 5.10012983e-03 -1.20373867e-02 3.16599671e+00] [-5.07743450e-03 9.99985276e-01 1.91521158e-03 3.83910709e-01] [ 1.20469772e-02 -1.85392887e-03 9.99925714e-01 -1.78732978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.233133365 meters Centerline goodness [0,1] 0.30200025865413627 Centerline is valid? [False, False] Translation: X:3.17, Y:0.38, Z:-0.18 [[ 9.99912632e-01 5.04253274e-03 -1.22188660e-02 3.16630411e+00] [-5.01631971e-03 9.99985053e-01 2.17499117e-03 3.81826088e-01] [ 1.22296508e-02 -2.11350741e-03 9.99922981e-01 -1.78542765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.263133365 meters Centerline goodness [0,1] 0.30577122153209113 Centerline is valid? [False, False] Translation: X:3.17, Y:0.38, Z:-0.18 [[ 9.99913114e-01 5.06773849e-03 -1.21688860e-02 3.16599472e+00] [-5.03814538e-03 9.99984279e-01 2.46129180e-03 3.80111550e-01] [ 1.21811679e-02 -2.39976934e-03 9.99922927e-01 -1.78233192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29313336499996 meters Centerline goodness [0,1] 0.30177809542373246 Centerline is valid? [False, False] Translation: X:3.17, Y:0.38, Z:-0.18 [[ 9.99913070e-01 5.09098754e-03 -1.21628369e-02 3.16587722e+00] [-5.05722080e-03 9.99983277e-01 2.80536815e-03 3.78013409e-01] [ 1.21769156e-02 -2.74361413e-03 9.99922095e-01 -1.78059101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.323133365 meters Centerline goodness [0,1] 0.3016946968232489 Centerline is valid? [False, False] Translation: X:3.17, Y:0.38, Z:-0.18 [[ 9.99910433e-01 5.07779477e-03 -1.23831265e-02 3.16639564e+00] [-5.03915515e-03 9.99982343e-01 3.14955232e-03 3.75763640e-01] [ 1.23989007e-02 -3.08686973e-03 9.99918366e-01 -1.78055619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35313336499996 meters Centerline goodness [0,1] 0.30589510186389246 Centerline is valid? [False, False] Translation: X:3.15, Y:0.38, Z:-0.18 [[ 0.99990981 -0.0034745 -0.01297309 3.14621454] [ 0.00353004 0.99998469 0.00426065 0.37655593] [ 0.01295809 -0.00430606 0.99990677 -0.17934944] [ 0. 0. 0. 1. ]] SLAMing on 271.383133365 meters Centerline goodness [0,1] 0.306671581275341 Centerline is valid? [False, False] Translation: X:3.14, Y:0.37, Z:-0.18 [[ 0.99991429 -0.00389387 -0.01249998 3.14480432] [ 0.00394966 0.99998234 0.00444122 0.37359592] [ 0.01248247 -0.00449021 0.99991201 -0.17875378] [ 0. 0. 0. 1. ]] SLAMing on 271.41313336499996 meters Centerline goodness [0,1] 0.3056661760886503 Centerline is valid? [False, False] Translation: X:3.14, Y:0.37, Z:-0.18 [[ 0.99991664 -0.00385694 -0.01232198 3.14403992] [ 0.0039155 0.99998114 0.00473224 0.37192224] [ 0.0123035 -0.00478009 0.99991288 -0.17814984] [ 0. 0. 0. 1. ]] SLAMing on 271.443133365 meters Centerline goodness [0,1] 0.3089253266418621 Centerline is valid? [False, False] Translation: X:3.14, Y:0.37, Z:-0.18 [[ 0.99991904 -0.0038099 -0.01214076 3.1433646 ] [ 0.00387089 0.99997999 0.00500355 0.3703937 ] [ 0.01212146 -0.00505014 0.99991378 -0.17772675] [ 0. 0. 0. 1. ]] SLAMing on 271.47313336499997 meters Centerline goodness [0,1] 0.30814711764194413 Centerline is valid? [False, False] Translation: X:3.14, Y:0.37, Z:-0.18 [[ 0.99991923 -0.00378593 -0.01213233 3.14330278] [ 0.00384953 0.99997895 0.00522332 0.36909168] [ 0.01211229 -0.0052696 0.99991276 -0.1776421 ] [ 0. 0. 0. 1. ]] SLAMing on 271.503133365 meters Centerline goodness [0,1] 0.30631909493698106 Centerline is valid? [False, False] Translation: X:3.16, Y:0.37, Z:-0.18 [[ 9.99928543e-01 1.89044904e-03 -1.18040513e-02 3.16487007e+00] [-1.86367707e-03 9.99995667e-01 2.27862073e-03 3.65950740e-01] [ 1.18083077e-02 -2.25645897e-03 9.99927734e-01 -1.77417115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53313336499997 meters Centerline goodness [0,1] 0.3087451313184063 Centerline is valid? [False, False] Translation: X:3.14, Y:0.37, Z:-0.18 [[ 0.99990726 -0.00647542 -0.01198099 3.14464972] [ 0.00651397 0.99997372 0.00318102 0.36939979] [ 0.01196007 -0.00325876 0.99992317 -0.17873542] [ 0. 0. 0. 1. ]] SLAMing on 271.563133365 meters Centerline goodness [0,1] 0.30899461712102794 Centerline is valid? [False, False] Translation: X:3.14, Y:0.37, Z:-0.18 [[ 9.99909288e-01 -6.53035430e-03 -1.17800932e-02 3.14399580e+00] [ 6.56743032e-03 9.99973594e-01 3.11141160e-03 3.69801367e-01] [ 1.17594635e-02 -3.18849430e-03 9.99925772e-01 -1.78471682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59313336499997 meters Centerline goodness [0,1] 0.31011800699300696 Centerline is valid? [False, False] Translation: X:3.14, Y:0.37, Z:-0.18 [[ 9.99911273e-01 -6.55932424e-03 -1.15940181e-02 3.14340087e+00] [ 6.59474098e-03 9.99973697e-01 3.01915462e-03 3.70451857e-01] [ 1.15739095e-02 -3.09534628e-03 9.99928229e-01 -1.78205818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.623133365 meters Centerline goodness [0,1] 0.31134312126155517 Centerline is valid? [False, False] Translation: X:3.16, Y:0.37, Z:-0.18 [[ 9.99940275e-01 1.35510924e-03 -1.08448311e-02 3.16194905e+00] [-1.33569110e-03 9.99997492e-01 1.79758555e-03 3.68014434e-01] [ 1.08472398e-02 -1.78299284e-03 9.99939577e-01 -1.76656883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.653133365 meters Centerline goodness [0,1] 0.31134312126155517 Centerline is valid? [False, False] Translation: X:3.16, Y:0.37, Z:-0.18 [[ 9.99940275e-01 1.35510924e-03 -1.08448311e-02 3.16194905e+00] [-1.33569110e-03 9.99997492e-01 1.79758555e-03 3.68014434e-01] [ 1.08472398e-02 -1.78299284e-03 9.99939577e-01 -1.76656883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.683133365 meters Centerline goodness [0,1] 0.3091813561154969 Centerline is valid? [False, False] Translation: X:3.16, Y:0.37, Z:-0.18 [[ 9.99940985e-01 1.25199322e-03 -1.07916124e-02 3.16192475e+00] [-1.23491296e-03 9.99997975e-01 1.58925306e-03 3.68913286e-01] [ 1.07935802e-02 -1.57583257e-03 9.99940506e-01 -1.76799280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.713133365 meters Centerline goodness [0,1] 0.3116775237179207 Centerline is valid? [False, False] Translation: X:3.16, Y:0.37, Z:-0.18 [[ 9.99938011e-01 1.06918023e-03 -1.10829203e-02 3.16270519e+00] [-1.05425855e-03 9.99998530e-01 1.35212161e-03 3.69609471e-01] [ 1.10843497e-02 -1.34035353e-03 9.99937668e-01 -1.77049376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.743133365 meters Centerline goodness [0,1] 0.31018871209977583 Centerline is valid? [False, False] Translation: X:3.16, Y:0.37, Z:-0.18 [[ 9.99936155e-01 9.79346588e-04 -1.12573348e-02 3.16306944e+00] [-9.64221505e-04 9.99998625e-01 1.34892475e-03 3.69286133e-01] [ 1.12586404e-02 -1.33798407e-03 9.99935724e-01 -1.76995647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.773133365 meters Centerline goodness [0,1] 0.3060064408757862 Centerline is valid? [False, False] Translation: X:3.16, Y:0.37, Z:-0.18 [[ 9.99934055e-01 9.70239529e-04 -1.14431111e-02 3.16355467e+00] [-9.53312628e-04 9.99998444e-01 1.48458377e-03 3.68447746e-01] [ 1.14445337e-02 -1.47357700e-03 9.99933423e-01 -1.77093776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.803133365 meters Centerline goodness [0,1] 0.3082821755519656 Centerline is valid? [False, False] Translation: X:3.16, Y:0.37, Z:-0.18 [[ 9.99931948e-01 9.41124722e-04 -1.16281369e-02 3.16415093e+00] [-9.22847449e-04 9.99998331e-01 1.57708011e-03 3.67770727e-01] [ 1.16296018e-02 -1.56624179e-03 9.99931147e-01 -1.77354027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.833133365 meters Centerline goodness [0,1] 0.30805584460631286 Centerline is valid? [False, False] Translation: X:3.16, Y:0.37, Z:-0.18 [[ 9.99929474e-01 9.40201904e-04 -1.18390669e-02 3.16481187e+00] [-9.20864599e-04 9.99998233e-01 1.63869241e-03 3.67365740e-01] [ 1.18405867e-02 -1.62767466e-03 9.99928573e-01 -1.77627196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.863133365 meters Centerline goodness [0,1] 0.30777422790202347 Centerline is valid? [False, False] Translation: X:3.17, Y:0.37, Z:-0.18 [[ 9.99926680e-01 9.03536849e-04 -1.20755370e-02 3.16558734e+00] [-8.84147675e-04 9.99998312e-01 1.61089933e-03 3.67328411e-01] [ 1.20769721e-02 -1.60010466e-03 9.99925790e-01 -1.78003103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.893133365 meters Centerline goodness [0,1] 0.3025794505210576 Centerline is valid? [False, False] Translation: X:3.17, Y:0.37, Z:-0.18 [[ 9.99923373e-01 7.68304065e-04 -1.23555023e-02 3.16653045e+00] [-7.52537245e-04 9.99998897e-01 1.28069560e-03 3.68714344e-01] [ 1.23564726e-02 -1.27129949e-03 9.99922848e-01 -1.78445512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.923133365 meters Centerline goodness [0,1] 0.30752010432514676 Centerline is valid? [False, False] Translation: X:3.17, Y:0.37, Z:-0.18 [[ 9.99924625e-01 7.01921349e-04 -1.22577515e-02 3.16602474e+00] [-6.89168944e-04 9.99999217e-01 1.04454730e-03 3.69949335e-01] [ 1.22584750e-02 -1.03602091e-03 9.99924325e-01 -1.78003722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.953133365 meters Centerline goodness [0,1] 0.3081050550691895 Centerline is valid? [False, False] Translation: X:3.17, Y:0.37, Z:-0.18 [[ 9.99925240e-01 6.79438297e-04 -1.22087130e-02 3.16566383e+00] [-6.69179580e-04 9.99999420e-01 8.44343823e-04 3.71325262e-01] [ 1.22092796e-02 -8.36110878e-04 9.99925114e-01 -1.77633936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.983133365 meters Centerline goodness [0,1] 0.3058500281251352 Centerline is valid? [False, False] Translation: X:3.17, Y:0.37, Z:-0.18 [[ 9.99923708e-01 6.53556149e-04 -1.23349145e-02 3.16588232e+00] [-6.45846253e-04 9.99999594e-01 6.29019619e-04 3.72836076e-01] [ 1.23353205e-02 -6.21005172e-04 9.99923724e-01 -1.77500237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.013133365 meters Centerline goodness [0,1] 0.304093693382797 Centerline is valid? [False, False] Translation: X:3.17, Y:0.38, Z:-0.18 [[ 9.99922042e-01 4.06024052e-04 -1.24798209e-02 3.16638723e+00] [-4.05715339e-04 9.99999917e-01 2.72687076e-05 3.75369620e-01] [ 1.24798310e-02 -2.22033270e-05 9.99922124e-01 -1.77773035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04313336499996 meters Centerline goodness [0,1] 0.3044487926548691 Centerline is valid? [False, False] Translation: X:3.17, Y:0.38, Z:-0.18 [[ 9.99922145e-01 2.88957011e-04 -1.24747739e-02 3.16640256e+00] [-2.91642403e-04 9.99999935e-01 -2.13447162e-04 3.76297671e-01] [ 1.24747115e-02 2.17068717e-04 9.99922164e-01 -1.77830077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.073133365 meters Centerline goodness [0,1] 0.3063704855039613 Centerline is valid? [False, False] Translation: X:3.17, Y:0.38, Z:-0.18 [[ 9.99924060e-01 2.36600703e-04 -1.23214165e-02 3.16593017e+00] [-2.40619491e-04 9.99999918e-01 -3.24681371e-04 3.76933115e-01] [ 1.23213387e-02 3.27621488e-04 9.99924036e-01 -1.77718226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10313336499996 meters Centerline goodness [0,1] 0.304666566633084 Centerline is valid? [False, False] Translation: X:3.17, Y:0.38, Z:-0.18 [[ 9.99924887e-01 2.47204618e-04 -1.22539088e-02 3.16565360e+00] [-2.50736187e-04 9.99999927e-01 -2.86663902e-04 3.76988847e-01] [ 1.22538371e-02 2.89714869e-04 9.99924877e-01 -1.77521898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.133133365 meters Centerline goodness [0,1] 0.3046768872501455 Centerline is valid? [False, False] Translation: X:3.17, Y:0.38, Z:-0.18 [[ 9.99926892e-01 2.44551974e-04 -1.20892763e-02 3.16509785e+00] [-2.46945580e-04 9.99999950e-01 -1.96501836e-04 3.76520668e-01] [ 1.20892276e-02 1.99472863e-04 9.99926903e-01 -1.77252727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16313336499996 meters Centerline goodness [0,1] 0.3098680623705158 Centerline is valid? [False, False] Translation: X:3.14, Y:0.38, Z:-0.18 [[ 9.99888561e-01 -8.99144757e-03 -1.19172176e-02 3.14363741e+00] [ 8.99036939e-03 9.99959575e-01 -1.44042589e-04 3.80263791e-01] [ 1.19180310e-02 3.68863484e-05 9.99928977e-01 -1.77748712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.193133365 meters Centerline goodness [0,1] 0.3057044820930731 Centerline is valid? [False, False] Translation: X:3.16, Y:0.38, Z:-0.18 [[ 9.99932862e-01 -1.43198838e-03 -1.14987577e-02 3.16279245e+00] [ 1.41915176e-03 9.99998361e-01 -1.12443072e-03 3.76237578e-01] [ 1.15003490e-02 1.10803675e-03 9.99933255e-01 -1.76557676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22313336499997 meters Centerline goodness [0,1] 0.3099264625657363 Centerline is valid? [False, False] Translation: X:3.12, Y:0.38, Z:-0.18 [[ 9.99911238e-01 -1.03615989e-03 -1.32831452e-02 3.11602711e+00] [ 1.02418726e-03 9.99999063e-01 -9.08110894e-04 3.77975173e-01] [ 1.32840737e-02 8.94425861e-04 9.99911363e-01 -1.75571568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.253133365 meters Centerline goodness [0,1] 0.30945620841370636 Centerline is valid? [False, False] Translation: X:3.12, Y:0.38, Z:-0.18 [[ 9.99913792e-01 -1.05092146e-03 -1.30882827e-02 3.11540187e+00] [ 1.03778533e-03 9.99998951e-01 -1.01040714e-03 3.78859796e-01] [ 1.30893308e-02 9.96737206e-04 9.99913834e-01 -1.75283172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28313336499997 meters Centerline goodness [0,1] 0.30809106224890925 Centerline is valid? [False, False] Translation: X:3.11, Y:0.38, Z:-0.18 [[ 9.99915503e-01 -1.12420648e-03 -1.29507823e-02 3.11498861e+00] [ 1.10858946e-03 9.99998650e-01 -1.21299014e-03 3.79926387e-01] [ 1.29521285e-02 1.19853054e-03 9.99915399e-01 -1.75081314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.313133365 meters Centerline goodness [0,1] 0.30991296043063965 Centerline is valid? [False, False] Translation: X:3.11, Y:0.38, Z:-0.18 [[ 9.99915325e-01 -1.26845832e-03 -1.29511933e-02 3.11497064e+00] [ 1.24905130e-03 9.99998085e-01 -1.50645203e-03 3.81123689e-01] [ 1.29530794e-02 1.49014776e-03 9.99914995e-01 -1.75064321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34313336499997 meters Centerline goodness [0,1] 0.31145251396648044 Centerline is valid? [False, False] Translation: X:3.12, Y:0.38, Z:-0.18 [[ 9.99907559e-01 -1.51983967e-03 -1.35115892e-02 3.11655114e+00] [ 1.49180623e-03 9.99996714e-01 -2.08460682e-03 3.83814895e-01] [ 1.35147131e-02 2.06425744e-03 9.99906541e-01 -1.75541667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.373133365 meters Centerline goodness [0,1] 0.30846835169583064 Centerline is valid? [False, False] Translation: X:3.12, Y:0.39, Z:-0.18 [[ 9.99904084e-01 -1.59414076e-03 -1.37579430e-02 3.11737620e+00] [ 1.56258529e-03 9.99996125e-01 -2.30406346e-03 3.85147891e-01] [ 1.37615627e-02 2.28234450e-03 9.99902700e-01 -1.75954259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.403133365 meters Centerline goodness [0,1] 0.30703975416044493 Centerline is valid? [False, False] Translation: X:3.12, Y:0.39, Z:-0.18 [[ 9.99903193e-01 -1.63042419e-03 -1.38183202e-02 3.11769941e+00] [ 1.59633590e-03 9.99995657e-01 -2.47756240e-03 3.86370967e-01] [ 1.38222997e-02 2.45526388e-03 9.99901453e-01 -1.76228981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.433133365 meters Centerline goodness [0,1] 0.3070663903997237 Centerline is valid? [False, False] Translation: X:3.12, Y:0.39, Z:-0.18 [[ 9.99904270e-01 -1.73909844e-03 -1.37268432e-02 3.11760171e+00] [ 1.70145013e-03 9.99994761e-01 -2.75388023e-03 3.87709549e-01] [ 1.37315606e-02 2.73026106e-03 9.99901990e-01 -1.76411609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.463133365 meters Centerline goodness [0,1] 0.30874263474876606 Centerline is valid? [False, False] Translation: X:3.12, Y:0.39, Z:-0.18 [[ 9.99904729e-01 -2.00441863e-03 -1.36570321e-02 3.11746689e+00] [ 1.95875002e-03 9.99992449e-01 -3.35651876e-03 3.90341134e-01] [ 1.36636569e-02 3.32944827e-03 9.99901105e-01 -1.76443166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.493133365 meters Centerline goodness [0,1] 0.30733431009221757 Centerline is valid? [False, False] Translation: X:3.12, Y:0.39, Z:-0.18 [[ 9.99901870e-01 -2.10229364e-03 -1.38502968e-02 3.11790427e+00] [ 2.05217552e-03 9.99991299e-01 -3.63177837e-03 3.91873078e-01] [ 1.38578114e-02 3.60299874e-03 9.99897484e-01 -1.76460763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.523133365 meters Centerline goodness [0,1] 0.3080543142715282 Centerline is valid? [False, False] Translation: X:3.12, Y:0.39, Z:-0.18 [[ 9.99899420e-01 -2.15342274e-03 -1.40183204e-02 3.11831763e+00] [ 2.09938152e-03 9.99990313e-01 -3.86861747e-03 3.93441990e-01] [ 1.40265154e-02 3.83879856e-03 9.99894255e-01 -1.76483525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.553133365 meters Centerline goodness [0,1] 0.30965355743768197 Centerline is valid? [False, False] Translation: X:3.10, Y:0.39, Z:-0.18 [[ 0.99986611 0.00659447 -0.01497571 3.0976068 ] [-0.006668 0.99996593 -0.0048656 0.39306742] [ 0.01494312 0.0049648 0.99987602 -0.17728197] [ 0. 0. 0. 1. ]] SLAMing on 272.583133365 meters Centerline goodness [0,1] 0.3075247012124088 Centerline is valid? [False, False] Translation: X:3.12, Y:0.40, Z:-0.18 [[ 9.99883618e-01 -1.24019469e-03 -1.52056774e-02 3.11722478e+00] [ 1.17885245e-03 9.99991134e-01 -4.04246667e-03 3.99686218e-01] [ 1.52105560e-02 4.02407095e-03 9.99876215e-01 -1.75817693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.613133365 meters Centerline goodness [0,1] 0.307474826558796 Centerline is valid? [False, False] Translation: X:3.12, Y:0.40, Z:-0.18 [[ 9.99883778e-01 -1.43693359e-03 -1.51778261e-02 3.11709739e+00] [ 1.36750997e-03 9.99988561e-01 -4.58340438e-03 4.02289092e-01] [ 1.51842385e-02 4.56211585e-03 9.99874305e-01 -1.75731638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.643133365 meters Centerline goodness [0,1] 0.3069028843037701 Centerline is valid? [False, False] Translation: X:3.12, Y:0.41, Z:-0.18 [[ 9.99883370e-01 -7.55273863e-04 -1.52537197e-02 3.11737136e+00] [ 6.82967376e-04 9.99988510e-01 -4.74490581e-03 4.11220300e-01] [ 1.52571282e-02 4.73393462e-03 9.99872397e-01 -1.75789324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.673133365 meters Centerline goodness [0,1] 0.3073798092589777 Centerline is valid? [False, False] Translation: X:3.12, Y:0.41, Z:-0.18 [[ 9.99881718e-01 -9.11336657e-04 -1.53531492e-02 3.11779249e+00] [ 8.30729944e-04 9.99985843e-01 -5.25573426e-03 4.14113800e-01] [ 1.53577216e-02 5.24235828e-03 9.99868320e-01 -1.76061785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.703133365 meters Centerline goodness [0,1] 0.3066478995236033 Centerline is valid? [False, False] Translation: X:3.12, Y:0.42, Z:-0.18 [[ 9.99879604e-01 -1.08935234e-03 -1.54787016e-02 3.11819803e+00] [ 1.00026255e-03 9.99982898e-01 -5.76221355e-03 4.16748022e-01] [ 1.54847139e-02 5.74603704e-03 9.99863594e-01 -1.76227405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.733133365 meters Centerline goodness [0,1] 0.30477763005532443 Centerline is valid? [False, False] Translation: X:3.12, Y:0.42, Z:-0.18 [[ 9.99879652e-01 -1.53501546e-03 -1.54378073e-02 3.11767867e+00] [ 1.43215201e-03 9.99976717e-01 -6.67193675e-03 4.20887914e-01] [ 1.54476894e-02 6.64902451e-03 9.99858570e-01 -1.75566192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.763133365 meters Centerline goodness [0,1] 0.3077707393266227 Centerline is valid? [False, False] Translation: X:3.10, Y:0.43, Z:-0.18 [[ 0.99985203 -0.00916171 -0.01455964 3.0982159 ] [ 0.00907659 0.99994139 -0.005902 0.42780062] [ 0.01461286 0.00576898 0.99987658 -0.17735057] [ 0. 0. 0. 1. ]] SLAMing on 272.79313336499996 meters Centerline goodness [0,1] 0.309524842699067 Centerline is valid? [False, False] Translation: X:3.10, Y:0.43, Z:-0.18 [[ 0.99985028 -0.00924023 -0.01463011 3.09843364] [ 0.00915281 0.99993992 -0.00603111 0.42864284] [ 0.01468496 0.0058963 0.99987478 -0.17745541] [ 0. 0. 0. 1. ]] SLAMing on 272.823133365 meters Centerline goodness [0,1] 0.3006692980950747 Centerline is valid? [False, False] Translation: X:3.12, Y:0.42, Z:-0.18 [[ 9.99878435e-01 -2.13253962e-03 -1.54456051e-02 3.11871540e+00] [ 2.02833221e-03 9.99975099e-01 -6.75926098e-03 4.24095704e-01] [ 1.54596349e-02 6.72711047e-03 9.99857863e-01 -1.76974109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85313336499996 meters Centerline goodness [0,1] 0.3036409236357347 Centerline is valid? [False, False] Translation: X:3.12, Y:0.42, Z:-0.18 [[ 9.99872383e-01 -2.26540575e-03 -1.58140709e-02 3.12001364e+00] [ 2.15757571e-03 9.99974332e-01 -6.83234760e-03 4.24075741e-01] [ 1.58291431e-02 6.79735562e-03 9.99851606e-01 -1.77685251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.883133365 meters Centerline goodness [0,1] 0.30729018569959976 Centerline is valid? [False, False] Translation: X:3.10, Y:0.43, Z:-0.18 [[ 0.99980596 -0.01054326 -0.01663996 3.09991718] [ 0.01044216 0.99992656 -0.00615073 0.42930165] [ 0.01670358 0.00597577 0.99984263 -0.17911282] [ 0. 0. 0. 1. ]] SLAMing on 272.91313336499996 meters Centerline goodness [0,1] 0.305850428741995 Centerline is valid? [False, False] Translation: X:3.12, Y:0.43, Z:-0.18 [[ 9.99868277e-01 -2.71088685e-03 -1.60024893e-02 3.11842887e+00] [ 2.60086608e-03 9.99972867e-01 -6.89204096e-03 4.25509491e-01] [ 1.60207387e-02 6.84951279e-03 9.99848199e-01 -1.77646126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.943133365 meters Centerline goodness [0,1] 0.30480623511582594 Centerline is valid? [False, False] Translation: X:3.12, Y:0.43, Z:-0.18 [[ 9.99873318e-01 -2.71972497e-03 -1.56828465e-02 3.11746831e+00] [ 2.60953931e-03 9.99971799e-01 -7.04205986e-03 4.26555772e-01] [ 1.57015567e-02 7.00024275e-03 9.99852218e-01 -1.77246626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97313336499997 meters Centerline goodness [0,1] 0.3060399783900595 Centerline is valid? [False, False] Translation: X:3.12, Y:0.43, Z:-0.18 [[ 9.99876144e-01 -2.82867312e-03 -1.54820678e-02 3.11679154e+00] [ 2.71473505e-03 9.99969116e-01 -7.37543272e-03 4.28155163e-01] [ 1.55024524e-02 7.33248952e-03 9.99852943e-01 -1.76864107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.003133365 meters Centerline goodness [0,1] 0.30751856838813363 Centerline is valid? [False, False] Translation: X:3.12, Y:0.43, Z:-0.18 [[ 9.99876022e-01 -2.98651675e-03 -1.54602981e-02 3.11672400e+00] [ 2.86540041e-03 9.99965081e-01 -7.85025608e-03 4.30401464e-01] [ 1.54832032e-02 7.80498288e-03 9.99849665e-01 -1.76781680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03313336499997 meters Centerline goodness [0,1] 0.308237339708759 Centerline is valid? [False, False] Translation: X:3.12, Y:0.44, Z:-0.18 [[ 9.99877039e-01 6.13959426e-04 -1.56693779e-02 3.11729217e+00] [-6.92206914e-04 9.99987317e-01 -4.98872142e-03 4.35076727e-01] [ 1.56661163e-02 4.99895446e-03 9.99864782e-01 -1.76917781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.063133365 meters Centerline goodness [0,1] 0.3044474218783766 Centerline is valid? [False, False] Translation: X:3.12, Y:0.44, Z:-0.18 [[ 9.99874791e-01 6.28154848e-04 -1.58116470e-02 3.11759170e+00] [-7.13599448e-04 9.99985172e-01 -5.39884087e-03 4.37998714e-01] [ 1.58080213e-02 5.40944806e-03 9.99860412e-01 -1.76834161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09313336499997 meters Centerline goodness [0,1] 0.306943203851768 Centerline is valid? [False, False] Translation: X:3.12, Y:0.44, Z:-0.18 [[ 9.99876718e-01 4.99671328e-04 -1.56939252e-02 3.11709636e+00] [-5.91639309e-04 9.99982678e-01 -5.85600457e-03 4.40445662e-01] [ 1.56907272e-02 5.86456778e-03 9.99859694e-01 -1.76474841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.123133365 meters Centerline goodness [0,1] 0.3058680713619909 Centerline is valid? [False, False] Translation: X:3.12, Y:0.44, Z:-0.18 [[ 9.99880983e-01 2.83276542e-04 -1.54252981e-02 3.11613006e+00] [-3.81633070e-04 9.99979615e-01 -6.37374276e-03 4.42739438e-01] [ 1.54231781e-02 6.37887098e-03 9.99860708e-01 -1.75902785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.153133365 meters Centerline goodness [0,1] 0.3065892722777599 Centerline is valid? [False, False] Translation: X:3.12, Y:0.44, Z:-0.18 [[ 9.99883796e-01 7.25537530e-05 -1.52443245e-02 3.11526785e+00] [-1.76642576e-04 9.99976682e-01 -6.82680219e-03 4.44782372e-01] [ 1.52434737e-02 6.82870168e-03 9.99860493e-01 -1.75230301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.183133365 meters Centerline goodness [0,1] 0.30863075924724204 Centerline is valid? [False, False] Translation: X:3.11, Y:0.45, Z:-0.17 [[ 9.99885263e-01 -7.33104260e-05 -1.51477706e-02 3.11477143e+00] [-3.54619667e-05 9.99974220e-01 -7.18035918e-03 4.46537298e-01] [ 1.51479065e-02 7.18007250e-03 9.99859484e-01 -1.74799468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.213133365 meters Centerline goodness [0,1] 0.308109048976306 Centerline is valid? [False, False] Translation: X:3.12, Y:0.45, Z:-0.18 [[ 9.99877654e-01 -4.00805960e-04 -1.56370507e-02 3.11609057e+00] [ 2.76732373e-04 9.99968472e-01 -7.93594711e-03 4.50392620e-01] [ 1.56397385e-02 7.93064889e-03 9.99846240e-01 -1.75009278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.243133365 meters Centerline goodness [0,1] 0.3076805818688617 Centerline is valid? [False, False] Translation: X:3.12, Y:0.45, Z:-0.18 [[ 9.99873101e-01 -5.25956760e-04 -1.59218343e-02 3.11699918e+00] [ 3.94163233e-04 9.99965646e-01 -8.27954080e-03 4.52243388e-01] [ 1.59256420e-02 8.27221433e-03 9.99838959e-01 -1.75345752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.273133365 meters Centerline goodness [0,1] 0.30796258070183147 Centerline is valid? [False, False] Translation: X:3.12, Y:0.46, Z:-0.18 [[ 9.99875714e-01 -8.63703666e-04 -1.57420080e-02 3.11646547e+00] [ 7.18563911e-04 9.99957207e-01 -9.22322633e-03 4.57397812e-01] [ 1.57493004e-02 9.21076837e-03 9.99833547e-01 -1.75055456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.303133365 meters Centerline goodness [0,1] 0.3068105774419859 Centerline is valid? [False, False] Translation: X:3.14, Y:0.46, Z:-0.17 [[ 0.99987299 -0.00742736 -0.01410105 3.13720756] [ 0.00733308 0.99995049 -0.0067262 0.46187402] [ 0.01415031 0.00662194 0.99987795 -0.17492285] [ 0. 0. 0. 1. ]] SLAMing on 273.333133365 meters Centerline goodness [0,1] 0.30584214738390325 Centerline is valid? [False, False] Translation: X:3.14, Y:0.46, Z:-0.17 [[ 0.99989974 -0.00470852 -0.01335446 3.1353837 ] [ 0.00465196 0.99998009 -0.0042633 0.46467628] [ 0.01337427 0.00420075 0.99990174 -0.17477144] [ 0. 0. 0. 1. ]] SLAMing on 273.363133365 meters Centerline goodness [0,1] 0.30812611592561945 Centerline is valid? [False, False] Translation: X:3.14, Y:0.47, Z:-0.17 [[ 0.99989774 -0.00490328 -0.01343385 3.135652 ] [ 0.0048394 0.99997685 -0.00478319 0.46740598] [ 0.01345699 0.00471769 0.99989832 -0.17491569] [ 0. 0. 0. 1. ]] SLAMing on 273.393133365 meters Centerline goodness [0,1] 0.30553933337659245 Centerline is valid? [False, False] Translation: X:3.14, Y:0.47, Z:-0.18 [[ 0.9998937 -0.00505283 -0.01367701 3.13647006] [ 0.0049826 0.99997425 -0.00516444 0.46944063] [ 0.01370275 0.00509575 0.99989313 -0.17529271] [ 0. 0. 0. 1. ]] SLAMing on 273.423133365 meters Centerline goodness [0,1] 0.3047108188778821 Centerline is valid? [False, False] Translation: X:3.14, Y:0.47, Z:-0.18 [[ 0.9998881 -0.00516525 -0.01403933 3.13756086] [ 0.00508997 0.99997251 -0.00539259 0.47064221] [ 0.0140668 0.00532053 0.9998869 -0.17566927] [ 0. 0. 0. 1. ]] SLAMing on 273.453133365 meters Centerline goodness [0,1] 0.3032085793678361 Centerline is valid? [False, False] Translation: X:3.14, Y:0.47, Z:-0.18 [[ 0.99987341 -0.00557833 -0.01490144 3.13997306] [ 0.0054934 0.99996847 -0.00573449 0.47176044] [ 0.01493296 0.00565191 0.99987252 -0.17635137] [ 0. 0. 0. 1. ]] SLAMing on 273.483133365 meters Centerline goodness [0,1] 0.30076322711396664 Centerline is valid? [False, False] Translation: X:3.14, Y:0.47, Z:-0.18 [[ 0.99987214 -0.00571085 -0.01493635 3.14003894] [ 0.00562578 0.99996775 -0.00573139 0.4713462 ] [ 0.0149686 0.00564663 0.99987202 -0.17633506] [ 0. 0. 0. 1. ]] SLAMing on 273.513133365 meters Centerline goodness [0,1] 0.3073736536868269 Centerline is valid? [False, False] Translation: X:3.12, Y:0.47, Z:-0.18 [[ 9.99898839e-01 2.28819796e-03 -1.40383619e-02 3.11964221e+00] [-2.38810464e-03 9.99971914e-01 -7.10405941e-03 4.67330655e-01] [ 1.40217121e-02 7.13686584e-03 9.99876221e-01 -1.77779884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54313336499996 meters Centerline goodness [0,1] 0.3073736536868269 Centerline is valid? [False, False] Translation: X:3.12, Y:0.47, Z:-0.18 [[ 9.99898839e-01 2.28819796e-03 -1.40383619e-02 3.11964221e+00] [-2.38810464e-03 9.99971914e-01 -7.10405941e-03 4.67330655e-01] [ 1.40217121e-02 7.13686584e-03 9.99876221e-01 -1.77779884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.573133365 meters Centerline goodness [0,1] 0.3037290188613947 Centerline is valid? [False, False] Translation: X:3.14, Y:0.47, Z:-0.18 [[ 0.99988549 -0.00682404 -0.01350724 3.13960572] [ 0.00674208 0.99995864 -0.00610433 0.46899528] [ 0.01354834 0.00601257 0.99989014 -0.1763844 ] [ 0. 0. 0. 1. ]] SLAMing on 273.60313336499996 meters Centerline goodness [0,1] 0.30689640244166416 Centerline is valid? [False, False] Translation: X:3.14, Y:0.47, Z:-0.18 [[ 0.9998855 -0.00684046 -0.01349822 3.13955189] [ 0.00675988 0.99995911 -0.00600635 0.46842862] [ 0.01353875 0.00591442 0.99989085 -0.17633678] [ 0. 0. 0. 1. ]] SLAMing on 273.633133365 meters Centerline goodness [0,1] 0.30715229779212616 Centerline is valid? [False, False] Translation: X:3.14, Y:0.47, Z:-0.18 [[ 0.99988506 -0.00678376 -0.01355898 3.13972927] [ 0.006705 0.99996044 -0.0058455 0.46779853] [ 0.0135981 0.00575392 0.99989099 -0.17640284] [ 0. 0. 0. 1. ]] SLAMing on 273.66313336499996 meters Centerline goodness [0,1] 0.3072517842035619 Centerline is valid? [False, False] Translation: X:3.14, Y:0.47, Z:-0.18 [[ 0.99988535 -0.00671284 -0.0135726 3.13986516] [ 0.006637 0.99996216 -0.00562479 0.46672471] [ 0.01360984 0.00553406 0.99989207 -0.17656241] [ 0. 0. 0. 1. ]] SLAMing on 273.693133365 meters Centerline goodness [0,1] 0.30689699737216214 Centerline is valid? [False, False] Translation: X:3.14, Y:0.47, Z:-0.18 [[ 0.99988436 -0.00669686 -0.01365358 3.14008289] [ 0.00662146 0.99996262 -0.00556045 0.46625313] [ 0.01369031 0.0054694 0.99989132 -0.17660698] [ 0. 0. 0. 1. ]] SLAMing on 273.72313336499997 meters Centerline goodness [0,1] 0.30452078784078873 Centerline is valid? [False, False] Translation: X:3.14, Y:0.47, Z:-0.18 [[ 0.99988416 -0.00667172 -0.01368028 3.14018554] [ 0.00659663 0.99996297 -0.00552686 0.46611254] [ 0.01371665 0.00543597 0.99989115 -0.17669636] [ 0. 0. 0. 1. ]] SLAMing on 273.753133365 meters Centerline goodness [0,1] 0.30658882764008855 Centerline is valid? [False, False] Translation: X:3.14, Y:0.47, Z:-0.18 [[ 0.99988328 -0.00663399 -0.01376295 3.14047709] [ 0.00655895 0.99996342 -0.00548971 0.46606246] [ 0.01379886 0.0053988 0.99989022 -0.17686559] [ 0. 0. 0. 1. ]] SLAMing on 273.78313336499997 meters Centerline goodness [0,1] 0.30544873179795184 Centerline is valid? [False, False] Translation: X:3.14, Y:0.47, Z:-0.18 [[ 0.99988276 -0.00657776 -0.01382758 3.14076886] [ 0.00650379 0.99996434 -0.00538785 0.46560958] [ 0.01386253 0.00529729 0.99988988 -0.17708944] [ 0. 0. 0. 1. ]] SLAMing on 273.813133365 meters Centerline goodness [0,1] 0.30415321712933074 Centerline is valid? [False, False] Translation: X:3.14, Y:0.46, Z:-0.18 [[ 0.99988243 -0.00653049 -0.01387386 3.14115314] [ 0.00645915 0.99996572 -0.0051807 0.46419474] [ 0.01390722 0.00509048 0.99989033 -0.17755548] [ 0. 0. 0. 1. ]] SLAMing on 273.84313336499997 meters Centerline goodness [0,1] 0.3051845778765453 Centerline is valid? [False, False] Translation: X:3.14, Y:0.46, Z:-0.18 [[ 0.99988404 -0.00648436 -0.01377925 3.14091619] [ 0.00641589 0.99996688 -0.00500739 0.46313274] [ 0.01381127 0.00491841 0.99989252 -0.17758962] [ 0. 0. 0. 1. ]] SLAMing on 273.873133365 meters Centerline goodness [0,1] 0.30380211708792393 Centerline is valid? [False, False] Translation: X:3.14, Y:0.46, Z:-0.18 [[ 0.99988655 -0.00643604 -0.01361884 3.14033214] [ 0.00637081 0.99996805 -0.0048283 0.46200061] [ 0.01364948 0.00474099 0.9998956 -0.17726166] [ 0. 0. 0. 1. ]] SLAMing on 273.903133365 meters Centerline goodness [0,1] 0.3067351672411177 Centerline is valid? [False, False] Translation: X:3.14, Y:0.46, Z:-0.18 [[ 0.99989064 -0.00641018 -0.01332734 3.13929587] [ 0.00634866 0.99996902 -0.00465301 0.46071093] [ 0.01335676 0.00456789 0.99990036 -0.17671276] [ 0. 0. 0. 1. ]] SLAMing on 273.933133365 meters Centerline goodness [0,1] 0.3073970239378909 Centerline is valid? [False, False] Translation: X:3.14, Y:0.46, Z:-0.18 [[ 0.9998946 -0.00641941 -0.01302221 3.13793139] [ 0.00636284 0.99997016 -0.00438079 0.45816776] [ 0.01304995 0.00429747 0.99990561 -0.1757839 ] [ 0. 0. 0. 1. ]] SLAMing on 273.963133365 meters Centerline goodness [0,1] 0.30645999307239347 Centerline is valid? [False, False] Translation: X:3.14, Y:0.46, Z:-0.18 [[ 0.9998941 -0.00630124 -0.01311803 3.13827147] [ 0.00624829 0.99997218 -0.00407371 0.45654796] [ 0.01314334 0.00399131 0.99990566 -0.17601821] [ 0. 0. 0. 1. ]] SLAMing on 273.993133365 meters Centerline goodness [0,1] 0.3094201485909849 Centerline is valid? [False, False] Translation: X:3.14, Y:0.45, Z:-0.18 [[ 0.99989416 -0.00610441 -0.01320599 3.1386807 ] [ 0.00605709 0.9999751 -0.00362014 0.454462 ] [ 0.01322776 0.00353977 0.99990624 -0.17638212] [ 0. 0. 0. 1. ]] SLAMing on 274.023133365 meters Centerline goodness [0,1] 0.30682089455066297 Centerline is valid? [False, False] Translation: X:3.14, Y:0.45, Z:-0.18 [[ 9.99895536e-01 -5.87373646e-03 -1.32067098e-02 3.13877330e+00] [ 5.83330296e-03 9.99978187e-01 -3.09802755e-03 4.52099877e-01] [ 1.32246187e-02 3.02066517e-03 9.99907988e-01 -1.76567502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.053133365 meters Centerline goodness [0,1] 0.3067488629750178 Centerline is valid? [False, False] Translation: X:3.14, Y:0.45, Z:-0.18 [[ 9.99896029e-01 -5.70780972e-03 -1.32420569e-02 3.13868730e+00] [ 5.67240658e-03 9.99980241e-01 -2.70955764e-03 4.50156336e-01] [ 1.32572609e-02 2.63416160e-03 9.99908649e-01 -1.76330672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.083133365 meters Centerline goodness [0,1] 0.3083684107216854 Centerline is valid? [False, False] Translation: X:3.12, Y:0.44, Z:-0.18 [[ 0.99991033 0.00327738 -0.01298427 3.11811448] [-0.00332089 0.99998894 -0.00333059 0.44491162] [ 0.01297321 0.00337341 0.99991015 -0.17758964] [ 0. 0. 0. 1. ]] SLAMing on 274.113133365 meters Centerline goodness [0,1] 0.3085266252858543 Centerline is valid? [False, False] Translation: X:3.12, Y:0.44, Z:-0.18 [[ 9.99902615e-01 3.87260496e-03 -1.34075828e-02 3.11879166e+00] [-3.90812682e-03 9.99988920e-01 -2.62420006e-03 4.42792594e-01] [ 1.33972718e-02 2.67634304e-03 9.99906671e-01 -1.77129290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.143133365 meters Centerline goodness [0,1] 0.3075653967220232 Centerline is valid? [False, False] Translation: X:3.12, Y:0.44, Z:-0.18 [[ 9.99899629e-01 4.10616793e-03 -1.35599243e-02 3.11900779e+00] [-4.14070996e-03 9.99988251e-01 -2.52027013e-03 4.43101820e-01] [ 1.35494164e-02 2.57616488e-03 9.99904884e-01 -1.76883474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.173133365 meters Centerline goodness [0,1] 0.30884013900955687 Centerline is valid? [False, False] Translation: X:3.12, Y:0.44, Z:-0.18 [[ 9.99897869e-01 4.35029159e-03 -1.36134908e-02 3.11897758e+00] [-4.38536290e-03 9.99987140e-01 -2.54742687e-03 4.44185697e-01] [ 1.36022336e-02 2.60686680e-03 9.99904087e-01 -1.76606386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.203133365 meters Centerline goodness [0,1] 0.308203557698573 Centerline is valid? [False, False] Translation: X:3.12, Y:0.45, Z:-0.18 [[ 9.99898360e-01 4.52333043e-03 -1.35206721e-02 3.11861394e+00] [-4.56121983e-03 9.99985753e-01 -2.77280909e-03 4.46170483e-01] [ 1.35079371e-02 2.83419802e-03 9.99904747e-01 -1.76291301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.233133365 meters Centerline goodness [0,1] 0.31164241617765753 Centerline is valid? [False, False] Translation: X:3.12, Y:0.45, Z:-0.18 [[ 0.99989967 0.00464434 -0.0133819 3.11819653] [-0.00468712 0.999984 -0.00316691 0.44909117] [ 0.01336698 0.00322932 0.99990544 -0.17604309] [ 0. 0. 0. 1. ]] SLAMing on 274.263133365 meters Centerline goodness [0,1] 0.3129104281586551 Centerline is valid? [False, False] Translation: X:3.12, Y:0.45, Z:-0.18 [[ 0.9998995 0.00474962 -0.01335786 3.11803361] [-0.00479863 0.99998186 -0.00363964 0.4524992 ] [ 0.01334033 0.00370337 0.99990416 -0.17583772] [ 0. 0. 0. 1. ]] SLAMing on 274.29313336499996 meters Centerline goodness [0,1] 0.31086824529447477 Centerline is valid? [False, False] Translation: X:3.14, Y:0.46, Z:-0.17 [[ 9.99903691e-01 -1.72598540e-04 -1.38772515e-02 3.13749425e+00] [ 1.60894210e-04 9.99999630e-01 -8.44530453e-04 4.63815631e-01] [ 1.38773921e-02 8.42216348e-04 9.99903350e-01 -1.74444237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.323133365 meters Centerline goodness [0,1] 0.3124645645252737 Centerline is valid? [False, False] Translation: X:3.14, Y:0.47, Z:-0.17 [[ 9.99901394e-01 -2.97439124e-04 -1.40397426e-02 3.13774048e+00] [ 2.76610703e-04 9.99998858e-01 -1.48545151e-03 4.67546966e-01] [ 1.40401684e-02 1.48142149e-03 9.99900335e-01 -1.74282071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35313336499996 meters Centerline goodness [0,1] 0.30555675675675675 Centerline is valid? [False, False] Translation: X:3.14, Y:0.47, Z:-0.17 [[ 9.99899267e-01 -4.62612866e-04 -1.41859901e-02 3.13792320e+00] [ 4.32802887e-04 9.99997692e-01 -2.10436553e-03 4.70976984e-01] [ 1.41869308e-02 2.09801382e-03 9.99897159e-01 -1.74029893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.383133365 meters Centerline goodness [0,1] 0.30983072916666665 Centerline is valid? [False, False] Translation: X:3.14, Y:0.47, Z:-0.17 [[ 9.99898284e-01 -6.50215599e-04 -1.42477513e-02 3.13787769e+00] [ 6.11849520e-04 9.99996176e-01 -2.69697486e-03 4.74137370e-01] [ 1.42494504e-02 2.68798305e-03 9.99894858e-01 -1.73741694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41313336499996 meters Centerline goodness [0,1] 0.30988502766251724 Centerline is valid? [False, False] Translation: X:3.14, Y:0.48, Z:-0.17 [[ 9.99899407e-01 -8.35808183e-04 -1.41590261e-02 3.13756663e+00] [ 7.89950046e-04 9.99994426e-01 -3.24407491e-03 4.77052785e-01] [ 1.41616586e-02 3.23256366e-03 9.99894493e-01 -1.73560969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.443133365 meters Centerline goodness [0,1] 0.31271663778162917 Centerline is valid? [False, False] Translation: X:3.14, Y:0.48, Z:-0.17 [[ 9.99901322e-01 -1.03237666e-03 -1.40100395e-02 3.13701176e+00] [ 9.80255115e-04 9.99992576e-01 -3.72665720e-03 4.79443014e-01] [ 1.40137828e-02 3.71255605e-03 9.99894910e-01 -1.73200993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47313336499997 meters Centerline goodness [0,1] 0.3092300417007008 Centerline is valid? [False, False] Translation: X:3.14, Y:0.49, Z:-0.17 [[ 9.99900327e-01 -1.44304578e-03 -1.40447356e-02 3.13694560e+00] [ 1.37629906e-03 9.99987720e-01 -4.76094304e-03 4.85017904e-01] [ 1.40514334e-02 4.74113875e-03 9.99890033e-01 -1.72924893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.503133365 meters Centerline goodness [0,1] 0.30667437528104324 Centerline is valid? [False, False] Translation: X:3.14, Y:0.49, Z:-0.17 [[ 9.99896316e-01 -1.56148864e-03 -1.43149899e-02 3.13757577e+00] [ 1.48635880e-03 9.99985075e-01 -5.25747118e-03 4.87947772e-01] [ 1.43229857e-02 5.23564886e-03 9.99883713e-01 -1.72860739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53313336499997 meters Centerline goodness [0,1] 0.31069676153091264 Centerline is valid? [False, False] Translation: X:3.09, Y:0.49, Z:-0.17 [[ 9.99860295e-01 1.74724412e-04 -1.67140637e-02 3.09355033e+00] [-2.64214111e-04 9.99985643e-01 -5.35209733e-03 4.93247572e-01] [ 1.67128886e-02 5.35576571e-03 9.99845986e-01 -1.72967559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.563133365 meters Centerline goodness [0,1] 0.3060649104683195 Centerline is valid? [False, False] Translation: X:3.12, Y:0.50, Z:-0.17 [[ 9.99841507e-01 -6.04306077e-03 -1.67463939e-02 3.11528409e+00] [ 5.99974124e-03 9.99978528e-01 -2.63583212e-03 4.97852606e-01] [ 1.67619628e-02 2.53494032e-03 9.99856295e-01 -1.72684428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59313336499997 meters Centerline goodness [0,1] 0.3121978959340347 Centerline is valid? [False, False] Translation: X:3.09, Y:0.50, Z:-0.17 [[ 9.99846938e-01 2.87843709e-03 -1.72573418e-02 3.09446198e+00] [-2.94693622e-03 9.99987876e-01 -3.94515923e-03 4.97466613e-01] [ 1.72457767e-02 3.99541166e-03 9.99843298e-01 -1.73607407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.623133365 meters Centerline goodness [0,1] 0.31174265539185775 Centerline is valid? [False, False] Translation: X:3.09, Y:0.50, Z:-0.17 [[ 9.99854016e-01 2.81571074e-03 -1.68528279e-02 3.09324466e+00] [-2.89641401e-03 9.99984447e-01 -4.76621670e-03 5.02386299e-01] [ 1.68391455e-02 4.81433367e-03 9.99846621e-01 -1.73111306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.653133365 meters Centerline goodness [0,1] 0.3107943416757345 Centerline is valid? [False, False] Translation: X:3.09, Y:0.51, Z:-0.17 [[ 9.99853787e-01 2.82646809e-03 -1.68646549e-02 3.09307635e+00] [-2.91477769e-03 9.99982159e-01 -5.21409142e-03 5.05380203e-01] [ 1.68496166e-02 5.26248577e-03 9.99844186e-01 -1.72773466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.683133365 meters Centerline goodness [0,1] 0.3054073169163506 Centerline is valid? [False, False] Translation: X:3.11, Y:0.51, Z:-0.17 [[ 9.99848684e-01 -2.83933285e-03 -1.71623922e-02 3.11441763e+00] [ 2.80279677e-03 9.99993755e-01 -2.15252371e-03 5.11273408e-01] [ 1.71683967e-02 2.10409530e-03 9.99850398e-01 -1.72308526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.713133365 meters Centerline goodness [0,1] 0.30916738567730806 Centerline is valid? [False, False] Translation: X:3.12, Y:0.51, Z:-0.17 [[ 9.99842279e-01 -2.89280710e-03 -1.75227870e-02 3.11516728e+00] [ 2.84655408e-03 9.99992400e-01 -2.66395951e-03 5.14513383e-01] [ 1.75303602e-02 2.61365979e-03 9.99842915e-01 -1.72244212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.743133365 meters Centerline goodness [0,1] 0.3059674112441998 Centerline is valid? [False, False] Translation: X:3.12, Y:0.52, Z:-0.17 [[ 9.99840047e-01 -2.97386619e-03 -1.76362306e-02 3.11537417e+00] [ 2.91864945e-03 9.99990761e-01 -3.15578309e-03 5.17451141e-01] [ 1.76454525e-02 3.10380434e-03 9.99839489e-01 -1.72201559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.773133365 meters Centerline goodness [0,1] 0.3071574021922794 Centerline is valid? [False, False] Translation: X:3.11, Y:0.52, Z:-0.17 [[ 9.99842364e-01 -3.10701815e-03 -1.74812343e-02 3.11493412e+00] [ 3.04407862e-03 9.99988793e-01 -3.62586357e-03 5.19964337e-01] [ 1.74923040e-02 3.57207776e-03 9.99840617e-01 -1.72130437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.803133365 meters Centerline goodness [0,1] 0.3098416437639052 Centerline is valid? [False, False] Translation: X:3.11, Y:0.52, Z:-0.17 [[ 0.99984415 -0.00319386 -0.01736323 3.11441605] [ 0.00312502 0.99998715 -0.00399082 0.52209584] [ 0.01737575 0.00393594 0.99984128 -0.17178282] [ 0. 0. 0. 1. ]] SLAMing on 274.833133365 meters Centerline goodness [0,1] 0.3067722189777864 Centerline is valid? [False, False] Translation: X:3.11, Y:0.52, Z:-0.17 [[ 0.99984212 -0.00341739 -0.01743723 3.11453933] [ 0.00333774 0.99998387 -0.00459477 0.52496228] [ 0.01745265 0.00453585 0.9998374 -0.17173699] [ 0. 0. 0. 1. ]] SLAMing on 274.863133365 meters Centerline goodness [0,1] 0.3100528870220036 Centerline is valid? [False, False] Translation: X:3.12, Y:0.53, Z:-0.17 [[ 0.99983715 -0.00349951 -0.01770379 3.11524219] [ 0.00341461 0.99998254 -0.00482375 0.52609622] [ 0.01772036 0.00476251 0.99983164 -0.17190939] [ 0. 0. 0. 1. ]] SLAMing on 274.893133365 meters Centerline goodness [0,1] 0.3064431753781769 Centerline is valid? [False, False] Translation: X:3.12, Y:0.53, Z:-0.17 [[ 0.99983288 -0.00347726 -0.0179476 3.11592529] [ 0.00338991 0.99998227 -0.00489504 0.52678635] [ 0.0179643 0.00483338 0.99982695 -0.17210713] [ 0. 0. 0. 1. ]] SLAMing on 274.923133365 meters Centerline goodness [0,1] 0.3093132438039087 Centerline is valid? [False, False] Translation: X:3.12, Y:0.53, Z:-0.17 [[ 0.99983165 -0.00345206 -0.01802084 3.11600646] [ 0.00336323 0.99998206 -0.00495752 0.52749427] [ 0.01803763 0.00489608 0.99982532 -0.17197074] [ 0. 0. 0. 1. ]] SLAMing on 274.953133365 meters Centerline goodness [0,1] 0.3076221894261655 Centerline is valid? [False, False] Translation: X:3.12, Y:0.53, Z:-0.17 [[ 0.99983401 -0.00339552 -0.01790019 3.1156252 ] [ 0.0033075 0.99998231 -0.00494418 0.52781291] [ 0.01791666 0.00488415 0.99982755 -0.17182951] [ 0. 0. 0. 1. ]] SLAMing on 274.983133365 meters Centerline goodness [0,1] 0.3074352910546527 Centerline is valid? [False, False] Translation: X:3.12, Y:0.53, Z:-0.17 [[ 0.99983671 -0.0034026 -0.01774739 3.11509972] [ 0.00331442 0.99998203 -0.00499596 0.5280985 ] [ 0.01776408 0.00493633 0.99983002 -0.17157867] [ 0. 0. 0. 1. ]] SLAMing on 275.013133365 meters Centerline goodness [0,1] 0.30939358423405827 Centerline is valid? [False, False] Translation: X:3.11, Y:0.53, Z:-0.17 [[ 0.99983717 -0.00337842 -0.01772624 3.11497926] [ 0.00328836 0.99998155 -0.00510755 0.52873524] [ 0.01774316 0.00504843 0.99982983 -0.17151552] [ 0. 0. 0. 1. ]] SLAMing on 275.04313336499996 meters Centerline goodness [0,1] 0.30662772704487495 Centerline is valid? [False, False] Translation: X:3.12, Y:0.53, Z:-0.17 [[ 0.99983601 -0.00330451 -0.01780554 3.11525123] [ 0.00321473 0.99998199 -0.00506832 0.52882443] [ 0.01782197 0.00501025 0.99982862 -0.1717185 ] [ 0. 0. 0. 1. ]] SLAMing on 275.073133365 meters Centerline goodness [0,1] 0.30492482022227063 Centerline is valid? [False, False] Translation: X:3.12, Y:0.53, Z:-0.17 [[ 0.99983489 -0.00323069 -0.01788196 3.1155851 ] [ 0.00314081 0.9999823 -0.00505224 0.52899435] [ 0.01789797 0.00499524 0.99982734 -0.17198555] [ 0. 0. 0. 1. ]] SLAMing on 275.10313336499996 meters Centerline goodness [0,1] 0.3023899044902546 Centerline is valid? [False, False] Translation: X:3.12, Y:0.53, Z:-0.17 [[ 9.99834648e-01 -3.17380317e-03 -1.79053896e-02 3.11560088e+00] [ 3.08357333e-03 9.99982420e-01 -5.06461593e-03 5.29216641e-01] [ 1.79211490e-02 5.00856591e-03 9.99826858e-01 -1.71972037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.133133365 meters Centerline goodness [0,1] 0.3070710149344712 Centerline is valid? [False, False] Translation: X:3.12, Y:0.53, Z:-0.17 [[ 9.99834481e-01 -3.13737617e-03 -1.79211710e-02 3.11560224e+00] [ 3.04639606e-03 9.99982346e-01 -5.10172923e-03 5.29520635e-01] [ 1.79368607e-02 5.04628981e-03 9.99826387e-01 -1.71982225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16313336499996 meters Centerline goodness [0,1] 0.3046090445721722 Centerline is valid? [False, False] Translation: X:3.12, Y:0.53, Z:-0.17 [[ 9.99831302e-01 -3.03025289e-03 -1.81158527e-02 3.11600511e+00] [ 2.93882908e-03 9.99982823e-01 -5.07111291e-03 5.29795085e-01] [ 1.81309083e-02 5.01701804e-03 9.99823034e-01 -1.71973007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.193133365 meters Centerline goodness [0,1] 0.30222432968359336 Centerline is valid? [False, False] Translation: X:3.12, Y:0.53, Z:-0.17 [[ 9.99827508e-01 -2.91175867e-03 -1.83432933e-02 3.11659659e+00] [ 2.81977954e-03 9.99983333e-01 -5.03818976e-03 5.30143137e-01] [ 1.83576575e-02 4.98559666e-03 9.99819054e-01 -1.72143493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22313336499997 meters Centerline goodness [0,1] 0.3063279625779626 Centerline is valid? [False, False] Translation: X:3.12, Y:0.53, Z:-0.17 [[ 9.99833287e-01 -2.84319269e-03 -1.80364761e-02 3.11586785e+00] [ 2.75331188e-03 9.99983679e-01 -5.00615628e-03 5.30062096e-01] [ 1.80504152e-02 4.95566164e-03 9.99824797e-01 -1.72231448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.253133365 meters Centerline goodness [0,1] 0.3044511668107174 Centerline is valid? [False, False] Translation: X:3.12, Y:0.53, Z:-0.17 [[ 9.99835475e-01 -2.80786790e-03 -1.79203659e-02 3.11554974e+00] [ 2.72028580e-03 9.99984247e-01 -4.90980080e-03 5.29449842e-01] [ 1.79338696e-02 4.86024450e-03 9.99827362e-01 -1.72166196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28313336499997 meters Centerline goodness [0,1] 0.3016959366391184 Centerline is valid? [False, False] Translation: X:3.12, Y:0.53, Z:-0.17 [[ 9.99837536e-01 -2.74098624e-03 -1.78154289e-02 3.11523355e+00] [ 2.65665034e-03 9.99985162e-01 -4.75581290e-03 5.28748983e-01] [ 1.78282002e-02 4.70771089e-03 9.99829982e-01 -1.72079827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.313133365 meters Centerline goodness [0,1] 0.30470896010464354 Centerline is valid? [False, False] Translation: X:3.10, Y:0.52, Z:-0.17 [[ 0.99982007 0.00603793 -0.01798233 3.09558129] [-0.00613925 0.99996556 -0.00558483 0.52240431] [ 0.01794799 0.00569422 0.99982271 -0.1733299 ] [ 0. 0. 0. 1. ]] SLAMing on 275.34313336499997 meters Centerline goodness [0,1] 0.30492826492132985 Centerline is valid? [False, False] Translation: X:3.11, Y:0.53, Z:-0.17 [[ 9.99833674e-01 -2.46073767e-03 -1.80712064e-02 3.11480988e+00] [ 2.38209544e-03 9.99987605e-01 -4.37203448e-03 5.25357288e-01] [ 1.80817408e-02 4.32825996e-03 9.99827143e-01 -1.72164515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.373133365 meters Centerline goodness [0,1] 0.30148312860257764 Centerline is valid? [False, False] Translation: X:3.12, Y:0.52, Z:-0.17 [[ 9.99831947e-01 -2.37037655e-03 -1.81785062e-02 3.11521034e+00] [ 2.29573107e-03 9.99988853e-01 -4.12601887e-03 5.23921301e-01] [ 1.81880838e-02 4.08359253e-03 9.99826244e-01 -1.72383182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.403133365 meters Centerline goodness [0,1] 0.3025420227455585 Centerline is valid? [False, False] Translation: X:3.12, Y:0.52, Z:-0.17 [[ 9.99833805e-01 -2.16032742e-03 -1.81023587e-02 3.11525252e+00] [ 2.09531233e-03 9.99991290e-01 -3.60972345e-03 5.21255295e-01] [ 1.81099992e-02 3.57119344e-03 9.99829623e-01 -1.72777942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.433133365 meters Centerline goodness [0,1] 0.305818644689435 Centerline is valid? [False, False] Translation: X:3.11, Y:0.52, Z:-0.17 [[ 9.99835995e-01 -1.97258728e-03 -1.80025823e-02 3.11495349e+00] [ 1.91368982e-03 9.99992763e-01 -3.28825219e-03 5.20067221e-01] [ 1.80089384e-02 3.25326154e-03 9.99832533e-01 -1.72683424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.463133365 meters Centerline goodness [0,1] 0.305818644689435 Centerline is valid? [False, False] Translation: X:3.11, Y:0.52, Z:-0.17 [[ 9.99835995e-01 -1.97258728e-03 -1.80025823e-02 3.11495349e+00] [ 1.91368982e-03 9.99992763e-01 -3.28825219e-03 5.20067221e-01] [ 1.80089384e-02 3.25326154e-03 9.99832533e-01 -1.72683424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.493133365 meters Centerline goodness [0,1] 0.30691362872788364 Centerline is valid? [False, False] Translation: X:3.10, Y:0.51, Z:-0.17 [[ 0.99982245 0.00683235 -0.01756087 3.09557959] [-0.00690456 0.99996794 -0.0040547 0.51384174] [ 0.0175326 0.00417523 0.99983757 -0.17434516] [ 0. 0. 0. 1. ]] SLAMing on 275.523133365 meters Centerline goodness [0,1] 0.2988896539851954 Centerline is valid? [False, False] Translation: X:3.12, Y:0.52, Z:-0.17 [[ 9.99852077e-01 -1.55473526e-03 -1.71291453e-02 3.11516524e+00] [ 1.50440575e-03 9.99994515e-01 -2.95073223e-03 5.16373928e-01] [ 1.71336389e-02 2.92452657e-03 9.99848931e-01 -1.73601355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.553133365 meters Centerline goodness [0,1] 0.30685487389824595 Centerline is valid? [False, False] Translation: X:3.09, Y:0.51, Z:-0.17 [[ 0.99982288 0.00498669 -0.01814789 3.09464953] [-0.00509397 0.9999698 -0.00586999 0.5092176 ] [ 0.01811807 0.00596139 0.99981808 -0.17432572] [ 0. 0. 0. 1. ]] SLAMing on 275.583133365 meters Centerline goodness [0,1] 0.3045766639953216 Centerline is valid? [False, False] Translation: X:3.11, Y:0.51, Z:-0.17 [[ 0.9998332 -0.00339884 -0.01794512 3.11378858] [ 0.00331868 0.99998439 -0.00449502 0.51133597] [ 0.01796012 0.00443472 0.99982887 -0.17314288] [ 0. 0. 0. 1. ]] SLAMing on 275.613133365 meters Centerline goodness [0,1] 0.30736740216028335 Centerline is valid? [False, False] Translation: X:3.09, Y:0.50, Z:-0.17 [[ 0.9998213 0.00542902 -0.01810767 3.0941985 ] [-0.0055201 0.99997235 -0.00498375 0.50376172] [ 0.01808011 0.00508281 0.99982362 -0.17441575] [ 0. 0. 0. 1. ]] SLAMing on 275.643133365 meters Centerline goodness [0,1] 0.3044763878097212 Centerline is valid? [False, False] Translation: X:3.11, Y:0.51, Z:-0.17 [[ 9.99841558e-01 -2.58266758e-03 -1.76121572e-02 3.11367256e+00] [ 2.52611737e-03 9.99991585e-01 -3.23235386e-03 5.05096775e-01] [ 1.76203571e-02 3.18735135e-03 9.99839669e-01 -1.73299096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.673133365 meters Centerline goodness [0,1] 0.30446933425767453 Centerline is valid? [False, False] Translation: X:3.11, Y:0.50, Z:-0.17 [[ 9.99841017e-01 -2.36690062e-03 -1.76730931e-02 3.11395582e+00] [ 2.32014899e-03 9.99993756e-01 -2.66539154e-03 5.02290558e-01] [ 1.76792915e-02 2.62396358e-03 9.99840266e-01 -1.73466031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.703133365 meters Centerline goodness [0,1] 0.3044364456394466 Centerline is valid? [False, False] Translation: X:3.11, Y:0.50, Z:-0.17 [[ 9.99840660e-01 -2.19727496e-03 -1.77151578e-02 3.11425560e+00] [ 2.15997482e-03 9.99995411e-01 -2.12440814e-03 4.99299887e-01] [ 1.77197444e-02 2.08580535e-03 9.99840817e-01 -1.73722098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.733133365 meters Centerline goodness [0,1] 0.3038902992037146 Centerline is valid? [False, False] Translation: X:3.11, Y:0.49, Z:-0.17 [[ 9.99839273e-01 -1.95465418e-03 -1.78215451e-02 3.11463255e+00] [ 1.93198643e-03 9.99997303e-01 -1.28905787e-03 4.94204549e-01] [ 1.78240167e-02 1.25441970e-03 9.99840353e-01 -1.73864599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.763133365 meters Centerline goodness [0,1] 0.301797051544173 Centerline is valid? [False, False] Translation: X:3.11, Y:0.49, Z:-0.17 [[ 9.99839369e-01 -1.73080306e-03 -1.78393033e-02 3.11487038e+00] [ 1.71735285e-03 9.99998229e-01 -7.69257076e-04 4.91795868e-01] [ 1.78406031e-02 7.38497131e-04 9.99840571e-01 -1.74143411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79313336499996 meters Centerline goodness [0,1] 0.3026443395616474 Centerline is valid? [False, False] Translation: X:3.11, Y:0.49, Z:-0.17 [[ 9.99840962e-01 -1.50454515e-03 -1.77704197e-02 3.11480633e+00] [ 1.50003036e-03 9.99998839e-01 -2.67388204e-04 4.89524969e-01] [ 1.77708013e-02 2.40689510e-04 9.99842058e-01 -1.74276147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.823133365 meters Centerline goodness [0,1] 0.30424059887819466 Centerline is valid? [False, False] Translation: X:3.10, Y:0.48, Z:-0.18 [[ 9.99821114e-01 6.63859039e-03 -1.77106890e-02 3.09600105e+00] [-6.66458000e-03 9.99976799e-01 -1.40883478e-03 4.81512019e-01] [ 1.77009255e-02 1.52661706e-03 9.99842161e-01 -1.76108671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85313336499996 meters Centerline goodness [0,1] 0.30449171547388365 Centerline is valid? [False, False] Translation: X:3.10, Y:0.48, Z:-0.18 [[ 9.99821596e-01 6.75968210e-03 -1.76375405e-02 3.09584706e+00] [-6.77902479e-03 9.99976484e-01 -1.03712008e-03 4.79321104e-01] [ 1.76301151e-02 1.15650038e-03 9.99843909e-01 -1.76150655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.883133365 meters Centerline goodness [0,1] 0.3070465029843241 Centerline is valid? [False, False] Translation: X:3.10, Y:0.48, Z:-0.18 [[ 9.99820530e-01 7.01679672e-03 -1.75975268e-02 3.09540640e+00] [-7.02623824e-03 9.99975203e-01 -4.74755404e-04 4.76352206e-01] [ 1.75937591e-02 5.98314615e-04 9.99845039e-01 -1.75696249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91313336499996 meters Centerline goodness [0,1] 0.3031324777028497 Centerline is valid? [False, False] Translation: X:3.11, Y:0.48, Z:-0.17 [[ 9.99844212e-01 -7.49031910e-04 -1.76349191e-02 3.11339262e+00] [ 7.70276530e-04 9.99998986e-01 1.19792897e-03 4.79291205e-01] [ 1.76340039e-02 -1.21132611e-03 9.99843775e-01 -1.73929474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.943133365 meters Centerline goodness [0,1] 0.30159245315677874 Centerline is valid? [False, False] Translation: X:3.11, Y:0.48, Z:-0.17 [[ 9.99842434e-01 -6.39943773e-04 -1.77397177e-02 3.11383244e+00] [ 6.65313862e-04 9.99998764e-01 1.42426442e-03 4.78061928e-01] [ 1.77387843e-02 -1.43584248e-03 9.99841624e-01 -1.74206712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97313336499997 meters Centerline goodness [0,1] 0.3022014965838846 Centerline is valid? [False, False] Translation: X:3.11, Y:0.48, Z:-0.17 [[ 9.99843054e-01 -5.41649492e-04 -1.77080082e-02 3.11392151e+00] [ 5.71410579e-04 9.99998433e-01 1.67564047e-03 4.76604009e-01] [ 1.77070728e-02 -1.68549603e-03 9.99841797e-01 -1.74485326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.003133365 meters Centerline goodness [0,1] 0.3039778306312597 Centerline is valid? [False, False] Translation: X:3.11, Y:0.48, Z:-0.17 [[ 9.99845553e-01 -4.63678929e-04 -1.75686041e-02 3.11371286e+00] [ 4.97813877e-04 9.99997997e-01 1.93862814e-03 4.75021197e-01] [ 1.75676700e-02 -1.94707462e-03 9.99843781e-01 -1.74676908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03313336499997 meters Centerline goodness [0,1] 0.30193467227692705 Centerline is valid? [False, False] Translation: X:3.11, Y:0.47, Z:-0.17 [[ 9.99846257e-01 -2.95578893e-04 -1.75321101e-02 3.11372740e+00] [ 3.37211700e-04 9.99997131e-01 2.37175164e-03 4.72911076e-01] [ 1.75313587e-02 -2.37729904e-03 9.99843488e-01 -1.74798649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.063133365 meters Centerline goodness [0,1] 0.30338296166265744 Centerline is valid? [False, False] Translation: X:3.11, Y:0.47, Z:-0.17 [[ 9.99845915e-01 6.20457639e-05 -1.75540088e-02 3.11374479e+00] [-4.35652408e-06 9.99994600e-01 3.28640464e-03 4.68465611e-01] [ 1.75541179e-02 -3.28582178e-03 9.99840515e-01 -1.74635562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09313336499997 meters Centerline goodness [0,1] 0.30450024100609085 Centerline is valid? [False, False] Translation: X:3.11, Y:0.47, Z:-0.17 [[ 9.99846690e-01 2.21106039e-04 -1.75084937e-02 3.11361577e+00] [-1.55397532e-04 9.99992941e-01 3.75422189e-03 4.65991159e-01] [ 1.75092002e-02 -3.75092555e-03 9.99839666e-01 -1.74544347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.123133365 meters Centerline goodness [0,1] 0.30314200837001537 Centerline is valid? [False, False] Translation: X:3.13, Y:0.46, Z:-0.17 [[ 9.99823231e-01 7.62106009e-03 -1.71879481e-02 3.13273034e+00] [-7.57391467e-03 9.99967380e-01 2.80636468e-03 4.59457825e-01] [ 1.72087749e-02 -2.67568855e-03 9.99848338e-01 -1.72678812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.153133365 meters Centerline goodness [0,1] 0.30411600234085445 Centerline is valid? [False, False] Translation: X:3.13, Y:0.46, Z:-0.17 [[ 9.99824363e-01 7.76583721e-03 -1.70568432e-02 3.13232361e+00] [-7.71144927e-03 9.99964978e-01 3.25209000e-03 4.57009411e-01] [ 1.70815010e-02 -3.11998583e-03 9.99849233e-01 -1.72501611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.183133365 meters Centerline goodness [0,1] 0.30562096633525204 Centerline is valid? [False, False] Translation: X:3.13, Y:0.45, Z:-0.17 [[ 0.99982415 0.007914 -0.01700103 3.13213538] [-0.00785295 0.99996249 0.00365503 0.4549761 ] [ 0.01702932 -0.00352088 0.99984879 -0.17238968] [ 0. 0. 0. 1. ]] SLAMing on 276.213133365 meters Centerline goodness [0,1] 0.30604912464071077 Centerline is valid? [False, False] Translation: X:3.13, Y:0.45, Z:-0.17 [[ 0.99982406 0.00803226 -0.01695067 3.13209819] [-0.00796606 0.99996039 0.00396953 0.45336728] [ 0.01698188 -0.0038338 0.99984845 -0.17249367] [ 0. 0. 0. 1. ]] SLAMing on 276.243133365 meters Centerline goodness [0,1] 0.30155028717018617 Centerline is valid? [False, False] Translation: X:3.15, Y:0.46, Z:-0.17 [[ 9.99856101e-01 -1.36870512e-04 -1.69634709e-02 3.15133864e+00] [ 2.21050950e-04 9.99987671e-01 4.96067796e-03 4.55802909e-01] [ 1.69625828e-02 -4.96371391e-03 9.99843804e-01 -1.71805786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.273133365 meters Centerline goodness [0,1] 0.30571828276645974 Centerline is valid? [False, False] Translation: X:3.13, Y:0.45, Z:-0.17 [[ 0.99982081 0.00797835 -0.01716694 3.13230713] [-0.00791465 0.99996155 0.00377549 0.44911566] [ 0.0171964 -0.00363894 0.99984551 -0.17349235] [ 0. 0. 0. 1. ]] SLAMing on 276.303133365 meters Centerline goodness [0,1] 0.3012733207946905 Centerline is valid? [False, False] Translation: X:3.15, Y:0.45, Z:-0.17 [[ 9.99855825e-01 -4.21922625e-04 -1.69749919e-02 3.15235652e+00] [ 5.01099536e-04 9.99989015e-01 4.66034390e-03 4.52168781e-01] [ 1.69728391e-02 -4.66817816e-03 9.99845053e-01 -1.72627295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.333133365 meters Centerline goodness [0,1] 0.30118238122049457 Centerline is valid? [False, False] Translation: X:3.15, Y:0.45, Z:-0.17 [[ 9.99855169e-01 -2.97104469e-04 -1.70162494e-02 3.15245269e+00] [ 3.83067393e-04 9.99987181e-01 5.04877724e-03 4.50106321e-01] [ 1.70145312e-02 -5.05456439e-03 9.99842466e-01 -1.72582731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.363133365 meters Centerline goodness [0,1] 0.3031283945253096 Centerline is valid? [False, False] Translation: X:3.15, Y:0.45, Z:-0.17 [[ 9.99853273e-01 -2.13713467e-04 -1.71285293e-02 3.15268218e+00] [ 3.07156173e-04 9.99985085e-01 5.45293901e-03 4.47691967e-01] [ 1.71271085e-02 -5.45740005e-03 9.99838426e-01 -1.72447291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.393133365 meters Centerline goodness [0,1] 0.3052553760518363 Centerline is valid? [False, False] Translation: X:3.15, Y:0.45, Z:-0.17 [[ 9.99852852e-01 -1.40861652e-04 -1.71538453e-02 3.15258996e+00] [ 2.41693459e-04 9.99982706e-01 5.87615644e-03 4.45083293e-01] [ 1.71527209e-02 -5.87943775e-03 9.99835595e-01 -1.72126402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.423133365 meters Centerline goodness [0,1] 0.30546141814389993 Centerline is valid? [False, False] Translation: X:3.15, Y:0.44, Z:-0.17 [[ 9.99855005e-01 8.66666119e-05 -1.70282756e-02 3.15213386e+00] [ 2.89151843e-05 9.99976966e-01 6.78727607e-03 4.39750797e-01] [ 1.70284716e-02 -6.78678432e-03 9.99831971e-01 -1.71705851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.453133365 meters Centerline goodness [0,1] 0.3040601698202664 Centerline is valid? [False, False] Translation: X:3.15, Y:0.44, Z:-0.17 [[ 9.99852823e-01 2.57244259e-04 -1.71541972e-02 3.15249202e+00] [-1.33612598e-04 9.99974014e-01 7.20783604e-03 4.37714446e-01] [ 1.71556056e-02 -7.20448319e-03 9.99826875e-01 -1.71761814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.483133365 meters Centerline goodness [0,1] 0.30450143941376606 Centerline is valid? [False, False] Translation: X:3.15, Y:0.44, Z:-0.17 [[ 9.99852556e-01 3.85998588e-04 -1.71673317e-02 3.15267023e+00] [-2.56334743e-04 9.99971432e-01 7.55450032e-03 4.35948924e-01] [ 1.71697573e-02 -7.54898588e-03 9.99824091e-01 -1.71939375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.513133365 meters Centerline goodness [0,1] 0.3028522039757995 Centerline is valid? [False, False] Translation: X:3.17, Y:0.43, Z:-0.17 [[ 0.99981113 0.00805853 -0.01768515 3.17234078] [-0.00793947 0.99994541 0.00679231 0.43046077] [ 0.01773892 -0.00665061 0.99982053 -0.17003114] [ 0. 0. 0. 1. ]] SLAMing on 276.54313336499996 meters Centerline goodness [0,1] 0.30624837620161083 Centerline is valid? [False, False] Translation: X:3.17, Y:0.43, Z:-0.17 [[ 0.99980982 0.00819457 -0.01769645 3.17227017] [-0.00806952 0.99994205 0.00712592 0.42875944] [ 0.01775382 -0.00698176 0.99981801 -0.16987877] [ 0. 0. 0. 1. ]] SLAMing on 276.573133365 meters Centerline goodness [0,1] 0.30437698781886235 Centerline is valid? [False, False] Translation: X:3.17, Y:0.43, Z:-0.17 [[ 0.99981144 0.0083109 -0.01755038 3.17172373] [-0.00818117 0.99993878 0.0074508 0.42702643] [ 0.01761123 -0.00730582 0.99981822 -0.16955692] [ 0. 0. 0. 1. ]] SLAMing on 276.60313336499996 meters Centerline goodness [0,1] 0.3043713481930318 Centerline is valid? [False, False] Translation: X:3.17, Y:0.42, Z:-0.17 [[ 0.99984683 0.00642146 -0.01628136 3.16640583] [-0.00632211 0.99996113 0.00614607 0.42161294] [ 0.0163202 -0.00604219 0.99984856 -0.16682176] [ 0. 0. 0. 1. ]] SLAMing on 276.633133365 meters Centerline goodness [0,1] 0.30440313955494225 Centerline is valid? [False, False] Translation: X:3.17, Y:0.42, Z:-0.17 [[ 0.99986661 0.00348307 -0.01595688 3.16524307] [-0.003429 0.99998829 0.00341433 0.41961492] [ 0.01596858 -0.00335916 0.99986685 -0.16640533] [ 0. 0. 0. 1. ]] SLAMing on 276.66313336499996 meters Centerline goodness [0,1] 0.3100935843458912 Centerline is valid? [False, False] Translation: X:3.15, Y:0.42, Z:-0.17 [[ 0.99985717 -0.00475102 -0.01621929 3.14501573] [ 0.00482707 0.99997752 0.00465344 0.41940503] [ 0.01619681 -0.00473106 0.99985763 -0.16791772] [ 0. 0. 0. 1. ]] SLAMing on 276.693133365 meters Centerline goodness [0,1] 0.30843853532838184 Centerline is valid? [False, False] Translation: X:3.16, Y:0.41, Z:-0.17 [[ 9.99834377e-01 2.22474854e-03 -1.80629212e-02 3.16373603e+00] [-2.15416525e-03 9.99989972e-01 3.92615091e-03 4.12445881e-01] [ 1.80714748e-02 -3.88659014e-03 9.99829144e-01 -1.65726883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72313336499997 meters Centerline goodness [0,1] 0.30557473248187783 Centerline is valid? [False, False] Translation: X:3.16, Y:0.41, Z:-0.17 [[ 9.99831753e-01 2.39535788e-03 -1.81859231e-02 3.16437809e+00] [-2.31620741e-03 9.99987760e-01 4.37210956e-03 4.10132271e-01] [ 1.81961733e-02 -4.32925159e-03 9.99825063e-01 -1.66204862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.753133365 meters Centerline goodness [0,1] 0.3087873576979169 Centerline is valid? [False, False] Translation: X:3.16, Y:0.41, Z:-0.17 [[ 9.99830685e-01 2.55005959e-03 -1.82235564e-02 3.16476411e+00] [-2.46288005e-03 9.99985424e-01 4.80473599e-03 4.07755922e-01] [ 1.82355431e-02 -4.75904005e-03 9.99822392e-01 -1.66632903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78313336499997 meters Centerline goodness [0,1] 0.3074970714564623 Centerline is valid? [False, False] Translation: X:3.17, Y:0.40, Z:-0.17 [[ 9.99828007e-01 2.83097648e-03 -1.83287326e-02 3.16523423e+00] [-2.72940302e-03 9.99980794e-01 5.56440693e-03 4.03228064e-01] [ 1.83441333e-02 -5.51342339e-03 9.99816531e-01 -1.66891200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.813133365 meters Centerline goodness [0,1] 0.30793574577676897 Centerline is valid? [False, False] Translation: X:3.17, Y:0.40, Z:-0.17 [[ 9.99825565e-01 3.01348355e-03 -1.84325349e-02 3.16571820e+00] [-2.90341416e-03 9.99977813e-01 5.99532171e-03 4.01016941e-01] [ 1.84501927e-02 -5.94075863e-03 9.99812131e-01 -1.67265523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84313336499997 meters Centerline goodness [0,1] 0.306843075588331 Centerline is valid? [False, False] Translation: X:3.17, Y:0.40, Z:-0.17 [[ 9.99819927e-01 3.15359116e-03 -1.87127846e-02 3.16678155e+00] [-3.03536722e-03 9.99975277e-01 6.34285958e-03 3.99062570e-01] [ 1.87323248e-02 -6.28491723e-03 9.99804781e-01 -1.67895391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.873133365 meters Centerline goodness [0,1] 0.3086376481412517 Centerline is valid? [False, False] Translation: X:3.17, Y:0.40, Z:-0.17 [[ 0.99981626 0.00330849 -0.0188813 3.16753572] [-0.00318203 0.99997233 0.00672387 0.39701405] [ 0.01890302 -0.00666256 0.99979912 -0.16848851] [ 0. 0. 0. 1. ]] SLAMing on 276.903133365 meters Centerline goodness [0,1] 0.30741995410337664 Centerline is valid? [False, False] Translation: X:3.17, Y:0.39, Z:-0.17 [[ 0.99981504 0.00347118 -0.01891661 3.16780539] [-0.00333718 0.99996915 0.00711051 0.39499911] [ 0.01894071 -0.00704607 0.99979578 -0.16878478] [ 0. 0. 0. 1. ]] SLAMing on 276.933133365 meters Centerline goodness [0,1] 0.3057290311388672 Centerline is valid? [False, False] Translation: X:3.17, Y:0.39, Z:-0.17 [[ 0.99981614 0.00365116 -0.01882454 3.16763713] [-0.00350991 0.99996548 0.00753101 0.39292149] [ 0.01885139 -0.00746355 0.99979444 -0.1688435 ] [ 0. 0. 0. 1. ]] SLAMing on 276.963133365 meters Centerline goodness [0,1] 0.308210370305791 Centerline is valid? [False, False] Translation: X:3.16, Y:0.39, Z:-0.17 [[ 9.99842559e-01 1.21931504e-03 -1.77022877e-02 3.16434687e+00] [-1.12099201e-03 9.99983897e-01 5.56311659e-03 3.88224656e-01] [ 1.77087858e-02 -5.54239660e-03 9.99827826e-01 -1.68050237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.993133365 meters Centerline goodness [0,1] 0.30617326721953964 Centerline is valid? [False, False] Translation: X:3.16, Y:0.39, Z:-0.17 [[ 9.99843533e-01 1.27410535e-03 -1.76432821e-02 3.16432678e+00] [-1.17178052e-03 9.99982442e-01 5.80877192e-03 3.86677230e-01] [ 1.76503733e-02 -5.78718899e-03 9.99827471e-01 -1.68190245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.023133365 meters Centerline goodness [0,1] 0.3064331279057195 Centerline is valid? [False, False] Translation: X:3.16, Y:0.39, Z:-0.17 [[ 9.99844029e-01 1.33837360e-03 -1.76104065e-02 3.16427822e+00] [-1.23235049e-03 9.99981060e-01 6.02995574e-03 3.85379448e-01] [ 1.76181433e-02 -6.00731305e-03 9.99826742e-01 -1.68215579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.053133365 meters Centerline goodness [0,1] 0.3103628409115643 Centerline is valid? [False, False] Translation: X:3.16, Y:0.38, Z:-0.17 [[ 9.99843771e-01 1.42447038e-03 -1.76182889e-02 3.16425556e+00] [-1.31498479e-03 9.99979764e-01 6.22433895e-03 3.84542207e-01] [ 1.76267988e-02 -6.20019875e-03 9.99825412e-01 -1.68142265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.083133365 meters Centerline goodness [0,1] 0.3067499243766475 Centerline is valid? [False, False] Translation: X:3.17, Y:0.38, Z:-0.17 [[ 9.99838342e-01 1.60072536e-03 -1.79088942e-02 3.16517474e+00] [-1.48691203e-03 9.99978627e-01 6.36664067e-03 3.84553902e-01] [ 1.79187027e-02 -6.33898250e-03 9.99819352e-01 -1.68578120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.113133365 meters Centerline goodness [0,1] 0.30819886611426084 Centerline is valid? [False, False] Translation: X:3.17, Y:0.39, Z:-0.17 [[ 9.99835873e-01 1.53501380e-03 -1.80518998e-02 3.16566283e+00] [-1.42447085e-03 9.99980167e-01 6.13488346e-03 3.85661519e-01] [ 1.80609589e-02 -6.10816216e-03 9.99818230e-01 -1.68909844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.143133365 meters Centerline goodness [0,1] 0.30334872480904496 Centerline is valid? [False, False] Translation: X:3.19, Y:0.38, Z:-0.17 [[ 0.99978763 0.00956969 -0.01825162 3.18640282] [-0.00948425 0.99994368 0.00476203 0.3846529 ] [ 0.01829616 -0.00458792 0.99982208 -0.16760603] [ 0. 0. 0. 1. ]] SLAMing on 277.173133365 meters Centerline goodness [0,1] 0.30372400103564334 Centerline is valid? [False, False] Translation: X:3.19, Y:0.39, Z:-0.17 [[ 0.9997883 0.00942317 -0.01829101 3.18658833] [-0.00934525 0.99994691 0.00434058 0.38666184] [ 0.01833095 -0.00416873 0.99982328 -0.16785465] [ 0. 0. 0. 1. ]] SLAMing on 277.203133365 meters Centerline goodness [0,1] 0.30702117913931115 Centerline is valid? [False, False] Translation: X:3.17, Y:0.39, Z:-0.17 [[ 9.99843078e-01 1.18097370e-03 -1.76755331e-02 3.16577859e+00] [-1.09570059e-03 9.99987719e-01 4.83326574e-03 3.92459992e-01] [ 1.76810240e-02 -4.81314020e-03 9.99832093e-01 -1.69310684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23313336499996 meters Centerline goodness [0,1] 0.3043572559481207 Centerline is valid? [False, False] Translation: X:3.17, Y:0.39, Z:-0.17 [[ 9.99844412e-01 1.08497213e-03 -1.76061220e-02 3.16542553e+00] [-1.00708031e-03 9.99989670e-01 4.43239571e-03 3.94806038e-01] [ 1.76107492e-02 -4.41397530e-03 9.99835176e-01 -1.69110094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.263133365 meters Centerline goodness [0,1] 0.3055289299407459 Centerline is valid? [False, False] Translation: X:3.17, Y:0.40, Z:-0.17 [[ 9.99845403e-01 1.01241848e-03 -1.75540796e-02 3.16526476e+00] [-9.47787543e-04 9.99992744e-01 3.68974696e-03 3.99528335e-01] [ 1.75576878e-02 -3.67253900e-03 9.99839107e-01 -1.69288860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29313336499996 meters Centerline goodness [0,1] 0.3041819324907321 Centerline is valid? [False, False] Translation: X:3.17, Y:0.40, Z:-0.17 [[ 9.99843672e-01 8.81857632e-04 -1.76594076e-02 3.16567271e+00] [-8.24880712e-04 9.99994432e-01 3.23345855e-03 4.02019733e-01] [ 1.76621607e-02 -3.21838616e-03 9.99838832e-01 -1.69663005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.323133365 meters Centerline goodness [0,1] 0.301996456505769 Centerline is valid? [False, False] Translation: X:3.17, Y:0.40, Z:-0.17 [[ 9.99841448e-01 7.76078806e-04 -1.77897716e-02 3.16613860e+00] [-7.25432019e-04 9.99995666e-01 2.85323744e-03 4.04108885e-01] [ 1.77919089e-02 -2.83987978e-03 9.99837678e-01 -1.70042576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35313336499996 meters Centerline goodness [0,1] 0.301996456505769 Centerline is valid? [False, False] Translation: X:3.17, Y:0.40, Z:-0.17 [[ 9.99841448e-01 7.76078806e-04 -1.77897716e-02 3.16613860e+00] [-7.25432019e-04 9.99995666e-01 2.85323744e-03 4.04108885e-01] [ 1.77919089e-02 -2.83987978e-03 9.99837678e-01 -1.70042576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.383133365 meters Centerline goodness [0,1] 0.3045558833169453 Centerline is valid? [False, False] Translation: X:3.17, Y:0.41, Z:-0.17 [[ 9.99843853e-01 6.73794593e-04 -1.76582773e-02 3.16584263e+00] [-6.29506767e-04 9.99996643e-01 2.51348749e-03 4.06087244e-01] [ 1.76599116e-02 -2.50197901e-03 9.99840921e-01 -1.70148913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41313336499996 meters Centerline goodness [0,1] 0.3040578702698006 Centerline is valid? [False, False] Translation: X:3.17, Y:0.41, Z:-0.17 [[ 9.99847370e-01 5.96106517e-04 -1.74608720e-02 3.16511771e+00] [-5.57264028e-04 9.99997360e-01 2.22932567e-03 4.07777665e-01] [ 1.74621548e-02 -2.21925509e-03 9.99845062e-01 -1.69802427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.443133365 meters Centerline goodness [0,1] 0.30417128091546697 Centerline is valid? [False, False] Translation: X:3.16, Y:0.41, Z:-0.17 [[ 9.99849733e-01 4.46141057e-04 -1.73294958e-02 3.16426017e+00] [-4.12192894e-04 9.99997989e-01 1.96250399e-03 4.09056998e-01] [ 1.73303365e-02 -1.95506600e-03 9.99847907e-01 -1.68930456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47313336499997 meters Centerline goodness [0,1] 0.30193506772737044 Centerline is valid? [False, False] Translation: X:3.16, Y:0.41, Z:-0.17 [[ 9.99845148e-01 3.32689254e-04 -1.75945929e-02 3.16485489e+00] [-2.99460929e-04 9.99998167e-01 1.89115413e-03 4.09036352e-01] [ 1.75951898e-02 -1.88559239e-03 9.99843415e-01 -1.68898717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.503133365 meters Centerline goodness [0,1] 0.3046713966456205 Centerline is valid? [False, False] Translation: X:3.17, Y:0.41, Z:-0.17 [[ 9.99841637e-01 3.10541513e-04 -1.77933568e-02 3.16537834e+00] [-2.75644550e-04 9.99998034e-01 1.96365444e-03 4.08449195e-01] [ 1.77939316e-02 -1.95843883e-03 9.99839757e-01 -1.68947399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53313336499997 meters Centerline goodness [0,1] 0.3053950529117704 Centerline is valid? [False, False] Translation: X:3.17, Y:0.41, Z:-0.17 [[ 9.99841450e-01 3.10732760e-04 -1.78039075e-02 3.16533775e+00] [-2.73701696e-04 9.99997794e-01 2.08233921e-03 4.07761545e-01] [ 1.78045153e-02 -2.07713610e-03 9.99839329e-01 -1.68789863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.563133365 meters Centerline goodness [0,1] 0.3035718139635265 Centerline is valid? [False, False] Translation: X:3.16, Y:0.41, Z:-0.17 [[ 9.99843923e-01 3.01494951e-04 -1.76646361e-02 3.16494184e+00] [-2.61936394e-04 9.99997453e-01 2.24169186e-03 4.06724793e-01] [ 1.76652669e-02 -2.23671497e-03 9.99841455e-01 -1.68607782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59313336499997 meters Centerline goodness [0,1] 0.30657627704132306 Centerline is valid? [False, False] Translation: X:3.16, Y:0.40, Z:-0.17 [[ 9.99860201e-01 -2.14313458e-04 -1.67192393e-02 3.16240407e+00] [ 2.51603812e-04 9.99997486e-01 2.22831424e-03 4.04245850e-01] [ 1.67187197e-02 -2.23220935e-03 9.99857741e-01 -1.67911534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.623133365 meters Centerline goodness [0,1] 0.3110766948782828 Centerline is valid? [False, False] Translation: X:3.16, Y:0.40, Z:-0.17 [[ 9.99862695e-01 -1.87729397e-04 -1.65697440e-02 3.16187651e+00] [ 2.30113093e-04 9.99996707e-01 2.55602734e-03 4.02080297e-01] [ 1.65692096e-02 -2.55948930e-03 9.99859445e-01 -1.67550336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.653133365 meters Centerline goodness [0,1] 0.30679384854973724 Centerline is valid? [False, False] Translation: X:3.16, Y:0.40, Z:-0.17 [[ 9.99859483e-01 -1.28686328e-04 -1.67629977e-02 3.16234501e+00] [ 1.77387266e-04 9.99995768e-01 2.90380975e-03 3.99985041e-01] [ 1.67625531e-02 -2.90637526e-03 9.99855274e-01 -1.67474892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.683133365 meters Centerline goodness [0,1] 0.3049939779766001 Centerline is valid? [False, False] Translation: X:3.16, Y:0.40, Z:-0.17 [[ 9.99853709e-01 -1.20525977e-05 -1.71044149e-02 3.16334785e+00] [ 6.86411510e-05 9.99994527e-01 3.30783473e-03 3.97734699e-01] [ 1.71042815e-02 -3.30852488e-03 9.99848237e-01 -1.67728984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.713133365 meters Centerline goodness [0,1] 0.3092411393781257 Centerline is valid? [False, False] Translation: X:3.16, Y:0.40, Z:-0.17 [[ 9.99847987e-01 7.12472250e-05 -1.74355380e-02 3.16443174e+00] [-7.62985126e-06 9.99993343e-01 3.64875802e-03 3.95666224e-01] [ 1.74356819e-02 -3.64807033e-03 9.99841332e-01 -1.68154583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.743133365 meters Centerline goodness [0,1] 0.31010452961672474 Centerline is valid? [False, False] Translation: X:3.17, Y:0.39, Z:-0.17 [[ 9.99842454e-01 1.69915445e-04 -1.77492983e-02 3.16538852e+00] [-9.87250981e-05 9.99991948e-01 4.01168153e-03 3.93519103e-01] [ 1.77498370e-02 -4.00929721e-03 9.99834421e-01 -1.68477837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.773133365 meters Centerline goodness [0,1] 0.3076923076923077 Centerline is valid? [False, False] Translation: X:3.17, Y:0.39, Z:-0.17 [[ 9.99839661e-01 3.09810467e-04 -1.79040624e-02 3.16577783e+00] [-2.30373816e-04 9.99990122e-01 4.43868698e-03 3.91196645e-01] [ 1.79052607e-02 -4.43385066e-03 9.99829857e-01 -1.68487270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.803133365 meters Centerline goodness [0,1] 0.3128226441508444 Centerline is valid? [False, False] Translation: X:3.16, Y:0.39, Z:-0.17 [[ 9.99842501e-01 5.50920112e-04 -1.77389261e-02 3.16494377e+00] [-4.59165051e-04 9.99986498e-01 5.17618374e-03 3.86977846e-01] [ 1.77415382e-02 -5.16722340e-03 9.99829254e-01 -1.67680632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.833133365 meters Centerline goodness [0,1] 0.3062012994021024 Centerline is valid? [False, False] Translation: X:3.18, Y:0.38, Z:-0.17 [[ 0.99981378 0.0082374 -0.01745142 3.18427944] [-0.00816785 0.99995843 0.00405277 0.38169756] [ 0.01748408 -0.00390948 0.9998395 -0.16578716] [ 0. 0. 0. 1. ]] SLAMing on 277.863133365 meters Centerline goodness [0,1] 0.30746826638845415 Centerline is valid? [False, False] Translation: X:3.18, Y:0.38, Z:-0.17 [[ 0.99981063 0.00832881 -0.01758816 3.18477665] [-0.00825352 0.99995648 0.00434903 0.37987749] [ 0.01762361 -0.00420304 0.99983586 -0.16606713] [ 0. 0. 0. 1. ]] SLAMing on 277.893133365 meters Centerline goodness [0,1] 0.30674939141299895 Centerline is valid? [False, False] Translation: X:3.20, Y:0.38, Z:-0.17 [[ 9.99829026e-01 3.90413850e-04 -1.84869389e-02 3.20483920e+00] [-2.95545035e-04 9.99986777e-01 5.13412110e-03 3.82810127e-01] [ 1.84886988e-02 -5.12777958e-03 9.99815920e-01 -1.65265708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.923133365 meters Centerline goodness [0,1] 0.30856289628010647 Centerline is valid? [False, False] Translation: X:3.21, Y:0.38, Z:-0.17 [[ 9.99825698e-01 4.83736104e-04 -1.86638478e-02 3.20554018e+00] [-3.82546995e-04 9.99985212e-01 5.42485321e-03 3.81179225e-01] [ 1.86661960e-02 -5.41676785e-03 9.99811098e-01 -1.65687684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.953133365 meters Centerline goodness [0,1] 0.30808157591816343 Centerline is valid? [False, False] Translation: X:3.21, Y:0.38, Z:-0.17 [[ 9.99825334e-01 7.66166242e-04 -1.86738994e-02 3.20527236e+00] [-6.52100555e-04 9.99981099e-01 6.11361896e-03 3.77924272e-01] [ 1.86782305e-02 -6.10037386e-03 9.99806936e-01 -1.65163120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98313336499996 meters Centerline goodness [0,1] 0.3104891446507978 Centerline is valid? [False, False] Translation: X:3.21, Y:0.38, Z:-0.16 [[ 9.99825196e-01 8.42726601e-04 -1.86780048e-02 3.20509305e+00] [-7.25807340e-04 9.99980107e-01 6.26562486e-03 3.77275297e-01] [ 1.86829134e-02 -6.25097296e-03 9.99805918e-01 -1.64855694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.013133365 meters Centerline goodness [0,1] 0.30980340702836273 Centerline is valid? [False, False] Translation: X:3.20, Y:0.38, Z:-0.16 [[ 9.99826059e-01 8.79368416e-04 -1.86300344e-02 3.20491818e+00] [-7.61639929e-04 9.99979704e-01 6.32543760e-03 3.76946776e-01] [ 1.86352187e-02 -6.31014797e-03 9.99806437e-01 -1.64753052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04313336499996 meters Centerline goodness [0,1] 0.3089167153268886 Centerline is valid? [False, False] Translation: X:3.22, Y:0.38, Z:-0.16 [[ 0.99980249 0.00899166 -0.01772378 3.22475756] [-0.00890367 0.99994767 0.0050374 0.37508702] [ 0.01776815 -0.0048786 0.99983023 -0.1634833 ] [ 0. 0. 0. 1. ]] SLAMing on 278.073133365 meters Centerline goodness [0,1] 0.30853552859618716 Centerline is valid? [False, False] Translation: X:3.22, Y:0.38, Z:-0.16 [[ 0.99980305 0.00892299 -0.017727 3.22469442] [-0.00883875 0.9999493 0.00482449 0.37604644] [ 0.01776915 -0.00466686 0.99983122 -0.16345411] [ 0. 0. 0. 1. ]] SLAMing on 278.10313336499996 meters Centerline goodness [0,1] 0.3051476170849693 Centerline is valid? [False, False] Translation: X:3.22, Y:0.38, Z:-0.16 [[ 0.99980172 0.00891664 -0.01780505 3.2249172 ] [-0.00883588 0.99995034 0.00460951 0.37742511] [ 0.01784527 -0.00445127 0.99983085 -0.16359852] [ 0. 0. 0. 1. ]] SLAMing on 278.133133365 meters Centerline goodness [0,1] 0.30432536008784206 Centerline is valid? [False, False] Translation: X:3.23, Y:0.38, Z:-0.16 [[ 0.99979159 0.00915937 -0.01824492 3.22588236] [-0.00908117 0.99994924 0.00436479 0.38002098] [ 0.01828397 -0.0041982 0.99982402 -0.16370434] [ 0. 0. 0. 1. ]] SLAMing on 278.16313336499996 meters Centerline goodness [0,1] 0.3086169726269027 Centerline is valid? [False, False] Translation: X:3.21, Y:0.38, Z:-0.17 [[ 9.99838074e-01 8.38982374e-04 -1.79756086e-02 3.20541978e+00] [-7.48516708e-04 9.99987025e-01 5.03882720e-03 3.84554753e-01] [ 1.79796028e-02 -5.02455624e-03 9.99825729e-01 -1.65088157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.193133365 meters Centerline goodness [0,1] 0.302335602861329 Centerline is valid? [False, False] Translation: X:3.20, Y:0.39, Z:-0.16 [[ 9.99840416e-01 8.10529397e-04 -1.78461558e-02 3.20499330e+00] [-7.23697364e-04 9.99987872e-01 4.87150814e-03 3.85596010e-01] [ 1.78498879e-02 -4.85781551e-03 9.99828877e-01 -1.64984480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22313336499997 meters Centerline goodness [0,1] 0.3082267866088737 Centerline is valid? [False, False] Translation: X:3.20, Y:0.39, Z:-0.16 [[ 9.99841272e-01 7.53175448e-04 -1.78006381e-02 3.20462812e+00] [-6.69212142e-04 9.99988626e-01 4.72235665e-03 3.86367163e-01] [ 1.78039924e-02 -4.70969468e-03 9.99830404e-01 -1.64610596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.253133365 meters Centerline goodness [0,1] 0.30801458776538015 Centerline is valid? [False, False] Translation: X:3.20, Y:0.39, Z:-0.16 [[ 9.99842281e-01 6.43236057e-04 -1.77482054e-02 3.20415541e+00] [-5.63021348e-04 9.99989607e-01 4.52422213e-03 3.87257690e-01] [ 1.77509311e-02 -4.51351596e-03 9.99832252e-01 -1.64070959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28313336499997 meters Centerline goodness [0,1] 0.3100530023774729 Centerline is valid? [False, False] Translation: X:3.20, Y:0.39, Z:-0.16 [[ 9.99844033e-01 6.24748003e-04 -1.76499218e-02 3.20389690e+00] [-5.45270317e-04 9.99989693e-01 4.50745857e-03 3.87284580e-01] [ 1.76525559e-02 -4.49713158e-03 9.99834068e-01 -1.64027502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.313133365 meters Centerline goodness [0,1] 0.30894574250533 Centerline is valid? [False, False] Translation: X:3.20, Y:0.39, Z:-0.16 [[ 9.99845986e-01 5.97282906e-04 -1.75398731e-02 3.20350067e+00] [-5.18530270e-04 9.99989767e-01 4.49412516e-03 3.87281981e-01] [ 1.75423779e-02 -4.48433804e-03 9.99836064e-01 -1.63812964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34313336499997 meters Centerline goodness [0,1] 0.3055891499654457 Centerline is valid? [False, False] Translation: X:3.20, Y:0.39, Z:-0.16 [[ 9.99845434e-01 6.39722267e-04 -1.75698473e-02 3.20343097e+00] [-5.58313706e-04 9.99989089e-01 4.63793887e-03 3.86673431e-01] [ 1.75726225e-02 -4.62741251e-03 9.99834881e-01 -1.63565901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.373133365 meters Centerline goodness [0,1] 0.3050475965360896 Centerline is valid? [False, False] Translation: X:3.20, Y:0.39, Z:-0.16 [[ 9.99843329e-01 6.56639364e-04 -1.76885870e-02 3.20373947e+00] [-5.72558072e-04 9.99988516e-01 4.75806543e-03 3.85960567e-01] [ 1.76915082e-02 -4.74719223e-03 9.99832223e-01 -1.63553493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.403133365 meters Centerline goodness [0,1] 0.3053828887162221 Centerline is valid? [False, False] Translation: X:3.20, Y:0.39, Z:-0.16 [[ 9.99837706e-01 6.64004473e-04 -1.80033591e-02 3.20452051e+00] [-5.76082978e-04 9.99987886e-01 4.88836255e-03 3.85026506e-01] [ 1.80063869e-02 -4.87719776e-03 9.99825976e-01 -1.63579211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.433133365 meters Centerline goodness [0,1] 0.30844028714378946 Centerline is valid? [False, False] Translation: X:3.21, Y:0.38, Z:-0.16 [[ 9.99821868e-01 4.94416409e-04 -1.88676358e-02 3.20716215e+00] [-4.01748810e-04 9.99987841e-01 4.91493227e-03 3.83674771e-01] [ 1.88698364e-02 -4.90647671e-03 9.99809910e-01 -1.64544936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.463133365 meters Centerline goodness [0,1] 0.3045239849200503 Centerline is valid? [False, False] Translation: X:3.21, Y:0.38, Z:-0.16 [[ 9.99819595e-01 5.07608374e-04 -1.89873770e-02 3.20748731e+00] [-4.12900054e-04 9.99987457e-01 4.99155005e-03 3.83115060e-01] [ 1.89896726e-02 -4.98280966e-03 9.99807263e-01 -1.64572896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.493133365 meters Centerline goodness [0,1] 0.30834916683046143 Centerline is valid? [False, False] Translation: X:3.21, Y:0.38, Z:-0.16 [[ 9.99820906e-01 5.21763027e-04 -1.89178124e-02 3.20720814e+00] [-4.26253038e-04 9.99987146e-01 5.05236123e-03 3.82656327e-01] [ 1.89202054e-02 -5.04339261e-03 9.99808277e-01 -1.64376933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.523133365 meters Centerline goodness [0,1] 0.3044669240558203 Centerline is valid? [False, False] Translation: X:3.23, Y:0.38, Z:-0.16 [[ 0.99980566 0.00858921 -0.01774434 3.22662092] [-0.00852194 0.99995622 0.00386329 0.38070789] [ 0.01777674 -0.00371132 0.99983509 -0.16283673] [ 0. 0. 0. 1. ]] SLAMing on 278.553133365 meters Centerline goodness [0,1] 0.3064962588123351 Centerline is valid? [False, False] Translation: X:3.23, Y:0.38, Z:-0.16 [[ 0.999809 0.00858325 -0.01755831 3.22590688] [-0.00851835 0.99995662 0.00376803 0.38128971] [ 0.01758989 -0.00361774 0.99983874 -0.16243862] [ 0. 0. 0. 1. ]] SLAMing on 278.583133365 meters Centerline goodness [0,1] 0.30701315646406435 Centerline is valid? [False, False] Translation: X:3.23, Y:0.38, Z:-0.16 [[ 0.99981271 0.0087396 -0.0172676 3.22512098] [-0.00867798 0.99995572 0.00364014 0.38286472] [ 0.01729864 -0.00348961 0.99984428 -0.1623479 ] [ 0. 0. 0. 1. ]] SLAMing on 278.613133365 meters Centerline goodness [0,1] 0.30654437715132243 Centerline is valid? [False, False] Translation: X:3.23, Y:0.38, Z:-0.16 [[ 0.99981351 0.00873781 -0.01722217 3.22511946] [-0.00867786 0.99995604 0.00355238 0.3834332 ] [ 0.01725245 -0.00340226 0.99984538 -0.16256437] [ 0. 0. 0. 1. ]] SLAMing on 278.643133365 meters Centerline goodness [0,1] 0.305778856362809 Centerline is valid? [False, False] Translation: X:3.23, Y:0.38, Z:-0.16 [[ 0.99981381 0.0086848 -0.01723154 3.22522709] [-0.00862657 0.99995684 0.00345082 0.38379526] [ 0.01726077 -0.00330153 0.99984557 -0.16273956] [ 0. 0. 0. 1. ]] SLAMing on 278.673133365 meters Centerline goodness [0,1] 0.3076166754063975 Centerline is valid? [False, False] Translation: X:3.21, Y:0.39, Z:-0.16 [[ 9.99854101e-01 2.94002981e-04 -1.70789544e-02 3.20518509e+00] [-2.21466648e-04 9.99990949e-01 4.24885399e-03 3.86710343e-01] [ 1.70800490e-02 -4.24445167e-03 9.99845116e-01 -1.64316468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.703133365 meters Centerline goodness [0,1] 0.3039934093569787 Centerline is valid? [False, False] Translation: X:3.21, Y:0.39, Z:-0.16 [[ 9.99852431e-01 2.16208446e-04 -1.71775823e-02 3.20526525e+00] [-1.45119536e-04 9.99991421e-01 4.13960872e-03 3.86899236e-01] [ 1.71783300e-02 -4.13650504e-03 9.99843885e-01 -1.64116865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73313336499996 meters Centerline goodness [0,1] 0.30523116995875843 Centerline is valid? [False, False] Translation: X:3.21, Y:0.39, Z:-0.16 [[ 9.99852717e-01 2.02847162e-04 -1.71610893e-02 3.20512995e+00] [-1.32016380e-04 9.99991469e-01 4.12843812e-03 3.86938295e-01] [ 1.71617803e-02 -4.12556453e-03 9.99844214e-01 -1.63974686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.763133365 meters Centerline goodness [0,1] 0.3046235767782155 Centerline is valid? [False, False] Translation: X:3.20, Y:0.39, Z:-0.16 [[ 9.99860227e-01 2.77842789e-04 -1.67167323e-02 3.20350606e+00] [-2.07754394e-04 9.99991182e-01 4.19429961e-03 3.87418612e-01] [ 1.67177502e-02 -4.19024038e-03 9.99851468e-01 -1.63045760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79313336499996 meters Centerline goodness [0,1] 0.3072545922672494 Centerline is valid? [False, False] Translation: X:3.20, Y:0.39, Z:-0.16 [[ 9.99863654e-01 3.05549172e-04 -1.65099891e-02 3.20273351e+00] [-2.35040905e-04 9.99990846e-01 4.27241452e-03 3.87184312e-01] [ 1.65111434e-02 -4.26795147e-03 9.99854573e-01 -1.62583812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.823133365 meters Centerline goodness [0,1] 0.3058101987300349 Centerline is valid? [False, False] Translation: X:3.20, Y:0.39, Z:-0.16 [[ 9.99862976e-01 2.75824202e-04 -1.65515429e-02 3.20278130e+00] [-2.05843978e-04 9.99991034e-01 4.22957285e-03 3.87320967e-01] [ 1.65525612e-02 -4.22558626e-03 9.99854068e-01 -1.62511423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85313336499996 meters Centerline goodness [0,1] 0.3023181009156606 Centerline is valid? [False, False] Translation: X:3.22, Y:0.38, Z:-0.16 [[ 9.99813566e-01 7.91490220e-03 -1.76121475e-02 3.22353592e+00] [-7.85991205e-03 9.99964024e-01 3.18931921e-03 3.84131800e-01] [ 1.76367571e-02 -3.05029468e-03 9.99839807e-01 -1.61055156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.883133365 meters Centerline goodness [0,1] 0.3066536203522505 Centerline is valid? [False, False] Translation: X:3.20, Y:0.39, Z:-0.16 [[ 9.99816746e-01 -8.12753495e-04 -1.91262797e-02 3.20315162e+00] [ 8.86282860e-04 9.99992249e-01 3.83625305e-03 3.86156705e-01] [ 1.91230135e-02 -3.85250134e-03 9.99809716e-01 -1.62167754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91313336499996 meters Centerline goodness [0,1] 0.3066000697958472 Centerline is valid? [False, False] Translation: X:3.20, Y:0.39, Z:-0.16 [[ 9.99812600e-01 -8.02820253e-04 -1.93422008e-02 3.20381094e+00] [ 8.78847303e-04 9.99991921e-01 3.92245127e-03 3.85527447e-01] [ 1.93388955e-02 -3.93871504e-03 9.99805228e-01 -1.62411894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.943133365 meters Centerline goodness [0,1] 0.30882802603415893 Centerline is valid? [False, False] Translation: X:3.20, Y:0.38, Z:-0.16 [[ 9.99816459e-01 -8.05341279e-04 -1.91415638e-02 3.20331724e+00] [ 8.84491223e-04 9.99991093e-01 4.12687165e-03 3.84078585e-01] [ 1.91380697e-02 -4.14304474e-03 9.99808266e-01 -1.62288059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97313336499997 meters Centerline goodness [0,1] 0.30470735173780095 Centerline is valid? [False, False] Translation: X:3.22, Y:0.38, Z:-0.16 [[ 9.99810025e-01 6.86178671e-03 -1.82436295e-02 3.22218485e+00] [-6.80942778e-03 9.99972521e-01 2.93055712e-03 3.80046481e-01] [ 1.82632370e-02 -2.80577171e-03 9.99829276e-01 -1.60628094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.003133365 meters Centerline goodness [0,1] 0.30888946933089545 Centerline is valid? [False, False] Translation: X:3.20, Y:0.38, Z:-0.16 [[ 9.99837959e-01 -1.86922357e-03 -1.79042470e-02 3.20073621e+00] [ 1.93654068e-03 9.99991119e-01 3.74324085e-03 3.80986342e-01] [ 1.78970910e-02 -3.77730659e-03 9.99832699e-01 -1.61664227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03313336499997 meters Centerline goodness [0,1] 0.30601258296759126 Centerline is valid? [False, False] Translation: X:3.20, Y:0.38, Z:-0.16 [[ 9.99834546e-01 -1.86027945e-03 -1.80947262e-02 3.20109745e+00] [ 1.93382685e-03 9.99989937e-01 4.04792861e-03 3.79010706e-01] [ 1.80870139e-02 -4.08225093e-03 9.99828083e-01 -1.61435159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.063133365 meters Centerline goodness [0,1] 0.30573234665918747 Centerline is valid? [False, False] Translation: X:3.20, Y:0.38, Z:-0.16 [[ 9.99832523e-01 -1.83445827e-03 -1.82088211e-02 3.20141746e+00] [ 1.91467705e-03 9.99988535e-01 4.38903460e-03 3.76841963e-01] [ 1.82005609e-02 -4.42316355e-03 9.99824572e-01 -1.61408874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09313336499997 meters Centerline goodness [0,1] 0.3080367818090911 Centerline is valid? [False, False] Translation: X:3.20, Y:0.37, Z:-0.16 [[ 9.99831776e-01 -1.81048933e-03 -1.82521994e-02 3.20163084e+00] [ 1.89711946e-03 9.99987014e-01 4.73008748e-03 3.74622632e-01] [ 1.82433986e-02 -4.76391837e-03 9.99822226e-01 -1.61464016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.123133365 meters Centerline goodness [0,1] 0.30658161286151464 Centerline is valid? [False, False] Translation: X:3.22, Y:0.37, Z:-0.16 [[ 9.99833479e-01 2.93659310e-03 -1.80108312e-02 3.22175466e+00] [-2.91148437e-03 9.99994753e-01 1.42015362e-03 3.68350099e-01] [ 1.80149072e-02 -1.36747888e-03 9.99836783e-01 -1.60656955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.153133365 meters Centerline goodness [0,1] 0.30919535227816697 Centerline is valid? [False, False] Translation: X:3.22, Y:0.37, Z:-0.16 [[ 9.99830541e-01 3.04381747e-03 -1.81555594e-02 3.22208102e+00] [-3.01158290e-03 9.99993841e-01 1.80254229e-03 3.66360175e-01] [ 1.81609342e-02 -1.74755986e-03 9.99833549e-01 -1.60610625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.183133365 meters Centerline goodness [0,1] 0.30682708206422415 Centerline is valid? [False, False] Translation: X:3.22, Y:0.36, Z:-0.16 [[ 9.99825630e-01 3.14974722e-03 -1.84062129e-02 3.22276741e+00] [-3.11052592e-03 9.99992831e-01 2.15911340e-03 3.64630209e-01] [ 1.84128816e-02 -2.10148391e-03 9.99828260e-01 -1.60723076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.213133365 meters Centerline goodness [0,1] 0.3056813013060712 Centerline is valid? [False, False] Translation: X:3.22, Y:0.36, Z:-0.16 [[ 9.99819968e-01 3.22372653e-03 -1.86986366e-02 3.22351271e+00] [-3.17886621e-03 9.99991999e-01 2.42834982e-03 3.63258455e-01] [ 1.87063153e-02 -2.36847218e-03 9.99822216e-01 -1.60798297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.243133365 meters Centerline goodness [0,1] 0.3062859132857392 Centerline is valid? [False, False] Translation: X:3.22, Y:0.36, Z:-0.16 [[ 9.99816704e-01 3.26696835e-03 -1.88648982e-02 3.22384252e+00] [-3.21799274e-03 9.99991375e-01 2.62589703e-03 3.62202669e-01] [ 1.88733142e-02 -2.56470861e-03 9.99818594e-01 -1.60675322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.273133365 meters Centerline goodness [0,1] 0.3062859132857392 Centerline is valid? [False, False] Translation: X:3.22, Y:0.36, Z:-0.16 [[ 9.99816704e-01 3.26696835e-03 -1.88648982e-02 3.22384252e+00] [-3.21799274e-03 9.99991375e-01 2.62589703e-03 3.62202669e-01] [ 1.88733142e-02 -2.56470861e-03 9.99818594e-01 -1.60675322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.303133365 meters Centerline goodness [0,1] 0.307125199623723 Centerline is valid? [False, False] Translation: X:3.22, Y:0.36, Z:-0.16 [[ 9.99816600e-01 3.25535254e-03 -1.88724499e-02 3.22384620e+00] [-3.20487205e-03 9.99991207e-01 2.70445185e-03 3.61554892e-01] [ 1.88810880e-02 -2.64347207e-03 9.99818242e-01 -1.60655159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.333133365 meters Centerline goodness [0,1] 0.30680459870036725 Centerline is valid? [False, False] Translation: X:3.22, Y:0.36, Z:-0.16 [[ 9.99819766e-01 3.23218713e-03 -1.87079866e-02 3.22339357e+00] [-3.18099884e-03 9.99991117e-01 2.76528425e-03 3.61087933e-01] [ 1.87167583e-02 -2.70527576e-03 9.99821166e-01 -1.60502841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.363133365 meters Centerline goodness [0,1] 0.3064285714285714 Centerline is valid? [False, False] Translation: X:3.22, Y:0.36, Z:-0.16 [[ 9.99819008e-01 3.23252381e-03 -1.87483906e-02 3.22343762e+00] [-3.18049657e-03 9.99991010e-01 2.80417812e-03 3.60946557e-01] [ 1.87572866e-02 -2.74404139e-03 9.99820301e-01 -1.60450160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.393133365 meters Centerline goodness [0,1] 0.30657187445812384 Centerline is valid? [False, False] Translation: X:3.22, Y:0.36, Z:-0.16 [[ 9.99819234e-01 3.20689448e-03 -1.87407304e-02 3.22344673e+00] [-3.15508896e-03 9.99991122e-01 2.79324161e-03 3.60956587e-01] [ 1.87495216e-02 -2.73360801e-03 9.99820475e-01 -1.60489965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.423133365 meters Centerline goodness [0,1] 0.30311351351351357 Centerline is valid? [False, False] Translation: X:3.22, Y:0.36, Z:-0.16 [[ 9.99822986e-01 3.08713638e-03 -1.85598192e-02 3.22243617e+00] [-3.03581225e-03 9.99991492e-01 2.79287435e-03 3.60770981e-01] [ 1.85682832e-02 -2.73603584e-03 9.99823851e-01 -1.59561419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.453133365 meters Centerline goodness [0,1] 0.3059830179206775 Centerline is valid? [False, False] Translation: X:3.22, Y:0.36, Z:-0.16 [[ 9.99831057e-01 2.96432083e-03 -1.81403184e-02 3.22103785e+00] [-2.91488452e-03 9.99991968e-01 2.75105132e-03 3.60587783e-01] [ 1.81483277e-02 -2.69770961e-03 9.99831666e-01 -1.58813600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48313336499996 meters Centerline goodness [0,1] 0.30446678682330464 Centerline is valid? [False, False] Translation: X:3.22, Y:0.36, Z:-0.16 [[ 9.99840400e-01 2.82569864e-03 -1.76405868e-02 3.21956196e+00] [-2.77816291e-03 9.99992445e-01 2.71860455e-03 3.60239161e-01] [ 1.76481355e-02 -2.66916224e-03 9.99840697e-01 -1.58254889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.513133365 meters Centerline goodness [0,1] 0.30569204678871154 Centerline is valid? [False, False] Translation: X:3.22, Y:0.36, Z:-0.16 [[ 9.99846523e-01 2.74192536e-03 -1.73035272e-02 3.21854108e+00] [-2.69443587e-03 9.99992541e-01 2.76721414e-03 3.59689030e-01] [ 1.73109856e-02 -2.72016620e-03 9.99846453e-01 -1.57822545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54313336499996 meters Centerline goodness [0,1] 0.30493351236626676 Centerline is valid? [False, False] Translation: X:3.22, Y:0.36, Z:-0.16 [[ 9.99849725e-01 2.70176753e-03 -1.71239111e-02 3.21813227e+00] [-2.65346655e-03 9.99992439e-01 2.84276756e-03 3.59142084e-01] [ 1.71314621e-02 -2.79690264e-03 9.99849334e-01 -1.57812799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.573133365 meters Centerline goodness [0,1] 0.3047573780408763 Centerline is valid? [False, False] Translation: X:3.22, Y:0.36, Z:-0.16 [[ 9.99848213e-01 2.69883715e-03 -1.72123938e-02 3.21844310e+00] [-2.64766525e-03 9.99992010e-01 2.99506353e-03 3.58252987e-01] [ 1.72203395e-02 -2.94903626e-03 9.99847370e-01 -1.57977042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60313336499996 meters Centerline goodness [0,1] 0.3033539888200373 Centerline is valid? [False, False] Translation: X:3.22, Y:0.36, Z:-0.16 [[ 9.99837291e-01 2.43310975e-03 -1.78737681e-02 3.22028525e+00] [-2.37605588e-03 9.99992017e-01 3.21258761e-03 3.55871022e-01] [ 1.78814420e-02 -3.16959583e-03 9.99835090e-01 -1.58472368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.633133365 meters Centerline goodness [0,1] 0.30236864771748495 Centerline is valid? [False, False] Translation: X:3.22, Y:0.35, Z:-0.16 [[ 9.99833264e-01 2.42635702e-03 -1.80985396e-02 3.22096179e+00] [-2.36431079e-03 9.99991258e-01 3.44885432e-03 3.54200674e-01] [ 1.81067495e-02 -3.40548870e-03 9.99830260e-01 -1.58677546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66313336499996 meters Centerline goodness [0,1] 0.3036349141367348 Centerline is valid? [False, False] Translation: X:3.22, Y:0.35, Z:-0.16 [[ 9.99833371e-01 2.46793330e-03 -1.80870141e-02 3.22094410e+00] [-2.40107876e-03 9.99990209e-01 3.71705728e-03 3.52517467e-01] [ 1.80960104e-02 -3.67300957e-03 9.99829507e-01 -1.58664598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.693133365 meters Centerline goodness [0,1] 0.30652892381098296 Centerline is valid? [False, False] Translation: X:3.18, Y:0.35, Z:-0.16 [[ 9.99803020e-01 1.51900471e-03 -1.97892434e-02 3.17517175e+00] [-1.45722289e-03 9.99994021e-01 3.13603640e-03 3.50173148e-01] [ 1.97938887e-02 -3.10658133e-03 9.99799255e-01 -1.58715545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72313336499997 meters Centerline goodness [0,1] 0.3046132679822864 Centerline is valid? [False, False] Translation: X:3.22, Y:0.35, Z:-0.16 [[ 9.99835141e-01 1.14096882e-03 -1.81214797e-02 3.21866499e+00] [-1.09033339e-03 9.99995475e-01 2.80385556e-03 3.49664854e-01] [ 1.81245968e-02 -2.78363486e-03 9.99831861e-01 -1.57872324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.753133365 meters Centerline goodness [0,1] 0.3021898753256821 Centerline is valid? [False, False] Translation: X:3.22, Y:0.35, Z:-0.16 [[ 9.99827122e-01 1.22140723e-03 -1.85535451e-02 3.22007605e+00] [-1.16292523e-03 9.99994323e-01 3.16252783e-03 3.47671442e-01] [ 1.85573025e-02 -3.14040471e-03 9.99822867e-01 -1.58477025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78313336499997 meters Centerline goodness [0,1] 0.3042449759104128 Centerline is valid? [False, False] Translation: X:3.22, Y:0.35, Z:-0.16 [[ 9.99820779e-01 1.26133558e-03 -1.88896694e-02 3.22116781e+00] [-1.19790147e-03 9.99993607e-01 3.36907647e-03 3.46408855e-01] [ 1.88937982e-02 -3.34584470e-03 9.99815898e-01 -1.58981400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.813133365 meters Centerline goodness [0,1] 0.30406773021089517 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99816326e-01 1.28139564e-03 -1.91225338e-02 3.22189229e+00] [-1.21274566e-03 9.99992780e-01 3.60116902e-03 3.44814236e-01] [ 1.91270103e-02 -3.57731681e-03 9.99810662e-01 -1.59271315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84313336499997 meters Centerline goodness [0,1] 0.3009267278711242 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99815467e-01 1.29595281e-03 -1.91664314e-02 3.22197045e+00] [-1.22200031e-03 9.99991766e-01 3.86964753e-03 3.42930827e-01] [ 1.91712884e-02 -3.84551206e-03 9.99808819e-01 -1.59246954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.873133365 meters Centerline goodness [0,1] 0.30194601381042063 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99819297e-01 1.32491132e-03 -1.89635706e-02 3.22121272e+00] [-1.24631219e-03 9.99990587e-01 4.15596142e-03 3.41008961e-01] [ 1.89688984e-02 -4.13157589e-03 9.99811538e-01 -1.58771176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.903133365 meters Centerline goodness [0,1] 0.30749787549299457 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99827016e-01 1.37303064e-03 -1.85486443e-02 3.21987099e+00] [-1.29063853e-03 9.99989252e-01 4.45318895e-03 3.39292608e-01] [ 1.85545593e-02 -4.42847903e-03 9.99818042e-01 -1.58144818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.933133365 meters Centerline goodness [0,1] 0.30763017137867044 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99833414e-01 1.44720749e-03 -1.81947903e-02 3.21845014e+00] [-1.35886004e-03 9.99987232e-01 4.86707084e-03 3.37116466e-01] [ 1.82016016e-02 -4.84153588e-03 9.99822615e-01 -1.57149496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.963133365 meters Centerline goodness [0,1] 0.30553561718325173 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99832637e-01 1.45316823e-03 -1.82369393e-02 3.21859196e+00] [-1.36371018e-03 9.99986983e-01 4.91679889e-03 3.36833434e-01] [ 1.82438469e-02 -4.89110610e-03 9.99821604e-01 -1.57228608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.993133365 meters Centerline goodness [0,1] 0.30432332863798894 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99832137e-01 1.45046672e-03 -1.82645647e-02 3.21880764e+00] [-1.36090342e-03 9.99986995e-01 4.91513936e-03 3.36842269e-01] [ 1.82714564e-02 -4.88945798e-03 9.99821108e-01 -1.57462053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.023133365 meters Centerline goodness [0,1] 0.30467027027027027 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99834325e-01 1.44990589e-03 -1.81444138e-02 3.21855653e+00] [-1.36171099e-03 9.99987204e-01 4.87213030e-03 3.37189856e-01] [ 1.81512457e-02 -4.84661566e-03 9.99823506e-01 -1.57503684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.053133365 meters Centerline goodness [0,1] 0.3037161943057267 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99836592e-01 1.47632074e-03 -1.80169436e-02 3.21813745e+00] [-1.38928485e-03 9.99987311e-01 4.84234022e-03 3.37696833e-01] [ 1.80238638e-02 -4.81651828e-03 9.99825956e-01 -1.57345774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.083133365 meters Centerline goodness [0,1] 0.30488836815726095 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99838644e-01 1.44826849e-03 -1.79049589e-02 3.21780362e+00] [-1.36367341e-03 9.99987855e-01 4.73598025e-03 3.38349166e-01] [ 1.79116004e-02 -4.71079956e-03 9.99828477e-01 -1.57219350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.113133365 meters Centerline goodness [0,1] 0.3057725031633143 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99837583e-01 1.33421307e-03 -1.79729379e-02 3.21807248e+00] [-1.25398784e-03 9.99989204e-01 4.47419869e-03 3.39442552e-01] [ 1.79787134e-02 -4.45093416e-03 9.99828463e-01 -1.57434198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.143133365 meters Centerline goodness [0,1] 0.3050681837922349 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99836267e-01 1.27474997e-03 -1.80503435e-02 3.21839909e+00] [-1.19651984e-03 9.99989848e-01 4.34413303e-03 3.40071383e-01] [ 1.80556980e-02 -4.32182416e-03 9.99827642e-01 -1.57656989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.173133365 meters Centerline goodness [0,1] 0.305316091954023 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99834004e-01 1.23027184e-03 -1.81783213e-02 3.21878133e+00] [-1.15438452e-03 9.99990579e-01 4.18450904e-03 3.41018034e-01] [ 1.81832981e-02 -4.16282966e-03 9.99826004e-01 -1.57825310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.203133365 meters Centerline goodness [0,1] 0.30587696934039355 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99833864e-01 1.17728123e-03 -1.81894886e-02 3.21888673e+00] [-1.10480915e-03 9.99991414e-01 3.99381867e-03 3.42199793e-01] [ 1.81940342e-02 -3.97305924e-03 9.99826581e-01 -1.57953126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23313336499996 meters Centerline goodness [0,1] 0.30103821134708997 Centerline is valid? [False, False] Translation: X:3.24, Y:0.34, Z:-0.16 [[ 9.99803103e-01 9.03900969e-03 -1.76649574e-02 3.23837344e+00] [-8.99363238e-03 9.99956054e-01 2.64653363e-03 3.40273741e-01] [ 1.76881031e-02 -2.48714040e-03 9.99840460e-01 -1.56576734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.263133365 meters Centerline goodness [0,1] 0.30363790738684604 Centerline is valid? [False, False] Translation: X:3.22, Y:0.35, Z:-0.16 [[ 9.99853930e-01 8.03407962e-04 -1.70725940e-02 3.21866011e+00] [-7.47512957e-04 9.99994341e-01 3.28009015e-03 3.45759124e-01] [ 1.70751327e-02 -3.26684904e-03 9.99848872e-01 -1.58336493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29313336499996 meters Centerline goodness [0,1] 0.3029546041864071 Centerline is valid? [False, False] Translation: X:3.24, Y:0.34, Z:-0.16 [[ 9.99825539e-01 8.53842120e-03 -1.66128495e-02 3.23804994e+00] [-8.51064928e-03 9.99962267e-01 1.74169486e-03 3.43245472e-01] [ 1.66270940e-02 -1.60000487e-03 9.99860480e-01 -1.56945398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.323133365 meters Centerline goodness [0,1] 0.3024498502510181 Centerline is valid? [False, False] Translation: X:3.24, Y:0.34, Z:-0.16 [[ 9.99824220e-01 8.52899237e-03 -1.66968795e-02 3.23846245e+00] [-8.50078180e-03 9.99962319e-01 1.75981712e-03 3.43080587e-01] [ 1.67112598e-02 -1.61757125e-03 9.99859049e-01 -1.57308306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35313336499996 meters Centerline goodness [0,1] 0.30220054200542 Centerline is valid? [False, False] Translation: X:3.22, Y:0.35, Z:-0.16 [[ 9.99849874e-01 3.70659389e-04 -1.73231820e-02 3.21978510e+00] [-3.18184281e-04 9.99995353e-01 3.03184214e-03 3.46498642e-01] [ 1.73242252e-02 -3.02587501e-03 9.99845346e-01 -1.59305489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.383133365 meters Centerline goodness [0,1] 0.30009040812812127 Centerline is valid? [False, False] Translation: X:3.22, Y:0.35, Z:-0.16 [[ 9.99844721e-01 3.44618128e-04 -1.76186065e-02 3.22070467e+00] [-2.89869145e-04 9.99995122e-01 3.10991180e-03 3.45707174e-01] [ 1.76195923e-02 -3.10432181e-03 9.99839944e-01 -1.59680396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41313336499996 meters Centerline goodness [0,1] 0.30445126962841196 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99840750e-01 3.37365919e-04 -1.78426475e-02 3.22137727e+00] [-2.79748610e-04 9.99994739e-01 3.23158790e-03 3.44687764e-01] [ 1.78436438e-02 -3.22608181e-03 9.99835585e-01 -1.59920980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.443133365 meters Centerline goodness [0,1] 0.30359781002867825 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99839135e-01 3.73200906e-04 -1.79322282e-02 3.22156503e+00] [-3.11833537e-04 9.99994087e-01 3.42485748e-03 3.43412179e-01] [ 1.79334003e-02 -3.41871467e-03 9.99833339e-01 -1.59892004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47313336499997 meters Centerline goodness [0,1] 0.30311099564850297 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99842297e-01 5.09772629e-04 -1.77516779e-02 3.22084976e+00] [-4.43454840e-04 9.99992909e-01 3.73959627e-03 3.41830076e-01] [ 1.77534584e-02 -3.73113445e-03 9.99835433e-01 -1.59394589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.503133365 meters Centerline goodness [0,1] 0.30579413175219083 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99844323e-01 5.75678713e-04 -1.76351516e-02 3.22036095e+00] [-5.08864973e-04 9.99992677e-01 3.79292139e-03 3.41643362e-01] [ 1.76372060e-02 -3.78335700e-03 9.99837294e-01 -1.59042568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53313336499997 meters Centerline goodness [0,1] 0.30398153993512855 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99845386e-01 6.15960816e-04 -1.75733967e-02 3.22011008e+00] [-5.49484913e-04 9.99992677e-01 3.78733559e-03 3.41751919e-01] [ 1.75756009e-02 -3.77709370e-03 9.99838403e-01 -1.58900492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.563133365 meters Centerline goodness [0,1] 0.3049643845165225 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99850460e-01 1.19235781e-03 -1.72521461e-02 3.21935899e+00] [-1.11902040e-03 9.99990300e-01 4.25994424e-03 3.41044897e-01] [ 1.72570581e-02 -4.24000170e-03 9.99842096e-01 -1.58872050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59313336499997 meters Centerline goodness [0,1] 0.3025975998784749 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99853418e-01 1.30429357e-03 -1.70716646e-02 3.21887818e+00] [-1.22947436e-03 9.99989597e-01 4.39241671e-03 3.40624504e-01] [ 1.70772160e-02 -4.37078369e-03 9.99844620e-01 -1.58766056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.623133365 meters Centerline goodness [0,1] 0.30121495932152187 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99854513e-01 1.36205890e-03 -1.70028773e-02 3.21864663e+00] [-1.28634503e-03 9.99989213e-01 4.46314599e-03 3.40266369e-01] [ 1.70087729e-02 -4.44062509e-03 9.99845479e-01 -1.58674867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.653133365 meters Centerline goodness [0,1] 0.3023035113450091 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99854021e-01 1.37117179e-03 -1.70310440e-02 3.21868899e+00] [-1.29548060e-03 9.99989239e-01 4.45454464e-03 3.40165689e-01] [ 1.70369687e-02 -4.43183098e-03 9.99845038e-01 -1.58656670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.683133365 meters Centerline goodness [0,1] 0.30537957459778375 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99853775e-01 1.37973454e-03 -1.70447924e-02 3.21871944e+00] [-1.30409145e-03 9.99989256e-01 4.44821827e-03 3.40025262e-01] [ 1.70507466e-02 -4.42533986e-03 9.99844832e-01 -1.58665302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.713133365 meters Centerline goodness [0,1] 0.305109076277269 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99854659e-01 1.37830370e-03 -1.69930023e-02 3.21869927e+00] [-1.30411696e-03 9.99989575e-01 4.37603156e-03 3.40408368e-01] [ 1.69988566e-02 -4.35323468e-03 9.99846032e-01 -1.58866791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.743133365 meters Centerline goodness [0,1] 0.3038303960460428 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99859884e-01 1.56605788e-03 -1.66661324e-02 3.21799847e+00] [-1.49308362e-03 9.99989249e-01 4.39013828e-03 3.41142086e-01] [ 1.66728284e-02 -4.36463923e-03 9.99851472e-01 -1.59019577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.773133365 meters Centerline goodness [0,1] 0.3013760774232572 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99862273e-01 1.60375350e-03 -1.65185880e-02 3.21751330e+00] [-1.53134129e-03 9.99989168e-01 4.39539675e-03 3.41336833e-01] [ 1.65254582e-02 -4.36949578e-03 9.99853898e-01 -1.58834001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.803133365 meters Centerline goodness [0,1] 0.3064509084556254 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99862920e-01 1.66110055e-03 -1.64736874e-02 3.21732537e+00] [-1.58805679e-03 9.99988855e-01 4.44605598e-03 3.41369593e-01] [ 1.64808892e-02 -4.41928536e-03 9.99854415e-01 -1.58724698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.833133365 meters Centerline goodness [0,1] 0.30373609247153555 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99861359e-01 1.66062746e-03 -1.65681775e-02 3.21750631e+00] [-1.58736123e-03 9.99988909e-01 4.43427690e-03 3.41407471e-01] [ 1.65753575e-02 -4.40736244e-03 9.99852906e-01 -1.58667877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.863133365 meters Centerline goodness [0,1] 0.30710798800376526 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99860441e-01 1.63667036e-03 -1.66258836e-02 3.21764987e+00] [-1.56365361e-03 9.99989081e-01 4.40380167e-03 3.41379893e-01] [ 1.66329096e-02 -4.37718996e-03 9.99852082e-01 -1.58716290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.893133365 meters Centerline goodness [0,1] 0.3074415246263922 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99859667e-01 1.56927103e-03 -1.66788285e-02 3.21793492e+00] [-1.49842974e-03 9.99989808e-01 4.25902671e-03 3.41684718e-01] [ 1.66853421e-02 -4.23343697e-03 9.99851828e-01 -1.59006001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.923133365 meters Centerline goodness [0,1] 0.302073220719263 Centerline is valid? [False, False] Translation: X:3.24, Y:0.34, Z:-0.16 [[ 9.99823550e-01 9.58411771e-03 -1.61559444e-02 3.23747207e+00] [-9.53714776e-03 9.99950075e-01 2.98183096e-03 3.39007432e-01] [ 1.61837161e-02 -2.82722319e-03 9.99865038e-01 -1.57602557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.953133365 meters Centerline goodness [0,1] 0.3038611713665944 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99878570e-01 1.54765245e-03 -1.55064348e-02 3.21764506e+00] [-1.48384354e-03 9.99990389e-01 4.12565576e-03 3.42938139e-01] [ 1.55126708e-02 -4.10214566e-03 9.99871256e-01 -1.59584461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98313336499996 meters Centerline goodness [0,1] 0.30572929152047423 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99879589e-01 1.57395089e-03 -1.54379732e-02 3.21737513e+00] [-1.50980004e-03 9.99990182e-01 4.16616830e-03 3.42888390e-01] [ 1.54443790e-02 -4.14235839e-03 9.99872148e-01 -1.59406648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.013133365 meters Centerline goodness [0,1] 0.3058573964240876 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99879260e-01 1.61070699e-03 -1.54554595e-02 3.21744250e+00] [-1.54595141e-03 9.99989981e-01 4.20085193e-03 3.42955036e-01] [ 1.54620710e-02 -4.17645133e-03 9.99871733e-01 -1.59444447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04313336499996 meters Centerline goodness [0,1] 0.30154344306529957 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99875963e-01 1.61136986e-03 -1.56672017e-02 3.21801751e+00] [-1.54540274e-03 9.99989894e-01 4.22171911e-03 3.42847881e-01] [ 1.56738462e-02 -4.19698332e-03 9.99868349e-01 -1.59586092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.073133365 meters Centerline goodness [0,1] 0.30342499837729076 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99867607e-01 1.52276735e-03 -1.62003010e-02 3.21972100e+00] [-1.45512356e-03 9.99990178e-01 4.18643335e-03 3.42372598e-01] [ 1.62065168e-02 -4.16230565e-03 9.99860002e-01 -1.60339115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10313336499996 meters Centerline goodness [0,1] 0.30421392786657697 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99865460e-01 1.54060917e-03 -1.63305704e-02 3.22020455e+00] [-1.47092327e-03 9.99989766e-01 4.27835840e-03 3.41758202e-01] [ 1.63369945e-02 -4.25376178e-03 9.99857494e-01 -1.60627377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.133133365 meters Centerline goodness [0,1] 0.30392305855278867 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99865400e-01 1.61190214e-03 -1.63273851e-02 3.22024201e+00] [-1.53915585e-03 9.99988838e-01 4.46706360e-03 3.40857841e-01] [ 1.63344033e-02 -4.44133195e-03 9.99856721e-01 -1.60712055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16313336499996 meters Centerline goodness [0,1] 0.30392305855278867 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99865400e-01 1.61190214e-03 -1.63273851e-02 3.22024201e+00] [-1.53915585e-03 9.99988838e-01 4.46706360e-03 3.40857841e-01] [ 1.63344033e-02 -4.44133195e-03 9.99856721e-01 -1.60712055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.193133365 meters Centerline goodness [0,1] 0.30596820432629657 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99865250e-01 1.72559623e-03 -1.63249369e-02 3.22020536e+00] [-1.64820189e-03 9.99987345e-01 4.75313309e-03 3.39505381e-01] [ 1.63329323e-02 -4.72558581e-03 9.99855442e-01 -1.60625926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22313336499997 meters Centerline goodness [0,1] 0.3008365508365508 Centerline is valid? [False, False] Translation: X:3.24, Y:0.33, Z:-0.16 [[ 0.99982099 0.00949643 -0.01636499 3.23969331] [-0.00943712 0.99994863 0.00369763 0.33402003] [ 0.01639926 -0.00354253 0.99985925 -0.15912157] [ 0. 0. 0. 1. ]] SLAMing on 281.253133365 meters Centerline goodness [0,1] 0.304376182090915 Centerline is valid? [False, False] Translation: X:3.22, Y:0.33, Z:-0.16 [[ 9.99869265e-01 6.35221027e-04 -1.61570332e-02 3.21781430e+00] [-5.63631856e-04 9.99990006e-01 4.43500415e-03 3.34043869e-01] [ 1.61596889e-02 -4.42531772e-03 9.99859631e-01 -1.59744562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28313336499997 meters Centerline goodness [0,1] 0.3056839993020415 Centerline is valid? [False, False] Translation: X:3.22, Y:0.33, Z:-0.16 [[ 9.99870403e-01 7.27707754e-04 -1.60825246e-02 3.21754630e+00] [-6.52800919e-04 9.99988918e-01 4.66241297e-03 3.32891076e-01] [ 1.60857393e-02 -4.65131005e-03 9.99859797e-01 -1.59586043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.313133365 meters Centerline goodness [0,1] 0.30639203928214487 Centerline is valid? [False, False] Translation: X:3.22, Y:0.33, Z:-0.16 [[ 9.99870188e-01 7.83887786e-04 -1.60932770e-02 3.21768022e+00] [-7.07208920e-04 9.99988374e-01 4.76979037e-03 3.32286184e-01] [ 1.60968289e-02 -4.75778988e-03 9.99859118e-01 -1.59748985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34313336499997 meters Centerline goodness [0,1] 0.3049854011417614 Centerline is valid? [False, False] Translation: X:3.22, Y:0.33, Z:-0.16 [[ 9.99870075e-01 8.39519008e-04 -1.60974748e-02 3.21784907e+00] [-7.61298370e-04 9.99987877e-01 4.86469925e-03 3.31788574e-01] [ 1.61013636e-02 -4.85181222e-03 9.99858593e-01 -1.60024983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.373133365 meters Centerline goodness [0,1] 0.3037137857281742 Centerline is valid? [False, False] Translation: X:3.22, Y:0.33, Z:-0.16 [[ 9.99868912e-01 9.31043467e-04 -1.61645230e-02 3.21805290e+00] [-8.50566608e-04 9.99987214e-01 4.98477151e-03 3.31360895e-01] [ 1.61689574e-02 -4.97036906e-03 9.99856920e-01 -1.60137731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.403133365 meters Centerline goodness [0,1] 0.3045824429622914 Centerline is valid? [False, False] Translation: X:3.22, Y:0.33, Z:-0.16 [[ 9.99868826e-01 1.02966138e-03 -1.61638916e-02 3.21811392e+00] [-9.46691177e-04 9.99986343e-01 5.13987130e-03 3.30708625e-01] [ 1.61689632e-02 -5.12389487e-03 9.99856145e-01 -1.60234778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.433133365 meters Centerline goodness [0,1] 0.30504334291705393 Centerline is valid? [False, False] Translation: X:3.22, Y:0.33, Z:-0.16 [[ 9.99869301e-01 1.31004801e-03 -1.61141449e-02 3.21807825e+00] [-1.21948715e-03 9.99983416e-01 5.62850348e-03 3.28688123e-01] [ 1.61212513e-02 -5.60811684e-03 9.99854317e-01 -1.60383583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.463133365 meters Centerline goodness [0,1] 0.29947085413140817 Centerline is valid? [False, False] Translation: X:3.22, Y:0.33, Z:-0.16 [[ 9.99867323e-01 1.40864543e-03 -1.62281189e-02 3.21834666e+00] [-1.31302214e-03 9.99981723e-01 5.90159296e-03 3.27208467e-01] [ 1.62361356e-02 -5.87950207e-03 9.99850899e-01 -1.60373817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.493133365 meters Centerline goodness [0,1] 0.3033542523263363 Centerline is valid? [False, False] Translation: X:3.22, Y:0.33, Z:-0.16 [[ 9.99866806e-01 1.50236869e-03 -1.62515405e-02 3.21832227e+00] [-1.40118200e-03 9.99979575e-01 6.23587818e-03 3.25231236e-01] [ 1.62605772e-02 -6.21227624e-03 9.99848489e-01 -1.60235766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.523133365 meters Centerline goodness [0,1] 0.3047015296739436 Centerline is valid? [False, False] Translation: X:3.22, Y:0.32, Z:-0.16 [[ 9.99866490e-01 1.59193102e-03 -1.62624426e-02 3.21823693e+00] [-1.48435482e-03 9.99976953e-01 6.62493860e-03 3.22883824e-01] [ 1.62726143e-02 -6.59991487e-03 9.99845810e-01 -1.60026745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.553133365 meters Centerline goodness [0,1] 0.3039705723250027 Centerline is valid? [False, False] Translation: X:3.22, Y:0.32, Z:-0.16 [[ 9.99866264e-01 1.68415607e-03 -1.62670501e-02 3.21802979e+00] [-1.56966174e-03 9.99973926e-01 7.04862524e-03 3.20375898e-01] [ 1.62784969e-02 -7.02214882e-03 9.99842838e-01 -1.59642047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.583133365 meters Centerline goodness [0,1] 0.303717075929269 Centerline is valid? [False, False] Translation: X:3.22, Y:0.32, Z:-0.16 [[ 9.99867896e-01 1.79560378e-03 -1.61544275e-02 3.21763179e+00] [-1.67415764e-03 9.99970261e-01 7.52820923e-03 3.17672559e-01] [ 1.61674647e-02 -7.50016967e-03 9.99841168e-01 -1.59383694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.613133365 meters Centerline goodness [0,1] 0.3079897751851609 Centerline is valid? [False, False] Translation: X:3.22, Y:0.31, Z:-0.16 [[ 9.99877598e-01 1.92617887e-03 -1.55267190e-02 3.21592115e+00] [-1.79659475e-03 9.99963478e-01 8.35551111e-03 3.12707441e-01] [ 1.55422461e-02 -8.32659315e-03 9.99844541e-01 -1.58780021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.643133365 meters Centerline goodness [0,1] 0.30432065510182094 Centerline is valid? [False, False] Translation: X:3.23, Y:0.31, Z:-0.16 [[ 0.99984101 0.00991629 -0.01481967 3.2347255 ] [-0.00980773 0.99992466 0.00738082 0.30708881] [ 0.01489175 -0.0072343 0.99986294 -0.1570864 ] [ 0. 0. 0. 1. ]] SLAMing on 281.673133365 meters Centerline goodness [0,1] 0.30418391003835066 Centerline is valid? [False, False] Translation: X:3.23, Y:0.31, Z:-0.16 [[ 0.99987708 0.00688305 -0.01408753 3.23267663] [-0.00682081 0.99996679 0.00446105 0.30580433] [ 0.01411777 -0.00436441 0.99989081 -0.15668608] [ 0. 0. 0. 1. ]] SLAMing on 281.703133365 meters Centerline goodness [0,1] 0.30764356262564463 Centerline is valid? [False, False] Translation: X:3.21, Y:0.31, Z:-0.16 [[ 9.99899450e-01 -1.79495271e-03 -1.40665402e-02 3.21234745e+00] [ 1.87409158e-03 9.99982480e-01 5.61487598e-03 3.06182519e-01] [ 1.40562153e-02 -5.64067339e-03 9.99885296e-01 -1.57686139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73313336499996 meters Centerline goodness [0,1] 0.3016238800827016 Centerline is valid? [False, False] Translation: X:3.23, Y:0.30, Z:-0.16 [[ 9.99903230e-01 4.10851800e-03 -1.32909742e-02 3.23391198e+00] [-4.07428171e-03 9.99988315e-01 2.60195756e-03 3.02400838e-01] [ 1.33015091e-02 -2.54755460e-03 9.99908286e-01 -1.57086176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.763133365 meters Centerline goodness [0,1] 0.30546004973510654 Centerline is valid? [False, False] Translation: X:3.23, Y:0.29, Z:-0.16 [[ 9.99908344e-01 2.98733163e-03 -1.32052604e-02 3.23389948e+00] [-2.95374094e-03 9.99992354e-01 2.56250731e-03 2.92616089e-01] [ 1.32128145e-02 -2.52326752e-03 9.99909523e-01 -1.57193946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79313336499996 meters Centerline goodness [0,1] 0.3070204028420572 Centerline is valid? [False, False] Translation: X:3.23, Y:0.29, Z:-0.16 [[ 9.99906235e-01 3.23872342e-03 -1.33053649e-02 3.23434622e+00] [-3.19477758e-03 9.99989376e-01 3.32279487e-03 2.88548770e-01] [ 1.33159851e-02 -3.27997563e-03 9.99905959e-01 -1.57480073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.823133365 meters Centerline goodness [0,1] 0.30861317051897075 Centerline is valid? [False, False] Translation: X:3.23, Y:0.28, Z:-0.16 [[ 0.99990393 0.00346977 -0.01342007 3.23480729] [-0.00341509 0.99998578 0.00409516 0.28410113] [ 0.01343409 -0.00404894 0.99990156 -0.15771755] [ 0. 0. 0. 1. ]] SLAMing on 281.85313336499996 meters Centerline goodness [0,1] 0.3068451738285467 Centerline is valid? [False, False] Translation: X:3.24, Y:0.27, Z:-0.16 [[ 9.99895588e-01 1.43669340e-03 -1.43787579e-02 3.23832517e+00] [-1.39363168e-03 9.99994516e-01 3.00438754e-03 2.74993912e-01] [ 1.43829954e-02 -2.98403515e-03 9.99892107e-01 -1.59136706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.883133365 meters Centerline goodness [0,1] 0.3054010602242113 Centerline is valid? [False, False] Translation: X:3.24, Y:0.27, Z:-0.16 [[ 9.99891327e-01 1.74891236e-03 -1.46381299e-02 3.23913977e+00] [-1.69326855e-03 9.99991298e-01 3.81282330e-03 2.70878032e-01] [ 1.46446708e-02 -3.78762266e-03 9.99885587e-01 -1.59419869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91313336499996 meters Centerline goodness [0,1] 0.3025772308751399 Centerline is valid? [False, False] Translation: X:3.24, Y:0.27, Z:-0.16 [[ 9.99887514e-01 2.04965447e-03 -1.48579394e-02 3.23993399e+00] [-1.98160553e-03 9.99987488e-01 4.59324810e-03 2.66983311e-01] [ 1.48671681e-02 -4.56328885e-03 9.99879065e-01 -1.59843418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.943133365 meters Centerline goodness [0,1] 0.30498718449976103 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-0.16 [[ 9.99885423e-01 2.35340318e-03 -1.49533493e-02 3.24043762e+00] [-2.27338542e-03 9.99983019e-01 5.36590618e-03 2.63091135e-01] [ 1.49657235e-02 -5.33129664e-03 9.99873794e-01 -1.60209213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97313336499997 meters Centerline goodness [0,1] 0.30240357741755175 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-0.16 [[ 9.99883137e-01 2.61222882e-03 -1.50628047e-02 3.24092790e+00] [-2.52137626e-03 9.99978535e-01 6.04742258e-03 2.59437690e-01] [ 1.50782786e-02 -6.00873687e-03 9.99868262e-01 -1.60505446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.003133365 meters Centerline goodness [0,1] 0.30407116421011626 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-0.16 [[ 9.99880474e-01 2.86456356e-03 -1.51931620e-02 3.24124469e+00] [-2.76327403e-03 9.99973847e-01 6.68359193e-03 2.56072196e-01] [ 1.52119102e-02 -6.64081020e-03 9.99862239e-01 -1.60479789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03313336499997 meters Centerline goodness [0,1] 0.3041804537295357 Centerline is valid? [False, False] Translation: X:3.24, Y:0.25, Z:-0.16 [[ 0.99987527 0.0034315 -0.01541637 3.24174504] [-0.00331144 0.99996405 0.0078066 0.25046302] [ 0.0154426 -0.00775458 0.99985069 -0.16037678] [ 0. 0. 0. 1. ]] SLAMing on 282.063133365 meters Centerline goodness [0,1] 0.3052814984209953 Centerline is valid? [False, False] Translation: X:3.24, Y:0.25, Z:-0.16 [[ 0.99987487 0.00362607 -0.01539786 3.24171469] [-0.00350007 0.99996024 0.0082021 0.2485814 ] [ 0.01542699 -0.00814718 0.9998478 -0.16036467] [ 0. 0. 0. 1. ]] SLAMing on 282.09313336499997 meters Centerline goodness [0,1] 0.3024004494090703 Centerline is valid? [False, False] Translation: X:3.24, Y:0.25, Z:-0.16 [[ 0.99987662 0.00384554 -0.0152301 3.24132634] [-0.00371542 0.99995644 0.00856242 0.24699124] [ 0.01526237 -0.00850478 0.99984735 -0.16033963] [ 0. 0. 0. 1. ]] SLAMing on 282.123133365 meters Centerline goodness [0,1] 0.30559181897302 Centerline is valid? [False, False] Translation: X:3.24, Y:0.25, Z:-0.16 [[ 0.9998808 0.00401851 -0.0149074 3.24057058] [-0.00388714 0.99995345 0.00883093 0.24587172] [ 0.01494219 -0.00877193 0.99984988 -0.16030692] [ 0. 0. 0. 1. ]] SLAMing on 282.153133365 meters Centerline goodness [0,1] 0.3013444398886467 Centerline is valid? [False, False] Translation: X:3.24, Y:0.25, Z:-0.16 [[ 0.99988317 0.00414592 -0.01471253 3.24022013] [-0.0040142 0.9999517 0.00897135 0.24527856] [ 0.01474902 -0.00891124 0.99985152 -0.16047716] [ 0. 0. 0. 1. ]] SLAMing on 282.183133365 meters Centerline goodness [0,1] 0.3073584576463404 Centerline is valid? [False, False] Translation: X:3.24, Y:0.25, Z:-0.16 [[ 0.9998829 0.00420394 -0.01471462 3.24034849] [-0.00407152 0.99995106 0.0090172 0.24506823] [ 0.0147518 -0.00895623 0.99985107 -0.16072485] [ 0. 0. 0. 1. ]] SLAMing on 282.213133365 meters Centerline goodness [0,1] 0.303246991725896 Centerline is valid? [False, False] Translation: X:3.24, Y:0.25, Z:-0.16 [[ 0.99988 0.0043034 -0.01488207 3.24085717] [-0.00416879 0.99995023 0.00906388 0.24505542] [ 0.01492034 -0.00900075 0.99984817 -0.16097543] [ 0. 0. 0. 1. ]] SLAMing on 282.243133365 meters Centerline goodness [0,1] 0.3038905274115198 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.16 [[ 0.99987696 0.00453191 -0.01501734 3.2412012 ] [-0.00439384 0.99994789 0.00921427 0.24487674] [ 0.01505832 -0.00914716 0.99984478 -0.16107985] [ 0. 0. 0. 1. ]] SLAMing on 282.273133365 meters Centerline goodness [0,1] 0.30268364941720904 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.16 [[ 0.99988066 0.00458821 -0.01475194 3.24035306] [-0.00445214 0.99994737 0.00924339 0.24495785] [ 0.01479357 -0.00917661 0.99984846 -0.16073638] [ 0. 0. 0. 1. ]] SLAMing on 282.303133365 meters Centerline goodness [0,1] 0.30581996783587606 Centerline is valid? [False, False] Translation: X:3.24, Y:0.25, Z:-0.16 [[ 0.99988549 0.00459505 -0.01441818 3.23941351] [-0.00446235 0.99994752 0.00922206 0.24508342] [ 0.0144598 -0.00915666 0.99985352 -0.16049867] [ 0. 0. 0. 1. ]] SLAMing on 282.333133365 meters Centerline goodness [0,1] 0.3040029395236242 Centerline is valid? [False, False] Translation: X:3.24, Y:0.25, Z:-0.16 [[ 0.99988872 0.00459659 -0.01419222 3.23886049] [-0.00446606 0.99994756 0.00921532 0.2451256 ] [ 0.01423383 -0.00915091 0.99985682 -0.16049313] [ 0. 0. 0. 1. ]] SLAMing on 282.363133365 meters Centerline goodness [0,1] 0.3064726324934839 Centerline is valid? [False, False] Translation: X:3.24, Y:0.25, Z:-0.16 [[ 0.99988823 0.00458318 -0.01423116 3.23920799] [-0.00445259 0.99994782 0.00919426 0.24516829] [ 0.01427256 -0.00912987 0.99985646 -0.16091927] [ 0. 0. 0. 1. ]] SLAMing on 282.393133365 meters Centerline goodness [0,1] 0.30156065009148636 Centerline is valid? [False, False] Translation: X:3.24, Y:0.25, Z:-0.16 [[ 0.99988469 0.00452089 -0.01449718 3.24028403] [-0.0043882 0.99994831 0.00917153 0.24500555] [ 0.01453789 -0.00910686 0.99985285 -0.16161843] [ 0. 0. 0. 1. ]] SLAMing on 282.423133365 meters Centerline goodness [0,1] 0.30299950260591246 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.16 [[ 0.99988289 0.00453009 -0.01461826 3.2406746 ] [-0.00439575 0.99994794 0.00920887 0.24479741] [ 0.01465922 -0.00914353 0.99985074 -0.16178212] [ 0. 0. 0. 1. ]] SLAMing on 282.453133365 meters Centerline goodness [0,1] 0.3044759825327511 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.16 [[ 0.99988316 0.00453604 -0.01459767 3.24062058] [-0.00440121 0.99994749 0.00925491 0.24459835] [ 0.01463888 -0.00918958 0.99985062 -0.16177659] [ 0. 0. 0. 1. ]] SLAMing on 282.48313336499996 meters Centerline goodness [0,1] 0.3049594347029574 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.16 [[ 0.9998788 0.00448859 -0.01490767 3.24129041] [-0.00435071 0.99994758 0.00926831 0.2442823 ] [ 0.01494849 -0.00920233 0.99984592 -0.16169768] [ 0. 0. 0. 1. ]] SLAMing on 282.513133365 meters Centerline goodness [0,1] 0.3031385446387733 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.16 [[ 0.99987318 0.00440068 -0.01530558 3.24259579] [-0.00426072 0.99994893 0.00916456 0.24443121] [ 0.01534513 -0.00909819 0.99984086 -0.16236292] [ 0. 0. 0. 1. ]] SLAMing on 282.54313336499996 meters Centerline goodness [0,1] 0.30361314267001416 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.16 [[ 0.99986627 0.00431891 -0.01577275 3.24407697] [-0.0041772 0.99995071 0.00900664 0.24499277] [ 0.01581087 -0.00893955 0.99983504 -0.16304368] [ 0. 0. 0. 1. ]] SLAMing on 282.573133365 meters Centerline goodness [0,1] 0.30078774144814935 Centerline is valid? [False, False] Translation: X:3.24, Y:0.25, Z:-0.16 [[ 0.99986354 0.00425544 -0.01596207 3.24476758] [-0.00411484 0.99995254 0.0088309 0.2459019 ] [ 0.0159989 -0.00876401 0.9998336 -0.16347151] [ 0. 0. 0. 1. ]] SLAMing on 282.60313336499996 meters Centerline goodness [0,1] 0.30246632394091233 Centerline is valid? [False, False] Translation: X:3.24, Y:0.25, Z:-0.16 [[ 0.99986635 0.00425665 -0.01578475 3.24416908] [-0.00411915 0.99995338 0.00873316 0.24667897] [ 0.01582118 -0.00866697 0.99983727 -0.16321493] [ 0. 0. 0. 1. ]] SLAMing on 282.633133365 meters Centerline goodness [0,1] 0.30489167342110457 Centerline is valid? [False, False] Translation: X:3.24, Y:0.25, Z:-0.16 [[ 0.99987091 0.00426855 -0.01549028 3.24314119] [-0.00413473 0.99995395 0.0086604 0.24735742] [ 0.01552654 -0.00859524 0.99984251 -0.1626706 ] [ 0. 0. 0. 1. ]] SLAMing on 282.66313336499996 meters Centerline goodness [0,1] 0.30285924387922836 Centerline is valid? [False, False] Translation: X:3.26, Y:0.25, Z:-0.16 [[ 9.99895749e-01 -2.80979536e-03 -1.41631668e-02 3.26024212e+00] [ 2.94731753e-03 9.99948626e-01 9.69834402e-03 2.54968946e-01] [ 1.41351889e-02 -9.73907631e-03 9.99852663e-01 -1.60833454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.693133365 meters Centerline goodness [0,1] 0.30523488770007146 Centerline is valid? [False, False] Translation: X:3.26, Y:0.26, Z:-0.16 [[ 9.99896302e-01 -2.91671885e-03 -1.41024165e-02 3.26013063e+00] [ 3.04998534e-03 9.99950813e-01 9.43765062e-03 2.56251133e-01] [ 1.40741959e-02 -9.47968411e-03 9.99856016e-01 -1.60954462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72313336499997 meters Centerline goodness [0,1] 0.30135898151527507 Centerline is valid? [False, False] Translation: X:3.28, Y:0.26, Z:-0.16 [[ 0.99989775 0.00528614 -0.0132873 3.27944761] [-0.00518267 0.99995607 0.00780961 0.2554338 ] [ 0.013328 -0.00773995 0.99988122 -0.15982044] [ 0. 0. 0. 1. ]] SLAMing on 282.753133365 meters Centerline goodness [0,1] 0.3058631567497009 Centerline is valid? [False, False] Translation: X:3.26, Y:0.26, Z:-0.16 [[ 0.9999014 -0.00371664 -0.01354152 3.25881564] [ 0.00383295 0.9999559 0.00857314 0.25928053] [ 0.01350906 -0.0086242 0.99987156 -0.16106008] [ 0. 0. 0. 1. ]] SLAMing on 282.78313336499997 meters Centerline goodness [0,1] 0.30321437063617307 Centerline is valid? [False, False] Translation: X:3.28, Y:0.26, Z:-0.16 [[ 0.99990733 0.00466333 -0.01279016 3.27751467] [-0.00457275 0.99996432 0.00710238 0.25784694] [ 0.01282282 -0.00704323 0.99989298 -0.15953093] [ 0. 0. 0. 1. ]] SLAMing on 282.813133365 meters Centerline goodness [0,1] 0.30250922349996767 Centerline is valid? [False, False] Translation: X:3.28, Y:0.26, Z:-0.16 [[ 0.99991042 0.00461003 -0.01256542 3.27685236] [-0.00452064 0.99996434 0.00713305 0.25752018] [ 0.01259786 -0.0070756 0.99989561 -0.15928484] [ 0. 0. 0. 1. ]] SLAMing on 282.84313336499997 meters Centerline goodness [0,1] 0.30370114147353855 Centerline is valid? [False, False] Translation: X:3.28, Y:0.26, Z:-0.16 [[ 0.99990996 0.00456313 -0.01261935 3.27697949] [-0.00447309 0.99996441 0.00715403 0.25711571] [ 0.01265155 -0.00709694 0.99989478 -0.15929595] [ 0. 0. 0. 1. ]] SLAMing on 282.873133365 meters Centerline goodness [0,1] 0.3029935975082194 Centerline is valid? [False, False] Translation: X:3.28, Y:0.26, Z:-0.16 [[ 0.9999088 0.00444396 -0.01275331 3.27732348] [-0.00435475 0.99996591 0.00701464 0.25733136] [ 0.01278404 -0.00695846 0.99989407 -0.15934387] [ 0. 0. 0. 1. ]] SLAMing on 282.903133365 meters Centerline goodness [0,1] 0.3036747967479675 Centerline is valid? [False, False] Translation: X:3.28, Y:0.26, Z:-0.16 [[ 0.99990626 0.00432054 -0.01299228 3.27787507] [-0.00423228 0.99996784 0.00681285 0.25799212] [ 0.0130213 -0.00675723 0.99989239 -0.15934391] [ 0. 0. 0. 1. ]] SLAMing on 282.933133365 meters Centerline goodness [0,1] 0.303935607046776 Centerline is valid? [False, False] Translation: X:3.28, Y:0.26, Z:-0.16 [[ 0.99990538 0.00421486 -0.01309441 3.27820607] [-0.00412939 0.99997004 0.0065471 0.25928312] [ 0.01312161 -0.0064924 0.99989283 -0.15953862] [ 0. 0. 0. 1. ]] SLAMing on 282.963133365 meters Centerline goodness [0,1] 0.305045821868839 Centerline is valid? [False, False] Translation: X:3.28, Y:0.26, Z:-0.16 [[ 0.99990949 0.00418557 -0.01278619 3.27740548] [-0.0041072 0.99997265 0.00614984 0.26208625] [ 0.01281158 -0.00609677 0.99989934 -0.15950592] [ 0. 0. 0. 1. ]] SLAMing on 282.993133365 meters Centerline goodness [0,1] 0.303469021186349 Centerline is valid? [False, False] Translation: X:3.28, Y:0.26, Z:-0.16 [[ 0.9999121 0.0041039 -0.01260794 3.2769662 ] [-0.00402988 0.99997453 0.00589019 0.26351941] [ 0.01263179 -0.00583887 0.99990317 -0.15951979] [ 0. 0. 0. 1. ]] SLAMing on 283.023133365 meters Centerline goodness [0,1] 0.30292654564248334 Centerline is valid? [False, False] Translation: X:3.28, Y:0.26, Z:-0.16 [[ 0.99991285 0.00398249 -0.01258694 3.27685997] [-0.0039123 0.99997669 0.00559652 0.26495749] [ 0.01260894 -0.00554679 0.99990512 -0.15946456] [ 0. 0. 0. 1. ]] SLAMing on 283.053133365 meters Centerline goodness [0,1] 0.3038447343855155 Centerline is valid? [False, False] Translation: X:3.28, Y:0.27, Z:-0.16 [[ 0.99991234 0.00383813 -0.01267216 3.27700223] [-0.00377164 0.99997902 0.0052667 0.26639118] [ 0.01269211 -0.00521845 0.99990583 -0.15943133] [ 0. 0. 0. 1. ]] SLAMing on 283.083133365 meters Centerline goodness [0,1] 0.3038447343855155 Centerline is valid? [False, False] Translation: X:3.28, Y:0.27, Z:-0.16 [[ 0.99991234 0.00383813 -0.01267216 3.27700223] [-0.00377164 0.99997902 0.0052667 0.26639118] [ 0.01269211 -0.00521845 0.99990583 -0.15943133] [ 0. 0. 0. 1. ]] SLAMing on 283.113133365 meters Centerline goodness [0,1] 0.30502701178104186 Centerline is valid? [False, False] Translation: X:3.28, Y:0.27, Z:-0.16 [[ 0.99991039 0.0037033 -0.01286441 3.27741121] [-0.00363966 0.99998104 0.0049662 0.26768853] [ 0.01288256 -0.00491894 0.99990492 -0.1594146 ] [ 0. 0. 0. 1. ]] SLAMing on 283.143133365 meters Centerline goodness [0,1] 0.3046366241208648 Centerline is valid? [False, False] Translation: X:3.28, Y:0.27, Z:-0.16 [[ 0.99990943 0.00359239 -0.01297056 3.27766313] [-0.0035316 0.99998269 0.00470691 0.26898692] [ 0.01298724 -0.00466068 0.9999048 -0.15948668] [ 0. 0. 0. 1. ]] SLAMing on 283.173133365 meters Centerline goodness [0,1] 0.30414537929250474 Centerline is valid? [False, False] Translation: X:3.28, Y:0.27, Z:-0.16 [[ 0.99991184 0.00347943 -0.01281422 3.27731429] [-0.00342222 0.99998409 0.00448344 0.27021531] [ 0.01282962 -0.00443919 0.99990784 -0.1595533 ] [ 0. 0. 0. 1. ]] SLAMing on 283.203133365 meters Centerline goodness [0,1] 0.3063306592256715 Centerline is valid? [False, False] Translation: X:3.26, Y:0.27, Z:-0.16 [[ 0.99990514 -0.00517273 -0.01276544 3.25767131] [ 0.00524461 0.99997055 0.0056037 0.27381425] [ 0.01273608 -0.00567012 0.99990282 -0.16121484] [ 0. 0. 0. 1. ]] SLAMing on 283.23313336499996 meters Centerline goodness [0,1] 0.30497467203532924 Centerline is valid? [False, False] Translation: X:3.28, Y:0.27, Z:-0.16 [[ 9.99917277e-01 2.99968044e-03 -1.25076594e-02 3.27665956e+00] [-2.94896281e-03 9.99987364e-01 4.07139900e-03 2.71944395e-01] [ 1.25197143e-02 -4.03417758e-03 9.99913487e-01 -1.59648366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.263133365 meters Centerline goodness [0,1] 0.30637605725439165 Centerline is valid? [False, False] Translation: X:3.28, Y:0.27, Z:-0.16 [[ 9.99914740e-01 2.91919426e-03 -1.27275700e-02 3.27727206e+00] [-2.87008541e-03 9.99988373e-01 3.87502188e-03 2.72817713e-01] [ 1.27387340e-02 -3.83816229e-03 9.99911493e-01 -1.59827490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29313336499996 meters Centerline goodness [0,1] 0.3032995471209834 Centerline is valid? [False, False] Translation: X:3.28, Y:0.27, Z:-0.16 [[ 9.99912196e-01 2.81497347e-03 -1.29490071e-02 3.27784868e+00] [-2.76883343e-03 9.99989759e-01 3.57975973e-03 2.74191285e-01] [ 1.29589514e-02 -3.54359177e-03 9.99909750e-01 -1.59981325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.323133365 meters Centerline goodness [0,1] 0.30678021618080575 Centerline is valid? [False, False] Translation: X:3.26, Y:0.28, Z:-0.16 [[ 0.99989099 -0.00563031 -0.01364952 3.25818473] [ 0.00569365 0.99997318 0.00460601 0.27909869] [ 0.01362323 -0.00468322 0.99989623 -0.16132497] [ 0. 0. 0. 1. ]] SLAMing on 283.35313336499996 meters Centerline goodness [0,1] 0.30629203731829036 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.16 [[ 0.99990935 0.00457957 -0.01266154 3.27880654] [-0.00452342 0.99997983 0.00445928 0.28211091] [ 0.0126817 -0.00440161 0.9999099 -0.16054379] [ 0. 0. 0. 1. ]] SLAMing on 283.383133365 meters Centerline goodness [0,1] 0.3055806354529429 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.16 [[ 0.99991235 0.00451613 -0.01244586 3.27833587] [-0.00446592 0.99998179 0.00405942 0.28452244] [ 0.01246397 -0.00400348 0.99991431 -0.1606771 ] [ 0. 0. 0. 1. ]] SLAMing on 283.41313336499996 meters Centerline goodness [0,1] 0.307192544953406 Centerline is valid? [False, False] Translation: X:3.23, Y:0.28, Z:-0.16 [[ 0.99989164 0.00384531 -0.01421003 3.23204035] [-0.00378768 0.9999845 0.00408025 0.28396898] [ 0.0142255 -0.00402598 0.99989071 -0.16009848] [ 0. 0. 0. 1. ]] SLAMing on 283.443133365 meters Centerline goodness [0,1] 0.306889943817778 Centerline is valid? [False, False] Translation: X:3.23, Y:0.29, Z:-0.16 [[ 0.99989378 0.00364395 -0.01411196 3.23179559] [-0.00359431 0.99998727 0.00354134 0.28643737] [ 0.01412468 -0.00349024 0.99989415 -0.16020077] [ 0. 0. 0. 1. ]] SLAMing on 283.47313336499997 meters Centerline goodness [0,1] 0.3070536692223439 Centerline is valid? [False, False] Translation: X:3.23, Y:0.29, Z:-0.16 [[ 9.99896275e-01 3.38674730e-03 -1.39988966e-02 3.23133844e+00] [-3.34800387e-03 9.99990503e-01 2.79011510e-03 2.90359132e-01] [ 1.40082131e-02 -2.74295733e-03 9.99898118e-01 -1.60062392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.503133365 meters Centerline goodness [0,1] 0.3029128292996359 Centerline is valid? [False, False] Translation: X:3.27, Y:0.30, Z:-0.16 [[ 9.99921575e-01 4.09334497e-03 -1.18358898e-02 3.27488025e+00] [-4.06623233e-03 9.99989056e-01 2.31387224e-03 2.97060871e-01] [ 1.18452317e-02 -2.26556330e-03 9.99927276e-01 -1.60029174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53313336499997 meters Centerline goodness [0,1] 0.30436756756756755 Centerline is valid? [False, False] Translation: X:3.25, Y:0.30, Z:-0.16 [[ 0.99992911 -0.00435012 -0.01108413 3.25464141] [ 0.00438726 0.99998483 0.00332905 0.30207508] [ 0.01106948 -0.00337744 0.99993303 -0.16170364] [ 0. 0. 0. 1. ]] SLAMing on 283.563133365 meters Centerline goodness [0,1] 0.3073173930148184 Centerline is valid? [False, False] Translation: X:3.24, Y:0.30, Z:-0.16 [[ 9.99938671e-01 2.90751032e-03 -1.06864748e-02 3.23578674e+00] [-2.88698799e-03 9.99993960e-01 1.93532740e-03 2.98375169e-01] [ 1.06920372e-02 -1.90435698e-03 9.99941025e-01 -1.63311104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59313336499997 meters Centerline goodness [0,1] 0.3064796317206636 Centerline is valid? [False, False] Translation: X:3.24, Y:0.30, Z:-0.16 [[ 9.99938028e-01 2.68111291e-03 -1.08051402e-02 3.23606920e+00] [-2.66475855e-03 9.99995283e-01 1.52768520e-03 3.00047362e-01] [ 1.08091852e-02 -1.49879744e-03 9.99940456e-01 -1.63362861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.623133365 meters Centerline goodness [0,1] 0.30594564231085 Centerline is valid? [False, False] Translation: X:3.24, Y:0.30, Z:-0.16 [[ 9.99936215e-01 2.34541806e-03 -1.10483102e-02 3.23667978e+00] [-2.33552262e-03 9.99996860e-01 9.08468637e-04 3.02850144e-01] [ 1.10504062e-02 -8.82607111e-04 9.99938553e-01 -1.63522275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.653133365 meters Centerline goodness [0,1] 0.304798597432956 Centerline is valid? [False, False] Translation: X:3.24, Y:0.30, Z:-0.16 [[ 9.99935770e-01 2.25826633e-03 -1.11065750e-02 3.23672284e+00] [-2.25045966e-03 9.99997212e-01 7.15334971e-04 3.03968587e-01] [ 1.11081594e-02 -6.90294126e-04 9.99938064e-01 -1.63399535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.683133365 meters Centerline goodness [0,1] 0.3058739564860071 Centerline is valid? [False, False] Translation: X:3.24, Y:0.31, Z:-0.16 [[ 9.99935049e-01 2.10735407e-03 -1.12007716e-02 3.23685717e+00] [-2.10243478e-03 9.99997688e-01 4.50949011e-04 3.05150921e-01] [ 1.12016960e-02 -4.27370829e-04 9.99937168e-01 -1.63277735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.713133365 meters Centerline goodness [0,1] 0.30542457931392486 Centerline is valid? [False, False] Translation: X:3.24, Y:0.31, Z:-0.16 [[ 9.99933941e-01 1.91004199e-03 -1.13342962e-02 3.23714825e+00] [-1.90841870e-03 9.99998167e-01 1.54033127e-04 3.06206699e-01] [ 1.13345696e-02 -1.32392369e-04 9.99935753e-01 -1.63241040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.743133365 meters Centerline goodness [0,1] 0.3081449837623417 Centerline is valid? [False, False] Translation: X:3.24, Y:0.31, Z:-0.16 [[ 9.99931444e-01 1.71890802e-03 -1.15824258e-02 3.23785064e+00] [-1.71989784e-03 9.99998518e-01 -7.54986870e-05 3.06767168e-01] [ 1.15822788e-02 9.54141002e-05 9.99932919e-01 -1.63438324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.773133365 meters Centerline goodness [0,1] 0.30437025731421574 Centerline is valid? [False, False] Translation: X:3.26, Y:0.31, Z:-0.16 [[ 9.99910453e-01 -6.24672228e-03 -1.18348943e-02 3.25806635e+00] [ 6.25320061e-03 9.99980318e-01 5.10466226e-04 3.12547229e-01] [ 1.18314726e-02 -5.84426483e-04 9.99929835e-01 -1.62272074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.803133365 meters Centerline goodness [0,1] 0.3056437504049764 Centerline is valid? [False, False] Translation: X:3.26, Y:0.31, Z:-0.16 [[ 9.99912815e-01 -6.39506597e-03 -1.15527316e-02 3.25696786e+00] [ 6.40238098e-03 9.99979327e-01 5.96310950e-04 3.12045629e-01] [ 1.15486793e-02 -6.70223949e-04 9.99933087e-01 -1.61558832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.833133365 meters Centerline goodness [0,1] 0.3058871786014983 Centerline is valid? [False, False] Translation: X:3.26, Y:0.31, Z:-0.16 [[ 9.99914698e-01 -6.37134514e-03 -1.14018463e-02 3.25632292e+00] [ 6.38073913e-03 9.99979333e-01 7.87712852e-04 3.11102319e-01] [ 1.13965919e-02 -8.60397866e-04 9.99934687e-01 -1.61078208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.863133365 meters Centerline goodness [0,1] 0.3046954123300364 Centerline is valid? [False, False] Translation: X:3.26, Y:0.31, Z:-0.16 [[ 9.99913350e-01 -6.42314831e-03 -1.14906405e-02 3.25651381e+00] [ 6.43399299e-03 9.99978890e-01 9.07065457e-04 3.09980350e-01] [ 1.14845717e-02 -9.80917560e-04 9.99933569e-01 -1.60984037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.893133365 meters Centerline goodness [0,1] 0.30844558570713554 Centerline is valid? [False, False] Translation: X:3.24, Y:0.30, Z:-0.16 [[ 9.99931182e-01 6.77021518e-04 -1.17120623e-02 3.23903276e+00] [-6.83856419e-04 9.99999598e-01 -5.79582980e-04 3.03201416e-01] [ 1.17116652e-02 5.87552463e-04 9.99931243e-01 -1.63335800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.923133365 meters Centerline goodness [0,1] 0.3093091130859035 Centerline is valid? [False, False] Translation: X:3.24, Y:0.30, Z:-0.16 [[ 9.99927136e-01 6.55052218e-04 -1.20537477e-02 3.24008781e+00] [-6.60545513e-04 9.99999680e-01 -4.51757915e-04 3.02101878e-01] [ 1.20534479e-02 4.59687047e-04 9.99927249e-01 -1.63755079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.953133365 meters Centerline goodness [0,1] 0.30624212675383344 Centerline is valid? [False, False] Translation: X:3.24, Y:0.30, Z:-0.16 [[ 9.99919992e-01 7.79367924e-04 -1.26254221e-02 3.24184604e+00] [-7.80588955e-04 9.99999691e-01 -9.17845000e-05 3.00443375e-01] [ 1.26253467e-02 1.01632422e-04 9.99920292e-01 -1.64423087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98313336499996 meters Centerline goodness [0,1] 0.30496346577889233 Centerline is valid? [False, False] Translation: X:3.24, Y:0.30, Z:-0.16 [[ 9.99918223e-01 8.65544459e-04 -1.27592323e-02 3.24229667e+00] [-8.64415933e-04 9.99999622e-01 9.39624008e-05 2.99662368e-01] [ 1.27593088e-02 -8.29254331e-05 9.99918593e-01 -1.64638422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.013133365 meters Centerline goodness [0,1] 0.30365577483015205 Centerline is valid? [False, False] Translation: X:3.24, Y:0.30, Z:-0.16 [[ 9.99918465e-01 9.12387095e-04 -1.27369630e-02 3.24225924e+00] [-9.09260727e-04 9.99999555e-01 2.51244944e-04 2.98677176e-01] [ 1.27371866e-02 -2.39643238e-04 9.99918850e-01 -1.64644574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04313336499996 meters Centerline goodness [0,1] 0.30502005854927894 Centerline is valid? [False, False] Translation: X:3.24, Y:0.30, Z:-0.16 [[ 9.99919020e-01 9.51423590e-04 -1.26904763e-02 3.24198044e+00] [-9.46405598e-04 9.99999472e-01 4.01413548e-04 2.97735719e-01] [ 1.26908515e-02 -3.89370704e-04 9.99919392e-01 -1.64347579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.073133365 meters Centerline goodness [0,1] 0.307183590277326 Centerline is valid? [False, False] Translation: X:3.24, Y:0.30, Z:-0.16 [[ 9.99920829e-01 1.12135494e-03 -1.25331156e-02 3.24155283e+00] [-1.11264543e-03 9.99999135e-01 7.01871194e-04 2.96412933e-01] [ 1.25338918e-02 -6.87870712e-04 9.99921211e-01 -1.64248096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10313336499996 meters Centerline goodness [0,1] 0.30667450109899674 Centerline is valid? [False, False] Translation: X:3.24, Y:0.30, Z:-0.16 [[ 9.99921313e-01 1.18507144e-03 -1.24885417e-02 3.24136613e+00] [-1.17431366e-03 9.99998933e-01 8.68709520e-04 2.95516803e-01] [ 1.24895579e-02 -8.53975699e-04 9.99921638e-01 -1.64112992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.133133365 meters Centerline goodness [0,1] 0.30404460038314995 Centerline is valid? [False, False] Translation: X:3.24, Y:0.29, Z:-0.16 [[ 9.99922496e-01 1.21962352e-03 -1.23901098e-02 3.24093671e+00] [-1.20712731e-03 9.99998755e-01 1.01599182e-03 2.94427354e-01] [ 1.23913335e-02 -1.00095664e-03 9.99922723e-01 -1.63803229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16313336499996 meters Centerline goodness [0,1] 0.31191838874568567 Centerline is valid? [False, False] Translation: X:3.19, Y:0.29, Z:-0.16 [[ 9.99901424e-01 1.51839456e-04 -1.40398804e-02 3.19470601e+00] [-1.37437029e-04 9.99999463e-01 1.02678182e-03 2.90064072e-01] [ 1.40400288e-02 -1.02475100e-03 9.99900909e-01 -1.63123857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.193133365 meters Centerline goodness [0,1] 0.30670836319412775 Centerline is valid? [False, False] Translation: X:3.19, Y:0.29, Z:-0.16 [[ 9.99902412e-01 2.69715089e-04 -1.39676192e-02 3.19435786e+00] [-2.51336134e-04 9.99999100e-01 1.31756455e-03 2.88679192e-01] [ 1.39679620e-02 -1.31392540e-03 9.99901580e-01 -1.62820720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22313336499997 meters Centerline goodness [0,1] 0.3093032885130865 Centerline is valid? [False, False] Translation: X:3.19, Y:0.29, Z:-0.16 [[ 9.99900252e-01 5.75580745e-04 -1.41122483e-02 3.19479144e+00] [-5.47908139e-04 9.99997920e-01 1.96468067e-03 2.85952759e-01] [ 1.41133498e-02 -1.95675248e-03 9.99898487e-01 -1.62940793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.253133365 meters Centerline goodness [0,1] 0.3086874142474465 Centerline is valid? [False, False] Translation: X:3.20, Y:0.28, Z:-0.16 [[ 9.99898387e-01 6.42213794e-04 -1.42408838e-02 3.19522993e+00] [-6.11079190e-04 9.99997414e-01 2.19052674e-03 2.84614447e-01] [ 1.42422538e-02 -2.18160184e-03 9.99896194e-01 -1.63153935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28313336499997 meters Centerline goodness [0,1] 0.3045365232224213 Centerline is valid? [False, False] Translation: X:3.20, Y:0.28, Z:-0.16 [[ 9.99896066e-01 6.65202968e-04 -1.44019270e-02 3.19572517e+00] [-6.31312938e-04 9.99997022e-01 2.35757783e-03 2.83350953e-01] [ 1.44034524e-02 -2.34824067e-03 9.99893507e-01 -1.63316160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.313133365 meters Centerline goodness [0,1] 0.3055031753256605 Centerline is valid? [False, False] Translation: X:3.20, Y:0.28, Z:-0.16 [[ 9.99896524e-01 6.91425909e-04 -1.43688571e-02 3.19556934e+00] [-6.55852761e-04 9.99996709e-01 2.48027640e-03 2.82444789e-01] [ 1.43705248e-02 -2.47059590e-03 9.99893686e-01 -1.63187872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34313336499997 meters Centerline goodness [0,1] 0.3089161563106161 Centerline is valid? [False, False] Translation: X:3.20, Y:0.28, Z:-0.16 [[ 9.99898776e-01 7.76865343e-04 -1.42068558e-02 3.19509761e+00] [-7.39004853e-04 9.99996162e-01 2.67000060e-03 2.81516362e-01] [ 1.42088756e-02 -2.65923140e-03 9.99895513e-01 -1.63016426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.373133365 meters Centerline goodness [0,1] 0.31039077346497457 Centerline is valid? [False, False] Translation: X:3.20, Y:0.28, Z:-0.16 [[ 9.99898626e-01 9.45124262e-04 -1.42072312e-02 3.19533791e+00] [-9.02746528e-04 9.99995126e-01 2.98894573e-03 2.80208336e-01] [ 1.42099869e-02 -2.97581719e-03 9.99894605e-01 -1.63408857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.403133365 meters Centerline goodness [0,1] 0.3083652742588623 Centerline is valid? [False, False] Translation: X:3.20, Y:0.28, Z:-0.16 [[ 9.99893929e-01 9.59945688e-04 -1.45330076e-02 3.19653257e+00] [-9.15717699e-04 9.99994931e-01 3.04962710e-03 2.79755763e-01] [ 1.45358614e-02 -3.03599549e-03 9.99889740e-01 -1.64110170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.433133365 meters Centerline goodness [0,1] 0.3099930088263567 Centerline is valid? [False, False] Translation: X:3.20, Y:0.28, Z:-0.16 [[ 9.99890804e-01 9.68885368e-04 -1.47459244e-02 3.19730850e+00] [-9.23384495e-04 9.99994793e-01 3.09215328e-03 2.79344841e-01] [ 1.47488436e-02 -3.07819947e-03 9.99886492e-01 -1.64585087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.463133365 meters Centerline goodness [0,1] 0.3078225386351797 Centerline is valid? [False, False] Translation: X:3.20, Y:0.28, Z:-0.16 [[ 9.99888000e-01 9.49691529e-04 -1.49360435e-02 3.19779575e+00] [-9.03643119e-04 9.99994819e-01 3.08948600e-03 2.79156979e-01] [ 1.49389002e-02 -3.07564312e-03 9.99883678e-01 -1.64663075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.493133365 meters Centerline goodness [0,1] 0.30599199345701866 Centerline is valid? [False, False] Translation: X:3.20, Y:0.28, Z:-0.16 [[ 9.99888789e-01 9.55306991e-04 -1.48827605e-02 3.19740968e+00] [-9.08408221e-04 9.99994602e-01 3.15765597e-03 2.78780345e-01] [ 1.48856967e-02 -3.14378518e-03 9.99884260e-01 -1.64236745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.523133365 meters Centerline goodness [0,1] 0.3077039209765776 Centerline is valid? [False, False] Translation: X:3.20, Y:0.28, Z:-0.16 [[ 9.99892297e-01 1.10115593e-03 -1.46349294e-02 3.19612594e+00] [-1.04969010e-03 9.99993240e-01 3.52386019e-03 2.77344722e-01] [ 1.46387108e-02 -3.50811852e-03 9.99886694e-01 -1.63103903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.553133365 meters Centerline goodness [0,1] 0.3055561521444986 Centerline is valid? [False, False] Translation: X:3.20, Y:0.28, Z:-0.16 [[ 9.99889478e-01 1.13574348e-03 -1.48236964e-02 3.19667558e+00] [-1.08147981e-03 9.99992688e-01 3.66810580e-03 2.76581253e-01] [ 1.48277541e-02 -3.65166886e-03 9.99883395e-01 -1.63242492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.583133365 meters Centerline goodness [0,1] 0.31010604707880585 Centerline is valid? [False, False] Translation: X:3.15, Y:0.27, Z:-0.16 [[ 9.99841508e-01 -2.16766196e-04 -1.78020053e-02 3.15363073e+00] [ 2.79501088e-04 9.99993760e-01 3.52162271e-03 2.73445026e-01] [ 1.78011308e-02 -3.52604024e-03 9.99835330e-01 -1.63716485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.613133365 meters Centerline goodness [0,1] 0.3115776164628431 Centerline is valid? [False, False] Translation: X:3.15, Y:0.27, Z:-0.16 [[ 9.99836286e-01 -2.48670115e-04 -1.80924956e-02 3.15442307e+00] [ 3.13539581e-04 9.99993533e-01 3.58268667e-03 2.72724210e-01] [ 1.80914877e-02 -3.58777285e-03 9.99829899e-01 -1.63864252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.643133365 meters Centerline goodness [0,1] 0.3082021182127309 Centerline is valid? [False, False] Translation: X:3.15, Y:0.27, Z:-0.16 [[ 9.99835900e-01 -2.60632969e-04 -1.81136899e-02 3.15442932e+00] [ 3.27801178e-04 9.99993082e-01 3.70527597e-03 2.71669239e-01] [ 1.81125989e-02 -3.71060562e-03 9.99829068e-01 -1.63748183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.673133365 meters Centerline goodness [0,1] 0.3069830713422007 Centerline is valid? [False, False] Translation: X:3.15, Y:0.27, Z:-0.16 [[ 9.99839074e-01 -2.26333426e-04 -1.79380950e-02 3.15369979e+00] [ 2.96225220e-04 9.99992376e-01 3.89371611e-03 2.70460392e-01] [ 1.79370769e-02 -3.89840322e-03 9.99831518e-01 -1.63223899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.703133365 meters Centerline goodness [0,1] 0.3093286494925839 Centerline is valid? [False, False] Translation: X:3.15, Y:0.27, Z:-0.16 [[ 9.99842894e-01 -8.94575335e-05 -1.77250778e-02 3.15269058e+00] [ 1.67152276e-04 9.99990386e-01 4.38189004e-03 2.67833773e-01] [ 1.77245154e-02 -4.38416441e-03 9.99833296e-01 -1.62321037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73313336499996 meters Centerline goodness [0,1] 0.3117122251693374 Centerline is valid? [False, False] Translation: X:3.15, Y:0.27, Z:-0.16 [[ 9.99840349e-01 -4.22271746e-06 -1.78683108e-02 3.15317541e+00] [ 8.64551561e-05 9.99989410e-01 4.60136840e-03 2.66731211e-01] [ 1.78681021e-02 -4.60217860e-03 9.99829761e-01 -1.62540899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.763133365 meters Centerline goodness [0,1] 0.308794434177628 Centerline is valid? [False, False] Translation: X:3.15, Y:0.27, Z:-0.16 [[ 9.99838529e-01 8.55232278e-05 -1.79696754e-02 3.15359045e+00] [ 3.12598071e-07 9.99988592e-01 4.77664720e-03 2.65916959e-01] [ 1.79698789e-02 -4.77588152e-03 9.99827122e-01 -1.62823962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79313336499996 meters Centerline goodness [0,1] 0.3070175438596491 Centerline is valid? [False, False] Translation: X:3.17, Y:0.26, Z:-0.16 [[ 0.99981353 0.00861232 -0.01728379 3.17315875] [-0.00855022 0.99995674 0.00366347 0.26274657] [ 0.01731459 -0.00351501 0.99984391 -0.16139804] [ 0. 0. 0. 1. ]] SLAMing on 284.823133365 meters Centerline goodness [0,1] 0.3059066732703116 Centerline is valid? [False, False] Translation: X:3.17, Y:0.26, Z:-0.16 [[ 0.99981996 0.00890965 -0.01675281 3.17167581] [-0.00884938 0.99995411 0.0036685 0.26370508] [ 0.01678473 -0.00351959 0.99985293 -0.16107187] [ 0. 0. 0. 1. ]] SLAMing on 284.85313336499996 meters Centerline goodness [0,1] 0.3083589056489605 Centerline is valid? [False, False] Translation: X:3.17, Y:0.26, Z:-0.16 [[ 0.99982184 0.00892758 -0.01663064 3.17150205] [-0.00887061 0.99995454 0.00349603 0.2648055 ] [ 0.0166611 -0.00334789 0.99985559 -0.16128255] [ 0. 0. 0. 1. ]] SLAMing on 284.883133365 meters Centerline goodness [0,1] 0.3055985552115583 Centerline is valid? [False, False] Translation: X:3.17, Y:0.27, Z:-0.16 [[ 9.99822141e-01 8.93121591e-03 -1.66108585e-02 3.17169876e+00] [-8.87901698e-03 9.99955417e-01 3.21355813e-03 2.66546179e-01] [ 1.66388189e-02 -3.06549847e-03 9.99856866e-01 -1.61720989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91313336499996 meters Centerline goodness [0,1] 0.3099900143272696 Centerline is valid? [False, False] Translation: X:3.15, Y:0.27, Z:-0.16 [[ 9.99852693e-01 6.16184794e-04 -1.71526434e-02 3.15339154e+00] [-5.40666724e-04 9.99990143e-01 4.40699653e-03 2.71882405e-01] [ 1.71551899e-02 -4.39707348e-03 9.99843170e-01 -1.64139392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.943133365 meters Centerline goodness [0,1] 0.3079405648934327 Centerline is valid? [False, False] Translation: X:3.15, Y:0.27, Z:-0.16 [[ 9.99850035e-01 5.17740343e-04 -1.73100692e-02 3.15413738e+00] [-4.49175962e-04 9.99992040e-01 3.96460692e-03 2.74218816e-01] [ 1.73119840e-02 -3.95623711e-03 9.99842309e-01 -1.64857481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97313336499997 meters Centerline goodness [0,1] 0.3079405648934327 Centerline is valid? [False, False] Translation: X:3.15, Y:0.27, Z:-0.16 [[ 9.99850035e-01 5.17740343e-04 -1.73100692e-02 3.15413738e+00] [-4.49175962e-04 9.99992040e-01 3.96460692e-03 2.74218816e-01] [ 1.73119840e-02 -3.95623711e-03 9.99842309e-01 -1.64857481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.003133365 meters Centerline goodness [0,1] 0.3079894111009851 Centerline is valid? [False, False] Translation: X:3.15, Y:0.28, Z:-0.17 [[ 9.99844361e-01 4.54035538e-04 -1.76365589e-02 3.15499572e+00] [-3.94671531e-04 9.99994246e-01 3.36929789e-03 2.77892214e-01] [ 1.76379872e-02 -3.36181285e-03 9.99838787e-01 -1.65222702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03313336499997 meters Centerline goodness [0,1] 0.31104341203351105 Centerline is valid? [False, False] Translation: X:3.15, Y:0.28, Z:-0.16 [[ 9.99844957e-01 3.73694548e-04 -1.76046178e-02 3.15459310e+00] [-3.17753726e-04 9.99994892e-01 3.18031208e-03 2.78869285e-01] [ 1.76057163e-02 -3.17422506e-03 9.99839969e-01 -1.64808471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.063133365 meters Centerline goodness [0,1] 0.3067134898441395 Centerline is valid? [False, False] Translation: X:3.15, Y:0.28, Z:-0.16 [[ 9.99847147e-01 3.34489645e-04 -1.74805567e-02 3.15397580e+00] [-2.79064635e-04 9.99994927e-01 3.17300930e-03 2.78875096e-01] [ 1.74815294e-02 -3.16764609e-03 9.99842169e-01 -1.64258257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09313336499997 meters Centerline goodness [0,1] 0.30831515989031155 Centerline is valid? [False, False] Translation: X:3.15, Y:0.28, Z:-0.16 [[ 9.99851259e-01 2.53971126e-04 -1.72451494e-02 3.15314259e+00] [-1.97635351e-04 9.99994639e-01 3.26838631e-03 2.78051195e-01] [ 1.72458871e-02 -3.26449192e-03 9.99845949e-01 -1.63732856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.123133365 meters Centerline goodness [0,1] 0.308832131019692 Centerline is valid? [False, False] Translation: X:3.15, Y:0.28, Z:-0.16 [[ 9.99852353e-01 1.08940299e-04 -1.71831146e-02 3.15290370e+00] [-5.10526526e-05 9.99994323e-01 3.36927074e-03 2.76800538e-01] [ 1.71833841e-02 -3.36789604e-03 9.99846683e-01 -1.63494915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.153133365 meters Centerline goodness [0,1] 0.30773385180384527 Centerline is valid? [False, False] Translation: X:3.15, Y:0.28, Z:-0.16 [[ 9.99850666e-01 -9.85909181e-05 -1.72810659e-02 3.15322732e+00] [ 1.58052098e-04 9.99994072e-01 3.43949628e-03 2.75426944e-01] [ 1.72806243e-02 -3.44171395e-03 9.99844755e-01 -1.63539587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.183133365 meters Centerline goodness [0,1] 0.30904843280192085 Centerline is valid? [False, False] Translation: X:3.15, Y:0.27, Z:-0.16 [[ 9.99846397e-01 -5.18611568e-04 -1.75189378e-02 3.15385653e+00] [ 5.82390513e-04 9.99993221e-01 3.63566584e-03 2.72594530e-01] [ 1.75169336e-02 -3.64531026e-03 9.99839922e-01 -1.63457319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.213133365 meters Centerline goodness [0,1] 0.3107018308631212 Centerline is valid? [False, False] Translation: X:3.15, Y:0.27, Z:-0.16 [[ 9.99842419e-01 -4.22394828e-04 -1.77470703e-02 3.15429424e+00] [ 4.93994879e-04 9.99991756e-01 4.03028147e-03 2.70585375e-01] [ 1.77452216e-02 -4.03841334e-03 9.99834385e-01 -1.63238615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.243133365 meters Centerline goodness [0,1] 0.3121354697426335 Centerline is valid? [False, False] Translation: X:3.15, Y:0.27, Z:-0.16 [[ 9.99838628e-01 -3.59609754e-04 -1.79607713e-02 3.15474634e+00] [ 4.38765367e-04 9.99990209e-01 4.40339270e-03 2.68417325e-01] [ 1.79590119e-02 -4.41056268e-03 9.99828996e-01 -1.63105454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.273133365 meters Centerline goodness [0,1] 0.30697534576067353 Centerline is valid? [False, False] Translation: X:3.18, Y:0.26, Z:-0.16 [[ 9.99827490e-01 5.65811494e-03 -1.76911471e-02 3.17584661e+00] [-5.63540234e-03 9.99983232e-01 1.33342896e-03 2.64568381e-01] [ 1.76983951e-02 -1.23350220e-03 9.99842610e-01 -1.62512153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.303133365 meters Centerline goodness [0,1] 0.3136168263041913 Centerline is valid? [False, False] Translation: X:3.15, Y:0.26, Z:-0.16 [[ 9.99821742e-01 -3.60960925e-03 -1.85325166e-02 3.15426193e+00] [ 3.64805881e-03 9.99991262e-01 2.04132040e-03 2.64656335e-01] [ 1.85249863e-02 -2.10856423e-03 9.99826174e-01 -1.62756191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.333133365 meters Centerline goodness [0,1] 0.3103321033210332 Centerline is valid? [False, False] Translation: X:3.15, Y:0.26, Z:-0.16 [[ 9.99818972e-01 -3.46284396e-03 -1.87091369e-02 3.15448430e+00] [ 3.50923140e-03 9.99990848e-01 2.44713907e-03 2.62628737e-01] [ 1.87004916e-02 -2.51235076e-03 9.99821974e-01 -1.62432481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.363133365 meters Centerline goodness [0,1] 0.31124655918206845 Centerline is valid? [False, False] Translation: X:3.15, Y:0.26, Z:-0.16 [[ 9.99819364e-01 -3.06710773e-03 -1.87571903e-02 3.15447481e+00] [ 3.13053228e-03 9.99989479e-01 3.35291841e-03 2.58757161e-01] [ 1.87467092e-02 -3.41103275e-03 9.99818446e-01 -1.62164545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.393133365 meters Centerline goodness [0,1] 0.3119436607396715 Centerline is valid? [False, False] Translation: X:3.15, Y:0.26, Z:-0.16 [[ 9.99820409e-01 -2.92318875e-03 -1.87244429e-02 3.15439144e+00] [ 2.99441324e-03 9.99988384e-01 3.77691800e-03 2.56582003e-01] [ 1.87131848e-02 -3.83230842e-03 9.99817548e-01 -1.62060330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.423133365 meters Centerline goodness [0,1] 0.3114840408028957 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:-0.16 [[ 9.99822709e-01 -2.85383679e-03 -1.86119650e-02 3.15400088e+00] [ 2.93140909e-03 9.99987126e-01 4.14192361e-03 2.54267685e-01] [ 1.85999050e-02 -4.19574856e-03 9.99818203e-01 -1.61796023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.453133365 meters Centerline goodness [0,1] 0.31181483338055493 Centerline is valid? [False, False] Translation: X:3.17, Y:0.25, Z:-0.16 [[ 9.99814861e-01 5.07119819e-03 -1.85614167e-02 3.17235590e+00] [-5.02331367e-03 9.99983936e-01 2.62550374e-03 2.47948697e-01] [ 1.85744330e-02 -2.53177784e-03 9.99824275e-01 -1.59405645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48313336499996 meters Centerline goodness [0,1] 0.31087279398916656 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:-0.16 [[ 0.99981034 0.00536337 -0.01872199 3.17256426] [-0.00529844 0.99997978 0.00351605 0.24351752] [ 0.01874047 -0.00341619 0.99981855 -0.15911892] [ 0. 0. 0. 1. ]] SLAMing on 285.513133365 meters Centerline goodness [0,1] 0.308008079755001 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:-0.16 [[ 0.99980899 0.00548864 -0.01875779 3.17252624] [-0.0054153 0.9999775 0.0039582 0.24119689] [ 0.01877909 -0.00385587 0.99981622 -0.15890213] [ 0. 0. 0. 1. ]] SLAMing on 285.54313336499996 meters Centerline goodness [0,1] 0.30937832960055667 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:-0.16 [[ 0.99981132 0.00557496 -0.01860765 3.17197503] [-0.0054934 0.99997509 0.00443178 0.2383348 ] [ 0.01863189 -0.00432873 0.99981704 -0.15851808] [ 0. 0. 0. 1. ]] SLAMing on 285.573133365 meters Centerline goodness [0,1] 0.310036623648413 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:-0.16 [[ 9.99841281e-01 2.76206329e-03 -1.76006908e-02 3.16869392e+00] [-2.72631802e-03 9.99994173e-01 2.05457245e-03 2.34728287e-01] [ 1.76062631e-02 -2.00626127e-03 9.99842985e-01 -1.57396599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60313336499996 meters Centerline goodness [0,1] 0.31028813705979064 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:-0.16 [[ 9.99839214e-01 2.79175716e-03 -1.77130423e-02 3.16885678e+00] [-2.74663858e-03 9.99992923e-01 2.57101159e-03 2.31433149e-01] [ 1.77200946e-02 -2.52194688e-03 9.99839806e-01 -1.57219791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.633133365 meters Centerline goodness [0,1] 0.30947620082590743 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:-0.16 [[ 9.99827705e-01 1.66737980e-03 -1.84873242e-02 3.17173717e+00] [-1.61995650e-03 9.99995360e-01 2.57985816e-03 2.22406189e-01] [ 1.84915400e-02 -2.54946500e-03 9.99825766e-01 -1.58557621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66313336499996 meters Centerline goodness [0,1] 0.3135006443439705 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:-0.16 [[ 9.99820391e-01 1.79876090e-03 -1.88666518e-02 3.17277728e+00] [-1.73634851e-03 9.99992968e-01 3.32393908e-03 2.18208686e-01] [ 1.88724981e-02 -3.29058298e-03 9.99816484e-01 -1.58783765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.693133365 meters Centerline goodness [0,1] 0.3081498849376927 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:-0.16 [[ 9.99805414e-01 4.34217605e-05 -1.97264116e-02 3.17601054e+00] [ 2.57642047e-07 9.99997549e-01 2.21425199e-03 2.12400021e-01] [ 1.97264594e-02 -2.21382621e-03 9.99802963e-01 -1.60063664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72313336499997 meters Centerline goodness [0,1] 0.3132770092803362 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:-0.16 [[ 9.99800594e-01 -3.34857599e-03 -1.96865156e-02 3.17561858e+00] [ 3.34927625e-03 9.99994391e-01 2.60000052e-06 2.02779564e-01] [ 1.96863965e-02 -6.85350613e-05 9.99806202e-01 -1.59607832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.753133365 meters Centerline goodness [0,1] 0.3118373592742376 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:-0.16 [[ 9.99802054e-01 -3.18287467e-03 -1.96397936e-02 3.17526062e+00] [ 3.19948124e-03 9.99994550e-01 8.14193492e-04 1.98260150e-01] [ 1.96370951e-02 -8.76869477e-04 9.99806789e-01 -1.59161801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78313336499997 meters Centerline goodness [0,1] 0.310704335713042 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:-0.16 [[ 9.99803398e-01 -2.99147503e-03 -1.96014176e-02 3.17496680e+00] [ 3.02326198e-03 9.99994162e-01 1.59223338e-03 1.93937880e-01] [ 1.95965401e-02 -1.65118056e-03 9.99806606e-01 -1.58806138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.813133365 meters Centerline goodness [0,1] 0.3105554951625177 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:-0.16 [[ 9.99802913e-01 -2.78924329e-03 -1.96559032e-02 3.17507666e+00] [ 2.83483131e-03 9.99993356e-01 2.29182304e-03 1.90229347e-01] [ 1.96493802e-02 -2.34709252e-03 9.99804177e-01 -1.58734033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84313336499997 meters Centerline goodness [0,1] 0.30778250673152086 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:-0.16 [[ 9.99800184e-01 -2.62281729e-03 -1.98169955e-02 3.17554667e+00] [ 2.68082972e-03 9.99992197e-01 2.90140956e-03 1.86946792e-01] [ 1.98092310e-02 -2.95395580e-03 9.99799414e-01 -1.58869587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.873133365 meters Centerline goodness [0,1] 0.3067158511446241 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:-0.16 [[ 9.99796462e-01 -2.41855556e-03 -2.00295919e-02 3.17624918e+00] [ 2.48859866e-03 9.99990873e-01 3.47279423e-03 1.84125401e-01] [ 2.00210099e-02 -3.52193301e-03 9.99793356e-01 -1.59165909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.903133365 meters Centerline goodness [0,1] 0.3094289217833056 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:-0.16 [[ 9.99794115e-01 -2.21180927e-03 -2.01701440e-02 3.17666556e+00] [ 2.29310907e-03 9.99989337e-01 4.00846300e-03 1.81576355e-01] [ 2.01610630e-02 -4.05389006e-03 9.99788526e-01 -1.59308449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.933133365 meters Centerline goodness [0,1] 0.3054460378666436 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:-0.16 [[ 9.99774030e-01 4.43781356e-03 -2.07892951e-02 3.19888317e+00] [-4.40789089e-03 9.99989183e-01 1.48493294e-03 1.74787352e-01] [ 2.07956600e-02 -1.39296045e-03 9.99782776e-01 -1.59244620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.963133365 meters Centerline goodness [0,1] 0.3069613449714065 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:-0.16 [[ 9.99770433e-01 4.42512426e-03 -2.09642669e-02 3.19944271e+00] [-4.39118990e-03 9.99988973e-01 1.66443396e-03 1.73256116e-01] [ 2.09714011e-02 -1.57199378e-03 9.99778840e-01 -1.59471220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.993133365 meters Centerline goodness [0,1] 0.30747088839460945 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:-0.16 [[ 9.99752319e-01 -4.76766766e-03 -2.17386663e-02 3.17891301e+00] [ 4.82605006e-03 9.99984886e-01 2.63397659e-03 1.74407110e-01] [ 2.17257798e-02 -2.73823609e-03 9.99760218e-01 -1.60285571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.023133365 meters Centerline goodness [0,1] 0.3078157529493407 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:-0.16 [[ 9.99754683e-01 -4.63297441e-03 -2.16589312e-02 3.17861906e+00] [ 4.69961055e-03 9.99984376e-01 3.02672526e-03 1.72463810e-01] [ 2.16445701e-02 -3.12777129e-03 9.99760836e-01 -1.60132211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.053133365 meters Centerline goodness [0,1] 0.30626712477710605 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:-0.16 [[ 0.99975759 -0.00451019 -0.02155044 3.17817604] [ 0.00458447 0.99998372 0.00339856 0.17071811] [ 0.02153476 -0.00349654 0.99976199 -0.15985586] [ 0. 0. 0. 1. ]] SLAMing on 286.083133365 meters Centerline goodness [0,1] 0.30795397915628453 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:-0.16 [[ 0.99975746 -0.00448811 -0.02156091 3.17799863] [ 0.00457425 0.99998175 0.00394762 0.16727488] [ 0.0215428 -0.00404529 0.99975974 -0.15946837] [ 0. 0. 0. 1. ]] SLAMing on 286.113133365 meters Centerline goodness [0,1] 0.3056379179742452 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:-0.16 [[ 0.99975352 -0.00443495 -0.02175404 3.17849779] [ 0.00452738 0.99998092 0.00420149 0.16573731] [ 0.02173499 -0.00429895 0.99975452 -0.15956474] [ 0. 0. 0. 1. ]] SLAMing on 286.143133365 meters Centerline goodness [0,1] 0.30688162735338675 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:-0.16 [[ 0.99975143 -0.00440915 -0.02185503 3.17890526] [ 0.00450576 0.99998029 0.00437292 0.16465684] [ 0.02183531 -0.0044703 0.99975159 -0.15984298] [ 0. 0. 0. 1. ]] SLAMing on 286.173133365 meters Centerline goodness [0,1] 0.3078990494919699 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:-0.16 [[ 0.99975082 -0.00434029 -0.02189665 3.17907326] [ 0.0044411 0.99997975 0.0045574 0.16368743] [ 0.02187643 -0.00465351 0.99974985 -0.15995676] [ 0. 0. 0. 1. ]] SLAMing on 286.203133365 meters Centerline goodness [0,1] 0.30344322028416804 Centerline is valid? [False, False] Translation: X:3.20, Y:0.16, Z:-0.16 [[ 0.99976829 0.00406951 -0.02113789 3.1979883 ] [-0.0040008 0.99998658 0.00329183 0.15933995] [ 0.021151 -0.0032065 0.99977115 -0.15859159] [ 0. 0. 0. 1. ]] SLAMing on 286.23313336499996 meters Centerline goodness [0,1] 0.3068290769633052 Centerline is valid? [False, False] Translation: X:3.20, Y:0.16, Z:-0.16 [[ 0.99977608 0.00417947 -0.02074444 3.19655158] [-0.00410546 0.99998506 0.00360911 0.15787369] [ 0.02075921 -0.00352313 0.9997783 -0.15773798] [ 0. 0. 0. 1. ]] SLAMing on 286.263133365 meters Centerline goodness [0,1] 0.30415143041514303 Centerline is valid? [False, False] Translation: X:3.22, Y:0.16, Z:-0.16 [[ 9.99795731e-01 -3.17867449e-03 -1.99597498e-02 3.21599594e+00] [ 3.26914418e-03 9.99984524e-01 4.50161435e-03 1.61074122e-01] [ 1.99451317e-02 -4.56594611e-03 9.99790650e-01 -1.56286040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29313336499996 meters Centerline goodness [0,1] 0.309016411212522 Centerline is valid? [False, False] Translation: X:3.22, Y:0.16, Z:-0.16 [[ 9.99797052e-01 -3.12432760e-03 -1.99020864e-02 3.21574292e+00] [ 3.21671345e-03 9.99984192e-01 4.61169783e-03 1.60641446e-01] [ 1.98873633e-02 -4.67478121e-03 9.99791298e-01 -1.56090994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.323133365 meters Centerline goodness [0,1] 0.309862840445714 Centerline is valid? [False, False] Translation: X:3.22, Y:0.16, Z:-0.16 [[ 9.99794096e-01 -3.11762669e-03 -2.00510728e-02 3.21619529e+00] [ 3.21087932e-03 9.99984172e-01 4.62024378e-03 1.60656416e-01] [ 2.00363513e-02 -4.68367402e-03 9.99788282e-01 -1.56283865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35313336499996 meters Centerline goodness [0,1] 0.31001132700182976 Centerline is valid? [False, False] Translation: X:3.22, Y:0.16, Z:-0.16 [[ 9.99789585e-01 -3.16627904e-03 -2.02672397e-02 3.21677138e+00] [ 3.25959403e-03 9.99984232e-01 4.57284972e-03 1.60740618e-01] [ 2.02524412e-02 -4.63795049e-03 9.99784141e-01 -1.56444578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.383133365 meters Centerline goodness [0,1] 0.3093566224874923 Centerline is valid? [False, False] Translation: X:3.22, Y:0.16, Z:-0.16 [[ 0.999787 -0.00323899 -0.0203831 3.21700494] [ 0.00333092 0.99998443 0.00447747 0.16102443] [ 0.02036828 -0.00454441 0.99978222 -0.15641154] [ 0. 0. 0. 1. ]] SLAMing on 286.41313336499996 meters Centerline goodness [0,1] 0.30989963205678084 Centerline is valid? [False, False] Translation: X:3.23, Y:0.16, Z:-0.15 [[ 9.99798133e-01 5.33912365e-03 -1.93697416e-02 3.23494814e+00] [-5.27898846e-03 9.99981091e-01 3.15439851e-03 1.57917661e-01] [ 1.93862170e-02 -3.05150910e-03 9.99807413e-01 -1.54719909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.443133365 meters Centerline goodness [0,1] 0.31012133379888274 Centerline is valid? [False, False] Translation: X:3.23, Y:0.16, Z:-0.15 [[ 9.99804101e-01 5.35975240e-03 -1.90533988e-02 3.23390216e+00] [-5.30149510e-03 9.99981121e-01 3.10677728e-03 1.58466545e-01] [ 1.90696906e-02 -3.00515717e-03 9.99813641e-01 -1.54251798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47313336499997 meters Centerline goodness [0,1] 0.31266493642450544 Centerline is valid? [False, False] Translation: X:3.23, Y:0.16, Z:-0.15 [[ 9.99811077e-01 5.35195837e-03 -1.86860006e-02 3.23268556e+00] [-5.29640667e-03 9.99981410e-01 3.02112938e-03 1.59117975e-01] [ 1.87018222e-02 -2.92158997e-03 9.99820837e-01 -1.53680309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.503133365 meters Centerline goodness [0,1] 0.3090763953312765 Centerline is valid? [False, False] Translation: X:3.25, Y:0.16, Z:-0.15 [[ 9.99837654e-01 -2.00424132e-03 -1.79066563e-02 3.25161956e+00] [ 2.07188996e-03 9.99990784e-01 3.76009604e-03 1.64104493e-01] [ 1.78989552e-02 -3.79658622e-03 9.99832593e-01 -1.52011887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53313336499997 meters Centerline goodness [0,1] 0.3102764645650422 Centerline is valid? [False, False] Translation: X:3.25, Y:0.17, Z:-0.15 [[ 9.99836742e-01 -2.08865523e-03 -1.79478662e-02 3.25180095e+00] [ 2.15249229e-03 9.99991424e-01 3.53822313e-03 1.65204613e-01] [ 1.79403221e-02 -3.57627813e-03 9.99832664e-01 -1.52155128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.563133365 meters Centerline goodness [0,1] 0.3086004844728629 Centerline is valid? [False, False] Translation: X:3.25, Y:0.17, Z:-0.15 [[ 9.99828464e-01 -2.30695690e-03 -1.83771657e-02 3.25341504e+00] [ 2.36082009e-03 9.99992980e-01 2.90982943e-03 1.68535782e-01] [ 1.83703238e-02 -2.95271547e-03 9.99826891e-01 -1.53232419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59313336499997 meters Centerline goodness [0,1] 0.3061960750222763 Centerline is valid? [False, False] Translation: X:3.25, Y:0.17, Z:-0.15 [[ 9.99825915e-01 -2.43680336e-03 -1.84986731e-02 3.25381036e+00] [ 2.48558055e-03 9.99993494e-01 2.61426037e-03 1.69958133e-01] [ 1.84921823e-02 -2.65978521e-03 9.99825467e-01 -1.53450339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.623133365 meters Centerline goodness [0,1] 0.30950872670875296 Centerline is valid? [False, False] Translation: X:3.25, Y:0.17, Z:-0.15 [[ 9.99825440e-01 -2.54658536e-03 -1.85095655e-02 3.25363939e+00] [ 2.59132884e-03 9.99993778e-01 2.39373432e-03 1.70995649e-01] [ 1.85033545e-02 -2.44128084e-03 9.99825818e-01 -1.53182001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.653133365 meters Centerline goodness [0,1] 0.30714023217103703 Centerline is valid? [False, False] Translation: X:3.27, Y:0.17, Z:-0.15 [[ 9.99850521e-01 2.58910618e-03 -1.70948152e-02 3.27346931e+00] [-2.61569379e-03 9.99995404e-01 -1.53312671e-03 1.70008283e-01] [ 1.70907672e-02 1.57761234e-03 9.99852698e-01 -1.53038791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.683133365 meters Centerline goodness [0,1] 0.3090363802321032 Centerline is valid? [False, False] Translation: X:3.27, Y:0.17, Z:-0.15 [[ 9.99845863e-01 2.31778486e-03 -1.74033693e-02 3.27424923e+00] [-2.34604780e-03 9.99995962e-01 -1.60375219e-03 1.69493412e-01] [ 1.73995819e-02 1.64433413e-03 9.99847264e-01 -1.53279807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.713133365 meters Centerline goodness [0,1] 0.3072060133388369 Centerline is valid? [False, False] Translation: X:3.28, Y:0.17, Z:-0.15 [[ 9.99837803e-01 2.09864682e-03 -1.78875429e-02 3.27552536e+00] [-2.12585476e-03 9.99996612e-01 -1.50217612e-03 1.68211026e-01] [ 1.78843297e-02 1.53995879e-03 9.99838877e-01 -1.53694800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.743133365 meters Centerline goodness [0,1] 0.3075001095866392 Centerline is valid? [False, False] Translation: X:3.28, Y:0.17, Z:-0.15 [[ 9.99831711e-01 1.91108981e-03 -1.82454505e-02 3.27656282e+00] [-1.93642488e-03 9.99997185e-01 -1.37100321e-03 1.66831475e-01] [ 1.82427790e-02 1.40610343e-03 9.99832598e-01 -1.54191754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.773133365 meters Centerline goodness [0,1] 0.3054902984425303 Centerline is valid? [False, False] Translation: X:3.28, Y:0.17, Z:-0.15 [[ 9.99822928e-01 1.67734679e-03 -1.87429574e-02 3.27785442e+00] [-1.70173334e-03 9.99997726e-01 -1.28523110e-03 1.65481908e-01] [ 1.87407590e-02 1.31689903e-03 9.99823509e-01 -1.54529183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.803133365 meters Centerline goodness [0,1] 0.3013551069651206 Centerline is valid? [False, False] Translation: X:3.30, Y:0.17, Z:-0.15 [[ 9.99799836e-01 -6.01165087e-03 -1.90826569e-02 3.29757791e+00] [ 6.00424729e-03 9.99981875e-01 -4.45245132e-04 1.67393016e-01] [ 1.90849877e-02 3.30579019e-04 9.99817810e-01 -1.52644072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.833133365 meters Centerline goodness [0,1] 0.3061631525884364 Centerline is valid? [False, False] Translation: X:3.28, Y:0.16, Z:-0.15 [[ 9.99824998e-01 1.42170901e-03 -1.86534905e-02 3.27680418e+00] [-1.44654832e-03 9.99998085e-01 -1.31819226e-03 1.63277952e-01] [ 1.86515807e-02 1.34494475e-03 9.99825140e-01 -1.53811791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.863133365 meters Centerline goodness [0,1] 0.30778398994495726 Centerline is valid? [False, False] Translation: X:3.30, Y:0.17, Z:-0.15 [[ 9.99877074e-01 -3.07443663e-03 -1.53747856e-02 3.29805959e+00] [ 3.09484638e-03 9.99994361e-01 1.30386524e-03 1.66916859e-01] [ 1.53706903e-02 -1.35128756e-03 9.99880951e-01 -1.53349956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.893133365 meters Centerline goodness [0,1] 0.30778398994495726 Centerline is valid? [False, False] Translation: X:3.30, Y:0.17, Z:-0.15 [[ 9.99877074e-01 -3.07443663e-03 -1.53747856e-02 3.29805959e+00] [ 3.09484638e-03 9.99994361e-01 1.30386524e-03 1.66916859e-01] [ 1.53706903e-02 -1.35128756e-03 9.99880951e-01 -1.53349956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.923133365 meters Centerline goodness [0,1] 0.30726800778715124 Centerline is valid? [False, False] Translation: X:3.30, Y:0.17, Z:-0.15 [[ 9.99885194e-01 -3.01092786e-03 -1.48503893e-02 3.29677455e+00] [ 3.02594571e-03 9.99994933e-01 9.88910814e-04 1.69237311e-01] [ 1.48473365e-02 -1.03373375e-03 9.99889238e-01 -1.53155304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.953133365 meters Centerline goodness [0,1] 0.3036918899114205 Centerline is valid? [False, False] Translation: X:3.30, Y:0.17, Z:-0.15 [[ 9.99886086e-01 -2.61518767e-03 -1.48652660e-02 3.29738252e+00] [ 2.62567854e-03 9.99996317e-01 6.86256955e-04 1.73475332e-01] [ 1.48634166e-02 -7.25210191e-04 9.99889270e-01 -1.53960470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98313336499996 meters Centerline goodness [0,1] 0.3053804300889541 Centerline is valid? [False, False] Translation: X:3.30, Y:0.18, Z:-0.15 [[ 9.99881336e-01 -2.75418185e-03 -1.51567714e-02 3.29852049e+00] [ 2.75824066e-03 9.99996166e-01 2.46891175e-04 1.75665958e-01] [ 1.51560333e-02 -2.88667901e-04 9.99885099e-01 -1.54672434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.013133365 meters Centerline goodness [0,1] 0.3065987416454401 Centerline is valid? [False, False] Translation: X:3.30, Y:0.18, Z:-0.16 [[ 9.99876771e-01 -2.89242610e-03 -1.54297374e-02 3.29947296e+00] [ 2.89070425e-03 9.99995813e-01 -1.33894639e-04 1.77536643e-01] [ 1.54300600e-02 8.92753318e-05 9.99880946e-01 -1.55201818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04313336499996 meters Centerline goodness [0,1] 0.3062241752475897 Centerline is valid? [False, False] Translation: X:3.30, Y:0.18, Z:-0.16 [[ 9.99874670e-01 -2.99787918e-03 -1.55452938e-02 3.29982973e+00] [ 2.99146343e-03 9.99995431e-01 -4.35949916e-04 1.79074820e-01] [ 1.55465297e-02 3.89392101e-04 9.99879070e-01 -1.55360816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.073133365 meters Centerline goodness [0,1] 0.30014666551634894 Centerline is valid? [False, False] Translation: X:3.32, Y:0.18, Z:-0.15 [[ 9.99875151e-01 5.38667955e-03 -1.48548633e-02 3.31890360e+00] [-5.41300911e-03 9.99983848e-01 -1.73281651e-03 1.76577712e-01] [ 1.48452892e-02 1.81300968e-03 9.99888159e-01 -1.54494179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10313336499996 meters Centerline goodness [0,1] 0.30421169359222455 Centerline is valid? [False, False] Translation: X:3.30, Y:0.18, Z:-0.16 [[ 9.99877795e-01 -3.32160505e-03 -1.52761985e-02 3.30051916e+00] [ 3.31190732e-03 9.99994298e-01 -6.60080562e-04 1.82593066e-01] [ 1.52783039e-02 6.09406544e-04 9.99883094e-01 -1.56172543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.133133365 meters Centerline goodness [0,1] 0.3035184862225323 Centerline is valid? [False, False] Translation: X:3.30, Y:0.18, Z:-0.16 [[ 9.99870073e-01 -3.50261029e-03 -1.57343041e-02 3.30209784e+00] [ 3.48781118e-03 9.99993449e-01 -9.67905639e-04 1.83991858e-01] [ 1.57375913e-02 9.12901600e-04 9.99875740e-01 -1.57145332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16313336499996 meters Centerline goodness [0,1] 0.2998134975711312 Centerline is valid? [False, False] Translation: X:3.30, Y:0.18, Z:-0.16 [[ 9.99868874e-01 -3.51885447e-03 -1.58067458e-02 3.30244190e+00] [ 3.50299739e-03 9.99993333e-01 -1.03076004e-03 1.84518576e-01] [ 1.58102675e-02 9.75253891e-04 9.99874534e-01 -1.57449073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.193133365 meters Centerline goodness [0,1] 0.3010547746420914 Centerline is valid? [False, False] Translation: X:3.30, Y:0.18, Z:-0.16 [[ 9.99872750e-01 -3.49456873e-03 -1.55651145e-02 3.30172752e+00] [ 3.47942740e-03 9.99993447e-01 -9.99748287e-04 1.84635908e-01] [ 1.55685062e-02 9.45463383e-04 9.99878356e-01 -1.57288071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22313336499997 meters Centerline goodness [0,1] 0.3035520430761214 Centerline is valid? [False, False] Translation: X:3.30, Y:0.18, Z:-0.16 [[ 9.99877728e-01 -3.51926337e-03 -1.52362756e-02 3.30060241e+00] [ 3.50405001e-03 9.99993335e-01 -1.02507686e-03 1.84784765e-01] [ 1.52397816e-02 9.71562852e-04 9.99883396e-01 -1.56716752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.253133365 meters Centerline goodness [0,1] 0.30179459459459457 Centerline is valid? [False, False] Translation: X:3.30, Y:0.18, Z:-0.16 [[ 9.99883021e-01 -3.63489610e-03 -1.48570579e-02 3.29929933e+00] [ 3.61949757e-03 9.99992884e-01 -1.06320312e-03 1.84689033e-01] [ 1.48608168e-02 1.00930366e-03 9.99889063e-01 -1.56085110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28313336499997 meters Centerline goodness [0,1] 0.30493420334766386 Centerline is valid? [False, False] Translation: X:3.30, Y:0.18, Z:-0.16 [[ 9.99882288e-01 -3.62997976e-03 -1.49075193e-02 3.29933869e+00] [ 3.61468537e-03 9.99992913e-01 -1.05276808e-03 1.84727634e-01] [ 1.49112351e-02 9.98758164e-04 9.99888323e-01 -1.56041031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.313133365 meters Centerline goodness [0,1] 0.3033240096272686 Centerline is valid? [False, False] Translation: X:3.30, Y:0.18, Z:-0.16 [[ 9.99880933e-01 -3.64899690e-03 -1.49934900e-02 3.29959706e+00] [ 3.63314575e-03 9.99992812e-01 -1.08430503e-03 1.84917627e-01] [ 1.49973389e-02 1.02970239e-03 9.99887003e-01 -1.56155295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34313336499997 meters Centerline goodness [0,1] 0.3016034669555796 Centerline is valid? [False, False] Translation: X:3.30, Y:0.19, Z:-0.16 [[ 9.99880409e-01 -3.66399625e-03 -1.50247188e-02 3.29962789e+00] [ 3.64709912e-03 9.99992686e-01 -1.15186734e-03 1.85320132e-01] [ 1.50288294e-02 1.09693295e-03 9.99886459e-01 -1.56090587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.373133365 meters Centerline goodness [0,1] 0.3007021713298045 Centerline is valid? [False, False] Translation: X:3.30, Y:0.19, Z:-0.16 [[ 9.99879692e-01 -3.74689187e-03 -1.50520107e-02 3.29969276e+00] [ 3.72684379e-03 9.99992131e-01 -1.35974927e-03 1.86248495e-01] [ 1.50569870e-02 1.30348919e-03 9.99885788e-01 -1.56087180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.403133365 meters Centerline goodness [0,1] 0.30288033687135074 Centerline is valid? [False, False] Translation: X:3.30, Y:0.19, Z:-0.16 [[ 9.99878785e-01 -3.85518396e-03 -1.50848493e-02 3.29982206e+00] [ 3.83102293e-03 9.99991333e-01 -1.63024468e-03 1.87467063e-01] [ 1.50910034e-02 1.57225667e-03 9.99884888e-01 -1.56135675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.433133365 meters Centerline goodness [0,1] 0.30444260365348563 Centerline is valid? [False, False] Translation: X:3.30, Y:0.19, Z:-0.16 [[ 9.99879979e-01 -4.02568525e-03 -1.49606387e-02 3.29979300e+00] [ 3.99276768e-03 9.99989544e-01 -2.22949640e-03 1.90572030e-01] [ 1.49694575e-02 2.16949446e-03 9.99885598e-01 -1.56534839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.463133365 meters Centerline goodness [0,1] 0.30183681819160624 Centerline is valid? [False, False] Translation: X:3.32, Y:0.19, Z:-0.16 [[ 0.9998889 0.00440079 -0.01424152 3.31900069] [-0.00445175 0.9999838 -0.00354846 0.18842798] [ 0.01422568 0.00361146 0.99989229 -0.15564462] [ 0. 0. 0. 1. ]] SLAMing on 287.493133365 meters Centerline goodness [0,1] 0.3066862054635725 Centerline is valid? [False, False] Translation: X:3.30, Y:0.20, Z:-0.16 [[ 9.99888686e-01 -4.14255986e-03 -1.43336822e-02 3.29973564e+00] [ 4.10496192e-03 9.99988059e-01 -2.65147592e-03 1.95277284e-01] [ 1.43444950e-02 2.59234155e-03 9.99893752e-01 -1.56813242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.523133365 meters Centerline goodness [0,1] 0.30541099618943934 Centerline is valid? [False, False] Translation: X:3.30, Y:0.20, Z:-0.16 [[ 9.99885819e-01 -4.46896661e-03 -1.44353107e-02 3.30022868e+00] [ 4.42210651e-03 9.99984855e-01 -3.27650337e-03 1.97691966e-01] [ 1.44497347e-02 3.21229477e-03 9.99890437e-01 -1.57252984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.553133365 meters Centerline goodness [0,1] 0.3012612846097361 Centerline is valid? [False, False] Translation: X:3.30, Y:0.20, Z:-0.16 [[ 0.99988176 -0.00460872 -0.01467067 3.30125863] [ 0.00455843 0.99998363 -0.00345934 0.198302 ] [ 0.01468637 0.00339206 0.9998864 -0.15814615] [ 0. 0. 0. 1. ]] SLAMing on 287.583133365 meters Centerline goodness [0,1] 0.299817779513211 Centerline is valid? [False, False] Translation: X:3.30, Y:0.20, Z:-0.16 [[ 0.99987969 -0.00468899 -0.01478579 3.30187609] [ 0.00463619 0.99998276 -0.00360318 0.19904442] [ 0.01480243 0.0035342 0.99988419 -0.15877049] [ 0. 0. 0. 1. ]] SLAMing on 287.613133365 meters Centerline goodness [0,1] 0.3024099001302649 Centerline is valid? [False, False] Translation: X:3.30, Y:0.20, Z:-0.16 [[ 0.99988072 -0.00470501 -0.01471065 3.30181891] [ 0.00465165 0.99998248 -0.00365982 0.1995555 ] [ 0.01472762 0.00359096 0.99988509 -0.15903414] [ 0. 0. 0. 1. ]] SLAMing on 287.643133365 meters Centerline goodness [0,1] 0.3045427573020373 Centerline is valid? [False, False] Translation: X:3.28, Y:0.20, Z:-0.16 [[ 9.99892271e-01 3.21045122e-03 -1.43226974e-02 3.28130373e+00] [-3.27139835e-03 9.99985686e-01 -4.23388572e-03 1.97147903e-01] [ 1.43088997e-02 4.28028485e-03 9.99888461e-01 -1.60401094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.673133365 meters Centerline goodness [0,1] 0.3015783048482734 Centerline is valid? [False, False] Translation: X:3.30, Y:0.20, Z:-0.16 [[ 9.99878685e-01 -4.35082220e-03 -1.49561270e-02 3.30105905e+00] [ 4.30376553e-03 9.99985692e-01 -3.17706096e-03 2.00804930e-01] [ 1.49697358e-02 3.11230787e-03 9.99883103e-01 -1.58493486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.703133365 meters Centerline goodness [0,1] 0.30085134250163714 Centerline is valid? [False, False] Translation: X:3.30, Y:0.20, Z:-0.16 [[ 9.99873434e-01 -4.46098473e-03 -1.52713881e-02 3.30203947e+00] [ 4.41389017e-03 9.99985403e-01 -3.11616050e-03 2.00399382e-01] [ 1.52850663e-02 3.04835987e-03 9.99878530e-01 -1.59050312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73313336499996 meters Centerline goodness [0,1] 0.3018409169850642 Centerline is valid? [False, False] Translation: X:3.30, Y:0.20, Z:-0.16 [[ 9.99871769e-01 -4.50854096e-03 -1.53661742e-02 3.30229095e+00] [ 4.46226508e-03 9.99985410e-01 -3.04449900e-03 1.99707200e-01] [ 1.53796762e-02 2.97554066e-03 9.99877298e-01 -1.59174188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.763133365 meters Centerline goodness [0,1] 0.2950816146583798 Centerline is valid? [False, False] Translation: X:3.30, Y:0.20, Z:-0.16 [[ 9.99868155e-01 -4.57639940e-03 -1.55797557e-02 3.30294060e+00] [ 4.53059510e-03 9.99985314e-01 -2.97401524e-03 1.98950682e-01] [ 1.55931372e-02 2.90303757e-03 9.99874205e-01 -1.59484290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79313336499996 meters Centerline goodness [0,1] 0.29906908805511345 Centerline is valid? [False, False] Translation: X:3.28, Y:0.20, Z:-0.16 [[ 9.99868700e-01 3.26037369e-03 -1.58730384e-02 3.28298277e+00] [-3.32020426e-03 9.99987478e-01 -3.74442829e-03 1.95013663e-01] [ 1.58606314e-02 3.79663838e-03 9.99867004e-01 -1.61167929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.823133365 meters Centerline goodness [0,1] 0.2991040512465374 Centerline is valid? [False, False] Translation: X:3.28, Y:0.19, Z:-0.16 [[ 9.99869099e-01 3.28156004e-03 -1.58435165e-02 3.28299979e+00] [-3.33982143e-03 9.99987753e-01 -3.65224409e-03 1.94625407e-01] [ 1.58313374e-02 3.70468052e-03 9.99867813e-01 -1.61361497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85313336499996 meters Centerline goodness [0,1] 0.30024059492563426 Centerline is valid? [False, False] Translation: X:3.26, Y:0.20, Z:-0.16 [[ 9.99866032e-01 -4.58029456e-03 -1.57142714e-02 3.26436466e+00] [ 4.55437630e-03 9.99988210e-01 -1.68473574e-03 1.98860319e-01] [ 1.57218027e-02 1.61294134e-03 9.99875104e-01 -1.63106721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.883133365 meters Centerline goodness [0,1] 0.29827631463820103 Centerline is valid? [False, False] Translation: X:3.26, Y:0.20, Z:-0.16 [[ 9.99868956e-01 -4.58480565e-03 -1.55258229e-02 3.26381037e+00] [ 4.55964819e-03 9.99988235e-01 -1.65537364e-03 1.98539361e-01] [ 1.55332298e-02 1.58436442e-03 9.99878097e-01 -1.62896663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91313336499996 meters Centerline goodness [0,1] 0.30018220467658674 Centerline is valid? [False, False] Translation: X:3.28, Y:0.19, Z:-0.16 [[ 0.99988684 0.00329976 -0.01467748 3.28132101] [-0.00335096 0.99998838 -0.00346477 0.19357051] [ 0.01466587 0.00351357 0.99988628 -0.160904 ] [ 0. 0. 0. 1. ]] SLAMing on 287.943133365 meters Centerline goodness [0,1] 0.29700937810622763 Centerline is valid? [False, False] Translation: X:3.28, Y:0.19, Z:-0.16 [[ 9.99889871e-01 3.25008386e-03 -1.44804487e-02 3.28061102e+00] [-3.30245220e-03 9.99988088e-01 -3.59404323e-03 1.94037786e-01] [ 1.44685953e-02 3.64146841e-03 9.99888694e-01 -1.60441291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97313336499997 meters Centerline goodness [0,1] 0.2979392998792896 Centerline is valid? [False, False] Translation: X:3.28, Y:0.20, Z:-0.16 [[ 9.99892833e-01 3.26540584e-03 -1.42709584e-02 3.27995065e+00] [-3.31954119e-03 9.99987379e-01 -3.77135320e-03 1.95246154e-01] [ 1.42584633e-02 3.81832206e-03 9.99891052e-01 -1.60118768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.003133365 meters Centerline goodness [0,1] 0.3014867485455721 Centerline is valid? [False, False] Translation: X:3.28, Y:0.20, Z:-0.16 [[ 0.99990251 0.00382798 -0.01342835 3.27802829] [-0.00387817 0.99998559 -0.00371341 0.19758388] [ 0.01341394 0.00376512 0.99990294 -0.1600183 ] [ 0. 0. 0. 1. ]] SLAMing on 288.03313336499997 meters Centerline goodness [0,1] 0.3045390225318385 Centerline is valid? [False, False] Translation: X:3.26, Y:0.21, Z:-0.16 [[ 9.99911458e-01 -3.68040144e-03 -1.27878876e-02 3.26031790e+00] [ 3.65144292e-03 9.99990718e-01 -2.28713797e-03 2.06139199e-01] [ 1.27961865e-02 2.24024122e-03 9.99915616e-01 -1.62202315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.063133365 meters Centerline goodness [0,1] 0.3031759843376115 Centerline is valid? [False, False] Translation: X:3.26, Y:0.21, Z:-0.16 [[ 9.99910558e-01 -3.85097888e-03 -1.28080187e-02 3.26046072e+00] [ 3.81467210e-03 9.99988640e-01 -2.85791442e-03 2.08864464e-01] [ 1.28188789e-02 2.80880041e-03 9.99913890e-01 -1.62254363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09313336499997 meters Centerline goodness [0,1] 0.303478712357217 Centerline is valid? [False, False] Translation: X:3.26, Y:0.21, Z:-0.16 [[ 0.99990824 -0.00405278 -0.0129265 3.26070791] [ 0.00400841 0.99998599 -0.00345643 0.21168841] [ 0.01294032 0.0034043 0.99991048 -0.16218044] [ 0. 0. 0. 1. ]] SLAMing on 288.123133365 meters Centerline goodness [0,1] 0.3052622430799983 Centerline is valid? [False, False] Translation: X:3.26, Y:0.22, Z:-0.16 [[ 9.99915061e-01 -5.07761843e-04 -1.30235283e-02 3.26068994e+00] [ 5.00448634e-04 9.99999715e-01 -5.64791042e-04 2.16260949e-01] [ 1.30238113e-02 5.58225462e-04 9.99915031e-01 -1.61936478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.153133365 meters Centerline goodness [0,1] 0.3069525014175426 Centerline is valid? [False, False] Translation: X:3.26, Y:0.22, Z:-0.16 [[ 9.99914540e-01 -6.60232903e-04 -1.30566700e-02 3.26098009e+00] [ 6.46203380e-04 9.99999209e-01 -1.07869968e-03 2.19022960e-01] [ 1.30573719e-02 1.07017023e-03 9.99914176e-01 -1.62277107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.183133365 meters Centerline goodness [0,1] 0.3023114750546999 Centerline is valid? [False, False] Translation: X:3.26, Y:0.22, Z:-0.16 [[ 9.99913529e-01 -8.92731746e-04 -1.31201044e-02 3.26137973e+00] [ 8.70948768e-04 9.99998233e-01 -1.66589475e-03 2.21813971e-01] [ 1.31215685e-02 1.65432376e-03 9.99912540e-01 -1.62663930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.213133365 meters Centerline goodness [0,1] 0.3049869337979094 Centerline is valid? [False, False] Translation: X:3.26, Y:0.22, Z:-0.16 [[ 9.99913175e-01 -1.11791134e-03 -1.31298104e-02 3.26161609e+00] [ 1.08921164e-03 9.99997003e-01 -2.19279006e-03 2.24218304e-01] [ 1.31322224e-02 2.17829852e-03 9.99911396e-01 -1.63046119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.243133365 meters Centerline goodness [0,1] 0.304983996342021 Centerline is valid? [False, False] Translation: X:3.26, Y:0.23, Z:-0.16 [[ 9.99913883e-01 -1.28561651e-03 -1.30604170e-02 3.26154901e+00] [ 1.25201832e-03 9.99995887e-01 -2.58037117e-03 2.26113361e-01] [ 1.30636806e-02 2.56379707e-03 9.99911380e-01 -1.63200722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.273133365 meters Centerline goodness [0,1] 0.29977003589159446 Centerline is valid? [False, False] Translation: X:3.28, Y:0.23, Z:-0.16 [[ 9.99876637e-01 -9.09055617e-03 -1.28090450e-02 3.28090161e+00] [ 9.06732609e-03 9.99957142e-01 -1.87047817e-03 2.33990884e-01] [ 1.28254997e-02 1.75410363e-03 9.99916211e-01 -1.61408739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.303133365 meters Centerline goodness [0,1] 0.2999740506876568 Centerline is valid? [False, False] Translation: X:3.26, Y:0.23, Z:-0.16 [[ 9.99924547e-01 -1.83879733e-03 -1.21457789e-02 3.26222610e+00] [ 1.79840150e-03 9.99992818e-01 -3.33600015e-03 2.32701908e-01] [ 1.21518259e-02 3.31390545e-03 9.99920672e-01 -1.63695347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.333133365 meters Centerline goodness [0,1] 0.302109100377555 Centerline is valid? [False, False] Translation: X:3.26, Y:0.23, Z:-0.16 [[ 9.99925267e-01 -2.06029396e-03 -1.20505122e-02 3.26203599e+00] [ 2.01518789e-03 9.99990923e-01 -3.75402911e-03 2.34457923e-01] [ 1.20581372e-02 3.72946452e-03 9.99920343e-01 -1.63809720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.363133365 meters Centerline goodness [0,1] 0.30277547819267137 Centerline is valid? [False, False] Translation: X:3.26, Y:0.24, Z:-0.16 [[ 9.99926178e-01 -2.27156538e-03 -1.19364611e-02 3.26184108e+00] [ 2.22122893e-03 9.99988592e-01 -4.22859955e-03 2.36641959e-01] [ 1.19459305e-02 4.20177378e-03 9.99919817e-01 -1.63895040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.393133365 meters Centerline goodness [0,1] 0.2987721105959128 Centerline is valid? [False, False] Translation: X:3.28, Y:0.25, Z:-0.16 [[ 0.99988281 -0.00948188 -0.01201895 3.28041995] [ 0.00943966 0.99994909 -0.00356453 0.24747646] [ 0.01205214 0.00345066 0.99992142 -0.16201988] [ 0. 0. 0. 1. ]] SLAMing on 288.423133365 meters Centerline goodness [0,1] 0.301740938027803 Centerline is valid? [False, False] Translation: X:3.26, Y:0.25, Z:-0.16 [[ 9.99919807e-01 -1.26762074e-03 -1.26004711e-02 3.26032329e+00] [ 1.20802617e-03 9.99988055e-01 -4.73603769e-03 2.49060655e-01] [ 1.26063241e-02 4.72043620e-03 9.99909395e-01 -1.63438397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.453133365 meters Centerline goodness [0,1] 0.3040569795635608 Centerline is valid? [False, False] Translation: X:3.26, Y:0.25, Z:-0.16 [[ 9.99916367e-01 -1.51791445e-03 -1.28434655e-02 3.26131225e+00] [ 1.44814458e-03 9.99984155e-01 -5.43988118e-03 2.52671891e-01] [ 1.28515193e-02 5.42082703e-03 9.99902722e-01 -1.64018332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48313336499996 meters Centerline goodness [0,1] 0.3014625865146041 Centerline is valid? [False, False] Translation: X:3.26, Y:0.26, Z:-0.16 [[ 9.99913598e-01 1.78061998e-03 -1.30240495e-02 3.26239496e+00] [-1.81953556e-03 9.99993914e-01 -2.97674005e-03 2.58952928e-01] [ 1.30186698e-02 3.00018058e-03 9.99910753e-01 -1.64873276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.513133365 meters Centerline goodness [0,1] 0.302979483381975 Centerline is valid? [False, False] Translation: X:3.26, Y:0.26, Z:-0.16 [[ 9.99917296e-01 1.63214172e-03 -1.27568740e-02 3.26178978e+00] [-1.67831418e-03 9.99992077e-01 -3.60955130e-03 2.62602158e-01] [ 1.27508817e-02 3.63066282e-03 9.99912113e-01 -1.64797535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54313336499996 meters Centerline goodness [0,1] 0.3027384893168823 Centerline is valid? [False, False] Translation: X:3.28, Y:0.27, Z:-0.16 [[ 9.99906428e-01 -5.57484803e-03 -1.24922413e-02 3.28046923e+00] [ 5.54325315e-03 9.99981353e-01 -2.56235989e-03 2.70326335e-01] [ 1.25062931e-02 2.49287247e-03 9.99918686e-01 -1.62895720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.573133365 meters Centerline goodness [0,1] 0.30530013879250517 Centerline is valid? [False, False] Translation: X:3.28, Y:0.27, Z:-0.16 [[ 9.99903709e-01 -5.80449096e-03 -1.26047524e-02 3.28078061e+00] [ 5.76463678e-03 9.99978277e-01 -3.19587188e-03 2.73618495e-01] [ 1.26230290e-02 3.12290232e-03 9.99915450e-01 -1.62942004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60313336499996 meters Centerline goodness [0,1] 0.30423767350208963 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.16 [[ 0.99989988 -0.00602526 -0.01280368 3.2814969 ] [ 0.00597739 0.99997502 -0.00377346 0.27644773] [ 0.01282609 0.00369655 0.99991091 -0.16332775] [ 0. 0. 0. 1. ]] SLAMing on 288.633133365 meters Centerline goodness [0,1] 0.3019344169549797 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.16 [[ 0.99989053 -0.00637316 -0.01335365 3.2834077 ] [ 0.00631234 0.99996953 -0.00459226 0.28042428] [ 0.01338251 0.00450746 0.99990029 -0.16433472] [ 0. 0. 0. 1. ]] SLAMing on 288.66313336499996 meters Centerline goodness [0,1] 0.3005667383232363 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.16 [[ 0.99988726 -0.00647028 -0.01354996 3.28407598] [ 0.0064052 0.99996777 -0.00484074 0.28172264] [ 0.01358085 0.00475341 0.99989648 -0.1646872 ] [ 0. 0. 0. 1. ]] SLAMing on 288.693133365 meters Centerline goodness [0,1] 0.3030230948879855 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.17 [[ 0.99988686 -0.00652526 -0.013553 3.28428065] [ 0.00645814 0.99996669 -0.00499045 0.28258336] [ 0.01358512 0.00490236 0.9998957 -0.16502413] [ 0. 0. 0. 1. ]] SLAMing on 288.72313336499997 meters Centerline goodness [0,1] 0.3005403310873356 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.16 [[ 0.99988794 -0.0065736 -0.01344955 3.2839883 ] [ 0.00650548 0.99996582 -0.00510279 0.28318547] [ 0.01348263 0.00501472 0.99989653 -0.16495829] [ 0. 0. 0. 1. ]] SLAMing on 288.753133365 meters Centerline goodness [0,1] 0.3018311203679598 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.16 [[ 0.99989076 -0.00660611 -0.01322239 3.28327897] [ 0.00653865 0.99996542 -0.00513903 0.28329379] [ 0.01325588 0.00505201 0.99989937 -0.16468549] [ 0. 0. 0. 1. ]] SLAMing on 288.78313336499997 meters Centerline goodness [0,1] 0.3018311203679598 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.16 [[ 0.99989076 -0.00660611 -0.01322239 3.28327897] [ 0.00653865 0.99996542 -0.00513903 0.28329379] [ 0.01325588 0.00505201 0.99989937 -0.16468549] [ 0. 0. 0. 1. ]] SLAMing on 288.813133365 meters Centerline goodness [0,1] 0.30245901639344264 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.16 [[ 0.99989556 -0.00667162 -0.0128206 3.28176755] [ 0.00660488 0.99996445 -0.00524089 0.28370248] [ 0.01285511 0.00515566 0.99990408 -0.1638003 ] [ 0. 0. 0. 1. ]] SLAMing on 288.84313336499997 meters Centerline goodness [0,1] 0.30602900582745474 Centerline is valid? [False, False] Translation: X:3.26, Y:0.28, Z:-0.17 [[ 9.99917095e-01 1.69710058e-03 -1.27641038e-02 3.26065824e+00] [-1.77504517e-03 9.99979833e-01 -6.09769861e-03 2.81638991e-01] [ 1.27534980e-02 6.11984995e-03 9.99899943e-01 -1.65047896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.873133365 meters Centerline goodness [0,1] 0.3063210848643919 Centerline is valid? [False, False] Translation: X:3.26, Y:0.28, Z:-0.17 [[ 9.99918980e-01 1.60635695e-03 -1.26274363e-02 3.26040506e+00] [-1.68625072e-03 9.99978614e-01 -6.31889984e-03 2.82601870e-01] [ 1.26170158e-02 6.33968091e-03 9.99900305e-01 -1.65138532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.903133365 meters Centerline goodness [0,1] 0.30566209451992454 Centerline is valid? [False, False] Translation: X:3.28, Y:0.29, Z:-0.16 [[ 0.99990596 -0.00626886 -0.01219684 3.27949934] [ 0.00620445 0.99996664 -0.00531223 0.28651059] [ 0.01222973 0.00523605 0.9999115 -0.1635939 ] [ 0. 0. 0. 1. ]] SLAMing on 288.933133365 meters Centerline goodness [0,1] 0.30444597325536393 Centerline is valid? [False, False] Translation: X:3.28, Y:0.29, Z:-0.16 [[ 0.99990446 -0.00635009 -0.01227816 3.2796671 ] [ 0.00628187 0.99996466 -0.00558657 0.28798676] [ 0.0123132 0.0055089 0.99990901 -0.16354293] [ 0. 0. 0. 1. ]] SLAMing on 288.963133365 meters Centerline goodness [0,1] 0.3050953896792915 Centerline is valid? [False, False] Translation: X:3.28, Y:0.29, Z:-0.16 [[ 9.99910960e-01 -3.17993947e-03 -1.29599352e-02 3.28158698e+00] [ 3.14499541e-03 9.99991367e-01 -2.71580365e-03 2.90777739e-01] [ 1.29684594e-02 2.67480290e-03 9.99912328e-01 -1.64186301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.993133365 meters Centerline goodness [0,1] 0.30706826426294387 Centerline is valid? [False, False] Translation: X:3.26, Y:0.29, Z:-0.17 [[ 0.99988105 0.0052268 -0.01451071 3.26123116] [-0.00528018 0.99997943 -0.00364254 0.2907616 ] [ 0.01449137 0.00371872 0.99988808 -0.16548416] [ 0. 0. 0. 1. ]] SLAMing on 289.023133365 meters Centerline goodness [0,1] 0.30400244424075773 Centerline is valid? [False, False] Translation: X:3.28, Y:0.30, Z:-0.16 [[ 9.99885738e-01 -2.60600727e-03 -1.48902532e-02 3.28084307e+00] [ 2.56562243e-03 9.99992981e-01 -2.73062518e-03 2.95543921e-01] [ 1.48972647e-02 2.69211041e-03 9.99885405e-01 -1.63908440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.053133365 meters Centerline goodness [0,1] 0.3067628612780141 Centerline is valid? [False, False] Translation: X:3.28, Y:0.30, Z:-0.16 [[ 9.99889686e-01 -2.70889256e-03 -1.46040239e-02 3.28019238e+00] [ 2.66556270e-03 9.99991990e-01 -2.98563001e-03 2.96751564e-01] [ 1.46119946e-02 2.94637272e-03 9.99888898e-01 -1.63937041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.083133365 meters Centerline goodness [0,1] 0.3019473478770005 Centerline is valid? [False, False] Translation: X:3.28, Y:0.30, Z:-0.16 [[ 9.99890591e-01 -3.01352024e-03 -1.44818619e-02 3.28005786e+00] [ 2.96476659e-03 9.99989870e-01 -3.38682223e-03 2.98067242e-01] [ 1.44919215e-02 3.34351635e-03 9.99889396e-01 -1.64207537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.113133365 meters Centerline goodness [0,1] 0.29969293313727186 Centerline is valid? [False, False] Translation: X:3.28, Y:0.30, Z:-0.16 [[ 9.99885034e-01 -3.09593405e-03 -1.48436387e-02 3.28120239e+00] [ 3.04448338e-03 9.99989284e-01 -3.48752150e-03 2.98523586e-01] [ 1.48542768e-02 3.44192935e-03 9.99883745e-01 -1.64727817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.143133365 meters Centerline goodness [0,1] 0.30112310544106424 Centerline is valid? [False, False] Translation: X:3.28, Y:0.30, Z:-0.17 [[ 9.99880056e-01 -3.13035086e-03 -1.51682296e-02 3.28232009e+00] [ 3.07682381e-03 9.99988962e-01 -3.55094517e-03 2.98991566e-01] [ 1.51791779e-02 3.50384929e-03 9.99878650e-01 -1.65357573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.173133365 meters Centerline goodness [0,1] 0.29987664740634945 Centerline is valid? [False, False] Translation: X:3.28, Y:0.30, Z:-0.17 [[ 9.99876513e-01 -3.16485690e-03 -1.53929392e-02 3.28314336e+00] [ 3.10887198e-03 9.99988471e-01 -3.65962184e-03 2.99762087e-01] [ 1.54043439e-02 3.61131525e-03 9.99874824e-01 -1.65866973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.203133365 meters Centerline goodness [0,1] 0.3016571217037215 Centerline is valid? [False, False] Translation: X:3.28, Y:0.30, Z:-0.17 [[ 9.99877113e-01 -3.25404022e-03 -1.53352566e-02 3.28315028e+00] [ 3.19406535e-03 9.99987162e-01 -3.93378550e-03 3.01238272e-01] [ 1.53478604e-02 3.88432028e-03 9.99874670e-01 -1.66056673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23313336499996 meters Centerline goodness [0,1] 0.2995916427197891 Centerline is valid? [False, False] Translation: X:3.28, Y:0.30, Z:-0.17 [[ 0.9998779 -0.0033715 -0.01525814 3.2829182 ] [ 0.0033064 0.99998533 -0.00429004 0.30300543] [ 0.01527238 0.00423907 0.99987438 -0.16589603] [ 0. 0. 0. 1. ]] SLAMing on 289.263133365 meters Centerline goodness [0,1] 0.3012916206918933 Centerline is valid? [False, False] Translation: X:3.28, Y:0.31, Z:-0.17 [[ 0.99987783 -0.00348777 -0.01523689 3.28270693] [ 0.00341195 0.99998168 -0.00499922 0.30711372] [ 0.01525404 0.00494662 0.99987141 -0.16546843] [ 0. 0. 0. 1. ]] SLAMing on 289.29313336499996 meters Centerline goodness [0,1] 0.3049930167597765 Centerline is valid? [False, False] Translation: X:3.28, Y:0.31, Z:-0.17 [[ 0.99987494 -0.00351377 -0.01541954 3.28306673] [ 0.00343241 0.99998006 -0.00530015 0.3091513 ] [ 0.01543785 0.00524656 0.99986706 -0.16532398] [ 0. 0. 0. 1. ]] SLAMing on 289.323133365 meters Centerline goodness [0,1] 0.30402978537012704 Centerline is valid? [False, False] Translation: X:3.28, Y:0.31, Z:-0.17 [[ 0.99987399 -0.0035655 -0.01546899 3.2832374 ] [ 0.00347912 0.99997822 -0.00560773 0.31104427] [ 0.01548865 0.0055532 0.99986462 -0.16535265] [ 0. 0. 0. 1. ]] SLAMing on 289.35313336499996 meters Centerline goodness [0,1] 0.30233921939141195 Centerline is valid? [False, False] Translation: X:3.28, Y:0.31, Z:-0.17 [[ 0.99987577 -0.00366758 -0.01532934 3.28284548] [ 0.00357343 0.99997461 -0.00616516 0.31407143] [ 0.01535157 0.00610961 0.99986349 -0.16509541] [ 0. 0. 0. 1. ]] SLAMing on 289.383133365 meters Centerline goodness [0,1] 0.3037387231089521 Centerline is valid? [False, False] Translation: X:3.28, Y:0.32, Z:-0.16 [[ 0.99987778 -0.00376969 -0.01517257 3.28235946] [ 0.00367029 0.99997165 -0.00657406 0.31611876] [ 0.01519692 0.00651757 0.99986328 -0.16482444] [ 0. 0. 0. 1. ]] SLAMing on 289.41313336499996 meters Centerline goodness [0,1] 0.3046689470358831 Centerline is valid? [False, False] Translation: X:3.28, Y:0.32, Z:-0.16 [[ 0.99987946 -0.00391272 -0.01502518 3.28188994] [ 0.00380631 0.99996752 -0.00710401 0.3187931 ] [ 0.01505249 0.00704597 0.99986188 -0.16450757] [ 0. 0. 0. 1. ]] SLAMing on 289.443133365 meters Centerline goodness [0,1] 0.30729053318824806 Centerline is valid? [False, False] Translation: X:3.28, Y:0.32, Z:-0.16 [[ 9.99889458e-01 -5.06288859e-04 -1.48598934e-02 3.28105416e+00] [ 4.46375530e-04 9.99991760e-01 -4.03492132e-03 3.20672489e-01] [ 1.48618138e-02 4.02784220e-03 9.99881444e-01 -1.63923976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47313336499997 meters Centerline goodness [0,1] 0.3072641427705103 Centerline is valid? [False, False] Translation: X:3.28, Y:0.33, Z:-0.16 [[ 9.99883484e-01 3.11836781e-03 -1.49430510e-02 3.28120108e+00] [-3.13650697e-03 9.99994372e-01 -1.19060392e-03 3.25986944e-01] [ 1.49392541e-02 1.23733418e-03 9.99887638e-01 -1.63761419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.503133365 meters Centerline goodness [0,1] 0.30631510416666663 Centerline is valid? [False, False] Translation: X:3.28, Y:0.33, Z:-0.16 [[ 9.99882441e-01 3.01369901e-03 -1.50340411e-02 3.28144250e+00] [-3.03968287e-03 9.99993925e-01 -1.70578367e-03 3.28962533e-01] [ 1.50288090e-02 1.75128186e-03 9.99885527e-01 -1.63717336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53313336499997 meters Centerline goodness [0,1] 0.3047092013888889 Centerline is valid? [False, False] Translation: X:3.28, Y:0.33, Z:-0.16 [[ 9.99883902e-01 2.87024016e-03 -1.49647585e-02 3.28134110e+00] [-2.90380595e-03 9.99993316e-01 -2.22174300e-03 3.31769053e-01] [ 1.49582815e-02 2.26493982e-03 9.99885553e-01 -1.63792875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.563133365 meters Centerline goodness [0,1] 0.306076777414357 Centerline is valid? [False, False] Translation: X:3.30, Y:0.34, Z:-0.16 [[ 9.99878827e-01 -4.77256809e-03 -1.48173559e-02 3.29971287e+00] [ 4.75576685e-03 9.99988008e-01 -1.16891804e-03 3.38371692e-01] [ 1.48227569e-02 1.09830851e-03 9.99889534e-01 -1.61752048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59313336499997 meters Centerline goodness [0,1] 0.30492362866463585 Centerline is valid? [False, False] Translation: X:3.30, Y:0.34, Z:-0.16 [[ 9.99881874e-01 -4.91610548e-03 -1.45626559e-02 3.29887700e+00] [ 4.89429070e-03 9.99986847e-01 -1.53325510e-03 3.40165378e-01] [ 1.45700020e-02 1.46180011e-03 9.99892783e-01 -1.61396974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.623133365 meters Centerline goodness [0,1] 0.3061432632424105 Centerline is valid? [False, False] Translation: X:3.30, Y:0.34, Z:-0.16 [[ 9.99886171e-01 -5.23585303e-03 -1.41503240e-02 3.29790827e+00] [ 5.20837484e-03 9.99984480e-01 -1.97803235e-03 3.41825234e-01] [ 1.41604611e-02 1.90410700e-03 9.99897923e-01 -1.61425856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.653133365 meters Centerline goodness [0,1] 0.3062209277050819 Centerline is valid? [False, False] Translation: X:3.30, Y:0.34, Z:-0.16 [[ 9.99881788e-01 -5.32124878e-03 -1.44254826e-02 3.29880600e+00] [ 5.29292264e-03 9.99983990e-01 -2.00108660e-03 3.41767155e-01] [ 1.44359000e-02 1.92449709e-03 9.99893945e-01 -1.61884220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.683133365 meters Centerline goodness [0,1] 0.3052350218397549 Centerline is valid? [False, False] Translation: X:3.30, Y:0.34, Z:-0.16 [[ 9.99876008e-01 -5.32741417e-03 -1.48184476e-02 3.29998589e+00] [ 5.29964489e-03 9.99984128e-01 -1.91260526e-03 3.41464825e-01] [ 1.48284017e-02 1.83383560e-03 9.99888372e-01 -1.62391837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.713133365 meters Centerline goodness [0,1] 0.30297059715065167 Centerline is valid? [False, False] Translation: X:3.30, Y:0.34, Z:-0.16 [[ 9.99872879e-01 -5.32954676e-03 -1.50273491e-02 3.30073330e+00] [ 5.30265080e-03 9.99984268e-01 -1.82907766e-03 3.41183806e-01] [ 1.50368608e-02 1.74916036e-03 9.99885410e-01 -1.62857004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.743133365 meters Centerline goodness [0,1] 0.3051227367688022 Centerline is valid? [False, False] Translation: X:3.30, Y:0.34, Z:-0.16 [[ 9.99869729e-01 -5.55411859e-03 -1.51551167e-02 3.30113169e+00] [ 5.52595274e-03 9.99982927e-01 -1.89974782e-03 3.40846483e-01] [ 1.51654094e-02 1.81575387e-03 9.99883350e-01 -1.63091136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.773133365 meters Centerline goodness [0,1] 0.3032146709816613 Centerline is valid? [False, False] Translation: X:3.32, Y:0.33, Z:-0.16 [[ 9.99871100e-01 1.36883716e-03 -1.59972012e-02 3.31900825e+00] [-1.41821428e-03 9.99994264e-01 -3.07567345e-03 3.34478646e-01] [ 1.59928994e-02 3.09796445e-03 9.99867306e-01 -1.61250463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.803133365 meters Centerline goodness [0,1] 0.30488898610959203 Centerline is valid? [False, False] Translation: X:3.30, Y:0.34, Z:-0.16 [[ 9.99837047e-01 -6.94649994e-03 -1.66621165e-02 3.29915188e+00] [ 6.91068105e-03 9.99973687e-01 -2.20633552e-03 3.38936453e-01] [ 1.66770044e-02 2.09082942e-03 9.99858743e-01 -1.62268222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.833133365 meters Centerline goodness [0,1] 0.3035997135851759 Centerline is valid? [False, False] Translation: X:3.32, Y:0.33, Z:-0.16 [[ 9.99854702e-01 3.86425867e-04 -1.70418953e-02 3.31707749e+00] [-4.44299662e-04 9.99994147e-01 -3.39231638e-03 3.32961453e-01] [ 1.70404847e-02 3.39939519e-03 9.99849022e-01 -1.60170359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.863133365 meters Centerline goodness [0,1] 0.30230384698978485 Centerline is valid? [False, False] Translation: X:3.32, Y:0.33, Z:-0.16 [[ 9.99855323e-01 3.85523621e-04 -1.70054034e-02 3.31671068e+00] [-4.42502941e-04 9.99994301e-01 -3.34702424e-03 3.32592021e-01] [ 1.70040161e-02 3.35406495e-03 9.99849796e-01 -1.59801401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.893133365 meters Centerline goodness [0,1] 0.31018518518518523 Centerline is valid? [False, False] Translation: X:3.31, Y:0.33, Z:-0.16 [[ 9.99864101e-01 4.74140412e-04 -1.64789307e-02 3.31468082e+00] [-5.29466821e-04 9.99994238e-01 -3.35320224e-03 3.33042455e-01] [ 1.64772459e-02 3.36147159e-03 9.99858590e-01 -1.58420550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.923133365 meters Centerline goodness [0,1] 0.30771583362460675 Centerline is valid? [False, False] Translation: X:3.31, Y:0.33, Z:-0.16 [[ 9.99865706e-01 4.42459262e-04 -1.63821032e-02 3.31428488e+00] [-5.00474447e-04 9.99993618e-01 -3.53744556e-03 3.34064551e-01] [ 1.63804335e-02 3.54516932e-03 9.99859547e-01 -1.58068337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.953133365 meters Centerline goodness [0,1] 0.30717920952896594 Centerline is valid? [False, False] Translation: X:3.31, Y:0.34, Z:-0.16 [[ 9.99864559e-01 3.86768558e-04 -1.64533846e-02 3.31447060e+00] [-4.48908172e-04 9.99992781e-01 -3.77318147e-03 3.35271760e-01] [ 1.64518065e-02 3.78005648e-03 9.99857514e-01 -1.58075860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98313336499996 meters Centerline goodness [0,1] 0.3080924603865576 Centerline is valid? [False, False] Translation: X:3.32, Y:0.34, Z:-0.16 [[ 9.99860734e-01 3.10956268e-04 -1.66857724e-02 3.31516014e+00] [-3.78572641e-04 9.99991730e-01 -4.04933140e-03 3.36709112e-01] [ 1.66843752e-02 4.05508424e-03 9.99852583e-01 -1.58283170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.013133365 meters Centerline goodness [0,1] 0.3038061985430407 Centerline is valid? [False, False] Translation: X:3.32, Y:0.34, Z:-0.16 [[ 9.99831946e-01 1.77534765e-03 -1.82463011e-02 3.32064953e+00] [-1.82951925e-03 9.99993967e-01 -2.95264505e-03 3.39861823e-01] [ 1.82409491e-02 2.98553080e-03 9.99829163e-01 -1.60403859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04313336499996 meters Centerline goodness [0,1] 0.3082302195887069 Centerline is valid? [False, False] Translation: X:3.32, Y:0.34, Z:-0.16 [[ 9.99830437e-01 1.63973083e-03 -1.83414443e-02 3.32095671e+00] [-1.70162104e-03 9.99992910e-01 -3.35923955e-03 3.41932634e-01] [ 1.83358060e-02 3.38988013e-03 9.99826138e-01 -1.60499542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.073133365 meters Centerline goodness [0,1] 0.3038026677043475 Centerline is valid? [False, False] Translation: X:3.32, Y:0.34, Z:-0.16 [[ 9.99830334e-01 1.45201157e-03 -1.83628442e-02 3.32097048e+00] [-1.52189334e-03 9.99991651e-01 -3.79220514e-03 3.43895473e-01] [ 1.83571845e-02 3.81950802e-03 9.99824197e-01 -1.60412183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10313336499996 meters Centerline goodness [0,1] 0.30505688454384217 Centerline is valid? [False, False] Translation: X:3.32, Y:0.35, Z:-0.16 [[ 9.99831101e-01 1.31523588e-03 -1.83313892e-02 3.32075449e+00] [-1.39100455e-03 9.99990541e-01 -4.12113739e-03 3.45469870e-01] [ 1.83257955e-02 4.14594038e-03 9.99823473e-01 -1.60175116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.133133365 meters Centerline goodness [0,1] 0.30940637276298555 Centerline is valid? [False, False] Translation: X:3.32, Y:0.35, Z:-0.16 [[ 9.99832122e-01 1.19440313e-03 -1.82839104e-02 3.32052179e+00] [-1.27582417e-03 9.99989320e-01 -4.44213572e-03 3.47120156e-01] [ 1.82784094e-02 4.46471704e-03 9.99822967e-01 -1.59935276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16313336499996 meters Centerline goodness [0,1] 0.3068990969086488 Centerline is valid? [False, False] Translation: X:3.32, Y:0.35, Z:-0.16 [[ 9.99833681e-01 1.10387228e-03 -1.82041779e-02 3.32039349e+00] [-1.19015428e-03 9.99988107e-01 -4.72952848e-03 3.48788311e-01] [ 1.81987406e-02 4.75040765e-03 9.99823104e-01 -1.59998108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.193133365 meters Centerline goodness [0,1] 0.3066747757336171 Centerline is valid? [False, False] Translation: X:3.32, Y:0.35, Z:-0.16 [[ 9.99836140e-01 8.67204995e-04 -1.80815167e-02 3.32010914e+00] [-9.65612835e-04 9.99984767e-01 -5.43443481e-03 3.52705497e-01] [ 1.80765285e-02 5.45100407e-03 9.99821747e-01 -1.59911254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22313336499997 meters Centerline goodness [0,1] 0.3076989995650282 Centerline is valid? [False, False] Translation: X:3.32, Y:0.36, Z:-0.16 [[ 9.99836412e-01 7.36449013e-04 -1.80722735e-02 3.32014442e+00] [-8.42637121e-04 9.99982423e-01 -5.86883588e-03 3.55020685e-01] [ 1.80676337e-02 5.88310418e-03 9.99819459e-01 -1.59948234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.253133365 meters Centerline goodness [0,1] 0.30910392399297193 Centerline is valid? [False, False] Translation: X:3.32, Y:0.36, Z:-0.16 [[ 9.99832525e-01 5.93564411e-04 -1.82912635e-02 3.32077998e+00] [-7.08842783e-04 9.99979925e-01 -6.29653459e-03 3.57268945e-01] [ 1.82871590e-02 6.30844571e-03 9.99812874e-01 -1.60095451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28313336499997 meters Centerline goodness [0,1] 0.30560448881059565 Centerline is valid? [False, False] Translation: X:3.32, Y:0.36, Z:-0.16 [[ 9.99828276e-01 4.64367592e-04 -1.85257243e-02 3.32150780e+00] [-5.88767764e-04 9.99977314e-01 -6.71010748e-03 3.59508288e-01] [ 1.85221881e-02 6.71986254e-03 9.99805867e-01 -1.60332998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.313133365 meters Centerline goodness [0,1] 0.3044285220994475 Centerline is valid? [False, False] Translation: X:3.32, Y:0.36, Z:-0.16 [[ 9.99830447e-01 3.88702229e-04 -1.84099537e-02 3.32110230e+00] [-5.24774005e-04 9.99972578e-01 -7.38695271e-03 3.64470963e-01] [ 1.84065776e-02 7.39536129e-03 9.99803234e-01 -1.59983825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34313336499997 meters Centerline goodness [0,1] 0.30771911482836733 Centerline is valid? [False, False] Translation: X:3.32, Y:0.37, Z:-0.16 [[ 9.99833055e-01 2.11804477e-04 -1.82706759e-02 3.32058499e+00] [-3.57975044e-04 9.99967956e-01 -7.99738296e-03 3.67604176e-01] [ 1.82683965e-02 8.00258828e-03 9.99801092e-01 -1.59566182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.373133365 meters Centerline goodness [0,1] 0.30780751448850685 Centerline is valid? [False, False] Translation: X:3.32, Y:0.37, Z:-0.16 [[ 9.99833014e-01 6.09785573e-05 -1.82740160e-02 3.32040130e+00] [-2.19214466e-04 9.99962502e-01 -8.65718787e-03 3.71131624e-01] [ 1.82728028e-02 8.65974817e-03 9.99795536e-01 -1.59165977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.403133365 meters Centerline goodness [0,1] 0.3079469482247561 Centerline is valid? [False, False] Translation: X:3.32, Y:0.37, Z:-0.16 [[ 9.99830767e-01 -9.87757403e-06 -1.83966770e-02 3.32065779e+00] [-1.60696081e-04 9.99957015e-01 -9.27048049e-03 3.74814092e-01] [ 1.83959778e-02 9.27186789e-03 9.99787788e-01 -1.59024783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.433133365 meters Centerline goodness [0,1] 0.30942104804254944 Centerline is valid? [False, False] Translation: X:3.32, Y:0.38, Z:-0.16 [[ 0.99982327 0.00362715 -0.01844641 3.3209023 ] [-0.00373937 0.99997469 -0.00605284 0.37728435] [ 0.01842399 0.00612075 0.99981153 -0.15919012] [ 0. 0. 0. 1. ]] SLAMing on 290.463133365 meters Centerline goodness [0,1] 0.3052345049579813 Centerline is valid? [False, False] Translation: X:3.34, Y:0.39, Z:-0.16 [[ 9.99810958e-01 -1.08384523e-03 -1.94132362e-02 3.34073305e+00] [ 1.02492009e-03 9.99994839e-01 -3.04499944e-03 3.86943092e-01] [ 1.94164363e-02 3.02452679e-03 9.99806908e-01 -1.57634713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.493133365 meters Centerline goodness [0,1] 0.30867076989525966 Centerline is valid? [False, False] Translation: X:3.34, Y:0.39, Z:-0.16 [[ 9.99810377e-01 -1.25441035e-03 -1.94328725e-02 3.34053309e+00] [ 1.18476931e-03 9.99992837e-01 -3.59477036e-03 3.89681913e-01] [ 1.94372426e-02 3.57106524e-03 9.99804701e-01 -1.57241901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.523133365 meters Centerline goodness [0,1] 0.3071470125616772 Centerline is valid? [False, False] Translation: X:3.34, Y:0.39, Z:-0.16 [[ 9.99811135e-01 -1.41530925e-03 -1.93827762e-02 3.34022316e+00] [ 1.33781315e-03 9.99991063e-01 -4.01057728e-03 3.91550545e-01] [ 1.93882791e-02 3.98388928e-03 9.99804092e-01 -1.56934052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.553133365 meters Centerline goodness [0,1] 0.3087194580907655 Centerline is valid? [False, False] Translation: X:3.34, Y:0.39, Z:-0.16 [[ 9.99811379e-01 -1.56255657e-03 -1.93588199e-02 3.34000543e+00] [ 1.47858120e-03 9.99989440e-01 -4.35138906e-03 3.92976254e-01] [ 1.93654148e-02 4.32194471e-03 9.99803131e-01 -1.56662306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.583133365 meters Centerline goodness [0,1] 0.3072343925881028 Centerline is valid? [False, False] Translation: X:3.34, Y:0.39, Z:-0.16 [[ 9.99811871e-01 -1.64615811e-03 -1.93264662e-02 3.33978109e+00] [ 1.55803911e-03 9.99988327e-01 -4.57367058e-03 3.94032863e-01] [ 1.93337696e-02 4.54269875e-03 9.99802765e-01 -1.56444341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.613133365 meters Centerline goodness [0,1] 0.30940738028047654 Centerline is valid? [False, False] Translation: X:3.34, Y:0.39, Z:-0.16 [[ 9.99811995e-01 -1.68201570e-03 -1.93169763e-02 3.33975721e+00] [ 1.59089546e-03 9.99987541e-01 -4.73150560e-03 3.94949738e-01] [ 1.93246941e-02 4.69988476e-03 9.99802214e-01 -1.56439432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.643133365 meters Centerline goodness [0,1] 0.31204546444279924 Centerline is valid? [False, False] Translation: X:3.34, Y:0.40, Z:-0.16 [[ 9.99813057e-01 -1.57780155e-03 -1.92707572e-02 3.33974135e+00] [ 1.48394497e-03 9.99986973e-01 -4.88374352e-03 3.96589123e-01] [ 1.92782117e-02 4.85423379e-03 9.99802374e-01 -1.56530707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.673133365 meters Centerline goodness [0,1] 0.3077022402995674 Centerline is valid? [False, False] Translation: X:3.34, Y:0.40, Z:-0.16 [[ 9.99811861e-01 -1.59768308e-03 -1.93310425e-02 3.33979840e+00] [ 1.49961617e-03 9.99985939e-01 -5.08646018e-03 3.97735050e-01] [ 1.93388972e-02 5.05651408e-03 9.99800199e-01 -1.56388548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.703133365 meters Centerline goodness [0,1] 0.3077022402995674 Centerline is valid? [False, False] Translation: X:3.34, Y:0.40, Z:-0.16 [[ 9.99811861e-01 -1.59768308e-03 -1.93310425e-02 3.33979840e+00] [ 1.49961617e-03 9.99985939e-01 -5.08646018e-03 3.97735050e-01] [ 1.93388972e-02 5.05651408e-03 9.99800199e-01 -1.56388548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73313336499996 meters Centerline goodness [0,1] 0.31102336438403977 Centerline is valid? [False, False] Translation: X:3.32, Y:0.40, Z:-0.16 [[ 0.9997707 0.00713161 -0.02019112 3.31916649] [-0.00726003 0.99995384 -0.0062941 0.39665832] [ 0.0201453 0.00643924 0.99977633 -0.15739721] [ 0. 0. 0. 1. ]] SLAMing on 290.763133365 meters Centerline goodness [0,1] 0.310813459653708 Centerline is valid? [False, False] Translation: X:3.32, Y:0.40, Z:-0.16 [[ 0.99976299 0.00708883 -0.02058415 3.3200843 ] [-0.00722578 0.9999522 -0.00658638 0.39819585] [ 0.02053648 0.00673355 0.99976643 -0.1574032 ] [ 0. 0. 0. 1. ]] SLAMing on 290.79313336499996 meters Centerline goodness [0,1] 0.31077966691307557 Centerline is valid? [False, False] Translation: X:3.32, Y:0.40, Z:-0.16 [[ 0.99974918 0.00721637 -0.02120163 3.3216357 ] [-0.0073615 0.99994995 -0.00677521 0.39997949] [ 0.02115168 0.00692958 0.99975226 -0.15759814] [ 0. 0. 0. 1. ]] SLAMing on 290.823133365 meters Centerline goodness [0,1] 0.3105121760984487 Centerline is valid? [False, False] Translation: X:3.32, Y:0.40, Z:-0.16 [[ 0.99973422 0.00748869 -0.02180406 3.32315747] [-0.00764032 0.99994715 -0.00687916 0.40199229] [ 0.02175139 0.00704392 0.9997386 -0.15775309] [ 0. 0. 0. 1. ]] SLAMing on 290.85313336499996 meters Centerline goodness [0,1] 0.31098081256700283 Centerline is valid? [False, False] Translation: X:3.32, Y:0.41, Z:-0.16 [[ 0.99970879 0.01098275 -0.02148771 3.32223308] [-0.0110791 0.99992908 -0.00437012 0.407885 ] [ 0.02143819 0.00460692 0.99975956 -0.15729452] [ 0. 0. 0. 1. ]] SLAMing on 290.883133365 meters Centerline goodness [0,1] 0.3107326198555642 Centerline is valid? [False, False] Translation: X:3.34, Y:0.42, Z:-0.15 [[ 9.99763442e-01 4.05774900e-03 -2.13680721e-02 3.33904888e+00] [-4.12147164e-03 9.99987188e-01 -2.93894837e-03 4.15510034e-01] [ 2.13558729e-02 3.02632104e-03 9.99767357e-01 -1.54635882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91313336499996 meters Centerline goodness [0,1] 0.31134929553116086 Centerline is valid? [False, False] Translation: X:3.34, Y:0.42, Z:-0.15 [[ 0.99976697 0.00421712 -0.02117143 3.33832039] [-0.00428932 0.99998514 -0.00336614 0.41902669] [ 0.02115692 0.00345617 0.99977019 -0.15419904] [ 0. 0. 0. 1. ]] SLAMing on 290.943133365 meters Centerline goodness [0,1] 0.30553228058867765 Centerline is valid? [False, False] Translation: X:3.34, Y:0.42, Z:-0.15 [[ 0.99976289 0.00442338 -0.02132151 3.33856566] [-0.00450336 0.999983 -0.00370464 0.42223146] [ 0.02130476 0.00379978 0.99976581 -0.1540494 ] [ 0. 0. 0. 1. ]] SLAMing on 290.97313336499997 meters Centerline goodness [0,1] 0.30841482243952656 Centerline is valid? [False, False] Translation: X:3.34, Y:0.43, Z:-0.16 [[ 9.99739066e-01 7.05746718e-03 -2.17253982e-02 3.34125034e+00] [-7.10127795e-03 9.99972904e-01 -1.94008124e-03 4.28688453e-01] [ 2.17111175e-02 2.09385310e-03 9.99762093e-01 -1.55894904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.003133365 meters Centerline goodness [0,1] 0.31024768674019976 Centerline is valid? [False, False] Translation: X:3.32, Y:0.44, Z:-0.16 [[ 9.99777812e-01 -3.43711853e-04 -2.10762500e-02 3.32284994e+00] [ 3.19791991e-04 9.99999301e-01 -1.13828009e-03 4.35665391e-01] [ 2.10766265e-02 1.13128716e-03 9.99777223e-01 -1.58197458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03313336499997 meters Centerline goodness [0,1] 0.30836841876817567 Centerline is valid? [False, False] Translation: X:3.32, Y:0.44, Z:-0.16 [[ 9.99778536e-01 -4.53291408e-04 -2.10398008e-02 3.32268838e+00] [ 4.24117313e-04 9.99998943e-01 -1.39105608e-03 4.36840664e-01] [ 2.10404091e-02 1.38182467e-03 9.99777671e-01 -1.58124051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.063133365 meters Centerline goodness [0,1] 0.30986340328349204 Centerline is valid? [False, False] Translation: X:3.32, Y:0.44, Z:-0.16 [[ 9.99777320e-01 -5.27843767e-04 -2.10957685e-02 3.32269340e+00] [ 4.94779302e-04 9.99998641e-01 -1.57253932e-03 4.37790815e-01] [ 2.10965698e-02 1.56175139e-03 9.99776223e-01 -1.57941230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09313336499997 meters Centerline goodness [0,1] 0.30445640473627555 Centerline is valid? [False, False] Translation: X:3.32, Y:0.44, Z:-0.16 [[ 9.99774521e-01 -5.60588459e-04 -2.12271609e-02 3.32284923e+00] [ 5.25315508e-04 9.99998472e-01 -1.66722920e-03 4.38353861e-01] [ 2.12280631e-02 1.65570232e-03 9.99773288e-01 -1.57704327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.123133365 meters Centerline goodness [0,1] 0.30761113025499653 Centerline is valid? [False, False] Translation: X:3.32, Y:0.44, Z:-0.16 [[ 9.99772085e-01 -6.14160862e-04 -2.13401234e-02 3.32312255e+00] [ 5.75978641e-04 9.99998223e-01 -1.79532246e-03 4.39020005e-01] [ 2.13411881e-02 1.78262183e-03 9.99770662e-01 -1.57703482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.153133365 meters Centerline goodness [0,1] 0.31006830364862525 Centerline is valid? [False, False] Translation: X:3.32, Y:0.44, Z:-0.16 [[ 9.99776431e-01 -6.38828163e-04 -2.11347835e-02 3.32238003e+00] [ 5.95839661e-04 9.99997741e-01 -2.04025133e-03 4.40639697e-01] [ 2.11360391e-02 2.02720225e-03 9.99774554e-01 -1.57286614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.183133365 meters Centerline goodness [0,1] 0.30800069345122005 Centerline is valid? [False, False] Translation: X:3.32, Y:0.44, Z:-0.16 [[ 9.99779918e-01 -6.55696876e-04 -2.09686993e-02 3.32174814e+00] [ 6.09206597e-04 9.99997343e-01 -2.22343846e-03 4.41747598e-01] [ 2.09701015e-02 2.21017485e-03 9.99777660e-01 -1.56900550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.213133365 meters Centerline goodness [0,1] 0.30868853165538934 Centerline is valid? [False, False] Translation: X:3.32, Y:0.44, Z:-0.16 [[ 9.99780985e-01 -6.53917732e-04 -2.09178142e-02 3.32150966e+00] [ 6.02909016e-04 9.99996830e-01 -2.44474348e-03 4.43082135e-01] [ 2.09193465e-02 2.43159650e-03 9.99778210e-01 -1.56745362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.243133365 meters Centerline goodness [0,1] 0.30801633076275026 Centerline is valid? [False, False] Translation: X:3.32, Y:0.44, Z:-0.16 [[ 9.99778747e-01 -7.37203336e-04 -2.10217413e-02 3.32187624e+00] [ 6.78955948e-04 9.99995911e-01 -2.77781912e-03 4.44732290e-01] [ 2.10237031e-02 2.76293169e-03 9.99775160e-01 -1.56965955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.273133365 meters Centerline goodness [0,1] 0.312037601183741 Centerline is valid? [False, False] Translation: X:3.32, Y:0.45, Z:-0.16 [[ 9.99774069e-01 -8.33471356e-04 -2.12395012e-02 3.32249716e+00] [ 7.67504368e-04 9.99994858e-01 -3.11382570e-03 4.46290016e-01] [ 2.12419872e-02 3.09682078e-03 9.99769567e-01 -1.57238060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.303133365 meters Centerline goodness [0,1] 0.3098217589066139 Centerline is valid? [False, False] Translation: X:3.32, Y:0.45, Z:-0.16 [[ 9.99774184e-01 -8.33888628e-04 -2.12340855e-02 3.32223986e+00] [ 7.61644567e-04 9.99993895e-01 -3.41012857e-03 4.48062470e-01] [ 2.12367996e-02 3.39318568e-03 9.99768716e-01 -1.56927417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.333133365 meters Centerline goodness [0,1] 0.3091644321425482 Centerline is valid? [False, False] Translation: X:3.32, Y:0.45, Z:-0.16 [[ 9.99777531e-01 -8.13640430e-04 -2.10766608e-02 3.32154423e+00] [ 7.40536827e-04 9.99993684e-01 -3.47603496e-03 4.48638117e-01] [ 2.10793560e-02 3.45965361e-03 9.99771820e-01 -1.56448877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.363133365 meters Centerline goodness [0,1] 0.3114761240850471 Centerline is valid? [False, False] Translation: X:3.32, Y:0.45, Z:-0.16 [[ 9.99781160e-01 -8.68808984e-04 -2.09016331e-02 3.32073998e+00] [ 7.93047708e-04 9.99993087e-01 -3.63267412e-03 4.49425005e-01] [ 2.09046447e-02 3.61530315e-03 9.99774937e-01 -1.55822981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.393133365 meters Centerline goodness [0,1] 0.30971470786345956 Centerline is valid? [False, False] Translation: X:3.32, Y:0.45, Z:-0.16 [[ 9.99784984e-01 -8.88664536e-04 -2.07170372e-02 3.32012701e+00] [ 8.11636072e-04 9.99992728e-01 -3.72623343e-03 4.49897906e-01] [ 2.07201979e-02 3.70861753e-03 9.99778435e-01 -1.55539197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.423133365 meters Centerline goodness [0,1] 0.3097270363951473 Centerline is valid? [False, False] Translation: X:3.32, Y:0.45, Z:-0.16 [[ 9.99783915e-01 -8.76537276e-04 -2.07690847e-02 3.32021382e+00] [ 7.93960884e-04 9.99991749e-01 -3.98384059e-03 4.51593624e-01] [ 2.07724054e-02 3.96648990e-03 9.99776362e-01 -1.55558026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.453133365 meters Centerline goodness [0,1] 0.30854584387774964 Centerline is valid? [False, False] Translation: X:3.32, Y:0.45, Z:-0.16 [[ 9.99780559e-01 -9.02760775e-04 -2.09289060e-02 3.32081204e+00] [ 8.14628407e-04 9.99990767e-01 -4.21917881e-03 4.52977036e-01] [ 2.09325217e-02 4.20120367e-03 9.99772064e-01 -1.55943240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48313336499996 meters Centerline goodness [0,1] 0.31086435880688 Centerline is valid? [False, False] Translation: X:3.32, Y:0.45, Z:-0.16 [[ 9.99776590e-01 -9.46955334e-04 -2.11157369e-02 3.32146485e+00] [ 8.53389923e-04 9.99989781e-01 -4.43964568e-03 4.54213775e-01] [ 2.11197253e-02 4.42063385e-03 9.99767180e-01 -1.56315165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.513133365 meters Centerline goodness [0,1] 0.3100740166967897 Centerline is valid? [False, False] Translation: X:3.32, Y:0.46, Z:-0.16 [[ 9.99773822e-01 -9.43371716e-04 -2.12465462e-02 3.32173145e+00] [ 8.45603311e-04 9.99989016e-01 -4.61012811e-03 4.55283011e-01] [ 2.12506619e-02 4.59111925e-03 9.99763638e-01 -1.56300191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54313336499996 meters Centerline goodness [0,1] 0.30842517809583614 Centerline is valid? [False, False] Translation: X:3.32, Y:0.46, Z:-0.16 [[ 9.99773997e-01 -1.00313717e-03 -2.12355680e-02 3.32153952e+00] [ 9.00528278e-04 9.99987877e-01 -4.84094677e-03 4.56559858e-01] [ 2.12401667e-02 4.82072948e-03 9.99762780e-01 -1.56085869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.573133365 meters Centerline goodness [0,1] 0.308355911997399 Centerline is valid? [False, False] Translation: X:3.32, Y:0.46, Z:-0.16 [[ 9.99774024e-01 -1.02777332e-03 -2.12330996e-02 3.32140663e+00] [ 9.21332697e-04 9.99986965e-01 -5.02213196e-03 4.57680887e-01] [ 2.12379845e-02 5.00143433e-03 9.99761938e-01 -1.55946175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60313336499996 meters Centerline goodness [0,1] 0.30686386207786065 Centerline is valid? [False, False] Translation: X:3.32, Y:0.46, Z:-0.16 [[ 9.99769987e-01 -9.62222054e-04 -2.14253670e-02 3.32210242e+00] [ 8.50342556e-04 9.99985960e-01 -5.23032248e-03 4.59454533e-01] [ 2.14300989e-02 5.21090054e-03 9.99756769e-01 -1.56394322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.633133365 meters Centerline goodness [0,1] 0.3099655762194462 Centerline is valid? [False, False] Translation: X:3.32, Y:0.46, Z:-0.16 [[ 9.99767736e-01 -9.73443452e-04 -2.15296471e-02 3.32252042e+00] [ 8.58277674e-04 9.99985279e-01 -5.35776523e-03 4.60262052e-01] [ 2.15345457e-02 5.33804240e-03 9.99753854e-01 -1.56712437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66313336499996 meters Centerline goodness [0,1] 0.3100749989162006 Centerline is valid? [False, False] Translation: X:3.32, Y:0.46, Z:-0.16 [[ 9.99765947e-01 -1.00932412e-03 -2.16109189e-02 3.32267966e+00] [ 8.91009143e-04 9.99984567e-01 -5.48370668e-03 4.60954378e-01] [ 2.16161202e-02 5.46316768e-03 9.99751418e-01 -1.56676524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.693133365 meters Centerline goodness [0,1] 0.3137130755627361 Centerline is valid? [False, False] Translation: X:3.32, Y:0.46, Z:-0.16 [[ 9.99766501e-01 -1.01781241e-03 -2.15849031e-02 3.32248706e+00] [ 8.98022689e-04 9.99984147e-01 -5.55866653e-03 4.61480809e-01] [ 2.15902186e-02 5.53798485e-03 9.99751566e-01 -1.56525026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72313336499997 meters Centerline goodness [0,1] 0.31160652022315205 Centerline is valid? [False, False] Translation: X:3.32, Y:0.46, Z:-0.16 [[ 9.99769425e-01 -9.95665804e-04 -2.14500476e-02 3.32198467e+00] [ 8.76385193e-04 9.99984106e-01 -5.56953814e-03 4.61793293e-01] [ 2.14552520e-02 5.54945544e-03 9.99754408e-01 -1.56247627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.753133365 meters Centerline goodness [0,1] 0.31234524998914037 Centerline is valid? [False, False] Translation: X:3.32, Y:0.46, Z:-0.16 [[ 9.99770032e-01 -9.56616700e-04 -2.14235569e-02 3.32185675e+00] [ 8.37397738e-04 9.99984119e-01 -5.57313363e-03 4.62162280e-01] [ 2.14285480e-02 5.55391195e-03 9.99754956e-01 -1.56147292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78313336499997 meters Centerline goodness [0,1] 0.3075530263838593 Centerline is valid? [False, False] Translation: X:3.32, Y:0.46, Z:-0.16 [[ 9.99764882e-01 -8.88560697e-04 -2.16654382e-02 3.32268917e+00] [ 7.69831165e-04 9.99984645e-01 -5.48785991e-03 4.61938239e-01] [ 2.16699819e-02 5.46989089e-03 9.99750215e-01 -1.56576372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.813133365 meters Centerline goodness [0,1] 0.3115229723292773 Centerline is valid? [False, False] Translation: X:3.32, Y:0.46, Z:-0.16 [[ 9.99761740e-01 -8.45492477e-04 -2.18116462e-02 3.32319010e+00] [ 7.29078800e-04 9.99985452e-01 -5.34462581e-03 4.61034406e-01] [ 2.18158477e-02 5.32744999e-03 9.99747812e-01 -1.56827902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84313336499997 meters Centerline goodness [0,1] 0.3116021134448277 Centerline is valid? [False, False] Translation: X:3.32, Y:0.46, Z:-0.16 [[ 9.99759622e-01 -8.25806476e-04 -2.19092867e-02 3.32334067e+00] [ 7.12367155e-04 9.99986304e-01 -5.18498162e-03 4.59934176e-01] [ 2.19132684e-02 5.16812781e-03 9.99746517e-01 -1.56684910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.873133365 meters Centerline goodness [0,1] 0.3096735291584116 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:-0.16 [[ 0.99972381 -0.00926641 -0.02159708 3.34340561] [ 0.00918219 0.99994986 -0.00399569 0.46119578] [ 0.02163302 0.00379628 0.99975877 -0.15516971] [ 0. 0. 0. 1. ]] SLAMing on 291.903133365 meters Centerline goodness [0,1] 0.310339576671235 Centerline is valid? [False, False] Translation: X:3.32, Y:0.45, Z:-0.16 [[ 9.99758980e-01 -7.86678160e-04 -2.19399663e-02 3.32486923e+00] [ 6.80784898e-04 9.99988087e-01 -4.83355220e-03 4.54709298e-01] [ 2.19435074e-02 4.81745082e-03 9.99747605e-01 -1.56859761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.933133365 meters Centerline goodness [0,1] 0.30419220712418016 Centerline is valid? [False, False] Translation: X:3.35, Y:0.46, Z:-0.16 [[ 0.99970975 -0.00907147 -0.02231865 3.34537471] [ 0.00898811 0.99995226 -0.00383213 0.45757996] [ 0.02235235 0.00363041 0.99974356 -0.15592376] [ 0. 0. 0. 1. ]] SLAMing on 291.963133365 meters Centerline goodness [0,1] 0.3085131712807636 Centerline is valid? [False, False] Translation: X:3.33, Y:0.45, Z:-0.16 [[ 9.99742119e-01 -9.89328478e-04 -2.26873740e-02 3.32754543e+00] [ 8.75572964e-04 9.99986999e-01 -5.02343048e-03 4.50286528e-01] [ 2.26920489e-02 5.00227058e-03 9.99729988e-01 -1.58205745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.993133365 meters Centerline goodness [0,1] 0.30857971516384575 Centerline is valid? [False, False] Translation: X:3.33, Y:0.45, Z:-0.16 [[ 9.99742699e-01 -8.65198849e-04 -2.26668618e-02 3.32745806e+00] [ 7.60400179e-04 9.99988985e-01 -4.63164208e-03 4.48074166e-01] [ 2.26706194e-02 4.61321447e-03 9.99732345e-01 -1.58136684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.023133365 meters Centerline goodness [0,1] 0.3156875122439651 Centerline is valid? [False, False] Translation: X:3.33, Y:0.44, Z:-0.16 [[ 9.99754890e-01 -6.05330009e-04 -2.21312899e-02 3.32551171e+00] [ 5.22750516e-04 9.99992881e-01 -3.73694057e-03 4.42748024e-01] [ 2.21333944e-02 3.72445546e-03 9.99748089e-01 -1.57019553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.053133365 meters Centerline goodness [0,1] 0.31194570331981697 Centerline is valid? [False, False] Translation: X:3.32, Y:0.44, Z:-0.16 [[ 9.99757707e-01 -4.10855781e-04 -2.20081307e-02 3.32492035e+00] [ 3.39622631e-04 9.99994692e-01 -3.24031414e-03 4.40189788e-01] [ 2.20093452e-02 3.23205458e-03 9.99752541e-01 -1.56553820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.083133365 meters Centerline goodness [0,1] 0.3134708262628899 Centerline is valid? [False, False] Translation: X:3.32, Y:0.44, Z:-0.16 [[ 9.99757986e-01 -2.30406630e-04 -2.19981148e-02 3.32494460e+00] [ 1.70063112e-04 9.99996218e-01 -2.74495357e-03 4.37562046e-01] [ 2.19986641e-02 2.74054818e-03 9.99754244e-01 -1.56594964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.113133365 meters Centerline goodness [0,1] 0.3104363589278778 Centerline is valid? [False, False] Translation: X:3.33, Y:0.44, Z:-0.16 [[ 9.99754092e-01 -2.80009099e-05 -2.21755376e-02 3.32569294e+00] [-2.21544698e-05 9.99997443e-01 -2.26149468e-03 4.35000453e-01] [ 2.21755442e-02 2.26142985e-03 9.99751535e-01 -1.57077360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.143133365 meters Centerline goodness [0,1] 0.3120053771600789 Centerline is valid? [False, False] Translation: X:3.33, Y:0.43, Z:-0.16 [[ 9.99752950e-01 1.79639700e-04 -2.22262677e-02 3.32596407e+00] [-2.19330675e-04 9.99998386e-01 -1.78334391e-03 4.32615082e-01] [ 2.22259115e-02 1.78777824e-03 9.99751375e-01 -1.57336459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.173133365 meters Centerline goodness [0,1] 0.31529447705501124 Centerline is valid? [False, False] Translation: X:3.33, Y:0.43, Z:-0.16 [[ 9.99755228e-01 4.16507975e-04 -2.21203660e-02 3.32556430e+00] [-4.43839105e-04 9.99999144e-01 -1.23066894e-03 4.29943114e-01] [ 2.21198345e-02 1.24018559e-03 9.99754557e-01 -1.57089151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.203133365 meters Centerline goodness [0,1] 0.31538360998562276 Centerline is valid? [False, False] Translation: X:3.32, Y:0.43, Z:-0.16 [[ 9.99760285e-01 6.72065223e-04 -2.18842420e-02 3.32478879e+00] [-6.85856754e-04 9.99999571e-01 -6.22704194e-04 4.27033076e-01] [ 2.18838142e-02 6.37564378e-04 9.99760317e-01 -1.56732581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23313336499996 meters Centerline goodness [0,1] 0.3122543377706356 Centerline is valid? [False, False] Translation: X:3.32, Y:0.42, Z:-0.16 [[ 9.99762997e-01 1.22460633e-03 -2.17359201e-02 3.32410041e+00] [-1.21148294e-03 9.99999076e-01 6.16922796e-04 4.20181746e-01] [ 2.17366555e-02 -5.90443887e-04 9.99763557e-01 -1.56192056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.263133365 meters Centerline goodness [0,1] 0.3135172623046748 Centerline is valid? [False, False] Translation: X:3.32, Y:0.42, Z:-0.16 [[ 9.99763267e-01 1.44554036e-03 -2.17099057e-02 3.32422989e+00] [-1.41924491e-03 9.99998241e-01 1.22657803e-03 4.16885620e-01] [ 2.17116405e-02 -1.19547599e-03 9.99763560e-01 -1.56474485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29313336499996 meters Centerline goodness [0,1] 0.3099491176789001 Centerline is valid? [False, False] Translation: X:3.32, Y:0.41, Z:-0.16 [[ 9.99763324e-01 1.65557823e-03 -2.16923036e-02 3.32448867e+00] [-1.61708270e-03 9.99997087e-01 1.79203811e-03 4.13738688e-01] [ 2.16952072e-02 -1.75653573e-03 9.99763088e-01 -1.56917248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.323133365 meters Centerline goodness [0,1] 0.3088358864973175 Centerline is valid? [False, False] Translation: X:3.33, Y:0.41, Z:-0.16 [[ 9.99759769e-01 1.90384067e-03 -2.18352866e-02 3.32504785e+00] [-1.85201292e-03 9.99995420e-01 2.39355429e-03 4.10677795e-01] [ 2.18397436e-02 -2.35254005e-03 9.99758716e-01 -1.57236523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35313336499996 meters Centerline goodness [0,1] 0.3083978403694789 Centerline is valid? [False, False] Translation: X:3.32, Y:0.40, Z:-0.16 [[ 9.99761781e-01 2.53018986e-03 -2.16789902e-02 3.32469071e+00] [-2.45110922e-03 9.99990248e-01 3.67359683e-03 4.04917172e-01] [ 2.16880737e-02 -3.61958414e-03 9.99758234e-01 -1.57190033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.383133365 meters Centerline goodness [0,1] 0.3076840223174856 Centerline is valid? [False, False] Translation: X:3.32, Y:0.40, Z:-0.16 [[ 9.99762934e-01 2.79152538e-03 -2.15935701e-02 3.32434750e+00] [-2.70173158e-03 9.99987587e-01 4.18641433e-03 4.02661626e-01] [ 2.16049886e-02 -4.12708184e-03 9.99758067e-01 -1.56944660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41313336499996 meters Centerline goodness [0,1] 0.3071058843913109 Centerline is valid? [False, False] Translation: X:3.32, Y:0.40, Z:-0.16 [[ 9.99763722e-01 2.94457102e-03 -2.15366954e-02 3.32405414e+00] [-2.84701611e-03 9.99985555e-01 4.55896610e-03 4.00736332e-01] [ 2.15498085e-02 -4.49657360e-03 9.99757664e-01 -1.56680810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.443133365 meters Centerline goodness [0,1] 0.3103134741946657 Centerline is valid? [False, False] Translation: X:3.32, Y:0.40, Z:-0.16 [[ 9.99763375e-01 3.05998516e-03 -2.15367265e-02 3.32404197e+00] [-2.95581415e-03 9.99983787e-01 4.86707296e-03 3.98945483e-01] [ 2.15512705e-02 -4.80226273e-03 9.99756211e-01 -1.56683072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47313336499997 meters Centerline goodness [0,1] 0.308425935915417 Centerline is valid? [False, False] Translation: X:3.32, Y:0.40, Z:-0.16 [[ 9.99759659e-01 3.14155933e-03 -2.16968700e-02 3.32456775e+00] [-3.03101818e-03 9.99982269e-01 5.12580492e-03 3.97328253e-01] [ 2.17125883e-02 -5.05880937e-03 9.99751455e-01 -1.56933394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.503133365 meters Centerline goodness [0,1] 0.3089031200810747 Centerline is valid? [False, False] Translation: X:3.33, Y:0.40, Z:-0.16 [[ 9.99752935e-01 3.23483179e-03 -2.19910065e-02 3.32554446e+00] [-3.11785234e-03 9.99980819e-01 5.35162923e-03 3.96150260e-01] [ 2.20078963e-02 -5.28174232e-03 9.99743845e-01 -1.57392941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53313336499997 meters Centerline goodness [0,1] 0.30724700291608165 Centerline is valid? [False, False] Translation: X:3.33, Y:0.39, Z:-0.16 [[ 9.99743666e-01 3.37515626e-03 -2.23877345e-02 3.32725448e+00] [-3.24961327e-03 9.99978806e-01 5.64168065e-03 3.94695446e-01] [ 2.24063016e-02 -5.56748302e-03 9.99733445e-01 -1.58581543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.563133365 meters Centerline goodness [0,1] 0.3101082251082251 Centerline is valid? [False, False] Translation: X:3.33, Y:0.39, Z:-0.16 [[ 9.99742399e-01 3.33063412e-03 -2.24508931e-02 3.32752494e+00] [-3.20607210e-03 9.99979281e-01 5.58191145e-03 3.94685736e-01] [ 2.24690193e-02 -5.50849436e-03 9.99732364e-01 -1.58833390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59313336499997 meters Centerline goodness [0,1] 0.3101082251082251 Centerline is valid? [False, False] Translation: X:3.33, Y:0.39, Z:-0.16 [[ 9.99742399e-01 3.33063412e-03 -2.24508931e-02 3.32752494e+00] [-3.20607210e-03 9.99979281e-01 5.58191145e-03 3.94685736e-01] [ 2.24690193e-02 -5.50849436e-03 9.99732364e-01 -1.58833390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.623133365 meters Centerline goodness [0,1] 0.3055304107935687 Centerline is valid? [False, False] Translation: X:3.33, Y:0.40, Z:-0.16 [[ 9.99739598e-01 3.28145516e-03 -2.25824835e-02 3.32779128e+00] [-3.15851167e-03 9.99980009e-01 5.47771366e-03 3.95006885e-01] [ 2.26000070e-02 -5.40496021e-03 9.99729977e-01 -1.58796489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.653133365 meters Centerline goodness [0,1] 0.3081535553672684 Centerline is valid? [False, False] Translation: X:3.33, Y:0.40, Z:-0.16 [[ 9.99740384e-01 3.25041070e-03 -2.25521334e-02 3.32772109e+00] [-3.12962164e-03 9.99980581e-01 5.38922124e-03 3.95419702e-01] [ 2.25692126e-02 -5.31724247e-03 9.99731143e-01 -1.58853318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.683133365 meters Centerline goodness [0,1] 0.30682703123648003 Centerline is valid? [False, False] Translation: X:3.33, Y:0.40, Z:-0.16 [[ 9.99737331e-01 3.21850325e-03 -2.26916139e-02 3.32809345e+00] [-3.09889436e-03 9.99981131e-01 5.30425637e-03 3.95883600e-01] [ 2.27082575e-02 -5.23254420e-03 9.99728441e-01 -1.58953717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.713133365 meters Centerline goodness [0,1] 0.30174942720712616 Centerline is valid? [False, False] Translation: X:3.33, Y:0.40, Z:-0.16 [[ 9.99727528e-01 3.14791713e-03 -2.31292280e-02 3.32933430e+00] [-3.02985845e-03 9.99982212e-01 5.13757902e-03 3.96735831e-01] [ 2.31449893e-02 -5.06610088e-03 9.99719283e-01 -1.59337606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.743133365 meters Centerline goodness [0,1] 0.30901231618046354 Centerline is valid? [False, False] Translation: X:3.31, Y:0.40, Z:-0.16 [[ 0.99970374 -0.00537331 -0.02373936 3.30843267] [ 0.00551332 0.99996777 0.00583621 0.3996866 ] [ 0.02370723 -0.00596537 0.99970115 -0.1602505 ] [ 0. 0. 0. 1. ]] SLAMing on 292.773133365 meters Centerline goodness [0,1] 0.30456173665357555 Centerline is valid? [False, False] Translation: X:3.33, Y:0.40, Z:-0.16 [[ 9.99734664e-01 2.41636587e-03 -2.29077068e-02 3.32680828e+00] [-2.31177739e-03 9.99986789e-01 4.59102944e-03 3.96623837e-01] [ 2.29184977e-02 -4.53685375e-03 9.99727042e-01 -1.58222561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.803133365 meters Centerline goodness [0,1] 0.3065310423431754 Centerline is valid? [False, False] Translation: X:3.33, Y:0.40, Z:-0.16 [[ 9.99738729e-01 2.41880371e-03 -2.27293460e-02 3.32592200e+00] [-2.31332131e-03 9.99986439e-01 4.66595048e-03 3.96146202e-01] [ 2.27403238e-02 -4.61215112e-03 9.99730767e-01 -1.57502013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.833133365 meters Centerline goodness [0,1] 0.30860132999018863 Centerline is valid? [False, False] Translation: X:3.30, Y:0.40, Z:-0.16 [[ 0.99973378 -0.00613288 -0.02224329 3.30374246] [ 0.00625069 0.99996678 0.00523054 0.39865147] [ 0.02221047 -0.00536818 0.9997389 -0.15826029] [ 0. 0. 0. 1. ]] SLAMing on 292.863133365 meters Centerline goodness [0,1] 0.3108302149508311 Centerline is valid? [False, False] Translation: X:3.30, Y:0.40, Z:-0.16 [[ 0.99973626 -0.00611702 -0.022136 3.3033733 ] [ 0.00623713 0.99996618 0.00536102 0.39779019] [ 0.02210245 -0.00549767 0.99974059 -0.15802885] [ 0. 0. 0. 1. ]] SLAMing on 292.893133365 meters Centerline goodness [0,1] 0.3065289720433825 Centerline is valid? [False, False] Translation: X:3.32, Y:0.39, Z:-0.16 [[ 9.99755342e-01 1.19962657e-03 -2.20865852e-02 3.32146118e+00] [-1.10970563e-03 9.99991048e-01 4.08309818e-03 3.91628351e-01] [ 2.20912857e-02 -4.05758960e-03 9.99747724e-01 -1.55512040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.923133365 meters Centerline goodness [0,1] 0.30766907561212387 Centerline is valid? [False, False] Translation: X:3.32, Y:0.39, Z:-0.16 [[ 9.99754503e-01 1.25997377e-03 -2.21211639e-02 3.32147937e+00] [-1.16458336e-03 9.99989971e-01 4.32453176e-03 3.90270649e-01] [ 2.21263908e-02 -4.29770816e-03 9.99745944e-01 -1.55398394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.953133365 meters Centerline goodness [0,1] 0.30773050104699606 Centerline is valid? [False, False] Translation: X:3.32, Y:0.39, Z:-0.16 [[ 9.99753054e-01 1.32018177e-03 -2.21830635e-02 3.32163699e+00] [-1.21960477e-03 9.99988919e-01 4.54687214e-03 3.88955047e-01] [ 2.21888204e-02 -4.51869474e-03 9.99743586e-01 -1.55415503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98313336499996 meters Centerline goodness [0,1] 0.31061727320215915 Centerline is valid? [False, False] Translation: X:3.32, Y:0.39, Z:-0.16 [[ 9.99753398e-01 1.37774679e-03 -2.21640392e-02 3.32176055e+00] [-1.27292962e-03 9.99987944e-01 4.74256820e-03 3.87863955e-01] [ 2.21703060e-02 -4.71318541e-03 9.99743099e-01 -1.55647907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.013133365 meters Centerline goodness [0,1] 0.31084967320261436 Centerline is valid? [False, False] Translation: X:3.32, Y:0.39, Z:-0.16 [[ 9.99752776e-01 1.45205806e-03 -2.21873392e-02 3.32190065e+00] [-1.34180490e-03 9.99986683e-01 4.98327242e-03 3.86562596e-01] [ 2.21942798e-02 -4.95226936e-03 9.99741411e-01 -1.55743440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04313336499996 meters Centerline goodness [0,1] 0.3084598698481562 Centerline is valid? [False, False] Translation: X:3.32, Y:0.39, Z:-0.16 [[ 9.99751436e-01 1.50007996e-03 -2.22444782e-02 3.32216232e+00] [-1.38547639e-03 9.99985694e-01 5.16651767e-03 3.85450221e-01] [ 2.22519102e-02 -5.13441426e-03 9.99739211e-01 -1.55939032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.073133365 meters Centerline goodness [0,1] 0.3063002680965148 Centerline is valid? [False, False] Translation: X:3.32, Y:0.38, Z:-0.16 [[ 9.99743928e-01 1.71568416e-03 -2.25640026e-02 3.32319394e+00] [-1.58702774e-03 9.99982390e-01 5.71851563e-03 3.82732269e-01] [ 2.25734164e-02 -5.68124158e-03 9.99729045e-01 -1.56325200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10313336499996 meters Centerline goodness [0,1] 0.30298799218095507 Centerline is valid? [False, False] Translation: X:3.32, Y:0.38, Z:-0.16 [[ 9.99740268e-01 1.81993234e-03 -2.27175111e-02 3.32366400e+00] [-1.68331724e-03 9.99980395e-01 6.03132232e-03 3.81106687e-01] [ 2.27280423e-02 -5.99151501e-03 9.99723731e-01 -1.56483802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.133133365 meters Centerline goodness [0,1] 0.311870746080414 Centerline is valid? [False, False] Translation: X:3.30, Y:0.38, Z:-0.16 [[ 0.99970995 -0.00664366 -0.02314899 3.30282035] [ 0.00681127 0.9999511 0.00716935 0.38143222] [ 0.02310023 -0.00732494 0.99970632 -0.15777484] [ 0. 0. 0. 1. ]] SLAMing on 293.16313336499996 meters Centerline goodness [0,1] 0.31081081081081086 Centerline is valid? [False, False] Translation: X:3.30, Y:0.38, Z:-0.16 [[ 0.99971574 -0.00655756 -0.02292245 3.30222753] [ 0.00673401 0.99994822 0.00762905 0.37864276] [ 0.02287123 -0.00778124 0.99970814 -0.15754884] [ 0. 0. 0. 1. ]] SLAMing on 293.193133365 meters Centerline goodness [0,1] 0.3113468634686347 Centerline is valid? [False, False] Translation: X:3.28, Y:0.37, Z:-0.16 [[ 9.99798322e-01 -2.00104995e-03 -1.99827878e-02 3.28221885e+00] [ 2.11239595e-03 9.99982353e-01 5.55254283e-03 3.66416980e-01] [ 1.99713242e-02 -5.59363456e-03 9.99784906e-01 -1.59140171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22313336499997 meters Centerline goodness [0,1] 0.30987317664372593 Centerline is valid? [False, False] Translation: X:3.31, Y:0.36, Z:-0.16 [[ 9.99786049e-01 3.58735150e-03 -2.03712355e-02 3.30505991e+00] [-3.52885219e-03 9.99989549e-01 2.90688383e-03 3.61361629e-01] [ 2.03814507e-02 -2.83437482e-03 9.99788259e-01 -1.59103079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.253133365 meters Centerline goodness [0,1] 0.3100358812656301 Centerline is valid? [False, False] Translation: X:3.31, Y:0.36, Z:-0.16 [[ 0.99977792 0.00368156 -0.02074972 3.3063166 ] [-0.00361064 0.99998752 0.00345423 0.35786738] [ 0.02076218 -0.00337854 0.99977873 -0.1596356 ] [ 0. 0. 0. 1. ]] SLAMing on 293.28313336499997 meters Centerline goodness [0,1] 0.30912998176608497 Centerline is valid? [False, False] Translation: X:3.31, Y:0.35, Z:-0.16 [[ 0.9997722 0.00380534 -0.02100174 3.30722507] [-0.00372193 0.99998504 0.00400936 0.35439396] [ 0.02101669 -0.00393028 0.9997714 -0.16005891] [ 0. 0. 0. 1. ]] SLAMing on 293.313133365 meters Centerline goodness [0,1] 0.30642943097816744 Centerline is valid? [False, False] Translation: X:3.33, Y:0.35, Z:-0.16 [[ 0.99977929 -0.00426089 -0.02057223 3.32740299] [ 0.00436851 0.99997699 0.0051896 0.35459275] [ 0.02054964 -0.00527833 0.9997749 -0.15913097] [ 0. 0. 0. 1. ]] SLAMing on 293.34313336499997 meters Centerline goodness [0,1] 0.31023901110774954 Centerline is valid? [False, False] Translation: X:3.33, Y:0.35, Z:-0.16 [[ 0.99978787 -0.00409826 -0.02018477 3.32563661] [ 0.00422263 0.99997234 0.0061231 0.34607126] [ 0.02015911 -0.00620703 0.99977752 -0.15775647] [ 0. 0. 0. 1. ]] SLAMing on 293.373133365 meters Centerline goodness [0,1] 0.3098436894458081 Centerline is valid? [False, False] Translation: X:3.33, Y:0.34, Z:-0.16 [[ 0.99978814 -0.00388973 -0.02021246 3.32560624] [ 0.00402659 0.99996921 0.00673478 0.34250235] [ 0.02018564 -0.00681474 0.99977302 -0.15752747] [ 0. 0. 0. 1. ]] SLAMing on 293.403133365 meters Centerline goodness [0,1] 0.31108251919050944 Centerline is valid? [False, False] Translation: X:3.31, Y:0.33, Z:-0.16 [[ 0.99978714 0.00345461 -0.02034064 3.30753491] [-0.00334244 0.99997904 0.00554583 0.33314338] [ 0.02035938 -0.00547667 0.99977773 -0.15973159] [ 0. 0. 0. 1. ]] SLAMing on 293.433133365 meters Centerline goodness [0,1] 0.3127440075028899 Centerline is valid? [False, False] Translation: X:3.31, Y:0.33, Z:-0.16 [[ 0.99978389 0.00366675 -0.02046295 3.30804334] [-0.00354226 0.99997502 0.00611634 0.33014354] [ 0.02048486 -0.00604254 0.9997719 -0.16004601] [ 0. 0. 0. 1. ]] SLAMing on 293.463133365 meters Centerline goodness [0,1] 0.3080206985769728 Centerline is valid? [False, False] Translation: X:3.33, Y:0.33, Z:-0.16 [[ 0.99979039 -0.00398817 -0.02008184 3.32735977] [ 0.0041402 0.99996304 0.00753487 0.33144346] [ 0.02005105 -0.00761643 0.99976995 -0.15887858] [ 0. 0. 0. 1. ]] SLAMing on 293.493133365 meters Centerline goodness [0,1] 0.3095642331635541 Centerline is valid? [False, False] Translation: X:3.31, Y:0.32, Z:-0.16 [[ 9.99856295e-01 1.73292140e-03 -1.68637738e-02 3.31158962e+00] [-1.61506811e-03 9.99974198e-01 6.99965943e-03 3.23393368e-01] [ 1.68754685e-02 -6.97141739e-03 9.99833295e-01 -1.62039646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.523133365 meters Centerline goodness [0,1] 0.31040884168717353 Centerline is valid? [False, False] Translation: X:3.31, Y:0.32, Z:-0.16 [[ 9.99862439e-01 2.03491951e-03 -1.64609280e-02 3.31026628e+00] [-1.90838819e-03 9.99968543e-01 7.69882673e-03 3.19332671e-01] [ 1.64760767e-02 -7.66635383e-03 9.99834869e-01 -1.61405719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.553133365 meters Centerline goodness [0,1] 0.3074544235635043 Centerline is valid? [False, False] Translation: X:3.31, Y:0.32, Z:-0.16 [[ 9.99862568e-01 2.11935174e-03 -1.64424103e-02 3.31000867e+00] [-1.98966932e-03 9.99966820e-01 7.89942226e-03 3.18137016e-01] [ 1.64586064e-02 -7.86562167e-03 9.99833609e-01 -1.61055798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.583133365 meters Centerline goodness [0,1] 0.3094642934103349 Centerline is valid? [False, False] Translation: X:3.31, Y:0.32, Z:-0.16 [[ 9.99861748e-01 2.25235585e-03 -1.64745812e-02 3.31002451e+00] [-2.11928059e-03 9.99965025e-01 8.09061427e-03 3.17322984e-01] [ 1.64922280e-02 -8.05458147e-03 9.99831551e-01 -1.61006427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.613133365 meters Centerline goodness [0,1] 0.3077387367967235 Centerline is valid? [False, False] Translation: X:3.31, Y:0.32, Z:-0.16 [[ 9.99858817e-01 2.39398089e-03 -1.66317444e-02 3.31051636e+00] [-2.25712648e-03 9.99963483e-01 8.24241004e-03 3.16967811e-01] [ 1.66508692e-02 -8.20370640e-03 9.99827709e-01 -1.61227876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.643133365 meters Centerline goodness [0,1] 0.307537187215404 Centerline is valid? [False, False] Translation: X:3.31, Y:0.32, Z:-0.16 [[ 9.99857865e-01 2.53717407e-03 -1.66676854e-02 3.31086048e+00] [-2.39726527e-03 9.99961773e-01 8.40863891e-03 3.16521589e-01] [ 1.66883825e-02 -8.36748689e-03 9.99825726e-01 -1.61648178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.673133365 meters Centerline goodness [0,1] 0.3081541529391365 Centerline is valid? [False, False] Translation: X:3.31, Y:0.32, Z:-0.16 [[ 9.99856682e-01 2.63048322e-03 -1.67241313e-02 3.31116471e+00] [-2.48835134e-03 9.99960661e-01 8.51374698e-03 3.16173535e-01] [ 1.67458686e-02 -8.47091129e-03 9.99823894e-01 -1.61936124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.703133365 meters Centerline goodness [0,1] 0.3094050819529963 Centerline is valid? [False, False] Translation: X:3.31, Y:0.32, Z:-0.16 [[ 9.99857424e-01 2.85193343e-03 -1.66432731e-02 3.31103608e+00] [-2.70936886e-03 9.99959502e-01 8.58216832e-03 3.16088756e-01] [ 1.66670748e-02 -8.53585194e-03 9.99824659e-01 -1.62084287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73313336499996 meters Centerline goodness [0,1] 0.30900169351687 Centerline is valid? [False, False] Translation: X:3.31, Y:0.32, Z:-0.16 [[ 9.99859469e-01 2.85146905e-03 -1.65200424e-02 3.31064430e+00] [-2.71213990e-03 9.99960618e-01 8.45021987e-03 3.16768472e-01] [ 1.65434873e-02 -8.40422768e-03 9.99827826e-01 -1.61978319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.763133365 meters Centerline goodness [0,1] 0.3059118193202919 Centerline is valid? [False, False] Translation: X:3.31, Y:0.32, Z:-0.16 [[ 9.99862125e-01 2.88151468e-03 -1.63532152e-02 3.31014741e+00] [-2.74623990e-03 9.99961879e-01 8.28849676e-03 3.17933694e-01] [ 1.63764752e-02 -8.24244413e-03 9.99831922e-01 -1.61880602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79313336499996 meters Centerline goodness [0,1] 0.30370640001712956 Centerline is valid? [False, False] Translation: X:3.31, Y:0.32, Z:-0.16 [[ 9.99863927e-01 2.90624734e-03 -1.62382549e-02 3.30972621e+00] [-2.77468846e-03 9.99963195e-01 8.11845102e-03 3.19239407e-01] [ 1.62612515e-02 -8.07229022e-03 9.99835191e-01 -1.61721418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.823133365 meters Centerline goodness [0,1] 0.30788583326103935 Centerline is valid? [False, False] Translation: X:3.26, Y:0.32, Z:-0.16 [[ 0.99982367 0.00366786 -0.01841678 3.26434859] [-0.0035044 0.99995426 0.00889981 0.31909858] [ 0.01844858 -0.0088337 0.99979079 -0.16172395] [ 0. 0. 0. 1. ]] SLAMing on 293.85313336499996 meters Centerline goodness [0,1] 0.30774767700562755 Centerline is valid? [False, False] Translation: X:3.26, Y:0.32, Z:-0.16 [[ 0.99982439 0.00359558 -0.01839195 3.26448565] [-0.00343822 0.99995728 0.00858037 0.32093178] [ 0.01842202 -0.00851562 0.99979404 -0.16213606] [ 0. 0. 0. 1. ]] SLAMing on 293.883133365 meters Centerline goodness [0,1] 0.30448960200401665 Centerline is valid? [False, False] Translation: X:3.26, Y:0.32, Z:-0.16 [[ 0.99982434 0.00354111 -0.01840513 3.26466676] [-0.00338992 0.99996031 0.0082393 0.32302991] [ 0.01843358 -0.00817546 0.99979666 -0.16244961] [ 0. 0. 0. 1. ]] SLAMing on 293.91313336499996 meters Centerline goodness [0,1] 0.30634368889854446 Centerline is valid? [False, False] Translation: X:3.26, Y:0.33, Z:-0.16 [[ 0.99982573 0.00340813 -0.01835472 3.26464105] [-0.0032662 0.99996458 0.00775681 0.32565392] [ 0.01838051 -0.0076955 0.99980145 -0.16275694] [ 0. 0. 0. 1. ]] SLAMing on 293.943133365 meters Centerline goodness [0,1] 0.30229460295634236 Centerline is valid? [False, False] Translation: X:3.27, Y:0.33, Z:-0.16 [[ 9.99823447e-01 3.27806426e-03 -1.85021144e-02 3.26501414e+00] [-3.14443738e-03 9.99968798e-01 7.24672593e-03 3.28540647e-01] [ 1.85252923e-02 -7.18726776e-03 9.99802559e-01 -1.62946932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97313336499997 meters Centerline goodness [0,1] 0.3040100413339393 Centerline is valid? [False, False] Translation: X:3.27, Y:0.33, Z:-0.16 [[ 9.99815010e-01 3.04558412e-03 -1.89912929e-02 3.26603465e+00] [-2.92695922e-03 9.99976054e-01 6.27094899e-03 3.34205106e-01] [ 1.90099368e-02 -6.21420219e-03 9.99799983e-01 -1.63112341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.003133365 meters Centerline goodness [0,1] 0.3026185237910357 Centerline is valid? [False, False] Translation: X:3.27, Y:0.34, Z:-0.16 [[ 9.99814640e-01 2.89285639e-03 -1.90346371e-02 3.26630346e+00] [-2.78465669e-03 9.99979830e-01 5.70841034e-03 3.37467131e-01] [ 1.90507668e-02 -5.65434730e-03 9.99802529e-01 -1.63491604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03313336499997 meters Centerline goodness [0,1] 0.3057352588817007 Centerline is valid? [False, False] Translation: X:3.27, Y:0.34, Z:-0.16 [[ 9.99817512e-01 2.71996537e-03 -1.89088595e-02 3.26606258e+00] [-2.62198067e-03 9.99983017e-01 5.20480831e-03 3.40216606e-01] [ 1.89226953e-02 -5.15427983e-03 9.99807664e-01 -1.63671377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.063133365 meters Centerline goodness [0,1] 0.3018436657681941 Centerline is valid? [False, False] Translation: X:3.27, Y:0.34, Z:-0.16 [[ 9.99824054e-01 2.56068632e-03 -1.85823801e-02 3.26521907e+00] [-2.47244993e-03 9.99985568e-01 4.76981143e-03 3.42596123e-01] [ 1.85943259e-02 -4.72302820e-03 9.99815955e-01 -1.63609560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09313336499997 meters Centerline goodness [0,1] 0.3046045374916193 Centerline is valid? [False, False] Translation: X:3.26, Y:0.34, Z:-0.16 [[ 9.99831482e-01 2.41455947e-03 -1.81982964e-02 3.26383898e+00] [-2.33380865e-03 9.99987343e-01 4.45720610e-03 3.44069684e-01] [ 1.82088282e-02 -4.41398364e-03 9.99824462e-01 -1.62908264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.123133365 meters Centerline goodness [0,1] 0.30511254505039165 Centerline is valid? [False, False] Translation: X:3.26, Y:0.35, Z:-0.16 [[ 9.99837040e-01 2.24551787e-03 -1.79122939e-02 3.26260050e+00] [-2.17104213e-03 9.99988923e-01 4.17616302e-03 3.45232985e-01] [ 1.79214732e-02 -4.13659413e-03 9.99830840e-01 -1.62044386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.153133365 meters Centerline goodness [0,1] 0.30454291725707416 Centerline is valid? [False, False] Translation: X:3.26, Y:0.35, Z:-0.16 [[ 9.99829513e-01 1.90990114e-03 -1.83656459e-02 3.26333178e+00] [-1.84170085e-03 9.99991349e-01 3.72966714e-03 3.46951359e-01] [ 1.83726103e-02 -3.69520725e-03 9.99824381e-01 -1.61584324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.183133365 meters Centerline goodness [0,1] 0.3080771667649822 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99770672e-01 7.03477127e-04 -2.14034796e-02 3.22098014e+00] [-6.32828364e-04 9.99994330e-01 3.30740148e-03 3.44544565e-01] [ 2.14056850e-02 -3.29309827e-03 9.99765449e-01 -1.62593789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.213133365 meters Centerline goodness [0,1] 0.3040639861651535 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99759914e-01 5.24999726e-04 -2.19052012e-02 3.22235241e+00] [-4.55993024e-04 9.99994919e-01 3.15511878e-03 3.44731554e-01] [ 2.19067463e-02 -3.14437266e-03 9.99755074e-01 -1.62894223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.243133365 meters Centerline goodness [0,1] 0.30684698068688276 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99757108e-01 4.26884476e-04 -2.20350288e-02 3.22257717e+00] [-3.57728523e-04 9.99994999e-01 3.14230165e-03 3.44288155e-01] [ 2.20362600e-02 -3.13365586e-03 9.99752261e-01 -1.62730133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.273133365 meters Centerline goodness [0,1] 0.3068016738578956 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99757235e-01 3.58898410e-04 -2.20304734e-02 3.22229108e+00] [-2.87126257e-04 9.99994642e-01 3.26093467e-03 3.43253070e-01] [ 2.20315257e-02 -3.25381750e-03 9.99751982e-01 -1.62229693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.303133365 meters Centerline goodness [0,1] 0.3066208904630495 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99762822e-01 3.19104437e-04 -2.17760958e-02 3.22135953e+00] [-2.43957057e-04 9.99994007e-01 3.45348080e-03 3.42010755e-01] [ 2.17770673e-02 -3.44734928e-03 9.99756908e-01 -1.61619422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.333133365 meters Centerline goodness [0,1] 0.30504946458078497 Centerline is valid? [False, False] Translation: X:3.24, Y:0.34, Z:-0.16 [[ 9.99774498e-01 5.07600187e-03 -2.06200708e-02 3.24204795e+00] [-5.07437443e-03 9.99987117e-01 1.31246952e-04 3.38792462e-01] [ 2.06204713e-02 -2.65833951e-05 9.99787375e-01 -1.60779747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.363133365 meters Centerline goodness [0,1] 0.3087180832458901 Centerline is valid? [False, False] Translation: X:3.20, Y:0.34, Z:-0.16 [[ 9.99719120e-01 3.56198992e-03 -2.34305936e-02 3.19894161e+00] [-3.57702395e-03 9.99993423e-01 -5.99760492e-04 3.35346128e-01] [ 2.34283032e-02 6.83403826e-04 9.99725286e-01 -1.61418270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.393133365 meters Centerline goodness [0,1] 0.30670298078377967 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99701699e-01 -4.31476166e-03 -2.40394656e-02 3.21909296e+00] [ 4.32081763e-03 9.99990645e-01 1.99980775e-04 3.39708929e-01] [ 2.40383779e-02 -3.03791268e-04 9.99710990e-01 -1.60150402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.423133365 meters Centerline goodness [0,1] 0.3042964046103561 Centerline is valid? [False, False] Translation: X:3.22, Y:0.34, Z:-0.16 [[ 9.99697409e-01 -4.32886370e-03 -2.42146905e-02 3.21966327e+00] [ 4.33481051e-03 9.99990586e-01 1.93101485e-04 3.39672787e-01] [ 2.42136266e-02 -2.98009149e-04 9.99706763e-01 -1.60380942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.453133365 meters Centerline goodness [0,1] 0.3081215941172608 Centerline is valid? [False, False] Translation: X:3.17, Y:0.34, Z:-0.16 [[ 9.99643838e-01 -4.14884000e-03 -2.63625679e-02 3.17440379e+00] [ 4.17120772e-03 9.99990986e-01 7.93530205e-04 3.37297592e-01] [ 2.63590380e-02 -9.03211327e-04 9.99652132e-01 -1.60516022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48313336499996 meters Centerline goodness [0,1] 0.305545354388542 Centerline is valid? [False, False] Translation: X:3.19, Y:0.34, Z:-0.16 [[ 9.99689279e-01 4.35863963e-03 -2.45427905e-02 3.19430056e+00] [-4.36642461e-03 9.99990432e-01 -2.63618510e-04 3.38329172e-01] [ 2.45414067e-02 3.70700842e-04 9.99698746e-01 -1.59379546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.513133365 meters Centerline goodness [0,1] 0.305545354388542 Centerline is valid? [False, False] Translation: X:3.19, Y:0.34, Z:-0.16 [[ 9.99689279e-01 4.35863963e-03 -2.45427905e-02 3.19430056e+00] [-4.36642461e-03 9.99990432e-01 -2.63618510e-04 3.38329172e-01] [ 2.45414067e-02 3.70700842e-04 9.99698746e-01 -1.59379546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54313336499996 meters Centerline goodness [0,1] 0.3088334310723051 Centerline is valid? [False, False] Translation: X:3.19, Y:0.34, Z:-0.16 [[ 9.99693750e-01 4.22396554e-03 -2.43836789e-02 3.19370678e+00] [-4.23947721e-03 9.99990843e-01 -5.84489537e-04 3.39678924e-01] [ 2.43809868e-02 6.87684588e-04 9.99702503e-01 -1.59082638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.573133365 meters Centerline goodness [0,1] 0.3067485994701872 Centerline is valid? [False, False] Translation: X:3.19, Y:0.34, Z:-0.16 [[ 9.99695214e-01 4.12363937e-03 -2.43408147e-02 3.19339371e+00] [-4.14614068e-03 9.99991023e-01 -8.74031508e-04 3.41106800e-01] [ 2.43369920e-02 9.74685558e-04 9.99703336e-01 -1.58810596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60313336499996 meters Centerline goodness [0,1] 0.3064767850175576 Centerline is valid? [False, False] Translation: X:3.19, Y:0.34, Z:-0.16 [[ 9.99694344e-01 4.06005232e-03 -2.43871665e-02 3.19352265e+00] [-4.08845288e-03 9.99991021e-01 -1.11482223e-03 3.42470662e-01] [ 2.43824213e-02 1.21418726e-03 9.99701967e-01 -1.58889108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.633133365 meters Centerline goodness [0,1] 0.3090821699329269 Centerline is valid? [False, False] Translation: X:3.19, Y:0.34, Z:-0.16 [[ 9.99696137e-01 4.00660267e-03 -2.43224138e-02 3.19335304e+00] [-4.04069348e-03 9.99990922e-01 -1.35263590e-03 3.43888622e-01] [ 2.43167735e-02 1.45050430e-03 9.99703251e-01 -1.58934043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66313336499996 meters Centerline goodness [0,1] 0.3055651200826375 Centerline is valid? [False, False] Translation: X:3.21, Y:0.35, Z:-0.16 [[ 9.99714778e-01 -3.33683271e-03 -2.36479898e-02 3.21145556e+00] [ 3.33291686e-03 9.99994425e-01 -2.05001218e-04 3.50439499e-01] [ 2.36485421e-02 1.26125963e-04 9.99720326e-01 -1.57478790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.693133365 meters Centerline goodness [0,1] 0.30560010402670024 Centerline is valid? [False, False] Translation: X:3.21, Y:0.35, Z:-0.16 [[ 9.99728982e-01 -3.38096178e-03 -2.30332927e-02 3.20946715e+00] [ 3.37393235e-03 9.99994249e-01 -3.44040563e-04 3.51201510e-01] [ 2.30343234e-02 2.66234551e-04 9.99734639e-01 -1.56677128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72313336499997 meters Centerline goodness [0,1] 0.30806077551639677 Centerline is valid? [False, False] Translation: X:3.21, Y:0.35, Z:-0.16 [[ 9.99732507e-01 -3.31491078e-03 -2.28894182e-02 3.20876968e+00] [ 3.31145998e-03 9.99994499e-01 -1.88661700e-04 3.50660151e-01] [ 2.28899177e-02 1.12813842e-04 9.99737985e-01 -1.56130091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.753133365 meters Centerline goodness [0,1] 0.31031537450722735 Centerline is valid? [False, False] Translation: X:3.19, Y:0.34, Z:-0.16 [[ 9.99794102e-01 2.41861849e-03 -2.01470520e-02 3.19345268e+00] [-2.43707393e-03 9.99996633e-01 -8.91534987e-04 3.43972007e-01] [ 2.01448278e-02 9.40451277e-04 9.99796630e-01 -1.59021322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78313336499997 meters Centerline goodness [0,1] 0.3077422988605346 Centerline is valid? [False, False] Translation: X:3.21, Y:0.35, Z:-0.16 [[ 9.99790941e-01 -5.54422141e-03 -1.96808263e-02 3.21322402e+00] [ 5.54957074e-03 9.99984577e-01 2.17198572e-04 3.46921270e-01] [ 1.96793186e-02 -3.26373303e-04 9.99806290e-01 -1.57791219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.813133365 meters Centerline goodness [0,1] 0.3042515690826241 Centerline is valid? [False, False] Translation: X:3.23, Y:0.34, Z:-0.16 [[ 9.99793916e-01 1.70919322e-03 -2.02288162e-02 3.23190932e+00] [-1.73213873e-03 9.99997876e-01 -1.11683111e-03 3.40978760e-01] [ 2.02268643e-02 1.15164007e-03 9.99794753e-01 -1.55519052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84313336499997 meters Centerline goodness [0,1] 0.30840533148091864 Centerline is valid? [False, False] Translation: X:3.23, Y:0.34, Z:-0.16 [[ 9.99789958e-01 1.74224258e-03 -2.04206661e-02 3.23236805e+00] [-1.75767677e-03 9.99998183e-01 -7.37888438e-04 3.38373258e-01] [ 2.04193434e-02 7.73626381e-04 9.99791204e-01 -1.55475816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.873133365 meters Centerline goodness [0,1] 0.3068013906996958 Centerline is valid? [False, False] Translation: X:3.23, Y:0.33, Z:-0.16 [[ 9.99781145e-01 1.99565841e-03 -2.08249825e-02 3.23331592e+00] [-1.99327310e-03 9.99998004e-01 1.35297419e-04 3.33553460e-01] [ 2.08252110e-02 -9.37579305e-05 9.99783127e-01 -1.55424951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.903133365 meters Centerline goodness [0,1] 0.3092244790869537 Centerline is valid? [False, False] Translation: X:3.23, Y:0.33, Z:-0.16 [[ 9.99777468e-01 2.18276807e-03 -2.09821141e-02 3.23375170e+00] [-2.17122858e-03 9.99997479e-01 5.72733095e-04 3.31560900e-01] [ 2.09833113e-02 -5.27048678e-04 9.99779687e-01 -1.55529643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.933133365 meters Centerline goodness [0,1] 0.3055476962587329 Centerline is valid? [False, False] Translation: X:3.23, Y:0.33, Z:-0.16 [[ 9.99771478e-01 2.28183221e-03 -2.12552338e-02 3.23462923e+00] [-2.26329532e-03 9.99997037e-01 8.96124466e-04 3.29811380e-01] [ 2.12572157e-02 -8.47812811e-04 9.99773680e-01 -1.55894929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.963133365 meters Centerline goodness [0,1] 0.30747519485876806 Centerline is valid? [False, False] Translation: X:3.24, Y:0.33, Z:-0.16 [[ 9.99766143e-01 2.37200299e-03 -2.14949591e-02 3.23546725e+00] [-2.34733823e-03 9.99996557e-01 1.17262532e-03 3.28188063e-01] [ 2.14976666e-02 -1.12189515e-03 9.99768269e-01 -1.56301256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.993133365 meters Centerline goodness [0,1] 0.3053587293332467 Centerline is valid? [False, False] Translation: X:3.24, Y:0.33, Z:-0.16 [[ 9.99762722e-01 2.46581517e-03 -2.16430166e-02 3.23597134e+00] [-2.43511341e-03 9.99995991e-01 1.44479261e-03 3.26623754e-01] [ 2.16464924e-02 -1.39174659e-03 9.99764719e-01 -1.56532157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.023133365 meters Centerline goodness [0,1] 0.30681744046971837 Centerline is valid? [False, False] Translation: X:3.24, Y:0.32, Z:-0.16 [[ 9.99761850e-01 2.66253616e-03 -2.16599651e-02 3.23589582e+00] [-2.61905957e-03 9.99994499e-01 2.03535287e-03 3.23175176e-01] [ 2.16652652e-02 -1.97813941e-03 9.99763324e-01 -1.56351506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.053133365 meters Centerline goodness [0,1] 0.3068770402611535 Centerline is valid? [False, False] Translation: X:3.24, Y:0.32, Z:-0.16 [[ 9.99761979e-01 2.78022171e-03 -2.16392279e-02 3.23567618e+00] [-2.72808149e-03 9.99993305e-01 2.43867066e-03 3.20822890e-01] [ 2.16458631e-02 -2.37905663e-03 9.99762870e-01 -1.56014226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.083133365 meters Centerline goodness [0,1] 0.30561550414364635 Centerline is valid? [False, False] Translation: X:3.24, Y:0.32, Z:-0.16 [[ 9.99762425e-01 2.87034507e-03 -2.16068142e-02 3.23556041e+00] [-2.80991568e-03 9.99992057e-01 2.82661589e-03 3.18348692e-01] [ 2.16147560e-02 -2.76523103e-03 9.99762550e-01 -1.55946012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.113133365 meters Centerline goodness [0,1] 0.3052466650708332 Centerline is valid? [False, False] Translation: X:3.24, Y:0.32, Z:-0.16 [[ 9.99761141e-01 3.03237417e-03 -2.16440513e-02 3.23564080e+00] [-2.96182937e-03 9.99990200e-01 3.29062870e-03 3.15810315e-01] [ 2.16538176e-02 -3.22573671e-03 9.99760325e-01 -1.55910328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.143133365 meters Centerline goodness [0,1] 0.3054228898923237 Centerline is valid? [False, False] Translation: X:3.24, Y:0.31, Z:-0.16 [[ 0.99975819 0.00337804 -0.0217292 3.23608257] [-0.00328708 0.99998569 0.00422025 0.31075769] [ 0.02174315 -0.0041478 0.99975499 -0.15615073] [ 0. 0. 0. 1. ]] SLAMing on 295.173133365 meters Centerline goodness [0,1] 0.30536627843692177 Centerline is valid? [False, False] Translation: X:3.24, Y:0.31, Z:-0.16 [[ 0.99975862 0.00350705 -0.02168873 3.23606812] [-0.00340878 0.99998377 0.00456616 0.30887767] [ 0.02170439 -0.00449113 0.99975434 -0.15626749] [ 0. 0. 0. 1. ]] SLAMing on 295.203133365 meters Centerline goodness [0,1] 0.3063471643808735 Centerline is valid? [False, False] Translation: X:3.24, Y:0.31, Z:-0.16 [[ 0.99975902 0.00359289 -0.02165603 3.2359977 ] [-0.00348914 0.99998226 0.00482673 0.30732766] [ 0.02167299 -0.00475001 0.99975383 -0.15625243] [ 0. 0. 0. 1. ]] SLAMing on 295.23313336499996 meters Centerline goodness [0,1] 0.30540000868168593 Centerline is valid? [False, False] Translation: X:3.24, Y:0.31, Z:-0.16 [[ 0.99975954 0.00366618 -0.02161981 3.2358828 ] [-0.00355811 0.99998099 0.00503505 0.30608499] [ 0.02163786 -0.00495691 0.99975359 -0.1562064 ] [ 0. 0. 0. 1. ]] SLAMing on 295.263133365 meters Centerline goodness [0,1] 0.3065060660843807 Centerline is valid? [False, False] Translation: X:3.24, Y:0.30, Z:-0.16 [[ 0.99976044 0.00375793 -0.02156264 3.23580418] [-0.00364497 0.99997944 0.00527586 0.30484431] [ 0.02158202 -0.00519601 0.99975358 -0.15628034] [ 0. 0. 0. 1. ]] SLAMing on 295.29313336499996 meters Centerline goodness [0,1] 0.30703878248086813 Centerline is valid? [False, False] Translation: X:3.24, Y:0.30, Z:-0.16 [[ 0.99976016 0.00387349 -0.02155502 3.23582737] [-0.00375465 0.99997754 0.00555116 0.30353242] [ 0.02157604 -0.0054689 0.99975225 -0.15631509] [ 0. 0. 0. 1. ]] SLAMing on 295.323133365 meters Centerline goodness [0,1] 0.3048481827441971 Centerline is valid? [False, False] Translation: X:3.24, Y:0.30, Z:-0.16 [[ 0.99975819 0.00407861 -0.02160867 3.23577906] [-0.00394741 0.99997354 0.00611107 0.3007673 ] [ 0.02163302 -0.00602429 0.99974783 -0.15601062] [ 0. 0. 0. 1. ]] SLAMing on 295.35313336499996 meters Centerline goodness [0,1] 0.30732133115111837 Centerline is valid? [False, False] Translation: X:3.24, Y:0.30, Z:-0.16 [[ 0.99975773 0.00413862 -0.02161822 3.23574971] [-0.0040017 0.99997169 0.00637299 0.2992819 ] [ 0.02164398 -0.00628494 0.99974599 -0.15591608] [ 0. 0. 0. 1. ]] SLAMing on 295.383133365 meters Centerline goodness [0,1] 0.304473678525911 Centerline is valid? [False, False] Translation: X:3.26, Y:0.30, Z:-0.15 [[ 0.99976228 -0.00376046 -0.02147656 3.25506524] [ 0.00391916 0.99996529 0.00735228 0.30226041] [ 0.02144817 -0.0074347 0.99974232 -0.15437294] [ 0. 0. 0. 1. ]] SLAMing on 295.41313336499996 meters Centerline goodness [0,1] 0.30712552011095695 Centerline is valid? [False, False] Translation: X:3.25, Y:0.30, Z:-0.15 [[ 0.99976745 -0.00370186 -0.02124463 3.25444038] [ 0.00386576 0.99996304 0.00767914 0.30036694] [ 0.02121541 -0.00775949 0.99974482 -0.1541716 ] [ 0. 0. 0. 1. ]] SLAMing on 295.443133365 meters Centerline goodness [0,1] 0.3059917041283906 Centerline is valid? [False, False] Translation: X:3.25, Y:0.30, Z:-0.15 [[ 0.9997709 -0.00365095 -0.02109053 3.25394907] [ 0.00381973 0.99996096 0.00796779 0.29864638] [ 0.02106062 -0.00804653 0.99974582 -0.15386207] [ 0. 0. 0. 1. ]] SLAMing on 295.47313336499997 meters Centerline goodness [0,1] 0.30611045828437133 Centerline is valid? [False, False] Translation: X:3.25, Y:0.30, Z:-0.15 [[ 0.99976925 -0.00362559 -0.0211733 3.25398926] [ 0.00380067 0.99995887 0.00823486 0.29696619] [ 0.02114258 -0.00831344 0.99974191 -0.15361146] [ 0. 0. 0. 1. ]] SLAMing on 295.503133365 meters Centerline goodness [0,1] 0.3051231187200828 Centerline is valid? [False, False] Translation: X:3.28, Y:0.29, Z:-0.15 [[ 9.99700483e-01 1.94947785e-03 -2.43955609e-02 3.27758959e+00] [-1.79932021e-03 9.99979312e-01 6.17555921e-03 2.91312650e-01] [ 2.44070953e-02 -6.12981410e-03 9.99683309e-01 -1.52565226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53313336499997 meters Centerline goodness [0,1] 0.30627169333537074 Centerline is valid? [False, False] Translation: X:3.28, Y:0.29, Z:-0.15 [[ 9.99692224e-01 2.03569839e-03 -2.47247467e-02 3.27858174e+00] [-1.87639343e-03 9.99977344e-01 6.46463058e-03 2.89664719e-01] [ 2.47373466e-02 -6.41624757e-03 9.99673394e-01 -1.52900954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.563133365 meters Centerline goodness [0,1] 0.3063117870722434 Centerline is valid? [False, False] Translation: X:3.28, Y:0.29, Z:-0.15 [[ 9.99689099e-01 2.10556981e-03 -2.48449692e-02 3.27892327e+00] [-1.93870217e-03 9.99975417e-01 6.73853221e-03 2.88034745e-01] [ 2.48585468e-02 -6.68827019e-03 9.99668605e-01 -1.52964586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59313336499997 meters Centerline goodness [0,1] 0.30368946299736466 Centerline is valid? [False, False] Translation: X:3.28, Y:0.29, Z:-0.15 [[ 9.99693046e-01 2.14491612e-03 -2.46822395e-02 3.27841106e+00] [-1.97302201e-03 9.99973647e-01 6.98653053e-03 2.86367210e-01] [ 2.46965746e-02 -6.93568739e-03 9.99670934e-01 -1.52719983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.623133365 meters Centerline goodness [0,1] 0.3037413355147027 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.15 [[ 9.99699072e-01 2.22482183e-03 -2.44298211e-02 3.27750694e+00] [-2.04737550e-03 9.99971360e-01 7.28612483e-03 2.84605110e-01] [ 2.44453317e-02 -7.23391521e-03 9.99674995e-01 -1.52214342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.653133365 meters Centerline goodness [0,1] 0.3017713365539453 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.15 [[ 9.99703936e-01 2.33377017e-03 -2.42197186e-02 3.27673022e+00] [-2.15089629e-03 9.99969004e-01 7.57392578e-03 2.83146426e-01] [ 2.42366437e-02 -7.51958930e-03 9.99677969e-01 -1.51747901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.683133365 meters Centerline goodness [0,1] 0.3056991456688656 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.15 [[ 9.99708724e-01 2.53408179e-03 -2.40009611e-02 3.27593267e+00] [-2.34167710e-03 9.99964927e-01 8.04125674e-03 2.80944041e-01] [ 2.40204965e-02 -7.98271201e-03 9.99679595e-01 -1.51250285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.713133365 meters Centerline goodness [0,1] 0.30785331182139275 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.15 [[ 9.99709512e-01 2.55821254e-03 -2.39655238e-02 3.27583695e+00] [-2.36332048e-03 9.99963939e-01 8.15698093e-03 2.80106578e-01] [ 2.39855268e-02 -8.09797321e-03 9.99679507e-01 -1.51205550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.743133365 meters Centerline goodness [0,1] 0.3082303719683598 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.15 [[ 9.99710779e-01 2.56881753e-03 -2.39114902e-02 3.27571205e+00] [-2.37278823e-03 9.99963376e-01 8.22288682e-03 2.79576958e-01] [ 2.39317376e-02 -8.16377169e-03 9.99680261e-01 -1.51197793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.773133365 meters Centerline goodness [0,1] 0.304966390393526 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.15 [[ 9.99713059e-01 2.69281491e-03 -2.38022626e-02 3.27572421e+00] [-2.49605921e-03 9.99962505e-01 8.29210906e-03 2.79650766e-01] [ 2.38236992e-02 -8.23031786e-03 9.99682296e-01 -1.51631269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.803133365 meters Centerline goodness [0,1] 0.30533755365737325 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.15 [[ 9.99711909e-01 2.74941126e-03 -2.38440558e-02 3.27602083e+00] [-2.55102117e-03 9.99961911e-01 8.34674684e-03 2.79614040e-01] [ 2.38660963e-02 -8.28351553e-03 9.99680845e-01 -1.51938152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.833133365 meters Centerline goodness [0,1] 0.3052693233833005 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.15 [[ 9.99711165e-01 2.76647642e-03 -2.38732610e-02 3.27632528e+00] [-2.56759961e-03 9.99961782e-01 8.35716098e-03 2.79549564e-01] [ 2.38954685e-02 -8.29345017e-03 9.99680061e-01 -1.52346717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.863133365 meters Centerline goodness [0,1] 0.3033555018137848 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.15 [[ 9.99707078e-01 2.77763295e-03 -2.40425049e-02 3.27701199e+00] [-2.57585101e-03 9.99961237e-01 8.41962160e-03 2.79065029e-01] [ 2.40649596e-02 -8.35522540e-03 9.99675481e-01 -1.52795166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.893133365 meters Centerline goodness [0,1] 0.30292498650836486 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.15 [[ 9.99705063e-01 2.82655310e-03 -2.41204850e-02 3.27740653e+00] [-2.62059518e-03 9.99959877e-01 8.56605557e-03 2.78177658e-01] [ 2.41437297e-02 -8.50031910e-03 9.99672359e-01 -1.53127407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.923133365 meters Centerline goodness [0,1] 0.3015424441807788 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.15 [[ 9.99702684e-01 2.86788992e-03 -2.42140180e-02 3.27774780e+00] [-2.65744378e-03 9.99958459e-01 8.71879712e-03 2.77284123e-01] [ 2.42380167e-02 -8.65185749e-03 9.99668777e-01 -1.53271664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.953133365 meters Centerline goodness [0,1] 0.30198456212776026 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.15 [[ 9.99701024e-01 2.85275948e-03 -2.42842571e-02 3.27774988e+00] [-2.64030587e-03 9.99958003e-01 8.77618731e-03 2.76444484e-01] [ 2.43082736e-02 -8.70944557e-03 9.99666571e-01 -1.53044450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98313336499996 meters Centerline goodness [0,1] 0.3053506538720978 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.15 [[ 9.99699816e-01 2.85248586e-03 -2.43339626e-02 3.27784960e+00] [-2.63992114e-03 9.99958120e-01 8.76296762e-03 2.76396276e-01] [ 2.43579397e-02 -8.69609737e-03 9.99665478e-01 -1.53042420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.013133365 meters Centerline goodness [0,1] 0.3048812263864159 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.15 [[ 9.99699981e-01 2.88672407e-03 -2.43231282e-02 3.27809424e+00] [-2.67471378e-03 9.99958189e-01 8.74443682e-03 2.76734321e-01] [ 2.43473540e-02 -8.67675592e-03 9.99665904e-01 -1.53444672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04313336499996 meters Centerline goodness [0,1] 0.30494851631402875 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.15 [[ 9.99700437e-01 2.97520185e-03 -2.42936989e-02 3.27829962e+00] [-2.76350912e-03 9.99957962e-01 8.74282298e-03 2.77335032e-01] [ 2.43186893e-02 -8.67306810e-03 9.99666634e-01 -1.53912413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.073133365 meters Centerline goodness [0,1] 0.3033513938652451 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.15 [[ 9.99703314e-01 3.00119129e-03 -2.41718162e-02 3.27828953e+00] [-2.79313055e-03 9.99958802e-01 8.63674338e-03 2.78283581e-01] [ 2.41967409e-02 -8.56666594e-03 9.99670511e-01 -1.54407275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10313336499996 meters Centerline goodness [0,1] 0.3013406328131736 Centerline is valid? [False, False] Translation: X:3.30, Y:0.28, Z:-0.15 [[ 0.9996604 0.01141277 -0.02342739 3.29833497] [-0.01124299 0.99990966 0.00736606 0.2770433 ] [ 0.02350934 -0.00710017 0.9996984 -0.15336286] [ 0. 0. 0. 1. ]] SLAMing on 296.133133365 meters Centerline goodness [0,1] 0.3015251487290427 Centerline is valid? [False, False] Translation: X:3.30, Y:0.28, Z:-0.15 [[ 0.99965838 0.01125806 -0.02358777 3.29874637] [-0.01109552 0.99991387 0.00701074 0.27839891] [ 0.02366467 -0.00674662 0.99969719 -0.1534938 ] [ 0. 0. 0. 1. ]] SLAMing on 296.16313336499996 meters Centerline goodness [0,1] 0.30195900363258954 Centerline is valid? [False, False] Translation: X:3.30, Y:0.28, Z:-0.15 [[ 0.99966059 0.01120676 -0.02351853 3.29862079] [-0.01104798 0.99991537 0.00687013 0.27911966] [ 0.02359353 -0.00660797 0.9996998 -0.15358366] [ 0. 0. 0. 1. ]] SLAMing on 296.193133365 meters Centerline goodness [0,1] 0.30358151866823135 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.16 [[ 9.99738370e-01 3.03360304e-03 -2.26713077e-02 3.27894102e+00] [-2.85081860e-03 9.99963209e-01 8.09034477e-03 2.83584046e-01] [ 2.26950165e-02 -8.02359631e-03 9.99710237e-01 -1.55719529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22313336499997 meters Centerline goodness [0,1] 0.29965683206354 Centerline is valid? [False, False] Translation: X:3.28, Y:0.28, Z:-0.16 [[ 9.99743615e-01 3.00267922e-03 -2.24429921e-02 3.27832072e+00] [-2.82460996e-03 9.99964315e-01 7.96178574e-03 2.84532374e-01] [ 2.24660979e-02 -7.89635176e-03 9.99716421e-01 -1.55602799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.253133365 meters Centerline goodness [0,1] 0.30411018801923917 Centerline is valid? [False, False] Translation: X:3.26, Y:0.29, Z:-0.16 [[ 0.99975323 -0.00471504 -0.02170817 3.25764419] [ 0.00491772 0.99994473 0.00929257 0.29157077] [ 0.02166316 -0.00939703 0.99972116 -0.15788594] [ 0. 0. 0. 1. ]] SLAMing on 296.28313336499997 meters Centerline goodness [0,1] 0.30295652173913046 Centerline is valid? [False, False] Translation: X:3.28, Y:0.29, Z:-0.16 [[ 0.99976658 0.00377207 -0.02127316 3.27740087] [-0.00360635 0.9999629 0.00782318 0.29268231] [ 0.02130188 -0.00774464 0.99974309 -0.15642523] [ 0. 0. 0. 1. ]] SLAMing on 296.313133365 meters Centerline goodness [0,1] 0.30157425828215556 Centerline is valid? [False, False] Translation: X:3.28, Y:0.30, Z:-0.16 [[ 0.99976816 0.0036525 -0.02121999 3.27723859] [-0.00349755 0.99996698 0.0073346 0.29548415] [ 0.02124608 -0.00725869 0.99974793 -0.15648144] [ 0. 0. 0. 1. ]] SLAMing on 296.34313336499997 meters Centerline goodness [0,1] 0.300413828778343 Centerline is valid? [False, False] Translation: X:3.28, Y:0.30, Z:-0.16 [[ 0.9997714 0.0034884 -0.02109429 3.27680477] [-0.00334645 0.99997155 0.00676079 0.29861943] [ 0.02111727 -0.00668865 0.99975463 -0.15638924] [ 0. 0. 0. 1. ]] SLAMing on 296.373133365 meters Centerline goodness [0,1] 0.3028379469057435 Centerline is valid? [False, False] Translation: X:3.26, Y:0.31, Z:-0.16 [[ 9.99836051e-01 -2.82736953e-03 -1.78851313e-02 3.25981807e+00] [ 2.95873944e-03 9.99968809e-01 7.32301105e-03 3.06789432e-01] [ 1.78638686e-02 -7.37472789e-03 9.99813230e-01 -1.59561106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.403133365 meters Centerline goodness [0,1] 0.3028379469057435 Centerline is valid? [False, False] Translation: X:3.26, Y:0.31, Z:-0.16 [[ 9.99836051e-01 -2.82736953e-03 -1.78851313e-02 3.25981807e+00] [ 2.95873944e-03 9.99968809e-01 7.32301105e-03 3.06789432e-01] [ 1.78638686e-02 -7.37472789e-03 9.99813230e-01 -1.59561106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.433133365 meters Centerline goodness [0,1] 0.3005301309098778 Centerline is valid? [False, False] Translation: X:3.28, Y:0.31, Z:-0.16 [[ 0.99983221 0.00632346 -0.01719188 3.28159049] [-0.00622013 0.99996231 0.00605752 0.31294259] [ 0.01722954 -0.00594957 0.99983386 -0.15945425] [ 0. 0. 0. 1. ]] SLAMing on 296.463133365 meters Centerline goodness [0,1] 0.3017175697150445 Centerline is valid? [False, False] Translation: X:3.28, Y:0.32, Z:-0.16 [[ 0.99983444 0.00613292 -0.0171315 3.28155796] [-0.0060405 0.99996695 0.00544159 0.31622717] [ 0.0171643 -0.00533721 0.99983844 -0.15974453] [ 0. 0. 0. 1. ]] SLAMing on 296.493133365 meters Centerline goodness [0,1] 0.3015890291684806 Centerline is valid? [False, False] Translation: X:3.28, Y:0.32, Z:-0.16 [[ 0.99983692 0.00594505 -0.01705245 3.28134521] [-0.00586314 0.99997105 0.00484954 0.31951749] [ 0.01708079 -0.00474877 0.99984284 -0.15983863] [ 0. 0. 0. 1. ]] SLAMing on 296.523133365 meters Centerline goodness [0,1] 0.30056927639126385 Centerline is valid? [False, False] Translation: X:3.28, Y:0.32, Z:-0.16 [[ 0.99983772 0.00580636 -0.01705373 3.2811937 ] [-0.00573315 0.99997415 0.00433895 0.32253902] [ 0.01707848 -0.00424048 0.99984516 -0.15969635] [ 0. 0. 0. 1. ]] SLAMing on 296.553133365 meters Centerline goodness [0,1] 0.3041084562823694 Centerline is valid? [False, False] Translation: X:3.28, Y:0.33, Z:-0.16 [[ 0.99984009 0.00559352 -0.01698555 3.2809425 ] [-0.00553031 0.99997761 0.00376656 0.32548937] [ 0.01700624 -0.00367202 0.99984864 -0.15963884] [ 0. 0. 0. 1. ]] SLAMing on 296.583133365 meters Centerline goodness [0,1] 0.2998941067144988 Centerline is valid? [False, False] Translation: X:3.28, Y:0.33, Z:-0.16 [[ 9.99842895e-01 5.35319603e-03 -1.68976106e-02 3.28067069e+00] [-5.30022026e-03 9.99980903e-01 3.17833283e-03 3.28302342e-01] [ 1.69143022e-02 -3.08827244e-03 9.99852174e-01 -1.59637486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.613133365 meters Centerline goodness [0,1] 0.30056592362191115 Centerline is valid? [False, False] Translation: X:3.28, Y:0.33, Z:-0.16 [[ 9.99848280e-01 4.90006757e-03 -1.67154490e-02 3.27987089e+00] [-4.86593827e-03 9.99985994e-01 2.08184247e-03 3.34040920e-01] [ 1.67254160e-02 -2.00019027e-03 9.99858120e-01 -1.59260751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.643133365 meters Centerline goodness [0,1] 0.3012069040100359 Centerline is valid? [False, False] Translation: X:3.28, Y:0.34, Z:-0.16 [[ 9.99849411e-01 4.72621712e-03 -1.66978328e-02 3.27968023e+00] [-4.70035232e-03 9.99987693e-01 1.58789731e-03 3.36767347e-01] [ 1.67051320e-02 -1.50917250e-03 9.99859321e-01 -1.59124870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.673133365 meters Centerline goodness [0,1] 0.2987526032161797 Centerline is valid? [False, False] Translation: X:3.28, Y:0.34, Z:-0.16 [[ 9.99851806e-01 4.57141957e-03 -1.65972256e-02 3.27936002e+00] [-4.55364602e-03 9.99989018e-01 1.10850852e-03 3.39603141e-01] [ 1.66021108e-02 -1.03276635e-03 9.99861642e-01 -1.59090237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.703133365 meters Centerline goodness [0,1] 0.30413974635080165 Centerline is valid? [False, False] Translation: X:3.26, Y:0.35, Z:-0.16 [[ 9.99889617e-01 -3.87587628e-03 -1.43433316e-02 3.25709251e+00] [ 3.88923847e-03 9.99992028e-01 9.03819950e-04 3.48134106e-01] [ 1.43397142e-02 -9.59504821e-04 9.99896721e-01 -1.60395567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73313336499996 meters Centerline goodness [0,1] 0.30437720713258054 Centerline is valid? [False, False] Translation: X:3.26, Y:0.35, Z:-0.16 [[ 9.99888984e-01 -4.01303016e-03 -1.43497147e-02 3.25693615e+00] [ 4.02299247e-03 9.99991686e-01 6.65453031e-04 3.49158421e-01] [ 1.43469250e-02 -7.23107949e-04 9.99896816e-01 -1.60182527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.763133365 meters Centerline goodness [0,1] 0.3044686672167456 Centerline is valid? [False, False] Translation: X:3.26, Y:0.35, Z:-0.16 [[ 9.99886271e-01 -4.03595539e-03 -1.45312132e-02 3.25733833e+00] [ 4.04635585e-03 9.99991578e-01 6.86402328e-04 3.49248475e-01] [ 1.45283205e-02 -7.45122724e-04 9.99894181e-01 -1.60177900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79313336499996 meters Centerline goodness [0,1] 0.30470986777401377 Centerline is valid? [False, False] Translation: X:3.26, Y:0.35, Z:-0.16 [[ 9.99882734e-01 -4.04936434e-03 -1.47689232e-02 3.25803021e+00] [ 4.06188819e-03 9.99991416e-01 8.18088786e-04 3.48597087e-01] [ 1.47654837e-02 -8.77982567e-04 9.99890599e-01 -1.60387614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.823133365 meters Centerline goodness [0,1] 0.3010008196367715 Centerline is valid? [False, False] Translation: X:3.28, Y:0.35, Z:-0.16 [[ 9.99894053e-01 1.61076006e-03 -1.44667810e-02 3.28041697e+00] [-1.63917793e-03 9.99996750e-01 -1.95271058e-03 3.47490810e-01] [ 1.44635886e-02 1.97621732e-03 9.99893444e-01 -1.60716902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85313336499996 meters Centerline goodness [0,1] 0.3030717761557178 Centerline is valid? [False, False] Translation: X:3.28, Y:0.35, Z:-0.16 [[ 9.99892714e-01 1.37264226e-03 -1.45834122e-02 3.28081893e+00] [-1.39981208e-03 9.99997303e-01 -1.85301928e-03 3.45777098e-01] [ 1.45808293e-02 1.87323452e-03 9.99891939e-01 -1.60805728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.883133365 meters Centerline goodness [0,1] 0.3036130917337171 Centerline is valid? [False, False] Translation: X:3.28, Y:0.34, Z:-0.16 [[ 9.99891618e-01 1.16187577e-03 -1.46765654e-02 3.28115886e+00] [-1.18637216e-03 9.99997918e-01 -1.66048637e-03 3.43536101e-01] [ 1.46746056e-02 1.67771827e-03 9.99890915e-01 -1.60891021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91313336499996 meters Centerline goodness [0,1] 0.3040212393964903 Centerline is valid? [False, False] Translation: X:3.30, Y:0.34, Z:-0.16 [[ 9.99881008e-01 -7.94228032e-03 -1.32246251e-02 3.30079564e+00] [ 7.93028398e-03 9.99968095e-01 -9.59315087e-04 3.42190237e-01] [ 1.32318224e-02 8.54325903e-04 9.99912091e-01 -1.60092016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.943133365 meters Centerline goodness [0,1] 0.30424891123003917 Centerline is valid? [False, False] Translation: X:3.30, Y:0.34, Z:-0.16 [[ 9.99884511e-01 -7.75910663e-03 -1.30675813e-02 3.30047610e+00] [ 7.75417106e-03 9.99969844e-01 -4.28320371e-04 3.39742554e-01] [ 1.30705107e-02 3.26942644e-04 9.99914524e-01 -1.60074213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97313336499997 meters Centerline goodness [0,1] 0.30332778342378963 Centerline is valid? [False, False] Translation: X:3.30, Y:0.34, Z:-0.16 [[ 9.99885509e-01 -7.63963952e-03 -1.30615650e-02 3.30059989e+00] [ 7.63963019e-03 9.99970816e-01 -5.06094383e-05 3.37816662e-01] [ 1.30615705e-02 -4.91818826e-05 9.99914693e-01 -1.60207412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.003133365 meters Centerline goodness [0,1] 0.3042445117830438 Centerline is valid? [False, False] Translation: X:3.28, Y:0.33, Z:-0.16 [[ 9.99916388e-01 -1.92878618e-04 -1.29298269e-02 3.28273345e+00] [ 1.76330518e-04 9.99999164e-01 -1.28096698e-03 3.30663231e-01] [ 1.29300632e-02 1.27857995e-03 9.99915586e-01 -1.62742719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03313336499997 meters Centerline goodness [0,1] 0.30167066502409823 Centerline is valid? [False, False] Translation: X:3.28, Y:0.33, Z:-0.16 [[ 9.99912608e-01 -1.80901758e-04 -1.32190388e-02 3.28377798e+00] [ 1.65193313e-04 9.99999279e-01 -1.18940199e-03 3.29786413e-01] [ 1.32192445e-02 1.18711435e-03 9.99911917e-01 -1.63333315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.063133365 meters Centerline goodness [0,1] 0.3005214842908245 Centerline is valid? [False, False] Translation: X:3.29, Y:0.33, Z:-0.16 [[ 9.99902291e-01 9.21003219e-05 -1.39785486e-02 3.28624176e+00] [-1.04136173e-04 9.99999625e-01 -8.60297536e-04 3.28578850e-01] [ 1.39784641e-02 8.61669150e-04 9.99901925e-01 -1.64473281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09313336499997 meters Centerline goodness [0,1] 0.30223316487408747 Centerline is valid? [False, False] Translation: X:3.29, Y:0.33, Z:-0.16 [[ 9.99901306e-01 1.71640895e-04 -1.40481218e-02 3.28659036e+00] [-1.82095605e-04 9.99999707e-01 -7.42931227e-04 3.28011323e-01] [ 1.40479902e-02 7.45416006e-04 9.99901044e-01 -1.64805240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.123133365 meters Centerline goodness [0,1] 0.300914666953621 Centerline is valid? [False, False] Translation: X:3.29, Y:0.33, Z:-0.16 [[ 9.99902142e-01 2.47049958e-04 -1.39872973e-02 3.28645149e+00] [-2.55149895e-04 9.99999801e-01 -5.77310792e-04 3.27101056e-01] [ 1.39871519e-02 5.80823156e-04 9.99902006e-01 -1.64799339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.153133365 meters Centerline goodness [0,1] 0.3040475983670633 Centerline is valid? [False, False] Translation: X:3.29, Y:0.33, Z:-0.16 [[ 9.99904708e-01 3.10112255e-04 -1.38014318e-02 3.28583138e+00] [-3.15202054e-04 9.99999883e-01 -3.66614079e-04 3.25794181e-01] [ 1.38013165e-02 3.70929383e-04 9.99904688e-01 -1.64526742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.183133365 meters Centerline goodness [0,1] 0.3024188332686586 Centerline is valid? [False, False] Translation: X:3.29, Y:0.32, Z:-0.16 [[ 9.99908157e-01 3.62747234e-04 -1.35479091e-02 3.28512634e+00] [-3.65067092e-04 9.99999919e-01 -1.68760992e-04 3.24583929e-01] [ 1.35478467e-02 1.73691388e-04 9.99908209e-01 -1.64347623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.213133365 meters Centerline goodness [0,1] 0.30094669729300394 Centerline is valid? [False, False] Translation: X:3.28, Y:0.32, Z:-0.16 [[ 9.99912007e-01 4.72672089e-04 -1.32572705e-02 3.28420251e+00] [-4.71586311e-04 9.99999885e-01 8.50265328e-05 3.23286703e-01] [ 1.32573091e-02 -7.87671038e-05 9.99912115e-01 -1.63969545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.243133365 meters Centerline goodness [0,1] 0.3044332635124922 Centerline is valid? [False, False] Translation: X:3.28, Y:0.32, Z:-0.16 [[ 9.99917925e-01 5.26289653e-04 -1.28010547e-02 3.28276755e+00] [-5.24209488e-04 9.99999849e-01 1.65854317e-04 3.22580028e-01] [ 1.28011401e-02 -1.59130271e-04 9.99918049e-01 -1.63403318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.273133365 meters Centerline goodness [0,1] 0.3055133822062205 Centerline is valid? [False, False] Translation: X:3.28, Y:0.32, Z:-0.16 [[ 9.99916985e-01 4.71425633e-04 -1.28763745e-02 3.28308584e+00] [-4.72430550e-04 9.99999886e-01 -7.50018642e-05 3.23768549e-01] [ 1.28763376e-02 8.10788305e-05 9.99917093e-01 -1.63692119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.303133365 meters Centerline goodness [0,1] 0.3021918402777778 Centerline is valid? [False, False] Translation: X:3.28, Y:0.33, Z:-0.16 [[ 9.99913399e-01 5.16677253e-04 -1.31501865e-02 3.28398041e+00] [-5.21295480e-04 9.99999804e-01 -3.47765763e-04 3.25772944e-01] [ 1.31500042e-02 3.54590778e-04 9.99913472e-01 -1.64220979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.333133365 meters Centerline goodness [0,1] 0.3038255164773097 Centerline is valid? [False, False] Translation: X:3.28, Y:0.33, Z:-0.16 [[ 9.99911971e-01 6.93344676e-04 -1.32502939e-02 3.28456162e+00] [-7.00574977e-04 9.99999608e-01 -5.41037164e-04 3.28003226e-01] [ 1.32499136e-02 5.50272361e-04 9.99912065e-01 -1.64907236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.363133365 meters Centerline goodness [0,1] 0.30096626693123973 Centerline is valid? [False, False] Translation: X:3.29, Y:0.33, Z:-0.17 [[ 9.99909727e-01 8.66316348e-04 -1.34085042e-02 3.28511447e+00] [-8.77044880e-04 9.99999300e-01 -7.94269464e-04 3.30586782e-01] [ 1.34078067e-02 8.05957623e-04 9.99909787e-01 -1.65366017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.393133365 meters Centerline goodness [0,1] 0.30166681060540634 Centerline is valid? [False, False] Translation: X:3.28, Y:0.33, Z:-0.17 [[ 9.99917103e-01 8.98565691e-04 -1.28444702e-02 3.28364396e+00] [-9.16686931e-04 9.99998593e-01 -1.40500254e-03 3.34903281e-01] [ 1.28431896e-02 1.41666043e-03 9.99916519e-01 -1.65328806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.423133365 meters Centerline goodness [0,1] 0.30520501288153357 Centerline is valid? [False, False] Translation: X:3.28, Y:0.34, Z:-0.17 [[ 9.99918229e-01 8.21606579e-04 -1.27616413e-02 3.28331447e+00] [-8.42790856e-04 9.99998276e-01 -1.65470703e-03 3.36279812e-01] [ 1.27602598e-02 1.66532712e-03 9.99917198e-01 -1.65206925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.453133365 meters Centerline goodness [0,1] 0.30095599818727203 Centerline is valid? [False, False] Translation: X:3.30, Y:0.34, Z:-0.16 [[ 9.99899799e-01 -6.46745765e-03 -1.25921978e-02 3.30158462e+00] [ 6.46394777e-03 9.99979057e-01 -3.19414541e-04 3.42549771e-01] [ 1.25939999e-02 2.37987227e-04 9.99920664e-01 -1.63199326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48313336499996 meters Centerline goodness [0,1] 0.3020081717812745 Centerline is valid? [False, False] Translation: X:3.30, Y:0.34, Z:-0.16 [[ 9.99901046e-01 -6.42685429e-03 -1.25137139e-02 3.30122747e+00] [ 6.42506231e-03 9.99979342e-01 -1.83398634e-04 3.42031771e-01] [ 1.25146341e-02 1.02979095e-04 9.99921684e-01 -1.62897009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.513133365 meters Centerline goodness [0,1] 0.3050998651059571 Centerline is valid? [False, False] Translation: X:3.30, Y:0.34, Z:-0.16 [[ 9.99904190e-01 -6.43324236e-03 -1.22566195e-02 3.30051514e+00] [ 6.43420760e-03 9.99979299e-01 3.93209144e-05 3.40664383e-01] [ 1.22561128e-02 -1.18178781e-04 9.99924884e-01 -1.62629457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54313336499996 meters Centerline goodness [0,1] 0.3064160980182694 Centerline is valid? [False, False] Translation: X:3.30, Y:0.34, Z:-0.16 [[ 9.99916489e-01 -6.93467031e-03 -1.09052660e-02 3.29731081e+00] [ 6.93728105e-03 9.99975916e-01 2.01592240e-04 3.37313024e-01] [ 1.09036054e-02 -2.77228301e-04 9.99940515e-01 -1.62062806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.573133365 meters Centerline goodness [0,1] 0.30362370698067787 Centerline is valid? [False, False] Translation: X:3.30, Y:0.34, Z:-0.16 [[ 9.99917015e-01 -6.85472580e-03 -1.09076210e-02 3.29747126e+00] [ 6.86139341e-03 9.99976296e-01 5.73975109e-04 3.35195693e-01] [ 1.09034280e-02 -6.48768957e-04 9.99940345e-01 -1.62229841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60313336499996 meters Centerline goodness [0,1] 0.3016563637538501 Centerline is valid? [False, False] Translation: X:3.32, Y:0.33, Z:-0.16 [[ 9.99928880e-01 9.03295310e-04 -1.18919830e-02 3.31774720e+00] [-9.07930220e-04 9.99999514e-01 -3.84357861e-04 3.30213490e-01] [ 1.18916300e-02 3.95127617e-04 9.99929214e-01 -1.60961993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.633133365 meters Centerline goodness [0,1] 0.3039224212906593 Centerline is valid? [False, False] Translation: X:3.32, Y:0.33, Z:-0.16 [[ 9.99923193e-01 9.39557969e-04 -1.23582020e-02 3.31926174e+00] [-9.41634153e-04 9.99999544e-01 -1.62182839e-04 3.28644004e-01] [ 1.23580440e-02 1.73807287e-04 9.99923621e-01 -1.61652325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66313336499996 meters Centerline goodness [0,1] 0.30364240568189227 Centerline is valid? [False, False] Translation: X:3.32, Y:0.33, Z:-0.16 [[ 9.99915873e-01 1.02490719e-03 -1.29304148e-02 3.32127594e+00] [-1.02133925e-03 9.99999439e-01 2.82534308e-04 3.25645826e-01] [ 1.29306971e-02 -2.69304199e-04 9.99916359e-01 -1.62705625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.693133365 meters Centerline goodness [0,1] 0.30830431524661706 Centerline is valid? [False, False] Translation: X:3.28, Y:0.32, Z:-0.16 [[ 9.99891315e-01 4.96330706e-04 -1.47347032e-02 3.27580258e+00] [-4.86511651e-04 9.99999657e-01 6.69966735e-04 3.21046905e-01] [ 1.47350307e-02 -6.62725315e-04 9.99891214e-01 -1.62595245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72313336499997 meters Centerline goodness [0,1] 0.30354434767537586 Centerline is valid? [False, False] Translation: X:3.32, Y:0.32, Z:-0.16 [[ 9.99918837e-01 1.26666598e-03 -1.26773635e-02 3.31819509e+00] [-1.25783764e-03 9.99998961e-01 7.04334675e-04 3.22632328e-01] [ 1.26782425e-02 -6.88331444e-04 9.99919391e-01 -1.61712939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.753133365 meters Centerline goodness [0,1] 0.3041337728810618 Centerline is valid? [False, False] Translation: X:3.32, Y:0.32, Z:-0.16 [[ 9.99919188e-01 1.30816938e-03 -1.26454002e-02 3.31807016e+00] [-1.29792882e-03 9.99998823e-01 8.17997690e-04 3.21880119e-01] [ 1.26464554e-02 -8.01518756e-04 9.99919709e-01 -1.61652390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78313336499997 meters Centerline goodness [0,1] 0.30537864247077295 Centerline is valid? [False, False] Translation: X:3.32, Y:0.32, Z:-0.16 [[ 9.99919384e-01 1.28455572e-03 -1.26323138e-02 3.31814346e+00] [-1.27488684e-03 9.99998888e-01 7.73431254e-04 3.21837857e-01] [ 1.26332932e-02 -7.57264133e-04 9.99919910e-01 -1.61848997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.813133365 meters Centerline goodness [0,1] 0.301851331792357 Centerline is valid? [False, False] Translation: X:3.32, Y:0.32, Z:-0.16 [[ 9.99915202e-01 1.63879389e-03 -1.29191377e-02 3.31907632e+00] [-1.62827500e-03 9.99998334e-01 8.24686331e-04 3.23198522e-01] [ 1.29204676e-02 -8.03580490e-04 9.99916204e-01 -1.62450933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84313336499997 meters Centerline goodness [0,1] 0.3018904696940168 Centerline is valid? [False, False] Translation: X:3.32, Y:0.32, Z:-0.16 [[ 9.99918711e-01 1.68988196e-03 -1.26378783e-02 3.31855136e+00] [-1.68085864e-03 9.99998325e-01 7.24578157e-04 3.24252448e-01] [ 1.26390815e-02 -7.03276770e-04 9.99919876e-01 -1.62677492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.873133365 meters Centerline goodness [0,1] 0.3031025735533248 Centerline is valid? [False, False] Translation: X:3.32, Y:0.33, Z:-0.16 [[ 9.99921771e-01 1.67309976e-03 -1.23957091e-02 3.31796162e+00] [-1.66601941e-03 9.99998443e-01 5.81497978e-04 3.25006490e-01] [ 1.23966627e-02 -5.60800996e-04 9.99923001e-01 -1.62672629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.903133365 meters Centerline goodness [0,1] 0.30528016770755995 Centerline is valid? [False, False] Translation: X:3.32, Y:0.33, Z:-0.16 [[ 9.99923337e-01 1.59440173e-03 -1.22791781e-02 3.31758644e+00] [-1.58936561e-03 9.99998649e-01 4.19882650e-04 3.25488181e-01] [ 1.22798309e-02 -4.00334357e-04 9.99924520e-01 -1.62547099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.933133365 meters Centerline goodness [0,1] 0.3053811268096982 Centerline is valid? [False, False] Translation: X:3.32, Y:0.33, Z:-0.16 [[ 9.99924187e-01 1.52088965e-03 -1.22191598e-02 3.31745528e+00] [-1.51718405e-03 9.99998800e-01 3.12525181e-04 3.25674632e-01] [ 1.22196205e-02 -2.93962773e-04 9.99925294e-01 -1.62596667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.963133365 meters Centerline goodness [0,1] 0.30519211929900947 Centerline is valid? [False, False] Translation: X:3.32, Y:0.33, Z:-0.16 [[ 9.99923530e-01 1.50755741e-03 -1.22744003e-02 3.31765118e+00] [-1.50394732e-03 9.99998823e-01 3.03340231e-04 3.25663727e-01] [ 1.22748432e-02 -2.84856983e-04 9.99924621e-01 -1.62765064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.993133365 meters Centerline goodness [0,1] 0.30519973123523414 Centerline is valid? [False, False] Translation: X:3.32, Y:0.32, Z:-0.16 [[ 9.99919884e-01 1.52284044e-03 -1.25661204e-02 3.31867602e+00] [-1.51696295e-03 9.99998736e-01 4.77243230e-04 3.24669621e-01] [ 1.25668313e-02 -4.58142656e-04 9.99920929e-01 -1.63317945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.023133365 meters Centerline goodness [0,1] 0.3073810611499054 Centerline is valid? [False, False] Translation: X:3.32, Y:0.32, Z:-0.16 [[ 9.99919070e-01 1.52222659e-03 -1.26307390e-02 3.31894584e+00] [-1.51393902e-03 9.99998632e-01 6.65678460e-04 3.23337122e-01] [ 1.26317351e-02 -6.46502418e-04 9.99920007e-01 -1.63466516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.053133365 meters Centerline goodness [0,1] 0.30769063701322674 Centerline is valid? [False, False] Translation: X:3.32, Y:0.32, Z:-0.16 [[ 9.99918126e-01 1.53180683e-03 -1.27041352e-02 3.31897833e+00] [-1.52044098e-03 9.99998435e-01 9.04267172e-04 3.21683973e-01] [ 1.27055005e-02 -8.84877248e-04 9.99918890e-01 -1.63161753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.083133365 meters Centerline goodness [0,1] 0.30572559537972355 Centerline is valid? [False, False] Translation: X:3.32, Y:0.32, Z:-0.16 [[ 9.99917299e-01 1.58007265e-03 -1.27631818e-02 3.31899101e+00] [-1.56555397e-03 9.99998116e-01 1.14745465e-03 3.20208434e-01] [ 1.27649708e-02 -1.12737830e-03 9.99917889e-01 -1.62947601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.113133365 meters Centerline goodness [0,1] 0.3062734607585106 Centerline is valid? [False, False] Translation: X:3.32, Y:0.32, Z:-0.16 [[ 9.99916719e-01 1.62491950e-03 -1.28028939e-02 3.31916152e+00] [-1.60787794e-03 9.99997808e-01 1.34125141e-03 3.19149339e-01] [ 1.28050453e-02 -1.32055421e-03 9.99917140e-01 -1.63049310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.143133365 meters Centerline goodness [0,1] 0.31163156514899937 Centerline is valid? [False, False] Translation: X:3.30, Y:0.32, Z:-0.16 [[ 9.99875230e-01 -6.79002727e-03 -1.42625482e-02 3.29989994e+00] [ 6.82756269e-03 9.99973351e-01 2.58470552e-03 3.21196034e-01] [ 1.42446179e-02 -2.68176147e-03 9.99894944e-01 -1.64679190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.173133365 meters Centerline goodness [0,1] 0.313838370622356 Centerline is valid? [False, False] Translation: X:3.30, Y:0.32, Z:-0.16 [[ 9.99874386e-01 -6.77506288e-03 -1.43286421e-02 3.30023262e+00] [ 6.81242082e-03 9.99973518e-01 2.56002115e-03 3.21560583e-01] [ 1.43109184e-02 -2.65731232e-03 9.99894063e-01 -1.64993708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.203133365 meters Centerline goodness [0,1] 0.31053976780453996 Centerline is valid? [False, False] Translation: X:3.32, Y:0.32, Z:-0.16 [[ 9.99899403e-01 1.55298506e-03 -1.40986778e-02 3.31956289e+00] [-1.53382190e-03 9.99997885e-01 1.36992846e-03 3.20087858e-01] [ 1.41007755e-02 -1.34816578e-03 9.99899670e-01 -1.63565583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23313336499996 meters Centerline goodness [0,1] 0.3090535424553813 Centerline is valid? [False, False] Translation: X:3.32, Y:0.32, Z:-0.16 [[ 9.99897924e-01 1.52802772e-03 -1.42058870e-02 3.31986578e+00] [-1.50997341e-03 9.99998039e-01 1.28154285e-03 3.20745148e-01] [ 1.42078173e-02 -1.25996152e-03 9.99898270e-01 -1.63663868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.263133365 meters Centerline goodness [0,1] 0.30955170767695184 Centerline is valid? [False, False] Translation: X:3.32, Y:0.32, Z:-0.16 [[ 9.99895410e-01 1.47201519e-03 -1.43875593e-02 3.32014108e+00] [-1.45388356e-03 9.99998136e-01 1.27060766e-03 3.20363281e-01] [ 1.43894028e-02 -1.24955693e-03 9.99895686e-01 -1.63442080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29313336499996 meters Centerline goodness [0,1] 0.31766676954278916 Centerline is valid? [False, False] Translation: X:3.28, Y:0.32, Z:-0.16 [[ 9.99862100e-01 -6.32783211e-05 -1.66065166e-02 3.27566390e+00] [ 7.58728267e-05 9.99999710e-01 7.57778494e-04 3.16291570e-01] [ 1.66064639e-02 -7.58933980e-04 9.99861815e-01 -1.63403349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.323133365 meters Centerline goodness [0,1] 0.31766676954278916 Centerline is valid? [False, False] Translation: X:3.28, Y:0.32, Z:-0.16 [[ 9.99862100e-01 -6.32783211e-05 -1.66065166e-02 3.27566390e+00] [ 7.58728267e-05 9.99999710e-01 7.57778494e-04 3.16291570e-01] [ 1.66064639e-02 -7.58933980e-04 9.99861815e-01 -1.63403349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35313336499996 meters Centerline goodness [0,1] 0.3098139003299334 Centerline is valid? [False, False] Translation: X:3.32, Y:0.32, Z:-0.16 [[ 9.99896843e-01 -5.64377910e-06 -1.43632404e-02 3.31792972e+00] [ 1.10683495e-05 9.99999929e-01 3.77590911e-04 3.18076258e-01] [ 1.43632373e-02 -3.77710938e-04 9.99896772e-01 -1.62525177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.383133365 meters Centerline goodness [0,1] 0.3161410018552876 Centerline is valid? [False, False] Translation: X:3.27, Y:0.31, Z:-0.16 [[ 9.99873315e-01 -7.93276111e-04 -1.58972864e-02 3.27158426e+00] [ 8.08106139e-04 9.99999244e-01 9.26463285e-04 3.12783299e-01] [ 1.58965395e-02 -9.39192611e-04 9.99873201e-01 -1.61843265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41313336499996 meters Centerline goodness [0,1] 0.3135995834869948 Centerline is valid? [False, False] Translation: X:3.27, Y:0.31, Z:-0.16 [[ 9.99875424e-01 -6.58343733e-04 -1.57703216e-02 3.27120622e+00] [ 6.79640756e-04 9.99998864e-01 1.34512819e-03 3.10746995e-01] [ 1.57694182e-02 -1.35567877e-03 9.99874736e-01 -1.61655208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.443133365 meters Centerline goodness [0,1] 0.3139959167716433 Centerline is valid? [False, False] Translation: X:3.27, Y:0.31, Z:-0.16 [[ 9.99876670e-01 -5.54657909e-04 -1.56951590e-02 3.27114492e+00] [ 5.82842673e-04 9.99998226e-01 1.79124441e-03 3.08130620e-01] [ 1.56941376e-02 -1.80017130e-03 9.99875219e-01 -1.61728040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47313336499997 meters Centerline goodness [0,1] 0.31636105065827747 Centerline is valid? [False, False] Translation: X:3.27, Y:0.30, Z:-0.16 [[ 9.99866809e-01 -4.17122141e-03 -1.57786066e-02 3.27158788e+00] [ 4.15421355e-03 9.99990755e-01 -1.11052887e-03 3.03125705e-01] [ 1.57830930e-02 1.04483326e-03 9.99874893e-01 -1.61949909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.503133365 meters Centerline goodness [0,1] 0.317598979393258 Centerline is valid? [False, False] Translation: X:3.27, Y:0.30, Z:-0.16 [[ 9.99864529e-01 -3.92515375e-03 -1.59848706e-02 3.27214891e+00] [ 3.91944808e-03 9.99992244e-01 -3.88253877e-04 2.99407049e-01] [ 1.59862705e-02 3.25549410e-04 9.99872158e-01 -1.62025534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53313336499997 meters Centerline goodness [0,1] 0.3194356338182216 Centerline is valid? [False, False] Translation: X:3.26, Y:0.29, Z:-0.16 [[ 9.99889713e-01 2.83676038e-03 -1.45778890e-02 3.25515889e+00] [-2.84955151e-03 9.99995573e-01 -8.56737352e-04 2.89203320e-01] [ 1.45753941e-02 8.98183310e-04 9.99893370e-01 -1.64569278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.563133365 meters Centerline goodness [0,1] 0.3168738589933061 Centerline is valid? [False, False] Translation: X:3.26, Y:0.29, Z:-0.16 [[ 9.99886736e-01 3.05860553e-03 -1.47363869e-02 3.25564878e+00] [-3.06081711e-03 9.99995308e-01 -1.27524829e-04 2.85055636e-01] [ 1.47359277e-02 1.72615770e-04 9.99891405e-01 -1.64694431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59313336499997 meters Centerline goodness [0,1] 0.313806179170078 Centerline is valid? [False, False] Translation: X:3.26, Y:0.28, Z:-0.17 [[ 9.99884741e-01 3.23850689e-03 -1.48329361e-02 3.25612267e+00] [-3.23126310e-03 9.99994648e-01 5.12298386e-04 2.80866612e-01] [ 1.48345158e-02 -4.64310220e-04 9.99889855e-01 -1.65014399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.623133365 meters Centerline goodness [0,1] 0.3164819048440668 Centerline is valid? [False, False] Translation: X:3.26, Y:0.28, Z:-0.17 [[ 9.99884073e-01 3.37849728e-03 -1.48467813e-02 3.25635137e+00] [-3.36359815e-03 9.99993814e-01 1.02838193e-03 2.77454365e-01] [ 1.48501638e-02 -9.78324109e-04 9.99889252e-01 -1.65250090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.653133365 meters Centerline goodness [0,1] 0.31783826292105377 Centerline is valid? [False, False] Translation: X:3.24, Y:0.27, Z:-0.17 [[ 9.99850619e-01 -4.36951206e-03 -1.67226469e-02 3.23708369e+00] [ 4.42390018e-03 9.99985041e-01 3.21675365e-03 2.73606843e-01] [ 1.67083411e-02 -3.29025245e-03 9.99854992e-01 -1.65908187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.683133365 meters Centerline goodness [0,1] 0.31711519169538094 Centerline is valid? [False, False] Translation: X:3.24, Y:0.27, Z:-0.17 [[ 0.99985168 -0.00412159 -0.01672203 3.23721839] [ 0.00418332 0.99998456 0.00365802 0.27183067] [ 0.0167067 -0.00372743 0.99985349 -0.16609348] [ 0. 0. 0. 1. ]] SLAMing on 298.713133365 meters Centerline goodness [0,1] 0.3134842413083505 Centerline is valid? [False, False] Translation: X:3.26, Y:0.27, Z:-0.16 [[ 9.99851631e-01 4.33438646e-03 -1.66712330e-02 3.25684963e+00] [-4.29127868e-03 9.99987358e-01 2.62066335e-03 2.66782386e-01] [ 1.66823812e-02 -2.54873362e-03 9.99857591e-01 -1.64562248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.743133365 meters Centerline goodness [0,1] 0.31740800558732374 Centerline is valid? [False, False] Translation: X:3.26, Y:0.27, Z:-0.16 [[ 9.99849853e-01 4.41486861e-03 -1.67565083e-02 3.25712935e+00] [-4.36743992e-03 9.99986356e-01 2.86600359e-03 2.65106741e-01] [ 1.67689327e-02 -2.79239022e-03 9.99855492e-01 -1.64675765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.773133365 meters Centerline goodness [0,1] 0.3146191966614502 Centerline is valid? [False, False] Translation: X:3.26, Y:0.26, Z:-0.17 [[ 9.99843217e-01 4.57112779e-03 -1.71068797e-02 3.25833905e+00] [-4.51705080e-03 9.99984683e-01 3.19843064e-03 2.63029788e-01] [ 1.71212381e-02 -3.12065654e-03 9.99848551e-01 -1.65335568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.803133365 meters Centerline goodness [0,1] 0.31277257221814414 Centerline is valid? [False, False] Translation: X:3.26, Y:0.26, Z:-0.17 [[ 9.99842225e-01 4.65055078e-03 -1.71434181e-02 3.25869017e+00] [-4.59414659e-03 9.99983909e-01 3.32805279e-03 2.62411582e-01] [ 1.71586195e-02 -3.24876833e-03 9.99847502e-01 -1.65727848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.833133365 meters Centerline goodness [0,1] 0.3109771958727131 Centerline is valid? [False, False] Translation: X:3.26, Y:0.26, Z:-0.17 [[ 0.99984495 0.00469717 -0.01697091 3.25847625] [-0.00464052 0.99998353 0.0033761 0.26216974] [ 0.01698649 -0.00329682 0.99985028 -0.16601731] [ 0. 0. 0. 1. ]] SLAMing on 298.863133365 meters Centerline goodness [0,1] 0.31097403157622294 Centerline is valid? [False, False] Translation: X:3.26, Y:0.26, Z:-0.17 [[ 0.99984686 0.00473512 -0.01684717 3.25820798] [-0.00467863 0.99998331 0.00339062 0.26219662] [ 0.01686294 -0.00331128 0.99985233 -0.16606425] [ 0. 0. 0. 1. ]] SLAMing on 298.893133365 meters Centerline goodness [0,1] 0.3112017084061347 Centerline is valid? [False, False] Translation: X:3.26, Y:0.26, Z:-0.17 [[ 0.99984893 0.00475322 -0.01671881 3.25785353] [-0.00469804 0.99998339 0.00333829 0.26259144] [ 0.0167344 -0.00325924 0.99985466 -0.16601622] [ 0. 0. 0. 1. ]] SLAMing on 298.923133365 meters Centerline goodness [0,1] 0.312292215362031 Centerline is valid? [False, False] Translation: X:3.26, Y:0.26, Z:-0.17 [[ 9.99848197e-01 4.72406803e-03 -1.67710152e-02 3.25797856e+00] [-4.67176161e-03 9.99984105e-01 3.15666808e-03 2.63590545e-01] [ 1.67856610e-02 -3.07783870e-03 9.99854374e-01 -1.66052865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.953133365 meters Centerline goodness [0,1] 0.31273273665643164 Centerline is valid? [False, False] Translation: X:3.26, Y:0.27, Z:-0.17 [[ 9.99837329e-01 4.95369788e-03 -1.73429250e-02 3.25962777e+00] [-4.90408835e-03 9.99983764e-01 2.90186651e-03 2.66211273e-01] [ 1.73570184e-02 -2.81634322e-03 9.99845389e-01 -1.66811615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98313336499996 meters Centerline goodness [0,1] 0.3110981333679407 Centerline is valid? [False, False] Translation: X:3.26, Y:0.27, Z:-0.17 [[ 9.99838009e-01 4.91249275e-03 -1.73154121e-02 3.25971126e+00] [-4.86788836e-03 9.99984727e-01 2.61720074e-03 2.67931076e-01] [ 1.73280046e-02 -2.53248728e-03 9.99846652e-01 -1.67094111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.013133365 meters Centerline goodness [0,1] 0.3111452097426034 Centerline is valid? [False, False] Translation: X:3.26, Y:0.27, Z:-0.17 [[ 9.99854687e-01 5.12535074e-03 -1.62584038e-02 3.25676498e+00] [-5.08802120e-03 9.99984326e-01 2.33654931e-03 2.71082177e-01] [ 1.62701246e-02 -2.25348668e-03 9.99865093e-01 -1.66422596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04313336499996 meters Centerline goodness [0,1] 0.3097023745567852 Centerline is valid? [False, False] Translation: X:3.26, Y:0.27, Z:-0.17 [[ 9.99859689e-01 5.05039245e-03 -1.59717279e-02 3.25588037e+00] [-5.01944132e-03 9.99985448e-01 1.97736346e-03 2.73449965e-01] [ 1.59814819e-02 -1.89691686e-03 9.99870489e-01 -1.66169447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.073133365 meters Centerline goodness [0,1] 0.31415298989854723 Centerline is valid? [False, False] Translation: X:3.21, Y:0.27, Z:-0.17 [[ 9.99832729e-01 5.07994715e-03 -1.75700992e-02 3.21018187e+00] [-5.03119551e-03 9.99983373e-01 2.81778419e-03 2.73088335e-01] [ 1.75841213e-02 -2.72891425e-03 9.99841663e-01 -1.66090353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10313336499996 meters Centerline goodness [0,1] 0.31269075088205367 Centerline is valid? [False, False] Translation: X:3.23, Y:0.28, Z:-0.16 [[ 9.99838111e-01 -1.40751859e-03 -1.79379717e-02 3.22841792e+00] [ 1.47513393e-03 9.99991855e-01 3.75672337e-03 2.83028326e-01] [ 1.79325380e-02 -3.78257610e-03 9.99832044e-01 -1.64728997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.133133365 meters Centerline goodness [0,1] 0.31222503955096115 Centerline is valid? [False, False] Translation: X:3.23, Y:0.29, Z:-0.17 [[ 9.99838468e-01 -1.60341034e-03 -1.79015848e-02 3.22853552e+00] [ 1.65879135e-03 9.99993883e-01 3.07921744e-03 2.86731756e-01] [ 1.78965381e-02 -3.10841504e-03 9.99835012e-01 -1.65211486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16313336499996 meters Centerline goodness [0,1] 0.3100926901653799 Centerline is valid? [False, False] Translation: X:3.23, Y:0.29, Z:-0.17 [[ 9.99836197e-01 -1.82172970e-03 -1.80072236e-02 3.22890292e+00] [ 1.86540526e-03 9.99995359e-01 2.40894746e-03 2.90412861e-01] [ 1.80027516e-02 -2.44214364e-03 9.99834955e-01 -1.65530598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.193133365 meters Centerline goodness [0,1] 0.3137421363111953 Centerline is valid? [False, False] Translation: X:3.21, Y:0.29, Z:-0.17 [[ 9.99783740e-01 6.42214934e-03 -1.97795400e-02 3.20812717e+00] [-6.39536207e-03 9.99978545e-01 1.41724981e-03 2.93742901e-01] [ 1.97882174e-02 -1.29044599e-03 9.99803361e-01 -1.65854529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22313336499997 meters Centerline goodness [0,1] 0.31211413861558934 Centerline is valid? [False, False] Translation: X:3.21, Y:0.30, Z:-0.17 [[ 9.99783741e-01 6.22559464e-03 -1.98421829e-02 3.20814530e+00] [-6.21026070e-03 9.99980368e-01 8.34320707e-04 2.97117955e-01] [ 1.98469875e-02 -7.10915149e-04 9.99802776e-01 -1.65760491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.253133365 meters Centerline goodness [0,1] 0.30952535549639637 Centerline is valid? [False, False] Translation: X:3.23, Y:0.31, Z:-0.16 [[ 9.99792143e-01 -9.02139366e-04 -2.03680418e-02 3.22622829e+00] [ 9.30003834e-04 9.99998645e-01 1.35861773e-03 3.06855033e-01] [ 2.03667885e-02 -1.37727769e-03 9.99791627e-01 -1.63796814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28313336499997 meters Centerline goodness [0,1] 0.31207695823448756 Centerline is valid? [False, False] Translation: X:3.23, Y:0.31, Z:-0.16 [[ 9.99790391e-01 -1.22582414e-03 -2.04370200e-02 3.22623035e+00] [ 1.23972419e-03 9.99999009e-01 6.67484820e-04 3.10015800e-01] [ 2.04361815e-02 -6.92681177e-04 9.99790919e-01 -1.63654861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.313133365 meters Centerline goodness [0,1] 0.3122687100004353 Centerline is valid? [False, False] Translation: X:3.23, Y:0.31, Z:-0.16 [[ 9.99788821e-01 -1.50086967e-03 -2.04953906e-02 3.22626554e+00] [ 1.50132228e-03 9.99998873e-01 6.69662075e-06 3.13354161e-01] [ 2.04953574e-02 -3.74653930e-05 9.99789947e-01 -1.63585386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34313336499997 meters Centerline goodness [0,1] 0.31048899808193786 Centerline is valid? [False, False] Translation: X:3.23, Y:0.32, Z:-0.16 [[ 9.99786960e-01 -1.87824288e-03 -2.05549479e-02 3.22657449e+00] [ 1.85976386e-03 9.99997849e-01 -9.18084339e-04 3.20569794e-01] [ 2.05566281e-02 8.79661402e-04 9.99788303e-01 -1.63894762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.373133365 meters Centerline goodness [0,1] 0.31220274936477943 Centerline is valid? [False, False] Translation: X:3.23, Y:0.32, Z:-0.16 [[ 9.99787109e-01 -2.10883574e-03 -2.05253432e-02 3.22635883e+00] [ 2.08119463e-03 9.99996899e-01 -1.36794955e-03 3.22685726e-01] [ 2.05281644e-02 1.32494109e-03 9.99788397e-01 -1.63676723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.403133365 meters Centerline goodness [0,1] 0.31402618337072774 Centerline is valid? [False, False] Translation: X:3.23, Y:0.32, Z:-0.16 [[ 9.99785897e-01 -2.36295306e-03 -2.05566674e-02 3.22617418e+00] [ 2.32843698e-03 9.99995839e-01 -1.70284298e-03 3.23788759e-01] [ 2.05606056e-02 1.65461349e-03 9.99787239e-01 -1.63268118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.433133365 meters Centerline goodness [0,1] 0.30932744550511937 Centerline is valid? [False, False] Translation: X:3.23, Y:0.32, Z:-0.16 [[ 9.99775804e-01 -2.65483153e-03 -2.10070016e-02 3.22710135e+00] [ 2.61496479e-03 9.99994728e-01 -1.92502520e-03 3.23973254e-01] [ 2.10120015e-02 1.86966105e-03 9.99777475e-01 -1.63062283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.463133365 meters Centerline goodness [0,1] 0.31019029681106713 Centerline is valid? [False, False] Translation: X:3.23, Y:0.32, Z:-0.16 [[ 9.99760466e-01 -3.49752225e-03 -2.16050414e-02 3.22874589e+00] [ 3.45007904e-03 9.99991556e-01 -2.23281600e-03 3.22531551e-01] [ 2.16126683e-02 2.15774206e-03 9.99764091e-01 -1.63231128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.493133365 meters Centerline goodness [0,1] 0.31024272159422484 Centerline is valid? [False, False] Translation: X:3.23, Y:0.32, Z:-0.16 [[ 9.99760623e-01 -3.72746239e-03 -2.15592646e-02 3.22856435e+00] [ 3.68349224e-03 9.99991055e-01 -2.07885367e-03 3.20680466e-01] [ 2.15668206e-02 1.99894266e-03 9.99765411e-01 -1.62981377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.523133365 meters Centerline goodness [0,1] 0.31154381084840055 Centerline is valid? [False, False] Translation: X:3.23, Y:0.32, Z:-0.16 [[ 9.99768979e-01 -4.06933674e-03 -2.11051933e-02 3.22740123e+00] [ 4.02912659e-03 9.99989987e-01 -1.94739793e-03 3.18300331e-01] [ 2.11129066e-02 1.86191254e-03 9.99775364e-01 -1.62588655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.553133365 meters Centerline goodness [0,1] 0.31302571236062504 Centerline is valid? [False, False] Translation: X:3.23, Y:0.32, Z:-0.16 [[ 9.99770687e-01 -4.33756920e-03 -2.09704340e-02 3.22692320e+00] [ 4.30223427e-03 9.99989249e-01 -1.72980973e-03 3.15663529e-01] [ 2.09777117e-02 1.63919335e-03 9.99778600e-01 -1.62199869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.583133365 meters Centerline goodness [0,1] 0.3119565927959731 Centerline is valid? [False, False] Translation: X:3.23, Y:0.31, Z:-0.16 [[ 9.99765877e-01 -4.46375032e-03 -2.11722734e-02 3.22743342e+00] [ 4.43612055e-03 9.99989247e-01 -1.35178531e-03 3.12507435e-01] [ 2.11780798e-02 1.25754606e-03 9.99774928e-01 -1.62158803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.613133365 meters Centerline goodness [0,1] 0.3127188118381282 Centerline is valid? [False, False] Translation: X:3.23, Y:0.31, Z:-0.16 [[ 9.99763024e-01 -4.40931930e-03 -2.13179384e-02 3.22784967e+00] [ 4.39321084e-03 9.99990028e-01 -8.02402950e-04 3.09099602e-01] [ 2.13212639e-02 7.08558602e-04 9.99772425e-01 -1.62196074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.643133365 meters Centerline goodness [0,1] 0.3102588561765599 Centerline is valid? [False, False] Translation: X:3.23, Y:0.30, Z:-0.16 [[ 9.99770243e-01 -4.43525955e-03 -2.09711526e-02 3.22679190e+00] [ 4.43755787e-03 9.99990152e-01 6.30603322e-05 3.01722474e-01] [ 2.09706663e-02 -1.56106547e-04 9.99780079e-01 -1.61612260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.673133365 meters Centerline goodness [0,1] 0.31556020212580593 Centerline is valid? [False, False] Translation: X:3.23, Y:0.30, Z:-0.16 [[ 9.99773711e-01 -4.26379656e-03 -2.08409825e-02 3.22622313e+00] [ 4.27898153e-03 9.99990611e-01 6.84071189e-04 2.98189435e-01] [ 2.08378701e-02 -7.73094571e-04 9.99782569e-01 -1.61125948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.703133365 meters Centerline goodness [0,1] 0.3127360333376742 Centerline is valid? [False, False] Translation: X:3.23, Y:0.29, Z:-0.16 [[ 9.99773148e-01 -4.04789509e-03 -2.09109449e-02 3.22624681e+00] [ 4.07723766e-03 9.99990762e-01 1.36077234e-03 2.94384446e-01] [ 2.09052435e-02 -1.44572254e-03 9.99780416e-01 -1.60840996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73313336499996 meters Centerline goodness [0,1] 0.3154854959180129 Centerline is valid? [False, False] Translation: X:3.23, Y:0.29, Z:-0.16 [[ 9.99770920e-01 -3.86491521e-03 -2.10516146e-02 3.22652543e+00] [ 3.90771781e-03 9.99990380e-01 1.99246465e-03 2.90623773e-01] [ 2.10437113e-02 -2.07427198e-03 9.99776405e-01 -1.60716972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.763133365 meters Centerline goodness [0,1] 0.31532216047238626 Centerline is valid? [False, False] Translation: X:3.23, Y:0.28, Z:-0.16 [[ 9.99771159e-01 -3.76720593e-03 -2.10579521e-02 3.22637374e+00] [ 3.82717674e-03 9.99988733e-01 2.80831880e-03 2.81754524e-01] [ 2.10471353e-02 -2.88826865e-03 9.99774313e-01 -1.60374008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79313336499996 meters Centerline goodness [0,1] 0.31435114173993817 Centerline is valid? [False, False] Translation: X:3.23, Y:0.28, Z:-0.16 [[ 0.9997753 -0.00347401 -0.02091123 3.22594649] [ 0.00354867 0.99998746 0.00353399 0.27801895] [ 0.0208987 -0.00360741 0.99977509 -0.16020151] [ 0. 0. 0. 1. ]] SLAMing on 299.823133365 meters Centerline goodness [0,1] 0.312116051990602 Centerline is valid? [False, False] Translation: X:3.23, Y:0.27, Z:-0.16 [[ 9.99777828e-01 -3.15905005e-03 -2.08402381e-02 3.22567518e+00] [ 3.24834767e-03 9.99985683e-01 4.25240595e-03 2.74573400e-01] [ 2.08265062e-02 -4.31915752e-03 9.99773775e-01 -1.59994934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85313336499996 meters Centerline goodness [0,1] 0.31372802203714467 Centerline is valid? [False, False] Translation: X:3.23, Y:0.27, Z:-0.16 [[ 9.99775898e-01 -2.88023994e-03 -2.09727688e-02 3.22613857e+00] [ 2.98361590e-03 9.99983547e-01 4.89943515e-03 2.71333875e-01] [ 2.09583122e-02 -4.96091186e-03 9.99768042e-01 -1.60162634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.883133365 meters Centerline goodness [0,1] 0.3136797546542266 Centerline is valid? [False, False] Translation: X:3.23, Y:0.27, Z:-0.16 [[ 9.99767838e-01 -2.70610705e-03 -2.13763422e-02 3.22732272e+00] [ 2.82174843e-03 9.99981539e-01 5.38147422e-03 2.68545675e-01] [ 2.13613847e-02 -5.44054350e-03 9.99757016e-01 -1.60479348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91313336499996 meters Centerline goodness [0,1] 0.31360212478773897 Centerline is valid? [False, False] Translation: X:3.23, Y:0.27, Z:-0.16 [[ 9.99756887e-01 -2.56082413e-03 -2.18999725e-02 3.22887699e+00] [ 2.68857341e-03 9.99979532e-01 5.80585508e-03 2.65959968e-01] [ 2.18846565e-02 -5.86332329e-03 9.99743309e-01 -1.60955758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.943133365 meters Centerline goodness [0,1] 0.31523071534891867 Centerline is valid? [False, False] Translation: X:3.23, Y:0.26, Z:-0.16 [[ 9.99751147e-01 -2.10715537e-03 -2.22082021e-02 3.22970983e+00] [ 2.26048347e-03 9.99973769e-01 6.88127971e-03 2.59624088e-01] [ 2.21931196e-02 -6.92976855e-03 9.99729685e-01 -1.61055564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97313336499997 meters Centerline goodness [0,1] 0.31134919430046193 Centerline is valid? [False, False] Translation: X:3.25, Y:0.25, Z:-0.16 [[ 0.99975783 0.00623579 -0.02110425 3.24830803] [-0.00610778 0.99996259 0.00612435 0.25227748] [ 0.02114165 -0.00599397 0.99975852 -0.15942173] [ 0. 0. 0. 1. ]] SLAMing on 300.003133365 meters Centerline goodness [0,1] 0.3110116150801375 Centerline is valid? [False, False] Translation: X:3.25, Y:0.25, Z:-0.16 [[ 0.99976167 0.00650391 -0.02083988 3.24743354] [-0.00636097 0.99995584 0.00691827 0.24776778] [ 0.02088396 -0.00678406 0.99975889 -0.15896654] [ 0. 0. 0. 1. ]] SLAMing on 300.03313336499997 meters Centerline goodness [0,1] 0.3127158214789879 Centerline is valid? [False, False] Translation: X:3.25, Y:0.24, Z:-0.16 [[ 9.99788120e-01 3.19405351e-03 -2.03350448e-02 3.24597275e+00] [-3.11171862e-03 9.99986838e-01 4.07927128e-03 2.44610960e-01] [ 2.03478066e-02 -4.01513003e-03 9.99784900e-01 -1.58607045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.063133365 meters Centerline goodness [0,1] 0.31349687933425796 Centerline is valid? [False, False] Translation: X:3.25, Y:0.24, Z:-0.16 [[ 9.99786935e-01 3.19951273e-03 -2.03923464e-02 3.24603388e+00] [-3.10437599e-03 9.99984159e-01 4.69526560e-03 2.39789310e-01] [ 2.04070459e-02 -4.63095969e-03 9.99781029e-01 -1.58426623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09313336499997 meters Centerline goodness [0,1] 0.3143680544942471 Centerline is valid? [False, False] Translation: X:3.25, Y:0.23, Z:-0.16 [[ 9.99780340e-01 3.27469465e-03 -2.07014257e-02 3.24678997e+00] [-3.16412849e-03 9.99980567e-01 5.37149273e-03 2.34848033e-01] [ 2.07186135e-02 -5.30481086e-03 9.99771273e-01 -1.58431169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.123133365 meters Centerline goodness [0,1] 0.3133425509851365 Centerline is valid? [False, False] Translation: X:3.27, Y:0.23, Z:-0.16 [[ 0.99979867 -0.00528484 -0.01935696 3.26744766] [ 0.0054105 0.99996459 0.00644534 0.22894113] [ 0.01932221 -0.00654877 0.99979186 -0.15801899] [ 0. 0. 0. 1. ]] SLAMing on 300.153133365 meters Centerline goodness [0,1] 0.31357461145527665 Centerline is valid? [False, False] Translation: X:3.27, Y:0.23, Z:-0.16 [[ 0.99980354 -0.00510042 -0.0191537 3.26697065] [ 0.00523639 0.9999614 0.0070559 0.22556752] [ 0.01911697 -0.00715481 0.99979165 -0.1579158 ] [ 0. 0. 0. 1. ]] SLAMing on 300.183133365 meters Centerline goodness [0,1] 0.31168467128102295 Centerline is valid? [False, False] Translation: X:3.29, Y:0.22, Z:-0.16 [[ 9.99822795e-01 3.01183882e-03 -1.85824381e-02 3.28576850e+00] [-2.90573276e-03 9.99979337e-01 5.73437854e-03 2.19597694e-01] [ 1.85993252e-02 -5.67936678e-03 9.99810887e-01 -1.56194513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.213133365 meters Centerline goodness [0,1] 0.31168467128102295 Centerline is valid? [False, False] Translation: X:3.29, Y:0.22, Z:-0.16 [[ 9.99822795e-01 3.01183882e-03 -1.85824381e-02 3.28576850e+00] [-2.90573276e-03 9.99979337e-01 5.73437854e-03 2.19597694e-01] [ 1.85993252e-02 -5.67936678e-03 9.99810887e-01 -1.56194513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.243133365 meters Centerline goodness [0,1] 0.31033292338231167 Centerline is valid? [False, False] Translation: X:3.29, Y:0.22, Z:-0.16 [[ 9.99820145e-01 3.12051276e-03 -1.87066934e-02 3.28608933e+00] [-3.00821810e-03 9.99977306e-01 6.02805027e-03 2.17917437e-01] [ 1.87250795e-02 -5.97069228e-03 9.99806842e-01 -1.56207861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.273133365 meters Centerline goodness [0,1] 0.3095459158335673 Centerline is valid? [False, False] Translation: X:3.29, Y:0.22, Z:-0.16 [[ 9.99817184e-01 3.17433610e-03 -1.88552966e-02 3.28659744e+00] [-3.05781335e-03 9.99976071e-01 6.20546092e-03 2.16819682e-01] [ 1.88745436e-02 -6.14667049e-03 9.99802966e-01 -1.56457870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.303133365 meters Centerline goodness [0,1] 0.3115831295843521 Centerline is valid? [False, False] Translation: X:3.29, Y:0.22, Z:-0.16 [[ 9.99816454e-01 3.23033698e-03 -1.88844501e-02 3.28676213e+00] [-3.11091757e-03 9.99975002e-01 6.34965006e-03 2.15916890e-01] [ 1.89044895e-02 -6.28973664e-03 9.99801510e-01 -1.56580018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.333133365 meters Centerline goodness [0,1] 0.31301594234549024 Centerline is valid? [False, False] Translation: X:3.29, Y:0.22, Z:-0.16 [[ 9.99821267e-01 3.26264364e-03 -1.86222537e-02 3.28595725e+00] [-3.14322361e-03 9.99974333e-01 6.43843039e-03 2.15271880e-01] [ 1.86427820e-02 -6.37874573e-03 9.99805860e-01 -1.56243128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.363133365 meters Centerline goodness [0,1] 0.31007684626405596 Centerline is valid? [False, False] Translation: X:3.29, Y:0.21, Z:-0.16 [[ 9.99820686e-01 3.26623654e-03 -1.86528167e-02 3.28609761e+00] [-3.14568600e-03 9.99974001e-01 6.48854749e-03 2.14929556e-01] [ 1.86735249e-02 -6.42870810e-03 9.99804967e-01 -1.56374400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.393133365 meters Centerline goodness [0,1] 0.31220202459997826 Centerline is valid? [False, False] Translation: X:3.29, Y:0.21, Z:-0.16 [[ 9.99818001e-01 3.26549971e-03 -1.87963244e-02 3.28666583e+00] [-3.14302462e-03 9.99973663e-01 6.54176397e-03 2.14704285e-01] [ 1.88171915e-02 -6.48149606e-03 9.99801932e-01 -1.56785183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.423133365 meters Centerline goodness [0,1] 0.30800604229607254 Centerline is valid? [False, False] Translation: X:3.29, Y:0.21, Z:-0.16 [[ 9.99797985e-01 2.95178391e-03 -1.98815329e-02 3.28967358e+00] [-2.82391687e-03 9.99975170e-01 6.45645476e-03 2.14000779e-01] [ 1.99000973e-02 -6.39900667e-03 9.99781496e-01 -1.57639092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.453133365 meters Centerline goodness [0,1] 0.3095010845986985 Centerline is valid? [False, False] Translation: X:3.29, Y:0.21, Z:-0.16 [[ 9.99791400e-01 2.86359855e-03 -2.02226525e-02 3.29047654e+00] [-2.73179404e-03 9.99974868e-01 6.54228688e-03 2.13025265e-01] [ 2.02408787e-02 -6.48567804e-03 9.99774096e-01 -1.57689118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48313336499996 meters Centerline goodness [0,1] 0.31190423896332087 Centerline is valid? [False, False] Translation: X:3.27, Y:0.22, Z:-0.16 [[ 0.99976599 -0.00647355 -0.02064126 3.26978484] [ 0.00662753 0.99995065 0.00740029 0.21524956] [ 0.02059233 -0.00753536 0.99975956 -0.15861528] [ 0. 0. 0. 1. ]] SLAMing on 300.513133365 meters Centerline goodness [0,1] 0.3096537571497183 Centerline is valid? [False, False] Translation: X:3.29, Y:0.21, Z:-0.16 [[ 9.99783657e-01 1.10996390e-03 -2.07703341e-02 3.28773095e+00] [-9.87646672e-04 9.99982117e-01 5.89836655e-03 2.09956192e-01] [ 2.07765096e-02 -5.87657673e-03 9.99766874e-01 -1.56475888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54313336499996 meters Centerline goodness [0,1] 0.3088842526187682 Centerline is valid? [False, False] Translation: X:3.29, Y:0.21, Z:-0.16 [[ 9.99781120e-01 9.91884320e-04 -2.08980460e-02 3.28791709e+00] [-8.64751413e-04 9.99981072e-01 6.09164175e-03 2.08323332e-01] [ 2.09036926e-02 -6.07223680e-03 9.99763054e-01 -1.56340806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.573133365 meters Centerline goodness [0,1] 0.3094485118918685 Centerline is valid? [False, False] Translation: X:3.29, Y:0.21, Z:-0.16 [[ 9.99777332e-01 8.53406628e-04 -2.10845238e-02 3.28833567e+00] [-7.21095904e-04 9.99980008e-01 6.28205919e-03 2.06614121e-01] [ 2.10894635e-02 -6.26545642e-03 9.99757960e-01 -1.56347228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60313336499996 meters Centerline goodness [0,1] 0.30906512490454896 Centerline is valid? [False, False] Translation: X:3.29, Y:0.20, Z:-0.16 [[ 9.99779077e-01 -2.85514192e-03 -2.08241658e-02 3.28817592e+00] [ 2.92037648e-03 9.99990922e-01 3.10289997e-03 2.03951777e-01] [ 2.08151176e-02 -3.16302887e-03 9.99778338e-01 -1.56847214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.633133365 meters Centerline goodness [0,1] 0.3085791059007086 Centerline is valid? [False, False] Translation: X:3.29, Y:0.20, Z:-0.16 [[ 9.99776484e-01 -2.88746233e-03 -2.09438591e-02 3.28826994e+00] [ 2.95860761e-03 9.99989956e-01 3.36676172e-03 2.02060203e-01] [ 2.09339273e-02 -3.42797385e-03 9.99774985e-01 -1.56646732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66313336499996 meters Centerline goodness [0,1] 0.30978993606749883 Centerline is valid? [False, False] Translation: X:3.29, Y:0.20, Z:-0.16 [[ 9.99777941e-01 -2.82815166e-03 -2.08822757e-02 3.28791720e+00] [ 2.90593581e-03 9.99988949e-01 3.69548410e-03 2.00314282e-01] [ 2.08715936e-02 -3.75534604e-03 9.99775112e-01 -1.56350105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.693133365 meters Centerline goodness [0,1] 0.3034364261168385 Centerline is valid? [False, False] Translation: X:3.31, Y:0.20, Z:-0.16 [[ 9.99793451e-01 3.50441787e-03 -2.00193439e-02 3.30969401e+00] [-3.48276267e-03 9.99993312e-01 1.11647624e-03 1.96831579e-01] [ 2.00231226e-02 -1.04652301e-03 9.99798969e-01 -1.56608901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72313336499997 meters Centerline goodness [0,1] 0.3104723775539068 Centerline is valid? [False, False] Translation: X:3.29, Y:0.20, Z:-0.16 [[ 9.99754169e-01 -6.13961349e-03 -2.13051050e-02 3.28971752e+00] [ 6.18218223e-03 9.99979022e-01 1.93276487e-03 1.95390841e-01] [ 2.12927917e-02 -2.06400178e-03 9.99771152e-01 -1.57977755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.753133365 meters Centerline goodness [0,1] 0.30724580969151505 Centerline is valid? [False, False] Translation: X:3.29, Y:0.19, Z:-0.16 [[ 9.99752906e-01 -6.10822459e-03 -2.13732839e-02 3.28998145e+00] [ 6.15919614e-03 9.99978341e-01 2.31980970e-03 1.92760774e-01] [ 2.13586510e-02 -2.45087873e-03 9.99768874e-01 -1.58154750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78313336499997 meters Centerline goodness [0,1] 0.30709432976221585 Centerline is valid? [False, False] Translation: X:3.29, Y:0.19, Z:-0.16 [[ 9.99755304e-01 -6.03257234e-03 -2.12824138e-02 3.28979415e+00] [ 6.09145710e-03 9.99977793e-01 2.70308423e-03 1.90380867e-01] [ 2.12656346e-02 -2.83206370e-03 9.99769850e-01 -1.58189860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.813133365 meters Centerline goodness [0,1] 0.3098871785901697 Centerline is valid? [False, False] Translation: X:3.29, Y:0.19, Z:-0.16 [[ 9.99761609e-01 -5.92624920e-03 -2.10143869e-02 3.28887778e+00] [ 5.99220326e-03 9.99977313e-01 3.07694087e-03 1.88309339e-01] [ 2.09956754e-02 -3.20212984e-03 9.99774439e-01 -1.57756101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84313336499997 meters Centerline goodness [0,1] 0.30437505398635223 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:-0.16 [[ 9.99804934e-01 2.12174257e-03 -1.96365167e-02 3.30724855e+00] [-2.08850653e-03 9.99996352e-01 1.71291537e-03 1.82857902e-01] [ 1.96400794e-02 -1.67157024e-03 9.99805718e-01 -1.56289813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.873133365 meters Centerline goodness [0,1] 0.30547836015424723 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:-0.16 [[ 9.99801886e-01 2.14778518e-03 -1.97882837e-02 3.30766300e+00] [-2.11123709e-03 9.99996027e-01 1.86766164e-03 1.81628509e-01] [ 1.97922165e-02 -1.82551387e-03 9.99802448e-01 -1.56333517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.903133365 meters Centerline goodness [0,1] 0.3096706697761601 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:-0.16 [[ 9.99798561e-01 2.13791956e-03 -1.99566385e-02 3.30826928e+00] [-2.10210629e-03 9.99996143e-01 1.81535959e-03 1.81952705e-01] [ 1.99604426e-02 -1.77304293e-03 9.99799198e-01 -1.56653458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.933133365 meters Centerline goodness [0,1] 0.3097462992882407 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:-0.16 [[ 9.99799027e-01 2.18001321e-03 -1.99287021e-02 3.30840269e+00] [-2.14510455e-03 9.99996128e-01 1.77288615e-03 1.82585740e-01] [ 1.99324898e-02 -1.72978069e-03 9.99799832e-01 -1.56950112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.963133365 meters Centerline goodness [0,1] 0.30792094244245327 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:-0.16 [[ 9.99800262e-01 2.20369781e-03 -1.98640566e-02 3.30833888e+00] [-2.17161469e-03 9.99996303e-01 1.63656044e-03 1.83701527e-01] [ 1.98675896e-02 -1.59309648e-03 9.99801351e-01 -1.57059321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.993133365 meters Centerline goodness [0,1] 0.31040521902843754 Centerline is valid? [False, False] Translation: X:3.31, Y:0.19, Z:-0.16 [[ 9.99802781e-01 2.11507369e-03 -1.97465241e-02 3.30806221e+00] [-2.09038168e-03 9.99997007e-01 1.27100534e-03 1.85653225e-01] [ 1.97491533e-02 -1.22947690e-03 9.99804210e-01 -1.57022427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.023133365 meters Centerline goodness [0,1] 0.304311219533257 Centerline is valid? [False, False] Translation: X:3.33, Y:0.19, Z:-0.16 [[ 9.99781569e-01 -5.13490806e-03 -2.02594800e-02 3.32787801e+00] [ 5.17656838e-03 9.99984593e-01 2.00443060e-03 1.90141988e-01] [ 2.02488753e-02 -2.10886735e-03 9.99792746e-01 -1.55351272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.053133365 meters Centerline goodness [0,1] 0.30897639854424996 Centerline is valid? [False, False] Translation: X:3.33, Y:0.19, Z:-0.16 [[ 9.99779478e-01 -5.16607593e-03 -2.03545569e-02 3.32813473e+00] [ 5.20643819e-03 9.99984583e-01 1.93046552e-03 1.90561629e-01] [ 2.03442702e-02 -2.03601455e-03 9.99790961e-01 -1.55469793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.083133365 meters Centerline goodness [0,1] 0.3105870987573003 Centerline is valid? [False, False] Translation: X:3.33, Y:0.19, Z:-0.16 [[ 9.99778700e-01 -5.19992185e-03 -2.03841199e-02 3.32812370e+00] [ 5.23922982e-03 9.99984516e-01 1.87543256e-03 1.90894997e-01] [ 2.03740522e-02 -1.98181461e-03 9.99790463e-01 -1.55386610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.113133365 meters Centerline goodness [0,1] 0.3056271245155563 Centerline is valid? [False, False] Translation: X:3.35, Y:0.19, Z:-0.16 [[ 9.99815697e-01 1.50474574e-03 -1.91391888e-02 3.34918734e+00] [-1.51953636e-03 9.99998558e-01 -7.58273431e-04 1.89461458e-01] [ 1.91380202e-02 7.87216372e-04 9.99816541e-01 -1.55401460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.143133365 meters Centerline goodness [0,1] 0.30515105411866983 Centerline is valid? [False, False] Translation: X:3.35, Y:0.19, Z:-0.16 [[ 9.99818925e-01 1.44655765e-03 -1.89743169e-02 3.34862874e+00] [-1.46076523e-03 9.99998663e-01 -7.34940964e-04 1.89081490e-01] [ 1.89732284e-02 7.62524907e-04 9.99819701e-01 -1.55174179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.173133365 meters Centerline goodness [0,1] 0.3065047209926077 Centerline is valid? [False, False] Translation: X:3.35, Y:0.19, Z:-0.16 [[ 9.99820783e-01 8.94662117e-04 -1.89103395e-02 3.34839737e+00] [-9.13770436e-04 9.99999081e-01 -1.00185288e-03 1.88694706e-01] [ 1.89094258e-02 1.01895304e-03 9.99820682e-01 -1.55115268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.203133365 meters Centerline goodness [0,1] 0.3041737520718083 Centerline is valid? [False, False] Translation: X:3.37, Y:0.19, Z:-0.15 [[ 9.99791670e-01 -7.01445071e-03 -1.91680442e-02 3.36964639e+00] [ 7.01115889e-03 9.99975393e-01 -2.38931526e-04 1.91136043e-01] [ 1.91692485e-02 1.04491545e-04 9.99816248e-01 -1.53861577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23313336499996 meters Centerline goodness [0,1] 0.3072635429367706 Centerline is valid? [False, False] Translation: X:3.35, Y:0.19, Z:-0.16 [[ 9.99816623e-01 2.56721088e-04 -1.91482138e-02 3.35096363e+00] [-2.77330841e-04 9.99999385e-01 -1.07368006e-03 1.86358460e-01] [ 1.91479264e-02 1.07879356e-03 9.99816080e-01 -1.55740564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.263133365 meters Centerline goodness [0,1] 0.30580692993741687 Centerline is valid? [False, False] Translation: X:3.35, Y:0.19, Z:-0.16 [[ 9.99815562e-01 2.06172324e-04 -1.92041403e-02 3.35106879e+00] [-2.24416162e-04 9.99999526e-01 -9.47844813e-04 1.85389686e-01] [ 1.92039357e-02 9.51979715e-04 9.99815134e-01 -1.55811197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29313336499996 meters Centerline goodness [0,1] 0.3045156812562356 Centerline is valid? [False, False] Translation: X:3.35, Y:0.18, Z:-0.16 [[ 9.99815645e-01 1.26565043e-04 -1.92005010e-02 3.35097545e+00] [-1.43293299e-04 9.99999611e-01 -8.69867346e-04 1.84576271e-01] [ 1.92003834e-02 8.72458285e-04 9.99815275e-01 -1.55768058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.323133365 meters Centerline goodness [0,1] 0.3047877537726631 Centerline is valid? [False, False] Translation: X:3.35, Y:0.18, Z:-0.16 [[ 9.99817668e-01 1.04195397e-04 -1.90950384e-02 3.35073362e+00] [-1.18852365e-04 9.99999699e-01 -7.66446682e-04 1.83745005e-01] [ 1.90949528e-02 7.68576424e-04 9.99817379e-01 -1.55794449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35313336499996 meters Centerline goodness [0,1] 0.3057825886890023 Centerline is valid? [False, False] Translation: X:3.35, Y:0.18, Z:-0.16 [[ 9.99818978e-01 2.41815274e-05 -1.90265714e-02 3.35083543e+00] [-3.79324944e-05 9.99999738e-01 -7.22363812e-04 1.83090823e-01] [ 1.90265489e-02 7.22954774e-04 9.99818717e-01 -1.56274812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.383133365 meters Centerline goodness [0,1] 0.30224816255944664 Centerline is valid? [False, False] Translation: X:3.37, Y:0.19, Z:-0.15 [[ 9.99784603e-01 -7.31496381e-03 -1.94226451e-02 3.37091164e+00] [ 7.31927650e-03 9.99973202e-01 1.50966316e-04 1.86720769e-01] [ 1.94210203e-02 -2.93093508e-04 9.99811351e-01 -1.54751307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41313336499996 meters Centerline goodness [0,1] 0.30642691516821985 Centerline is valid? [False, False] Translation: X:3.35, Y:0.18, Z:-0.16 [[ 9.99819244e-01 6.00387953e-04 -1.90031452e-02 3.35043024e+00] [-6.11988494e-04 9.99999630e-01 -6.04644243e-04 1.84113085e-01] [ 1.90027752e-02 6.16164656e-04 9.99819241e-01 -1.56566297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.443133365 meters Centerline goodness [0,1] 0.30305637407781816 Centerline is valid? [False, False] Translation: X:3.39, Y:0.18, Z:-0.16 [[ 9.99850134e-01 1.83591829e-03 -1.72145107e-02 3.39335985e+00] [-1.85018252e-03 9.99997958e-01 -8.12727282e-04 1.84385810e-01] [ 1.72129834e-02 8.44455469e-04 9.99851489e-01 -1.55676644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47313336499997 meters Centerline goodness [0,1] 0.30497731663374505 Centerline is valid? [False, False] Translation: X:3.39, Y:0.19, Z:-0.16 [[ 9.99855018e-01 1.96731327e-03 -1.69137072e-02 3.39278032e+00] [-1.98836241e-03 9.99997269e-01 -1.22777590e-03 1.87704098e-01] [ 1.69112456e-02 1.26122848e-03 9.99856199e-01 -1.55741575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.503133365 meters Centerline goodness [0,1] 0.30294111328334805 Centerline is valid? [False, False] Translation: X:3.41, Y:0.19, Z:-0.15 [[ 9.99838334e-01 -3.05761515e-03 -1.77188126e-02 3.41423177e+00] [ 3.08386709e-03 9.99994187e-01 1.45445202e-03 1.91443267e-01] [ 1.77142624e-02 -1.50885935e-03 9.99841952e-01 -1.54770765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53313336499997 meters Centerline goodness [0,1] 0.30634710815437627 Centerline is valid? [False, False] Translation: X:3.41, Y:0.19, Z:-0.15 [[ 9.99839681e-01 -3.13131326e-03 -1.76297403e-02 3.41415055e+00] [ 3.15120321e-03 9.99994429e-01 1.10053799e-03 1.93455636e-01] [ 1.76261960e-02 -1.15591645e-03 9.99843978e-01 -1.54893414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.563133365 meters Centerline goodness [0,1] 0.3051048333225591 Centerline is valid? [False, False] Translation: X:3.41, Y:0.20, Z:-0.15 [[ 9.99840068e-01 -3.22086707e-03 -1.75915918e-02 3.41411099e+00] [ 3.23335123e-03 9.99994541e-01 6.81270361e-04 1.95836877e-01] [ 1.75893015e-02 -7.38041199e-04 9.99845024e-01 -1.54952237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59313336499997 meters Centerline goodness [0,1] 0.3031103664561584 Centerline is valid? [False, False] Translation: X:3.41, Y:0.20, Z:-0.16 [[ 9.99839638e-01 -3.30877227e-03 -1.75997497e-02 3.41419643e+00] [ 3.31361638e-03 9.99994480e-01 2.46082491e-04 1.98338323e-01] [ 1.75988383e-02 -3.04361848e-04 9.99845082e-01 -1.55024836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.623133365 meters Centerline goodness [0,1] 0.3035288558603063 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:-0.16 [[ 9.99834778e-01 2.33556479e-04 -1.81758787e-02 3.41583748e+00] [-1.76614552e-04 9.99995072e-01 3.13437154e-03 2.02924994e-01] [ 1.81765211e-02 -3.13064354e-03 9.99829892e-01 -1.55555174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.653133365 meters Centerline goodness [0,1] 0.30183975240715266 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:-0.16 [[ 9.99831690e-01 8.02492772e-05 -1.83462455e-02 3.41657001e+00] [-3.26141048e-05 9.99996628e-01 2.59673790e-03 2.06027222e-01] [ 1.83463920e-02 -2.59570250e-03 9.99828321e-01 -1.56056648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.683133365 meters Centerline goodness [0,1] 0.3027984873041599 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:-0.16 [[ 9.99831648e-01 -1.25571904e-04 -1.83482705e-02 3.41666248e+00] [ 1.62856431e-04 9.99997925e-01 2.03056577e-03 2.08971087e-01] [ 1.83479774e-02 -2.03321205e-03 9.99829594e-01 -1.56172798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.713133365 meters Centerline goodness [0,1] 0.30310272807527505 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:-0.16 [[ 9.99833895e-01 -3.88075573e-04 -1.82217313e-02 3.41622861e+00] [ 4.13831283e-04 9.99998921e-01 1.40971178e-03 2.11948253e-01] [ 1.82211645e-02 -1.41701834e-03 9.99832977e-01 -1.55968030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.743133365 meters Centerline goodness [0,1] 0.3077376920219391 Centerline is valid? [False, False] Translation: X:3.37, Y:0.22, Z:-0.15 [[ 9.99812482e-01 -1.70142425e-03 -1.92900242e-02 3.36882528e+00] [ 1.71598499e-03 9.99998255e-01 7.38305550e-04 2.20516612e-01] [ 1.92887343e-02 -7.71268496e-04 9.99813658e-01 -1.54991145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.773133365 meters Centerline goodness [0,1] 0.30640571714056086 Centerline is valid? [False, False] Translation: X:3.37, Y:0.22, Z:-0.16 [[ 9.99812723e-01 -1.88453846e-03 -1.92605405e-02 3.36881037e+00] [ 1.89051686e-03 9.99998170e-01 2.92193013e-04 2.22887356e-01] [ 1.92599546e-02 -3.28550668e-04 9.99814456e-01 -1.55133970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.803133365 meters Centerline goodness [0,1] 0.30561217851411715 Centerline is valid? [False, False] Translation: X:3.37, Y:0.22, Z:-0.16 [[ 9.99813419e-01 -2.04481291e-03 -1.92079429e-02 3.36879265e+00] [ 2.04430603e-03 9.99997909e-01 -4.60241972e-05 2.24623053e-01] [ 1.92079968e-02 6.74869642e-06 9.99815509e-01 -1.55358195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.833133365 meters Centerline goodness [0,1] 0.3081634877384196 Centerline is valid? [False, False] Translation: X:3.37, Y:0.23, Z:-0.16 [[ 9.99812776e-01 -2.21050176e-03 -1.92230780e-02 3.36897885e+00] [ 2.20404298e-03 9.99997507e-01 -3.57170379e-04 2.26105046e-01] [ 1.92238196e-02 3.14735018e-04 9.99815156e-01 -1.55657922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.863133365 meters Centerline goodness [0,1] 0.3051734286773202 Centerline is valid? [False, False] Translation: X:3.37, Y:0.23, Z:-0.16 [[ 9.99810950e-01 -2.38148874e-03 -1.92974712e-02 3.36930797e+00] [ 2.36974973e-03 9.99996993e-01 -6.31163331e-04 2.27345339e-01] [ 1.92989163e-02 5.85313833e-04 9.99813587e-01 -1.55964729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.893133365 meters Centerline goodness [0,1] 0.30563049342964055 Centerline is valid? [False, False] Translation: X:3.37, Y:0.23, Z:-0.16 [[ 9.99803175e-01 -2.80108494e-03 -1.96409145e-02 3.37049607e+00] [ 2.77860689e-03 9.99995453e-01 -1.17164660e-03 2.29464156e-01] [ 1.96441071e-02 1.11684161e-03 9.99806412e-01 -1.56679685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.923133365 meters Centerline goodness [0,1] 0.3000301256670683 Centerline is valid? [False, False] Translation: X:3.39, Y:0.23, Z:-0.16 [[ 9.99794757e-01 4.80286086e-03 -1.96818914e-02 3.38932902e+00] [-4.85753141e-03 9.99984473e-01 -2.73084270e-03 2.25736992e-01] [ 1.96684700e-02 2.82588762e-03 9.99802563e-01 -1.55619526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.953133365 meters Centerline goodness [0,1] 0.30555011639797225 Centerline is valid? [False, False] Translation: X:3.37, Y:0.23, Z:-0.16 [[ 9.99793177e-01 -3.49059902e-03 -2.00354627e-02 3.37077441e+00] [ 3.45919141e-03 9.99992734e-01 -1.60204369e-03 2.32884226e-01] [ 2.00409092e-02 1.53240585e-03 9.99797986e-01 -1.57525855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98313336499996 meters Centerline goodness [0,1] 0.30675260762580847 Centerline is valid? [False, False] Translation: X:3.37, Y:0.23, Z:-0.16 [[ 9.99793210e-01 -3.61730870e-03 -2.00113244e-02 3.37081625e+00] [ 3.57829959e-03 9.99991628e-01 -1.98481538e-03 2.34984303e-01] [ 2.00183365e-02 1.91279842e-03 9.99797783e-01 -1.57627973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.013133365 meters Centerline goodness [0,1] 0.3061246659569383 Centerline is valid? [False, False] Translation: X:3.37, Y:0.24, Z:-0.16 [[ 9.99797684e-01 -3.67985702e-03 -1.97749906e-02 3.37024653e+00] [ 3.63267067e-03 9.99990470e-01 -2.42155504e-03 2.37853497e-01] [ 1.97837131e-02 2.34922909e-03 9.99801523e-01 -1.57537862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04313336499996 meters Centerline goodness [0,1] 0.3079325150713449 Centerline is valid? [False, False] Translation: X:3.37, Y:0.24, Z:-0.16 [[ 9.99802510e-01 -3.73245755e-03 -1.95194574e-02 3.36963505e+00] [ 3.67646805e-03 9.99989027e-01 -2.90349301e-03 2.41071541e-01] [ 1.95300803e-02 2.83115694e-03 9.99805261e-01 -1.57406072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.073133365 meters Centerline goodness [0,1] 0.30981521478281737 Centerline is valid? [False, False] Translation: X:3.37, Y:0.25, Z:-0.16 [[ 9.99804281e-01 -9.67625977e-04 -1.97601680e-02 3.37195142e+00] [ 9.48730577e-04 9.99999084e-01 -9.65588887e-04 2.47121718e-01] [ 1.97610842e-02 9.46652827e-04 9.99804283e-01 -1.59382940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10313336499996 meters Centerline goodness [0,1] 0.3080292287343611 Centerline is valid? [False, False] Translation: X:3.37, Y:0.25, Z:-0.16 [[ 9.99802167e-01 -1.12397616e-03 -1.98585646e-02 3.37246028e+00] [ 1.09415976e-03 9.99998258e-01 -1.51223919e-03 2.50100764e-01] [ 1.98602298e-02 1.49021158e-03 9.99801656e-01 -1.59800698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.133133365 meters Centerline goodness [0,1] 0.3080292287343611 Centerline is valid? [False, False] Translation: X:3.37, Y:0.25, Z:-0.16 [[ 9.99802167e-01 -1.12397616e-03 -1.98585646e-02 3.37246028e+00] [ 1.09415976e-03 9.99998258e-01 -1.51223919e-03 2.50100764e-01] [ 1.98602298e-02 1.49021158e-03 9.99801656e-01 -1.59800698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16313336499996 meters Centerline goodness [0,1] 0.3097408829174664 Centerline is valid? [False, False] Translation: X:3.37, Y:0.25, Z:-0.16 [[ 9.99804485e-01 -1.27305640e-03 -1.97324856e-02 3.37217646e+00] [ 1.23409117e-03 9.99997265e-01 -1.98672593e-03 2.52726968e-01] [ 1.97349609e-02 1.96198581e-03 9.99803322e-01 -1.59790957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.193133365 meters Centerline goodness [0,1] 0.3093025275775211 Centerline is valid? [False, False] Translation: X:3.37, Y:0.26, Z:-0.16 [[ 9.99805656e-01 -1.40161345e-03 -1.96643492e-02 3.37193838e+00] [ 1.35515022e-03 9.99996259e-01 -2.37594227e-03 2.55020523e-01] [ 1.96676058e-02 2.34883238e-03 9.99803815e-01 -1.59672480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22313336499997 meters Centerline goodness [0,1] 0.3102520716733914 Centerline is valid? [False, False] Translation: X:3.37, Y:0.26, Z:-0.16 [[ 9.99803747e-01 -1.62470189e-03 -1.97440348e-02 3.37215483e+00] [ 1.56798891e-03 9.99994602e-01 -2.88755256e-03 2.57799013e-01] [ 1.97486196e-02 2.85602744e-03 9.99800898e-01 -1.59748563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.253133365 meters Centerline goodness [0,1] 0.3088718272179568 Centerline is valid? [False, False] Translation: X:3.37, Y:0.26, Z:-0.16 [[ 9.99796944e-01 -1.77527256e-03 -2.00728421e-02 3.37313109e+00] [ 1.71248176e-03 9.99993588e-01 -3.14490325e-03 2.58924127e-01] [ 2.00782965e-02 3.10989028e-03 9.99793574e-01 -1.60121008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28313336499997 meters Centerline goodness [0,1] 0.30471610233747104 Centerline is valid? [False, False] Translation: X:3.37, Y:0.26, Z:-0.16 [[ 9.99789438e-01 -1.91636866e-03 -2.04305239e-02 3.37416092e+00] [ 1.84783338e-03 9.99992604e-01 -3.37290367e-03 2.59882405e-01] [ 2.04368366e-02 3.33444126e-03 9.99785586e-01 -1.60483633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.313133365 meters Centerline goodness [0,1] 0.3099904189530529 Centerline is valid? [False, False] Translation: X:3.37, Y:0.26, Z:-0.16 [[ 9.99787080e-01 -1.99762910e-03 -2.05378893e-02 3.37458982e+00] [ 1.92531325e-03 9.99991880e-01 -3.54026439e-03 2.60793590e-01] [ 2.05447947e-02 3.49996872e-03 9.99782807e-01 -1.60826780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34313336499997 meters Centerline goodness [0,1] 0.3061070837008196 Centerline is valid? [False, False] Translation: X:3.39, Y:0.27, Z:-0.16 [[ 9.99754258e-01 -9.90224655e-03 -1.98335290e-02 3.39431757e+00] [ 9.85194793e-03 9.99948004e-01 -2.63214795e-03 2.65026783e-01] [ 1.98585619e-02 2.43610222e-03 9.99799831e-01 -1.59354714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.373133365 meters Centerline goodness [0,1] 0.30760749724366043 Centerline is valid? [False, False] Translation: X:3.39, Y:0.27, Z:-0.16 [[ 9.99761677e-01 -1.00104391e-02 -1.94005436e-02 3.39309082e+00] [ 9.95695774e-03 9.99946363e-01 -2.85133121e-03 2.66131925e-01] [ 1.94280461e-02 2.65748127e-03 9.99807726e-01 -1.59033551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.403133365 meters Centerline goodness [0,1] 0.31226790018893735 Centerline is valid? [False, False] Translation: X:3.39, Y:0.27, Z:-0.16 [[ 9.99770078e-01 -1.03773835e-02 -1.87643576e-02 3.39109872e+00] [ 1.03131881e-02 9.99940641e-01 -3.51467810e-03 2.68882561e-01] [ 1.87997169e-02 3.32034965e-03 9.99817756e-01 -1.58250540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.433133365 meters Centerline goodness [0,1] 0.31103431788050684 Centerline is valid? [False, False] Translation: X:3.39, Y:0.27, Z:-0.16 [[ 0.99976834 -0.01048213 -0.01879875 3.39120122] [ 0.01041356 0.99993878 -0.00374162 0.27007746] [ 0.01883682 0.00354499 0.99981629 -0.15829719] [ 0. 0. 0. 1. ]] SLAMing on 302.463133365 meters Centerline goodness [0,1] 0.31072066966037404 Centerline is valid? [False, False] Translation: X:3.39, Y:0.27, Z:-0.16 [[ 0.99976644 -0.0105694 -0.01885075 3.39148158] [ 0.01049689 0.99993714 -0.00394156 0.2711853 ] [ 0.01889123 0.00374277 0.99981454 -0.15858875] [ 0. 0. 0. 1. ]] SLAMing on 302.493133365 meters Centerline goodness [0,1] 0.3089982653946227 Centerline is valid? [False, False] Translation: X:3.41, Y:0.27, Z:-0.16 [[ 9.99822826e-01 -2.73257111e-03 -1.86239037e-02 3.41004166e+00] [ 2.63744538e-03 9.99983361e-01 -5.13037176e-03 2.67160345e-01] [ 1.86376129e-02 5.08034326e-03 9.99813397e-01 -1.57317667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.523133365 meters Centerline goodness [0,1] 0.30728249194414603 Centerline is valid? [False, False] Translation: X:3.41, Y:0.27, Z:-0.16 [[ 9.99824253e-01 -2.85005796e-03 -1.85294316e-02 3.40992665e+00] [ 2.75303940e-03 9.99982380e-01 -5.25931880e-03 2.67546486e-01] [ 1.85440944e-02 5.20738224e-03 9.99814483e-01 -1.57535113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.553133365 meters Centerline goodness [0,1] 0.31019466660917927 Centerline is valid? [False, False] Translation: X:3.41, Y:0.27, Z:-0.16 [[ 9.99827982e-01 -3.09696707e-03 -1.82870404e-02 3.40949101e+00] [ 2.99947641e-03 9.99981157e-01 -5.35615744e-03 2.67363384e-01] [ 1.83032837e-02 5.30038454e-03 9.99818431e-01 -1.57836029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.583133365 meters Centerline goodness [0,1] 0.31023209491642856 Centerline is valid? [False, False] Translation: X:3.41, Y:0.27, Z:-0.16 [[ 9.99828963e-01 -3.07195957e-03 -1.82375433e-02 3.40965017e+00] [ 2.97686446e-03 9.99981845e-01 -5.23911017e-03 2.66877337e-01] [ 1.82533065e-02 5.18392339e-03 9.99819956e-01 -1.58330774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.613133365 meters Centerline goodness [0,1] 0.3100978753879208 Centerline is valid? [False, False] Translation: X:3.41, Y:0.27, Z:-0.16 [[ 9.99829687e-01 -3.05700939e-03 -1.82002961e-02 3.40979755e+00] [ 2.96387756e-03 9.99982388e-01 -5.14182713e-03 2.66379498e-01] [ 1.82156942e-02 5.08700796e-03 9.99821139e-01 -1.58753931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.643133365 meters Centerline goodness [0,1] 0.3131430069242699 Centerline is valid? [False, False] Translation: X:3.41, Y:0.27, Z:-0.16 [[ 9.99828019e-01 -3.07887255e-03 -1.82880521e-02 3.41009566e+00] [ 2.98523246e-03 9.99982307e-01 -5.14538228e-03 2.66313650e-01] [ 1.83035705e-02 5.08990329e-03 9.99819520e-01 -1.58918826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.673133365 meters Centerline goodness [0,1] 0.3104320153450456 Centerline is valid? [False, False] Translation: X:3.41, Y:0.27, Z:-0.16 [[ 9.99818533e-01 -3.00483071e-03 -1.88114790e-02 3.41131296e+00] [ 2.90842025e-03 9.99982507e-01 -5.15034914e-03 2.67021806e-01] [ 1.88266259e-02 5.09470284e-03 9.99809783e-01 -1.58924534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.703133365 meters Centerline goodness [0,1] 0.3107725788900979 Centerline is valid? [False, False] Translation: X:3.41, Y:0.27, Z:-0.16 [[ 9.99812140e-01 -2.95902891e-03 -1.91554032e-02 3.41225455e+00] [ 2.85972862e-03 9.99982343e-01 -5.20924889e-03 2.67791242e-01] [ 1.91704793e-02 5.15349103e-03 9.99802948e-01 -1.59112889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73313336499996 meters Centerline goodness [0,1] 0.30318257956448913 Centerline is valid? [False, False] Translation: X:3.41, Y:0.27, Z:-0.16 [[ 9.99806033e-01 -2.95072270e-03 -1.94728066e-02 3.41316260e+00] [ 2.84727774e-03 9.99981700e-01 -5.33786597e-03 2.68753036e-01] [ 1.94882008e-02 5.28138611e-03 9.99796138e-01 -1.59334240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.763133365 meters Centerline goodness [0,1] 0.3079765738119422 Centerline is valid? [False, False] Translation: X:3.41, Y:0.27, Z:-0.16 [[ 9.99804150e-01 -2.99322857e-03 -1.95627679e-02 3.41352301e+00] [ 2.88532841e-03 9.99980483e-01 -5.54148746e-03 2.69872270e-01] [ 1.95789730e-02 5.48395715e-03 9.99793274e-01 -1.59522872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79313336499996 meters Centerline goodness [0,1] 0.3125164113785558 Centerline is valid? [False, False] Translation: X:3.39, Y:0.27, Z:-0.16 [[ 0.99979701 0.00533515 -0.01942857 3.39279086] [-0.00546215 0.99996402 -0.00648957 0.26784883] [ 0.01939325 0.00659438 0.99979019 -0.1611583 ] [ 0. 0. 0. 1. ]] SLAMing on 302.823133365 meters Centerline goodness [0,1] 0.30649243882915433 Centerline is valid? [False, False] Translation: X:3.41, Y:0.27, Z:-0.16 [[ 9.99823977e-01 -2.31629725e-03 -1.86185332e-02 3.41208312e+00] [ 2.21728280e-03 9.99983300e-01 -5.33694354e-03 2.70993732e-01] [ 1.86305842e-02 5.29472156e-03 9.99812416e-01 -1.59457575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85313336499996 meters Centerline goodness [0,1] 0.31333551412059757 Centerline is valid? [False, False] Translation: X:3.41, Y:0.27, Z:-0.16 [[ 9.99833495e-01 -2.23492448e-03 -1.81104354e-02 3.41038365e+00] [ 2.13463747e-03 9.99982293e-01 -5.55496701e-03 2.72726459e-01] [ 1.81225296e-02 5.51538287e-03 9.99820561e-01 -1.58501929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.883133365 meters Centerline goodness [0,1] 0.3155599386368617 Centerline is valid? [False, False] Translation: X:3.41, Y:0.27, Z:-0.16 [[ 9.99833221e-01 -2.31029551e-03 -1.81160883e-02 3.41008781e+00] [ 2.20437041e-03 9.99980372e-01 -5.86480929e-03 2.74377737e-01] [ 1.81292821e-02 5.82389659e-03 9.99818689e-01 -1.57934740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91313336499996 meters Centerline goodness [0,1] 0.3108779323542693 Centerline is valid? [False, False] Translation: X:3.45, Y:0.27, Z:-0.16 [[ 9.99863987e-01 -1.47406017e-03 -1.64266335e-02 3.45318623e+00] [ 1.38113756e-03 9.99982990e-01 -5.66673553e-03 2.73788709e-01] [ 1.64347072e-02 5.64327734e-03 9.99849016e-01 -1.56944729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.943133365 meters Centerline goodness [0,1] 0.31232328504937146 Centerline is valid? [False, False] Translation: X:3.45, Y:0.28, Z:-0.16 [[ 9.99861329e-01 -1.54665483e-03 -1.65810335e-02 3.45357529e+00] [ 1.44569639e-03 9.99980356e-01 -6.09904871e-03 2.76438094e-01] [ 1.65901409e-02 6.07423181e-03 9.99843923e-01 -1.56874835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97313336499997 meters Centerline goodness [0,1] 0.3108251095899285 Centerline is valid? [False, False] Translation: X:3.45, Y:0.28, Z:-0.16 [[ 9.99857599e-01 -1.55350224e-03 -1.68038177e-02 3.45426466e+00] [ 1.44409931e-03 9.99977697e-01 -6.52077572e-03 2.79413074e-01] [ 1.68135730e-02 6.49558077e-03 9.99837542e-01 -1.57027042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.003133365 meters Centerline goodness [0,1] 0.3099169117804925 Centerline is valid? [False, False] Translation: X:3.46, Y:0.28, Z:-0.16 [[ 9.99851826e-01 -1.56920833e-03 -1.71424365e-02 3.45528849e+00] [ 1.44993953e-03 9.99974674e-01 -6.96773172e-03 2.82564466e-01] [ 1.71529362e-02 6.94184379e-03 9.99828779e-01 -1.57253901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03313336499997 meters Centerline goodness [0,1] 0.31215385946694363 Centerline is valid? [False, False] Translation: X:3.46, Y:0.29, Z:-0.16 [[ 9.99849864e-01 1.93816594e-03 -1.72189932e-02 3.45539678e+00] [-2.00779603e-03 9.99989874e-01 -4.02742915e-03 2.86228808e-01] [ 1.72110130e-02 4.06139671e-03 9.99843631e-01 -1.57109973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.063133365 meters Centerline goodness [0,1] 0.31520679420239617 Centerline is valid? [False, False] Translation: X:3.46, Y:0.29, Z:-0.16 [[ 9.99850762e-01 1.79431990e-03 -1.71823999e-02 3.45510674e+00] [-1.87130013e-03 9.99988280e-01 -4.46515000e-03 2.88580180e-01] [ 1.71741866e-02 4.49663706e-03 9.99842401e-01 -1.56726688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09313336499997 meters Centerline goodness [0,1] 0.31130036313332177 Centerline is valid? [False, False] Translation: X:3.46, Y:0.29, Z:-0.16 [[ 9.99849919e-01 1.64966490e-03 -1.72457880e-02 3.45506548e+00] [-1.73333959e-03 9.99986794e-01 -4.83807045e-03 2.90567261e-01] [ 1.72375790e-02 4.86723715e-03 9.99839575e-01 -1.56401138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.123133365 meters Centerline goodness [0,1] 0.3153377151258324 Centerline is valid? [False, False] Translation: X:3.46, Y:0.29, Z:-0.16 [[ 9.99849572e-01 1.26403112e-03 -1.72984495e-02 3.45516671e+00] [-1.36298555e-03 9.99982770e-01 -5.70982863e-03 2.94840371e-01] [ 1.72909340e-02 5.73254724e-03 9.99834067e-01 -1.56227496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.153133365 meters Centerline goodness [0,1] 0.3178516735943995 Centerline is valid? [False, False] Translation: X:3.45, Y:0.30, Z:-0.16 [[ 9.99851915e-01 1.05626184e-03 -1.71765213e-02 3.45495620e+00] [-1.16291740e-03 9.99980100e-01 -6.20057868e-03 2.97241530e-01] [ 1.71696300e-02 6.21963534e-03 9.99833246e-01 -1.56306177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.183133365 meters Centerline goodness [0,1] 0.31450122818077086 Centerline is valid? [False, False] Translation: X:3.45, Y:0.30, Z:-0.16 [[ 9.99852777e-01 8.82516289e-04 -1.71360736e-02 3.45496243e+00] [-9.96720984e-04 9.99977344e-01 -6.65718129e-03 2.99755841e-01] [ 1.71298103e-02 6.67328108e-03 9.99831004e-01 -1.56391720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.213133365 meters Centerline goodness [0,1] 0.3130733202391487 Centerline is valid? [False, False] Translation: X:3.47, Y:0.31, Z:-0.15 [[ 0.99982287 -0.00672683 -0.01757764 3.47409036] [ 0.00663052 0.99996272 -0.00553114 0.30629758] [ 0.01761419 0.00541361 0.9998302 -0.15426838] [ 0. 0. 0. 1. ]] SLAMing on 303.243133365 meters Centerline goodness [0,1] 0.31537187200279015 Centerline is valid? [False, False] Translation: X:3.45, Y:0.31, Z:-0.16 [[ 9.99837506e-01 1.58085890e-03 -1.79572407e-02 3.45430608e+00] [-1.69919214e-03 9.99976932e-01 -6.57637786e-03 3.06753630e-01] [ 1.79464301e-02 6.60582204e-03 9.99817128e-01 -1.55594209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.273133365 meters Centerline goodness [0,1] 0.3147944080724271 Centerline is valid? [False, False] Translation: X:3.48, Y:0.31, Z:-0.15 [[ 0.99983136 -0.00437674 -0.01783519 3.47518414] [ 0.0043044 0.99998236 -0.00409227 0.31437326] [ 0.01785279 0.00401482 0.99983257 -0.15426736] [ 0. 0. 0. 1. ]] SLAMing on 303.303133365 meters Centerline goodness [0,1] 0.3200983836964161 Centerline is valid? [False, False] Translation: X:3.43, Y:0.32, Z:-0.15 [[ 0.99979416 -0.00438835 -0.01980838 3.42982849] [ 0.004295 0.99997948 -0.00475299 0.32110342] [ 0.01982883 0.00466693 0.9997925 -0.15375802] [ 0. 0. 0. 1. ]] SLAMing on 303.333133365 meters Centerline goodness [0,1] 0.3162215435267616 Centerline is valid? [False, False] Translation: X:3.45, Y:0.32, Z:-0.15 [[ 9.99818627e-01 3.36486802e-03 -1.87454090e-02 3.44932795e+00] [-3.48080050e-03 9.99974997e-01 -6.15538901e-03 3.20094955e-01] [ 1.87242283e-02 6.21952162e-03 9.99805341e-01 -1.52761113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.363133365 meters Centerline goodness [0,1] 0.32003835926943025 Centerline is valid? [False, False] Translation: X:3.45, Y:0.32, Z:-0.15 [[ 9.99818512e-01 3.18435092e-03 -1.87830651e-02 3.44931914e+00] [-3.31090152e-03 9.99972005e-01 -6.71023896e-03 3.23215218e-01] [ 1.87611715e-02 6.77121001e-03 9.99801065e-01 -1.52512071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.393133365 meters Centerline goodness [0,1] 0.31820750206458903 Centerline is valid? [False, False] Translation: X:3.45, Y:0.33, Z:-0.15 [[ 9.99814650e-01 3.05041069e-03 -1.90094983e-02 3.44988384e+00] [-3.18844865e-03 9.99968741e-01 -7.23545296e-03 3.26671496e-01] [ 1.89868330e-02 7.29472268e-03 9.99793122e-01 -1.52445528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.423133365 meters Centerline goodness [0,1] 0.317905736366605 Centerline is valid? [False, False] Translation: X:3.45, Y:0.33, Z:-0.15 [[ 9.99806193e-01 2.65829197e-03 -1.95066462e-02 3.45126335e+00] [-2.81927052e-03 9.99962162e-01 -8.22964307e-03 3.32200403e-01] [ 1.94840313e-02 8.28304263e-03 9.99775857e-01 -1.52624115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.453133365 meters Centerline goodness [0,1] 0.3171962332267676 Centerline is valid? [False, False] Translation: X:3.45, Y:0.33, Z:-0.15 [[ 9.99802786e-01 2.46109708e-03 -1.97061610e-02 3.45178681e+00] [-2.63175461e-03 9.99959221e-01 -8.63886546e-03 3.33916460e-01] [ 1.96840964e-02 8.68902354e-03 9.99768492e-01 -1.52694727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48313336499996 meters Centerline goodness [0,1] 0.31658759558935035 Centerline is valid? [False, False] Translation: X:3.45, Y:0.34, Z:-0.15 [[ 9.99800529e-01 2.30067693e-03 -1.98395806e-02 3.45199994e+00] [-2.47955661e-03 9.99956457e-01 -8.99642294e-03 3.35522466e-01] [ 1.98180189e-02 9.04382177e-03 9.99762700e-01 -1.52476992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.513133365 meters Centerline goodness [0,1] 0.3192752740560292 Centerline is valid? [False, False] Translation: X:3.45, Y:0.34, Z:-0.15 [[ 9.99802338e-01 2.22275338e-03 -1.97571091e-02 3.45155481e+00] [-2.40601592e-03 9.99954260e-01 -9.25685216e-03 3.37083863e-01] [ 1.97356297e-02 9.30255836e-03 9.99761955e-01 -1.52023523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54313336499996 meters Centerline goodness [0,1] 0.31704844484707306 Centerline is valid? [False, False] Translation: X:3.47, Y:0.34, Z:-0.15 [[ 0.99981573 -0.00532558 -0.01844298 3.46970465] [ 0.00518424 0.9999569 -0.00770256 0.34197202] [ 0.01848321 0.00760552 0.99980024 -0.14978139] [ 0. 0. 0. 1. ]] SLAMing on 303.573133365 meters Centerline goodness [0,1] 0.31725373392040057 Centerline is valid? [False, False] Translation: X:3.47, Y:0.35, Z:-0.15 [[ 9.99844580e-01 -3.46730078e-03 -1.72856780e-02 3.46510397e+00] [ 3.35764615e-03 9.99974083e-01 -6.36866061e-03 3.46415255e-01] [ 1.73073120e-02 6.30963160e-03 9.99830308e-01 -1.47499408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60313336499996 meters Centerline goodness [0,1] 0.31607898751584695 Centerline is valid? [False, False] Translation: X:3.47, Y:0.35, Z:-0.15 [[ 0.99984298 -0.00359413 -0.0173523 3.46532373] [ 0.00347966 0.99997202 -0.00662222 0.34740927] [ 0.01737561 0.0065608 0.99982751 -0.14757882] [ 0. 0. 0. 1. ]] SLAMing on 303.633133365 meters Centerline goodness [0,1] 0.31456619337099645 Centerline is valid? [False, False] Translation: X:3.47, Y:0.35, Z:-0.15 [[ 0.99983856 -0.00364514 -0.01759469 3.46610387] [ 0.00352705 0.99997108 -0.00673829 0.34798403] [ 0.01761874 0.00667515 0.9998225 -0.14788509] [ 0. 0. 0. 1. ]] SLAMing on 303.66313336499996 meters Centerline goodness [0,1] 0.31642380942040005 Centerline is valid? [False, False] Translation: X:3.47, Y:0.35, Z:-0.15 [[ 0.99983188 -0.00360953 -0.01797707 3.46730252] [ 0.00348954 0.99997146 -0.00670149 0.34812714] [ 0.01800075 0.00663763 0.99981594 -0.14838898] [ 0. 0. 0. 1. ]] SLAMing on 303.693133365 meters Centerline goodness [0,1] 0.31658771891703963 Centerline is valid? [False, False] Translation: X:3.47, Y:0.35, Z:-0.15 [[ 9.99826720e-01 -3.57251362e-03 -1.82693040e-02 3.46823842e+00] [ 3.45201960e-03 9.99972111e-01 -6.62272372e-03 3.47897495e-01] [ 1.82924543e-02 6.55851014e-03 9.99811168e-01 -1.48826337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72313336499997 meters Centerline goodness [0,1] 0.31597252412833665 Centerline is valid? [False, False] Translation: X:3.47, Y:0.35, Z:-0.15 [[ 9.99823914e-01 -3.57932852e-03 -1.84209179e-02 3.46859848e+00] [ 3.45855770e-03 9.99972345e-01 -6.58386553e-03 3.47616928e-01] [ 1.84439743e-02 6.51899640e-03 9.99808643e-01 -1.48862478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.753133365 meters Centerline goodness [0,1] 0.31593299571484224 Centerline is valid? [False, False] Translation: X:3.47, Y:0.35, Z:-0.15 [[ 0.99982329 -0.00363273 -0.01844426 3.46835636] [ 0.00351151 0.99997205 -0.00660024 0.34728759] [ 0.01846772 0.00653431 0.9998081 -0.14840141] [ 0. 0. 0. 1. ]] SLAMing on 303.78313336499997 meters Centerline goodness [0,1] 0.3137512944425268 Centerline is valid? [False, False] Translation: X:3.47, Y:0.35, Z:-0.15 [[ 0.9998237 -0.00362051 -0.01842427 3.46809783] [ 0.00349809 0.99997162 -0.00667252 0.34791858] [ 0.01844791 0.0066069 0.99980799 -0.14802902] [ 0. 0. 0. 1. ]] SLAMing on 303.813133365 meters Centerline goodness [0,1] 0.3190245604851023 Centerline is valid? [False, False] Translation: X:3.47, Y:0.35, Z:-0.15 [[ 0.99982459 -0.00360757 -0.01837842 3.46782594] [ 0.00348343 0.99997093 -0.00678224 0.34886078] [ 0.01840235 0.00671703 0.9998081 -0.14772331] [ 0. 0. 0. 1. ]] SLAMing on 303.84313336499997 meters Centerline goodness [0,1] 0.3204516609041971 Centerline is valid? [False, False] Translation: X:3.47, Y:0.35, Z:-0.15 [[ 0.99982482 -0.00365319 -0.01835702 3.46770933] [ 0.00352423 0.99996892 -0.0070524 0.35045042] [ 0.01838221 0.00698647 0.99980662 -0.14753149] [ 0. 0. 0. 1. ]] SLAMing on 303.873133365 meters Centerline goodness [0,1] 0.31609681971127757 Centerline is valid? [False, False] Translation: X:3.47, Y:0.35, Z:-0.15 [[ 0.99982263 -0.00370077 -0.01846633 3.46797815] [ 0.00356489 0.99996637 -0.00738568 0.35233393] [ 0.01849304 0.00731854 0.9998022 -0.14748888] [ 0. 0. 0. 1. ]] SLAMing on 303.903133365 meters Centerline goodness [0,1] 0.3161569793754445 Centerline is valid? [False, False] Translation: X:3.47, Y:0.36, Z:-0.15 [[ 0.99982417 -0.00364835 -0.01839369 3.46762458] [ 0.00350103 0.99996159 -0.00803518 0.35662492] [ 0.0184223 0.00796937 0.99979853 -0.14702934] [ 0. 0. 0. 1. ]] SLAMing on 303.933133365 meters Centerline goodness [0,1] 0.3161682323537016 Centerline is valid? [False, False] Translation: X:3.46, Y:0.36, Z:-0.15 [[ 9.99843083e-01 -1.43098025e-03 -1.76567685e-02 3.46443231e+00] [ 1.32165721e-03 9.99979896e-01 -6.20168184e-03 3.60020135e-01] [ 1.76652881e-02 6.17737249e-03 9.99824873e-01 -1.45444373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.963133365 meters Centerline goodness [0,1] 0.3156832971800434 Centerline is valid? [False, False] Translation: X:3.46, Y:0.36, Z:-0.15 [[ 9.99841157e-01 -1.48447414e-03 -1.77610944e-02 3.46466309e+00] [ 1.36762441e-03 9.99977355e-01 -6.58930970e-03 3.62519384e-01] [ 1.77704739e-02 6.56397253e-03 9.99820546e-01 -1.45365725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.993133365 meters Centerline goodness [0,1] 0.3157334144856969 Centerline is valid? [False, False] Translation: X:3.47, Y:0.37, Z:-0.15 [[ 9.99837872e-01 -1.57311030e-03 -1.79375520e-02 3.46527074e+00] [ 1.44732809e-03 9.99974291e-01 -7.02305563e-03 3.65090466e-01] [ 1.79481389e-02 6.99595547e-03 9.99814443e-01 -1.45612487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.023133365 meters Centerline goodness [0,1] 0.3157334144856969 Centerline is valid? [False, False] Translation: X:3.47, Y:0.37, Z:-0.15 [[ 9.99837872e-01 -1.57311030e-03 -1.79375520e-02 3.46527074e+00] [ 1.44732809e-03 9.99974291e-01 -7.02305563e-03 3.65090466e-01] [ 1.79481389e-02 6.99595547e-03 9.99814443e-01 -1.45612487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.053133365 meters Centerline goodness [0,1] 0.3156636975885292 Centerline is valid? [False, False] Translation: X:3.47, Y:0.37, Z:-0.15 [[ 9.99832913e-01 -1.72632623e-03 -1.81979852e-02 3.46630367e+00] [ 1.58977898e-03 9.99970497e-01 -7.51522480e-03 3.67681363e-01] [ 1.82104220e-02 7.48503832e-03 9.99806159e-01 -1.46235894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.083133365 meters Centerline goodness [0,1] 0.31493960858613046 Centerline is valid? [False, False] Translation: X:3.47, Y:0.37, Z:-0.15 [[ 9.99828445e-01 -1.86273514e-03 -1.84285083e-02 3.46715018e+00] [ 1.71667004e-03 9.99967015e-01 -7.93868691e-03 3.69812240e-01] [ 1.84426881e-02 7.90568933e-03 9.99798663e-01 -1.46679193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.113133365 meters Centerline goodness [0,1] 0.31456665506439263 Centerline is valid? [False, False] Translation: X:3.47, Y:0.37, Z:-0.15 [[ 9.99822631e-01 -2.14592357e-03 -1.87109951e-02 3.46771207e+00] [ 1.98352473e-03 9.99960243e-01 -8.69356928e-03 3.73688279e-01] [ 1.87289070e-02 8.65491359e-03 9.99787138e-01 -1.46470989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.143133365 meters Centerline goodness [0,1] 0.31461556928046097 Centerline is valid? [False, False] Translation: X:3.47, Y:0.38, Z:-0.15 [[ 9.99822598e-01 -2.23951281e-03 -1.87017775e-02 3.46762470e+00] [ 2.07200539e-03 9.99957610e-01 -8.97134358e-03 3.75226233e-01] [ 1.87210761e-02 8.93100186e-03 9.99784856e-01 -1.46361972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.173133365 meters Centerline goodness [0,1] 0.3125297967321111 Centerline is valid? [False, False] Translation: X:3.47, Y:0.38, Z:-0.15 [[ 9.99824118e-01 -2.36043408e-03 -1.86053893e-02 3.46733453e+00] [ 2.18926368e-03 9.99955144e-01 -9.21504907e-03 3.76292754e-01] [ 1.86263062e-02 9.17269621e-03 9.99784438e-01 -1.46250750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.203133365 meters Centerline goodness [0,1] 0.31387847615726616 Centerline is valid? [False, False] Translation: X:3.47, Y:0.38, Z:-0.15 [[ 9.99826973e-01 -2.50454303e-03 -1.84323468e-02 3.46687913e+00] [ 2.33022542e-03 9.99952419e-01 -9.47256672e-03 3.77321378e-01] [ 1.84551942e-02 9.42797619e-03 9.99785236e-01 -1.46169062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23313336499996 meters Centerline goodness [0,1] 0.31269103276077315 Centerline is valid? [False, False] Translation: X:3.49, Y:0.38, Z:-0.14 [[ 0.99977898 -0.01113747 -0.01783105 3.48674691] [ 0.0109822 0.99990113 -0.00878217 0.38228938] [ 0.01792709 0.0085844 0.99980244 -0.14462281] [ 0. 0. 0. 1. ]] SLAMing on 304.263133365 meters Centerline goodness [0,1] 0.3109680506318102 Centerline is valid? [False, False] Translation: X:3.47, Y:0.38, Z:-0.15 [[ 9.99842108e-01 -2.44310593e-03 -1.76008806e-02 3.46663029e+00] [ 2.27569653e-03 9.99952045e-01 -9.52518015e-03 3.80475663e-01] [ 1.76233076e-02 9.48362194e-03 9.99799720e-01 -1.46184066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29313336499996 meters Centerline goodness [0,1] 0.31189471613142994 Centerline is valid? [False, False] Translation: X:3.47, Y:0.38, Z:-0.15 [[ 9.99840381e-01 -2.47335375e-03 -1.76944852e-02 3.46704943e+00] [ 2.30375961e-03 9.99951279e-01 -9.59854783e-03 3.81061765e-01] [ 1.77173638e-02 9.55625188e-03 9.99797366e-01 -1.46515591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.323133365 meters Centerline goodness [0,1] 0.31181714885062495 Centerline is valid? [False, False] Translation: X:3.47, Y:0.38, Z:-0.15 [[ 9.99836359e-01 -2.50025170e-03 -1.79165853e-02 3.46786279e+00] [ 2.32772861e-03 9.99950790e-01 -9.64363243e-03 3.81380701e-01] [ 1.79398151e-02 9.60034939e-03 9.99792977e-01 -1.46993672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35313336499996 meters Centerline goodness [0,1] 0.3093762276834432 Centerline is valid? [False, False] Translation: X:3.47, Y:0.38, Z:-0.15 [[ 9.99833131e-01 -2.54323412e-03 -1.80898318e-02 3.46861582e+00] [ 2.36855647e-03 9.99950430e-01 -9.67100314e-03 3.81377574e-01] [ 1.81135307e-02 9.62654256e-03 9.99789593e-01 -1.47577123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.383133365 meters Centerline goodness [0,1] 0.3074671831289003 Centerline is valid? [False, False] Translation: X:3.49, Y:0.38, Z:-0.15 [[ 0.99977357 -0.01103663 -0.01819358 3.48933028] [ 0.01087793 0.99990212 -0.00879934 0.38386147] [ 0.01828891 0.00859944 0.99979576 -0.14650621] [ 0. 0. 0. 1. ]] SLAMing on 304.41313336499996 meters Centerline goodness [0,1] 0.30663560761092 Centerline is valid? [False, False] Translation: X:3.47, Y:0.38, Z:-0.15 [[ 9.99867225e-01 -2.36275030e-03 -1.61229507e-02 3.46721812e+00] [ 2.21909269e-03 9.99957734e-01 -8.92221214e-03 3.80575934e-01] [ 1.61433502e-02 8.88524917e-03 9.99830208e-01 -1.47612983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.443133365 meters Centerline goodness [0,1] 0.3067662661037134 Centerline is valid? [False, False] Translation: X:3.47, Y:0.38, Z:-0.15 [[ 9.99869461e-01 -2.38225107e-03 -1.59808217e-02 3.46666741e+00] [ 2.24016809e-03 9.99957859e-01 -8.90285982e-03 3.80372314e-01] [ 1.60013571e-02 8.86589792e-03 9.99832662e-01 -1.47288484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47313336499997 meters Centerline goodness [0,1] 0.3049723281004372 Centerline is valid? [False, False] Translation: X:3.47, Y:0.38, Z:-0.15 [[ 9.99870660e-01 -2.43496176e-03 -1.58976442e-02 3.46644823e+00] [ 2.29461071e-03 9.99958288e-01 -8.84069769e-03 3.79573174e-01] [ 1.59185078e-02 8.80307532e-03 9.99834540e-01 -1.47301755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.503133365 meters Centerline goodness [0,1] 0.30698553368956083 Centerline is valid? [False, False] Translation: X:3.47, Y:0.38, Z:-0.15 [[ 9.99871095e-01 -2.43195465e-03 -1.58706960e-02 3.46649383e+00] [ 2.29419797e-03 9.99959589e-01 -8.69238124e-03 3.78476365e-01] [ 1.58911941e-02 8.65485023e-03 9.99836268e-01 -1.47550416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53313336499997 meters Centerline goodness [0,1] 0.30426352367050824 Centerline is valid? [False, False] Translation: X:3.47, Y:0.38, Z:-0.15 [[ 9.99874130e-01 -2.28891059e-03 -1.56998337e-02 3.46612082e+00] [ 2.15957938e-03 9.99963638e-01 -8.24975673e-03 3.76236238e-01] [ 1.57181458e-02 8.21481329e-03 9.99842716e-01 -1.47686537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.563133365 meters Centerline goodness [0,1] 0.30563759555246695 Centerline is valid? [False, False] Translation: X:3.47, Y:0.38, Z:-0.15 [[ 9.99877846e-01 -2.22029958e-03 -1.54713828e-02 3.46547221e+00] [ 2.09552229e-03 9.99965188e-01 -8.07658674e-03 3.75355225e-01] [ 1.54887767e-02 8.04317953e-03 9.99847691e-01 -1.47523855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59313336499997 meters Centerline goodness [0,1] 0.3047065684601594 Centerline is valid? [False, False] Translation: X:3.46, Y:0.37, Z:-0.15 [[ 9.99880278e-01 -2.16894897e-03 -1.53207464e-02 3.46494769e+00] [ 2.04679832e-03 9.99966032e-01 -7.98407744e-03 3.74947062e-01] [ 1.53375431e-02 7.95176309e-03 9.99850753e-01 -1.47237569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.623133365 meters Centerline goodness [0,1] 0.3095611112336989 Centerline is valid? [False, False] Translation: X:3.42, Y:0.38, Z:-0.15 [[ 9.99854059e-01 -7.23743809e-04 -1.70686136e-02 3.41893318e+00] [ 5.94440684e-04 9.99971100e-01 -7.57934799e-03 3.78907180e-01] [ 1.70736058e-02 7.56809557e-03 9.99825593e-01 -1.46880916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.653133365 meters Centerline goodness [0,1] 0.3062892259414226 Centerline is valid? [False, False] Translation: X:3.44, Y:0.38, Z:-0.15 [[ 0.99983708 -0.00683467 -0.01670605 3.4410728 ] [ 0.00675702 0.99996613 -0.00470015 0.37974869] [ 0.01673761 0.0045865 0.9998494 -0.14655863] [ 0. 0. 0. 1. ]] SLAMing on 304.683133365 meters Centerline goodness [0,1] 0.3050092924752561 Centerline is valid? [False, False] Translation: X:3.46, Y:0.38, Z:-0.15 [[ 9.99852693e-01 1.70822751e-03 -1.70784868e-02 3.46176802e+00] [-1.79950464e-03 9.99984173e-01 -5.33062934e-03 3.78398095e-01] [ 1.70691106e-02 5.36057692e-03 9.99839942e-01 -1.45331427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.713133365 meters Centerline goodness [0,1] 0.30512687502701763 Centerline is valid? [False, False] Translation: X:3.46, Y:0.38, Z:-0.15 [[ 9.99850714e-01 1.64682960e-03 -1.71999081e-02 3.46202702e+00] [-1.74365201e-03 9.99982711e-01 -5.61576122e-03 3.80018667e-01] [ 1.71903625e-02 5.64491352e-03 9.99836300e-01 -1.45282541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.743133365 meters Centerline goodness [0,1] 0.3045181961854041 Centerline is valid? [False, False] Translation: X:3.46, Y:0.38, Z:-0.15 [[ 9.99851628e-01 1.56501495e-03 -1.71543831e-02 3.46196590e+00] [-1.66569207e-03 9.99981465e-01 -5.85617012e-03 3.81213407e-01] [ 1.71449001e-02 5.88387515e-03 9.99835703e-01 -1.45348686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.773133365 meters Centerline goodness [0,1] 0.30167404687331245 Centerline is valid? [False, False] Translation: X:3.46, Y:0.38, Z:-0.15 [[ 9.99852655e-01 1.49436596e-03 -1.71007076e-02 3.46193793e+00] [-1.59771575e-03 9.99980534e-01 -6.03153204e-03 3.82075003e-01] [ 1.70913614e-02 6.05796540e-03 9.99835580e-01 -1.45514331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.803133365 meters Centerline goodness [0,1] 0.3052053724477618 Centerline is valid? [False, False] Translation: X:3.46, Y:0.38, Z:-0.15 [[ 9.99852872e-01 1.50390286e-03 -1.70871797e-02 3.46196366e+00] [-1.60740667e-03 9.99980435e-01 -6.04527744e-03 3.82341115e-01] [ 1.70777539e-02 6.07185406e-03 9.99835728e-01 -1.45635055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.833133365 meters Centerline goodness [0,1] 0.30473095295221064 Centerline is valid? [False, False] Translation: X:3.46, Y:0.38, Z:-0.15 [[ 9.99852145e-01 1.50768965e-03 -1.71293684e-02 3.46230041e+00] [-1.61210277e-03 9.99980197e-01 -6.08338930e-03 3.82801254e-01] [ 1.71198573e-02 6.11010415e-03 9.99834775e-01 -1.46010062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.863133365 meters Centerline goodness [0,1] 0.30053809728798964 Centerline is valid? [False, False] Translation: X:3.48, Y:0.39, Z:-0.14 [[ 0.99980566 -0.00660899 -0.01857312 3.48367062] [ 0.00650377 0.99996249 -0.0057203 0.3883526 ] [ 0.01861022 0.00559839 0.99981114 -0.14476814] [ 0. 0. 0. 1. ]] SLAMing on 304.893133365 meters Centerline goodness [0,1] 0.30523344191096635 Centerline is valid? [False, False] Translation: X:3.48, Y:0.39, Z:-0.14 [[ 0.99980248 -0.00675629 -0.0186912 3.48379878] [ 0.00664219 0.99995897 -0.0061597 0.39039174] [ 0.01873205 0.00603433 0.99980633 -0.14448066] [ 0. 0. 0. 1. ]] SLAMing on 304.923133365 meters Centerline goodness [0,1] 0.30601628139828474 Centerline is valid? [False, False] Translation: X:3.48, Y:0.39, Z:-0.14 [[ 0.99980096 -0.00684804 -0.0187388 3.48365652] [ 0.00672512 0.99995551 -0.00661475 0.39286242] [ 0.01878326 0.00648741 0.99980253 -0.14405273] [ 0. 0. 0. 1. ]] SLAMing on 304.953133365 meters Centerline goodness [0,1] 0.3059234053620581 Centerline is valid? [False, False] Translation: X:3.48, Y:0.39, Z:-0.14 [[ 9.99824134e-01 -3.16978460e-03 -1.84838918e-02 3.48279429e+00] [ 3.11095670e-03 9.99990007e-01 -3.21054350e-03 3.94076519e-01] [ 1.84938838e-02 3.15247628e-03 9.99824004e-01 -1.43716518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98313336499996 meters Centerline goodness [0,1] 0.3044469783352337 Centerline is valid? [False, False] Translation: X:3.48, Y:0.40, Z:-0.14 [[ 9.99832324e-01 5.42373111e-04 -1.83038357e-02 3.48226596e+00] [-5.46070807e-04 9.99999831e-01 -1.97020160e-04 3.98497097e-01] [ 1.83037257e-02 2.06982315e-04 9.99832451e-01 -1.43465652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.013133365 meters Centerline goodness [0,1] 0.3044754697286013 Centerline is valid? [False, False] Translation: X:3.48, Y:0.40, Z:-0.14 [[ 9.99831935e-01 3.81536279e-04 -1.83290807e-02 3.48229147e+00] [-3.95072901e-04 9.99999652e-01 -7.34917197e-04 4.01238035e-01] [ 1.83287939e-02 7.42035007e-04 9.99831738e-01 -1.43399425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04313336499996 meters Centerline goodness [0,1] 0.30731059699218666 Centerline is valid? [False, False] Translation: X:3.48, Y:0.40, Z:-0.14 [[ 9.99832079e-01 1.71389069e-04 -1.83244101e-02 3.48224512e+00] [-1.95318613e-04 9.99999131e-01 -1.30410171e-03 4.03861282e-01] [ 1.83241707e-02 1.30746183e-03 9.99831243e-01 -1.43323218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.073133365 meters Centerline goodness [0,1] 0.30529271980989414 Centerline is valid? [False, False] Translation: X:3.48, Y:0.41, Z:-0.14 [[ 9.99832926e-01 -1.54962613e-05 -1.82789676e-02 3.48214187e+00] [-1.77002118e-05 9.99998351e-01 -1.81593901e-03 4.06443104e-01] [ 1.82789656e-02 1.81595916e-03 9.99831277e-01 -1.43322182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10313336499996 meters Centerline goodness [0,1] 0.3055107613580167 Centerline is valid? [False, False] Translation: X:3.48, Y:0.41, Z:-0.14 [[ 9.99831682e-01 -1.56770307e-04 -1.83461868e-02 3.48220450e+00] [ 1.15520088e-04 9.99997463e-01 -2.24947375e-03 4.08921439e-01] [ 1.83464929e-02 2.24697577e-03 9.99829164e-01 -1.43161790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.133133365 meters Centerline goodness [0,1] 0.30680953726444826 Centerline is valid? [False, False] Translation: X:3.48, Y:0.41, Z:-0.14 [[ 9.99828137e-01 -2.29335699e-04 -1.85376435e-02 3.48275918e+00] [ 1.81319598e-04 9.99996625e-01 -2.59183366e-03 4.11355766e-01] [ 1.85381753e-02 2.58802698e-03 9.99824804e-01 -1.43299303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16313336499996 meters Centerline goodness [0,1] 0.3035702728939704 Centerline is valid? [False, False] Translation: X:3.49, Y:0.42, Z:-0.15 [[ 9.99816019e-01 9.46592832e-04 -1.91581018e-02 3.48595878e+00] [-9.77871312e-04 9.99998204e-01 -1.62334821e-03 4.15674066e-01] [ 1.91565308e-02 1.64178370e-03 9.99815149e-01 -1.45164982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.193133365 meters Centerline goodness [0,1] 0.3039600120653251 Centerline is valid? [False, False] Translation: X:3.49, Y:0.42, Z:-0.15 [[ 9.99817785e-01 7.72691116e-04 -1.90735476e-02 3.48586137e+00] [-8.09585150e-04 9.99997816e-01 -1.92665800e-03 4.16989571e-01] [ 1.90720173e-02 1.94174860e-03 9.99816227e-01 -1.45334567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22313336499997 meters Centerline goodness [0,1] 0.3082632900338391 Centerline is valid? [False, False] Translation: X:3.47, Y:0.42, Z:-0.15 [[ 9.99794615e-01 -7.41079540e-03 -1.88628586e-02 3.46525485e+00] [ 7.38298223e-03 9.99971554e-01 -1.54370606e-03 4.23465119e-01] [ 1.88737621e-02 1.40412485e-03 9.99820889e-01 -1.46647782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.253133365 meters Centerline goodness [0,1] 0.3065357204936555 Centerline is valid? [False, False] Translation: X:3.47, Y:0.42, Z:-0.15 [[ 9.99795337e-01 -7.58608142e-03 -1.87546337e-02 3.46509754e+00] [ 7.55547874e-03 9.99970008e-01 -1.70205932e-03 4.23726709e-01] [ 1.87669832e-02 1.56001074e-03 9.99822668e-01 -1.46805619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28313336499997 meters Centerline goodness [0,1] 0.3061559389372315 Centerline is valid? [False, False] Translation: X:3.47, Y:0.42, Z:-0.15 [[ 9.99793640e-01 -7.78524104e-03 -1.87634656e-02 3.46526143e+00] [ 7.75321950e-03 9.99968361e-01 -1.77873203e-03 4.23427173e-01] [ 1.87767198e-02 1.63288770e-03 9.99822368e-01 -1.47075215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.313133365 meters Centerline goodness [0,1] 0.30809359584406515 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:-0.15 [[ 9.99834654e-01 -1.10248269e-03 -1.81507578e-02 3.44645637e+00] [ 1.03843998e-03 9.99993204e-01 -3.53742330e-03 4.18869404e-01] [ 1.81545344e-02 3.51798993e-03 9.99829004e-01 -1.49014067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34313336499997 meters Centerline goodness [0,1] 0.3043506367573857 Centerline is valid? [False, False] Translation: X:3.47, Y:0.42, Z:-0.15 [[ 9.99801856e-01 -1.01507438e-02 -1.71234180e-02 3.46687276e+00] [ 1.01055841e-02 9.99945233e-01 -2.72177695e-03 4.19271790e-01] [ 1.71501083e-02 2.54819551e-03 9.99849679e-01 -1.47851192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.373133365 meters Centerline goodness [0,1] 0.307835136127124 Centerline is valid? [False, False] Translation: X:3.47, Y:0.42, Z:-0.15 [[ 9.99807494e-01 -1.01780049e-02 -1.67744929e-02 3.46582403e+00] [ 1.01361847e-02 9.99945309e-01 -2.57622315e-03 4.18267935e-01] [ 1.67997963e-02 2.40569785e-03 9.99855979e-01 -1.47516899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.403133365 meters Centerline goodness [0,1] 0.3079185914756385 Centerline is valid? [False, False] Translation: X:3.45, Y:0.41, Z:-0.15 [[ 9.99876824e-01 -1.63759379e-03 -1.56094814e-02 3.44573717e+00] [ 1.58659380e-03 9.99993365e-01 -3.27906800e-03 4.14180500e-01] [ 1.56147476e-02 3.25389819e-03 9.99872788e-01 -1.49453261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.433133365 meters Centerline goodness [0,1] 0.310270979020979 Centerline is valid? [False, False] Translation: X:3.45, Y:0.41, Z:-0.15 [[ 9.99877409e-01 -1.54529551e-03 -1.55813600e-02 3.44584947e+00] [ 1.49931252e-03 9.99994488e-01 -2.96240327e-03 4.12636814e-01] [ 1.55858519e-02 2.93867878e-03 9.99874215e-01 -1.49815271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.463133365 meters Centerline goodness [0,1] 0.3059716050720711 Centerline is valid? [False, False] Translation: X:3.45, Y:0.41, Z:-0.15 [[ 9.99875715e-01 -1.51488554e-03 -1.56926445e-02 3.44620724e+00] [ 1.47112213e-03 9.99994998e-01 -2.79995283e-03 4.11569926e-01] [ 1.56968076e-02 2.77651904e-03 9.99872943e-01 -1.50003292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.493133365 meters Centerline goodness [0,1] 0.30969220694171573 Centerline is valid? [False, False] Translation: X:3.45, Y:0.41, Z:-0.15 [[ 9.99875509e-01 -1.47899693e-03 -1.57091717e-02 3.44629613e+00] [ 1.43782900e-03 9.99995504e-01 -2.63160185e-03 4.10456174e-01] [ 1.57129932e-02 2.60868714e-03 9.99873140e-01 -1.50144691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.523133365 meters Centerline goodness [0,1] 0.3062919264036582 Centerline is valid? [False, False] Translation: X:3.45, Y:0.41, Z:-0.15 [[ 9.99875203e-01 -1.43146462e-03 -1.57330708e-02 3.44624852e+00] [ 1.39252243e-03 9.99995941e-01 -2.48585701e-03 4.09550855e-01] [ 1.57365653e-02 2.46363813e-03 9.99873137e-01 -1.50027449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.553133365 meters Centerline goodness [0,1] 0.3100078871264569 Centerline is valid? [False, False] Translation: X:3.40, Y:0.41, Z:-0.15 [[ 9.99844848e-01 -2.49292691e-04 -1.76129760e-02 3.40025566e+00] [ 2.04949449e-04 9.99996805e-01 -2.51940638e-03 4.12412790e-01] [ 1.76135478e-02 2.51540572e-03 9.99841705e-01 -1.49406460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.583133365 meters Centerline goodness [0,1] 0.30591304347826087 Centerline is valid? [False, False] Translation: X:3.40, Y:0.41, Z:-0.15 [[ 9.99845417e-01 -1.51757597e-04 -1.75817763e-02 3.40013650e+00] [ 1.11119655e-04 9.99997320e-01 -2.31232112e-03 4.11470793e-01] [ 1.75820801e-02 2.31000999e-03 9.99842755e-01 -1.49344179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.613133365 meters Centerline goodness [0,1] 0.3028187225239204 Centerline is valid? [False, False] Translation: X:3.40, Y:0.41, Z:-0.15 [[ 9.99841813e-01 3.67756706e-06 -1.77861847e-02 3.40064451e+00] [-3.90151718e-05 9.99998026e-01 -1.98645414e-03 4.09830858e-01] [ 1.77861423e-02 1.98683384e-03 9.99839840e-01 -1.49446453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.643133365 meters Centerline goodness [0,1] 0.3080801495197114 Centerline is valid? [False, False] Translation: X:3.40, Y:0.41, Z:-0.15 [[ 9.99838041e-01 7.57486474e-05 -1.79968150e-02 3.40121047e+00] [-1.09020968e-04 9.99998287e-01 -1.84781547e-03 4.09136405e-01] [ 1.79966442e-02 1.84947823e-03 9.99836337e-01 -1.49586305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.673133365 meters Centerline goodness [0,1] 0.3078212777076166 Centerline is valid? [False, False] Translation: X:3.40, Y:0.41, Z:-0.15 [[ 9.99834249e-01 1.87969485e-04 -1.82054555e-02 3.40166907e+00] [-2.18545773e-04 9.99998569e-01 -1.67753742e-03 4.08524054e-01] [ 1.82051142e-02 1.68123810e-03 9.99832860e-01 -1.49607198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.703133365 meters Centerline goodness [0,1] 0.3064422017159034 Centerline is valid? [False, False] Translation: X:3.40, Y:0.41, Z:-0.15 [[ 9.99830097e-01 3.34005692e-04 -1.84300059e-02 3.40213169e+00] [-3.61434032e-04 9.99998832e-01 -1.48493287e-03 4.07923255e-01] [ 1.84294884e-02 1.49134180e-03 9.99829050e-01 -1.49530385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73313336499996 meters Centerline goodness [0,1] 0.31163471197100057 Centerline is valid? [False, False] Translation: X:3.40, Y:0.41, Z:-0.15 [[ 9.99829328e-01 4.26351561e-04 -1.84698071e-02 3.40208209e+00] [-4.50879767e-04 9.99999022e-01 -1.32387253e-03 4.07275659e-01] [ 1.84692246e-02 1.33197424e-03 9.99828542e-01 -1.49331834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.763133365 meters Centerline goodness [0,1] 0.30983302411873836 Centerline is valid? [False, False] Translation: X:3.40, Y:0.41, Z:-0.15 [[ 9.99830758e-01 5.08921262e-04 -1.83901342e-02 3.40195215e+00] [-5.30345060e-04 9.99999186e-01 -1.16010330e-03 4.06524311e-01] [ 1.83895288e-02 1.16966007e-03 9.99830214e-01 -1.49440673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79313336499996 meters Centerline goodness [0,1] 0.3048112254765025 Centerline is valid? [False, False] Translation: X:3.45, Y:0.40, Z:-0.15 [[ 9.99866619e-01 1.97715012e-04 -1.63311013e-02 3.44606983e+00] [-2.09564220e-04 9.99999716e-01 -7.23852728e-04 4.00092031e-01] [ 1.63309535e-02 7.27178595e-04 9.99866377e-01 -1.49725222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.823133365 meters Centerline goodness [0,1] 0.3074713264358382 Centerline is valid? [False, False] Translation: X:3.45, Y:0.40, Z:-0.15 [[ 9.99867675e-01 2.54120983e-04 -1.62655510e-02 3.44572692e+00] [-2.64533854e-04 9.99999761e-01 -6.38031060e-04 3.99584928e-01] [ 1.62653850e-02 6.42249421e-04 9.99867504e-01 -1.49459633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85313336499996 meters Centerline goodness [0,1] 0.30931534686642026 Centerline is valid? [False, False] Translation: X:3.45, Y:0.40, Z:-0.15 [[ 9.99870052e-01 3.25280675e-04 -1.61174799e-02 3.44506113e+00] [-3.34110488e-04 9.99999796e-01 -5.45151156e-04 3.99122713e-01] [ 1.61172993e-02 5.50465334e-04 9.99869956e-01 -1.48960053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.883133365 meters Centerline goodness [0,1] 0.31420199171587204 Centerline is valid? [False, False] Translation: X:3.40, Y:0.40, Z:-0.15 [[ 9.99845226e-01 1.67795533e-03 -1.75130766e-02 3.39838902e+00] [-1.68533123e-03 9.99998497e-01 -4.06415073e-04 4.01823939e-01] [ 1.75123684e-02 4.35867506e-04 9.99846552e-01 -1.47916983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91313336499996 meters Centerline goodness [0,1] 0.3108465608465608 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:-0.15 [[ 9.99883106e-01 2.10570429e-03 -1.51439833e-02 3.44028704e+00] [-2.09662559e-03 9.99997613e-01 6.15344018e-04 3.96384356e-01] [ 1.51452429e-02 -5.83520825e-04 9.99885134e-01 -1.46844072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.943133365 meters Centerline goodness [0,1] 0.3108465608465608 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:-0.15 [[ 9.99883106e-01 2.10570429e-03 -1.51439833e-02 3.44028704e+00] [-2.09662559e-03 9.99997613e-01 6.15344018e-04 3.96384356e-01] [ 1.51452429e-02 -5.83520825e-04 9.99885134e-01 -1.46844072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97313336499997 meters Centerline goodness [0,1] 0.30956355831147153 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:-0.15 [[ 9.99883417e-01 2.17245712e-03 -1.51139747e-02 3.44030357e+00] [-2.16214234e-03 9.99997418e-01 6.98773271e-04 3.95963217e-01] [ 1.51154537e-02 -6.66013242e-04 9.99885533e-01 -1.46982989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.003133365 meters Centerline goodness [0,1] 0.31261979438926646 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:-0.15 [[ 9.99882256e-01 2.23325285e-03 -1.51818083e-02 3.44054861e+00] [-2.22198097e-03 9.99997243e-01 7.59286920e-04 3.95647292e-01] [ 1.51834621e-02 -7.25463829e-04 9.99884461e-01 -1.47138556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03313336499997 meters Centerline goodness [0,1] 0.3089193342423652 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:-0.15 [[ 9.99879914e-01 2.35516202e-03 -1.53170392e-02 3.44084676e+00] [-2.34319619e-03 9.99996935e-01 7.99109579e-04 3.95860783e-01] [ 1.53188743e-02 -7.63122789e-04 9.99882368e-01 -1.47116105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.063133365 meters Centerline goodness [0,1] 0.31261358719169186 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:-0.15 [[ 9.99880572e-01 2.52204160e-03 -1.52473448e-02 3.44066758e+00] [-2.50982404e-03 9.99996514e-01 8.20372926e-04 3.96391551e-01] [ 1.52493606e-02 -7.82006797e-04 9.99883416e-01 -1.47037791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09313336499997 meters Centerline goodness [0,1] 0.31722939963087615 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:-0.15 [[ 9.99888221e-01 3.03899189e-03 -1.46393151e-02 3.43897222e+00] [-3.02513940e-03 9.99994955e-01 9.68303513e-04 3.97160026e-01] [ 1.46421839e-02 -9.23909309e-04 9.99892371e-01 -1.46476093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.123133365 meters Centerline goodness [0,1] 0.3135805670816044 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:-0.15 [[ 9.99889730e-01 3.04555355e-03 -1.45345327e-02 3.43863101e+00] [-3.03352883e-03 9.99995038e-01 8.49295378e-04 3.97789876e-01] [ 1.45370472e-02 -8.05110802e-04 9.99894007e-01 -1.46343356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.153133365 meters Centerline goodness [0,1] 0.31605180106649255 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:-0.15 [[ 9.99889665e-01 3.08073072e-03 -1.45315855e-02 3.43861418e+00] [-3.06917541e-03 9.99994956e-01 8.17420135e-04 3.98186102e-01] [ 1.45340304e-02 -7.72729960e-04 9.99894077e-01 -1.46365576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.183133365 meters Centerline goodness [0,1] 0.31746031746031744 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:-0.15 [[ 9.99887617e-01 3.14106715e-03 -1.46589975e-02 3.43893645e+00] [-3.12887128e-03 9.99994740e-01 8.54831411e-04 3.98231141e-01] [ 1.46616054e-02 -8.08869226e-04 9.99892186e-01 -1.46455543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.213133365 meters Centerline goodness [0,1] 0.3148602575517384 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:-0.15 [[ 9.99884549e-01 3.18890723e-03 -1.48566337e-02 3.43949660e+00] [-3.17536269e-03 9.99994521e-01 9.35182623e-04 3.97854153e-01] [ 1.48595345e-02 -8.87899455e-04 9.99889197e-01 -1.46650992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.243133365 meters Centerline goodness [0,1] 0.3141739980449658 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:-0.15 [[ 9.99882691e-01 3.19773353e-03 -1.49793091e-02 3.44000128e+00] [-3.18289269e-03 9.99994420e-01 1.01449133e-03 3.97144942e-01] [ 1.49824696e-02 -9.66694788e-04 9.99887289e-01 -1.47038943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.273133365 meters Centerline goodness [0,1] 0.3142561180888256 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:-0.15 [[ 9.99878915e-01 3.31039250e-03 -1.52051270e-02 3.44074523e+00] [-3.29091683e-03 9.99993732e-01 1.30570443e-03 3.95567136e-01] [ 1.52093541e-02 -1.25550752e-03 9.99883543e-01 -1.47441124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.303133365 meters Centerline goodness [0,1] 0.3133879071379071 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:-0.15 [[ 9.99878450e-01 3.43313785e-03 -1.52085332e-02 3.44075634e+00] [-3.41203891e-03 9.99993181e-01 1.41303978e-03 3.95591575e-01] [ 1.52132806e-02 -1.36097592e-03 9.99883345e-01 -1.47464378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.333133365 meters Centerline goodness [0,1] 0.31464550629636023 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:-0.15 [[ 9.99877450e-01 3.51961500e-03 -1.52544100e-02 3.44084229e+00] [-3.49898731e-03 9.99992928e-01 1.37872223e-03 3.96294832e-01] [ 1.52591547e-02 -1.32517828e-03 9.99882694e-01 -1.47398007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.363133365 meters Centerline goodness [0,1] 0.3133790588643862 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:-0.15 [[ 9.99873009e-01 3.97034991e-03 -1.54337854e-02 3.44130235e+00] [-3.95108307e-03 9.99991377e-01 1.27864612e-03 3.98460199e-01] [ 1.54387289e-02 -1.21750357e-03 9.99880074e-01 -1.47455275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.393133365 meters Centerline goodness [0,1] 0.31569764906006015 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:-0.15 [[ 9.99869504e-01 4.07517575e-03 -1.56322635e-02 3.44181654e+00] [-4.05932650e-03 9.99991214e-01 1.04547685e-03 4.00279734e-01] [ 1.56363866e-02 -9.81883961e-04 9.99877262e-01 -1.47581337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.423133365 meters Centerline goodness [0,1] 0.3156291190388729 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:-0.15 [[ 9.99862198e-01 4.40746058e-03 -1.60049602e-02 3.44276241e+00] [-4.39199615e-03 9.99989854e-01 1.00124757e-03 4.02256873e-01] [ 1.60092108e-02 -9.30815876e-04 9.99871411e-01 -1.47726149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.453133365 meters Centerline goodness [0,1] 0.3161838161838162 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:-0.15 [[ 9.99857330e-01 4.68067866e-03 -1.62299502e-02 3.44330053e+00] [-4.66672618e-03 9.99988708e-01 8.97441568e-04 4.04208878e-01] [ 1.62339676e-02 -8.21572796e-04 9.99867883e-01 -1.47773534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48313336499996 meters Centerline goodness [0,1] 0.3167297965975522 Centerline is valid? [False, False] Translation: X:3.44, Y:0.41, Z:-0.15 [[ 9.99855838e-01 4.71149784e-03 -1.63127020e-02 3.44350465e+00] [-4.70294179e-03 9.99988783e-01 5.62823755e-04 4.06419228e-01] [ 1.63151708e-02 -4.86024929e-04 9.99866781e-01 -1.47805632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.513133365 meters Centerline goodness [0,1] 0.3139232270657124 Centerline is valid? [False, False] Translation: X:3.46, Y:0.41, Z:-0.15 [[ 9.99861645e-01 -3.05750141e-03 -1.63505966e-02 3.46221833e+00] [ 3.07985878e-03 9.99994356e-01 1.34236763e-03 4.12384858e-01] [ 1.63464000e-02 -1.39253943e-03 9.99865419e-01 -1.46238259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54313336499996 meters Centerline goodness [0,1] 0.31264482318037123 Centerline is valid? [False, False] Translation: X:3.46, Y:0.42, Z:-0.15 [[ 9.99869335e-01 -3.09455978e-03 -1.58662203e-02 3.46077636e+00] [ 3.10725347e-03 9.99994872e-01 7.75455904e-04 4.15602581e-01] [ 1.58637392e-02 -8.24654947e-04 9.99873823e-01 -1.45801551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.573133365 meters Centerline goodness [0,1] 0.31561411479630475 Centerline is valid? [False, False] Translation: X:3.46, Y:0.42, Z:-0.15 [[ 9.99872997e-01 -3.02050294e-03 -1.56482394e-02 3.46007451e+00] [ 3.03111178e-03 9.99995192e-01 6.54284495e-04 4.17092091e-01] [ 1.56461879e-02 -7.01632962e-04 9.99877345e-01 -1.45512705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60313336499996 meters Centerline goodness [0,1] 0.3145803930083596 Centerline is valid? [False, False] Translation: X:3.46, Y:0.42, Z:-0.15 [[ 9.99876110e-01 -2.97855290e-03 -1.54561726e-02 3.45951289e+00] [ 2.98677512e-03 9.99995410e-01 5.08913760e-04 4.18560047e-01] [ 1.54545858e-02 -5.55014822e-04 9.99880417e-01 -1.45324652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.633133365 meters Centerline goodness [0,1] 0.3121693121693122 Centerline is valid? [False, False] Translation: X:3.46, Y:0.42, Z:-0.15 [[ 9.99876300e-01 -3.03290040e-03 -1.54332845e-02 3.45950477e+00] [ 3.03733100e-03 9.99995353e-01 2.63649193e-04 4.19937139e-01] [ 1.54324132e-02 -3.10492573e-04 9.99880865e-01 -1.45409461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66313336499996 meters Centerline goodness [0,1] 0.30997867711990346 Centerline is valid? [False, False] Translation: X:3.46, Y:0.42, Z:-0.15 [[ 9.99873980e-01 -3.16127090e-03 -1.55573537e-02 3.46002896e+00] [ 3.16093745e-03 9.99995003e-01 -4.60228974e-05 4.21137762e-01] [ 1.55574215e-02 -3.15872447e-06 9.99878976e-01 -1.45784448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.693133365 meters Centerline goodness [0,1] 0.31273387986416046 Centerline is valid? [False, False] Translation: X:3.46, Y:0.42, Z:-0.15 [[ 9.99869779e-01 -3.25018250e-03 -1.58069800e-02 3.46053517e+00] [ 3.24493503e-03 9.99994671e-01 -3.57608526e-04 4.22557436e-01] [ 1.58080580e-02 3.06269335e-04 9.99874998e-01 -1.45801081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72313336499997 meters Centerline goodness [0,1] 0.3142280918612973 Centerline is valid? [False, False] Translation: X:3.46, Y:0.42, Z:-0.15 [[ 9.99872759e-01 -3.15592192e-03 -1.56366805e-02 3.46005453e+00] [ 3.15201492e-03 9.99994995e-01 -2.74499935e-04 4.22682995e-01] [ 1.56374686e-02 2.25177957e-04 9.99877702e-01 -1.45671786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.753133365 meters Centerline goodness [0,1] 0.31434353873315246 Centerline is valid? [False, False] Translation: X:3.46, Y:0.42, Z:-0.15 [[ 9.99875796e-01 -3.07902434e-03 -1.54568054e-02 3.45952875e+00] [ 3.07657218e-03 9.99995251e-01 -1.82422135e-04 4.22469682e-01] [ 1.54572937e-02 1.34845500e-04 9.99880520e-01 -1.45496580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78313336499997 meters Centerline goodness [0,1] 0.3152329671284033 Centerline is valid? [False, False] Translation: X:3.46, Y:0.42, Z:-0.15 [[ 9.99877202e-01 -3.07238743e-03 -1.53668669e-02 3.45932925e+00] [ 3.07066442e-03 9.99995276e-01 -1.35718963e-04 4.22036986e-01] [ 1.53672113e-02 8.85158057e-05 9.99881914e-01 -1.45527569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.813133365 meters Centerline goodness [0,1] 0.31620493193580657 Centerline is valid? [False, False] Translation: X:3.46, Y:0.42, Z:-0.15 [[ 9.99875594e-01 -3.04682571e-03 -1.54762159e-02 3.45963110e+00] [ 3.04571694e-03 9.99995357e-01 -9.52123654e-05 4.21727263e-01] [ 1.54764342e-02 4.80643474e-05 9.99880232e-01 -1.45641491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84313336499997 meters Centerline goodness [0,1] 0.3123148448480917 Centerline is valid? [False, False] Translation: X:3.46, Y:0.42, Z:-0.15 [[ 9.99867419e-01 -2.59891392e-03 -1.60745264e-02 3.46126708e+00] [ 2.60365634e-03 9.99996573e-01 2.74106848e-04 4.21343151e-01] [ 1.60737589e-02 -3.15923049e-04 9.99870759e-01 -1.46123454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.873133365 meters Centerline goodness [0,1] 0.31093255944904064 Centerline is valid? [False, False] Translation: X:3.46, Y:0.42, Z:-0.15 [[ 9.99870088e-01 -2.50450950e-03 -1.59227517e-02 3.46086031e+00] [ 2.51017786e-03 9.99996793e-01 3.36015666e-04 4.21441667e-01] [ 1.59218590e-02 -3.75940952e-04 9.99873168e-01 -1.46080823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.903133365 meters Centerline goodness [0,1] 0.31411311276632603 Centerline is valid? [False, False] Translation: X:3.46, Y:0.42, Z:-0.15 [[ 9.99876655e-01 -2.48451254e-03 -1.55081490e-02 3.45970830e+00] [ 2.48936170e-03 9.99996858e-01 2.93388021e-04 4.21634356e-01] [ 1.55073713e-02 -3.31957225e-04 9.99879698e-01 -1.45794209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.933133365 meters Centerline goodness [0,1] 0.31288024768874356 Centerline is valid? [False, False] Translation: X:3.46, Y:0.42, Z:-0.15 [[ 9.99882546e-01 -2.47402691e-03 -1.51252704e-02 3.45857261e+00] [ 2.47792333e-03 9.99996901e-01 2.38874709e-04 4.21910462e-01] [ 1.51246325e-02 -2.76325912e-04 9.99885578e-01 -1.45456580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.963133365 meters Centerline goodness [0,1] 0.3138933553517883 Centerline is valid? [False, False] Translation: X:3.46, Y:0.42, Z:-0.15 [[ 9.99883717e-01 -2.38810766e-03 -1.50615248e-02 3.45836997e+00] [ 2.39230509e-03 9.99997104e-01 2.60674842e-04 4.22212132e-01] [ 1.50608587e-02 -2.96676293e-04 9.99886535e-01 -1.45438527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.993133365 meters Centerline goodness [0,1] 0.3142838453655452 Centerline is valid? [False, False] Translation: X:3.46, Y:0.42, Z:-0.15 [[ 9.99879390e-01 -2.21062515e-03 -1.53726875e-02 3.45926058e+00] [ 2.21608660e-03 9.99997487e-01 3.38243827e-04 4.22603283e-01] [ 1.53719011e-02 -3.72270238e-04 9.99881776e-01 -1.45791331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.023133365 meters Centerline goodness [0,1] 0.31074776448226704 Centerline is valid? [False, False] Translation: X:3.46, Y:0.42, Z:-0.15 [[ 9.99858657e-01 -1.53641896e-03 -1.67423472e-02 3.46302780e+00] [ 1.54809359e-03 9.99998568e-01 6.84373690e-04 4.23250419e-01] [ 1.67412718e-02 -7.10195679e-04 9.99859603e-01 -1.46925691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.053133365 meters Centerline goodness [0,1] 0.31228758169934645 Centerline is valid? [False, False] Translation: X:3.46, Y:0.42, Z:-0.15 [[ 9.99856448e-01 -1.54160307e-03 -1.68732748e-02 3.46354821e+00] [ 1.55154988e-03 9.99998630e-01 5.76426027e-04 4.23780165e-01] [ 1.68723630e-02 -6.02523007e-04 9.99857470e-01 -1.47336449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.083133365 meters Centerline goodness [0,1] 0.30713233567448717 Centerline is valid? [False, False] Translation: X:3.51, Y:0.42, Z:-0.15 [[ 9.99882755e-01 -1.26450747e-03 -1.52603451e-02 3.50781969e+00] [ 1.28069422e-03 9.99998628e-01 1.05098121e-03 4.24916163e-01] [ 1.52589952e-02 -1.07040182e-03 9.99883002e-01 -1.47319132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.113133365 meters Centerline goodness [0,1] 0.30971156962298796 Centerline is valid? [False, False] Translation: X:3.49, Y:0.42, Z:-0.15 [[ 9.99861832e-01 6.97259767e-03 -1.50897053e-02 3.48885551e+00] [-6.97022463e-03 9.99975686e-01 2.09849249e-04 4.18346971e-01] [ 1.50908016e-02 -1.04641619e-04 9.99886122e-01 -1.49312739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.143133365 meters Centerline goodness [0,1] 0.3106520335700452 Centerline is valid? [False, False] Translation: X:3.49, Y:0.42, Z:-0.15 [[ 9.99859637e-01 7.04856501e-03 -1.51994491e-02 3.48900812e+00] [-7.04236678e-03 9.99975096e-01 4.61278134e-04 4.16883053e-01] [ 1.52023219e-02 -3.54173292e-04 9.99884375e-01 -1.49157779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.173133365 meters Centerline goodness [0,1] 0.30912903435007244 Centerline is valid? [False, False] Translation: X:3.49, Y:0.42, Z:-0.15 [[ 9.99857407e-01 7.11456444e-03 -1.53149599e-02 3.48914628e+00] [-7.10382674e-03 9.99974482e-01 7.55412361e-04 4.15058827e-01] [ 1.53199435e-02 -6.46509823e-04 9.99882434e-01 -1.48956574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.203133365 meters Centerline goodness [0,1] 0.31156249319661244 Centerline is valid? [False, False] Translation: X:3.49, Y:0.41, Z:-0.15 [[ 9.99854635e-01 7.19460919e-03 -1.54578775e-02 3.48949542e+00] [-7.17844638e-03 9.99973629e-01 1.10083462e-03 4.12972243e-01] [ 1.54653899e-02 -9.89711054e-04 9.99879914e-01 -1.48969006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23313336499996 meters Centerline goodness [0,1] 0.31051021072505913 Centerline is valid? [False, False] Translation: X:3.49, Y:0.41, Z:-0.15 [[ 9.99852138e-01 7.31150795e-03 -1.55642201e-02 3.48978684e+00] [-7.28925651e-03 9.99972329e-01 1.48590333e-03 4.10919831e-01] [ 1.55746536e-02 -1.37223203e-03 9.99877766e-01 -1.49031327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.263133365 meters Centerline goodness [0,1] 0.31185325577848944 Centerline is valid? [False, False] Translation: X:3.49, Y:0.41, Z:-0.15 [[ 9.99851600e-01 7.45880531e-03 -1.55287921e-02 3.48979805e+00] [-7.43019820e-03 9.99970592e-01 1.89907902e-03 4.08869186e-01] [ 1.55425003e-02 -1.78341520e-03 9.99877618e-01 -1.49174252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29313336499996 meters Centerline goodness [0,1] 0.31111302996287027 Centerline is valid? [False, False] Translation: X:3.51, Y:0.41, Z:-0.15 [[ 9.99886151e-01 -9.60124181e-04 -1.50586895e-02 3.50990447e+00] [ 1.00699894e-03 9.99994671e-01 3.10553091e-03 4.07915195e-01] [ 1.50556276e-02 -3.12034143e-03 9.99881789e-01 -1.48565579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.323133365 meters Centerline goodness [0,1] 0.31031489398641465 Centerline is valid? [False, False] Translation: X:3.51, Y:0.41, Z:-0.15 [[ 9.99886731e-01 -8.15741558e-04 -1.50286001e-02 3.50969393e+00] [ 8.69109041e-04 9.99993339e-01 3.54487265e-03 4.05582376e-01] [ 1.50256083e-02 -3.55753262e-03 9.99880780e-01 -1.48320254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35313336499996 meters Centerline goodness [0,1] 0.31156379763897646 Centerline is valid? [False, False] Translation: X:3.51, Y:0.40, Z:-0.15 [[ 9.99886073e-01 -6.40432150e-04 -1.50808424e-02 3.50977421e+00] [ 7.01522995e-04 9.99991569e-01 4.04594919e-03 4.02888006e-01] [ 1.50781241e-02 -4.05606780e-03 9.99878092e-01 -1.48228208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.383133365 meters Centerline goodness [0,1] 0.3100332139930121 Centerline is valid? [False, False] Translation: X:3.53, Y:0.39, Z:-0.15 [[ 9.99816036e-01 5.76012386e-03 -1.82952032e-02 3.53014655e+00] [-5.69546776e-03 9.99977357e-01 3.58418731e-03 3.91364867e-01] [ 1.83154343e-02 -3.47932821e-03 9.99826204e-01 -1.46372028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41313336499996 meters Centerline goodness [0,1] 0.309712308025092 Centerline is valid? [False, False] Translation: X:3.53, Y:0.39, Z:-0.15 [[ 0.99981245 0.00593614 -0.01843443 3.53077319] [-0.00586252 0.99997463 0.00404507 0.38890836] [ 0.01845798 -0.00393624 0.99982189 -0.14682734] [ 0. 0. 0. 1. ]] SLAMing on 307.443133365 meters Centerline goodness [0,1] 0.31159889493222825 Centerline is valid? [False, False] Translation: X:3.53, Y:0.39, Z:-0.15 [[ 0.99981225 0.00615381 -0.01837361 3.53066166] [-0.00607147 0.99997129 0.00453405 0.38646228] [ 0.01840098 -0.00442164 0.99982091 -0.14689417] [ 0. 0. 0. 1. ]] SLAMing on 307.47313336499997 meters Centerline goodness [0,1] 0.31177829099307164 Centerline is valid? [False, False] Translation: X:3.53, Y:0.38, Z:-0.15 [[ 0.99981541 0.00634834 -0.01813383 3.52989072] [-0.00625803 0.99996776 0.00503226 0.38387986] [ 0.01816519 -0.00491785 0.9998229 -0.14656365] [ 0. 0. 0. 1. ]] SLAMing on 307.503133365 meters Centerline goodness [0,1] 0.3097469338400415 Centerline is valid? [False, False] Translation: X:3.55, Y:0.38, Z:-0.15 [[ 9.99848911e-01 -1.64281989e-03 -1.73048148e-02 3.54809976e+00] [ 1.75168865e-03 9.99978759e-01 6.27796337e-03 3.84866528e-01] [ 1.72941337e-02 -6.30732749e-03 9.99830551e-01 -1.45035601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53313336499997 meters Centerline goodness [0,1] 0.312335214520733 Centerline is valid? [False, False] Translation: X:3.55, Y:0.38, Z:-0.14 [[ 9.99851987e-01 -1.47569826e-03 -1.71413889e-02 3.54747627e+00] [ 1.59108699e-03 9.99976155e-01 6.71989997e-03 3.82397474e-01] [ 1.71310636e-02 -6.74617877e-03 9.99830493e-01 -1.44645969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.563133365 meters Centerline goodness [0,1] 0.3113509279606623 Centerline is valid? [False, False] Translation: X:3.55, Y:0.38, Z:-0.14 [[ 9.99856779e-01 -1.07790317e-03 -1.68896335e-02 3.54682845e+00] [ 1.20633201e-03 9.99970425e-01 7.59566213e-03 3.78013637e-01] [ 1.68809466e-02 -7.61494877e-03 9.99828508e-01 -1.44496392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59313336499997 meters Centerline goodness [0,1] 0.31297226468661277 Centerline is valid? [False, False] Translation: X:3.55, Y:0.38, Z:-0.14 [[ 9.99856161e-01 -8.86772275e-04 -1.69372659e-02 3.54709550e+00] [ 1.02332471e-03 9.99967032e-01 8.05528312e-03 3.75766384e-01] [ 1.69295643e-02 -8.07145677e-03 9.99824105e-01 -1.44749335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.623133365 meters Centerline goodness [0,1] 0.3109575947167188 Centerline is valid? [False, False] Translation: X:3.55, Y:0.37, Z:-0.15 [[ 9.99855182e-01 -7.09014655e-04 -1.70032791e-02 3.54752404e+00] [ 8.53937253e-04 9.99963361e-01 8.51746944e-03 3.73305771e-01] [ 1.69966171e-02 -8.53075569e-03 9.99819154e-01 -1.45156449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.653133365 meters Centerline goodness [0,1] 0.3107571440904774 Centerline is valid? [False, False] Translation: X:3.55, Y:0.37, Z:-0.15 [[ 9.99855303e-01 -2.67551950e-04 -1.70088730e-02 3.54756369e+00] [ 4.30927937e-04 9.99953803e-01 9.60239950e-03 3.66985678e-01] [ 1.70055181e-02 -9.60833966e-03 9.99809228e-01 -1.45100136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.683133365 meters Centerline goodness [0,1] 0.31123844250553456 Centerline is valid? [False, False] Translation: X:3.55, Y:0.36, Z:-0.14 [[ 9.99856844e-01 -1.16205180e-05 -1.69201216e-02 3.54725517e+00] [ 1.85134803e-04 9.99947416e-01 1.02533774e-02 3.63787133e-01] [ 1.69191128e-02 -1.02550421e-02 9.99804270e-01 -1.44844808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.713133365 meters Centerline goodness [0,1] 0.3114807354947696 Centerline is valid? [False, False] Translation: X:3.55, Y:0.36, Z:-0.14 [[ 9.99859256e-01 1.93678985e-04 -1.67758796e-02 3.54680900e+00] [-1.15588050e-05 9.99941077e-01 1.08554901e-02 3.60643338e-01] [ 1.67769936e-02 -1.08537683e-02 9.99800344e-01 -1.44584255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.743133365 meters Centerline goodness [0,1] 0.3127873281478092 Centerline is valid? [False, False] Translation: X:3.55, Y:0.36, Z:-0.14 [[ 9.99859693e-01 3.95873674e-04 -1.67462770e-02 3.54669186e+00] [-2.04135318e-04 9.99934428e-01 1.14497712e-02 3.57433496e-01] [ 1.67497116e-02 -1.14447462e-02 9.99794211e-01 -1.44451550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.773133365 meters Centerline goodness [0,1] 0.3128100252371421 Centerline is valid? [False, False] Translation: X:3.55, Y:0.35, Z:-0.14 [[ 9.99858747e-01 6.24512648e-04 -1.67957020e-02 3.54679690e+00] [-4.21868582e-04 9.99927113e-01 1.20660713e-02 3.54192585e-01] [ 1.68020132e-02 -1.20572813e-02 9.99786134e-01 -1.44357205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.803133365 meters Centerline goodness [0,1] 0.3117978746475819 Centerline is valid? [False, False] Translation: X:3.55, Y:0.35, Z:-0.14 [[ 9.99856913e-01 8.32898818e-04 -1.68955506e-02 3.54706186e+00] [-6.19721432e-04 9.99920189e-01 1.26186824e-02 3.51246739e-01] [ 1.69047122e-02 -1.26064063e-02 9.99777630e-01 -1.44362976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.833133365 meters Centerline goodness [0,1] 0.3117978746475819 Centerline is valid? [False, False] Translation: X:3.55, Y:0.35, Z:-0.14 [[ 9.99856913e-01 8.32898818e-04 -1.68955506e-02 3.54706186e+00] [-6.19721432e-04 9.99920189e-01 1.26186824e-02 3.51246739e-01] [ 1.69047122e-02 -1.26064063e-02 9.99777630e-01 -1.44362976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.863133365 meters Centerline goodness [0,1] 0.3094787545157406 Centerline is valid? [False, False] Translation: X:3.57, Y:0.34, Z:-0.14 [[ 0.99977632 0.00767707 -0.01970702 3.56660697] [-0.00743255 0.99989486 0.01245093 0.33974302] [ 0.01980053 -0.01230167 0.99972827 -0.14229231] [ 0. 0. 0. 1. ]] SLAMing on 307.893133365 meters Centerline goodness [0,1] 0.3107152893365902 Centerline is valid? [False, False] Translation: X:3.57, Y:0.34, Z:-0.14 [[ 0.9997733 0.00790263 -0.0197709 3.5668226 ] [-0.00764592 0.99988592 0.01302636 0.33665705] [ 0.01987159 -0.01287224 0.99971967 -0.14233262] [ 0. 0. 0. 1. ]] SLAMing on 307.923133365 meters Centerline goodness [0,1] 0.3077719090223132 Centerline is valid? [False, False] Translation: X:3.57, Y:0.33, Z:-0.14 [[ 0.9998003 0.00510934 -0.01932003 3.56547534] [-0.00490829 0.99993346 0.01043941 0.3340606 ] [ 0.01937208 -0.01034249 0.99975885 -0.14202685] [ 0. 0. 0. 1. ]] SLAMing on 307.953133365 meters Centerline goodness [0,1] 0.31153996779948656 Centerline is valid? [False, False] Translation: X:3.57, Y:0.33, Z:-0.14 [[ 0.9997978 0.00531548 -0.01939364 3.56555387] [-0.00510301 0.9999266 0.01098852 0.33111265] [ 0.01945063 -0.01088733 0.99975154 -0.141842 ] [ 0. 0. 0. 1. ]] SLAMing on 307.98313336499996 meters Centerline goodness [0,1] 0.307375378210768 Centerline is valid? [False, False] Translation: X:3.59, Y:0.32, Z:-0.14 [[ 0.99969767 0.01316262 -0.02076827 3.58573435] [-0.01294435 0.99985993 0.01060927 0.32137679] [ 0.02090501 -0.01033723 0.99972802 -0.13999023] [ 0. 0. 0. 1. ]] SLAMing on 308.013133365 meters Centerline goodness [0,1] 0.3111444017455872 Centerline is valid? [False, False] Translation: X:3.57, Y:0.32, Z:-0.14 [[ 0.99975728 0.00480817 -0.02150025 3.56585005] [-0.00455465 0.99991971 0.01182524 0.32219447] [ 0.02155538 -0.01172444 0.99969891 -0.1413838 ] [ 0. 0. 0. 1. ]] SLAMing on 308.04313336499996 meters Centerline goodness [0,1] 0.30987750847015894 Centerline is valid? [False, False] Translation: X:3.57, Y:0.32, Z:-0.14 [[ 0.99975687 0.00498177 -0.02147976 3.56592736] [-0.00472109 0.9999148 0.01216992 0.32056457] [ 0.02153856 -0.01206556 0.99969521 -0.14156916] [ 0. 0. 0. 1. ]] SLAMing on 308.073133365 meters Centerline goodness [0,1] 0.31192400705897727 Centerline is valid? [False, False] Translation: X:3.57, Y:0.32, Z:-0.14 [[ 0.99975482 0.00512579 -0.02154139 3.56618042] [-0.00485777 0.99991038 0.01247565 0.31905326] [ 0.02160341 -0.01236794 0.99969012 -0.14173361] [ 0. 0. 0. 1. ]] SLAMing on 308.10313336499996 meters Centerline goodness [0,1] 0.31040422099158416 Centerline is valid? [False, False] Translation: X:3.57, Y:0.32, Z:-0.14 [[ 0.99975269 0.00524179 -0.0216119 3.56644174] [-0.0049673 0.99990657 0.01273484 0.31766577] [ 0.02167663 -0.01262433 0.99968533 -0.14189798] [ 0. 0. 0. 1. ]] SLAMing on 308.133133365 meters Centerline goodness [0,1] 0.31066413330712617 Centerline is valid? [False, False] Translation: X:3.57, Y:0.32, Z:-0.14 [[ 0.99974858 0.00531728 -0.02178319 3.56691496] [-0.00503635 0.9999037 0.01293134 0.31640845] [ 0.02184985 -0.01281838 0.99967909 -0.14203255] [ 0. 0. 0. 1. ]] SLAMing on 308.16313336499996 meters Centerline goodness [0,1] 0.3088038070516981 Centerline is valid? [False, False] Translation: X:3.57, Y:0.31, Z:-0.14 [[ 0.99973975 0.00558731 -0.02211833 3.56770997] [-0.00528844 0.99989424 0.01354748 0.31318445] [ 0.02219169 -0.01342698 0.99966357 -0.14202978] [ 0. 0. 0. 1. ]] SLAMing on 308.193133365 meters Centerline goodness [0,1] 0.3110359869138495 Centerline is valid? [False, False] Translation: X:3.57, Y:0.31, Z:-0.14 [[ 0.99974069 0.0057802 -0.02202577 3.56747386] [-0.00547297 0.99988725 0.01398327 0.31110469] [ 0.02210412 -0.0138591 0.99965961 -0.14197355] [ 0. 0. 0. 1. ]] SLAMing on 308.22313336499997 meters Centerline goodness [0,1] 0.3102924914897769 Centerline is valid? [False, False] Translation: X:3.57, Y:0.31, Z:-0.14 [[ 9.99766747e-01 3.03341852e-03 -2.13834248e-02 3.56590755e+00] [-2.78941735e-03 9.99930769e-01 1.14313682e-02 3.09296752e-01] [ 2.14166205e-02 -1.13690545e-02 9.99705993e-01 -1.41854837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.253133365 meters Centerline goodness [0,1] 0.30842391304347827 Centerline is valid? [False, False] Translation: X:3.56, Y:0.31, Z:-0.14 [[ 9.99786459e-01 -6.97162085e-05 -2.06647425e-02 3.56410623e+00] [ 2.46018352e-04 9.99963596e-01 8.52912376e-03 3.07776385e-01] [ 2.06633956e-02 -8.53238635e-03 9.99750080e-01 -1.41671084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28313336499997 meters Centerline goodness [0,1] 0.31081698848422845 Centerline is valid? [False, False] Translation: X:3.56, Y:0.31, Z:-0.14 [[ 9.99789663e-01 5.83069813e-05 -2.05091841e-02 3.56370166e+00] [ 1.26536108e-04 9.99959390e-01 9.01128514e-03 3.05030188e-01] [ 2.05088766e-02 -9.01198489e-03 9.99749054e-01 -1.41495525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.313133365 meters Centerline goodness [0,1] 0.3074665515753129 Centerline is valid? [False, False] Translation: X:3.58, Y:0.30, Z:-0.14 [[ 0.99975711 0.00784936 -0.02059368 3.58265166] [-0.00768692 0.99993881 0.00795527 0.29868676] [ 0.02065486 -0.00779503 0.99975628 -0.1394115 ] [ 0. 0. 0. 1. ]] SLAMing on 308.34313336499997 meters Centerline goodness [0,1] 0.3129393216107912 Centerline is valid? [False, False] Translation: X:3.56, Y:0.29, Z:-0.14 [[ 9.99753754e-01 -1.46148723e-03 -2.21426346e-02 3.56120275e+00] [ 1.65666141e-03 9.99959919e-01 8.79862856e-03 2.94340119e-01] [ 2.21288880e-02 -8.83314477e-03 9.99716104e-01 -1.39975822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.373133365 meters Centerline goodness [0,1] 0.3114433056988054 Centerline is valid? [False, False] Translation: X:3.56, Y:0.29, Z:-0.14 [[ 9.99749013e-01 -1.34125572e-03 -2.23631713e-02 3.56189174e+00] [ 1.54764101e-03 9.99956352e-01 9.21405053e-03 2.91935992e-01] [ 2.23498368e-02 -9.24634809e-03 9.99707452e-01 -1.40190635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.403133365 meters Centerline goodness [0,1] 0.3102649078346005 Centerline is valid? [False, False] Translation: X:3.56, Y:0.29, Z:-0.14 [[ 9.99745781e-01 -1.24056043e-03 -2.25129757e-02 3.56245917e+00] [ 1.45677224e-03 9.99952954e-01 9.59001777e-03 2.89650083e-01] [ 2.25000196e-02 -9.62037608e-03 9.99700554e-01 -1.40450167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.433133365 meters Centerline goodness [0,1] 0.31040487592511967 Centerline is valid? [False, False] Translation: X:3.56, Y:0.29, Z:-0.14 [[ 9.99742561e-01 -1.04877022e-03 -2.26652067e-02 3.56311001e+00] [ 1.28109297e-03 9.99946769e-01 1.02381058e-02 2.85858171e-01] [ 2.26532628e-02 -1.02645063e-02 9.99690687e-01 -1.40814081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.463133365 meters Centerline goodness [0,1] 0.3097023848344529 Centerline is valid? [False, False] Translation: X:3.56, Y:0.28, Z:-0.14 [[ 9.99741098e-01 -9.78381546e-04 -2.27327953e-02 3.56340477e+00] [ 1.21643512e-03 9.99944549e-01 1.04603455e-02 2.84597574e-01] [ 2.27213005e-02 -1.04852902e-02 9.99686852e-01 -1.40994182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.493133365 meters Centerline goodness [0,1] 0.30898156792080067 Centerline is valid? [False, False] Translation: X:3.56, Y:0.28, Z:-0.14 [[ 9.99736240e-01 -9.04996443e-04 -2.29484358e-02 3.56414471e+00] [ 1.14910755e-03 9.99942878e-01 1.06264198e-02 2.83727537e-01] [ 2.29375080e-02 -1.06499872e-02 9.99680173e-01 -1.41348637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.523133365 meters Centerline goodness [0,1] 0.31156687953619144 Centerline is valid? [False, False] Translation: X:3.56, Y:0.28, Z:-0.14 [[ 9.99731655e-01 -8.95754133e-04 -2.31477119e-02 3.56491851e+00] [ 1.14250927e-03 9.99942645e-01 1.06489976e-02 2.83488091e-01] [ 2.31368454e-02 -1.06725864e-02 9.99675338e-01 -1.41853716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.553133365 meters Centerline goodness [0,1] 0.30875966298966384 Centerline is valid? [False, False] Translation: X:3.57, Y:0.28, Z:-0.14 [[ 9.99729032e-01 -8.85182704e-04 -2.32611259e-02 3.56540419e+00] [ 1.13186457e-03 9.99943243e-01 1.05938725e-02 2.83866080e-01] [ 2.32504282e-02 -1.06173303e-02 9.99673292e-01 -1.42236932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.583133365 meters Centerline goodness [0,1] 0.31088906304423547 Centerline is valid? [False, False] Translation: X:3.56, Y:0.28, Z:-0.14 [[ 9.99733071e-01 -8.69171947e-04 -2.30874758e-02 3.56493828e+00] [ 1.11211749e-03 9.99944128e-01 1.05120736e-02 2.84582868e-01] [ 2.30770490e-02 -1.05349436e-02 9.99678181e-01 -1.42181654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.613133365 meters Centerline goodness [0,1] 0.31047789308450335 Centerline is valid? [False, False] Translation: X:3.56, Y:0.29, Z:-0.14 [[ 9.99752555e-01 -7.58688490e-04 -2.22317953e-02 3.56246354e+00] [ 9.89267947e-04 9.99945819e-01 1.03624458e-02 2.86120683e-01] [ 2.22227289e-02 -1.03818749e-02 9.99699138e-01 -1.41429303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.643133365 meters Centerline goodness [0,1] 0.31220524017467244 Centerline is valid? [False, False] Translation: X:3.56, Y:0.29, Z:-0.14 [[ 9.99756173e-01 -8.53913828e-04 -2.20650109e-02 3.56183010e+00] [ 1.07808861e-03 9.99947908e-01 1.01498431e-02 2.86941715e-01] [ 2.20551944e-02 -1.01711563e-02 9.99705014e-01 -1.41080205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.673133365 meters Centerline goodness [0,1] 0.3117197202431532 Centerline is valid? [False, False] Translation: X:3.56, Y:0.29, Z:-0.14 [[ 9.99755294e-01 -9.57715410e-04 -2.21005848e-02 3.56172324e+00] [ 1.17729100e-03 9.99950059e-01 9.92441281e-03 2.87849435e-01] [ 2.20899763e-02 -9.94800306e-03 9.99706492e-01 -1.40854077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.703133365 meters Centerline goodness [0,1] 0.3110126195362648 Centerline is valid? [False, False] Translation: X:3.56, Y:0.29, Z:-0.14 [[ 9.99746450e-01 -1.03708125e-03 -2.24935508e-02 3.56283279e+00] [ 1.25629319e-03 9.99951838e-01 9.73360560e-03 2.88819525e-01] [ 2.24823729e-02 -9.75939614e-03 9.99699603e-01 -1.41258979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73313336499996 meters Centerline goodness [0,1] 0.3101809461521692 Centerline is valid? [False, False] Translation: X:3.56, Y:0.29, Z:-0.14 [[ 9.99740779e-01 -1.04013267e-03 -2.27440790e-02 3.56346294e+00] [ 1.26404979e-03 9.99950857e-01 9.83291381e-03 2.88186197e-01] [ 2.27327337e-02 -9.85911456e-03 9.99692963e-01 -1.41297004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.763133365 meters Centerline goodness [0,1] 0.3092934048210627 Centerline is valid? [False, False] Translation: X:3.56, Y:0.29, Z:-0.14 [[ 9.99738040e-01 -1.02413756e-03 -2.28648756e-02 3.56357798e+00] [ 1.25367423e-03 9.99948945e-01 1.00267566e-02 2.86990021e-01] [ 2.28534395e-02 -1.00527951e-02 9.99688282e-01 -1.41003595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79313336499996 meters Centerline goodness [0,1] 0.3093798096724545 Centerline is valid? [False, False] Translation: X:3.56, Y:0.29, Z:-0.14 [[ 9.99738121e-01 -1.05557560e-03 -2.28599040e-02 3.56325400e+00] [ 1.29120508e-03 9.99946169e-01 1.02952387e-02 2.85115534e-01] [ 2.28478060e-02 -1.03220594e-02 9.99685667e-01 -1.40405410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.823133365 meters Centerline goodness [0,1] 0.3121539101315415 Centerline is valid? [False, False] Translation: X:3.56, Y:0.28, Z:-0.14 [[ 9.99738241e-01 -1.09694095e-03 -2.28526970e-02 3.56289703e+00] [ 1.33947997e-03 9.99942916e-01 1.06005438e-02 2.82941301e-01] [ 2.28397643e-02 -1.06283798e-02 9.99682641e-01 -1.39752686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85313336499996 meters Centerline goodness [0,1] 0.3122669368223654 Centerline is valid? [False, False] Translation: X:3.58, Y:0.28, Z:-0.14 [[ 0.9997567 0.00450994 -0.02159166 3.58464645] [-0.00434629 0.99996152 0.00762016 0.27985516] [ 0.02162519 -0.00752446 0.99973783 -0.1394241 ] [ 0. 0. 0. 1. ]] SLAMing on 308.883133365 meters Centerline goodness [0,1] 0.31480549048797035 Centerline is valid? [False, False] Translation: X:3.56, Y:0.28, Z:-0.14 [[ 0.99975394 -0.00485885 -0.02164366 3.56171116] [ 0.00503886 0.99995311 0.00826985 0.27925866] [ 0.02160246 -0.00837688 0.99973154 -0.13955098] [ 0. 0. 0. 1. ]] SLAMing on 308.91313336499996 meters Centerline goodness [0,1] 0.31515602433366885 Centerline is valid? [False, False] Translation: X:3.56, Y:0.27, Z:-0.14 [[ 0.99976254 -0.00483499 -0.02124844 3.56053801] [ 0.00502756 0.99994669 0.00901869 0.27426961] [ 0.02120371 -0.00912338 0.99973355 -0.13887904] [ 0. 0. 0. 1. ]] SLAMing on 308.943133365 meters Centerline goodness [0,1] 0.31164354046367315 Centerline is valid? [False, False] Translation: X:3.58, Y:0.27, Z:-0.14 [[ 9.99783052e-01 1.79106999e-03 -2.07518875e-02 3.58248024e+00] [-1.65468952e-03 9.99976935e-01 6.58726284e-03 2.71064210e-01] [ 2.07632071e-02 -6.55149582e-03 9.99762955e-01 -1.38799681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97313336499997 meters Centerline goodness [0,1] 0.3135769781674552 Centerline is valid? [False, False] Translation: X:3.58, Y:0.27, Z:-0.14 [[ 9.99778810e-01 1.90622542e-03 -2.09450876e-02 3.58306246e+00] [-1.76190981e-03 9.99974598e-01 6.90648322e-03 2.69241502e-01] [ 2.09577209e-02 -6.86805222e-03 9.99756772e-01 -1.38975288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.003133365 meters Centerline goodness [0,1] 0.31300760043431053 Centerline is valid? [False, False] Translation: X:3.58, Y:0.27, Z:-0.14 [[ 9.99774185e-01 2.19336193e-03 -2.11369089e-02 3.58358350e+00] [-2.03727987e-03 9.99970522e-01 7.40304336e-03 2.67002651e-01] [ 2.11525233e-02 -7.35830984e-03 9.99749182e-01 -1.39069301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03313336499997 meters Centerline goodness [0,1] 0.31150591850425224 Centerline is valid? [False, False] Translation: X:3.58, Y:0.27, Z:-0.14 [[ 9.99775947e-01 2.28465530e-03 -2.10436500e-02 3.58333697e+00] [-2.12689161e-03 9.99969490e-01 7.51630669e-03 2.66616973e-01] [ 2.10601801e-02 -7.46986508e-03 9.99750304e-01 -1.39028072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.063133365 meters Centerline goodness [0,1] 0.311841195783653 Centerline is valid? [False, False] Translation: X:3.58, Y:0.27, Z:-0.14 [[ 9.99776992e-01 2.32965676e-03 -2.09890305e-02 3.58331389e+00] [-2.17069121e-03 9.99968814e-01 7.59334681e-03 2.66162885e-01] [ 2.10060658e-02 -7.54609273e-03 9.99750870e-01 -1.39192330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09313336499997 meters Centerline goodness [0,1] 0.3092358201218195 Centerline is valid? [False, False] Translation: X:3.58, Y:0.27, Z:-0.14 [[ 9.99777134e-01 2.29828450e-03 -2.09857060e-02 3.58353427e+00] [-2.13929490e-03 9.99968866e-01 7.59539977e-03 2.65685823e-01] [ 2.10025090e-02 -7.54881240e-03 9.99750924e-01 -1.39532637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.123133365 meters Centerline goodness [0,1] 0.31060573306238926 Centerline is valid? [False, False] Translation: X:3.58, Y:0.27, Z:-0.14 [[ 9.99775001e-01 2.29567801e-03 -2.10873601e-02 3.58396901e+00] [-2.13553146e-03 9.99968734e-01 7.61381508e-03 2.65256624e-01] [ 2.11041797e-02 -7.56706926e-03 9.99748645e-01 -1.39833412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.153133365 meters Centerline goodness [0,1] 0.3109924227621095 Centerline is valid? [False, False] Translation: X:3.58, Y:0.27, Z:-0.14 [[ 9.99774879e-01 2.29343037e-03 -2.10934208e-02 3.58404870e+00] [-2.13390084e-03 9.99968976e-01 7.58240083e-03 2.65414105e-01] [ 2.11101561e-02 -7.53568260e-03 9.99748756e-01 -1.39991775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.183133365 meters Centerline goodness [0,1] 0.3093073732619861 Centerline is valid? [False, False] Translation: X:3.58, Y:0.27, Z:-0.14 [[ 9.99788039e-01 2.62518514e-03 -2.04202167e-02 3.58220324e+00] [-2.46664009e-03 9.99966651e-01 7.78543848e-03 2.65796346e-01] [ 2.04399739e-02 -7.73341894e-03 9.99761172e-01 -1.39642290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.213133365 meters Centerline goodness [0,1] 0.3140032301715483 Centerline is valid? [False, False] Translation: X:3.54, Y:0.26, Z:-0.14 [[ 9.99752634e-01 1.74868329e-03 -2.21723293e-02 3.53583967e+00] [-1.57176161e-03 9.99966810e-01 7.99430840e-03 2.62427285e-01] [ 2.21855730e-02 -7.95748126e-03 9.99722201e-01 -1.39381611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.243133365 meters Centerline goodness [0,1] 0.3125175202156334 Centerline is valid? [False, False] Translation: X:3.56, Y:0.26, Z:-0.14 [[ 0.9997198 0.00974453 -0.0215724 3.55525228] [-0.00960755 0.99993308 0.00644419 0.26002858] [ 0.02163375 -0.00623512 0.99974652 -0.13810568] [ 0. 0. 0. 1. ]] SLAMing on 309.273133365 meters Centerline goodness [0,1] 0.3122239542738373 Centerline is valid? [False, False] Translation: X:3.56, Y:0.26, Z:-0.14 [[ 0.99971834 0.00966675 -0.02167454 3.55570243] [-0.00953113 0.99993441 0.00635152 0.2601116 ] [ 0.02173452 -0.00614315 0.9997449 -0.13844618] [ 0. 0. 0. 1. ]] SLAMing on 309.303133365 meters Centerline goodness [0,1] 0.3109120975882138 Centerline is valid? [False, False] Translation: X:3.57, Y:0.27, Z:-0.14 [[ 9.99746128e-01 2.32862198e-03 -2.24110751e-02 3.57457448e+00] [-2.16964741e-03 9.99972332e-01 7.11527441e-03 2.65414863e-01] [ 2.24270238e-02 -7.06484391e-03 9.99723520e-01 -1.36671321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.333133365 meters Centerline goodness [0,1] 0.3127506883767318 Centerline is valid? [False, False] Translation: X:3.57, Y:0.27, Z:-0.14 [[ 9.99747705e-01 2.35297160e-03 -2.23380740e-02 3.57427014e+00] [-2.19313294e-03 9.99971838e-01 7.17724002e-03 2.65241174e-01] [ 2.23543328e-02 -7.12643887e-03 9.99724711e-01 -1.36496034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.363133365 meters Centerline goodness [0,1] 0.3120429690027826 Centerline is valid? [False, False] Translation: X:3.57, Y:0.26, Z:-0.14 [[ 9.99747805e-01 2.27289529e-03 -2.23418955e-02 3.57400676e+00] [-2.11324021e-03 9.99972084e-01 7.16700948e-03 2.64979295e-01] [ 2.23575617e-02 -7.11798820e-03 9.99724699e-01 -1.36039418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.393133365 meters Centerline goodness [0,1] 0.3148958401358323 Centerline is valid? [False, False] Translation: X:3.57, Y:0.27, Z:-0.14 [[ 9.99745863e-01 2.20956066e-03 -2.24349688e-02 3.57431506e+00] [-2.05099578e-03 9.99972774e-01 7.08830773e-03 2.65090762e-01] [ 2.24500200e-02 -7.04049230e-03 9.99723176e-01 -1.36180247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.423133365 meters Centerline goodness [0,1] 0.31278509057734916 Centerline is valid? [False, False] Translation: X:3.57, Y:0.27, Z:-0.14 [[ 9.99742177e-01 2.15820415e-03 -2.26035667e-02 3.57486586e+00] [-2.00077899e-03 9.99973604e-01 6.98491708e-03 2.65631335e-01] [ 2.26180449e-02 -6.93789147e-03 9.99720106e-01 -1.36448437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.453133365 meters Centerline goodness [0,1] 0.31051602226568376 Centerline is valid? [False, False] Translation: X:3.58, Y:0.27, Z:-0.14 [[ 9.99738327e-01 2.13673417e-03 -2.27752415e-02 3.57552727e+00] [-1.98086296e-03 9.99974479e-01 6.86425284e-03 2.66482194e-01] [ 2.27893274e-02 -6.81734202e-03 9.99717045e-01 -1.36889079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48313336499996 meters Centerline goodness [0,1] 0.31108626472864886 Centerline is valid? [False, False] Translation: X:3.58, Y:0.27, Z:-0.14 [[ 9.99736227e-01 2.09926641e-03 -2.28706946e-02 3.57590905e+00] [-1.94546648e-03 9.99975360e-01 6.74493578e-03 2.67207100e-01] [ 2.28842905e-02 -6.69866248e-03 9.99715678e-01 -1.37153956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.513133365 meters Centerline goodness [0,1] 0.31464426014840685 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-0.14 [[ 9.99686097e-01 7.43994734e-04 -2.50430403e-02 3.53063286e+00] [-5.86447416e-04 9.99979997e-01 6.29781849e-03 2.65602009e-01] [ 2.50472249e-02 -6.28115516e-03 9.99666536e-01 -1.37133406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54313336499996 meters Centerline goodness [0,1] 0.3161883545188485 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-0.14 [[ 9.99689229e-01 5.10599331e-04 -2.49235948e-02 3.52985389e+00] [-3.67554058e-04 9.99983438e-01 5.74359529e-03 2.68162049e-01] [ 2.49261147e-02 -5.73264958e-03 9.99672859e-01 -1.36429267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.573133365 meters Centerline goodness [0,1] 0.3171068190776508 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-0.14 [[ 9.99692358e-01 4.26898096e-04 -2.47993542e-02 3.52940595e+00] [-2.91031820e-04 9.99984932e-01 5.48197247e-03 2.69651921e-01] [ 2.48013208e-02 -5.47306858e-03 9.99677418e-01 -1.36215737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60313336499996 meters Centerline goodness [0,1] 0.3135097823507841 Centerline is valid? [False, False] Translation: X:3.55, Y:0.27, Z:-0.14 [[ 0.99968934 0.00856117 -0.02340799 3.54878341] [-0.00846838 0.9999559 0.00406012 0.26929979] [ 0.02344172 -0.00386063 0.99971775 -0.13509694] [ 0. 0. 0. 1. ]] SLAMing on 309.633133365 meters Centerline goodness [0,1] 0.3147910736402947 Centerline is valid? [False, False] Translation: X:3.55, Y:0.27, Z:-0.14 [[ 0.99969273 0.00842882 -0.02331085 3.54851562] [-0.00834302 0.99995807 0.00377538 0.27057613] [ 0.0233417 -0.00357973 0.99972114 -0.13506415] [ 0. 0. 0. 1. ]] SLAMing on 309.66313336499996 meters Centerline goodness [0,1] 0.3171745755333043 Centerline is valid? [False, False] Translation: X:3.55, Y:0.27, Z:-0.14 [[ 9.99694196e-01 8.28021646e-03 -2.33013549e-02 3.54845845e+00] [-8.20180727e-03 9.99960384e-01 3.45856744e-03 2.71970046e-01] [ 2.33290695e-02 -3.26639657e-03 9.99722504e-01 -1.35028940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.693133365 meters Centerline goodness [0,1] 0.3147138083432144 Centerline is valid? [False, False] Translation: X:3.57, Y:0.28, Z:-0.13 [[ 9.99729456e-01 6.02957876e-04 -2.32518893e-02 3.56753228e+00] [-5.08602373e-04 9.99991614e-01 4.06367175e-03 2.78214877e-01] [ 2.32541445e-02 -4.05074639e-03 9.99721379e-01 -1.33476013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72313336499997 meters Centerline goodness [0,1] 0.31592473211952266 Centerline is valid? [False, False] Translation: X:3.57, Y:0.28, Z:-0.13 [[ 9.99735464e-01 5.99933613e-04 -2.29922362e-02 3.56641908e+00] [-5.07758449e-04 9.99991813e-01 4.01459746e-03 2.78943127e-01] [ 2.29944565e-02 -4.00186095e-03 9.99727583e-01 -1.32708323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.753133365 meters Centerline goodness [0,1] 0.31592473211952266 Centerline is valid? [False, False] Translation: X:3.57, Y:0.28, Z:-0.13 [[ 9.99735464e-01 5.99933613e-04 -2.29922362e-02 3.56641908e+00] [-5.07758449e-04 9.99991813e-01 4.01459746e-03 2.78943127e-01] [ 2.29944565e-02 -4.00186095e-03 9.99727583e-01 -1.32708323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78313336499997 meters Centerline goodness [0,1] 0.31495108648601855 Centerline is valid? [False, False] Translation: X:3.57, Y:0.28, Z:-0.13 [[ 9.99738442e-01 6.21847874e-04 -2.28617841e-02 3.56595235e+00] [-5.28779902e-04 9.99991550e-01 4.07671702e-03 2.78678988e-01] [ 2.28641261e-02 -4.06356187e-03 9.99730323e-01 -1.32428162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.813133365 meters Centerline goodness [0,1] 0.3152329671284033 Centerline is valid? [False, False] Translation: X:3.57, Y:0.28, Z:-0.13 [[ 9.99740713e-01 6.10254604e-04 -2.27625488e-02 3.56561050e+00] [-5.16504854e-04 9.99991362e-01 4.12424821e-03 2.78258148e-01] [ 2.27648690e-02 -4.11142188e-03 9.99732393e-01 -1.32223652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84313336499997 meters Centerline goodness [0,1] 0.31437873033098207 Centerline is valid? [False, False] Translation: X:3.57, Y:0.28, Z:-0.13 [[ 9.99741836e-01 6.05798903e-04 -2.27132917e-02 3.56548714e+00] [-5.10382323e-04 9.99991022e-01 4.20647543e-03 2.77628734e-01] [ 2.27156361e-02 -4.19379701e-03 9.99733170e-01 -1.32185002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.873133365 meters Centerline goodness [0,1] 0.31492417851039434 Centerline is valid? [False, False] Translation: X:3.57, Y:0.28, Z:-0.13 [[ 9.99740600e-01 6.67347834e-04 -2.27659338e-02 3.56570260e+00] [-5.68456480e-04 9.99990377e-01 4.35002541e-03 2.76917419e-01] [ 2.27686177e-02 -4.33595557e-03 9.99731359e-01 -1.32335148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.903133365 meters Centerline goodness [0,1] 0.31212029161603894 Centerline is valid? [False, False] Translation: X:3.57, Y:0.28, Z:-0.13 [[ 9.99728729e-01 7.87661314e-04 -2.32776489e-02 3.56722182e+00] [-6.78995571e-04 9.99988838e-01 4.67577907e-03 2.75231615e-01] [ 2.32810720e-02 -4.65870525e-03 9.99718104e-01 -1.32824651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.933133365 meters Centerline goodness [0,1] 0.31422422226570146 Centerline is valid? [False, False] Translation: X:3.57, Y:0.27, Z:-0.13 [[ 9.99722543e-01 7.59195418e-04 -2.35427280e-02 3.56804806e+00] [-6.48737340e-04 9.99988749e-01 4.69909572e-03 2.74675313e-01] [ 2.35460307e-02 -4.68251888e-03 9.99711788e-01 -1.33146361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.963133365 meters Centerline goodness [0,1] 0.31339598943219715 Centerline is valid? [False, False] Translation: X:3.57, Y:0.27, Z:-0.13 [[ 9.99718337e-01 7.31728944e-04 -2.37215209e-02 3.56853614e+00] [-6.19919489e-04 9.99988667e-01 4.72042964e-03 2.74128852e-01] [ 2.37247061e-02 -4.70439464e-03 9.99707461e-01 -1.33264354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.993133365 meters Centerline goodness [0,1] 0.31383268355367766 Centerline is valid? [False, False] Translation: X:3.57, Y:0.27, Z:-0.13 [[ 9.99717299e-01 7.27558155e-04 -2.37653686e-02 3.56847630e+00] [-6.15753866e-04 9.99988711e-01 4.71148385e-03 2.74061943e-01] [ 2.37685282e-02 -4.69551829e-03 9.99706462e-01 -1.33052012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.023133365 meters Centerline goodness [0,1] 0.3138319650052793 Centerline is valid? [False, False] Translation: X:3.57, Y:0.27, Z:-0.13 [[ 9.99717662e-01 8.42999335e-04 -2.37462714e-02 3.56825416e+00] [-7.28347017e-04 9.99988039e-01 4.83645927e-03 2.73891069e-01] [ 2.37500645e-02 -4.81779822e-03 9.99706319e-01 -1.32812746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.053133365 meters Centerline goodness [0,1] 0.3109495937051092 Centerline is valid? [False, False] Translation: X:3.57, Y:0.27, Z:-0.13 [[ 9.99719876e-01 9.48522575e-04 -2.36488972e-02 3.56799445e+00] [-8.29681731e-04 9.99986983e-01 5.03452270e-03 2.73139767e-01] [ 2.36533647e-02 -5.01349135e-03 9.99707649e-01 -1.32801092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.083133365 meters Centerline goodness [0,1] 0.3143105698129621 Centerline is valid? [False, False] Translation: X:3.52, Y:0.27, Z:-0.13 [[ 9.99662379e-01 -9.42520516e-04 -2.59661400e-02 3.52428351e+00] [ 1.06443849e-03 9.99988474e-01 4.68184570e-03 2.66065006e-01] [ 2.59614279e-02 -4.70790437e-03 9.99651859e-01 -1.33600040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.113133365 meters Centerline goodness [0,1] 0.31352663286091964 Centerline is valid? [False, False] Translation: X:3.52, Y:0.26, Z:-0.13 [[ 9.99654714e-01 -8.78512486e-04 -2.62617630e-02 3.52496356e+00] [ 1.01262298e-03 9.99986514e-01 5.09382011e-03 2.63463472e-01] [ 2.62569338e-02 -5.11865456e-03 9.99642122e-01 -1.33542373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.143133365 meters Centerline goodness [0,1] 0.31448191400953507 Centerline is valid? [False, False] Translation: X:3.53, Y:0.26, Z:-0.13 [[ 9.99647637e-01 -7.93882873e-04 -2.65324712e-02 3.52553074e+00] [ 9.41749641e-04 9.99984094e-01 5.56101831e-03 2.60661854e-01] [ 2.65276344e-02 -5.58404576e-03 9.99632484e-01 -1.33378086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.173133365 meters Centerline goodness [0,1] 0.31415507302908163 Centerline is valid? [False, False] Translation: X:3.53, Y:0.25, Z:-0.13 [[ 9.99624781e-01 -2.44901370e-03 -2.72818694e-02 3.52785796e+00] [ 2.58284047e-03 9.99984800e-01 4.87117873e-03 2.52654464e-01] [ 2.72695252e-02 -4.93981569e-03 9.99615912e-01 -1.33767549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.203133365 meters Centerline goodness [0,1] 0.31660374888166365 Centerline is valid? [False, False] Translation: X:3.53, Y:0.25, Z:-0.13 [[ 9.99622624e-01 -2.27186248e-03 -2.73760530e-02 3.52802612e+00] [ 2.42147933e-03 9.99982308e-01 5.43333397e-03 2.49658321e-01] [ 2.73632249e-02 -5.49757410e-03 9.99610439e-01 -1.33660055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23313336499996 meters Centerline goodness [0,1] 0.3149388182432875 Centerline is valid? [False, False] Translation: X:3.53, Y:0.25, Z:-0.13 [[ 9.99620936e-01 -2.11211699e-03 -2.74503826e-02 3.52815988e+00] [ 2.27439718e-03 9.99980115e-01 5.88188683e-03 2.47317752e-01] [ 2.74374135e-02 -5.94209029e-03 9.99605862e-01 -1.33543034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.263133365 meters Centerline goodness [0,1] 0.31357705165534344 Centerline is valid? [False, False] Translation: X:3.55, Y:0.24, Z:-0.13 [[ 0.99961872 0.00629925 -0.0268837 3.54758658] [-0.00617042 0.99996909 0.00487252 0.24279741] [ 0.02691356 -0.00470478 0.99962669 -0.13206774] [ 0. 0. 0. 1. ]] SLAMing on 310.29313336499996 meters Centerline goodness [0,1] 0.3124959273659289 Centerline is valid? [False, False] Translation: X:3.55, Y:0.24, Z:-0.13 [[ 0.9996207 0.00636077 -0.02679549 3.54746689] [-0.00622975 0.99996824 0.00497036 0.24237468] [ 0.02682625 -0.00480154 0.99962858 -0.13219735] [ 0. 0. 0. 1. ]] SLAMing on 310.323133365 meters Centerline goodness [0,1] 0.3137233508630284 Centerline is valid? [False, False] Translation: X:3.55, Y:0.24, Z:-0.13 [[ 0.99962549 0.00647727 -0.02658813 3.54695688] [-0.00634461 0.99996702 0.00507082 0.24224832] [ 0.0266201 -0.00490023 0.99963361 -0.13216544] [ 0. 0. 0. 1. ]] SLAMing on 310.35313336499996 meters Centerline goodness [0,1] 0.31554868085662624 Centerline is valid? [False, False] Translation: X:3.55, Y:0.24, Z:-0.13 [[ 0.99963013 0.00652403 -0.02640134 3.5463644 ] [-0.00639293 0.99996683 0.00504699 0.24262006] [ 0.02643339 -0.00487634 0.99963868 -0.13195366] [ 0. 0. 0. 1. ]] SLAMing on 310.383133365 meters Centerline goodness [0,1] 0.31504671472439405 Centerline is valid? [False, False] Translation: X:3.55, Y:0.24, Z:-0.13 [[ 0.99963397 0.00662356 -0.02623073 3.54600543] [-0.00649684 0.99996682 0.00491342 0.24374418] [ 0.0262624 -0.00474121 0.99964384 -0.13206145] [ 0. 0. 0. 1. ]] SLAMing on 310.41313336499996 meters Centerline goodness [0,1] 0.3135827156737018 Centerline is valid? [False, False] Translation: X:3.55, Y:0.24, Z:-0.13 [[ 0.99963726 0.00660994 -0.02610849 3.54566423] [-0.006486 0.99996731 0.00482889 0.24415774] [ 0.02613956 -0.0046578 0.99964745 -0.13203407] [ 0. 0. 0. 1. ]] SLAMing on 310.443133365 meters Centerline goodness [0,1] 0.3159632626284714 Centerline is valid? [False, False] Translation: X:3.55, Y:0.24, Z:-0.13 [[ 0.99963961 0.00658564 -0.02602465 3.54539956] [-0.00646349 0.99996771 0.00477514 0.2444094 ] [ 0.02605526 -0.00460521 0.9996499 -0.13195619] [ 0. 0. 0. 1. ]] SLAMing on 310.47313336499997 meters Centerline goodness [0,1] 0.3157606433094503 Centerline is valid? [False, False] Translation: X:3.55, Y:0.24, Z:-0.13 [[ 0.99964129 0.00656269 -0.02596576 3.54528245] [-0.00644221 0.9999681 0.00472104 0.24468709] [ 0.02599592 -0.00455207 0.99965168 -0.13201973] [ 0. 0. 0. 1. ]] SLAMing on 310.503133365 meters Centerline goodness [0,1] 0.3162471395881007 Centerline is valid? [False, False] Translation: X:3.55, Y:0.24, Z:-0.13 [[ 0.99964103 0.00651266 -0.02598848 3.54542936] [-0.00639397 0.99996876 0.0046475 0.24491752] [ 0.02601794 -0.00447966 0.99965144 -0.13214289] [ 0. 0. 0. 1. ]] SLAMing on 310.53313336499997 meters Centerline goodness [0,1] 0.31688249295743887 Centerline is valid? [False, False] Translation: X:3.55, Y:0.25, Z:-0.13 [[ 0.99964074 0.00635496 -0.02603848 3.54538715] [-0.006242 0.99997076 0.00441737 0.24568902] [ 0.02606579 -0.00425325 0.99965118 -0.13195095] [ 0. 0. 0. 1. ]] SLAMing on 310.563133365 meters Centerline goodness [0,1] 0.31437816848236433 Centerline is valid? [False, False] Translation: X:3.56, Y:0.25, Z:-0.13 [[ 9.99661370e-01 -1.16634958e-03 -2.59958787e-02 3.56481108e+00] [ 1.30461763e-03 9.99985091e-01 5.30251942e-03 2.50788957e-01] [ 2.59893066e-02 -5.33463851e-03 9.99647987e-01 -1.30128124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59313336499997 meters Centerline goodness [0,1] 0.31502402285417475 Centerline is valid? [False, False] Translation: X:3.57, Y:0.25, Z:-0.13 [[ 9.99657198e-01 -1.16065076e-03 -2.61560603e-02 3.56517158e+00] [ 1.30104420e-03 9.99984836e-01 5.35115170e-03 2.50633144e-01] [ 2.61494529e-02 -5.38334751e-03 9.99643549e-01 -1.30061510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.623133365 meters Centerline goodness [0,1] 0.3155438267431463 Centerline is valid? [False, False] Translation: X:3.57, Y:0.25, Z:-0.13 [[ 9.99652668e-01 -1.17190350e-03 -2.63281281e-02 3.56557667e+00] [ 1.31449444e-03 9.99984560e-01 5.39926223e-03 2.50184545e-01] [ 2.63213942e-02 -5.43199507e-03 9.99638774e-01 -1.30072761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.653133365 meters Centerline goodness [0,1] 0.31283155056961476 Centerline is valid? [False, False] Translation: X:3.57, Y:0.25, Z:-0.13 [[ 9.99648746e-01 -1.27141811e-03 -2.64720218e-02 3.56589822e+00] [ 1.41493300e-03 9.99984401e-01 5.40335481e-03 2.49489497e-01] [ 2.64647389e-02 -5.43891300e-03 9.99634951e-01 -1.30020447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.683133365 meters Centerline goodness [0,1] 0.3151265090488353 Centerline is valid? [False, False] Translation: X:3.57, Y:0.25, Z:-0.13 [[ 9.99646281e-01 -1.30199770e-03 -2.65634781e-02 3.56606367e+00] [ 1.44998983e-03 9.99983532e-01 5.55276249e-03 2.48230093e-01] [ 2.65558110e-02 -5.58931514e-03 9.99631706e-01 -1.29950483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.713133365 meters Centerline goodness [0,1] 0.31421598535692497 Centerline is valid? [False, False] Translation: X:3.57, Y:0.24, Z:-0.13 [[ 9.99643935e-01 -1.31486194e-03 -2.66509795e-02 3.56634316e+00] [ 1.47782174e-03 9.99980328e-01 6.09581598e-03 2.44912967e-01] [ 2.66424401e-02 -6.13303087e-03 9.99626213e-01 -1.29967526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.743133365 meters Centerline goodness [0,1] 0.31573666070415773 Centerline is valid? [False, False] Translation: X:3.57, Y:0.24, Z:-0.13 [[ 9.99645736e-01 -1.21362270e-03 -2.65881326e-02 3.56610938e+00] [ 1.38784502e-03 9.99977683e-01 6.53516164e-03 2.42473230e-01] [ 2.65796080e-02 -6.56974668e-03 9.99625111e-01 -1.29747125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.773133365 meters Centerline goodness [0,1] 0.31417358686932195 Centerline is valid? [False, False] Translation: X:3.57, Y:0.24, Z:-0.13 [[ 9.99649579e-01 -1.12736966e-03 -2.64471001e-02 3.56545756e+00] [ 1.31386544e-03 9.99974389e-01 7.03533619e-03 2.39485202e-01] [ 2.64384914e-02 -7.06761879e-03 9.99625457e-01 -1.29148751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.803133365 meters Centerline goodness [0,1] 0.3166731915263822 Centerline is valid? [False, False] Translation: X:3.56, Y:0.24, Z:-0.13 [[ 9.99656029e-01 -9.69605680e-04 -2.62084657e-02 3.56449390e+00] [ 1.16939252e-03 9.99970369e-01 7.60873745e-03 2.36388860e-01] [ 2.62003117e-02 -7.63676825e-03 9.99627542e-01 -1.28432086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.833133365 meters Centerline goodness [0,1] 0.3149463865399703 Centerline is valid? [False, False] Translation: X:3.56, Y:0.23, Z:-0.13 [[ 9.99655284e-01 -7.40680424e-04 -2.62443110e-02 3.56440172e+00] [ 9.57417109e-04 9.99965536e-01 8.24682252e-03 2.33241715e-01] [ 2.62372982e-02 -8.26910646e-03 9.99621541e-01 -1.28106704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.863133365 meters Centerline goodness [0,1] 0.3142458699849817 Centerline is valid? [False, False] Translation: X:3.58, Y:0.23, Z:-0.13 [[ 0.9995948 0.00707552 -0.02757135 3.58445893] [-0.00687327 0.99994882 0.00742343 0.22608657] [ 0.02762247 -0.00723092 0.99959227 -0.12631991] [ 0. 0. 0. 1. ]] SLAMing on 310.893133365 meters Centerline goodness [0,1] 0.314997079755132 Centerline is valid? [False, False] Translation: X:3.59, Y:0.22, Z:-0.13 [[ 0.9995703 0.00555035 -0.02878194 3.58970349] [-0.00536381 0.99996413 0.00655435 0.21912139] [ 0.02881729 -0.00639715 0.99956423 -0.12902759] [ 0. 0. 0. 1. ]] SLAMing on 310.923133365 meters Centerline goodness [0,1] 0.31438134359174985 Centerline is valid? [False, False] Translation: X:3.59, Y:0.22, Z:-0.13 [[ 0.9995655 0.00579824 -0.02889976 3.58997883] [-0.00559257 0.9999585 0.00719233 0.21574312] [ 0.02894027 -0.00702758 0.99955644 -0.12898064] [ 0. 0. 0. 1. ]] SLAMing on 310.953133365 meters Centerline goodness [0,1] 0.31459941297967176 Centerline is valid? [False, False] Translation: X:3.59, Y:0.21, Z:-0.13 [[ 0.99956401 0.00604062 -0.02890165 3.58984255] [-0.00581666 0.99995245 0.00782696 0.21241072] [ 0.02894755 -0.00765543 0.99955162 -0.12871926] [ 0. 0. 0. 1. ]] SLAMing on 310.98313336499996 meters Centerline goodness [0,1] 0.31578487292117396 Centerline is valid? [False, False] Translation: X:3.59, Y:0.21, Z:-0.13 [[ 0.99956068 0.00630959 -0.02895922 3.58984369] [-0.00606509 0.99994529 0.00852294 0.2087925 ] [ 0.02901141 -0.00834356 0.99954426 -0.12845084] [ 0. 0. 0. 1. ]] SLAMing on 311.013133365 meters Centerline goodness [0,1] 0.3141388285400848 Centerline is valid? [False, False] Translation: X:3.61, Y:0.21, Z:-0.13 [[ 9.99592323e-01 -1.08722366e-03 -2.85307784e-02 3.60981241e+00] [ 1.35962749e-03 9.99953664e-01 9.53005628e-03 2.09550769e-01] [ 2.85190950e-02 -9.56496233e-03 9.99547484e-01 -1.27355542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04313336499996 meters Centerline goodness [0,1] 0.31149952409794934 Centerline is valid? [False, False] Translation: X:3.61, Y:0.20, Z:-0.13 [[ 9.99590006e-01 -7.44357355e-04 -2.86228322e-02 3.61019825e+00] [ 1.04235831e-03 9.99945398e-01 1.03977912e-02 2.04533826e-01] [ 2.86135297e-02 -1.04233634e-02 9.99536202e-01 -1.27402674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.073133365 meters Centerline goodness [0,1] 0.31280072825003247 Centerline is valid? [False, False] Translation: X:3.61, Y:0.20, Z:-0.13 [[ 9.99588695e-01 -6.22581441e-04 -2.86714797e-02 3.61048305e+00] [ 9.28609245e-04 9.99942733e-01 1.06615186e-02 2.03205613e-01] [ 2.86632001e-02 -1.06837581e-02 9.99532030e-01 -1.27632869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10313336499996 meters Centerline goodness [0,1] 0.314536259252024 Centerline is valid? [False, False] Translation: X:3.61, Y:0.20, Z:-0.13 [[ 9.99589435e-01 -4.90285972e-04 -2.86482382e-02 3.61064769e+00] [ 7.99868846e-04 9.99941403e-01 1.07958891e-02 2.02828744e-01] [ 2.86412665e-02 -1.08143716e-02 9.99531254e-01 -1.27969937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.133133365 meters Centerline goodness [0,1] 0.31472003833003026 Centerline is valid? [False, False] Translation: X:3.61, Y:0.20, Z:-0.13 [[ 9.99593414e-01 -4.09944870e-04 -2.85103347e-02 3.61052344e+00] [ 7.16895355e-04 9.99941886e-01 1.07569003e-02 2.03438249e-01] [ 2.85042682e-02 -1.07729656e-02 9.99535617e-01 -1.28307435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16313336499996 meters Centerline goodness [0,1] 0.3123521368263408 Centerline is valid? [False, False] Translation: X:3.61, Y:0.20, Z:-0.13 [[ 9.99601479e-01 -3.72866557e-04 -2.82266695e-02 3.60984276e+00] [ 6.73001653e-04 9.99943334e-01 1.06242793e-02 2.04402567e-01] [ 2.82211085e-02 -1.06390419e-02 9.99545086e-01 -1.28285026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.193133365 meters Centerline goodness [0,1] 0.3132780982952327 Centerline is valid? [False, False] Translation: X:3.61, Y:0.21, Z:-0.13 [[ 9.99610061e-01 -4.10021364e-04 -2.79205601e-02 3.60890709e+00] [ 7.01581124e-04 9.99945324e-01 1.04334800e-02 2.05434512e-01] [ 2.79147555e-02 -1.04490001e-02 9.99555694e-01 -1.27995891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22313336499997 meters Centerline goodness [0,1] 0.3158945860287413 Centerline is valid? [False, False] Translation: X:3.61, Y:0.21, Z:-0.13 [[ 9.99621005e-01 -5.28086282e-04 -2.75239620e-02 3.60754209e+00] [ 8.05302129e-04 9.99949056e-01 1.00616890e-02 2.07232972e-01] [ 2.75172463e-02 -1.00800407e-02 9.99570505e-01 -1.27393632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.253133365 meters Centerline goodness [0,1] 0.3159003540168972 Centerline is valid? [False, False] Translation: X:3.61, Y:0.21, Z:-0.13 [[ 9.99622010e-01 -6.05325358e-04 -2.74858156e-02 3.60738820e+00] [ 8.77368175e-04 9.99950742e-01 9.88659033e-03 2.08072946e-01] [ 2.74784771e-02 -9.90696848e-03 9.99573302e-01 -1.27333359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28313336499997 meters Centerline goodness [0,1] 0.3151289747270434 Centerline is valid? [False, False] Translation: X:3.61, Y:0.21, Z:-0.13 [[ 9.99621721e-01 -6.93115209e-04 -2.74942578e-02 3.60727205e+00] [ 9.62359253e-04 9.99951705e-01 9.78071423e-03 2.08426435e-01] [ 2.74861508e-02 -9.80347374e-03 9.99574111e-01 -1.27166878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.313133365 meters Centerline goodness [0,1] 0.31471062846177333 Centerline is valid? [False, False] Translation: X:3.61, Y:0.21, Z:-0.13 [[ 9.99617862e-01 -7.76280133e-04 -2.76320064e-02 3.60745787e+00] [ 1.04672220e-03 9.99951684e-01 9.77415759e-03 2.08125115e-01] [ 2.76230838e-02 -9.79934555e-03 9.99570377e-01 -1.26974049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34313336499997 meters Centerline goodness [0,1] 0.3172692517749863 Centerline is valid? [False, False] Translation: X:3.61, Y:0.21, Z:-0.13 [[ 9.99613789e-01 -9.97806675e-04 -2.77718775e-02 3.60752455e+00] [ 1.27382764e-03 9.99949955e-01 9.92294921e-03 2.06713872e-01] [ 2.77605865e-02 -9.95449344e-03 9.99565034e-01 -1.26511271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.373133365 meters Centerline goodness [0,1] 0.31468592309030796 Centerline is valid? [False, False] Translation: X:3.61, Y:0.21, Z:-0.13 [[ 9.99615974e-01 -9.38069038e-04 -2.76952201e-02 3.60699678e+00] [ 1.22003677e-03 9.99947581e-01 1.01659557e-02 2.05629046e-01] [ 2.76842320e-02 -1.01958409e-02 9.99564719e-01 -1.25937340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.403133365 meters Centerline goodness [0,1] 0.31537052383652464 Centerline is valid? [False, False] Translation: X:3.61, Y:0.20, Z:-0.13 [[ 9.99618873e-01 -8.94220999e-04 -2.75918417e-02 3.60658446e+00] [ 1.18148391e-03 9.99945256e-01 1.03966083e-02 2.04412025e-01] [ 2.75810343e-02 -1.04252452e-02 9.99565206e-01 -1.25635714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.433133365 meters Centerline goodness [0,1] 0.3162777498853987 Centerline is valid? [False, False] Translation: X:3.61, Y:0.20, Z:-0.13 [[ 9.99618159e-01 -8.82407557e-04 -2.76180615e-02 3.60664855e+00] [ 1.17535414e-03 9.99943206e-01 1.05926297e-02 2.03071203e-01] [ 2.76071459e-02 -1.06210460e-02 9.99562424e-01 -1.25590772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.463133365 meters Centerline goodness [0,1] 0.31387275664818126 Centerline is valid? [False, False] Translation: X:3.61, Y:0.20, Z:-0.13 [[ 9.99613186e-01 -9.05287034e-04 -2.77967512e-02 3.60722022e+00] [ 1.20395349e-03 9.99941709e-01 1.07297977e-02 2.01792960e-01] [ 2.77854173e-02 -1.07591133e-02 9.99556007e-01 -1.25796011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.493133365 meters Centerline goodness [0,1] 0.31343153680454316 Centerline is valid? [False, False] Translation: X:3.61, Y:0.20, Z:-0.13 [[ 9.99606998e-01 -8.57167719e-04 -2.80198978e-02 3.60794777e+00] [ 1.16398718e-03 9.99939527e-01 1.09355803e-02 2.00471957e-01] [ 2.80088297e-02 -1.09638974e-02 9.99547547e-01 -1.26105091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.523133365 meters Centerline goodness [0,1] 0.3133298844628384 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.12 [[ 0.99955036 0.00772629 -0.02897221 3.62791373] [-0.00742593 0.99991771 0.01046036 0.19366401] [ 0.02905064 -0.01024051 0.99952548 -0.12427356] [ 0. 0. 0. 1. ]] SLAMing on 311.553133365 meters Centerline goodness [0,1] 0.31504100506019894 Centerline is valid? [False, False] Translation: X:3.61, Y:0.19, Z:-0.13 [[ 9.99561981e-01 -1.42593482e-03 -2.95603371e-02 3.60760938e+00] [ 1.76522222e-03 9.99932833e-01 1.14548753e-02 1.94794822e-01] [ 2.95420177e-02 -1.15020384e-02 9.99497360e-01 -1.25476908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.583133365 meters Centerline goodness [0,1] 0.31417574531932935 Centerline is valid? [False, False] Translation: X:3.61, Y:0.19, Z:-0.13 [[ 9.99561085e-01 -1.37977364e-03 -2.95927844e-02 3.60769994e+00] [ 1.72580675e-03 9.99930405e-01 1.16708062e-02 1.93254444e-01] [ 2.95746219e-02 -1.17167551e-02 9.99493902e-01 -1.25423887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.613133365 meters Centerline goodness [0,1] 0.3119436522340333 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.12 [[ 0.99954497 0.00692191 -0.02935895 3.62619591] [-0.00662645 0.99992654 0.01014908 0.18857434] [ 0.02942705 -0.00994992 0.99951741 -0.12314458] [ 0. 0. 0. 1. ]] SLAMing on 311.643133365 meters Centerline goodness [0,1] 0.3119436522340333 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.12 [[ 0.99954497 0.00692191 -0.02935895 3.62619591] [-0.00662645 0.99992654 0.01014908 0.18857434] [ 0.02942705 -0.00994992 0.99951741 -0.12314458] [ 0. 0. 0. 1. ]] SLAMing on 311.673133365 meters Centerline goodness [0,1] 0.3134525458953932 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.12 [[ 0.99954922 0.00725172 -0.02913368 3.62574658] [-0.00694345 0.99991898 0.01066844 0.1867179 ] [ 0.02920868 -0.01046134 0.99951859 -0.12324432] [ 0. 0. 0. 1. ]] SLAMing on 311.703133365 meters Centerline goodness [0,1] 0.3124416559928793 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.12 [[ 0.99954749 0.00735853 -0.02916607 3.62595597] [-0.00704433 0.99991621 0.01086078 0.18588391] [ 0.02924355 -0.01065041 0.99951557 -0.12342263] [ 0. 0. 0. 1. ]] SLAMing on 311.73313336499996 meters Centerline goodness [0,1] 0.3130527137159702 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.12 [[ 0.9995408 0.00736835 -0.02939195 3.6266528 ] [-0.00705099 0.99991588 0.01088667 0.18550398] [ 0.02946969 -0.01067443 0.99950868 -0.12366781] [ 0. 0. 0. 1. ]] SLAMing on 311.763133365 meters Centerline goodness [0,1] 0.3107523158168124 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.12 [[ 0.99953369 0.0073322 -0.02964191 3.62751489] [-0.00701284 0.9999164 0.01086356 0.18515138] [ 0.02971908 -0.01065062 0.99950155 -0.12407052] [ 0. 0. 0. 1. ]] SLAMing on 311.79313336499996 meters Centerline goodness [0,1] 0.3119762039168006 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.12 [[ 0.99953274 0.00727882 -0.02968707 3.62783921] [-0.00696157 0.99991771 0.01077588 0.18520481] [ 0.02976306 -0.01056418 0.99950115 -0.124439 ] [ 0. 0. 0. 1. ]] SLAMing on 311.823133365 meters Centerline goodness [0,1] 0.31303646899917215 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.12 [[ 0.99953591 0.00727343 -0.02958148 3.6274039 ] [-0.00696014 0.99991874 0.01068014 0.18560171] [ 0.02965675 -0.01046929 0.99950531 -0.12415721] [ 0. 0. 0. 1. ]] SLAMing on 311.85313336499996 meters Centerline goodness [0,1] 0.3106709570813584 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.12 [[ 0.9995402 0.00721678 -0.02944995 3.62704453] [-0.00690775 0.99992015 0.01058175 0.18590699] [ 0.02952396 -0.01037345 0.99951024 -0.12410555] [ 0. 0. 0. 1. ]] SLAMing on 311.883133365 meters Centerline goodness [0,1] 0.311902636563541 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.12 [[ 0.99954558 0.00721667 -0.02926677 3.62644614] [-0.00691019 0.99992037 0.01055977 0.18610641] [ 0.02934064 -0.01035273 0.99951586 -0.12385336] [ 0. 0. 0. 1. ]] SLAMing on 311.91313336499996 meters Centerline goodness [0,1] 0.31300954032957506 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.12 [[ 0.99955168 0.00725855 -0.02904738 3.62579079] [-0.00695268 0.99991946 0.01061723 0.18609071] [ 0.0291221 -0.01041052 0.99952165 -0.12365947] [ 0. 0. 0. 1. ]] SLAMing on 311.943133365 meters Centerline goodness [0,1] 0.3144208037825059 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.12 [[ 0.99955792 0.00732469 -0.0288153 3.62514989] [-0.00701747 0.99991761 0.01074832 0.18570465] [ 0.02889165 -0.01054136 0.99952696 -0.12351677] [ 0. 0. 0. 1. ]] SLAMing on 311.97313336499997 meters Centerline goodness [0,1] 0.3135545312228214 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.12 [[ 0.99955792 0.00732531 -0.028815 3.62523069] [-0.00701568 0.99991672 0.01083194 0.18511428] [ 0.02889195 -0.01062499 0.99952607 -0.12363106] [ 0. 0. 0. 1. ]] SLAMing on 312.003133365 meters Centerline goodness [0,1] 0.31167427076350895 Centerline is valid? [False, False] Translation: X:3.63, Y:0.18, Z:-0.12 [[ 9.99567994e-01 3.24717958e-03 -2.92109604e-02 3.62668784e+00] [-3.04001131e-03 9.99969933e-01 7.13375847e-03 1.83241482e-01] [ 2.92332467e-02 -7.04187499e-03 9.99547812e-01 -1.24446646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03313336499997 meters Centerline goodness [0,1] 0.31363989973204254 Centerline is valid? [False, False] Translation: X:3.63, Y:0.18, Z:-0.12 [[ 9.99554537e-01 3.23821300e-03 -2.96688647e-02 3.62766724e+00] [-3.01715506e-03 9.99967378e-01 7.49257962e-03 1.80857501e-01] [ 2.96921595e-02 -7.39972639e-03 9.99531700e-01 -1.24280340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.063133365 meters Centerline goodness [0,1] 0.31302498209363405 Centerline is valid? [False, False] Translation: X:3.63, Y:0.18, Z:-0.12 [[ 9.99550721e-01 3.40284651e-03 -2.97788110e-02 3.62772511e+00] [-3.16352350e-03 9.99962351e-01 8.08011454e-03 1.77952196e-01] [ 2.98051853e-02 -7.98227834e-03 9.99523854e-01 -1.23931422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09313336499997 meters Centerline goodness [0,1] 0.3141404484616722 Centerline is valid? [False, False] Translation: X:3.63, Y:0.17, Z:-0.12 [[ 9.99550746e-01 3.58127813e-03 -2.97570348e-02 3.62745360e+00] [-3.32221256e-03 9.99956191e-01 8.75091202e-03 1.74508748e-01] [ 2.97870707e-02 -8.64812144e-03 9.99518854e-01 -1.23584527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.123133365 meters Centerline goodness [0,1] 0.3115147583522543 Centerline is valid? [False, False] Translation: X:3.63, Y:0.17, Z:-0.12 [[ 9.99570045e-01 -2.79271455e-05 -2.93210593e-02 3.62645036e+00] [ 2.05521017e-04 9.99981654e-01 6.05387468e-03 1.68395960e-01] [ 2.93203523e-02 -6.05729788e-03 9.99551713e-01 -1.23401364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.153133365 meters Centerline goodness [0,1] 0.3134056793813763 Centerline is valid? [False, False] Translation: X:3.63, Y:0.17, Z:-0.12 [[ 9.99571266e-01 1.36357741e-04 -2.92790826e-02 3.62608056e+00] [ 5.69130577e-05 9.99978218e-01 6.60005063e-03 1.65323505e-01] [ 2.92793448e-02 -6.59888733e-03 9.99549486e-01 -1.22919937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.183133365 meters Centerline goodness [0,1] 0.31366297983083935 Centerline is valid? [False, False] Translation: X:3.63, Y:0.16, Z:-0.12 [[ 9.99571253e-01 3.05212896e-04 -2.92782774e-02 3.62587547e+00] [-9.93418915e-05 9.99975265e-01 7.03272412e-03 1.63160170e-01] [ 2.92796997e-02 -7.02680030e-03 9.99546559e-01 -1.22556821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.213133365 meters Centerline goodness [0,1] 0.31409436702139193 Centerline is valid? [False, False] Translation: X:3.63, Y:0.16, Z:-0.12 [[ 9.99569840e-01 4.65071961e-04 -2.93243807e-02 3.62606573e+00] [-2.50411394e-04 9.99973152e-01 7.32345551e-03 1.61916181e-01] [ 2.93269993e-02 -7.31296209e-03 9.99543119e-01 -1.22650099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.243133365 meters Centerline goodness [0,1] 0.31379789729776697 Centerline is valid? [False, False] Translation: X:3.63, Y:0.16, Z:-0.12 [[ 9.99567010e-01 6.06703005e-04 -2.94180844e-02 3.62646878e+00] [-3.85404820e-04 9.99971593e-01 7.52760865e-03 1.61061970e-01] [ 2.94218157e-02 -7.51301140e-03 9.99538849e-01 -1.22874865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.273133365 meters Centerline goodness [0,1] 0.31475467009612657 Centerline is valid? [False, False] Translation: X:3.63, Y:0.16, Z:-0.12 [[ 9.99561564e-01 6.58817109e-04 -2.96014418e-02 3.62708385e+00] [-4.35131679e-04 9.99971310e-01 7.56237846e-03 1.60727632e-01] [ 2.96055748e-02 -7.54618232e-03 9.99533174e-01 -1.23134637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.303133365 meters Centerline goodness [0,1] 0.31396278607395245 Centerline is valid? [False, False] Translation: X:3.65, Y:0.16, Z:-0.12 [[ 0.99954556 0.00966265 -0.02855371 3.64570542] [-0.00949268 0.99993644 0.0060824 0.15783591] [ 0.02861067 -0.00580859 0.99957375 -0.12097992] [ 0. 0. 0. 1. ]] SLAMing on 312.333133365 meters Centerline goodness [0,1] 0.3123804200614829 Centerline is valid? [False, False] Translation: X:3.65, Y:0.16, Z:-0.12 [[ 0.99954449 0.0097423 -0.02856408 3.64558393] [-0.00957107 0.99993544 0.00612505 0.15788467] [ 0.02862191 -0.00584888 0.9995732 -0.1207886 ] [ 0. 0. 0. 1. ]] SLAMing on 312.363133365 meters Centerline goodness [0,1] 0.31719302843664 Centerline is valid? [False, False] Translation: X:3.63, Y:0.16, Z:-0.12 [[ 9.99564647e-01 9.55312532e-04 -2.94890456e-02 3.62624051e+00] [-7.36454329e-04 9.99972114e-01 7.43164711e-03 1.60585570e-01] [ 2.94953228e-02 -7.40669438e-03 9.99537476e-01 -1.22181239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.393133365 meters Centerline goodness [0,1] 0.31427203690406247 Centerline is valid? [False, False] Translation: X:3.63, Y:0.16, Z:-0.12 [[ 9.99564253e-01 9.87507525e-04 -2.95013507e-02 3.62635197e+00] [-7.66737455e-04 9.99971627e-01 7.49376384e-03 1.60233101e-01] [ 2.95079139e-02 -7.46787866e-03 9.99536650e-01 -1.22335274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.423133365 meters Centerline goodness [0,1] 0.3128196275597177 Centerline is valid? [False, False] Translation: X:3.63, Y:0.16, Z:-0.12 [[ 9.99566626e-01 9.98384491e-04 -2.94204556e-02 3.62606272e+00] [-7.76488107e-04 9.99971176e-01 7.55270823e-03 1.59743457e-01] [ 2.94271481e-02 -7.52659045e-03 9.99538590e-01 -1.22171141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.453133365 meters Centerline goodness [0,1] 0.31471696478842737 Centerline is valid? [False, False] Translation: X:3.62, Y:0.16, Z:-0.12 [[ 9.99579479e-01 1.09473946e-03 -2.89769985e-02 3.62446717e+00] [-8.66663558e-04 9.99968558e-01 7.88231860e-03 1.58086626e-01] [ 2.89847165e-02 -7.85389061e-03 9.99549000e-01 -1.21313985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48313336499996 meters Centerline goodness [0,1] 0.3174137629136754 Centerline is valid? [False, False] Translation: X:3.62, Y:0.16, Z:-0.12 [[ 9.99577758e-01 1.16452250e-03 -2.90336078e-02 3.62456928e+00] [-9.30895237e-04 9.99967092e-01 8.05900559e-03 1.57235048e-01] [ 2.90420373e-02 -8.02857549e-03 9.99545948e-01 -1.21282005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.513133365 meters Centerline goodness [0,1] 0.31270777479892764 Centerline is valid? [False, False] Translation: X:3.67, Y:0.16, Z:-0.12 [[ 9.99605657e-01 2.12185143e-03 -2.80004896e-02 3.66970873e+00] [-1.92114604e-03 9.99972285e-01 7.19288039e-03 1.60079338e-01] [ 2.80149758e-02 -7.13625090e-03 9.99582030e-01 -1.21094156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54313336499996 meters Centerline goodness [0,1] 0.3164041994750656 Centerline is valid? [False, False] Translation: X:3.63, Y:0.16, Z:-0.12 [[ 9.99514266e-01 2.87791907e-04 -3.11632760e-02 3.62789620e+00] [-5.23199277e-05 9.99971447e-01 7.55662451e-03 1.55297473e-01] [ 3.11645609e-02 -7.55132354e-03 9.99485742e-01 -1.22499136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.573133365 meters Centerline goodness [0,1] 0.3115321394584306 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.12 [[ 0.99949624 0.00877817 -0.0304995 3.64702404] [-0.00859285 0.99994385 0.00620192 0.15229815] [ 0.03055223 -0.00593672 0.99951554 -0.12110665] [ 0. 0. 0. 1. ]] SLAMing on 312.60313336499996 meters Centerline goodness [0,1] 0.3133562769898507 Centerline is valid? [False, False] Translation: X:3.63, Y:0.15, Z:-0.12 [[ 9.99523690e-01 -4.46747548e-04 -3.08576183e-02 3.62719198e+00] [ 6.70277753e-04 9.99973610e-01 7.23395865e-03 1.54635842e-01] [ 3.08535722e-02 -7.25119622e-03 9.99497612e-01 -1.22726962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.633133365 meters Centerline goodness [0,1] 0.31610255059484615 Centerline is valid? [False, False] Translation: X:3.63, Y:0.15, Z:-0.12 [[ 9.99525539e-01 -4.46512832e-04 -3.07976741e-02 3.62724089e+00] [ 6.70400169e-04 9.99973423e-01 7.25967569e-03 1.54374052e-01] [ 3.07936141e-02 -7.27687802e-03 9.99499275e-01 -1.23020907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66313336499996 meters Centerline goodness [0,1] 0.3115550638814776 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.12 [[ 0.99951534 0.00809197 -0.03005995 3.64665327] [-0.00791777 0.99995119 0.00590939 0.15202925] [ 0.0301063 -0.00566852 0.99953063 -0.12198057] [ 0. 0. 0. 1. ]] SLAMing on 312.693133365 meters Centerline goodness [0,1] 0.31337959236943425 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.12 [[ 0.99951571 0.00804898 -0.03005928 3.64677379] [-0.00787637 0.99995183 0.0058561 0.15216815] [ 0.03010497 -0.0056165 0.99953096 -0.12215441] [ 0. 0. 0. 1. ]] SLAMing on 312.72313336499997 meters Centerline goodness [0,1] 0.31392926834615975 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.12 [[ 0.99951362 0.00794419 -0.03015636 3.64758773] [-0.00777858 0.99995404 0.00560512 0.15323972] [ 0.03019951 -0.00536782 0.99952948 -0.12307253] [ 0. 0. 0. 1. ]] SLAMing on 312.753133365 meters Centerline goodness [0,1] 0.3118626453331024 Centerline is valid? [False, False] Translation: X:3.67, Y:0.16, Z:-0.12 [[ 9.99508845e-01 1.12807169e-03 -3.13176793e-02 3.66640570e+00] [-9.45447436e-04 9.99982468e-01 5.84554303e-03 1.59972514e-01] [ 3.13237244e-02 -5.81306274e-03 9.99492387e-01 -1.21542765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78313336499997 meters Centerline goodness [0,1] 0.3127292457948996 Centerline is valid? [False, False] Translation: X:3.67, Y:0.16, Z:-0.12 [[ 9.99509148e-01 9.05236344e-04 -3.13152192e-02 3.66667527e+00] [-7.36727286e-04 9.99985191e-01 5.39217927e-03 1.61795127e-01] [ 3.13196366e-02 -5.36646174e-03 9.99495013e-01 -1.21980906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.813133365 meters Centerline goodness [0,1] 0.3119807655153167 Centerline is valid? [False, False] Translation: X:3.69, Y:0.16, Z:-0.12 [[ 9.99496773e-01 9.44415852e-03 -3.02821629e-02 3.68593787e+00] [-9.33632752e-03 9.99949569e-01 3.70029778e-03 1.62484429e-01] [ 3.03155819e-02 -3.41571150e-03 9.99534541e-01 -1.20581775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84313336499997 meters Centerline goodness [0,1] 0.31205951448707914 Centerline is valid? [False, False] Translation: X:3.67, Y:0.17, Z:-0.12 [[ 9.99561787e-01 1.08317547e-03 -2.95814158e-02 3.66502014e+00] [-9.36175727e-04 9.99987148e-01 4.98272520e-03 1.68415335e-01] [ 2.95864327e-02 -4.95284830e-03 9.99549955e-01 -1.22162931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.873133365 meters Centerline goodness [0,1] 0.3111364762130382 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.12 [[ 9.99584470e-01 1.48470752e-03 -2.87868514e-02 3.66286248e+00] [-1.34309168e-03 9.99986905e-01 4.93817433e-03 1.74855624e-01] [ 2.87938062e-02 -4.89745899e-03 9.99573375e-01 -1.21847625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.903133365 meters Centerline goodness [0,1] 0.3075598415705183 Centerline is valid? [False, False] Translation: X:3.66, Y:0.18, Z:-0.12 [[ 9.99587821e-01 1.30002258e-03 -2.86792198e-02 3.66251634e+00] [-1.17023636e-03 9.99989001e-01 4.54176486e-03 1.76689127e-01] [ 2.86848087e-02 -4.50633138e-03 9.99578348e-01 -1.21767623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.933133365 meters Centerline goodness [0,1] 0.31480142822720203 Centerline is valid? [False, False] Translation: X:3.62, Y:0.18, Z:-0.12 [[ 9.99527255e-01 -1.09226279e-03 -3.07257903e-02 3.61752989e+00] [ 1.21502354e-03 9.99991354e-01 3.97697816e-03 1.75078489e-01] [ 3.07211808e-02 -4.01243062e-03 9.99519939e-01 -1.21985140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.963133365 meters Centerline goodness [0,1] 0.3130472759034829 Centerline is valid? [False, False] Translation: X:3.62, Y:0.18, Z:-0.12 [[ 9.99519422e-01 -1.32748533e-03 -3.09703547e-02 3.61808039e+00] [ 1.44038667e-03 9.99992398e-01 3.62343995e-03 1.76179098e-01] [ 3.09653092e-02 -3.66630789e-03 9.99513736e-01 -1.22010377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.993133365 meters Centerline goodness [0,1] 0.31431759994748243 Centerline is valid? [False, False] Translation: X:3.62, Y:0.18, Z:-0.12 [[ 9.99514141e-01 -1.47280449e-03 -3.11337946e-02 3.61858911e+00] [ 1.57806080e-03 9.99993122e-01 3.35647247e-03 1.77271342e-01] [ 3.11286370e-02 -3.40397272e-03 9.99509590e-01 -1.22246844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.023133365 meters Centerline goodness [0,1] 0.313761066783255 Centerline is valid? [False, False] Translation: X:3.62, Y:0.18, Z:-0.12 [[ 9.99526508e-01 -1.44042522e-03 -3.07357310e-02 3.61764154e+00] [ 1.53986626e-03 9.99993656e-01 3.21193154e-03 1.79134106e-01] [ 3.07309094e-02 -3.25773963e-03 9.99522385e-01 -1.22286045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.053133365 meters Centerline goodness [0,1] 0.3136327988846288 Centerline is valid? [False, False] Translation: X:3.62, Y:0.18, Z:-0.12 [[ 9.99534013e-01 -1.47028865e-03 -3.04892498e-02 3.61700810e+00] [ 1.56551194e-03 9.99993971e-01 3.09954004e-03 1.79981656e-01] [ 3.04845088e-02 -3.14582698e-03 9.99530289e-01 -1.22217066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.083133365 meters Centerline goodness [0,1] 0.312521815008726 Centerline is valid? [False, False] Translation: X:3.62, Y:0.18, Z:-0.12 [[ 9.99533526e-01 -1.56299763e-03 -3.05005983e-02 3.61719400e+00] [ 1.65308919e-03 9.99994345e-01 2.92877154e-03 1.80754523e-01] [ 3.04958481e-02 -2.97782556e-03 9.99530458e-01 -1.22490486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.113133365 meters Centerline goodness [0,1] 0.3117979366152638 Centerline is valid? [False, False] Translation: X:3.62, Y:0.18, Z:-0.12 [[ 9.99507614e-01 -1.88538595e-03 -3.13205026e-02 3.61996735e+00] [ 1.96291355e-03 9.99995085e-01 2.44473592e-03 1.82357706e-01] [ 3.13157394e-02 -2.50501160e-03 9.99506403e-01 -1.23863178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.143133365 meters Centerline goodness [0,1] 0.30981654746213183 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.12 [[ 9.99474984e-01 6.62259793e-03 -3.17158762e-02 3.63965254e+00] [-6.58971003e-03 9.99977636e-01 1.14136811e-03 1.80390280e-01] [ 3.17227257e-02 -9.31770442e-04 9.99496273e-01 -1.22308469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.173133365 meters Centerline goodness [0,1] 0.31001151247909287 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.12 [[ 9.99475993e-01 6.61398294e-03 -3.16858700e-02 3.63966168e+00] [-6.58473785e-03 9.99977793e-01 1.02722932e-03 1.81276528e-01] [ 3.16919604e-02 -8.18047901e-04 9.99497349e-01 -1.22436741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.203133365 meters Centerline goodness [0,1] 0.3103306143700104 Centerline is valid? [False, False] Translation: X:3.64, Y:0.18, Z:-0.12 [[ 9.99486501e-01 6.59785773e-03 -3.13560570e-02 3.63862360e+00] [-6.57302456e-03 9.99977997e-01 8.94985957e-04 1.82191043e-01] [ 3.13612720e-02 -6.88422251e-04 9.99507877e-01 -1.22027221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23313336499996 meters Centerline goodness [0,1] 0.30573631424092085 Centerline is valid? [False, False] Translation: X:3.66, Y:0.19, Z:-0.12 [[ 9.99560866e-01 -6.40217209e-04 -2.96254324e-02 3.65648501e+00] [ 6.92931934e-04 9.99998195e-01 1.76914178e-03 1.87547266e-01] [ 2.96242463e-02 -1.78889329e-03 9.99559505e-01 -1.20307118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.263133365 meters Centerline goodness [0,1] 0.312397052449068 Centerline is valid? [False, False] Translation: X:3.66, Y:0.19, Z:-0.12 [[ 9.99572531e-01 -6.70936643e-04 -2.92284870e-02 3.65522771e+00] [ 7.21641295e-04 9.99998253e-01 1.72425432e-03 1.87627604e-01] [ 2.92272790e-02 -1.74460974e-03 9.99571269e-01 -1.19817233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29313336499996 meters Centerline goodness [0,1] 0.31000216497077293 Centerline is valid? [False, False] Translation: X:3.66, Y:0.19, Z:-0.12 [[ 9.99569305e-01 -7.31505104e-04 -2.93371648e-02 3.65549837e+00] [ 7.86778026e-04 9.99997937e-01 1.87255892e-03 1.86240139e-01] [ 2.93357345e-02 -1.89483425e-03 9.99567819e-01 -1.19841256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.323133365 meters Centerline goodness [0,1] 0.3083050884048272 Centerline is valid? [False, False] Translation: X:3.66, Y:0.19, Z:-0.12 [[ 9.99553613e-01 -7.95316955e-04 -2.98654078e-02 3.65703663e+00] [ 8.55155425e-04 9.99997653e-01 1.99088550e-03 1.85008914e-01] [ 2.98637543e-02 -2.01553636e-03 9.99551947e-01 -1.20293058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.35313336499996 meters Centerline goodness [0,1] 0.311849270311479 Centerline is valid? [False, False] Translation: X:3.66, Y:0.18, Z:-0.12 [[ 9.99535422e-01 -8.02749088e-04 -3.04679387e-02 3.65871081e+00] [ 8.71033439e-04 9.99997139e-01 2.22798089e-03 1.83290305e-01] [ 3.04660630e-02 -2.25348442e-03 9.99533261e-01 -1.20708837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.383133365 meters Centerline goodness [0,1] 0.3071827734265432 Centerline is valid? [False, False] Translation: X:3.66, Y:0.18, Z:-0.12 [[ 9.99518391e-01 -8.67363107e-04 -3.10198839e-02 3.66006597e+00] [ 9.42836157e-04 9.99996631e-01 2.41850984e-03 1.81570026e-01] [ 3.10176817e-02 -2.44659174e-03 9.99515842e-01 -1.20784876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.41313336499996 meters Centerline goodness [0,1] 0.3140966854447792 Centerline is valid? [False, False] Translation: X:3.66, Y:0.18, Z:-0.12 [[ 9.99513797e-01 -8.85743176e-04 -3.11670407e-02 3.65979491e+00] [ 9.77232660e-04 9.99995258e-01 2.92034628e-03 1.77979028e-01] [ 3.11643062e-02 -2.94938385e-03 9.99509923e-01 -1.19796872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.443133365 meters Centerline goodness [0,1] 0.31400902964077737 Centerline is valid? [False, False] Translation: X:3.66, Y:0.18, Z:-0.12 [[ 9.99520325e-01 -7.71089153e-04 -3.09600510e-02 3.65888688e+00] [ 8.73015294e-04 9.99994244e-01 3.27880006e-03 1.76116338e-01] [ 3.09573445e-02 -3.30425590e-03 9.99515245e-01 -1.19120110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47313336499997 meters Centerline goodness [0,1] 0.3120567375886525 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.12 [[ 9.99527606e-01 -6.37272914e-04 -3.07271697e-02 3.65796008e+00] [ 7.49773928e-04 9.99993058e-01 3.64990499e-03 1.74215890e-01] [ 3.07246304e-02 -3.67121922e-03 9.99521145e-01 -1.18504416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.503133365 meters Centerline goodness [0,1] 0.31248229731790744 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.12 [[ 9.99533117e-01 -5.17900796e-04 -3.05496344e-02 3.65749587e+00] [ 6.39874772e-04 9.99991863e-01 3.98300815e-03 1.72378450e-01] [ 3.05473230e-02 -4.00069649e-03 9.99525315e-01 -1.18396725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53313336499997 meters Centerline goodness [0,1] 0.31641093917105 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.12 [[ 9.99532321e-01 -4.02273658e-04 -3.05773914e-02 3.65775744e+00] [ 5.34181917e-04 9.99990587e-01 4.30586829e-03 1.70609961e-01] [ 3.05753714e-02 -4.32018841e-03 9.99523128e-01 -1.18645011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.563133365 meters Centerline goodness [0,1] 0.31641093917105 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.12 [[ 9.99532321e-01 -4.02273658e-04 -3.05773914e-02 3.65775744e+00] [ 5.34181917e-04 9.99990587e-01 4.30586829e-03 1.70609961e-01] [ 3.05753714e-02 -4.32018841e-03 9.99523128e-01 -1.18645011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59313336499997 meters Centerline goodness [0,1] 0.31383628588882106 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.12 [[ 9.99521380e-01 -2.31948607e-04 -3.09347170e-02 3.65915978e+00] [ 3.79568734e-04 9.99988570e-01 4.76620198e-03 1.67813413e-01] [ 3.09332579e-02 -4.77566263e-03 9.99510043e-01 -1.19419060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.623133365 meters Centerline goodness [0,1] 0.311245418048525 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.12 [[ 9.99517811e-01 -1.67952768e-04 -3.10502331e-02 3.65948586e+00] [ 3.19919369e-04 9.99987996e-01 4.88931452e-03 1.67083002e-01] [ 3.10490392e-02 -4.89689052e-03 9.99505867e-01 -1.19471433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.653133365 meters Centerline goodness [0,1] 0.3133700790832443 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.12 [[ 9.99523251e-01 -7.21681099e-05 -3.08750062e-02 3.65898380e+00] [ 2.28390263e-04 9.99987191e-01 5.05632913e-03 1.66249604e-01] [ 3.08742458e-02 -5.06097008e-03 9.99510464e-01 -1.19295275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.683133365 meters Centerline goodness [0,1] 0.31089383057887 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.12 [[ 9.99530235e-01 4.07843080e-05 -3.06481309e-02 3.65837321e+00] [ 1.19683222e-04 9.99986296e-01 5.23394882e-03 1.65401627e-01] [ 3.06479243e-02 -5.23515816e-03 9.99516532e-01 -1.19171785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.713133365 meters Centerline goodness [0,1] 0.31104323715449267 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:-0.12 [[ 9.99531471e-01 2.82462892e-04 -3.06065288e-02 3.65842938e+00] [-1.08610766e-04 9.99983853e-01 5.68174371e-03 1.63354130e-01] [ 3.06076395e-02 -5.67575745e-03 9.99515362e-01 -1.19376592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.743133365 meters Centerline goodness [0,1] 0.313242765869295 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:-0.12 [[ 9.99522989e-01 3.64534924e-04 -3.08814102e-02 3.65934991e+00] [-1.82688858e-04 9.99982630e-01 5.89114545e-03 1.62201334e-01] [ 3.08830213e-02 -5.88269362e-03 9.99505694e-01 -1.19780015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.773133365 meters Centerline goodness [0,1] 0.3115502510924151 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:-0.12 [[ 9.99516057e-01 4.38146577e-04 -3.11040201e-02 3.66016250e+00] [-2.49259956e-04 9.99981508e-01 6.07635751e-03 1.61108718e-01] [ 3.11061073e-02 -6.06566391e-03 9.99497683e-01 -1.20206825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.803133365 meters Centerline goodness [0,1] 0.3091370448285584 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:-0.12 [[ 9.99513534e-01 5.19303728e-04 -3.11837434e-02 3.66043065e+00] [-3.23535202e-04 9.99980212e-01 6.28262092e-03 1.59909911e-01] [ 3.11863889e-02 -6.26947560e-03 9.99493923e-01 -1.20310219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.833133365 meters Centerline goodness [0,1] 0.309380553711753 Centerline is valid? [False, False] Translation: X:3.68, Y:0.16, Z:-0.12 [[ 0.99950611 0.00905577 -0.03009201 3.67891948] [-0.008914 0.99994855 0.00484206 0.15634049] [ 0.03013431 -0.00457143 0.9995354 -0.11849542] [ 0. 0. 0. 1. ]] SLAMing on 313.863133365 meters Centerline goodness [0,1] 0.31502518369927823 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:-0.12 [[ 9.99553726e-01 -2.92862397e-04 -2.98707757e-02 3.65630077e+00] [ 4.69330213e-04 9.99982480e-01 5.90086774e-03 1.56095855e-01] [ 2.98685242e-02 -5.91225359e-03 9.99536351e-01 -1.18598853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.893133365 meters Centerline goodness [0,1] 0.314123095567867 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:-0.12 [[ 9.99550520e-01 -2.46357168e-04 -2.99782953e-02 3.65661254e+00] [ 4.28706413e-04 9.99981446e-01 6.07643360e-03 1.55079075e-01] [ 2.99762421e-02 -6.08655425e-03 9.99532080e-01 -1.18683322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.923133365 meters Centerline goodness [0,1] 0.3146447873933711 Centerline is valid? [False, False] Translation: X:3.66, Y:0.15, Z:-0.12 [[ 9.99542598e-01 -2.33744762e-04 -3.02413772e-02 3.65736578e+00] [ 4.20096100e-04 9.99980964e-01 6.15592450e-03 1.54483666e-01] [ 3.02393626e-02 -6.16581305e-03 9.99523668e-01 -1.18866889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.953133365 meters Centerline goodness [0,1] 0.3098536838016315 Centerline is valid? [False, False] Translation: X:3.66, Y:0.15, Z:-0.12 [[ 9.99531778e-01 -2.55064716e-04 -3.05967306e-02 3.65845420e+00] [ 4.44816443e-04 9.99980712e-01 6.19505320e-03 1.54020746e-01] [ 3.05945603e-02 -6.20576247e-03 9.99512612e-01 -1.19280707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98313336499996 meters Centerline goodness [0,1] 0.31077976680681374 Centerline is valid? [False, False] Translation: X:3.66, Y:0.15, Z:-0.12 [[ 9.99527509e-01 -2.19783306e-04 -3.07361326e-02 3.65870233e+00] [ 4.15053196e-04 9.99979772e-01 6.34686964e-03 1.53177747e-01] [ 3.07341160e-02 -6.35662793e-03 9.99507382e-01 -1.19177643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.013133365 meters Centerline goodness [0,1] 0.3109326269919255 Centerline is valid? [False, False] Translation: X:3.70, Y:0.15, Z:-0.12 [[ 9.99641480e-01 2.99417282e-04 -2.67735374e-02 3.69676896e+00] [-1.44489901e-04 9.99983237e-01 5.78833354e-03 1.53116653e-01] [ 2.67748217e-02 -5.78238980e-03 9.99624766e-01 -1.16408444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04313336499996 meters Centerline goodness [0,1] 0.3117658427641893 Centerline is valid? [False, False] Translation: X:3.70, Y:0.15, Z:-0.12 [[ 9.99653136e-01 3.03588183e-04 -2.63346930e-02 3.69507052e+00] [-1.41422111e-04 9.99981020e-01 6.15953121e-03 1.50872326e-01] [ 2.63360631e-02 -6.15367038e-03 9.99634205e-01 -1.15328610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.073133365 meters Centerline goodness [0,1] 0.31427704576976423 Centerline is valid? [False, False] Translation: X:3.69, Y:0.15, Z:-0.11 [[ 9.99656841e-01 2.93181628e-04 -2.61937662e-02 3.69417672e+00] [-1.21684690e-04 9.99978550e-01 6.54859650e-03 1.48281891e-01] [ 2.61951243e-02 -6.54316191e-03 9.99635435e-01 -1.14395186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10313336499996 meters Centerline goodness [0,1] 0.3159236501503464 Centerline is valid? [False, False] Translation: X:3.69, Y:0.15, Z:-0.11 [[ 9.99655674e-01 -3.50800720e-03 -2.60043894e-02 3.69364386e+00] [ 3.59326939e-03 9.99988319e-01 3.23275836e-03 1.45738007e-01] [ 2.59927451e-02 -3.32508602e-03 9.99656602e-01 -1.14196843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.133133365 meters Centerline goodness [0,1] 0.3167630309090119 Centerline is valid? [False, False] Translation: X:3.69, Y:0.14, Z:-0.11 [[ 9.99649422e-01 -3.51380031e-03 -2.62428161e-02 3.69443061e+00] [ 3.60273008e-03 9.99987925e-01 3.34221599e-03 1.44886043e-01] [ 2.62307553e-02 -3.43559007e-03 9.99650011e-01 -1.14570012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16313336499996 meters Centerline goodness [0,1] 0.3167630309090119 Centerline is valid? [False, False] Translation: X:3.69, Y:0.14, Z:-0.11 [[ 9.99649422e-01 -3.51380031e-03 -2.62428161e-02 3.69443061e+00] [ 3.60273008e-03 9.99987925e-01 3.34221599e-03 1.44886043e-01] [ 2.62307553e-02 -3.43559007e-03 9.99650011e-01 -1.14570012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.193133365 meters Centerline goodness [0,1] 0.3086773741511264 Centerline is valid? [False, False] Translation: X:3.70, Y:0.14, Z:-0.12 [[ 9.99637129e-01 -3.40811919e-03 -2.67206944e-02 3.69631233e+00] [ 3.50445084e-03 9.99987526e-01 3.55913297e-03 1.44206528e-01] [ 2.67082311e-02 -3.65148283e-03 9.99636603e-01 -1.15724382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22313336499997 meters Centerline goodness [0,1] 0.31379093608444053 Centerline is valid? [False, False] Translation: X:3.70, Y:0.14, Z:-0.12 [[ 9.99632691e-01 -3.41577410e-03 -2.68852270e-02 3.69682882e+00] [ 3.51201926e-03 9.99987590e-01 3.53344803e-03 1.44305201e-01] [ 2.68728239e-02 -3.62657159e-03 9.99632282e-01 -1.15910846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.253133365 meters Centerline goodness [0,1] 0.31068212177360277 Centerline is valid? [False, False] Translation: X:3.72, Y:0.14, Z:-0.11 [[ 9.99615979e-01 4.04961705e-03 -2.74134212e-02 3.71715359e+00] [-4.02889651e-03 9.99991555e-01 8.11045397e-04 1.41413311e-01] [ 2.74164741e-02 -7.00288101e-04 9.99623853e-01 -1.14049732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28313336499997 meters Centerline goodness [0,1] 0.32009849184364425 Centerline is valid? [False, False] Translation: X:3.67, Y:0.14, Z:-0.11 [[ 9.99554925e-01 2.41712050e-03 -2.97339746e-02 3.67271213e+00] [-2.37945105e-03 9.99996321e-01 1.30220027e-03 1.38488953e-01] [ 2.97370128e-02 -1.23087015e-03 9.99556999e-01 -1.14014683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.313133365 meters Centerline goodness [0,1] 0.3136779694025491 Centerline is valid? [False, False] Translation: X:3.69, Y:0.14, Z:-0.11 [[ 9.99545333e-01 -4.25947487e-03 -2.98493621e-02 3.69130971e+00] [ 4.33316693e-03 9.99987721e-01 2.40454764e-03 1.43879430e-01] [ 2.98387535e-02 -2.53279664e-03 9.99551516e-01 -1.12050535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34313336499997 meters Centerline goodness [0,1] 0.3139625754352451 Centerline is valid? [False, False] Translation: X:3.69, Y:0.14, Z:-0.11 [[ 9.99549303e-01 -4.21632519e-03 -2.97222872e-02 3.69114054e+00] [ 4.28960346e-03 9.99987915e-01 2.40210021e-03 1.44253102e-01] [ 2.97117999e-02 -2.52851442e-03 9.99555309e-01 -1.12253979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.373133365 meters Centerline goodness [0,1] 0.31625010885657057 Centerline is valid? [False, False] Translation: X:3.69, Y:0.14, Z:-0.11 [[ 9.99551422e-01 -4.27212303e-03 -2.96429345e-02 3.69110020e+00] [ 4.34118818e-03 9.99988010e-01 2.26593673e-03 1.44896985e-01] [ 2.96328987e-02 -2.39360584e-03 9.99557983e-01 -1.12443973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.403133365 meters Centerline goodness [0,1] 0.31521691642273586 Centerline is valid? [False, False] Translation: X:3.69, Y:0.15, Z:-0.11 [[ 9.99551317e-01 -4.34362144e-03 -2.96360789e-02 3.69125767e+00] [ 4.40802245e-03 9.99988063e-01 2.10807432e-03 1.45540907e-01] [ 2.96265685e-02 -2.23776497e-03 9.99558532e-01 -1.12744126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.433133365 meters Centerline goodness [0,1] 0.31734991088118936 Centerline is valid? [False, False] Translation: X:3.69, Y:0.15, Z:-0.11 [[ 9.99551193e-01 -4.35151707e-03 -2.96391085e-02 3.69133140e+00] [ 4.41061693e-03 9.99988413e-01 1.92889638e-03 1.46732255e-01] [ 2.96303714e-02 -2.05875743e-03 9.99558804e-01 -1.12898799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.463133365 meters Centerline goodness [0,1] 0.3151590606620015 Centerline is valid? [False, False] Translation: X:3.71, Y:0.14, Z:-0.11 [[ 9.99572751e-01 4.40124706e-03 -2.88954017e-02 3.71041423e+00] [-4.38377964e-03 9.99990168e-01 6.67826468e-04 1.44373732e-01] [ 2.88980568e-02 -5.40870066e-04 9.99582218e-01 -1.11376485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.493133365 meters Centerline goodness [0,1] 0.31219681219681217 Centerline is valid? [False, False] Translation: X:3.71, Y:0.14, Z:-0.11 [[ 9.99570243e-01 4.41209646e-03 -2.89804000e-02 3.71049276e+00] [-4.39395772e-03 9.99990109e-01 6.89550025e-04 1.44238879e-01] [ 2.89831557e-02 -5.61915033e-04 9.99579742e-01 -1.11224539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.523133365 meters Centerline goodness [0,1] 0.31421793727828684 Centerline is valid? [False, False] Translation: X:3.71, Y:0.14, Z:-0.11 [[ 9.99568712e-01 4.42188485e-03 -2.90316500e-02 3.71053583e+00] [-4.40149967e-03 9.99990020e-01 7.66038418e-04 1.43651971e-01] [ 2.90347476e-02 -6.37925237e-04 9.99578199e-01 -1.11118147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.553133365 meters Centerline goodness [0,1] 0.31762389235313426 Centerline is valid? [False, False] Translation: X:3.71, Y:0.14, Z:-0.11 [[ 9.99576682e-01 4.45922955e-03 -2.87501579e-02 3.70934189e+00] [-4.43341140e-03 9.99989710e-01 9.61699487e-04 1.42400227e-01] [ 2.87541505e-02 -8.33831105e-04 9.99586166e-01 -1.10257581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.583133365 meters Centerline goodness [0,1] 0.3151126794103003 Centerline is valid? [False, False] Translation: X:3.73, Y:0.15, Z:-0.11 [[ 9.99619775e-01 -2.51222059e-03 -2.74589525e-02 3.72750316e+00] [ 2.57183088e-03 9.99994412e-01 2.13578604e-03 1.46114179e-01] [ 2.74534335e-02 -2.20559375e-03 9.99620650e-01 -1.08237103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.613133365 meters Centerline goodness [0,1] 0.3165360860740708 Centerline is valid? [False, False] Translation: X:3.73, Y:0.15, Z:-0.11 [[ 9.99627496e-01 -2.38175278e-03 -2.71881593e-02 3.72654546e+00] [ 2.44690597e-03 9.99994214e-01 2.36336322e-03 1.45289525e-01] [ 2.71823731e-02 -2.42900973e-03 9.99627540e-01 -1.07729913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.643133365 meters Centerline goodness [0,1] 0.31638947620812174 Centerline is valid? [False, False] Translation: X:3.73, Y:0.14, Z:-0.11 [[ 9.99633214e-01 -2.31928002e-03 -2.69825579e-02 3.72596614e+00] [ 2.38724941e-03 9.99994058e-01 2.48707227e-03 1.44790980e-01] [ 2.69766293e-02 -2.55057414e-03 9.99632811e-01 -1.07588481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.673133365 meters Centerline goodness [0,1] 0.3177574133310279 Centerline is valid? [False, False] Translation: X:3.74, Y:0.14, Z:-0.11 [[ 9.99637730e-01 6.32801401e-03 -2.61603750e-02 3.74429823e+00] [-6.30308075e-03 9.99979599e-01 1.03544303e-03 1.41283628e-01] [ 2.61663936e-02 -8.70176965e-04 9.99657223e-01 -1.05948594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.703133365 meters Centerline goodness [0,1] 0.32101035305447945 Centerline is valid? [False, False] Translation: X:3.73, Y:0.14, Z:-0.11 [[ 9.99644448e-01 -2.54549376e-03 -2.65423834e-02 3.72526661e+00] [ 2.61310016e-03 9.99993429e-01 2.51273746e-03 1.43618554e-01] [ 2.65358128e-02 -2.58120196e-03 9.99644531e-01 -1.07694459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73313336499996 meters Centerline goodness [0,1] 0.31866689993002095 Centerline is valid? [False, False] Translation: X:3.73, Y:0.14, Z:-0.11 [[ 9.99641642e-01 -2.43576934e-03 -2.66581053e-02 3.72561755e+00] [ 2.51091608e-03 9.99992967e-01 2.78579682e-03 1.42245576e-01] [ 2.66511323e-02 -2.85173477e-03 9.99640728e-01 -1.07786169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.763133365 meters Centerline goodness [0,1] 0.32020847932725993 Centerline is valid? [False, False] Translation: X:3.73, Y:0.14, Z:-0.11 [[ 9.99636331e-01 -2.40564480e-03 -2.68592485e-02 3.72615999e+00] [ 2.48396559e-03 9.99992759e-01 2.88298688e-03 1.41658991e-01] [ 2.68521186e-02 -2.94865587e-03 9.99635068e-01 -1.07931047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79313336499996 meters Centerline goodness [0,1] 0.31581800832755036 Centerline is valid? [False, False] Translation: X:3.75, Y:0.14, Z:-0.11 [[ 9.99617723e-01 6.12349452e-03 -2.69612627e-02 3.74587103e+00] [-6.08600845e-03 9.99980396e-01 1.47220692e-03 1.38376614e-01] [ 2.69697492e-02 -1.30755766e-03 9.99635395e-01 -1.06550695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.823133365 meters Centerline goodness [0,1] 0.3165110788624401 Centerline is valid? [False, False] Translation: X:3.75, Y:0.14, Z:-0.11 [[ 9.99618000e-01 6.16887605e-03 -2.69406511e-02 3.74604079e+00] [-6.12698968e-03 9.99979890e-01 1.63703620e-03 1.37278051e-01] [ 2.69502080e-02 -1.47134577e-03 9.99635694e-01 -1.06846998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85313336499996 meters Centerline goodness [0,1] 0.3138418199667079 Centerline is valid? [False, False] Translation: X:3.76, Y:0.14, Z:-0.11 [[ 9.99654888e-01 -9.05161753e-04 -2.62542654e-02 3.76491586e+00] [ 9.68641136e-04 9.99996638e-01 2.40525244e-03 1.41336922e-01] [ 2.62520000e-02 -2.42985332e-03 9.99652404e-01 -1.05468694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.883133365 meters Centerline goodness [0,1] 0.3164265879902811 Centerline is valid? [False, False] Translation: X:3.75, Y:0.14, Z:-0.11 [[ 9.99657412e-01 5.84679809e-03 -2.55122311e-02 3.74555860e+00] [-5.81287907e-03 9.99982120e-01 1.40347978e-03 1.35417812e-01] [ 2.55199808e-02 -1.25469945e-03 9.99673525e-01 -1.07430042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91313336499996 meters Centerline goodness [0,1] 0.3171418667128867 Centerline is valid? [False, False] Translation: X:3.75, Y:0.14, Z:-0.11 [[ 9.99655416e-01 5.79973471e-03 -2.56010210e-02 3.74592592e+00] [-5.76646851e-03 9.99982431e-01 1.37304429e-03 1.35236874e-01] [ 2.56085345e-02 -1.22494368e-03 9.99671297e-01 -1.07696646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.943133365 meters Centerline goodness [0,1] 0.3142936513024339 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.11 [[ 9.99638245e-01 -9.02019378e-04 -2.68805627e-02 3.76549016e+00] [ 9.52979791e-04 9.99997773e-01 1.88305869e-03 1.40096059e-01] [ 2.68788043e-02 -1.90799412e-03 9.99636879e-01 -1.06473954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97313336499997 meters Centerline goodness [0,1] 0.3150711681999653 Centerline is valid? [False, False] Translation: X:3.75, Y:0.13, Z:-0.11 [[ 9.99594022e-01 6.21742573e-03 -2.78053171e-02 3.74707693e+00] [-6.19699002e-03 9.99980461e-01 8.21068706e-04 1.34733926e-01] [ 2.78098787e-02 -6.48426098e-04 9.99613020e-01 -1.08784665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.003133365 meters Centerline goodness [0,1] 0.3150821519920233 Centerline is valid? [False, False] Translation: X:3.75, Y:0.13, Z:-0.11 [[ 9.99585138e-01 6.16021148e-03 -2.81354654e-02 3.74825205e+00] [-6.13953857e-03 9.99980816e-01 8.21091629e-04 1.34337504e-01] [ 2.81399838e-02 -6.48012214e-04 9.99603782e-01 -1.09425242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03313336499997 meters Centerline goodness [0,1] 0.31318693183045065 Centerline is valid? [False, False] Translation: X:3.75, Y:0.13, Z:-0.11 [[ 9.99580702e-01 6.13504693e-03 -2.82980668e-02 3.74874542e+00] [-6.11329097e-03 9.99980948e-01 8.55265734e-04 1.33897476e-01] [ 2.83027748e-02 -6.81912807e-04 9.99599164e-01 -1.09571789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.063133365 meters Centerline goodness [0,1] 0.30977349894700645 Centerline is valid? [False, False] Translation: X:3.75, Y:0.13, Z:-0.11 [[ 9.99575807e-01 6.10506252e-03 -2.84769125e-02 3.74946470e+00] [-6.08313810e-03 9.99981131e-01 8.56471050e-04 1.33596503e-01] [ 2.84816040e-02 -6.82878749e-04 9.99594084e-01 -1.10017163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09313336499997 meters Centerline goodness [0,1] 0.31501655917727034 Centerline is valid? [False, False] Translation: X:3.73, Y:0.14, Z:-0.11 [[ 9.99561294e-01 -2.76335142e-03 -2.94886981e-02 3.73044588e+00] [ 2.83277971e-03 9.99993313e-01 2.31288647e-03 1.36035801e-01] [ 2.94821096e-02 -2.39540678e-03 9.99562438e-01 -1.11676213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.123133365 meters Centerline goodness [0,1] 0.31393467710200695 Centerline is valid? [False, False] Translation: X:3.73, Y:0.14, Z:-0.11 [[ 9.99567293e-01 -2.61732403e-03 -2.92980485e-02 3.73021697e+00] [ 2.69132769e-03 9.99993286e-01 2.48674153e-03 1.35522854e-01] [ 2.92913432e-02 -2.56451615e-03 9.99567627e-01 -1.11965587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.153133365 meters Centerline goodness [0,1] 0.31347421735143866 Centerline is valid? [False, False] Translation: X:3.73, Y:0.14, Z:-0.11 [[ 9.99573528e-01 -2.54497842e-03 -2.90909866e-02 3.72957644e+00] [ 2.62087411e-03 9.99993260e-01 2.57107511e-03 1.35237292e-01] [ 2.90842472e-02 -2.64622243e-03 9.99573461e-01 -1.11725017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.183133365 meters Centerline goodness [0,1] 0.3106977147565153 Centerline is valid? [False, False] Translation: X:3.75, Y:0.13, Z:-0.11 [[ 9.99588857e-01 6.12654026e-03 -2.80103976e-02 3.74774591e+00] [-6.10047988e-03 9.99980876e-01 1.01574356e-03 1.32146926e-01] [ 2.80160849e-02 -8.44449073e-04 9.99607116e-01 -1.09910805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.213133365 meters Centerline goodness [0,1] 0.31323322890785354 Centerline is valid? [False, False] Translation: X:3.75, Y:0.13, Z:-0.11 [[ 9.99591756e-01 6.21099618e-03 -2.78880763e-02 3.74735732e+00] [-6.18031248e-03 9.99980198e-01 1.18630559e-03 1.31376084e-01] [ 2.78948922e-02 -1.01346427e-03 9.99610348e-01 -1.09771654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.243133365 meters Centerline goodness [0,1] 0.3129412274243146 Centerline is valid? [False, False] Translation: X:3.75, Y:0.13, Z:-0.11 [[ 9.99594305e-01 6.32924321e-03 -2.77698764e-02 3.74711870e+00] [-6.29147960e-03 9.99979161e-01 1.44704047e-03 1.30207646e-01] [ 2.77784564e-02 -1.27173980e-03 9.99613295e-01 -1.09838189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.273133365 meters Centerline goodness [0,1] 0.31053818884950046 Centerline is valid? [False, False] Translation: X:3.77, Y:0.13, Z:-0.11 [[ 9.99608742e-01 -5.52347339e-04 -2.79653046e-02 3.76608820e+00] [ 6.18166944e-04 9.99997059e-01 2.34502603e-03 1.33404512e-01] [ 2.79639271e-02 -2.36139575e-03 9.99606144e-01 -1.08315669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.303133365 meters Centerline goodness [0,1] 0.31253772527377766 Centerline is valid? [False, False] Translation: X:3.77, Y:0.13, Z:-0.11 [[ 9.99596680e-01 -6.17994856e-04 -2.83918176e-02 3.76705755e+00] [ 6.95408022e-04 9.99996068e-01 2.71680826e-03 1.29971913e-01] [ 2.83900270e-02 -2.73545642e-03 9.99593179e-01 -1.08205146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.333133365 meters Centerline goodness [0,1] 0.31519097222222225 Centerline is valid? [False, False] Translation: X:3.77, Y:0.13, Z:-0.11 [[ 9.99597045e-01 -5.33435761e-04 -2.83806667e-02 3.76679500e+00] [ 6.20845085e-04 9.99995091e-01 3.07116710e-03 1.27824450e-01] [ 2.83788891e-02 -3.08754956e-03 9.99592470e-01 -1.07826316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.363133365 meters Centerline goodness [0,1] 0.31570505873683297 Centerline is valid? [False, False] Translation: X:3.77, Y:0.13, Z:-0.11 [[ 9.99600954e-01 -4.08291911e-04 -2.82447695e-02 3.76610349e+00] [ 5.07348892e-04 9.99993746e-01 3.50001366e-03 1.25527992e-01] [ 2.82431638e-02 -3.51294694e-03 9.99594909e-01 -1.07253237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.393133365 meters Centerline goodness [0,1] 0.31426037295028775 Centerline is valid? [False, False] Translation: X:3.76, Y:0.12, Z:-0.11 [[ 9.99614484e-01 -4.32969030e-04 -2.77614244e-02 3.76448890e+00] [ 5.49812423e-04 9.99991023e-01 4.20134487e-03 1.20597311e-01] [ 2.77593561e-02 -4.21498876e-03 9.99605748e-01 -1.06388658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.423133365 meters Centerline goodness [0,1] 0.3155937364071335 Centerline is valid? [False, False] Translation: X:3.76, Y:0.12, Z:-0.11 [[ 9.99609323e-01 -3.27406928e-04 -2.79480510e-02 3.76481952e+00] [ 4.57475230e-04 9.99989095e-01 4.64766391e-03 1.18080953e-01] [ 2.79462245e-02 -4.65863372e-03 9.99598572e-01 -1.06236282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.453133365 meters Centerline goodness [0,1] 0.3155937364071335 Centerline is valid? [False, False] Translation: X:3.76, Y:0.12, Z:-0.11 [[ 9.99609323e-01 -3.27406928e-04 -2.79480510e-02 3.76481952e+00] [ 4.57475230e-04 9.99989095e-01 4.64766391e-03 1.18080953e-01] [ 2.79462245e-02 -4.65863372e-03 9.99598572e-01 -1.06236282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48313336499996 meters Centerline goodness [0,1] 0.3136302528296977 Centerline is valid? [False, False] Translation: X:3.77, Y:0.12, Z:-0.11 [[ 9.99598380e-01 -2.84159195e-04 -2.83372277e-02 3.76580725e+00] [ 4.26237477e-04 9.99987369e-01 5.00792412e-03 1.15795468e-01] [ 2.83354467e-02 -5.01799122e-03 9.99585875e-01 -1.06330667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.513133365 meters Centerline goodness [0,1] 0.31233060861646533 Centerline is valid? [False, False] Translation: X:3.77, Y:0.11, Z:-0.11 [[ 9.99590367e-01 -2.57626052e-04 -2.86187181e-02 3.76655918e+00] [ 4.09462241e-04 9.99985872e-01 5.29975169e-03 1.13848064e-01] [ 2.86169484e-02 -5.30929903e-03 9.99576351e-01 -1.06491071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54313336499996 meters Centerline goodness [0,1] 0.3162475189216306 Centerline is valid? [False, False] Translation: X:3.77, Y:0.11, Z:-0.11 [[ 9.99585390e-01 -1.64661105e-04 -2.87927238e-02 3.76690855e+00] [ 3.27179607e-04 9.99984043e-01 5.63980953e-03 1.11940525e-01] [ 2.87913356e-02 -5.64689160e-03 9.99569493e-01 -1.06395451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.573133365 meters Centerline goodness [0,1] 0.3137748402346143 Centerline is valid? [False, False] Translation: X:3.77, Y:0.11, Z:-0.11 [[ 9.99585940e-01 -7.73608623e-05 -2.87739875e-02 3.76678342e+00] [ 2.47676654e-04 9.99982472e-01 5.91557198e-03 1.10477845e-01] [ 2.87730256e-02 -5.92024923e-03 9.99568439e-01 -1.06254936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60313336499996 meters Centerline goodness [0,1] 0.3142994346582848 Centerline is valid? [False, False] Translation: X:3.77, Y:0.11, Z:-0.11 [[ 9.99593878e-01 6.39751188e-05 -2.84969243e-02 3.76592111e+00] [ 1.15174265e-04 9.99980243e-01 6.28493597e-03 1.08536322e-01] [ 2.84967634e-02 -6.28566563e-03 9.99574122e-01 -1.05870607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.633133365 meters Centerline goodness [0,1] 0.3145108482123369 Centerline is valid? [False, False] Translation: X:3.77, Y:0.11, Z:-0.11 [[ 9.99592269e-01 7.71945860e-05 -2.85532745e-02 3.76633562e+00] [ 1.03483120e-04 9.99979984e-01 6.32620850e-03 1.08132521e-01] [ 2.85531913e-02 -6.32658390e-03 9.99572253e-01 -1.06276384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66313336499996 meters Centerline goodness [0,1] 0.31029558142554203 Centerline is valid? [False, False] Translation: X:3.77, Y:0.11, Z:-0.11 [[ 9.99582305e-01 1.66932137e-05 -2.89000960e-02 3.76763334e+00] [ 1.64306838e-04 9.99980389e-01 6.26057069e-03 1.08090211e-01] [ 2.88996337e-02 -6.26270416e-03 9.99562699e-01 -1.06996108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.693133365 meters Centerline goodness [0,1] 0.31285704976432005 Centerline is valid? [False, False] Translation: X:3.77, Y:0.11, Z:-0.11 [[ 9.99571461e-01 -5.57799199e-05 -2.92727080e-02 3.76901422e+00] [ 2.35637092e-04 9.99981117e-01 6.14077954e-03 1.08359329e-01] [ 2.92718127e-02 -6.14504571e-03 9.99552600e-01 -1.07759268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72313336499997 meters Centerline goodness [0,1] 0.30853579875295634 Centerline is valid? [False, False] Translation: X:3.79, Y:0.11, Z:-0.11 [[ 0.9995207 0.00866551 -0.02971991 3.78921828] [-0.00852831 0.9999524 0.00474014 0.10546125] [ 0.02975958 -0.00448441 0.99954703 -0.10654503] [ 0. 0. 0. 1. ]] SLAMing on 315.753133365 meters Centerline goodness [0,1] 0.3118390953429151 Centerline is valid? [False, False] Translation: X:3.79, Y:0.11, Z:-0.11 [[ 0.99951992 0.00871034 -0.02973299 3.78927391] [-0.00857088 0.99995168 0.00481454 0.10517566] [ 0.02977349 -0.00455739 0.99954628 -0.1065873 ] [ 0. 0. 0. 1. ]] SLAMing on 315.78313336499997 meters Centerline goodness [0,1] 0.3104873614958449 Centerline is valid? [False, False] Translation: X:3.79, Y:0.10, Z:-0.11 [[ 0.99953001 0.00888552 -0.02933948 3.7877216 ] [-0.00873791 0.99994853 0.00515579 0.10372677] [ 0.02938378 -0.004897 0.99955621 -0.10565554] [ 0. 0. 0. 1. ]] SLAMing on 315.813133365 meters Centerline goodness [0,1] 0.312625250501002 Centerline is valid? [False, False] Translation: X:3.79, Y:0.10, Z:-0.11 [[ 0.99953113 0.00891488 -0.02929231 3.78754567] [-0.00876261 0.99994744 0.00532236 0.10262304] [ 0.02933822 -0.00506318 0.99955672 -0.10556575] [ 0. 0. 0. 1. ]] SLAMing on 315.84313336499997 meters Centerline goodness [0,1] 0.31339142497940786 Centerline is valid? [False, False] Translation: X:3.79, Y:0.10, Z:-0.11 [[ 9.99552761e-01 6.12545808e-03 -2.92703985e-02 3.78842360e+00] [-6.05283492e-03 9.99978381e-01 2.56907326e-03 1.02431633e-01] [ 2.92855025e-02 -2.39075538e-03 9.99568229e-01 -1.06663516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.873133365 meters Centerline goodness [0,1] 0.31377545511477745 Centerline is valid? [False, False] Translation: X:3.79, Y:0.10, Z:-0.11 [[ 9.99548253e-01 6.10595914e-03 -2.94279944e-02 3.78903118e+00] [-6.02866697e-03 9.99978143e-01 2.71449497e-03 1.01202524e-01] [ 2.94439258e-02 -2.53585713e-03 9.99563217e-01 -1.07039821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.903133365 meters Centerline goodness [0,1] 0.31050533347699605 Centerline is valid? [False, False] Translation: X:3.79, Y:0.10, Z:-0.11 [[ 9.99593788e-01 3.51419032e-03 -2.82826714e-02 3.78545280e+00] [-3.50006022e-03 9.99993724e-01 5.49092703e-04 9.77877680e-02] [ 2.82844235e-02 -4.49878602e-04 9.99599814e-01 -1.05998849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.933133365 meters Centerline goodness [0,1] 0.3126654471107285 Centerline is valid? [False, False] Translation: X:3.78, Y:0.10, Z:-0.11 [[ 9.99598328e-01 3.66269339e-03 -2.81028081e-02 3.78443491e+00] [-3.63760865e-03 9.99992939e-01 9.43678170e-04 9.57508290e-02] [ 2.81060661e-02 -8.41072103e-04 9.99604593e-01 -1.05124489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.963133365 meters Centerline goodness [0,1] 0.31058430145325155 Centerline is valid? [False, False] Translation: X:3.78, Y:0.09, Z:-0.10 [[ 9.99599108e-01 3.81071201e-03 -2.80553190e-02 3.78384854e+00] [-3.77417961e-03 9.99991960e-01 1.35499437e-03 9.36119668e-02] [ 2.80602569e-02 -1.24856535e-03 9.99605454e-01 -1.04427036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.993133365 meters Centerline goodness [0,1] 0.3132143011170052 Centerline is valid? [False, False] Translation: X:3.78, Y:0.09, Z:-0.10 [[ 9.99597693e-01 3.97329044e-03 -2.80831889e-02 3.78359920e+00] [-3.92537885e-03 9.99990745e-01 1.76098316e-03 9.14995837e-02] [ 2.80899259e-02 -1.65003754e-03 9.99604038e-01 -1.03945763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.023133365 meters Centerline goodness [0,1] 0.31123503574196887 Centerline is valid? [False, False] Translation: X:3.78, Y:0.09, Z:-0.10 [[ 9.99596764e-01 4.11292555e-03 -2.80961310e-02 3.78359767e+00] [-4.05481583e-03 9.99989522e-01 2.12490710e-03 8.95247528e-02] [ 2.81045761e-02 -2.01012563e-03 9.99602967e-01 -1.03891371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.053133365 meters Centerline goodness [0,1] 0.3151671620419586 Centerline is valid? [False, False] Translation: X:3.78, Y:0.09, Z:-0.10 [[ 9.99596530e-01 4.22189193e-03 -2.80883081e-02 3.78359000e+00] [-4.15614186e-03 9.99988486e-01 2.39880373e-03 8.79994588e-02] [ 2.80981122e-02 -2.28109689e-03 9.99602567e-01 -1.03897506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.083133365 meters Centerline goodness [0,1] 0.31681659116769356 Centerline is valid? [False, False] Translation: X:3.80, Y:0.09, Z:-0.10 [[ 9.99615989e-01 -1.89513822e-03 -2.76456636e-02 3.80093686e+00] [ 2.00609330e-03 9.99990042e-01 3.98628836e-03 8.96355285e-02] [ 2.76378337e-02 -4.04021736e-03 9.99609837e-01 -1.01816150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.113133365 meters Centerline goodness [0,1] 0.3140460314046032 Centerline is valid? [False, False] Translation: X:3.80, Y:0.09, Z:-0.10 [[ 9.99617226e-01 -1.74521174e-03 -2.76107756e-02 3.80083477e+00] [ 1.86190037e-03 9.99989442e-01 4.20105454e-03 8.88301845e-02] [ 2.76031524e-02 -4.25085500e-03 9.99609922e-01 -1.01753918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.143133365 meters Centerline goodness [0,1] 0.3159759198487384 Centerline is valid? [False, False] Translation: X:3.80, Y:0.09, Z:-0.10 [[ 9.99611073e-01 -1.58551914e-03 -2.78422248e-02 3.80144966e+00] [ 1.70878127e-03 9.99988843e-01 4.40393065e-03 8.79020402e-02] [ 2.78349317e-02 -4.44979412e-03 9.99602629e-01 -1.01845771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.173133365 meters Centerline goodness [0,1] 0.3126941663790128 Centerline is valid? [False, False] Translation: X:3.80, Y:0.09, Z:-0.10 [[ 9.99612104e-01 -1.49346509e-03 -2.78102834e-02 3.80127974e+00] [ 1.62159953e-03 9.99988172e-01 4.58546544e-03 8.70081953e-02] [ 2.78031062e-02 -4.62878389e-03 9.99602702e-01 -1.01728964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.203133365 meters Centerline goodness [0,1] 0.31187691510940396 Centerline is valid? [False, False] Translation: X:3.80, Y:0.09, Z:-0.10 [[ 9.99614343e-01 -1.39723895e-03 -2.77346887e-02 3.80095912e+00] [ 1.53155848e-03 9.99987199e-01 4.82236396e-03 8.58707571e-02] [ 2.77275957e-02 -4.86298148e-03 9.99603687e-01 -1.01525596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.23313336499996 meters Centerline goodness [0,1] 0.3133981585061526 Centerline is valid? [False, False] Translation: X:3.80, Y:0.08, Z:-0.10 [[ 9.99614419e-01 -1.32071037e-03 -2.77356928e-02 3.80092330e+00] [ 1.46296169e-03 9.99985878e-01 5.10915223e-03 8.42862576e-02] [ 2.77285534e-02 -5.14775849e-03 9.99602235e-01 -1.01504123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.263133365 meters Centerline goodness [0,1] 0.31624210046257084 Centerline is valid? [False, False] Translation: X:3.80, Y:0.08, Z:-0.10 [[ 9.99609070e-01 -1.24140401e-03 -2.79314677e-02 3.80141794e+00] [ 1.39447178e-03 9.99984115e-01 5.46130795e-03 8.22419097e-02] [ 2.79242443e-02 -5.49812261e-03 9.99594922e-01 -1.01549992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.29313336499996 meters Centerline goodness [0,1] 0.31736709966160903 Centerline is valid? [False, False] Translation: X:3.80, Y:0.08, Z:-0.10 [[ 9.99594854e-01 -1.34071796e-03 -2.84311358e-02 3.80275273e+00] [ 1.50241261e-03 9.99982816e-01 5.66663942e-03 8.02850705e-02] [ 2.84230499e-02 -5.70705890e-03 9.99579692e-01 -1.01852716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.323133365 meters Centerline goodness [0,1] 0.3123840745373765 Centerline is valid? [False, False] Translation: X:3.81, Y:0.08, Z:-0.10 [[ 9.99557113e-01 -2.80446619e-03 -2.96262170e-02 3.80782418e+00] [ 2.94855973e-03 9.99984031e-01 4.82115012e-03 7.56421568e-02] [ 2.96122231e-02 -4.90636957e-03 9.99549420e-01 -1.04412513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.35313336499996 meters Centerline goodness [0,1] 0.3133403177929108 Centerline is valid? [False, False] Translation: X:3.81, Y:0.07, Z:-0.10 [[ 9.99548810e-01 -2.73838991e-03 -2.99111775e-02 3.80843217e+00] [ 2.89608831e-03 9.99982129e-01 5.23017348e-03 7.33050001e-02] [ 2.98963207e-02 -5.31443909e-03 9.99538877e-01 -1.04388894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.383133365 meters Centerline goodness [0,1] 0.312694171066067 Centerline is valid? [False, False] Translation: X:3.81, Y:0.07, Z:-0.10 [[ 9.99538453e-01 -2.81246395e-03 -3.02484968e-02 3.80907182e+00] [ 2.97949266e-03 9.99980556e-01 5.47822993e-03 7.12770646e-02] [ 3.02325013e-02 -5.56582665e-03 9.99527397e-01 -1.04227376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41313336499996 meters Centerline goodness [0,1] 0.3132839721254356 Centerline is valid? [False, False] Translation: X:3.81, Y:0.07, Z:-0.10 [[ 9.99533533e-01 -2.84475500e-03 -3.04076399e-02 3.80918044e+00] [ 3.02127339e-03 9.99978843e-01 5.76069886e-03 6.92642848e-02] [ 3.03906088e-02 -5.84988148e-03 9.99520980e-01 -1.03830506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.443133365 meters Centerline goodness [0,1] 0.3143542946111928 Centerline is valid? [False, False] Translation: X:3.83, Y:0.06, Z:-0.10 [[ 9.99542715e-01 4.35406412e-03 -2.99232753e-02 3.82852069e+00] [-4.26489252e-03 9.99986275e-01 3.04318655e-03 6.49907313e-02] [ 2.99361148e-02 -2.91417539e-03 9.99547566e-01 -1.02598670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47313336499997 meters Centerline goodness [0,1] 0.31032614584462026 Centerline is valid? [False, False] Translation: X:3.83, Y:0.06, Z:-0.10 [[ 9.99541343e-01 4.37516439e-03 -2.99660211e-02 3.82846851e+00] [-4.27913333e-03 9.99985504e-01 3.26804469e-03 6.35366297e-02] [ 2.99798849e-02 -3.13831718e-03 9.99545575e-01 -1.02431298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.503133365 meters Centerline goodness [0,1] 0.3102181943132033 Centerline is valid? [False, False] Translation: X:3.85, Y:0.07, Z:-0.10 [[ 9.99594856e-01 -3.31067282e-03 -2.82694813e-02 3.84701973e+00] [ 3.42207631e-03 9.99986566e-01 3.89329887e-03 6.52054907e-02] [ 2.82562120e-02 -3.98846184e-03 9.99592756e-01 -1.01030681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53313336499997 meters Centerline goodness [0,1] 0.3183186458424221 Centerline is valid? [False, False] Translation: X:3.83, Y:0.06, Z:-0.10 [[ 9.99637330e-01 3.08490202e-03 -2.67524335e-02 3.82736116e+00] [-3.00045573e-03 9.99990391e-01 3.19615116e-03 5.97165903e-02] [ 2.67620363e-02 -3.11472251e-03 9.99636980e-01 -1.02650831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.563133365 meters Centerline goodness [0,1] 0.3092014784253051 Centerline is valid? [False, False] Translation: X:3.85, Y:0.06, Z:-0.10 [[ 9.99654478e-01 -3.73103134e-03 -2.60193184e-02 3.84598402e+00] [ 3.83797606e-03 9.99984387e-01 4.06147720e-03 6.42828782e-02] [ 2.60037587e-02 -4.15993539e-03 9.99653190e-01 -1.00816800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59313336499997 meters Centerline goodness [0,1] 0.31398559164833273 Centerline is valid? [False, False] Translation: X:3.85, Y:0.07, Z:-0.10 [[ 9.99652508e-01 -3.87264821e-03 -2.60742185e-02 3.84617318e+00] [ 3.97239709e-03 9.99984985e-01 3.77486470e-03 6.55602989e-02] [ 2.60592083e-02 -3.87713012e-03 9.99652883e-01 -1.00919640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.623133365 meters Centerline goodness [0,1] 0.3148031666847414 Centerline is valid? [False, False] Translation: X:3.85, Y:0.07, Z:-0.10 [[ 9.99648111e-01 -3.99182625e-03 -2.62244035e-02 3.84672744e+00] [ 4.08570625e-03 9.99985433e-01 3.52726548e-03 6.65748612e-02] [ 2.62099412e-02 -3.63316948e-03 9.99649858e-01 -1.01266937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.653133365 meters Centerline goodness [0,1] 0.3139752958675548 Centerline is valid? [False, False] Translation: X:3.87, Y:0.06, Z:-0.10 [[ 9.99651605e-01 4.66273156e-03 -2.59793616e-02 3.86511941e+00] [-4.62237827e-03 9.99988016e-01 1.61311988e-03 6.43202090e-02] [ 2.59865718e-02 -1.49247144e-03 9.99661178e-01 -9.96523412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.683133365 meters Centerline goodness [0,1] 0.3140401761735955 Centerline is valid? [False, False] Translation: X:3.86, Y:0.07, Z:-0.10 [[ 9.99653991e-01 4.60003838e-03 -2.58986221e-02 3.86488302e+00] [-4.56459727e-03 9.99988563e-01 1.42740778e-03 6.54117686e-02] [ 2.59048921e-02 -1.30869711e-03 9.99663555e-01 -9.95728404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.713133365 meters Centerline goodness [0,1] 0.3136369556722963 Centerline is valid? [False, False] Translation: X:3.86, Y:0.07, Z:-0.10 [[ 9.99661658e-01 4.57749552e-03 -2.56050047e-02 3.86410363e+00] [-4.54641665e-03 9.99988856e-01 1.27186480e-03 6.64526749e-02] [ 2.56105413e-02 -1.15502345e-03 9.99671329e-01 -9.94143768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.743133365 meters Centerline goodness [0,1] 0.31510119802981096 Centerline is valid? [False, False] Translation: X:3.88, Y:0.07, Z:-0.10 [[ 9.99657730e-01 -1.46192091e-03 -2.61206042e-02 3.88100278e+00] [ 1.52090336e-03 9.99996338e-01 2.23835737e-03 7.25459140e-02] [ 2.61172363e-02 -2.27731817e-03 9.99656293e-01 -9.69706087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.773133365 meters Centerline goodness [0,1] 0.31688029545948293 Centerline is valid? [False, False] Translation: X:3.88, Y:0.08, Z:-0.10 [[ 9.99668555e-01 -1.50807176e-03 -2.57003183e-02 3.88028515e+00] [ 1.55460573e-03 9.99997188e-01 1.79075388e-03 7.53121664e-02] [ 2.56975454e-02 -1.83011420e-03 9.99668088e-01 -9.72798065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.803133365 meters Centerline goodness [0,1] 0.3120354058350878 Centerline is valid? [False, False] Translation: X:3.90, Y:0.07, Z:-0.10 [[ 9.99659268e-01 6.97000440e-03 -2.51548552e-02 3.90050415e+00] [-6.97950164e-03 9.99975601e-01 -2.89771756e-04 7.48866514e-02] [ 2.51522218e-02 4.65241375e-04 9.99683525e-01 -9.69224372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.833133365 meters Centerline goodness [0,1] 0.3162046769684229 Centerline is valid? [False, False] Translation: X:3.90, Y:0.08, Z:-0.10 [[ 9.99656247e-01 6.84946818e-03 -2.53075675e-02 3.90129302e+00] [-6.86778189e-03 9.99976214e-01 -6.36798136e-04 7.65709680e-02] [ 2.53026038e-02 8.10386088e-04 9.99679509e-01 -9.75232128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.863133365 meters Centerline goodness [0,1] 0.31255756173831095 Centerline is valid? [False, False] Translation: X:3.92, Y:0.08, Z:-0.10 [[ 9.99637376e-01 1.05296010e-03 -2.69073931e-02 3.91952306e+00] [-1.05159768e-03 9.99999445e-01 6.47842064e-05 8.34213109e-02] [ 2.69074464e-02 -3.64649620e-05 9.99637928e-01 -9.56536574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.893133365 meters Centerline goodness [0,1] 0.3154793901993248 Centerline is valid? [False, False] Translation: X:3.92, Y:0.08, Z:-0.10 [[ 9.99640470e-01 1.02478710e-03 -2.67932945e-02 3.91940647e+00] [-1.02920711e-03 9.99999459e-01 -1.51176903e-04 8.49512930e-02] [ 2.67931251e-02 1.78698400e-04 9.99640984e-01 -9.59107299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.923133365 meters Centerline goodness [0,1] 0.31453371623518234 Centerline is valid? [False, False] Translation: X:3.92, Y:0.09, Z:-0.10 [[ 9.99645923e-01 9.99405244e-04 -2.65900396e-02 3.91891684e+00] [-1.00815786e-03 9.99999442e-01 -3.15765293e-04 8.60827264e-02] [ 2.65897091e-02 3.42460446e-04 9.99646373e-01 -9.59030641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.953133365 meters Centerline goodness [0,1] 0.31479876965732356 Centerline is valid? [False, False] Translation: X:3.92, Y:0.09, Z:-0.10 [[ 9.99648739e-01 8.10706181e-04 -2.64904100e-02 3.91872258e+00] [-8.32241436e-04 9.99999332e-01 -8.01930267e-04 8.85808537e-02] [ 2.64897422e-02 8.23694997e-04 9.99648746e-01 -9.59744321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98313336499996 meters Centerline goodness [0,1] 0.31471561710652385 Centerline is valid? [False, False] Translation: X:3.92, Y:0.09, Z:-0.10 [[ 9.99645585e-01 7.42521898e-04 -2.66111307e-02 3.91903354e+00] [-7.68848250e-04 9.99999225e-01 -9.79080365e-04 8.94910947e-02] [ 2.66103831e-02 9.99193286e-04 9.99645382e-01 -9.60407356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.013133365 meters Centerline goodness [0,1] 0.3129107575233483 Centerline is valid? [False, False] Translation: X:3.92, Y:0.09, Z:-0.10 [[ 9.99643146e-01 6.78938221e-04 -2.67042970e-02 3.91944059e+00] [-7.09746715e-04 9.99999093e-01 -1.14422912e-03 9.04285010e-02] [ 2.67034959e-02 1.16277408e-03 9.99642722e-01 -9.63552153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04313336499996 meters Centerline goodness [0,1] 0.3138287497561927 Centerline is valid? [False, False] Translation: X:3.92, Y:0.09, Z:-0.10 [[ 9.99642245e-01 6.46344433e-04 -2.67388116e-02 3.91962614e+00] [-6.80434018e-04 9.99998967e-01 -1.26583126e-03 9.12328957e-02] [ 2.67379659e-02 1.28357240e-03 9.99641653e-01 -9.65512011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.073133365 meters Centerline goodness [0,1] 0.31431225962577247 Centerline is valid? [False, False] Translation: X:3.92, Y:0.09, Z:-0.10 [[ 9.99642891e-01 5.85211943e-04 -2.67160802e-02 3.91942707e+00] [-6.20689791e-04 9.99998937e-01 -1.31968522e-03 9.14880173e-02] [ 2.67152795e-02 1.33579634e-03 9.99642191e-01 -9.63975280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10313336499996 meters Centerline goodness [0,1] 0.31424262012497306 Centerline is valid? [False, False] Translation: X:3.92, Y:0.09, Z:-0.10 [[ 9.99641723e-01 5.04375258e-04 -2.67613637e-02 3.91937668e+00] [-5.40288433e-04 9.99998963e-01 -1.33476474e-03 9.11644829e-02] [ 2.67606628e-02 1.34874538e-03 9.99640959e-01 -9.62099431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.133133365 meters Centerline goodness [0,1] 0.3118939115785836 Centerline is valid? [False, False] Translation: X:3.92, Y:0.09, Z:-0.10 [[ 9.99636761e-01 4.21280370e-04 -2.69475058e-02 3.91972537e+00] [-4.56165001e-04 9.99999066e-01 -1.28840597e-03 9.03648559e-02] [ 2.69469379e-02 1.30023048e-03 9.99636020e-01 -9.61672010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16313336499996 meters Centerline goodness [0,1] 0.3157678590727332 Centerline is valid? [False, False] Translation: X:3.92, Y:0.09, Z:-0.10 [[ 9.99631237e-01 3.90745742e-04 -2.71521045e-02 3.92007272e+00] [-4.21551046e-04 9.99999274e-01 -1.12883093e-03 8.91824375e-02] [ 2.71516437e-02 1.13986066e-03 9.99630676e-01 -9.60081443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.193133365 meters Centerline goodness [0,1] 0.31239605158001593 Centerline is valid? [False, False] Translation: X:3.92, Y:0.09, Z:-0.10 [[ 9.99626856e-01 3.69394460e-04 -2.73132282e-02 3.92042457e+00] [-3.95067966e-04 9.99999485e-01 -9.34575700e-04 8.78513536e-02] [ 2.73128689e-02 9.45017551e-04 9.99626487e-01 -9.60639286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22313336499997 meters Centerline goodness [0,1] 0.3119963804024648 Centerline is valid? [False, False] Translation: X:3.92, Y:0.09, Z:-0.10 [[ 9.99620560e-01 2.90023888e-04 -2.75436536e-02 3.92095475e+00] [-3.09997012e-04 9.99999692e-01 -7.20877050e-04 8.61452852e-02] [ 2.75434360e-02 7.29141971e-04 9.99620342e-01 -9.60989420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.253133365 meters Centerline goodness [0,1] 0.31126924069137496 Centerline is valid? [False, False] Translation: X:3.92, Y:0.08, Z:-0.10 [[ 9.99625298e-01 -5.23209821e-04 -2.73676833e-02 3.92022998e+00] [ 4.97778527e-04 9.99999438e-01 -9.36049942e-04 8.33255790e-02] [ 2.73681577e-02 9.22076157e-04 9.99624997e-01 -9.55990119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28313336499997 meters Centerline goodness [0,1] 0.3159443028044715 Centerline is valid? [False, False] Translation: X:3.92, Y:0.08, Z:-0.10 [[ 9.99626082e-01 -5.43630899e-04 -2.73386298e-02 3.91977064e+00] [ 5.25682406e-04 9.99999642e-01 -6.63707748e-04 8.14297469e-02] [ 2.73389809e-02 6.49088139e-04 9.99626009e-01 -9.50825940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.313133365 meters Centerline goodness [0,1] 0.31084187235505145 Centerline is valid? [False, False] Translation: X:3.94, Y:0.08, Z:-0.09 [[ 9.99626895e-01 -7.69653782e-03 -2.62075231e-02 3.93906446e+00] [ 7.71034624e-03 9.99970184e-01 4.25874979e-04 8.33402022e-02] [ 2.62034640e-02 -6.27785161e-04 9.99656433e-01 -9.32047380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34313336499997 meters Centerline goodness [0,1] 0.3149940456858288 Centerline is valid? [False, False] Translation: X:3.94, Y:0.08, Z:-0.09 [[ 9.99634576e-01 -7.56625845e-03 -2.59512399e-02 3.93821896e+00] [ 7.58749101e-03 9.99970956e-01 7.19798513e-04 8.21437486e-02] [ 2.59450400e-02 -9.16440280e-04 9.99662951e-01 -9.29024906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.373133365 meters Centerline goodness [0,1] 0.3149940456858288 Centerline is valid? [False, False] Translation: X:3.94, Y:0.08, Z:-0.09 [[ 9.99634576e-01 -7.56625845e-03 -2.59512399e-02 3.93821896e+00] [ 7.58749101e-03 9.99970956e-01 7.19798513e-04 8.21437486e-02] [ 2.59450400e-02 -9.16440280e-04 9.99662951e-01 -9.29024906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.403133365 meters Centerline goodness [0,1] 0.3169937497268237 Centerline is valid? [False, False] Translation: X:3.92, Y:0.08, Z:-0.10 [[ 9.99740110e-01 -2.23033000e-03 -2.26878194e-02 3.92181210e+00] [ 2.23852700e-03 9.99997438e-01 3.35904454e-04 7.75939656e-02] [ 2.26870121e-02 -3.86604452e-04 9.99742542e-01 -9.57380001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.433133365 meters Centerline goodness [0,1] 0.3181758730435541 Centerline is valid? [False, False] Translation: X:3.92, Y:0.08, Z:-0.10 [[ 9.99741997e-01 -2.21388883e-03 -2.26061708e-02 3.92162509e+00] [ 2.22296848e-03 9.99997458e-01 3.76522873e-04 7.74131453e-02] [ 2.26052798e-02 -4.26678534e-04 9.99744377e-01 -9.57633633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.463133365 meters Centerline goodness [0,1] 0.31413861728822357 Centerline is valid? [False, False] Translation: X:3.92, Y:0.08, Z:-0.10 [[ 9.99735694e-01 -2.35854935e-03 -2.28687546e-02 3.92270097e+00] [ 2.36097700e-03 9.99997210e-01 7.91564845e-05 7.86146916e-02] [ 2.28685041e-02 -1.33128166e-04 9.99738473e-01 -9.64682444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.493133365 meters Centerline goodness [0,1] 0.3133496142292148 Centerline is valid? [False, False] Translation: X:3.92, Y:0.08, Z:-0.10 [[ 9.99732523e-01 -2.41870156e-03 -2.30007037e-02 3.92314326e+00] [ 2.41721579e-03 9.99997074e-01 -9.23990327e-05 7.95182638e-02] [ 2.30008599e-02 3.67766538e-05 9.99735445e-01 -9.66571885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.523133365 meters Centerline goodness [0,1] 0.3146472992954684 Centerline is valid? [False, False] Translation: X:3.92, Y:0.08, Z:-0.10 [[ 9.99734528e-01 -2.45240021e-03 -2.29098037e-02 3.92300214e+00] [ 2.44739973e-03 9.99996975e-01 -2.46303659e-04 8.04106512e-02] [ 2.29103384e-02 1.90168825e-04 9.99737506e-01 -9.67884442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.553133365 meters Centerline goodness [0,1] 0.31213409081052956 Centerline is valid? [False, False] Translation: X:3.92, Y:0.08, Z:-0.10 [[ 9.99739108e-01 -2.44035649e-03 -2.27103460e-02 3.92249937e+00] [ 2.43393672e-03 9.99996990e-01 -3.10317335e-04 8.10159555e-02] [ 2.27110349e-02 2.54960831e-04 9.99742039e-01 -9.67303053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.583133365 meters Centerline goodness [0,1] 0.31520771352255206 Centerline is valid? [False, False] Translation: X:3.92, Y:0.08, Z:-0.10 [[ 9.99744030e-01 -2.40985493e-03 -2.24959190e-02 3.92200287e+00] [ 2.40347487e-03 9.99997063e-01 -3.10643169e-04 8.13097831e-02] [ 2.24966015e-02 2.56495278e-04 9.99746887e-01 -9.67740584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.613133365 meters Centerline goodness [0,1] 0.31635738682098025 Centerline is valid? [False, False] Translation: X:3.92, Y:0.08, Z:-0.10 [[ 9.99744497e-01 -2.39248086e-03 -2.24770482e-02 3.92210234e+00] [ 2.38614623e-03 9.99997106e-01 -3.08642460e-04 8.15070780e-02] [ 2.24777216e-02 2.54930077e-04 9.99747312e-01 -9.70292889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.643133365 meters Centerline goodness [0,1] 0.31192680441428355 Centerline is valid? [False, False] Translation: X:3.92, Y:0.08, Z:-0.10 [[ 9.99730098e-01 -2.52926783e-03 -2.30940366e-02 3.92404909e+00] [ 2.52129781e-03 9.99996752e-01 -3.74222386e-04 8.11754780e-02] [ 2.30949081e-02 3.15894438e-04 9.99733227e-01 -9.78911089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.673133365 meters Centerline goodness [0,1] 0.30712420259451123 Centerline is valid? [False, False] Translation: X:3.95, Y:0.08, Z:-0.10 [[ 9.99723291e-01 4.63750223e-03 -2.30615636e-02 3.94535126e+00] [-4.71150898e-03 9.99983921e-01 -3.15579616e-03 7.88506533e-02] [ 2.30465578e-02 3.26357768e-03 9.99729066e-01 -9.80792196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.703133365 meters Centerline goodness [0,1] 0.3080993080993081 Centerline is valid? [False, False] Translation: X:3.95, Y:0.08, Z:-0.10 [[ 9.99719654e-01 4.63526754e-03 -2.32191436e-02 3.94605292e+00] [-4.70807550e-03 9.99984168e-01 -3.08200244e-03 7.83873469e-02] [ 2.32044901e-02 3.19045590e-03 9.99725649e-01 -9.86161543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73313336499996 meters Centerline goodness [0,1] 0.3099373668237877 Centerline is valid? [False, False] Translation: X:3.95, Y:0.08, Z:-0.10 [[ 9.99718906e-01 4.69550376e-03 -2.32392064e-02 3.94630186e+00] [-4.76561785e-03 9.99984256e-01 -2.96259831e-03 7.79133835e-02] [ 2.32249296e-02 3.07251472e-03 9.99725543e-01 -9.89795869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.763133365 meters Centerline goodness [0,1] 0.3101847854244021 Centerline is valid? [False, False] Translation: X:3.95, Y:0.08, Z:-0.10 [[ 9.99716042e-01 4.71713282e-03 -2.33577417e-02 3.94679026e+00] [-4.78596659e-03 9.99984366e-01 -2.89191091e-03 7.75479209e-02] [ 2.33437350e-02 3.00287910e-03 9.99722988e-01 -9.92977371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79313336499996 meters Centerline goodness [0,1] 0.3045956079271559 Centerline is valid? [False, False] Translation: X:3.97, Y:0.08, Z:-0.10 [[ 9.99667896e-01 -1.11964677e-03 -2.57457758e-02 3.96507301e+00] [ 1.06221774e-03 9.99996918e-01 -2.24418763e-03 8.18057547e-02] [ 2.57482091e-02 2.21609471e-03 9.99666004e-01 -9.71589609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.823133365 meters Centerline goodness [0,1] 0.3081743278404163 Centerline is valid? [False, False] Translation: X:3.95, Y:0.08, Z:-0.10 [[ 9.99714426e-01 3.83413594e-03 -2.35874029e-02 3.95153341e+00] [-3.91816359e-03 9.99986139e-01 -3.51721073e-03 7.87223358e-02] [ 2.35735905e-02 3.60862561e-03 9.99715591e-01 -1.01600958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85313336499996 meters Centerline goodness [0,1] 0.31024966862953873 Centerline is valid? [False, False] Translation: X:3.95, Y:0.08, Z:-0.10 [[ 9.99713726e-01 3.82862571e-03 -2.36179314e-02 3.95168133e+00] [-3.91498534e-03 9.99985815e-01 -3.61137382e-03 7.92629110e-02] [ 2.36037697e-02 3.70280384e-03 9.99714535e-01 -1.01685963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.883133365 meters Centerline goodness [0,1] 0.31163446928586935 Centerline is valid? [False, False] Translation: X:3.95, Y:0.08, Z:-0.10 [[ 9.99715026e-01 3.82779576e-03 -2.35630163e-02 3.95153549e+00] [-3.91695737e-03 9.99985339e-01 -3.73897341e-03 8.00795197e-02] [ 2.35483588e-02 3.83020323e-03 9.99715362e-01 -1.01589623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91313336499996 meters Centerline goodness [0,1] 0.31448716825786105 Centerline is valid? [False, False] Translation: X:3.95, Y:0.08, Z:-0.10 [[ 9.99718888e-01 3.79424928e-03 -2.34040498e-02 3.95119248e+00] [-3.88789245e-03 9.99984613e-01 -3.95694829e-03 8.12487969e-02] [ 2.33886761e-02 4.04682837e-03 9.99718257e-01 -1.01543918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.943133365 meters Centerline goodness [0,1] 0.31150849627813104 Centerline is valid? [False, False] Translation: X:3.97, Y:0.09, Z:-0.10 [[ 9.99700752e-01 -1.92188332e-03 -2.43867335e-02 3.96781530e+00] [ 1.85020100e-03 9.99993903e-01 -2.96162121e-03 8.71616069e-02] [ 2.43922767e-02 2.91561459e-03 9.99698212e-01 -9.89078543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97313336499997 meters Centerline goodness [0,1] 0.3115828774854563 Centerline is valid? [False, False] Translation: X:3.97, Y:0.09, Z:-0.10 [[ 9.99704178e-01 -1.85770671e-03 -2.42508723e-02 3.96752189e+00] [ 1.78195198e-03 9.99993467e-01 -3.14503025e-03 8.86619880e-02] [ 2.42565564e-02 3.10088599e-03 9.99700957e-01 -9.89158246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.003133365 meters Centerline goodness [0,1] 0.31365979942132405 Centerline is valid? [False, False] Translation: X:3.97, Y:0.09, Z:-0.10 [[ 9.99722429e-01 -1.34558366e-03 -2.35213464e-02 3.96563906e+00] [ 1.27160999e-03 9.99994200e-01 -3.15963362e-03 9.10949454e-02] [ 2.35254615e-02 3.12884662e-03 9.99718342e-01 -9.85616748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03313336499997 meters Centerline goodness [0,1] 0.3091708326150664 Centerline is valid? [False, False] Translation: X:3.97, Y:0.09, Z:-0.10 [[ 9.99725329e-01 -1.40836321e-03 -2.33940941e-02 3.96537268e+00] [ 1.32632251e-03 9.99992918e-01 -3.52204402e-03 9.31422075e-02] [ 2.33988888e-02 3.49004850e-03 9.99720117e-01 -9.85934055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.063133365 meters Centerline goodness [0,1] 0.3117873199973936 Centerline is valid? [False, False] Translation: X:3.96, Y:0.09, Z:-0.10 [[ 9.99731232e-01 -1.46719688e-03 -2.31367864e-02 3.96478263e+00] [ 1.37970180e-03 9.99991839e-01 -3.79715316e-03 9.46560243e-02] [ 2.31421688e-02 3.76421074e-03 9.99725098e-01 -9.85439746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09313336499997 meters Centerline goodness [0,1] 0.31476437527021184 Centerline is valid? [False, False] Translation: X:3.96, Y:0.10, Z:-0.10 [[ 9.99750088e-01 -1.33003665e-03 -2.23157526e-02 3.96263535e+00] [ 1.24044955e-03 9.99991119e-01 -4.02788539e-03 9.68884655e-02] [ 2.23209116e-02 3.99919721e-03 9.99742859e-01 -9.81460326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.123133365 meters Centerline goodness [0,1] 0.3138659280737439 Centerline is valid? [False, False] Translation: X:3.96, Y:0.10, Z:-0.10 [[ 9.99754641e-01 -1.32429046e-03 -2.21111862e-02 3.96209701e+00] [ 1.23209308e-03 9.99990493e-01 -4.18281901e-03 9.80788170e-02] [ 2.21165152e-02 4.15454967e-03 9.99746768e-01 -9.80693807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.153133365 meters Centerline goodness [0,1] 0.3133350629134778 Centerline is valid? [False, False] Translation: X:3.96, Y:0.10, Z:-0.10 [[ 9.99756488e-01 -1.32645512e-03 -2.20273734e-02 3.96172102e+00] [ 1.23180782e-03 9.99989954e-01 -4.30981635e-03 9.89902687e-02] [ 2.20328689e-02 4.28163336e-03 9.99748078e-01 -9.78016369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.183133365 meters Centerline goodness [0,1] 0.31271588946459417 Centerline is valid? [False, False] Translation: X:3.96, Y:0.10, Z:-0.10 [[ 9.99758562e-01 -1.35395391e-03 -2.19313419e-02 3.96135773e+00] [ 1.25648962e-03 9.99989277e-01 -4.45723460e-03 9.98704505e-02] [ 2.19371416e-02 4.42860195e-03 9.99749543e-01 -9.75868381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.213133365 meters Centerline goodness [0,1] 0.3147371181329487 Centerline is valid? [False, False] Translation: X:3.96, Y:0.10, Z:-0.10 [[ 9.99760086e-01 -1.35592578e-03 -2.18616684e-02 3.96112475e+00] [ 1.25693186e-03 9.99988898e-01 -4.54130131e-03 1.00512948e-01] [ 2.18675834e-02 4.51273316e-03 9.99750691e-01 -9.75029149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.243133365 meters Centerline goodness [0,1] 0.314586576716831 Centerline is valid? [False, False] Translation: X:3.96, Y:0.10, Z:-0.10 [[ 9.99761851e-01 -1.32712988e-03 -2.17825825e-02 3.96088612e+00] [ 1.22639241e-03 9.99988495e-01 -4.63738719e-03 1.01441835e-01] [ 2.17884863e-02 4.60956881e-03 9.99751976e-01 -9.74309871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.273133365 meters Centerline goodness [0,1] 0.3189135245368161 Centerline is valid? [False, False] Translation: X:3.96, Y:0.10, Z:-0.10 [[ 9.99769295e-01 -1.24030228e-03 -2.14433759e-02 3.96027935e+00] [ 1.13935713e-03 9.99988216e-01 -4.71909755e-03 1.02544740e-01] [ 2.14489763e-02 4.69357717e-03 9.99758927e-01 -9.76878293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.303133365 meters Centerline goodness [0,1] 0.3140517185787064 Centerline is valid? [False, False] Translation: X:3.96, Y:0.10, Z:-0.10 [[ 9.99767514e-01 -1.28896365e-03 -2.15234042e-02 3.96059336e+00] [ 1.18500633e-03 9.99987575e-01 -4.84202215e-03 1.03035777e-01] [ 2.15293780e-02 4.81539107e-03 9.99756619e-01 -9.78798812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.333133365 meters Centerline goodness [0,1] 0.31521038380538957 Centerline is valid? [False, False] Translation: X:3.96, Y:0.10, Z:-0.10 [[ 9.99764896e-01 -1.30718734e-03 -2.16435875e-02 3.96100336e+00] [ 1.20156343e-03 9.99987310e-01 -4.89243388e-03 1.03219659e-01] [ 2.16497081e-02 4.86527751e-03 9.99753779e-01 -9.80544492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.363133365 meters Centerline goodness [0,1] 0.31668516463189045 Centerline is valid? [False, False] Translation: X:3.94, Y:0.10, Z:-0.10 [[ 0.99975925 0.00558142 -0.02122021 3.94254109] [-0.00570497 0.9999671 -0.00576634 0.09843408] [ 0.02118733 0.00588602 0.9997582 -0.10033431] [ 0. 0. 0. 1. ]] SLAMing on 318.393133365 meters Centerline goodness [0,1] 0.31780076211213937 Centerline is valid? [False, False] Translation: X:3.94, Y:0.10, Z:-0.10 [[ 0.99975523 0.00563979 -0.0213933 3.94314324] [-0.00576358 0.99996698 -0.0057293 0.09857511] [ 0.02136028 0.0058512 0.99975472 -0.10067515] [ 0. 0. 0. 1. ]] SLAMing on 318.423133365 meters Centerline goodness [0,1] 0.3113906600034465 Centerline is valid? [False, False] Translation: X:3.96, Y:0.10, Z:-0.10 [[ 9.99751153e-01 -8.32279606e-04 -2.22921280e-02 3.96255380e+00] [ 7.24695320e-04 9.99988055e-01 -4.83375488e-03 1.03185930e-01] [ 2.22958847e-02 4.81639701e-03 9.99739814e-01 -9.91785427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.453133365 meters Centerline goodness [0,1] 0.3131558935361217 Centerline is valid? [False, False] Translation: X:3.96, Y:0.10, Z:-0.10 [[ 9.99736867e-01 -1.00706858e-03 -2.29168752e-02 3.96459919e+00] [ 8.92714728e-04 9.99987103e-01 -4.99962426e-03 1.03027490e-01] [ 2.29216146e-02 4.97785046e-03 9.99724872e-01 -1.00109129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48313336499996 meters Centerline goodness [0,1] 0.3120678408349641 Centerline is valid? [False, False] Translation: X:3.97, Y:0.10, Z:-0.10 [[ 9.99731640e-01 -1.01030846e-03 -2.31436088e-02 3.96521892e+00] [ 8.95668567e-04 9.99987282e-01 -4.96324503e-03 1.02672385e-01] [ 2.31483289e-02 4.94118409e-03 9.99719831e-01 -1.00275222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.513133365 meters Centerline goodness [0,1] 0.310719656283566 Centerline is valid? [False, False] Translation: X:3.98, Y:0.11, Z:-0.10 [[ 9.99691417e-01 -7.52540405e-03 -2.36736041e-02 3.98400302e+00] [ 7.43415019e-03 9.99964603e-01 -3.94031837e-03 1.07273410e-01] [ 2.37024187e-02 3.76310933e-03 9.99711976e-01 -9.83951828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54313336499996 meters Centerline goodness [0,1] 0.31556195965417866 Centerline is valid? [False, False] Translation: X:3.96, Y:0.10, Z:-0.10 [[ 9.99733227e-01 -6.20739798e-05 -2.30969856e-02 3.96321216e+00] [-3.03687120e-05 9.99991992e-01 -4.00199812e-03 1.01815047e-01] [ 2.30970491e-02 4.00163192e-03 9.99725219e-01 -9.93669850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.573133365 meters Centerline goodness [0,1] 0.31194685430825375 Centerline is valid? [False, False] Translation: X:3.96, Y:0.10, Z:-0.10 [[ 9.99735112e-01 2.70346715e-05 -2.30153157e-02 3.96291022e+00] [-1.15122933e-04 9.99992674e-01 -3.82605940e-03 1.01076939e-01] [ 2.30150437e-02 3.82769551e-03 9.99727791e-01 -9.91832888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60313336499996 meters Centerline goodness [0,1] 0.3117552053777991 Centerline is valid? [False, False] Translation: X:3.96, Y:0.10, Z:-0.10 [[ 9.99730279e-01 1.59280766e-05 -2.32243170e-02 3.96347747e+00] [-9.81856917e-05 9.99993727e-01 -3.54073846e-03 9.86278435e-02] [ 2.32241149e-02 3.54206374e-03 9.99724009e-01 -9.93292425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.633133365 meters Centerline goodness [0,1] 0.3064370678919569 Centerline is valid? [False, False] Translation: X:3.98, Y:0.10, Z:-0.10 [[ 9.99695186e-01 -6.86462553e-03 -2.37152384e-02 3.98326052e+00] [ 6.80153566e-03 9.99973116e-01 -2.73994812e-03 1.01352039e-01] [ 2.37334095e-02 2.57781290e-03 9.99714999e-01 -9.78378930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66313336499996 meters Centerline goodness [0,1] 0.31014749389941043 Centerline is valid? [False, False] Translation: X:3.98, Y:0.10, Z:-0.10 [[ 9.99695528e-01 -6.71706189e-03 -2.37430573e-02 3.98326690e+00] [ 6.66280362e-03 9.99975010e-01 -2.36359847e-03 9.95128044e-02] [ 2.37583404e-02 2.20468349e-03 9.99715300e-01 -9.77688609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.693133365 meters Centerline goodness [0,1] 0.31101014233725965 Centerline is valid? [False, False] Translation: X:3.98, Y:0.09, Z:-0.10 [[ 9.99704691e-01 -6.33217661e-03 -2.34613191e-02 3.98210857e+00] [ 6.30085320e-03 9.99979157e-01 -1.40879200e-03 9.48594072e-02] [ 2.34697508e-02 1.26054965e-03 9.99723753e-01 -9.70073753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72313336499997 meters Centerline goodness [0,1] 0.30890601584243205 Centerline is valid? [False, False] Translation: X:4.00, Y:0.09, Z:-0.09 [[ 9.99731769e-01 2.26736515e-03 -2.30488323e-02 4.00011014e+00] [-2.33548354e-03 9.99992983e-01 -2.92890559e-03 8.81862544e-02] [ 2.30420296e-02 2.98195014e-03 9.99730050e-01 -9.49821494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.753133365 meters Centerline goodness [0,1] 0.30688285192741327 Centerline is valid? [False, False] Translation: X:4.00, Y:0.09, Z:-0.09 [[ 9.99725949e-01 2.37557493e-03 -2.32891140e-02 4.00051036e+00] [-2.43403395e-03 9.99993957e-01 -2.48211814e-03 8.53098002e-02] [ 2.32830768e-02 2.53812441e-03 9.99725691e-01 -9.47146508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78313336499997 meters Centerline goodness [0,1] 0.30903108494241927 Centerline is valid? [False, False] Translation: X:4.00, Y:0.08, Z:-0.09 [[ 9.99720797e-01 2.53237819e-03 -2.34928825e-02 4.00087919e+00] [-2.57989686e-03 9.99994687e-01 -1.99259512e-03 8.25545456e-02] [ 2.34877117e-02 2.05264799e-03 9.99722018e-01 -9.45737316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.813133365 meters Centerline goodness [0,1] 0.3172248593530239 Centerline is valid? [False, False] Translation: X:3.98, Y:0.08, Z:-0.10 [[ 9.99676683e-01 -6.50291612e-03 -2.45813434e-02 3.98132423e+00] [ 6.49898491e-03 9.99978853e-01 -2.39813114e-04 8.15257565e-02] [ 2.45823831e-02 7.99817984e-05 9.99697804e-01 -9.53061024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84313336499997 meters Centerline goodness [0,1] 0.3061438411842724 Centerline is valid? [False, False] Translation: X:4.02, Y:0.08, Z:-0.09 [[ 9.99740681e-01 -4.37706161e-03 -2.23475273e-02 4.02425732e+00] [ 4.36594322e-03 9.99990320e-01 -5.46288212e-04 7.98102253e-02] [ 2.23497021e-02 4.48578513e-04 9.99750114e-01 -9.48700140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.873133365 meters Centerline goodness [0,1] 0.3067805360753776 Centerline is valid? [False, False] Translation: X:4.02, Y:0.07, Z:-0.09 [[ 9.99746018e-01 -3.94980799e-03 -2.21878113e-02 4.02361841e+00] [ 3.96076365e-03 9.99992055e-01 4.49845285e-04 7.44373687e-02] [ 2.21858582e-02 -5.37611709e-04 9.99753719e-01 -9.43589593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.903133365 meters Centerline goodness [0,1] 0.3136285097192225 Centerline is valid? [False, False] Translation: X:4.02, Y:0.07, Z:-0.09 [[ 9.99745571e-01 -3.75110275e-03 -2.22423480e-02 4.02370097e+00] [ 3.77252386e-03 9.99992460e-01 9.21195874e-04 7.20268236e-02] [ 2.22387247e-02 -1.00487128e-03 9.99752184e-01 -9.42303926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.933133365 meters Centerline goodness [0,1] 0.31235688053575283 Centerline is valid? [False, False] Translation: X:4.02, Y:0.07, Z:-0.09 [[ 9.99743084e-01 -3.54793552e-03 -2.23870010e-02 4.02409171e+00] [ 3.57977241e-03 9.99992637e-01 1.38220003e-03 6.97749932e-02] [ 2.23819322e-02 -1.46198529e-03 9.99748424e-01 -9.42735303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.963133365 meters Centerline goodness [0,1] 0.31713817586018567 Centerline is valid? [False, False] Translation: X:4.02, Y:0.07, Z:-0.09 [[ 9.99739771e-01 -3.37607633e-03 -2.25608607e-02 4.02460373e+00] [ 3.41739780e-03 9.99992553e-01 1.79325168e-03 6.77683792e-02] [ 2.25546385e-02 -1.86988446e-03 9.99743863e-01 -9.43994883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.993133365 meters Centerline goodness [0,1] 0.313616095469918 Centerline is valid? [False, False] Translation: X:4.04, Y:0.06, Z:-0.09 [[ 9.99736095e-01 5.62204761e-03 -2.22740495e-02 4.04371946e+00] [-5.61082462e-03 9.99984099e-01 5.66323777e-04 6.27535054e-02] [ 2.22768792e-02 -4.41198536e-04 9.99751742e-01 -9.31786705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.023133365 meters Centerline goodness [0,1] 0.30845004068696735 Centerline is valid? [False, False] Translation: X:4.04, Y:0.06, Z:-0.09 [[ 9.99735582e-01 5.75798487e-03 -2.22623375e-02 4.04370475e+00] [-5.73983905e-03 9.99983141e-01 8.78903974e-04 6.10810978e-02] [ 2.22670229e-02 -7.50889342e-04 9.99751777e-01 -9.31779574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.053133365 meters Centerline goodness [0,1] 0.3161118566295832 Centerline is valid? [False, False] Translation: X:4.02, Y:0.06, Z:-0.09 [[ 9.99743914e-01 -3.26122943e-03 -2.23935551e-02 4.02469149e+00] [ 3.32379936e-03 9.99990674e-01 2.75745253e-03 5.91987529e-02] [ 2.23843536e-02 -2.83117807e-03 9.99745430e-01 -9.41177509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.083133365 meters Centerline goodness [0,1] 0.3156086209521324 Centerline is valid? [False, False] Translation: X:4.02, Y:0.06, Z:-0.09 [[ 9.99743646e-01 -3.10000902e-03 -2.24283735e-02 4.02464357e+00] [ 3.17243732e-03 9.99989865e-01 3.19445615e-03 5.69331923e-02] [ 2.24182434e-02 -3.26478985e-03 9.99743349e-01 -9.38757270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.113133365 meters Centerline goodness [0,1] 0.31478253290333824 Centerline is valid? [False, False] Translation: X:4.02, Y:0.05, Z:-0.09 [[ 9.99742629e-01 -2.91349598e-03 -2.24986195e-02 4.02458117e+00] [ 2.99713213e-03 9.99988721e-01 3.68456530e-03 5.44805345e-02] [ 2.24876307e-02 -3.75104834e-03 9.99740084e-01 -9.35198346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.143133365 meters Centerline goodness [0,1] 0.3151967524389445 Centerline is valid? [False, False] Translation: X:4.02, Y:0.05, Z:-0.09 [[ 9.99740904e-01 -2.74392465e-03 -2.25963815e-02 4.02472029e+00] [ 2.83870713e-03 9.99987303e-01 4.16357901e-03 5.20240931e-02] [ 2.25846700e-02 -4.22664476e-03 9.99735999e-01 -9.33600192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.173133365 meters Centerline goodness [0,1] 0.3136887452880991 Centerline is valid? [False, False] Translation: X:4.05, Y:0.05, Z:-0.09 [[ 9.99740914e-01 5.20587519e-03 -2.21585932e-02 4.04504000e+00] [-5.16380078e-03 9.99984755e-01 1.95558091e-03 4.80472511e-02] [ 2.21684359e-02 -1.84065168e-03 9.99752556e-01 -9.30603506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.203133365 meters Centerline goodness [0,1] 0.311055697671919 Centerline is valid? [False, False] Translation: X:4.05, Y:0.05, Z:-0.09 [[ 9.99735707e-01 5.34685322e-03 -2.23590571e-02 4.04551018e+00] [-5.29534427e-03 9.99983189e-01 2.36229072e-03 4.58434987e-02] [ 2.23713120e-02 -2.24326748e-03 9.99747214e-01 -9.30443498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.23313336499996 meters Centerline goodness [0,1] 0.31453606905825704 Centerline is valid? [False, False] Translation: X:4.05, Y:0.04, Z:-0.09 [[ 9.99733247e-01 5.64953297e-03 -2.23946029e-02 4.04551970e+00] [-5.57989358e-03 9.99979405e-01 3.17091981e-03 4.14736974e-02] [ 2.24120559e-02 -3.04511445e-03 9.99744181e-01 -9.28775492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.263133365 meters Centerline goodness [0,1] 0.31453606905825704 Centerline is valid? [False, False] Translation: X:4.05, Y:0.04, Z:-0.09 [[ 9.99733247e-01 5.64953297e-03 -2.23946029e-02 4.04551970e+00] [-5.57989358e-03 9.99979405e-01 3.17091981e-03 4.14736974e-02] [ 2.24120559e-02 -3.04511445e-03 9.99744181e-01 -9.28775492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.29313336499996 meters Centerline goodness [0,1] 0.3105233876834853 Centerline is valid? [False, False] Translation: X:4.06, Y:0.04, Z:-0.09 [[ 9.99762316e-01 -1.12368798e-03 -2.17726706e-02 4.06464172e+00] [ 1.21375584e-03 9.99990760e-01 4.12396616e-03 4.34268167e-02] [ 2.17678354e-02 -4.14941266e-03 9.99754442e-01 -9.14821550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.323133365 meters Centerline goodness [0,1] 0.31130983015954705 Centerline is valid? [False, False] Translation: X:4.06, Y:0.04, Z:-0.09 [[ 9.99765347e-01 -9.46662491e-04 -2.16414994e-02 4.06410924e+00] [ 1.04506459e-03 9.99989166e-01 4.53605922e-03 4.14686470e-02] [ 2.16369708e-02 -4.55761159e-03 9.99755505e-01 -9.11329620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.35313336499996 meters Centerline goodness [0,1] 0.31429556671479986 Centerline is valid? [False, False] Translation: X:4.06, Y:0.04, Z:-0.09 [[ 9.99763894e-01 -8.19246344e-04 -2.17137066e-02 4.06409624e+00] [ 9.26001897e-04 9.99987532e-01 4.90690672e-03 3.94318718e-02] [ 2.17094159e-02 -4.92585510e-03 9.99752188e-01 -9.07965645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.383133365 meters Centerline goodness [0,1] 0.31426357590236975 Centerline is valid? [False, False] Translation: X:4.07, Y:0.04, Z:-0.09 [[ 9.99753895e-01 -6.76063509e-04 -2.21741435e-02 4.06500011e+00] [ 7.99271645e-04 9.99984290e-01 5.54799568e-03 3.50831505e-02] [ 2.21700443e-02 -5.56435345e-03 9.99738729e-01 -9.04817805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.41313336499996 meters Centerline goodness [0,1] 0.312758531540848 Centerline is valid? [False, False] Translation: X:4.07, Y:0.03, Z:-0.09 [[ 9.99750742e-01 -5.28180017e-04 -2.23198429e-02 4.06540205e+00] [ 6.61024094e-04 9.99982111e-01 5.94487875e-03 3.30251367e-02] [ 2.23163036e-02 -5.95815090e-03 9.99733206e-01 -9.05500786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.443133365 meters Centerline goodness [0,1] 0.31394468830410627 Centerline is valid? [False, False] Translation: X:4.07, Y:0.03, Z:-0.09 [[ 9.99750411e-01 -3.75058232e-04 -2.23377590e-02 4.06545291e+00] [ 5.17398345e-04 9.99979598e-01 6.36673660e-03 3.08388469e-02] [ 2.23349154e-02 -6.37670505e-03 9.99730208e-01 -9.05543061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.47313336499997 meters Centerline goodness [0,1] 0.31344801471383754 Centerline is valid? [False, False] Translation: X:4.07, Y:0.03, Z:-0.09 [[ 9.99747244e-01 -2.62752974e-04 -2.24806235e-02 4.06568367e+00] [ 4.14843831e-04 9.99977058e-01 6.76102382e-03 2.87059875e-02] [ 2.24783313e-02 -6.76864088e-03 9.99724417e-01 -9.03394492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.503133365 meters Centerline goodness [0,1] 0.31639501438159157 Centerline is valid? [False, False] Translation: X:4.07, Y:0.03, Z:-0.09 [[ 9.99745917e-01 -1.32088623e-04 -2.25407005e-02 4.06564757e+00] [ 2.93351643e-04 9.99974387e-01 7.15114720e-03 2.65826657e-02] [ 2.25391786e-02 -7.15594257e-03 9.99720350e-01 -9.00664006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53313336499997 meters Centerline goodness [0,1] 0.31606871058925856 Centerline is valid? [False, False] Translation: X:4.07, Y:0.02, Z:-0.09 [[ 9.99744607e-01 -6.74709711e-05 -2.25990507e-02 4.06561760e+00] [ 2.35745863e-04 9.99972269e-01 7.44352306e-03 2.47265948e-02] [ 2.25979218e-02 -7.44694966e-03 9.99716898e-01 -8.97708385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.563133365 meters Centerline goodness [0,1] 0.313837282403694 Centerline is valid? [False, False] Translation: X:4.07, Y:0.02, Z:-0.09 [[ 9.99743866e-01 1.51345921e-04 -2.26313896e-02 4.06560810e+00] [ 2.94849601e-05 9.99968081e-01 7.98972143e-03 2.19438445e-02] [ 2.26318764e-02 -7.98834228e-03 9.99711951e-01 -8.95885808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59313336499997 meters Centerline goodness [0,1] 0.3155092994959152 Centerline is valid? [False, False] Translation: X:4.07, Y:0.02, Z:-0.09 [[ 9.99743232e-01 2.45050664e-04 -2.26585680e-02 4.06591262e+00] [-5.94139182e-05 9.99966434e-01 8.19309393e-03 2.10482956e-02] [ 2.26598152e-02 -8.18964397e-03 9.99709689e-01 -8.99268401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.623133365 meters Centerline goodness [0,1] 0.3151556216121699 Centerline is valid? [False, False] Translation: X:4.07, Y:0.02, Z:-0.09 [[ 9.99741643e-01 2.66507882e-04 -2.27282999e-02 4.06650302e+00] [-7.91093187e-05 9.99966001e-01 8.24566472e-03 2.07146035e-02] [ 2.27297247e-02 -8.24173638e-03 9.99707674e-01 -9.05674020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.653133365 meters Centerline goodness [0,1] 0.3180416005640755 Centerline is valid? [False, False] Translation: X:4.07, Y:0.02, Z:-0.09 [[ 9.99738756e-01 2.76494637e-04 -2.28548436e-02 4.06698332e+00] [-8.57947990e-05 9.99965180e-01 8.34451670e-03 1.99698403e-02] [ 2.28563550e-02 -8.34037592e-03 9.99703969e-01 -9.08421414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.683133365 meters Centerline goodness [0,1] 0.31451208066874736 Centerline is valid? [False, False] Translation: X:4.07, Y:0.02, Z:-0.09 [[ 9.99737224e-01 2.27023709e-04 -2.29222986e-02 4.06714880e+00] [-3.49273345e-05 9.99964883e-01 8.38038032e-03 1.92507243e-02] [ 2.29233962e-02 -8.37737754e-03 9.99702124e-01 -9.08351430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.713133365 meters Centerline goodness [0,1] 0.31805213755254047 Centerline is valid? [False, False] Translation: X:4.07, Y:0.02, Z:-0.09 [[ 9.99737545e-01 2.08326533e-04 -2.29084787e-02 4.06686458e+00] [-1.40033954e-05 9.99964024e-01 8.48241910e-03 1.83382685e-02] [ 2.29094217e-02 -8.47987205e-03 9.99701581e-01 -9.04216216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.743133365 meters Centerline goodness [0,1] 0.3167049054954659 Centerline is valid? [False, False] Translation: X:4.07, Y:0.02, Z:-0.09 [[ 9.99745010e-01 4.17622613e-04 -2.25774171e-02 4.06545293e+00] [-2.11848861e-04 9.99958428e-01 9.11576414e-03 1.53584211e-02] [ 2.25802855e-02 -9.10865671e-03 9.99703538e-01 -8.94108667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.773133365 meters Centerline goodness [0,1] 0.3213676335477097 Centerline is valid? [False, False] Translation: X:4.07, Y:0.01, Z:-0.09 [[ 9.99746955e-01 5.36889574e-04 -2.24885952e-02 4.06525179e+00] [-3.23783329e-04 9.99955023e-01 9.47876140e-03 1.35655150e-02] [ 2.24926728e-02 -9.46908142e-03 9.99702164e-01 -8.94358135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.803133365 meters Centerline goodness [0,1] 0.3154442327675788 Centerline is valid? [False, False] Translation: X:4.07, Y:0.01, Z:-0.09 [[ 9.99744939e-01 5.76999476e-04 -2.25770594e-02 4.06561280e+00] [-3.56463788e-04 9.99952200e-01 9.77093711e-03 1.17081968e-02] [ 2.25816180e-02 -9.76039702e-03 9.99697357e-01 -8.96590489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.833133365 meters Centerline goodness [0,1] 0.31457177059527697 Centerline is valid? [False, False] Translation: X:4.07, Y:0.01, Z:-0.09 [[ 9.99750610e-01 -3.00905215e-03 -2.21283599e-02 4.06509946e+00] [ 3.15722487e-03 9.99972810e-01 6.66417039e-03 8.74423050e-03] [ 2.21077053e-02 -6.73237261e-03 9.99732927e-01 -9.01760219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.863133365 meters Centerline goodness [0,1] 0.3156303690654836 Centerline is valid? [False, False] Translation: X:4.06, Y:0.01, Z:-0.09 [[ 9.99751009e-01 -2.86070552e-03 -2.21299703e-02 4.06484677e+00] [ 3.01833090e-03 9.99970292e-01 7.09259120e-03 6.55197496e-03] [ 2.21090231e-02 -7.15762078e-03 9.99729943e-01 -8.97866266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.893133365 meters Centerline goodness [0,1] 0.31815897021220796 Centerline is valid? [False, False] Translation: X:4.06, Y:0.00, Z:-0.09 [[ 9.99753051e-01 -2.66206405e-03 -2.20624391e-02 4.06446248e+00] [ 2.83013405e-03 9.99967189e-01 7.59020552e-03 4.23226733e-03] [ 2.20415096e-02 -7.65077079e-03 9.99727782e-01 -8.94572609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.923133365 meters Centerline goodness [0,1] 0.3151914653714385 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.00, Z:-0.09 [[ 9.99761371e-01 5.68378185e-03 -2.10925737e-02 4.08306746e+00] [-5.57019978e-03 9.99969690e-01 5.43978233e-03 -7.12311828e-04] [ 2.11228529e-02 -5.32099439e-03 9.99762728e-01 -8.86188055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.953133365 meters Centerline goodness [0,1] 0.3124326421520024 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.00, Z:-0.09 [[ 9.99788414e-01 2.38578214e-03 -2.04312418e-02 4.08208133e+00] [-2.33809455e-03 9.99994487e-01 2.35762185e-03 -2.04993301e-03] [ 2.04367540e-02 -2.30935283e-03 9.99788481e-01 -8.91460949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98313336499996 meters Centerline goodness [0,1] 0.3162415296301092 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.00, Z:-0.09 [[ 9.99782883e-01 2.47166197e-03 -2.06900526e-02 4.08256820e+00] [-2.41495297e-03 9.99993260e-01 2.76541937e-03 -4.54346935e-03] [ 2.06967483e-02 -2.71485345e-03 9.99782113e-01 -8.89816161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.013133365 meters Centerline goodness [0,1] 0.31356225403278126 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.01, Z:-0.09 [[ 9.99765098e-01 2.43369602e-03 -2.15365990e-02 4.08487761e+00] [-2.36170722e-03 9.99991541e-01 3.36742964e-03 -1.03400923e-02] [ 2.15446122e-02 -3.31577548e-03 9.99762389e-01 -8.94065812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04313336499996 meters Centerline goodness [0,1] 0.31050238151684306 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.01, Z:-0.09 [[ 9.99758516e-01 2.55965122e-03 -2.18256318e-02 4.08544835e+00] [-2.47456954e-03 9.99989238e-01 3.92436307e-03 -1.34572556e-02] [ 2.18354419e-02 -3.86940635e-03 9.99754090e-01 -8.93060377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.073133365 meters Centerline goodness [0,1] 0.310772348958558 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.02, Z:-0.09 [[ 9.99751535e-01 2.65533022e-03 -2.21318337e-02 4.08583744e+00] [-2.55584823e-03 9.99986509e-01 4.52204776e-03 -1.70789801e-02] [ 2.21435427e-02 -4.46435858e-03 9.99744834e-01 -8.88296114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10313336499996 meters Centerline goodness [0,1] 0.3153580953619983 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.02, Z:-0.09 [[ 9.99739456e-01 2.61851394e-03 -2.26751550e-02 4.08659569e+00] [-2.50464902e-03 9.99984119e-01 5.04851704e-03 -2.09719364e-02] [ 2.26880145e-02 -4.99040837e-03 9.99730138e-01 -8.81477035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.133133365 meters Centerline goodness [0,1] 0.3134878245514595 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.03, Z:-0.09 [[ 9.99727923e-01 2.57007544e-03 -2.31834987e-02 4.08731049e+00] [-2.44025858e-03 9.99981196e-01 5.62609073e-03 -2.56301359e-02] [ 2.31975222e-02 -5.56798627e-03 9.99715396e-01 -8.75412899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16313336499996 meters Centerline goodness [0,1] 0.31400568120215977 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.03, Z:-0.09 [[ 9.99743269e-01 -9.07540841e-04 -2.26400820e-02 4.08626568e+00] [ 9.69646106e-04 9.99995797e-01 2.73232846e-03 -2.90949101e-02] [ 2.26375072e-02 -2.75357985e-03 9.99739947e-01 -8.76395530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.193133365 meters Centerline goodness [0,1] 0.3114015027768703 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.04, Z:-0.09 [[ 9.99754692e-01 -2.63457809e-03 -2.19912264e-02 4.08494649e+00] [ 2.69088473e-03 9.99993176e-01 2.53121515e-03 -4.05822282e-02] [ 2.19844077e-02 -2.58977008e-03 9.99754959e-01 -8.74393439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22313336499997 meters Centerline goodness [0,1] 0.3146927446983824 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.05, Z:-0.09 [[ 9.99748230e-01 -2.50643050e-03 -2.22978743e-02 4.08530866e+00] [ 2.58157831e-03 9.99991083e-01 3.34203149e-03 -4.56575706e-02] [ 2.22892989e-02 -3.39875378e-03 9.99745786e-01 -8.69588595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.253133365 meters Centerline goodness [0,1] 0.3091576673866091 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.05, Z:-0.09 [[ 9.99738109e-01 -2.42344440e-03 -2.27561111e-02 4.08605111e+00] [ 2.51635775e-03 9.99988611e-01 4.05525967e-03 -5.07573518e-02] [ 2.27460242e-02 -4.11146015e-03 9.99732821e-01 -8.64848675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28313336499997 meters Centerline goodness [0,1] 0.31382525713537 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.06, Z:-0.09 [[ 9.99715566e-01 -3.98079222e-03 -2.35146752e-02 4.08840208e+00] [ 4.06786460e-03 9.99985042e-01 3.65622224e-03 -6.10579950e-02] [ 2.34997688e-02 -3.75083680e-03 9.99716806e-01 -8.70141834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.313133365 meters Centerline goodness [0,1] 0.31470177886292294 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.06, Z:-0.09 [[ 9.99713533e-01 -3.76405728e-03 -2.36364892e-02 4.08853186e+00] [ 3.86628874e-03 9.99983363e-01 4.28094510e-03 -6.43365323e-02] [ 2.36199823e-02 -4.37110424e-03 9.99711453e-01 -8.68236756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34313336499997 meters Centerline goodness [0,1] 0.3118720569407374 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.07, Z:-0.09 [[ 9.99712630e-01 -3.55188253e-03 -2.37074240e-02 4.08863814e+00] [ 3.66778655e-03 9.99981526e-01 4.84724216e-03 -6.71982664e-02] [ 2.36897692e-02 -4.93280298e-03 9.99707188e-01 -8.67415024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.373133365 meters Centerline goodness [0,1] 0.31366473277074547 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.07, Z:-0.09 [[ 9.99715604e-01 -3.30206498e-03 -2.36179615e-02 4.08824812e+00] [ 3.43159076e-03 9.99979284e-01 5.44578133e-03 -6.99558401e-02] [ 2.35994899e-02 -5.52527975e-03 9.99706225e-01 -8.64897842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.403133365 meters Centerline goodness [0,1] 0.3162178126845917 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.07, Z:-0.09 [[ 9.99720285e-01 -3.03684844e-03 -2.34548275e-02 4.08743499e+00] [ 3.18103289e-03 9.99976259e-01 6.11246315e-03 -7.31354785e-02] [ 2.34357080e-02 -6.18536398e-03 9.99706211e-01 -8.58716346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.433133365 meters Centerline goodness [0,1] 0.3078109722976643 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.08, Z:-0.09 [[ 9.99751712e-01 4.35476488e-03 -2.18529108e-02 4.10510272e+00] [-4.27917669e-03 9.99984703e-01 3.50452353e-03 -8.29456605e-02] [ 2.18678379e-02 -3.41014093e-03 9.99755054e-01 -8.50424437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.463133365 meters Centerline goodness [0,1] 0.3084765448562149 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.09, Z:-0.08 [[ 9.99743256e-01 4.29049684e-03 -2.22489241e-02 4.10578467e+00] [-4.20384465e-03 9.99983402e-01 3.93997887e-03 -8.62781790e-02] [ 2.22654593e-02 -3.84543628e-03 9.99744698e-01 -8.47380177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.493133365 meters Centerline goodness [0,1] 0.3052770050246921 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.09, Z:-0.08 [[ 0.99973392 0.00428761 -0.02266523 4.10654033] [-0.00418884 0.99998153 0.00440342 -0.08949894] [ 0.0226837 -0.00430731 0.99973341 -0.08449835] [ 0. 0. 0. 1. ]] SLAMing on 320.523133365 meters Centerline goodness [0,1] 0.3069512247807491 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.09, Z:-0.08 [[ 0.99972894 0.00437532 -0.02286724 4.10674158] [-0.00426362 0.99997875 0.0049315 -0.09259477] [ 0.02288833 -0.00483266 0.99972635 -0.0841695 ] [ 0. 0. 0. 1. ]] SLAMing on 320.553133365 meters Centerline goodness [0,1] 0.3080158712950717 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.10, Z:-0.08 [[ 0.99972963 0.00456355 -0.0228 4.10622962] [-0.00443978 0.99997515 0.00547582 -0.09522909] [ 0.02282442 -0.00537311 0.99972505 -0.08375165] [ 0. 0. 0. 1. ]] SLAMing on 320.583133365 meters Centerline goodness [0,1] 0.30653737197646547 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.10, Z:-0.08 [[ 0.99972864 0.00479312 -0.02279631 4.10587565] [-0.00465008 0.99996919 0.00632364 -0.09954758] [ 0.02282591 -0.00621592 0.99972013 -0.08334653] [ 0. 0. 0. 1. ]] SLAMing on 320.613133365 meters Centerline goodness [0,1] 0.3065407546020279 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.10, Z:-0.08 [[ 0.99971906 0.00471922 -0.02322779 4.10715319] [-0.00457033 0.9999687 0.00645881 -0.10088419] [ 0.02325754 -0.00635084 0.99970933 -0.08380644] [ 0. 0. 0. 1. ]] SLAMing on 320.643133365 meters Centerline goodness [0,1] 0.30290573140916077 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.10, Z:-0.08 [[ 0.99970546 0.00461703 -0.02382595 4.10889435] [-0.00446188 0.99996852 0.00656057 -0.10210184] [ 0.02385549 -0.00645233 0.99969459 -0.08434739] [ 0. 0. 0. 1. ]] SLAMing on 320.673133365 meters Centerline goodness [0,1] 0.30494696574508784 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.10, Z:-0.08 [[ 0.99969435 0.00453459 -0.02430301 4.11039476] [-0.00437447 0.9999684 0.00663739 -0.10306993] [ 0.02433234 -0.00652905 0.9996826 -0.08499498] [ 0. 0. 0. 1. ]] SLAMing on 320.703133365 meters Centerline goodness [0,1] 0.29845696306193703 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.10, Z:-0.09 [[ 0.99968567 0.00447195 -0.02466919 4.1115128 ] [-0.00430729 0.99996812 0.00672379 -0.10394873] [ 0.02469847 -0.00661542 0.99967306 -0.08540125] [ 0. 0. 0. 1. ]] SLAMing on 320.73313336499996 meters Centerline goodness [0,1] 0.3076889375684556 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.10, Z:-0.09 [[ 0.9996504 -0.00511096 -0.02594148 4.0929352 ] [ 0.00533253 0.99994984 0.00847879 -0.10271739] [ 0.02589685 -0.00861416 0.99962751 -0.08587982] [ 0. 0. 0. 1. ]] SLAMing on 320.763133365 meters Centerline goodness [0,1] 0.30502781110262844 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.11, Z:-0.08 [[ 9.99673588e-01 3.98156418e-03 -2.52361759e-02 4.10935259e+00] [-3.81604221e-03 9.99970914e-01 6.60368544e-03 -1.07269061e-01] [ 2.52617348e-02 -6.50522761e-03 9.99659705e-01 -8.42194486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.79313336499996 meters Centerline goodness [0,1] 0.3084864888462042 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.11, Z:-0.08 [[ 9.99673218e-01 3.96015828e-03 -2.52541767e-02 4.10925734e+00] [-3.79338955e-03 9.99970706e-01 6.64810155e-03 -1.07596704e-01] [ 2.52797644e-02 -6.55013014e-03 9.99658956e-01 -8.40972071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.823133365 meters Centerline goodness [0,1] 0.30746529675374357 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.11, Z:-0.08 [[ 9.99669798e-01 3.92982476e-03 -2.53939405e-02 4.10983737e+00] [-3.76230317e-03 9.99970869e-01 6.64132553e-03 -1.07623383e-01] [ 2.54193000e-02 -6.54359284e-03 9.99655461e-01 -8.45224124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.85313336499996 meters Centerline goodness [0,1] 0.30364398861389363 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.11, Z:-0.09 [[ 9.99657796e-01 3.67747823e-03 -2.58991765e-02 4.11182346e+00] [-3.51745339e-03 9.99974459e-01 6.22161086e-03 -1.05930798e-01] [ 2.59213948e-02 -6.12838265e-03 9.99645199e-01 -8.57310944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.883133365 meters Centerline goodness [0,1] 0.3061487964989059 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.10, Z:-0.09 [[ 9.99657375e-01 3.53819133e-03 -2.59348109e-02 4.11208098e+00] [-3.38687059e-03 9.99976999e-01 5.87626378e-03 -1.04357902e-01] [ 2.59550057e-02 -5.78641258e-03 9.99646365e-01 -8.59608044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.91313336499996 meters Centerline goodness [0,1] 0.30329670329670333 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.10, Z:-0.09 [[ 9.99658079e-01 3.39171758e-03 -2.59272214e-02 4.11217467e+00] [-3.25083321e-03 9.99979733e-01 5.47405962e-03 -1.02299035e-01] [ 2.59452625e-02 -5.38790285e-03 9.99648845e-01 -8.61059783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.943133365 meters Centerline goodness [0,1] 0.31122921536629466 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.10, Z:-0.09 [[ 9.99660109e-01 3.30424393e-03 -2.58601803e-02 4.11199210e+00] [-3.17254381e-03 9.99981798e-01 5.13214899e-03 -1.00319043e-01] [ 2.58766674e-02 -5.04836206e-03 9.99652396e-01 -8.60532223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.97313336499997 meters Centerline goodness [0,1] 0.30635052811500196 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.10, Z:-0.09 [[ 9.99663324e-01 3.17091178e-03 -2.57523444e-02 4.11189934e+00] [-3.05086951e-03 9.99984304e-01 4.69936456e-03 -9.79026734e-02] [ 2.57668414e-02 -4.61921535e-03 9.99657308e-01 -8.62495891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.003133365 meters Centerline goodness [0,1] 0.30596399913250927 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.10, Z:-0.09 [[ 9.99666498e-01 3.00691350e-03 -2.56486236e-02 4.11172234e+00] [-2.89882715e-03 9.99986766e-01 4.25026013e-03 -9.55073091e-02] [ 2.56610644e-02 -4.17449173e-03 9.99661985e-01 -8.63314280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03313336499997 meters Centerline goodness [0,1] 0.30592219520666897 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.09, Z:-0.09 [[ 9.99680852e-01 2.77711808e-03 -2.51094033e-02 4.11030052e+00] [-2.68896715e-03 9.99990106e-01 3.54375731e-03 -9.15174065e-02] [ 2.51189963e-02 -3.47510797e-03 9.99678428e-01 -8.61398523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.063133365 meters Centerline goodness [0,1] 0.30545165312352207 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.09, Z:-0.09 [[ 9.99689226e-01 2.64543758e-03 -2.47881836e-02 4.10941662e+00] [-2.56659438e-03 9.99991548e-01 3.21195278e-03 -8.96476039e-02] [ 2.47964711e-02 -3.14733338e-03 9.99687566e-01 -8.59779201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09313336499997 meters Centerline goodness [0,1] 0.31133353730495217 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.08, Z:-0.09 [[ 0.99966677 -0.00595654 -0.02511716 4.08934202] [ 0.00609522 0.99996658 0.00544828 -0.08440344] [ 0.02508387 -0.00559956 0.99966967 -0.08597698] [ 0. 0. 0. 1. ]] SLAMing on 321.123133365 meters Centerline goodness [0,1] 0.30778771460278087 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.09, Z:-0.08 [[ 9.99701327e-01 3.17536292e-03 -2.42316672e-02 4.10619932e+00] [-3.09308404e-03 9.99989326e-01 3.43223618e-03 -8.58032037e-02] [ 2.42423071e-02 -3.35626048e-03 9.99700478e-01 -8.46491029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.153133365 meters Centerline goodness [0,1] 0.3119612421709622 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.08, Z:-0.09 [[ 9.99702649e-01 2.98011325e-03 -2.42019261e-02 4.10647228e+00] [-2.90886383e-03 9.99991333e-01 2.97862824e-03 -8.35489255e-02] [ 2.42105930e-02 -2.90734244e-03 9.99702653e-01 -8.51791057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.183133365 meters Centerline goodness [0,1] 0.3119612421709622 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.08, Z:-0.09 [[ 9.99702649e-01 2.98011325e-03 -2.42019261e-02 4.10647228e+00] [-2.90886383e-03 9.99991333e-01 2.97862824e-03 -8.35489255e-02] [ 2.42105930e-02 -2.90734244e-03 9.99702653e-01 -8.51791057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.213133365 meters Centerline goodness [0,1] 0.30722449859823164 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.07, Z:-0.08 [[ 9.99652011e-01 -2.53319960e-03 -2.62571788e-02 4.12467557e+00] [ 2.61622307e-03 9.99991685e-01 3.12806301e-03 -7.45992586e-02] [ 2.62490365e-02 -3.19566912e-03 9.99650327e-01 -8.38791471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.243133365 meters Centerline goodness [0,1] 0.3059723889555822 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.07, Z:-0.08 [[ 9.99651789e-01 -2.66545754e-03 -2.62525325e-02 4.12489662e+00] [ 2.74100583e-03 9.99992204e-01 2.84218752e-03 -7.31244052e-02] [ 2.62447521e-02 -2.91315618e-03 9.99651302e-01 -8.42292291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.273133365 meters Centerline goodness [0,1] 0.30276934911748365 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.07, Z:-0.08 [[ 9.99648401e-01 -2.82450159e-03 -2.63646881e-02 4.12542469e+00] [ 2.89166852e-03 9.99992669e-01 2.50983144e-03 -7.15169201e-02] [ 2.63574058e-02 -2.58518693e-03 9.99649240e-01 -8.45760074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.303133365 meters Centerline goodness [0,1] 0.3029389117043121 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.07, Z:-0.08 [[ 9.99643437e-01 -2.95518815e-03 -2.65380069e-02 4.12601866e+00] [ 3.01440712e-03 9.99993055e-01 2.19174953e-03 -6.98623479e-02] [ 2.65313455e-02 -2.27096439e-03 9.99645402e-01 -8.48205212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.333133365 meters Centerline goodness [0,1] 0.3131044330499124 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.06, Z:-0.09 [[ 9.99647506e-01 -3.08063081e-03 -2.63699324e-02 4.12636071e+00] [ 3.11939721e-03 9.99994114e-01 1.42908870e-03 -6.49333511e-02] [ 2.63653747e-02 -1.51084325e-03 9.99651231e-01 -8.56881333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.363133365 meters Centerline goodness [0,1] 0.31386766238277175 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.06, Z:-0.09 [[ 9.99657969e-01 -3.03235582e-03 -2.59759344e-02 4.12566509e+00] [ 3.06126689e-03 9.99994738e-01 1.07330030e-03 -6.23318510e-02] [ 2.59725431e-02 -1.15245247e-03 9.99661992e-01 -8.59140184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.393133365 meters Centerline goodness [0,1] 0.3079879750912604 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.06, Z:-0.09 [[ 9.99675619e-01 6.36453073e-03 -2.46606936e-02 4.14450605e+00] [-6.38486981e-03 9.99979338e-01 -7.46104426e-04 -6.13304919e-02] [ 2.46554354e-02 9.03317722e-04 9.99695600e-01 -8.56476360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.423133365 meters Centerline goodness [0,1] 0.3084440800828443 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.06, Z:-0.09 [[ 9.99684937e-01 6.44440133e-03 -2.42589352e-02 4.14409215e+00] [-6.47380419e-03 9.99978402e-01 -1.13370126e-03 -5.83379412e-02] [ 2.42511053e-02 1.29039167e-03 9.99705066e-01 -8.62813811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.453133365 meters Centerline goodness [0,1] 0.31524547803617575 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.05, Z:-0.09 [[ 9.99687088e-01 6.46416209e-03 -2.41648512e-02 4.14455674e+00] [-6.50589331e-03 9.99977477e-01 -1.64871866e-03 -5.48290672e-02] [ 2.41536493e-02 1.80541670e-03 9.99706628e-01 -8.71183199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48313336499996 meters Centerline goodness [0,1] 0.3141478065000536 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.05, Z:-0.09 [[ 9.99685184e-01 6.45074982e-03 -2.42470598e-02 4.14533936e+00] [-6.50516716e-03 9.99976495e-01 -2.16607873e-03 -5.15956473e-02] [ 2.42325171e-02 2.32312800e-03 9.99703650e-01 -8.78357039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.513133365 meters Centerline goodness [0,1] 0.3200034830311078 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.04, Z:-0.09 [[ 9.99707903e-01 -6.94776878e-04 -2.41583601e-02 4.12724089e+00] [ 7.02554511e-04 9.99999704e-01 3.13457706e-04 -4.08741720e-02] [ 2.41581351e-02 -3.30338711e-04 9.99708095e-01 -8.90652227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54313336499996 meters Centerline goodness [0,1] 0.31959299676740505 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.04, Z:-0.09 [[ 9.99714534e-01 -6.87545090e-04 -2.38825994e-02 4.12681890e+00] [ 6.87218608e-04 9.99999764e-01 -2.18777256e-05 -3.86339160e-02] [ 2.38826088e-02 5.45891350e-06 9.99714770e-01 -8.93494904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.573133365 meters Centerline goodness [0,1] 0.32041579679888654 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.04, Z:-0.09 [[ 9.99719959e-01 -6.76026271e-04 -2.36547182e-02 4.12669114e+00] [ 6.69268057e-04 9.99999733e-01 -2.93618186e-04 -3.67390901e-02] [ 2.36549104e-02 2.77704614e-04 9.99720145e-01 -8.98677200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60313336499996 meters Centerline goodness [0,1] 0.3207423723638584 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.03, Z:-0.09 [[ 9.99725036e-01 -4.72487895e-04 -2.34441797e-02 4.12690680e+00] [ 4.58414094e-04 9.99999712e-01 -6.05681784e-04 -3.37178387e-02] [ 2.34444591e-02 5.94768101e-04 9.99724964e-01 -9.08572637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.633133365 meters Centerline goodness [0,1] 0.32186946926825 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.03, Z:-0.09 [[ 9.99726938e-01 -4.70933606e-04 -2.33629644e-02 4.12700407e+00] [ 4.51436737e-04 9.99999545e-01 -8.39787469e-04 -3.21315081e-02] [ 2.33633493e-02 8.29011254e-04 9.99726696e-01 -9.12315627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66313336499996 meters Centerline goodness [0,1] 0.32036598352639467 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.03, Z:-0.09 [[ 9.99729712e-01 -4.79290304e-04 -2.32437663e-02 4.12698549e+00] [ 4.53919289e-04 9.99999296e-01 -1.09678292e-03 -3.04619545e-02] [ 2.32442756e-02 1.08593568e-03 9.99729226e-01 -9.15572178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.693133365 meters Centerline goodness [0,1] 0.3196412634145279 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.03, Z:-0.09 [[ 9.99730033e-01 -4.95397824e-04 -2.32296095e-02 4.12730423e+00] [ 4.63747807e-04 9.99998957e-01 -1.36785325e-03 -2.87164220e-02] [ 2.32302629e-02 1.35671130e-03 9.99729220e-01 -9.19972435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72313336499997 meters Centerline goodness [0,1] 0.3195212187159957 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.03, Z:-0.09 [[ 9.99731781e-01 -5.03863000e-04 -2.31540795e-02 4.12760683e+00] [ 4.67058923e-04 9.99998619e-01 -1.59490923e-03 -2.72508291e-02] [ 2.31548511e-02 1.58366713e-03 9.99730636e-01 -9.26823195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.753133365 meters Centerline goodness [0,1] 0.319779192836807 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.03, Z:-0.09 [[ 9.99736474e-01 -4.85226423e-04 -2.29509931e-02 4.12753450e+00] [ 4.44264465e-04 9.99998300e-01 -1.78982272e-03 -2.59296324e-02] [ 2.29518225e-02 1.77915475e-03 9.99734989e-01 -9.32560954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78313336499997 meters Centerline goodness [0,1] 0.32107676444132427 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.02, Z:-0.09 [[ 9.99753240e-01 -1.64110233e-04 -2.22133422e-02 4.12613803e+00] [ 1.22586202e-04 9.99998243e-01 -1.87067720e-03 -2.37416081e-02] [ 2.22136101e-02 1.86749254e-03 9.99751503e-01 -9.36728536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.813133365 meters Centerline goodness [0,1] 0.3178992961559285 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.02, Z:-0.09 [[ 9.99750297e-01 -1.95776629e-04 -2.23451346e-02 4.12679633e+00] [ 1.47363788e-04 9.99997639e-01 -2.16822038e-03 -2.18151706e-02] [ 2.23455063e-02 2.16438611e-03 9.99747965e-01 -9.42026998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84313336499997 meters Centerline goodness [0,1] 0.31659744721563854 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.02, Z:-0.09 [[ 9.99747375e-01 -2.76170012e-04 -2.24746531e-02 4.12753014e+00] [ 2.20287360e-04 9.99996878e-01 -2.48891231e-03 -2.00440069e-02] [ 2.24752703e-02 2.48333266e-03 9.99744315e-01 -9.48419184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.873133365 meters Centerline goodness [0,1] 0.31583497222882584 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.02, Z:-0.10 [[ 9.99746108e-01 -3.75116542e-04 -2.25295057e-02 4.12800150e+00] [ 3.12539827e-04 9.99996084e-01 -2.78100185e-03 -1.85188941e-02] [ 2.25304607e-02 2.77325441e-03 9.99742310e-01 -9.53721917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.903133365 meters Centerline goodness [0,1] 0.31698457924614476 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.02, Z:-0.10 [[ 9.99749633e-01 -4.13878434e-04 -2.23718415e-02 4.12788623e+00] [ 3.47048940e-04 9.99995467e-01 -2.99101472e-03 -1.72138103e-02] [ 2.23729780e-02 2.98250174e-03 9.99745245e-01 -9.57790766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.933133365 meters Centerline goodness [0,1] 0.3129126296836149 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.01, Z:-0.09 [[ 9.99709953e-01 -6.14203787e-03 -2.32870176e-02 4.14539896e+00] [ 6.09106396e-03 9.99978897e-01 -2.25924129e-03 -1.08037835e-02] [ 2.33004025e-02 2.11674329e-03 9.99726268e-01 -9.37561505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.963133365 meters Centerline goodness [0,1] 0.31341959494547345 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.01, Z:-0.10 [[ 9.99731433e-01 4.96639555e-04 -2.31692714e-02 4.12666920e+00] [-5.80889153e-04 9.99993244e-01 -3.62967588e-03 -1.06937603e-02] [ 2.31673122e-02 3.64215985e-03 9.99724967e-01 -9.64570104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.993133365 meters Centerline goodness [0,1] 0.31401174844505875 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.01, Z:-0.10 [[ 9.99727736e-01 3.31596035e-04 -2.33311944e-02 4.12748201e+00] [-4.26110423e-04 9.99991724e-01 -4.04613305e-03 -8.65354260e-03] [ 2.33296597e-02 4.05497310e-03 9.99719603e-01 -9.71069183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.023133365 meters Centerline goodness [0,1] 0.3136847174189029 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.01, Z:-0.10 [[ 9.99725749e-01 1.72097704e-04 -2.34178887e-02 4.12790601e+00] [-2.76490266e-04 9.99990040e-01 -4.45464792e-03 -6.63011564e-03] [ 2.34168888e-02 4.45990105e-03 9.99715839e-01 -9.74819135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.053133365 meters Centerline goodness [0,1] 0.3111663066954644 Centerline is valid? [False, False] Translation: X:4.15, Y:0.00, Z:-0.10 [[ 9.99678925e-01 -5.67921443e-03 -2.46939873e-02 4.14558443e+00] [ 5.58460673e-03 9.99976807e-01 -3.89848158e-03 3.04463201e-05] [ 2.47155548e-02 3.75932367e-03 9.99687456e-01 -9.52514713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.083133365 meters Centerline goodness [0,1] 0.3091923209961951 Centerline is valid? [False, False] Translation: X:4.14, Y:0.00, Z:-0.10 [[ 9.99691262e-01 -5.78162826e-03 -2.41651360e-02 4.14409903e+00] [ 5.68132174e-03 9.99974967e-01 -4.21747381e-03 2.21253109e-03] [ 2.41889150e-02 4.07888181e-03 9.99699084e-01 -9.50677876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.113133365 meters Centerline goodness [0,1] 0.30975985422044816 Centerline is valid? [False, False] Translation: X:4.14, Y:0.00, Z:-0.10 [[ 9.99695904e-01 -5.86048826e-03 -2.39531660e-02 4.14351967e+00] [ 5.75650698e-03 9.99973717e-01 -4.40767513e-03 3.27268910e-03] [ 2.39783676e-02 4.26844821e-03 9.99703365e-01 -9.50106800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.143133365 meters Centerline goodness [0,1] 0.30952276707530646 Centerline is valid? [False, False] Translation: X:4.14, Y:0.00, Z:-0.10 [[ 0.99969525 -0.00598086 -0.02395074 4.14368407] [ 0.00587094 0.99997192 -0.0046569 0.00442239] [ 0.02397792 0.00451486 0.99970229 -0.09532304] [ 0. 0. 0. 1. ]] SLAMing on 322.173133365 meters Centerline goodness [0,1] 0.30529608456477186 Centerline is valid? [False, False] Translation: X:4.16, Y:0.00, Z:-0.10 [[ 9.99719627e-01 2.03913230e-03 -2.35904294e-02 4.16380357e+00] [-2.21119746e-03 9.99971128e-01 -7.27007028e-03 3.77831637e-03] [ 2.35749236e-02 7.32019505e-03 9.99695272e-01 -9.54529052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.203133365 meters Centerline goodness [0,1] 0.3074695879518593 Centerline is valid? [False, False] Translation: X:4.17, Y:0.00, Z:-0.10 [[ 9.99711010e-01 1.83404292e-03 -2.39693924e-02 4.16514051e+00] [-2.01682247e-03 9.99969058e-01 -7.60359132e-03 4.96888353e-03] [ 2.39547055e-02 7.64973597e-03 9.99683777e-01 -9.61231190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.23313336499996 meters Centerline goodness [0,1] 0.3063265924739098 Centerline is valid? [False, False] Translation: X:4.17, Y:0.01, Z:-0.10 [[ 9.99703190e-01 1.71034905e-03 -2.43023874e-02 4.16627910e+00] [-1.90140722e-03 9.99967453e-01 -7.84077184e-03 6.08626070e-03] [ 2.42881860e-02 7.88465336e-03 9.99673905e-01 -9.67005518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.263133365 meters Centerline goodness [0,1] 0.3051739130434783 Centerline is valid? [False, False] Translation: X:4.17, Y:0.01, Z:-0.10 [[ 9.99703562e-01 1.66836691e-03 -2.42900280e-02 4.16670088e+00] [-1.86622645e-03 9.99965248e-01 -8.12532204e-03 8.18354364e-03] [ 2.42756278e-02 8.16824407e-03 9.99671933e-01 -9.74196755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.29313336499996 meters Centerline goodness [0,1] 0.30676423189163293 Centerline is valid? [False, False] Translation: X:4.17, Y:0.01, Z:-0.10 [[ 9.99707706e-01 1.61098046e-03 -2.41227531e-02 4.16634091e+00] [-1.81270322e-03 9.99963555e-01 -8.34281337e-03 9.42688836e-03] [ 2.41084339e-02 8.38410221e-03 9.99674192e-01 -9.74112934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.323133365 meters Centerline goodness [0,1] 0.30453810499083755 Centerline is valid? [False, False] Translation: X:4.17, Y:0.01, Z:-0.10 [[ 9.99713344e-01 1.45442469e-03 -2.38980126e-02 4.16566088e+00] [-1.66777212e-03 9.99958915e-01 -8.90990862e-03 1.25770113e-02] [ 2.38840720e-02 8.94721097e-03 9.99674696e-01 -9.71154108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.35313336499996 meters Centerline goodness [0,1] 0.3039113428943937 Centerline is valid? [False, False] Translation: X:4.17, Y:0.01, Z:-0.10 [[ 9.99715464e-01 1.35830408e-03 -2.38148270e-02 4.16568475e+00] [-1.57953740e-03 9.99955754e-01 -9.27338167e-03 1.46978205e-02] [ 2.38011772e-02 9.30835947e-03 9.99673376e-01 -9.74297550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.383133365 meters Centerline goodness [0,1] 0.3081057556305081 Centerline is valid? [False, False] Translation: X:4.17, Y:0.02, Z:-0.10 [[ 9.99717671e-01 1.24288043e-03 -2.37283327e-02 4.16591764e+00] [-1.47344199e-03 9.99951852e-01 -9.70170996e-03 1.71662325e-02] [ 2.37151321e-02 9.73393320e-03 9.99671368e-01 -9.80419428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.41313336499996 meters Centerline goodness [0,1] 0.30320301664355065 Centerline is valid? [False, False] Translation: X:4.17, Y:0.02, Z:-0.10 [[ 9.99722200e-01 1.12898984e-03 -2.35424726e-02 4.16582830e+00] [-1.36881861e-03 9.99947312e-01 -1.01734425e-02 1.98149106e-02] [ 2.35297465e-02 1.02028417e-02 9.99671072e-01 -9.85290736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.443133365 meters Centerline goodness [0,1] 0.30748925587381926 Centerline is valid? [False, False] Translation: X:4.17, Y:0.02, Z:-0.10 [[ 9.99724166e-01 9.56866477e-04 -2.34665081e-02 4.16602306e+00] [-1.20820233e-03 9.99942039e-01 -1.06985687e-02 2.25689572e-02] [ 2.34549109e-02 1.07239700e-02 9.99667376e-01 -9.90400901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.47313336499997 meters Centerline goodness [0,1] 0.30847650025104234 Centerline is valid? [False, False] Translation: X:4.17, Y:0.03, Z:-0.10 [[ 9.99723013e-01 7.88565232e-04 -2.35217908e-02 4.16661310e+00] [-1.05282485e-03 9.99936450e-01 -1.12244054e-02 2.52579932e-02] [ 2.35114448e-02 1.12460607e-02 9.99660311e-01 -9.97345227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.503133365 meters Centerline goodness [0,1] 0.30748657239943 Centerline is valid? [False, False] Translation: X:4.17, Y:0.03, Z:-0.10 [[ 9.99730187e-01 6.46682819e-04 -2.32192616e-02 4.16609408e+00] [-9.23907883e-04 9.99928400e-01 -1.19307017e-02 2.96755366e-02] [ 2.32098837e-02 1.19489351e-02 9.99659204e-01 -9.99777919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53313336499997 meters Centerline goodness [0,1] 0.30294392828390526 Centerline is valid? [False, False] Translation: X:4.17, Y:0.03, Z:-0.10 [[ 9.99732860e-01 5.46802712e-04 -2.31064940e-02 4.16579271e+00] [-8.29533396e-04 9.99924889e-01 -1.22281707e-02 3.14219469e-02] [ 2.30980720e-02 1.22440717e-02 9.99658222e-01 -9.99207646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.563133365 meters Centerline goodness [0,1] 0.3049603947539281 Centerline is valid? [False, False] Translation: X:4.17, Y:0.03, Z:-0.10 [[ 9.99734940e-01 4.38724485e-04 -2.30186192e-02 4.16571478e+00] [-7.26758213e-04 9.99921530e-01 -1.25062028e-02 3.29253358e-02] [ 2.30113262e-02 1.25196169e-02 9.99656810e-01 -1.00132675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59313336499997 meters Centerline goodness [0,1] 0.3039840464733169 Centerline is valid? [False, False] Translation: X:4.17, Y:0.03, Z:-0.10 [[ 9.99736201e-01 3.11782591e-04 -2.29658879e-02 4.16578720e+00] [-6.04864256e-04 9.99918459e-01 -1.27557674e-02 3.40397718e-02] [ 2.29600382e-02 1.27662937e-02 9.99654870e-01 -1.00449269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.623133365 meters Centerline goodness [0,1] 0.3044456949915588 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.10 [[ 9.99733877e-01 1.97682042e-04 -2.30680555e-02 4.16622578e+00] [-4.97226887e-04 9.99915629e-01 -1.29802532e-02 3.50110781e-02] [ 2.30635433e-02 1.29882689e-02 9.99649628e-01 -1.00748382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.653133365 meters Centerline goodness [0,1] 0.30885406421436845 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.10 [[ 9.99733142e-01 8.67045841e-05 -2.31005850e-02 4.16647224e+00] [-3.92643890e-04 9.99912276e-01 -1.32395839e-02 3.62847639e-02] [ 2.30974106e-02 1.32451211e-02 9.99645475e-01 -1.01051000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.683133365 meters Centerline goodness [0,1] 0.3044317664157574 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.10 [[ 9.99730581e-01 -1.60123678e-04 -2.32107866e-02 4.16725888e+00] [-1.62574792e-04 9.99903372e-01 -1.39003991e-02 3.97909038e-02] [ 2.32107695e-02 1.39004275e-02 9.99633952e-01 -1.01818292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.713133365 meters Centerline goodness [0,1] 0.30189412755664025 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.10 [[ 9.99728673e-01 -3.00506783e-04 -2.32913979e-02 4.16793856e+00] [-3.19357206e-05 9.99898156e-01 -1.42715021e-02 4.17661589e-02] [ 2.32933146e-02 1.42683737e-02 9.99626848e-01 -1.02577554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.743133365 meters Centerline goodness [0,1] 0.3045441716059837 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.10 [[ 9.99727738e-01 -4.21919759e-04 -2.33296422e-02 4.16846201e+00] [ 8.13074131e-05 9.99893426e-01 -1.45990030e-02 4.35814768e-02] [ 2.33333155e-02 1.45931314e-02 9.99621227e-01 -1.03250101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.773133365 meters Centerline goodness [0,1] 0.30364119056355354 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.10 [[ 9.99726148e-01 -4.99075805e-04 -2.33961365e-02 4.16906106e+00] [ 1.52891773e-04 9.99890520e-01 -1.47960867e-02 4.46732432e-02] [ 2.34009595e-02 1.47884577e-02 9.99616775e-01 -1.03954328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.803133365 meters Centerline goodness [0,1] 0.30211167249643733 Centerline is valid? [False, False] Translation: X:4.17, Y:0.05, Z:-0.10 [[ 9.99722460e-01 -6.45784812e-04 -2.35496271e-02 4.16968124e+00] [ 2.93567132e-04 9.99888098e-01 -1.49567928e-02 4.50269950e-02] [ 2.35566507e-02 1.49457283e-02 9.99610779e-01 -1.04400035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.833133365 meters Centerline goodness [0,1] 0.30074131708055074 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.10 [[ 9.99721591e-01 -6.72982616e-04 -2.35857372e-02 4.16974424e+00] [ 3.20528624e-04 9.99888279e-01 -1.49441182e-02 4.47984095e-02] [ 2.35931594e-02 1.49323977e-02 9.99610117e-01 -1.04426935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.863133365 meters Centerline goodness [0,1] 0.2985289689879135 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.10 [[ 9.99721915e-01 -7.05374644e-04 -2.35710565e-02 4.16968127e+00] [ 3.53528503e-04 9.99888511e-01 -1.49278761e-02 4.44821646e-02] [ 2.35789583e-02 1.49153918e-02 9.99610706e-01 -1.04415155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.893133365 meters Centerline goodness [0,1] 0.29957805907172996 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.10 [[ 9.99723024e-01 -7.29554151e-04 -2.35232371e-02 4.16956474e+00] [ 3.78578104e-04 9.99888598e-01 -1.49214000e-02 4.43085613e-02] [ 2.35315026e-02 1.49083617e-02 9.99611929e-01 -1.04473935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.923133365 meters Centerline goodness [0,1] 0.2995751471888546 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.10 [[ 9.99721633e-01 -7.50969938e-04 -2.35816015e-02 4.16994640e+00] [ 3.97731487e-04 9.99887706e-01 -1.49805278e-02 4.46431488e-02] [ 2.35902033e-02 1.49669786e-02 9.99609670e-01 -1.04837713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.953133365 meters Centerline goodness [0,1] 0.2981476290082591 Centerline is valid? [False, False] Translation: X:4.17, Y:0.05, Z:-0.11 [[ 9.99723058e-01 -7.65917393e-04 -2.35206242e-02 4.17010678e+00] [ 4.09636100e-04 9.99885168e-01 -1.51486960e-02 4.58211322e-02] [ 2.35295259e-02 1.51348658e-02 9.99608572e-01 -1.05281077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98313336499996 meters Centerline goodness [0,1] 0.3022141654797359 Centerline is valid? [False, False] Translation: X:4.17, Y:0.05, Z:-0.11 [[ 9.99709760e-01 2.87902065e-03 -2.39187659e-02 4.17124655e+00] [-3.16758893e-03 9.99922555e-01 -1.20353985e-02 4.89132870e-02] [ 2.38822633e-02 1.21076701e-02 9.99641457e-01 -1.05595030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.013133365 meters Centerline goodness [0,1] 0.2994795603256527 Centerline is valid? [False, False] Translation: X:4.17, Y:0.05, Z:-0.11 [[ 9.99714056e-01 2.86667899e-03 -2.37400085e-02 4.17115847e+00] [-3.16402702e-03 9.99916902e-01 -1.24971104e-02 5.19042075e-02] [ 2.37022106e-02 1.25686509e-02 9.99640052e-01 -1.06049768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04313336499996 meters Centerline goodness [0,1] 0.2994854721549637 Centerline is valid? [False, False] Translation: X:4.17, Y:0.06, Z:-0.11 [[ 9.99717823e-01 2.83838003e-03 -2.35842876e-02 4.17122449e+00] [-3.14602497e-03 9.99910318e-01 -1.30176395e-02 5.53593003e-02] [ 2.35452235e-02 1.30881630e-02 9.99637095e-01 -1.06710477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.073133365 meters Centerline goodness [0,1] 0.2994854721549637 Centerline is valid? [False, False] Translation: X:4.17, Y:0.06, Z:-0.11 [[ 9.99717823e-01 2.83838003e-03 -2.35842876e-02 4.17122449e+00] [-3.14602497e-03 9.99910318e-01 -1.30176395e-02 5.53593003e-02] [ 2.35452235e-02 1.30881630e-02 9.99637095e-01 -1.06710477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10313336499996 meters Centerline goodness [0,1] 0.298345509239364 Centerline is valid? [False, False] Translation: X:4.17, Y:0.06, Z:-0.11 [[ 0.99969765 0.00638237 -0.02374584 4.17191878] [-0.00663105 0.99992384 -0.01040872 0.06229592] [ 0.0236776 0.01056303 0.99966384 -0.10702809] [ 0. 0. 0. 1. ]] SLAMing on 323.133133365 meters Centerline goodness [0,1] 0.30218325448153127 Centerline is valid? [False, False] Translation: X:4.15, Y:0.07, Z:-0.11 [[ 9.99726341e-01 -1.36594980e-03 -2.33533314e-02 4.15254515e+00] [ 1.17410591e-03 9.99965472e-01 -8.22657935e-03 7.10067813e-02] [ 2.33637621e-02 8.19690878e-03 9.99693426e-01 -1.08718134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16313336499996 meters Centerline goodness [0,1] 0.30031962775325605 Centerline is valid? [False, False] Translation: X:4.15, Y:0.08, Z:-0.11 [[ 9.99731994e-01 -1.60442805e-03 -2.30947277e-02 4.15221968e+00] [ 1.39588606e-03 9.99958136e-01 -9.04314291e-03 7.57612737e-02] [ 2.31082699e-02 9.00848168e-03 9.99692380e-01 -1.09158500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.193133365 meters Centerline goodness [0,1] 0.2963614142670298 Centerline is valid? [False, False] Translation: X:4.15, Y:0.08, Z:-0.11 [[ 9.99733252e-01 -1.93812598e-03 -2.30145353e-02 4.15223066e+00] [ 1.70885693e-03 9.99948764e-01 -9.97741542e-03 8.07482139e-02] [ 2.30326936e-02 9.93542541e-03 9.99685342e-01 -1.09480088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22313336499997 meters Centerline goodness [0,1] 0.30213198408579833 Centerline is valid? [False, False] Translation: X:4.15, Y:0.09, Z:-0.11 [[ 9.99734091e-01 -2.35211140e-03 -2.29393576e-02 4.15228459e+00] [ 2.10054354e-03 9.99937461e-01 -1.09845847e-02 8.58386910e-02] [ 2.29637599e-02 1.09334787e-02 9.99676510e-01 -1.09833259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.253133365 meters Centerline goodness [0,1] 0.2971633336194318 Centerline is valid? [False, False] Translation: X:4.15, Y:0.09, Z:-0.11 [[ 9.99733891e-01 -2.74010798e-03 -2.29050041e-02 4.15238961e+00] [ 2.46776283e-03 9.99926028e-01 -1.19100241e-02 9.06464447e-02] [ 2.29359445e-02 1.18503306e-02 9.99666701e-01 -1.10114968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28313336499997 meters Centerline goodness [0,1] 0.29852715357830306 Centerline is valid? [False, False] Translation: X:4.15, Y:0.10, Z:-0.11 [[ 9.99755351e-01 -1.70306788e-03 -2.20530740e-02 4.14861450e+00] [ 1.44300775e-03 9.99929301e-01 -1.18030147e-02 1.00708731e-01] [ 2.20716162e-02 1.17683043e-02 9.99687126e-01 -1.08202924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.313133365 meters Centerline goodness [0,1] 0.29934139260799864 Centerline is valid? [False, False] Translation: X:4.15, Y:0.10, Z:-0.11 [[ 9.99764145e-01 -1.92088562e-03 -2.16325105e-02 4.14739557e+00] [ 1.65295827e-03 9.99921794e-01 -1.23964800e-02 1.04154133e-01] [ 2.16546309e-02 1.23577986e-02 9.99689133e-01 -1.07887945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34313336499997 meters Centerline goodness [0,1] 0.30425550545072455 Centerline is valid? [False, False] Translation: X:4.15, Y:0.11, Z:-0.11 [[ 9.99770377e-01 -2.14955417e-03 -2.13207177e-02 4.14646117e+00] [ 1.87307085e-03 9.99914011e-01 -1.29793279e-02 1.07248340e-01] [ 2.13467841e-02 1.29364123e-02 9.99688433e-01 -1.07617964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.373133365 meters Centerline goodness [0,1] 0.30147106755611563 Centerline is valid? [False, False] Translation: X:4.15, Y:0.11, Z:-0.11 [[ 9.99771926e-01 -2.44186107e-03 -2.12163655e-02 4.14634863e+00] [ 2.15411672e-03 9.99905540e-01 -1.35746620e-02 1.10038913e-01] [ 2.12475088e-02 1.35258635e-02 9.99682747e-01 -1.07840631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.403133365 meters Centerline goodness [0,1] 0.2997760918240908 Centerline is valid? [False, False] Translation: X:4.15, Y:0.12, Z:-0.11 [[ 9.99758397e-01 -3.20140559e-03 -2.17462407e-02 4.14839569e+00] [ 2.87965749e-03 9.99886167e-01 -1.48108087e-02 1.15086698e-01] [ 2.17911807e-02 1.47446087e-02 9.99653811e-01 -1.09092369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.433133365 meters Centerline goodness [0,1] 0.29801338803714106 Centerline is valid? [False, False] Translation: X:4.15, Y:0.12, Z:-0.11 [[ 9.99754528e-01 -3.44285824e-03 -2.18867577e-02 4.14905426e+00] [ 3.10885021e-03 9.99878475e-01 -1.52764871e-02 1.17277678e-01] [ 2.19366927e-02 1.52046945e-02 9.99643736e-01 -1.09609734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.463133365 meters Centerline goodness [0,1] 0.30007629427792915 Centerline is valid? [False, False] Translation: X:4.15, Y:0.12, Z:-0.11 [[ 9.99755589e-01 -3.58391036e-03 -2.18155545e-02 4.14898367e+00] [ 3.24303848e-03 9.99872420e-01 -1.56405506e-02 1.19231357e-01] [ 2.18688256e-02 1.55659792e-02 9.99639662e-01 -1.09770272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.493133365 meters Centerline goodness [0,1] 0.29737068965517244 Centerline is valid? [False, False] Translation: X:4.17, Y:0.13, Z:-0.11 [[ 0.9997043 -0.01005291 -0.02214176 4.16722135] [ 0.0097235 0.99984118 -0.01493521 0.12697952] [ 0.02228838 0.0147155 0.99964328 -0.10773089] [ 0. 0. 0. 1. ]] SLAMing on 323.523133365 meters Centerline goodness [0,1] 0.29798426215371343 Centerline is valid? [False, False] Translation: X:4.17, Y:0.13, Z:-0.11 [[ 0.99971931 -0.00707027 -0.02261226 4.16812538] [ 0.00678891 0.99989888 -0.01249563 0.1307821 ] [ 0.02269832 0.01233861 0.99966622 -0.10766344] [ 0. 0. 0. 1. ]] SLAMing on 323.553133365 meters Centerline goodness [0,1] 0.2983331886448476 Centerline is valid? [False, False] Translation: X:4.17, Y:0.13, Z:-0.11 [[ 9.99724951e-01 -4.15756625e-03 -2.30810892e-02 4.16924241e+00] [ 3.93041455e-03 9.99943486e-01 -9.87812111e-03 1.32939154e-01] [ 2.31208537e-02 9.78468589e-03 9.99684793e-01 -1.07803092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.583133365 meters Centerline goodness [0,1] 0.3029273106019077 Centerline is valid? [False, False] Translation: X:4.17, Y:0.14, Z:-0.11 [[ 9.99728574e-01 -4.29163312e-03 -2.28989012e-02 4.16916457e+00] [ 4.05438607e-03 9.99937730e-01 -1.03970173e-02 1.35966681e-01] [ 2.29420954e-02 1.03013543e-02 9.99683721e-01 -1.08307632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.613133365 meters Centerline goodness [0,1] 0.3015163084978728 Centerline is valid? [False, False] Translation: X:4.17, Y:0.14, Z:-0.11 [[ 9.99731245e-01 -6.23926279e-04 -2.31743188e-02 4.16974510e+00] [ 4.59983501e-04 9.99974838e-01 -7.07898701e-03 1.37786794e-01] [ 2.31781525e-02 7.06642469e-03 9.99706376e-01 -1.08316067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.643133365 meters Centerline goodness [0,1] 0.2997716694476157 Centerline is valid? [False, False] Translation: X:4.17, Y:0.14, Z:-0.11 [[ 9.99734699e-01 -6.81408219e-04 -2.30231912e-02 4.16980000e+00] [ 5.05207493e-04 9.99970548e-01 -7.65813427e-03 1.41481967e-01] [ 2.30277314e-02 7.64447108e-03 9.99705599e-01 -1.08923910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.673133365 meters Centerline goodness [0,1] 0.2983574670412794 Centerline is valid? [False, False] Translation: X:4.21, Y:0.15, Z:-0.11 [[ 0.9996543 0.0057887 -0.02564716 4.2066431 ] [-0.00599903 0.99994894 -0.0081314 0.15300311] [ 0.02559878 0.00828244 0.99963799 -0.1069718 ] [ 0. 0. 0. 1. ]] SLAMing on 323.703133365 meters Centerline goodness [0,1] 0.2966507177033493 Centerline is valid? [False, False] Translation: X:4.21, Y:0.16, Z:-0.11 [[ 0.99965125 0.00571988 -0.02578108 4.20734934] [-0.00594979 0.99994314 -0.00884978 0.15797457] [ 0.02572899 0.00900009 0.99962844 -0.10754925] [ 0. 0. 0. 1. ]] SLAMing on 323.73313336499996 meters Centerline goodness [0,1] 0.30006273390010163 Centerline is valid? [False, False] Translation: X:4.21, Y:0.16, Z:-0.11 [[ 0.99965284 0.00565928 -0.02573262 4.20770576] [-0.00590745 0.99993668 -0.00957843 0.16319043] [ 0.02567678 0.00972712 0.99962297 -0.10823691] [ 0. 0. 0. 1. ]] SLAMing on 323.763133365 meters Centerline goodness [0,1] 0.2994153826092626 Centerline is valid? [False, False] Translation: X:4.21, Y:0.17, Z:-0.11 [[ 0.99965698 0.00562307 -0.02557921 4.20775248] [-0.00588881 0.99992935 -0.01032551 0.16876786] [ 0.02551934 0.0104726 0.99961947 -0.10885822] [ 0. 0. 0. 1. ]] SLAMing on 323.79313336499996 meters Centerline goodness [0,1] 0.2991829175291426 Centerline is valid? [False, False] Translation: X:4.21, Y:0.17, Z:-0.11 [[ 0.99965817 0.00547803 -0.02556416 4.20803507] [-0.0057654 0.99992087 -0.01118084 0.17455311] [ 0.02550089 0.01132441 0.99961066 -0.10934716] [ 0. 0. 0. 1. ]] SLAMing on 323.823133365 meters Centerline goodness [0,1] 0.3011473732337637 Centerline is valid? [False, False] Translation: X:4.21, Y:0.19, Z:-0.11 [[ 0.99963444 0.00733777 -0.02602216 4.20952027] [-0.00762051 0.99991283 -0.01078287 0.18642284] [ 0.02594077 0.01097723 0.99960321 -0.11011023] [ 0. 0. 0. 1. ]] SLAMing on 323.85313336499996 meters Centerline goodness [0,1] 0.3000021742439066 Centerline is valid? [False, False] Translation: X:4.21, Y:0.19, Z:-0.11 [[ 0.9996391 0.00702575 -0.02592906 4.2094297 ] [-0.00733002 0.99990517 -0.01165858 0.19131879] [ 0.02584469 0.01184444 0.9995958 -0.11032927] [ 0. 0. 0. 1. ]] SLAMing on 323.883133365 meters Centerline goodness [0,1] 0.3012058626139291 Centerline is valid? [False, False] Translation: X:4.22, Y:0.20, Z:-0.11 [[ 9.99612854e-01 1.60894131e-03 -2.77768411e-02 4.22464308e+00] [-1.91503395e-03 9.99937702e-01 -1.09966238e-02 2.01217044e-01] [ 2.77574177e-02 1.10455601e-02 9.99553661e-01 -1.07117779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.91313336499996 meters Centerline goodness [0,1] 0.3043725280248235 Centerline is valid? [False, False] Translation: X:4.22, Y:0.20, Z:-0.11 [[ 9.99617476e-01 1.38270742e-03 -2.76222609e-02 4.22435324e+00] [-1.70439665e-03 9.99930965e-01 -1.16258662e-02 2.04806638e-01] [ 2.76042789e-02 1.16684984e-02 9.99550824e-01 -1.07289826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.943133365 meters Centerline goodness [0,1] 0.2994852190534112 Centerline is valid? [False, False] Translation: X:4.24, Y:0.21, Z:-0.10 [[ 9.99550873e-01 -4.36261361e-03 -2.96482813e-02 4.24050672e+00] [ 4.04005848e-03 9.99932098e-01 -1.09305965e-02 2.13888554e-01] [ 2.96939541e-02 1.08059065e-02 9.99500626e-01 -1.04094705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.97313336499997 meters Centerline goodness [0,1] 0.30157102334715247 Centerline is valid? [False, False] Translation: X:4.24, Y:0.22, Z:-0.10 [[ 0.99954455 -0.00492724 -0.02977285 4.24091333] [ 0.00457104 0.99991731 -0.01202025 0.21905849] [ 0.02982962 0.01187869 0.99948441 -0.10432778] [ 0. 0. 0. 1. ]] SLAMing on 324.003133365 meters Centerline goodness [0,1] 0.30100363763860283 Centerline is valid? [False, False] Translation: X:4.24, Y:0.22, Z:-0.10 [[ 0.99953462 -0.00518888 -0.03006033 4.2416557 ] [ 0.00481561 0.99991057 -0.01247624 0.22089002] [ 0.03012238 0.01232568 0.99947022 -0.10448213] [ 0. 0. 0. 1. ]] SLAMing on 324.03313336499997 meters Centerline goodness [0,1] 0.30428097612405824 Centerline is valid? [False, False] Translation: X:4.24, Y:0.22, Z:-0.10 [[ 0.99952717 -0.00538911 -0.03027213 4.24225223] [ 0.00500328 0.99990547 -0.01280675 0.22224836] [ 0.03033828 0.01264923 0.99945965 -0.10465125] [ 0. 0. 0. 1. ]] SLAMing on 324.063133365 meters Centerline goodness [0,1] 0.29989518735260723 Centerline is valid? [False, False] Translation: X:4.24, Y:0.22, Z:-0.11 [[ 0.99951603 -0.00583764 -0.03055522 4.24338889] [ 0.00542778 0.99989442 -0.01347942 0.22491144] [ 0.03063068 0.01330705 0.99944219 -0.10539535] [ 0. 0. 0. 1. ]] SLAMing on 324.09313336499997 meters Centerline goodness [0,1] 0.2968471406827571 Centerline is valid? [False, False] Translation: X:4.24, Y:0.23, Z:-0.11 [[ 0.99951394 -0.00600318 -0.03059157 4.24358139] [ 0.00558096 0.99988825 -0.01386846 0.22693157] [ 0.0306714 0.01369099 0.99943575 -0.10557592] [ 0. 0. 0. 1. ]] SLAMing on 324.123133365 meters Centerline goodness [0,1] 0.29754721076622526 Centerline is valid? [False, False] Translation: X:4.24, Y:0.23, Z:-0.11 [[ 9.99523997e-01 -2.81069348e-03 -3.07226366e-02 4.24362863e+00] [ 2.47720798e-03 9.99937662e-01 -1.08873939e-02 2.28540401e-01] [ 3.07513225e-02 1.08061051e-02 9.99468651e-01 -1.05272807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.153133365 meters Centerline goodness [0,1] 0.3020977181561123 Centerline is valid? [False, False] Translation: X:4.24, Y:0.23, Z:-0.11 [[ 9.99524091e-01 -2.99346002e-03 -3.07022893e-02 4.24362431e+00] [ 2.64175422e-03 9.99930503e-01 -1.14895341e-02 2.31928721e-01] [ 3.07345490e-02 1.14029582e-02 9.99462536e-01 -1.05376241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.183133365 meters Centerline goodness [0,1] 0.3032484635645303 Centerline is valid? [False, False] Translation: X:4.24, Y:0.23, Z:-0.11 [[ 9.99513667e-01 4.33971561e-04 -3.11807886e-02 4.24468912e+00] [-7.00061650e-04 9.99963430e-01 -8.52337314e-03 2.34540738e-01] [ 3.11759494e-02 8.54105642e-03 9.99477419e-01 -1.05387319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.213133365 meters Centerline goodness [0,1] 0.30247764000962185 Centerline is valid? [False, False] Translation: X:4.25, Y:0.24, Z:-0.11 [[ 9.99497253e-01 3.62194404e-03 -3.14979896e-02 4.24597910e+00] [-3.82397946e-03 9.99972487e-01 -6.35636064e-03 2.41497602e-01] [ 3.14741006e-02 6.47361266e-03 9.99483603e-01 -1.06086373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.243133365 meters Centerline goodness [0,1] 0.2990731473826205 Centerline is valid? [False, False] Translation: X:4.25, Y:0.25, Z:-0.11 [[ 9.99495432e-01 3.38979154e-03 -3.15814906e-02 4.24634266e+00] [-3.61618906e-03 9.99968154e-01 -7.11432092e-03 2.45653269e-01] [ 3.15563688e-02 7.22493590e-03 9.99475861e-01 -1.06374882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.273133365 meters Centerline goodness [0,1] 0.30000875426770546 Centerline is valid? [False, False] Translation: X:4.25, Y:0.25, Z:-0.11 [[ 9.99498283e-01 3.18957598e-03 -3.15120507e-02 4.24623489e+00] [-3.43586594e-03 9.99963952e-01 -7.76468375e-03 2.49197153e-01] [ 3.14861486e-02 7.86905925e-03 9.99473211e-01 -1.06484569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.303133365 meters Centerline goodness [0,1] 0.3020685126409106 Centerline is valid? [False, False] Translation: X:4.25, Y:0.25, Z:-0.11 [[ 9.99501935e-01 2.96622555e-03 -3.14178828e-02 4.24591353e+00] [-3.23187611e-03 9.99959430e-01 -8.40798922e-03 2.52534021e-01] [ 3.13916681e-02 8.50534020e-03 9.99470971e-01 -1.06356656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.333133365 meters Centerline goodness [0,1] 0.30061456653445495 Centerline is valid? [False, False] Translation: X:4.25, Y:0.26, Z:-0.11 [[ 9.99507858e-01 2.48401983e-03 -3.12709430e-02 4.24526881e+00] [-2.78322887e-03 9.99950731e-01 -9.52838791e-03 2.58213015e-01] [ 3.12457336e-02 9.61073278e-03 9.99465526e-01 -1.05921088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.363133365 meters Centerline goodness [0,1] 0.30408468682600465 Centerline is valid? [False, False] Translation: X:4.24, Y:0.26, Z:-0.11 [[ 9.99510718e-01 2.28627237e-03 -3.11945211e-02 4.24489070e+00] [-2.59993632e-03 9.99946436e-01 -1.00182435e-02 2.60603958e-01] [ 3.11699458e-02 1.00944455e-02 9.99463124e-01 -1.05632677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.393133365 meters Centerline goodness [0,1] 0.3029951648543987 Centerline is valid? [False, False] Translation: X:4.25, Y:0.26, Z:-0.11 [[ 9.99511546e-01 2.08283987e-03 -3.11822194e-02 4.24500269e+00] [-2.41035004e-03 9.99942291e-01 -1.04692040e-02 2.62795877e-01] [ 3.11586142e-02 1.05392503e-02 9.99458886e-01 -1.05855656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.423133365 meters Centerline goodness [0,1] 0.3056938394523958 Centerline is valid? [False, False] Translation: X:4.23, Y:0.27, Z:-0.11 [[ 0.99946164 -0.00661969 -0.03213437 4.22594116] [ 0.00631996 0.99993566 -0.00942017 0.2684558 ] [ 0.03219467 0.00921201 0.99943916 -0.10767028] [ 0. 0. 0. 1. ]] SLAMing on 324.453133365 meters Centerline goodness [0,1] 0.30121430915654746 Centerline is valid? [False, False] Translation: X:4.25, Y:0.27, Z:-0.11 [[ 9.99493074e-01 1.45053068e-03 -3.18039439e-02 4.24704051e+00] [-1.81185162e-03 9.99934115e-01 -1.13350102e-02 2.71707269e-01] [ 3.17854067e-02 1.13868882e-02 9.99429851e-01 -1.06928038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48313336499996 meters Centerline goodness [0,1] 0.3043126802411955 Centerline is valid? [False, False] Translation: X:4.25, Y:0.27, Z:-0.11 [[ 9.99493962e-01 1.30776436e-03 -3.17822228e-02 4.24663197e+00] [-1.68115327e-03 9.99929853e-01 -1.17244763e-02 2.73727847e-01] [ 3.17646605e-02 1.17719740e-02 9.99426049e-01 -1.06401565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.513133365 meters Centerline goodness [0,1] 0.3024234888641668 Centerline is valid? [False, False] Translation: X:4.25, Y:0.28, Z:-0.11 [[ 9.99498045e-01 1.20294060e-03 -3.16577190e-02 4.24593878e+00] [-1.58534976e-03 9.99926053e-01 -1.20571650e-02 2.75705339e-01] [ 3.16408740e-02 1.21013014e-02 9.99426042e-01 -1.05798626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54313336499996 meters Centerline goodness [0,1] 0.2991748390720179 Centerline is valid? [False, False] Translation: X:4.26, Y:0.28, Z:-0.10 [[ 0.99949643 -0.00598569 -0.03116183 4.26416477] [ 0.0056386 0.99992122 -0.01121414 0.28337653] [ 0.0312265 0.01103278 0.99945144 -0.10345791] [ 0. 0. 0. 1. ]] SLAMing on 324.573133365 meters Centerline goodness [0,1] 0.3012247384106681 Centerline is valid? [False, False] Translation: X:4.26, Y:0.29, Z:-0.10 [[ 0.9994991 -0.00615741 -0.03104236 4.26380649] [ 0.00579761 0.99991513 -0.01166746 0.28564532] [ 0.03111157 0.01148165 0.99944997 -0.10335722] [ 0. 0. 0. 1. ]] SLAMing on 324.60313336499996 meters Centerline goodness [0,1] 0.30133356500586417 Centerline is valid? [False, False] Translation: X:4.26, Y:0.29, Z:-0.10 [[ 0.99950139 -0.00635849 -0.03092789 4.26364864] [ 0.00598404 0.99990785 -0.01218502 0.28823588] [ 0.03100252 0.01199387 0.99944734 -0.10357706] [ 0. 0. 0. 1. ]] SLAMing on 324.633133365 meters Centerline goodness [0,1] 0.3044487258078641 Centerline is valid? [False, False] Translation: X:4.27, Y:0.29, Z:-0.11 [[ 9.99477768e-01 -4.01047806e-03 -3.20641114e-02 4.26793594e+00] [ 3.67805764e-03 9.99938950e-01 -1.04196364e-02 2.93193192e-01] [ 3.21039416e-02 1.02962613e-02 9.99431500e-01 -1.05498192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66313336499996 meters Centerline goodness [0,1] 0.3005459726361125 Centerline is valid? [False, False] Translation: X:4.27, Y:0.30, Z:-0.11 [[ 9.99474836e-01 -4.15595291e-03 -3.21369025e-02 4.26822867e+00] [ 3.81132498e-03 9.99934657e-01 -1.07775771e-02 2.95015834e-01] [ 3.21795937e-02 1.06494329e-02 9.99425367e-01 -1.05731875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.693133365 meters Centerline goodness [0,1] 0.2973223925717987 Centerline is valid? [False, False] Translation: X:4.27, Y:0.30, Z:-0.11 [[ 9.99470875e-01 -4.33712324e-03 -3.22360101e-02 4.26837620e+00] [ 3.98100937e-03 9.99930434e-01 -1.11030678e-02 2.96315094e-01] [ 3.22819230e-02 1.09688611e-02 9.99418612e-01 -1.05600856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72313336499997 meters Centerline goodness [0,1] 0.29770167131521486 Centerline is valid? [False, False] Translation: X:4.27, Y:0.30, Z:-0.11 [[ 9.99466694e-01 -4.45208402e-03 -3.23497457e-02 4.26844187e+00] [ 4.08961781e-03 9.99928217e-01 -1.12621485e-02 2.96829516e-01] [ 3.23975636e-02 1.11238443e-02 9.99413157e-01 -1.05315476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.753133365 meters Centerline goodness [0,1] 0.3022129108288595 Centerline is valid? [False, False] Translation: X:4.27, Y:0.30, Z:-0.11 [[ 9.99462303e-01 -4.61198009e-03 -3.24628023e-02 4.26862920e+00] [ 4.24197987e-03 9.99925365e-01 -1.14573259e-02 2.97564078e-01] [ 3.25132204e-02 1.13134588e-02 9.99407272e-01 -1.05267694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78313336499997 meters Centerline goodness [0,1] 0.2991626820138904 Centerline is valid? [False, False] Translation: X:4.27, Y:0.30, Z:-0.11 [[ 9.99460903e-01 -4.61406276e-03 -3.25056040e-02 4.26863019e+00] [ 4.24375128e-03 9.99925418e-01 -1.14520299e-02 2.97736288e-01] [ 3.25560201e-02 1.13079105e-02 9.99405942e-01 -1.05142854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.813133365 meters Centerline goodness [0,1] 0.29812191387972486 Centerline is valid? [False, False] Translation: X:4.27, Y:0.30, Z:-0.10 [[ 9.99460886e-01 -4.63773644e-03 -3.25027438e-02 4.26849470e+00] [ 4.26575693e-03 9.99924721e-01 -1.15045708e-02 2.98073580e-01] [ 3.25536522e-02 1.13597197e-02 9.99405431e-01 -1.04948323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84313336499997 meters Centerline goodness [0,1] 0.30186173108328795 Centerline is valid? [False, False] Translation: X:4.27, Y:0.30, Z:-0.11 [[ 0.99946088 -0.00469578 -0.03249472 4.26852405] [ 0.00431962 0.99992296 -0.0116366 0.29873596] [ 0.03254685 0.01148996 0.99940416 -0.10505296] [ 0. 0. 0. 1. ]] SLAMing on 324.873133365 meters Centerline goodness [0,1] 0.298100636005711 Centerline is valid? [False, False] Translation: X:4.27, Y:0.30, Z:-0.11 [[ 0.99945743 -0.00474609 -0.03259339 4.26878483] [ 0.00436436 0.99992117 -0.01177303 0.29942545] [ 0.03264669 0.01162439 0.99939935 -0.10511163] [ 0. 0. 0. 1. ]] SLAMing on 324.903133365 meters Centerline goodness [0,1] 0.30442812541225095 Centerline is valid? [False, False] Translation: X:4.25, Y:0.30, Z:-0.11 [[ 9.99452998e-01 3.35505530e-03 -3.29005852e-02 4.24794022e+00] [-3.76530935e-03 9.99915836e-01 -1.24154871e-02 2.95834692e-01] [ 3.28561615e-02 1.25325767e-02 9.99381512e-01 -1.06447632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.933133365 meters Centerline goodness [0,1] 0.3017564633905664 Centerline is valid? [False, False] Translation: X:4.25, Y:0.30, Z:-0.11 [[ 9.99455069e-01 3.42491815e-03 -3.28303940e-02 4.24784604e+00] [-3.84687568e-03 9.99910701e-01 -1.27981129e-02 2.98772294e-01] [ 3.27836298e-02 1.29174333e-02 9.99378994e-01 -1.06539649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.963133365 meters Centerline goodness [0,1] 0.30277418931050337 Centerline is valid? [False, False] Translation: X:4.25, Y:0.30, Z:-0.11 [[ 9.99453309e-01 3.42690139e-03 -3.28837152e-02 4.24801983e+00] [-3.86128804e-03 9.99906009e-01 -1.31553814e-02 3.01180980e-01] [ 3.28355422e-02 1.32751630e-02 9.99372602e-01 -1.06639798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.993133365 meters Centerline goodness [0,1] 0.30277418931050337 Centerline is valid? [False, False] Translation: X:4.25, Y:0.30, Z:-0.11 [[ 9.99453309e-01 3.42690139e-03 -3.28837152e-02 4.24801983e+00] [-3.86128804e-03 9.99906009e-01 -1.31553814e-02 3.01180980e-01] [ 3.28355422e-02 1.32751630e-02 9.99372602e-01 -1.06639798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.023133365 meters Centerline goodness [0,1] 0.30160781564882155 Centerline is valid? [False, False] Translation: X:4.25, Y:0.30, Z:-0.11 [[ 9.99454683e-01 3.49981664e-03 -3.28342514e-02 4.24809439e+00] [-3.94533946e-03 9.99900900e-01 -1.35138820e-02 3.03943770e-01] [ 3.27837014e-02 1.36360549e-02 9.99369445e-01 -1.06914155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.053133365 meters Centerline goodness [0,1] 0.30107010264249834 Centerline is valid? [False, False] Translation: X:4.25, Y:0.31, Z:-0.11 [[ 9.99451286e-01 3.50999831e-03 -3.29364169e-02 4.24854711e+00] [-3.97283212e-03 9.99894139e-01 -1.39974372e-02 3.07190904e-01] [ 3.28837992e-02 1.41206075e-02 9.99359427e-01 -1.07280263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.083133365 meters Centerline goodness [0,1] 0.30210341805433827 Centerline is valid? [False, False] Translation: X:4.25, Y:0.31, Z:-0.11 [[ 9.99449510e-01 3.47384792e-03 -3.29940951e-02 4.24884445e+00] [-3.95418952e-03 9.99886988e-01 -1.45043359e-02 3.10281670e-01] [ 3.29399805e-02 1.46268163e-02 9.99350296e-01 -1.07523089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.113133365 meters Centerline goodness [0,1] 0.30162049137480396 Centerline is valid? [False, False] Translation: X:4.25, Y:0.32, Z:-0.11 [[ 0.99944443 0.00547628 -0.03287602 4.24864146] [-0.00592733 0.99988943 -0.01363783 0.31868266] [ 0.0327977 0.01382512 0.99936639 -0.10769479] [ 0. 0. 0. 1. ]] SLAMing on 325.143133365 meters Centerline goodness [0,1] 0.30221532814821284 Centerline is valid? [False, False] Translation: X:4.25, Y:0.32, Z:-0.11 [[ 0.99945588 0.00538111 -0.03254224 4.24783946] [-0.00584498 0.99988243 -0.0141763 0.32195722] [ 0.03246213 0.0143588 0.99936982 -0.10767214] [ 0. 0. 0. 1. ]] SLAMing on 325.173133365 meters Centerline goodness [0,1] 0.30434687301343744 Centerline is valid? [False, False] Translation: X:4.25, Y:0.33, Z:-0.11 [[ 0.99946976 0.00531282 -0.03212447 4.24677655] [-0.00578611 0.99987583 -0.01465791 0.32504277] [ 0.03204261 0.01483601 0.99937639 -0.10753523] [ 0. 0. 0. 1. ]] SLAMing on 325.203133365 meters Centerline goodness [0,1] 0.3027865807015627 Centerline is valid? [False, False] Translation: X:4.26, Y:0.33, Z:-0.10 [[ 9.99434697e-01 -2.18539876e-04 -3.36190095e-02 4.26094141e+00] [-2.30592411e-04 9.99910791e-01 -1.33550168e-02 3.32977341e-01] [ 3.36189290e-02 1.33552194e-02 9.99345489e-01 -1.03598936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.23313336499996 meters Centerline goodness [0,1] 0.30154835066993857 Centerline is valid? [False, False] Translation: X:4.26, Y:0.34, Z:-0.10 [[ 9.99443124e-01 -3.73397613e-04 -3.33661923e-02 4.26018567e+00] [-8.87060642e-05 9.99904123e-01 -1.38469045e-02 3.35672695e-01] [ 3.33681637e-02 1.38421533e-02 9.99347267e-01 -1.03395130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.263133365 meters Centerline goodness [0,1] 0.3011035321718729 Centerline is valid? [False, False] Translation: X:4.26, Y:0.34, Z:-0.10 [[ 9.99446346e-01 -5.72697193e-04 -3.32667035e-02 4.25982394e+00] [ 9.52780806e-05 9.99897014e-01 -1.43510728e-02 3.38126021e-01] [ 3.32714963e-02 1.43399577e-02 9.99343471e-01 -1.03238399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.29313336499996 meters Centerline goodness [0,1] 0.30241856624437735 Centerline is valid? [False, False] Translation: X:4.26, Y:0.34, Z:-0.10 [[ 9.99443924e-01 -8.67803131e-04 -3.33330193e-02 4.26012110e+00] [ 3.66407984e-04 9.99886748e-01 -1.50451603e-02 3.41755484e-01] [ 3.33423005e-02 1.50245805e-02 9.99331053e-01 -1.03482509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.323133365 meters Centerline goodness [0,1] 0.30218319679274885 Centerline is valid? [False, False] Translation: X:4.26, Y:0.34, Z:-0.10 [[ 9.99439739e-01 -9.84298094e-04 -3.34550404e-02 4.26054457e+00] [ 4.71846168e-04 9.99882499e-01 -1.53220747e-02 3.43177861e-01] [ 3.34661908e-02 1.52977047e-02 9.99322768e-01 -1.03704403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.35313336499996 meters Centerline goodness [0,1] 0.2972641102972856 Centerline is valid? [False, False] Translation: X:4.28, Y:0.35, Z:-0.10 [[ 0.99938295 -0.00821864 -0.03414926 4.27968874] [ 0.00772336 0.99986344 -0.01461014 0.35081127] [ 0.03426467 0.01433738 0.99930995 -0.10176078] [ 0. 0. 0. 1. ]] SLAMing on 325.383133365 meters Centerline goodness [0,1] 0.3038751842968114 Centerline is valid? [False, False] Translation: X:4.24, Y:0.35, Z:-0.10 [[ 0.99929044 -0.00919607 -0.03652462 4.23527797] [ 0.00864318 0.9998461 -0.01526665 0.35308724] [ 0.03665939 0.01494012 0.99921613 -0.10268612] [ 0. 0. 0. 1. ]] SLAMing on 325.41313336499996 meters Centerline goodness [0,1] 0.29806857638888884 Centerline is valid? [False, False] Translation: X:4.26, Y:0.35, Z:-0.10 [[ 9.99360173e-01 -7.10048623e-04 -3.57594925e-02 4.25544261e+00] [ 1.23075448e-04 9.99865274e-01 -1.64139986e-02 3.53182844e-01] [ 3.57663295e-02 1.63990953e-02 9.99225620e-01 -1.01412083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.443133365 meters Centerline goodness [0,1] 0.29799315157557105 Centerline is valid? [False, False] Translation: X:4.26, Y:0.36, Z:-0.10 [[ 9.99365874e-01 -8.43799260e-04 -3.55968755e-02 4.25503696e+00] [ 2.45811063e-04 9.99858841e-01 -1.67999285e-02 3.55352421e-01] [ 3.56060265e-02 1.67805251e-02 9.99225012e-01 -1.01424937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.47313336499997 meters Centerline goodness [0,1] 0.3009643075311982 Centerline is valid? [False, False] Translation: X:4.25, Y:0.36, Z:-0.10 [[ 9.99371804e-01 -9.83092407e-04 -3.54264259e-02 4.25458679e+00] [ 3.73387081e-04 9.99851776e-01 -1.72129746e-02 3.57618501e-01] [ 3.54380968e-02 1.71889337e-02 9.99224040e-01 -1.01350100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.503133365 meters Centerline goodness [0,1] 0.301424464192368 Centerline is valid? [False, False] Translation: X:4.25, Y:0.36, Z:-0.10 [[ 9.99380919e-01 -1.11653936e-03 -3.51643526e-02 4.25381490e+00] [ 4.97919753e-04 9.99845053e-01 -1.75960827e-02 3.59683045e-01] [ 3.51785507e-02 1.75676803e-02 9.99226624e-01 -1.01122997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53313336499997 meters Centerline goodness [0,1] 0.3047543963383922 Centerline is valid? [False, False] Translation: X:4.25, Y:0.36, Z:-0.10 [[ 9.99386523e-01 -1.25386284e-03 -3.50000765e-02 4.25324954e+00] [ 6.25631800e-04 9.99838607e-01 -1.79546033e-02 3.61522227e-01] [ 3.50169404e-02 1.79216914e-02 9.99226014e-01 -1.00847406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.563133365 meters Centerline goodness [0,1] 0.29737709864436734 Centerline is valid? [False, False] Translation: X:4.28, Y:0.37, Z:-0.10 [[ 0.99933085 -0.00650699 -0.03599311 4.27564304] [ 0.00594686 0.99985988 -0.01564755 0.37009207] [ 0.03608989 0.01542303 0.99922953 -0.10031924] [ 0. 0. 0. 1. ]] SLAMing on 325.59313336499997 meters Centerline goodness [0,1] 0.2985051993067591 Centerline is valid? [False, False] Translation: X:4.28, Y:0.37, Z:-0.10 [[ 0.99932229 -0.00665913 -0.03620242 4.27638636] [ 0.00608061 0.99985243 -0.01606679 0.37244418] [ 0.03630407 0.01583577 0.99921531 -0.10071861] [ 0. 0. 0. 1. ]] SLAMing on 325.623133365 meters Centerline goodness [0,1] 0.30266126382652503 Centerline is valid? [False, False] Translation: X:4.26, Y:0.37, Z:-0.10 [[ 9.99312564e-01 1.29474936e-03 -3.70502675e-02 4.25731447e+00] [-1.93684996e-03 9.99848470e-01 -1.72998841e-02 3.70688909e-01] [ 3.70222542e-02 1.73597524e-02 9.99163646e-01 -1.02739540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.653133365 meters Centerline goodness [0,1] 0.30386946591707664 Centerline is valid? [False, False] Translation: X:4.26, Y:0.37, Z:-0.10 [[ 9.99305584e-01 1.12318861e-03 -3.72436404e-02 4.25791866e+00] [-1.78470649e-03 9.99841158e-01 -1.77334157e-02 3.72860857e-01] [ 3.72178065e-02 1.77875703e-02 9.99148856e-01 -1.02988545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.683133365 meters Centerline goodness [0,1] 0.30072756669361356 Centerline is valid? [False, False] Translation: X:4.26, Y:0.37, Z:-0.10 [[ 9.99303471e-01 9.30209884e-04 -3.73055934e-02 4.25812204e+00] [-1.60940653e-03 9.99833428e-01 -1.81803997e-02 3.74999706e-01] [ 3.72824678e-02 1.82277764e-02 9.99138512e-01 -1.03075938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.713133365 meters Centerline goodness [0,1] 0.29848086410362284 Centerline is valid? [False, False] Translation: X:4.26, Y:0.38, Z:-0.10 [[ 9.99303087e-01 7.49046404e-04 -3.73199540e-02 4.25801819e+00] [-1.44368138e-03 9.99826158e-01 -1.85894942e-02 3.76915073e-01] [ 3.72995418e-02 1.86304171e-02 9.99130448e-01 -1.02881315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.743133365 meters Centerline goodness [0,1] 0.29963843875239593 Centerline is valid? [False, False] Translation: X:4.26, Y:0.38, Z:-0.10 [[ 9.99316712e-01 4.51567120e-04 -3.69581520e-02 4.25689194e+00] [-1.16793447e-03 9.99811820e-01 -1.93639091e-02 3.80987888e-01] [ 3.69424531e-02 1.93938426e-02 9.99129188e-01 -1.02458791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.773133365 meters Centerline goodness [0,1] 0.2999218953397552 Centerline is valid? [False, False] Translation: X:4.26, Y:0.38, Z:-0.10 [[ 9.99321771e-01 3.50499605e-04 -3.68222134e-02 4.25663987e+00] [-1.07710888e-03 9.99805062e-01 -1.97149223e-02 3.83170106e-01] [ 3.68081253e-02 1.97412126e-02 9.99127342e-01 -1.02572431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.803133365 meters Centerline goodness [0,1] 0.2962372311538296 Centerline is valid? [False, False] Translation: X:4.28, Y:0.39, Z:-0.10 [[ 0.99926521 -0.00658119 -0.03775891 4.27528061] [ 0.00587495 0.99980629 -0.01878465 0.39176476] [ 0.03787522 0.01854902 0.99911031 -0.10032462] [ 0. 0. 0. 1. ]] SLAMing on 325.833133365 meters Centerline goodness [0,1] 0.29720892969274404 Centerline is valid? [False, False] Translation: X:4.28, Y:0.39, Z:-0.10 [[ 0.99925777 -0.00674315 -0.03792688 4.27597268] [ 0.00601694 0.99979699 -0.01922932 0.39419778] [ 0.03804885 0.01898685 0.99909548 -0.1007464 ] [ 0. 0. 0. 1. ]] SLAMing on 325.863133365 meters Centerline goodness [0,1] 0.29542645241038323 Centerline is valid? [False, False] Translation: X:4.28, Y:0.40, Z:-0.10 [[ 0.9992461 -0.00693194 -0.03819919 4.27679355] [ 0.00618071 0.99978586 -0.01974935 0.39698607] [ 0.03832791 0.01949836 0.99907496 -0.10104342] [ 0. 0. 0. 1. ]] SLAMing on 325.893133365 meters Centerline goodness [0,1] 0.29753754536958554 Centerline is valid? [False, False] Translation: X:4.28, Y:0.40, Z:-0.10 [[ 9.99241485e-01 -3.76013853e-03 -3.87597263e-02 4.27822957e+00] [ 3.10626999e-03 9.99852085e-01 -1.69162317e-02 3.99249949e-01] [ 3.88176005e-02 1.67830023e-02 9.99105362e-01 -1.01275950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.923133365 meters Centerline goodness [0,1] 0.2971413642202434 Centerline is valid? [False, False] Translation: X:4.28, Y:0.41, Z:-0.10 [[ 9.99252441e-01 -2.24507171e-04 -3.86588854e-02 4.27776348e+00] [-3.26074571e-04 9.99898622e-01 -1.42351549e-02 4.05123897e-01] [ 3.86581621e-02 1.42371190e-02 9.99151065e-01 -1.00974920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.953133365 meters Centerline goodness [0,1] 0.2991245879450739 Centerline is valid? [False, False] Translation: X:4.28, Y:0.41, Z:-0.10 [[ 9.99258771e-01 -4.73468491e-04 -3.84926420e-02 4.27725758e+00] [-1.04550561e-04 9.99887294e-01 -1.50129522e-02 4.09690520e-01] [ 3.84954118e-02 1.50058486e-02 9.99146099e-01 -1.00836346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98313336499996 meters Centerline goodness [0,1] 0.29796255626345436 Centerline is valid? [False, False] Translation: X:4.28, Y:0.42, Z:-0.10 [[ 9.99230201e-01 1.36822575e-03 -3.92063041e-02 4.28002482e+00] [-1.90957001e-03 9.99903318e-01 -1.37734626e-02 4.15371793e-01] [ 3.91836684e-02 1.38377269e-02 9.99136206e-01 -1.01946162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.013133365 meters Centerline goodness [0,1] 0.2975970022439598 Centerline is valid? [False, False] Translation: X:4.28, Y:0.42, Z:-0.10 [[ 9.99221995e-01 1.09161447e-03 -3.94235133e-02 4.28085959e+00] [-1.66529741e-03 9.99893165e-01 -1.45218908e-02 4.19353367e-01] [ 3.94034492e-02 1.45762446e-02 9.99117061e-01 -1.02464259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04313336499996 meters Centerline goodness [0,1] 0.2945123931161381 Centerline is valid? [False, False] Translation: X:4.28, Y:0.42, Z:-0.10 [[ 9.99213612e-01 7.71936892e-04 -3.96429205e-02 4.28158867e+00] [-1.37864552e-03 9.99882315e-01 -1.52792810e-02 4.23149711e-01] [ 3.96264605e-02 1.53219191e-02 9.99097084e-01 -1.02787684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.073133365 meters Centerline goodness [0,1] 0.2982379623168179 Centerline is valid? [False, False] Translation: X:4.28, Y:0.43, Z:-0.10 [[ 9.99211513e-01 4.94435960e-04 -3.97002184e-02 4.28175839e+00] [-1.12603634e-03 9.99873136e-01 -1.58884578e-02 4.25997208e-01] [ 3.96873260e-02 1.59206338e-02 9.99085306e-01 -1.02869981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10313336499996 meters Centerline goodness [0,1] 0.29646489947942756 Centerline is valid? [False, False] Translation: X:4.28, Y:0.43, Z:-0.10 [[ 9.99227157e-01 9.34716993e-05 -3.93075017e-02 4.28042653e+00] [-7.50078273e-04 9.99860432e-01 -1.66899421e-02 4.30233017e-01] [ 3.93004556e-02 1.67065271e-02 9.99087767e-01 -1.02258642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.133133365 meters Centerline goodness [0,1] 0.2945778199215551 Centerline is valid? [False, False] Translation: X:4.30, Y:0.44, Z:-0.10 [[ 0.99924045 -0.00799485 -0.0381393 4.29932011] [ 0.00739684 0.99984789 -0.01579513 0.43663243] [ 0.03825978 0.01550102 0.99914759 -0.09996323] [ 0. 0. 0. 1. ]] SLAMing on 326.16313336499996 meters Centerline goodness [0,1] 0.29695107437301194 Centerline is valid? [False, False] Translation: X:4.30, Y:0.44, Z:-0.10 [[ 0.99924652 -0.00814823 -0.03794732 4.29845219] [ 0.00754601 0.99984374 -0.01598621 0.43749832] [ 0.03807165 0.01568782 0.99915186 -0.09933397] [ 0. 0. 0. 1. ]] SLAMing on 326.193133365 meters Centerline goodness [0,1] 0.2971703196051809 Centerline is valid? [False, False] Translation: X:4.30, Y:0.44, Z:-0.10 [[ 0.99924575 -0.00831999 -0.03793041 4.29830058] [ 0.00771276 0.9998402 -0.01612736 0.4378381 ] [ 0.03805853 0.01582265 0.99915024 -0.09913387] [ 0. 0. 0. 1. ]] SLAMing on 326.22313336499997 meters Centerline goodness [0,1] 0.2997402484011089 Centerline is valid? [False, False] Translation: X:4.28, Y:0.43, Z:-0.10 [[ 9.99315633e-01 -1.37951164e-03 -3.69643313e-02 4.27876599e+00] [ 7.25639832e-04 9.99843135e-01 -1.76968443e-02 4.34360072e-01] [ 3.69829459e-02 1.76579103e-02 9.99159877e-01 -1.01346451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.253133365 meters Centerline goodness [0,1] 0.29563076391438625 Centerline is valid? [False, False] Translation: X:4.30, Y:0.44, Z:-0.10 [[ 0.99930361 -0.00940144 -0.03610956 4.29791389] [ 0.00880228 0.99982153 -0.0167162 0.44001754] [ 0.03626028 0.01638672 0.99920802 -0.0992527 ] [ 0. 0. 0. 1. ]] SLAMing on 326.28313336499997 meters Centerline goodness [0,1] 0.30095792144169364 Centerline is valid? [False, False] Translation: X:4.28, Y:0.44, Z:-0.10 [[ 9.99352184e-01 -1.03561520e-03 -3.59741485e-02 4.27744173e+00] [ 4.03077175e-04 9.99845274e-01 -1.75859314e-02 4.37020675e-01] [ 3.59867946e-02 1.75600386e-02 9.99197976e-01 -1.00644573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.313133365 meters Centerline goodness [0,1] 0.3022533362502735 Centerline is valid? [False, False] Translation: X:4.28, Y:0.44, Z:-0.10 [[ 9.99350473e-01 -1.15000562e-03 -3.60181709e-02 4.27744445e+00] [ 5.05511121e-04 9.99839697e-01 -1.78975911e-02 4.38705661e-01] [ 3.60329795e-02 1.78677586e-02 9.99190856e-01 -1.00480672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34313336499997 meters Centerline goodness [0,1] 0.298855318317079 Centerline is valid? [False, False] Translation: X:4.30, Y:0.45, Z:-0.10 [[ 0.9993026 -0.0086951 -0.03631399 4.29617618] [ 0.00809026 0.99982665 -0.01676956 0.44612394] [ 0.03645351 0.01646408 0.99919972 -0.09795772] [ 0. 0. 0. 1. ]] SLAMing on 326.373133365 meters Centerline goodness [0,1] 0.3000261062524474 Centerline is valid? [False, False] Translation: X:4.30, Y:0.45, Z:-0.10 [[ 0.99930909 -0.00566724 -0.0367318 4.29744876] [ 0.0051465 0.99988514 -0.01425587 0.45011961] [ 0.03680837 0.01405698 0.99922347 -0.09831631] [ 0. 0. 0. 1. ]] SLAMing on 326.403133365 meters Centerline goodness [0,1] 0.30098077507269017 Centerline is valid? [False, False] Translation: X:4.30, Y:0.45, Z:-0.10 [[ 0.99931177 -0.00589049 -0.03662361 4.29721935] [ 0.00535136 0.99987613 -0.0148014 0.45282669] [ 0.03670626 0.01459523 0.99921951 -0.09836706] [ 0. 0. 0. 1. ]] SLAMing on 326.433133365 meters Centerline goodness [0,1] 0.29929294028064835 Centerline is valid? [False, False] Translation: X:4.30, Y:0.46, Z:-0.10 [[ 0.99932016 -0.00608349 -0.03636207 4.29630506] [ 0.00553187 0.99986839 -0.01525159 0.45510068] [ 0.03645007 0.01504007 0.99922229 -0.09793673] [ 0. 0. 0. 1. ]] SLAMing on 326.463133365 meters Centerline goodness [0,1] 0.3001103824426985 Centerline is valid? [False, False] Translation: X:4.30, Y:0.46, Z:-0.10 [[ 0.99933101 -0.00616078 -0.03604966 4.29508222] [ 0.00560526 0.9998643 -0.01549089 0.45664783] [ 0.0361402 0.01527846 0.99922993 -0.09721039] [ 0. 0. 0. 1. ]] SLAMing on 326.493133365 meters Centerline goodness [0,1] 0.3033803184547116 Centerline is valid? [False, False] Translation: X:4.29, Y:0.46, Z:-0.10 [[ 0.99933838 -0.00614015 -0.0358482 4.29439442] [ 0.00558725 0.99986421 -0.01550304 0.45715337] [ 0.03593853 0.01529249 0.99923699 -0.09687881] [ 0. 0. 0. 1. ]] SLAMing on 326.523133365 meters Centerline goodness [0,1] 0.30113228870101927 Centerline is valid? [False, False] Translation: X:4.29, Y:0.46, Z:-0.10 [[ 0.99933662 -0.00613988 -0.03589735 4.2946822 ] [ 0.00558729 0.99986466 -0.01547368 0.45712584] [ 0.0359875 0.01526285 0.99923568 -0.09709574] [ 0. 0. 0. 1. ]] SLAMing on 326.553133365 meters Centerline goodness [0,1] 0.3031699664611057 Centerline is valid? [False, False] Translation: X:4.30, Y:0.46, Z:-0.10 [[ 0.99930108 -0.00662889 -0.03678859 4.29771018] [ 0.00604417 0.999854 -0.01598258 0.4579489 ] [ 0.03688917 0.01574905 0.99919525 -0.09846301] [ 0. 0. 0. 1. ]] SLAMing on 326.583133365 meters Centerline goodness [0,1] 0.30125897318408934 Centerline is valid? [False, False] Translation: X:4.30, Y:0.46, Z:-0.10 [[ 0.99929226 -0.00671374 -0.03701213 4.29852115] [ 0.00611917 0.99985079 -0.01615418 0.4587076 ] [ 0.03711506 0.01591627 0.99918424 -0.09891278] [ 0. 0. 0. 1. ]] SLAMing on 326.613133365 meters Centerline goodness [0,1] 0.30039147455415394 Centerline is valid? [False, False] Translation: X:4.30, Y:0.46, Z:-0.10 [[ 9.99300976e-01 -3.62483760e-03 -3.72077997e-02 4.29913048e+00] [ 3.13832600e-03 9.99908930e-01 -1.31256148e-02 4.59047918e-01] [ 3.72519895e-02 1.29996694e-02 9.99221346e-01 -9.91001004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.643133365 meters Centerline goodness [0,1] 0.30017592250722147 Centerline is valid? [False, False] Translation: X:4.30, Y:0.46, Z:-0.10 [[ 9.99314904e-01 -4.22709714e-04 -3.70073381e-02 4.29866941e+00] [ 5.06064562e-05 9.99949444e-01 -1.00552100e-02 4.59833223e-01] [ 3.70097176e-02 1.00464484e-02 9.99264404e-01 -9.91062858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.673133365 meters Centerline goodness [0,1] 0.30114922514365317 Centerline is valid? [False, False] Translation: X:4.30, Y:0.46, Z:-0.10 [[ 9.99331522e-01 -5.91340241e-04 -3.65535092e-02 4.29746703e+00] [ 1.95374726e-04 9.99941279e-01 -1.08351128e-02 4.64272635e-01] [ 3.65577700e-02 1.08207281e-02 9.99272956e-01 -9.88554484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.703133365 meters Centerline goodness [0,1] 0.29881169225431525 Centerline is valid? [False, False] Translation: X:4.30, Y:0.47, Z:-0.10 [[ 9.99329314e-01 -7.43617079e-04 -3.66110407e-02 4.29776503e+00] [ 3.28501096e-04 9.99935609e-01 -1.13432564e-02 4.66884746e-01] [ 3.66171183e-02 1.13236219e-02 9.99265211e-01 -9.91164793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.73313336499996 meters Centerline goodness [0,1] 0.29715378993077946 Centerline is valid? [False, False] Translation: X:4.30, Y:0.47, Z:-0.10 [[ 9.99320188e-01 -8.83500098e-04 -3.68562337e-02 4.29853012e+00] [ 4.46265595e-04 9.99929452e-01 -1.18697845e-02 4.69854291e-01] [ 3.68641205e-02 1.18452676e-02 9.99250082e-01 -9.94183582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.763133365 meters Centerline goodness [0,1] 0.2974143559831106 Centerline is valid? [False, False] Translation: X:4.30, Y:0.47, Z:-0.10 [[ 9.99310651e-01 -9.56463608e-04 -3.71120867e-02 4.29948276e+00] [ 5.00222688e-04 9.99924216e-01 -1.23009322e-02 4.72769563e-01] [ 3.71210396e-02 1.22738883e-02 9.99235398e-01 -9.99447134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.79313336499996 meters Centerline goodness [0,1] 0.2949208558010089 Centerline is valid? [False, False] Translation: X:4.30, Y:0.47, Z:-0.10 [[ 9.99282445e-01 2.30114503e-03 -3.78060883e-02 4.30166046e+00] [-2.65410651e-03 9.99953338e-01 -9.28856698e-03 4.74399837e-01] [ 3.77829499e-02 9.38224330e-03 9.99241924e-01 -1.00609160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.823133365 meters Centerline goodness [0,1] 0.29306579601721117 Centerline is valid? [False, False] Translation: X:4.32, Y:0.48, Z:-0.10 [[ 9.99172357e-01 -3.38338237e-03 -4.05358421e-02 4.31745631e+00] [ 3.03764378e-03 9.99958511e-01 -8.58776528e-03 4.82387565e-01] [ 4.05632159e-02 8.45752423e-03 9.99141179e-01 -9.78416109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.85313336499996 meters Centerline goodness [0,1] 0.2970069575110489 Centerline is valid? [False, False] Translation: X:4.32, Y:0.49, Z:-0.10 [[ 9.99160574e-01 -3.73771763e-03 -4.07943239e-02 4.31869295e+00] [ 3.35601996e-03 9.99949989e-01 -9.42111162e-03 4.86345099e-01] [ 4.08274971e-02 9.27629673e-03 9.99123148e-01 -9.88441726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.883133365 meters Centerline goodness [0,1] 0.2970069575110489 Centerline is valid? [False, False] Translation: X:4.32, Y:0.49, Z:-0.10 [[ 9.99160574e-01 -3.73771763e-03 -4.07943239e-02 4.31869295e+00] [ 3.35601996e-03 9.99949989e-01 -9.42111162e-03 4.86345099e-01] [ 4.08274971e-02 9.27629673e-03 9.99123148e-01 -9.88441726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.91313336499996 meters Centerline goodness [0,1] 0.2933560031388962 Centerline is valid? [False, False] Translation: X:4.32, Y:0.49, Z:-0.10 [[ 9.99152971e-01 -3.85734545e-03 -4.09690316e-02 4.31938179e+00] [ 3.46157002e-03 9.99946701e-01 -9.72690520e-03 4.87968770e-01] [ 4.10043680e-02 9.57684905e-03 9.99113070e-01 -9.92699427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.943133365 meters Centerline goodness [0,1] 0.2962493719827869 Centerline is valid? [False, False] Translation: X:4.32, Y:0.49, Z:-0.10 [[ 9.99146170e-01 -3.95232274e-03 -4.11255401e-02 4.31993511e+00] [ 3.54483215e-03 9.99943949e-01 -9.97666515e-03 4.89498579e-01] [ 4.11626659e-02 9.82236364e-03 9.99104177e-01 -9.95568591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.97313336499997 meters Centerline goodness [0,1] 0.294797309103617 Centerline is valid? [False, False] Translation: X:4.32, Y:0.49, Z:-0.10 [[ 9.99141344e-01 -4.05690204e-03 -4.12324747e-02 4.32044833e+00] [ 3.63897507e-03 9.99941297e-01 -1.02058740e-02 4.90794322e-01] [ 4.12714585e-02 1.00470668e-02 9.99097454e-01 -9.99380321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.003133365 meters Centerline goodness [0,1] 0.29369392967061747 Centerline is valid? [False, False] Translation: X:4.32, Y:0.49, Z:-0.10 [[ 9.99131424e-01 -4.17579739e-03 -4.14603573e-02 4.32112162e+00] [ 3.74580431e-03 9.99938450e-01 -1.04434598e-02 4.92006210e-01] [ 4.15014152e-02 1.02790865e-02 9.99085568e-01 -1.00127643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03313336499997 meters Centerline goodness [0,1] 0.29137051410630965 Centerline is valid? [False, False] Translation: X:4.32, Y:0.50, Z:-0.10 [[ 9.99124048e-01 -4.54769509e-03 -4.15987289e-02 4.32135758e+00] [ 4.08399518e-03 9.99928656e-01 -1.12251710e-02 4.95688850e-01] [ 4.16468098e-02 1.10454492e-02 9.99071339e-01 -9.99822213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.063133365 meters Centerline goodness [0,1] 0.29183531357444403 Centerline is valid? [False, False] Translation: X:4.32, Y:0.50, Z:-0.10 [[ 9.99141472e-01 -1.15016134e-03 -4.14125120e-02 4.32082183e+00] [ 8.17527342e-04 9.99967278e-01 -8.04824962e-03 4.97338681e-01] [ 4.14204137e-02 8.00748411e-03 9.99109718e-01 -9.98726527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09313336499997 meters Centerline goodness [0,1] 0.2938415650495657 Centerline is valid? [False, False] Translation: X:4.32, Y:0.50, Z:-0.10 [[ 9.99141824e-01 -1.25041783e-03 -4.14011091e-02 4.32087478e+00] [ 8.97778005e-04 9.99963172e-01 -8.53513903e-03 5.00639466e-01] [ 4.14102568e-02 8.49064538e-03 9.99106150e-01 -9.99576413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.123133365 meters Centerline goodness [0,1] 0.2909454640340958 Centerline is valid? [False, False] Translation: X:4.32, Y:0.50, Z:-0.10 [[ 9.99139782e-01 -1.41892449e-03 -4.14449312e-02 4.32103075e+00] [ 1.04184670e-03 9.99957883e-01 -9.11846734e-03 5.04016483e-01] [ 4.14561240e-02 9.06744420e-03 9.99099180e-01 -1.00023009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.153133365 meters Centerline goodness [0,1] 0.29067673414480677 Centerline is valid? [False, False] Translation: X:4.32, Y:0.51, Z:-0.10 [[ 9.99138515e-01 -1.68946349e-03 -4.14653294e-02 4.32106904e+00] [ 1.28268492e-03 9.99950815e-01 -9.83473417e-03 5.07578544e-01] [ 4.14799053e-02 9.77307474e-03 9.99091540e-01 -1.00033580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.183133365 meters Centerline goodness [0,1] 0.29079725265171275 Centerline is valid? [False, False] Translation: X:4.32, Y:0.51, Z:-0.10 [[ 9.99144338e-01 -2.02823791e-03 -4.13095348e-02 4.32049803e+00] [ 1.59045205e-03 9.99942258e-01 -1.06278038e-02 5.11215403e-01] [ 4.13287052e-02 1.05530092e-02 9.99089872e-01 -9.97509036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.213133365 meters Centerline goodness [0,1] 0.2917615917030094 Centerline is valid? [False, False] Translation: X:4.32, Y:0.52, Z:-0.10 [[ 9.99195970e-01 -5.05266350e-04 -4.00893896e-02 4.31518039e+00] [ 1.07007042e-04 9.99950633e-01 -9.93580611e-03 5.18816265e-01] [ 4.00924307e-02 9.92352757e-03 9.99146696e-01 -9.69837515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.243133365 meters Centerline goodness [0,1] 0.2906715126341295 Centerline is valid? [False, False] Translation: X:4.31, Y:0.52, Z:-0.10 [[ 9.99195861e-01 -7.66279848e-04 -4.00879597e-02 4.31491629e+00] [ 3.40471016e-04 9.99943467e-01 -1.06276124e-02 5.22626881e-01] [ 4.00938371e-02 1.06054176e-02 9.99139635e-01 -9.66082602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.273133365 meters Centerline goodness [0,1] 0.2926791823844197 Centerline is valid? [False, False] Translation: X:4.31, Y:0.53, Z:-0.10 [[ 9.99195674e-01 -1.00000643e-03 -4.00874751e-02 4.31495507e+00] [ 5.49173185e-04 9.99936502e-01 -1.12556716e-02 5.26143745e-01] [ 4.00961854e-02 1.12246034e-02 9.99132776e-01 -9.66310694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.303133365 meters Centerline goodness [0,1] 0.2900892315689162 Centerline is valid? [False, False] Translation: X:4.34, Y:0.53, Z:-0.10 [[ 0.99917449 -0.00751368 -0.03992335 4.33670701] [ 0.00716703 0.99993543 -0.00881877 0.53256827] [ 0.03998703 0.00852535 0.99916383 -0.09619942] [ 0. 0. 0. 1. ]] SLAMing on 327.333133365 meters Centerline goodness [0,1] 0.29027487821851083 Centerline is valid? [False, False] Translation: X:4.34, Y:0.54, Z:-0.10 [[ 0.99916878 -0.00810046 -0.03995162 4.33730261] [ 0.00770474 0.99991982 -0.01004917 0.53917559] [ 0.04002982 0.009733 0.99915108 -0.09688346] [ 0. 0. 0. 1. ]] SLAMing on 327.363133365 meters Centerline goodness [0,1] 0.28812167826124535 Centerline is valid? [False, False] Translation: X:4.34, Y:0.54, Z:-0.10 [[ 0.99916158 -0.00837906 -0.04007392 4.33752763] [ 0.00795514 0.99991083 -0.01072614 0.54267762] [ 0.04016022 0.01039836 0.99913914 -0.09676902] [ 0. 0. 0. 1. ]] SLAMing on 327.393133365 meters Centerline goodness [0,1] 0.2883073208588428 Centerline is valid? [False, False] Translation: X:4.34, Y:0.55, Z:-0.10 [[ 0.99918605 -0.005324 -0.03998619 4.33712587] [ 0.00500764 0.9999554 -0.00800755 0.54567989] [ 0.04002704 0.00780079 0.99916815 -0.09656362] [ 0. 0. 0. 1. ]] SLAMing on 327.423133365 meters Centerline goodness [0,1] 0.29416169313101503 Centerline is valid? [False, False] Translation: X:4.29, Y:0.55, Z:-0.10 [[ 9.99128065e-01 -3.88058593e-03 -4.15698386e-02 4.29056784e+00] [ 3.54812179e-03 9.99961154e-01 -8.06852132e-03 5.50785161e-01] [ 4.15995344e-02 7.91399124e-03 9.99103021e-01 -9.65562587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.453133365 meters Centerline goodness [0,1] 0.28984664426639095 Centerline is valid? [False, False] Translation: X:4.33, Y:0.56, Z:-0.09 [[ 9.99218781e-01 -3.92096573e-03 -3.93249743e-02 4.33299086e+00] [ 3.63108415e-03 9.99965729e-01 -7.44015422e-03 5.55205740e-01] [ 3.93527992e-02 7.29154954e-03 9.99198774e-01 -9.45726445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48313336499996 meters Centerline goodness [0,1] 0.29197730780098685 Centerline is valid? [False, False] Translation: X:4.33, Y:0.56, Z:-0.09 [[ 9.99222233e-01 -4.44247076e-03 -3.91815490e-02 4.33244880e+00] [ 4.11414461e-03 9.99955782e-01 -8.45626487e-03 5.59756981e-01] [ 3.92173831e-02 8.28848930e-03 9.99196326e-01 -9.42707573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.513133365 meters Centerline goodness [0,1] 0.2902046467356033 Centerline is valid? [False, False] Translation: X:4.33, Y:0.56, Z:-0.09 [[ 9.99212255e-01 -4.56503796e-03 -3.94211853e-02 4.33322772e+00] [ 4.22709202e-03 9.99953638e-01 -8.65179902e-03 5.60682806e-01] [ 3.94588534e-02 8.47834663e-03 9.99185226e-01 -9.45702596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54313336499996 meters Centerline goodness [0,1] 0.29023175222005626 Centerline is valid? [False, False] Translation: X:4.33, Y:0.56, Z:-0.10 [[ 9.99200240e-01 -4.60667740e-03 -3.97197469e-02 4.33436961e+00] [ 4.26548856e-03 9.99953314e-01 -8.67037603e-03 5.60922274e-01] [ 3.97578342e-02 8.49401768e-03 9.99173241e-01 -9.51838309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.573133365 meters Centerline goodness [0,1] 0.2891913565530245 Centerline is valid? [False, False] Translation: X:4.34, Y:0.56, Z:-0.10 [[ 9.99190783e-01 -4.57357535e-03 -3.99607502e-02 4.33536221e+00] [ 4.23401056e-03 9.99954245e-01 -8.57796099e-03 5.60763670e-01] [ 3.99981537e-02 8.40182532e-03 9.99164429e-01 -9.57541883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60313336499996 meters Centerline goodness [0,1] 0.2879118504915199 Centerline is valid? [False, False] Translation: X:4.34, Y:0.56, Z:-0.10 [[ 9.99185363e-01 -4.63810445e-03 -4.00886346e-02 4.33591913e+00] [ 4.29716649e-03 9.99953901e-01 -8.58659294e-03 5.60535740e-01] [ 4.01266121e-02 8.40733044e-03 9.99159232e-01 -9.60843126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.633133365 meters Centerline goodness [0,1] 0.2868980914965329 Centerline is valid? [False, False] Translation: X:4.34, Y:0.56, Z:-0.10 [[ 0.99918664 -0.00474687 -0.04004415 4.33594299] [ 0.0044043 0.99995299 -0.00863863 0.56012107] [ 0.04008327 0.00845524 0.99916057 -0.09624502] [ 0. 0. 0. 1. ]] SLAMing on 327.66313336499996 meters Centerline goodness [0,1] 0.2901587025900436 Centerline is valid? [False, False] Translation: X:4.34, Y:0.56, Z:-0.10 [[ 0.99919731 -0.00492095 -0.03975578 4.3350015 ] [ 0.0045682 0.99994943 -0.00895877 0.56128701] [ 0.03979786 0.00876997 0.99916926 -0.09587802] [ 0. 0. 0. 1. ]] SLAMing on 327.693133365 meters Centerline goodness [0,1] 0.28787228564071754 Centerline is valid? [False, False] Translation: X:4.35, Y:0.56, Z:-0.09 [[ 9.99260102e-01 3.08899412e-03 -3.83367537e-02 4.35493328e+00] [-3.46138563e-03 9.99947436e-01 -9.65112517e-03 5.59849707e-01] [ 3.83049263e-02 9.77668261e-03 9.99218269e-01 -9.44738539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72313336499997 meters Centerline goodness [0,1] 0.29204100815354017 Centerline is valid? [False, False] Translation: X:4.33, Y:0.56, Z:-0.10 [[ 9.99287591e-01 -1.78657318e-03 -3.76977164e-02 4.33222369e+00] [ 1.53860470e-03 9.99976998e-01 -6.60579798e-03 5.64475142e-01] [ 3.77086510e-02 6.54309006e-03 9.99267354e-01 -9.55241807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.753133365 meters Centerline goodness [0,1] 0.29086601165116077 Centerline is valid? [False, False] Translation: X:4.34, Y:0.57, Z:-0.10 [[ 9.99243142e-01 2.06861113e-04 -3.88985931e-02 4.33728883e+00] [-4.10324010e-04 9.99986277e-01 -5.22268705e-03 5.68513468e-01] [ 3.88969790e-02 5.23469524e-03 9.99229515e-01 -9.79907910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78313336499997 meters Centerline goodness [0,1] 0.2894811331025323 Centerline is valid? [False, False] Translation: X:4.34, Y:0.57, Z:-0.10 [[ 9.99227765e-01 2.23549636e-04 -3.92915230e-02 4.33860315e+00] [-4.38207354e-04 9.99985027e-01 -5.45467952e-03 5.70056800e-01] [ 3.92897153e-02 5.46768506e-03 9.99212902e-01 -9.86209044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.813133365 meters Centerline goodness [0,1] 0.288093943677286 Centerline is valid? [False, False] Translation: X:4.34, Y:0.57, Z:-0.10 [[ 9.99226005e-01 3.11783767e-04 -3.93356607e-02 4.33887644e+00] [-5.31509584e-04 9.99984315e-01 -5.57558503e-03 5.71196426e-01] [ 3.93333054e-02 5.59217683e-03 9.99210498e-01 -9.89755518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84313336499997 meters Centerline goodness [0,1] 0.2871261434657555 Centerline is valid? [False, False] Translation: X:4.34, Y:0.57, Z:-0.10 [[ 9.99231446e-01 4.23138442e-04 -3.91961630e-02 4.33844774e+00] [-6.46518465e-04 9.99983623e-01 -5.68652773e-03 5.72429178e-01] [ 3.91931149e-02 5.70749837e-03 9.99215354e-01 -9.88778203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.873133365 meters Centerline goodness [0,1] 0.2896158135263377 Centerline is valid? [False, False] Translation: X:4.34, Y:0.57, Z:-0.10 [[ 9.99241429e-01 4.73858126e-04 -3.89402311e-02 4.33767491e+00] [-7.00314846e-04 9.99982923e-01 -5.80206041e-03 5.73392021e-01] [ 3.89368168e-02 5.82492956e-03 9.99224697e-01 -9.86380038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.903133365 meters Centerline goodness [0,1] 0.28725178111262695 Centerline is valid? [False, False] Translation: X:4.34, Y:0.57, Z:-0.10 [[ 9.99247196e-01 4.72632455e-04 -3.87919847e-02 4.33733090e+00] [-7.05642249e-04 9.99981792e-01 -5.99317593e-03 5.74458534e-01] [ 3.87884458e-02 6.01603751e-03 9.99229335e-01 -9.87252267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.933133365 meters Centerline goodness [0,1] 0.2885900198037039 Centerline is valid? [False, False] Translation: X:4.34, Y:0.58, Z:-0.10 [[ 9.99233329e-01 4.23584717e-04 -3.91481078e-02 4.33823028e+00] [-6.71972972e-04 9.99979728e-01 -6.33189378e-03 5.75950938e-01] [ 3.91446320e-02 6.35334578e-03 9.99213357e-01 -9.89652391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.963133365 meters Centerline goodness [0,1] 0.28590041475755146 Centerline is valid? [False, False] Translation: X:4.34, Y:0.58, Z:-0.10 [[ 9.99226861e-01 4.33423792e-04 -3.93127551e-02 4.33873403e+00] [-6.87912857e-04 9.99978896e-01 -6.46015163e-03 5.76825563e-01] [ 3.93091255e-02 6.48220079e-03 9.99206072e-01 -9.91756225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.993133365 meters Centerline goodness [0,1] 0.28609231303140725 Centerline is valid? [False, False] Translation: X:4.34, Y:0.58, Z:-0.10 [[ 9.99222477e-01 4.76962078e-04 -3.94235236e-02 4.33907170e+00] [-7.39043836e-04 9.99977725e-01 -6.63354604e-03 5.78209651e-01] [ 3.94194815e-02 6.65752402e-03 9.99200571e-01 -9.93173945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.023133365 meters Centerline goodness [0,1] 0.283559806127748 Centerline is valid? [False, False] Translation: X:4.34, Y:0.58, Z:-0.10 [[ 9.99221148e-01 5.26329418e-04 -3.94565585e-02 4.33905192e+00] [-7.99489293e-04 9.99975823e-01 -6.90759476e-03 5.80169102e-01] [ 3.94519688e-02 6.93375986e-03 9.99197410e-01 -9.92487423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.053133365 meters Centerline goodness [0,1] 0.284024690292226 Centerline is valid? [False, False] Translation: X:4.34, Y:0.58, Z:-0.10 [[ 9.99221592e-01 5.80842417e-04 -3.94445642e-02 4.33904055e+00] [-8.67819131e-04 9.99973279e-01 -7.25871162e-03 5.82529719e-01] [ 3.94392940e-02 7.28729213e-03 9.99195395e-01 -9.93307051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.083133365 meters Centerline goodness [0,1] 0.2841637781629116 Centerline is valid? [False, False] Translation: X:4.34, Y:0.59, Z:-0.10 [[ 9.99218412e-01 6.09679602e-04 -3.95245839e-02 4.33917099e+00] [-9.13768759e-04 9.99970121e-01 -7.67606268e-03 5.85174408e-01] [ 3.95187230e-02 7.70617949e-03 9.99189114e-01 -9.93589909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.113133365 meters Centerline goodness [0,1] 0.2830983178215898 Centerline is valid? [False, False] Translation: X:4.34, Y:0.59, Z:-0.10 [[ 0.99922157 0.00438371 -0.03920516 4.33819684] [-0.00456873 0.99997884 -0.00463098 0.58917051] [ 0.03918403 0.00480649 0.99922045 -0.09925212] [ 0. 0. 0. 1. ]] SLAMing on 328.143133365 meters Centerline goodness [0,1] 0.28262094676608285 Centerline is valid? [False, False] Translation: X:4.34, Y:0.59, Z:-0.10 [[ 0.99923085 0.00440351 -0.03896562 4.33730859] [-0.00459685 0.99997756 -0.00487345 0.59100588] [ 0.03894328 0.00504882 0.99922867 -0.09884559] [ 0. 0. 0. 1. ]] SLAMing on 328.173133365 meters Centerline goodness [0,1] 0.2833600415782407 Centerline is valid? [False, False] Translation: X:4.34, Y:0.59, Z:-0.10 [[ 0.99923487 0.00436507 -0.03886665 4.3368432 ] [-0.00456811 0.99997637 -0.00513681 0.59279038] [ 0.0388433 0.00531042 0.9992312 -0.09856663] [ 0. 0. 0. 1. ]] SLAMing on 328.203133365 meters Centerline goodness [0,1] 0.28451317795687214 Centerline is valid? [False, False] Translation: X:4.34, Y:0.59, Z:-0.10 [[ 9.99233211e-01 4.31925358e-03 -3.89144434e-02 4.33704550e+00] [-4.53096567e-03 9.99975403e-01 -5.35390005e-03 5.94142190e-01] [ 3.88903613e-02 5.52611474e-03 9.99228203e-01 -9.87503303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.23313336499996 meters Centerline goodness [0,1] 0.28269318453221004 Centerline is valid? [False, False] Translation: X:4.34, Y:0.60, Z:-0.10 [[ 9.99229645e-01 4.21138317e-03 -3.90177094e-02 4.33746375e+00] [-4.43319702e-03 9.99974492e-01 -5.60017849e-03 5.95286647e-01] [ 3.89931296e-02 5.76883755e-03 9.99222826e-01 -9.90200277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.263133365 meters Centerline goodness [0,1] 0.2812540512510263 Centerline is valid? [False, False] Translation: X:4.34, Y:0.60, Z:-0.10 [[ 9.99223611e-01 4.09460249e-03 -3.91842932e-02 4.33808645e+00] [-4.32585267e-03 9.99973715e-01 -5.81863921e-03 5.96049405e-01] [ 3.91594382e-02 5.98362717e-03 9.99215059e-01 -9.94012737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.29313336499996 meters Centerline goodness [0,1] 0.2839143491317404 Centerline is valid? [False, False] Translation: X:4.34, Y:0.60, Z:-0.10 [[ 9.99213832e-01 3.92011398e-03 -3.94505981e-02 4.33878174e+00] [-4.16625524e-03 9.99972354e-01 -6.15894987e-03 5.97610840e-01] [ 3.94253637e-02 6.31846916e-03 9.99202541e-01 -9.95021878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.323133365 meters Centerline goodness [0,1] 0.28237351817062906 Centerline is valid? [False, False] Translation: X:4.36, Y:0.60, Z:-0.10 [[ 9.99210510e-01 -4.40793920e-03 -3.94832432e-02 4.35757648e+00] [ 4.21559480e-03 9.99978846e-01 -4.95347674e-03 6.03199282e-01] [ 3.95042426e-02 4.78312067e-03 9.99207955e-01 -9.74690854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.35313336499996 meters Centerline goodness [0,1] 0.2817368318419171 Centerline is valid? [False, False] Translation: X:4.36, Y:0.60, Z:-0.10 [[ 9.99210631e-01 -4.46034969e-03 -3.94742976e-02 4.35751791e+00] [ 4.26628811e-03 9.99978404e-01 -4.99902327e-03 6.03272515e-01] [ 3.94957425e-02 4.82666847e-03 9.99208081e-01 -9.74115221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.383133365 meters Centerline goodness [0,1] 0.28449585485481144 Centerline is valid? [False, False] Translation: X:4.36, Y:0.60, Z:-0.10 [[ 9.99212226e-01 -4.52367761e-03 -3.94266927e-02 4.35735886e+00] [ 4.33006467e-03 9.99978151e-01 -4.99471809e-03 6.02922580e-01] [ 3.94484258e-02 4.82006325e-03 9.99209982e-01 -9.73112269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.41313336499996 meters Centerline goodness [0,1] 0.28391228410634584 Centerline is valid? [False, False] Translation: X:4.36, Y:0.60, Z:-0.10 [[ 0.99923223 -0.00459975 -0.03890748 4.35592229] [ 0.00441411 0.99997847 -0.00485587 0.60202141] [ 0.03892897 0.0046804 0.99923102 -0.09689221] [ 0. 0. 0. 1. ]] SLAMing on 328.443133365 meters Centerline goodness [0,1] 0.2833707477119668 Centerline is valid? [False, False] Translation: X:4.36, Y:0.60, Z:-0.10 [[ 0.99924069 -0.00458154 -0.03869176 4.35522366] [ 0.00439889 0.99997878 -0.00480455 0.60182987] [ 0.03871296 0.0046307 0.99923964 -0.09660435] [ 0. 0. 0. 1. ]] SLAMing on 328.47313336499997 meters Centerline goodness [0,1] 0.28755392861812 Centerline is valid? [False, False] Translation: X:4.36, Y:0.60, Z:-0.10 [[ 0.99924267 -0.00460273 -0.03863814 4.35513765] [ 0.0044171 0.9999783 -0.0048881 0.60236131] [ 0.0386598 0.00471373 0.99924131 -0.09667351] [ 0. 0. 0. 1. ]] SLAMing on 328.503133365 meters Centerline goodness [0,1] 0.2856832783469352 Centerline is valid? [False, False] Translation: X:4.36, Y:0.60, Z:-0.10 [[ 0.99923307 -0.00462677 -0.0388826 4.3559235 ] [ 0.00443295 0.99997732 -0.00506944 0.60343656] [ 0.03890517 0.00489319 0.99923093 -0.0970509 ] [ 0. 0. 0. 1. ]] SLAMing on 328.53313336499997 meters Centerline goodness [0,1] 0.28521524040965107 Centerline is valid? [False, False] Translation: X:4.36, Y:0.60, Z:-0.10 [[ 0.99922086 -0.00461974 -0.0391961 4.35709643] [ 0.00441652 0.99997636 -0.00526966 0.60476221] [ 0.03921952 0.00509245 0.99921764 -0.09777812] [ 0. 0. 0. 1. ]] SLAMing on 328.563133365 meters Centerline goodness [0,1] 0.2842615223463687 Centerline is valid? [False, False] Translation: X:4.36, Y:0.61, Z:-0.10 [[ 0.99921242 -0.00465446 -0.0394066 4.35794488] [ 0.00444187 0.99997511 -0.00548082 0.6059993 ] [ 0.03943112 0.00530146 0.99920823 -0.09838685] [ 0. 0. 0. 1. ]] SLAMing on 328.59313336499997 meters Centerline goodness [0,1] 0.2851668564421477 Centerline is valid? [False, False] Translation: X:4.36, Y:0.61, Z:-0.10 [[ 0.99920344 -0.00469018 -0.03962947 4.35894466] [ 0.00445723 0.99997228 -0.00596448 0.60879235] [ 0.03965634 0.00578309 0.99919664 -0.09929755] [ 0. 0. 0. 1. ]] SLAMing on 328.623133365 meters Centerline goodness [0,1] 0.28455177556973965 Centerline is valid? [False, False] Translation: X:4.36, Y:0.61, Z:-0.10 [[ 0.99920425 -0.00478885 -0.03959704 4.35907757] [ 0.00454336 0.99996991 -0.00628751 0.61041567] [ 0.03962596 0.0061026 0.99919595 -0.09968181] [ 0. 0. 0. 1. ]] SLAMing on 328.653133365 meters Centerline goodness [0,1] 0.2814890472878998 Centerline is valid? [False, False] Translation: X:4.36, Y:0.61, Z:-0.10 [[ 0.99920071 -0.00483606 -0.03968066 4.35956789] [ 0.00458151 0.99996836 -0.0065034 0.61169436] [ 0.03971086 0.0063164 0.99919125 -0.10018991] [ 0. 0. 0. 1. ]] SLAMing on 328.683133365 meters Centerline goodness [0,1] 0.2823524256102371 Centerline is valid? [False, False] Translation: X:4.36, Y:0.61, Z:-0.10 [[ 0.99918228 -0.00491371 -0.04013261 4.36110559] [ 0.00464308 0.99996587 -0.00683385 0.61382714] [ 0.04016482 0.00664193 0.99917099 -0.10092629] [ 0. 0. 0. 1. ]] SLAMing on 328.713133365 meters Centerline goodness [0,1] 0.2812988027069234 Centerline is valid? [False, False] Translation: X:4.36, Y:0.61, Z:-0.10 [[ 0.99918101 -0.00491527 -0.04016405 4.36127573] [ 0.00464377 0.99996575 -0.00685019 0.61409122] [ 0.04019634 0.00665807 0.99916962 -0.10107969] [ 0. 0. 0. 1. ]] SLAMing on 328.743133365 meters Centerline goodness [0,1] 0.2829407534918179 Centerline is valid? [False, False] Translation: X:4.36, Y:0.61, Z:-0.10 [[ 0.99918377 -0.00490061 -0.04009702 4.36112369] [ 0.00463094 0.99996605 -0.0068156 0.6140372 ] [ 0.04012906 0.00662435 0.99917255 -0.10107016] [ 0. 0. 0. 1. ]] SLAMing on 328.773133365 meters Centerline goodness [0,1] 0.28093202872453515 Centerline is valid? [False, False] Translation: X:4.36, Y:0.61, Z:-0.10 [[ 0.99918318 -0.00489637 -0.04011231 4.36121181] [ 0.00462815 0.99996633 -0.00677694 0.61378109] [ 0.04014414 0.00658575 0.9991722 -0.10113725] [ 0. 0. 0. 1. ]] SLAMing on 328.803133365 meters Centerline goodness [0,1] 0.28093202872453515 Centerline is valid? [False, False] Translation: X:4.36, Y:0.61, Z:-0.10 [[ 0.99918318 -0.00489637 -0.04011231 4.36121181] [ 0.00462815 0.99996633 -0.00677694 0.61378109] [ 0.04014414 0.00658575 0.9991722 -0.10113725] [ 0. 0. 0. 1. ]] SLAMing on 328.833133365 meters Centerline goodness [0,1] 0.28339957199633137 Centerline is valid? [False, False] Translation: X:4.36, Y:0.61, Z:-0.10 [[ 0.99918097 -0.00493378 -0.04016278 4.36154286] [ 0.00466585 0.99996625 -0.00676206 0.61331337] [ 0.04019479 0.00656913 0.99917027 -0.10145494] [ 0. 0. 0. 1. ]] SLAMing on 328.863133365 meters Centerline goodness [0,1] 0.28371755708414825 Centerline is valid? [False, False] Translation: X:4.36, Y:0.61, Z:-0.10 [[ 0.99916993 -0.00491732 -0.04043856 4.36263207] [ 0.00465569 0.99996764 -0.0065614 0.61176351] [ 0.04046951 0.00636768 0.99916048 -0.10212825] [ 0. 0. 0. 1. ]] SLAMing on 328.893133365 meters Centerline goodness [0,1] 0.2805906715527896 Centerline is valid? [False, False] Translation: X:4.38, Y:0.61, Z:-0.10 [[ 9.99192682e-01 2.47061542e-03 -4.00983879e-02 4.38246985e+00] [-2.76719082e-03 9.99969216e-01 -7.34237625e-03 6.07565481e-01] [ 4.00790133e-02 7.44740851e-03 9.99168759e-01 -1.00517730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.923133365 meters Centerline goodness [0,1] 0.27724265735772624 Centerline is valid? [False, False] Translation: X:4.40, Y:0.61, Z:-0.10 [[ 0.99921557 -0.00581037 -0.03917256 4.40024037] [ 0.00558413 0.99996711 -0.00588245 0.61159863] [ 0.03920545 0.00565909 0.99921515 -0.09860746] [ 0. 0. 0. 1. ]] SLAMing on 328.953133365 meters Centerline goodness [0,1] 0.28294709226060344 Centerline is valid? [False, False] Translation: X:4.38, Y:0.61, Z:-0.10 [[ 9.99244710e-01 2.71088029e-03 -3.87641652e-02 4.38031320e+00] [-2.98056428e-03 9.99971746e-01 -6.90094561e-03 6.05294950e-01] [ 3.87443623e-02 7.01127248e-03 9.99224558e-01 -1.00418510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98313336499996 meters Centerline goodness [0,1] 0.2824038817206641 Centerline is valid? [False, False] Translation: X:4.40, Y:0.61, Z:-0.10 [[ 0.99927194 -0.00576016 -0.03771498 4.39833477] [ 0.00555265 0.99996888 -0.00560438 0.60849453] [ 0.03774609 0.00539088 0.99927282 -0.0985773 ] [ 0. 0. 0. 1. ]] SLAMing on 329.013133365 meters Centerline goodness [0,1] 0.28334892626357133 Centerline is valid? [False, False] Translation: X:4.40, Y:0.61, Z:-0.10 [[ 0.9992828 -0.00569116 -0.03743664 4.39754381] [ 0.00549379 0.99997048 -0.0053728 0.60710959] [ 0.03746611 0.00516327 0.99928456 -0.09836026] [ 0. 0. 0. 1. ]] SLAMing on 329.04313336499996 meters Centerline goodness [0,1] 0.2823082239115411 Centerline is valid? [False, False] Translation: X:4.40, Y:0.60, Z:-0.10 [[ 0.99929065 -0.00546238 -0.0372607 4.39696361] [ 0.00528424 0.99997414 -0.00487783 0.60462818] [ 0.03728638 0.00467748 0.99929367 -0.09813864] [ 0. 0. 0. 1. ]] SLAMing on 329.073133365 meters Centerline goodness [0,1] 0.2849634718133246 Centerline is valid? [False, False] Translation: X:4.40, Y:0.60, Z:-0.10 [[ 0.99929258 -0.00537778 -0.03722134 4.39687388] [ 0.00520563 0.99997531 -0.00472048 0.60385124] [ 0.03724581 0.00452338 0.9992959 -0.09818059] [ 0. 0. 0. 1. ]] SLAMing on 329.10313336499996 meters Centerline goodness [0,1] 0.28453639981530754 Centerline is valid? [False, False] Translation: X:4.40, Y:0.60, Z:-0.10 [[ 0.99929718 -0.00529872 -0.03710878 4.3968608 ] [ 0.00513089 0.99997618 -0.00461644 0.60341674] [ 0.03713235 0.00442279 0.99930057 -0.09861695] [ 0. 0. 0. 1. ]] SLAMing on 329.133133365 meters Centerline goodness [0,1] 0.28052648613658426 Centerline is valid? [False, False] Translation: X:4.42, Y:0.60, Z:-0.10 [[ 9.99336922e-01 2.50425193e-03 -3.63241736e-02 4.41678915e+00] [-2.70116186e-03 9.99981918e-01 -5.37284437e-03 6.00106007e-01] [ 3.63100619e-02 5.46739922e-03 9.99325616e-01 -9.72534066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16313336499996 meters Centerline goodness [0,1] 0.28193345616126586 Centerline is valid? [False, False] Translation: X:4.42, Y:0.60, Z:-0.10 [[ 9.99351680e-01 2.79279836e-03 -3.58945717e-02 4.41601545e+00] [-2.98140398e-03 9.99982025e-01 -5.20198206e-03 5.99991112e-01] [ 3.58793984e-02 5.30562573e-03 9.99342043e-01 -9.77465435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.193133365 meters Centerline goodness [0,1] 0.2786910000862888 Centerline is valid? [False, False] Translation: X:4.42, Y:0.60, Z:-0.10 [[ 9.99348241e-01 2.89315576e-03 -3.59822626e-02 4.41645612e+00] [-3.08153784e-03 9.99981830e-01 -5.18105906e-03 6.00314838e-01] [ 3.59666192e-02 5.28856296e-03 9.99338998e-01 -9.81718306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22313336499997 meters Centerline goodness [0,1] 0.2773666092943201 Centerline is valid? [False, False] Translation: X:4.42, Y:0.60, Z:-0.10 [[ 9.99344812e-01 2.97683022e-03 -3.60705602e-02 4.41673689e+00] [-3.16408962e-03 9.99981807e-01 -5.13550324e-03 6.00456548e-01] [ 3.60546165e-02 5.24626901e-03 9.99336050e-01 -9.83452693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.253133365 meters Centerline goodness [0,1] 0.2809560021727322 Centerline is valid? [False, False] Translation: X:4.42, Y:0.60, Z:-0.10 [[ 9.99338644e-01 3.04988840e-03 -3.62349629e-02 4.41748907e+00] [-3.23483653e-03 9.99982034e-01 -5.04660486e-03 6.00212983e-01] [ 3.62189203e-02 5.16048144e-03 9.99330556e-01 -9.89214019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28313336499997 meters Centerline goodness [0,1] 0.2803135585859463 Centerline is valid? [False, False] Translation: X:4.42, Y:0.60, Z:-0.10 [[ 9.99330971e-01 3.09794619e-03 -3.64419075e-02 4.41830559e+00] [-3.28285983e-03 9.99982034e-01 -5.01546092e-03 6.00144143e-01] [ 3.64257152e-02 5.13173911e-03 9.99323187e-01 -9.94612818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.313133365 meters Centerline goodness [0,1] 0.27845303867403315 Centerline is valid? [False, False] Translation: X:4.42, Y:0.60, Z:-0.10 [[ 9.99323009e-01 3.19776878e-03 -3.66510317e-02 4.41933958e+00] [-3.38367129e-03 9.99981719e-01 -5.01132567e-03 6.00511835e-01] [ 3.66343366e-02 5.13194809e-03 9.99315560e-01 -1.00354449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34313336499997 meters Centerline goodness [0,1] 0.279728150296524 Centerline is valid? [False, False] Translation: X:4.42, Y:0.60, Z:-0.10 [[ 9.99330179e-01 3.22100889e-03 -3.64529585e-02 4.41871234e+00] [-3.40636217e-03 9.99981579e-01 -5.02376118e-03 6.00754779e-01] [ 3.64361055e-02 5.14456813e-03 9.99322742e-01 -1.00209360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.373133365 meters Centerline goodness [0,1] 0.2779430789133247 Centerline is valid? [False, False] Translation: X:4.42, Y:0.60, Z:-0.10 [[ 9.99336030e-01 3.20594188e-03 -3.62935302e-02 4.41806537e+00] [-3.39346662e-03 9.99981204e-01 -5.10647026e-03 6.01401925e-01] [ 3.62764770e-02 5.22624060e-03 9.99328126e-01 -9.98338611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.403133365 meters Centerline goodness [0,1] 0.27982119219668855 Centerline is valid? [False, False] Translation: X:4.42, Y:0.60, Z:-0.10 [[ 9.99338032e-01 3.21518539e-03 -3.62375645e-02 4.41787199e+00] [-3.40292621e-03 9.99981101e-01 -5.12034840e-03 6.01609336e-01] [ 3.62204167e-02 5.24027265e-03 9.99330086e-01 -9.97634063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.433133365 meters Centerline goodness [0,1] 0.2810406163382003 Centerline is valid? [False, False] Translation: X:4.42, Y:0.60, Z:-0.10 [[ 9.99337193e-01 3.19359290e-03 -3.62625907e-02 4.41793077e+00] [-3.38423357e-03 9.99980769e-01 -5.19706378e-03 6.02018249e-01] [ 3.62452960e-02 5.31634021e-03 9.99328782e-01 -9.98093997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.463133365 meters Centerline goodness [0,1] 0.2775326585344753 Centerline is valid? [False, False] Translation: X:4.44, Y:0.61, Z:-0.10 [[ 9.99317517e-01 -4.77706661e-03 -3.66289365e-02 4.43725527e+00] [ 4.63112863e-03 9.99981002e-01 -4.06803777e-03 6.08333776e-01] [ 3.66476739e-02 3.89562809e-03 9.99320655e-01 -9.85128756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.493133365 meters Centerline goodness [0,1] 0.2781615708152636 Centerline is valid? [False, False] Translation: X:4.44, Y:0.61, Z:-0.10 [[ 9.99302856e-01 -4.70230705e-03 -3.70363432e-02 4.43871902e+00] [ 4.54413716e-03 9.99980198e-01 -4.35368830e-03 6.10597619e-01] [ 3.70560821e-02 4.18235493e-03 9.99304435e-01 -9.94454904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.523133365 meters Centerline goodness [0,1] 0.27993217981045126 Centerline is valid? [False, False] Translation: X:4.44, Y:0.61, Z:-0.10 [[ 9.99295502e-01 -4.70316759e-03 -3.72341173e-02 4.43941677e+00] [ 4.53744644e-03 9.99979427e-01 -4.53404096e-03 6.11892903e-01] [ 3.72546757e-02 4.36189892e-03 9.99296284e-01 -9.98637755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.553133365 meters Centerline goodness [0,1] 0.27849174766781915 Centerline is valid? [False, False] Translation: X:4.44, Y:0.61, Z:-0.10 [[ 0.99928543 -0.00470869 -0.03750271 4.44045797] [ 0.00453632 0.99997876 -0.00468009 0.61290327] [ 0.03752395 0.00450662 0.99928557 -0.10053115] [ 0. 0. 0. 1. ]] SLAMing on 329.583133365 meters Centerline goodness [0,1] 0.27913908736246873 Centerline is valid? [False, False] Translation: X:4.44, Y:0.61, Z:-0.10 [[ 0.9992799 -0.00475561 -0.03764403 4.44108884] [ 0.00457806 0.99997799 -0.00480121 0.61344641] [ 0.03766603 0.00462542 0.99927968 -0.10101984] [ 0. 0. 0. 1. ]] SLAMing on 329.613133365 meters Centerline goodness [0,1] 0.27835074024813033 Centerline is valid? [False, False] Translation: X:4.44, Y:0.61, Z:-0.10 [[ 0.99927918 -0.00479767 -0.03765781 4.44134652] [ 0.00461897 0.99997766 -0.00483082 0.61333527] [ 0.03768015 0.0046534 0.99927902 -0.10134194] [ 0. 0. 0. 1. ]] SLAMing on 329.643133365 meters Centerline goodness [0,1] 0.27969357021258023 Centerline is valid? [False, False] Translation: X:4.44, Y:0.61, Z:-0.10 [[ 0.99928521 -0.00481661 -0.03749482 4.44069794] [ 0.00464026 0.99997777 -0.00478895 0.61301776] [ 0.03751705 0.00461154 0.99928535 -0.10092567] [ 0. 0. 0. 1. ]] SLAMing on 329.673133365 meters Centerline goodness [0,1] 0.27694510118647375 Centerline is valid? [False, False] Translation: X:4.44, Y:0.61, Z:-0.10 [[ 9.99290361e-01 -4.63645520e-03 -3.73801655e-02 4.43984650e+00] [ 4.46965319e-03 9.99979684e-01 -4.54464688e-03 6.12853031e-01] [ 3.74004772e-02 4.37434545e-03 9.99290783e-01 -1.00018199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.703133365 meters Centerline goodness [0,1] 0.278342659321997 Centerline is valid? [False, False] Translation: X:4.44, Y:0.61, Z:-0.10 [[ 9.99285514e-01 -4.61867572e-03 -3.75117146e-02 4.44051597e+00] [ 4.44910383e-03 9.99979510e-01 -4.60272418e-03 6.13468425e-01] [ 3.75322044e-02 4.43254208e-03 9.99285588e-01 -1.00562211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.73313336499996 meters Centerline goodness [0,1] 0.27776931612959377 Centerline is valid? [False, False] Translation: X:4.44, Y:0.61, Z:-0.10 [[ 0.99927013 -0.00469254 -0.03791031 4.44219696] [ 0.00451403 0.99997832 -0.00479308 0.61420266] [ 0.03793198 0.00461846 0.99926965 -0.10169034] [ 0. 0. 0. 1. ]] SLAMing on 329.763133365 meters Centerline goodness [0,1] 0.27823233428133887 Centerline is valid? [False, False] Translation: X:4.44, Y:0.61, Z:-0.10 [[ 0.99925697 -0.00485577 -0.0382351 4.44382108] [ 0.00466564 0.99997631 -0.00506042 0.61477896] [ 0.03825877 0.00487827 0.99925596 -0.1030262 ] [ 0. 0. 0. 1. ]] SLAMing on 329.79313336499996 meters Centerline goodness [0,1] 0.2774131443073422 Centerline is valid? [False, False] Translation: X:4.45, Y:0.62, Z:-0.10 [[ 0.99922854 -0.00483746 -0.03897344 4.44610756] [ 0.00463857 0.99997576 -0.005192 0.61559338] [ 0.03899762 0.00500722 0.99922676 -0.10396064] [ 0. 0. 0. 1. ]] SLAMing on 329.823133365 meters Centerline goodness [0,1] 0.27673464040871576 Centerline is valid? [False, False] Translation: X:4.45, Y:0.62, Z:-0.10 [[ 0.99921897 -0.0047307 -0.0392309 4.44674597] [ 0.00453308 0.99997659 -0.00512467 0.61599122] [ 0.03925423 0.00494283 0.99921703 -0.10404318] [ 0. 0. 0. 1. ]] SLAMing on 329.85313336499996 meters Centerline goodness [0,1] 0.2785806990914891 Centerline is valid? [False, False] Translation: X:4.45, Y:0.62, Z:-0.10 [[ 0.99921583 -0.00466005 -0.03931942 4.4469005 ] [ 0.00446553 0.99997736 -0.00503364 0.6159066 ] [ 0.03934198 0.00485411 0.99921401 -0.10394623] [ 0. 0. 0. 1. ]] SLAMing on 329.883133365 meters Centerline goodness [0,1] 0.2763335804946133 Centerline is valid? [False, False] Translation: X:4.45, Y:0.62, Z:-0.10 [[ 0.99921671 -0.00465153 -0.03929794 4.44675547] [ 0.00445944 0.99997768 -0.00497423 0.61550106] [ 0.0393202 0.00479509 0.99921516 -0.10378765] [ 0. 0. 0. 1. ]] SLAMing on 329.91313336499996 meters Centerline goodness [0,1] 0.2745667244367418 Centerline is valid? [False, False] Translation: X:4.45, Y:0.61, Z:-0.10 [[ 9.99220301e-01 -4.63050957e-03 -3.92090433e-02 4.44636730e+00] [ 4.44396988e-03 9.99978396e-01 -4.84338815e-03 6.14641692e-01] [ 3.92306236e-02 4.66536795e-03 9.99219292e-01 -1.03488004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.943133365 meters Centerline goodness [0,1] 0.2763474231761157 Centerline is valid? [False, False] Translation: X:4.45, Y:0.61, Z:-0.10 [[ 9.99224519e-01 -4.60825712e-03 -3.91040277e-02 4.44601028e+00] [ 4.42738067e-03 9.99979103e-01 -4.71085762e-03 6.13743870e-01] [ 3.91249193e-02 4.53407602e-03 9.99224040e-01 -1.03309636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.97313336499997 meters Centerline goodness [0,1] 0.2761633593427373 Centerline is valid? [False, False] Translation: X:4.45, Y:0.61, Z:-0.10 [[ 9.99220101e-01 -4.46474807e-03 -3.92333627e-02 4.44642944e+00] [ 4.29739394e-03 9.99981310e-01 -4.34890609e-03 6.11984625e-01] [ 3.92520462e-02 4.17691316e-03 9.99220611e-01 -1.03399394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.003133365 meters Centerline goodness [0,1] 0.28029919700802997 Centerline is valid? [False, False] Translation: X:4.45, Y:0.61, Z:-0.10 [[ 9.99217858e-01 -4.45521401e-03 -3.92915067e-02 4.44658787e+00] [ 4.28904150e-03 9.99981503e-01 -4.31250295e-03 6.11697986e-01] [ 3.93099930e-02 4.14060706e-03 9.99218485e-01 -1.03404242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03313336499997 meters Centerline goodness [0,1] 0.2747759393312651 Centerline is valid? [False, False] Translation: X:4.49, Y:0.61, Z:-0.10 [[ 9.99277600e-01 -5.00535707e-03 -3.76726054e-02 4.49043473e+00] [ 4.86728047e-03 9.99981101e-01 -3.75599516e-03 6.13252600e-01] [ 3.76906935e-02 3.56991869e-03 9.99283077e-01 -1.02260421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.063133365 meters Centerline goodness [0,1] 0.2783847565772223 Centerline is valid? [False, False] Translation: X:4.47, Y:0.61, Z:-0.10 [[ 9.99356268e-01 1.22068454e-03 -3.58546978e-02 4.46655472e+00] [-1.44616946e-03 9.99979338e-01 -6.26359169e-03 6.07035770e-01] [ 3.58463111e-02 6.31141159e-03 9.99337385e-01 -1.01978752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09313336499997 meters Centerline goodness [0,1] 0.2805830980366406 Centerline is valid? [False, False] Translation: X:4.47, Y:0.61, Z:-0.10 [[ 9.99362676e-01 1.23251953e-03 -3.56752285e-02 4.46597437e+00] [-1.45435495e-03 9.99979766e-01 -6.19290949e-03 6.06592648e-01] [ 3.56668738e-02 6.24084705e-03 9.99344248e-01 -1.01693744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.123133365 meters Centerline goodness [0,1] 0.27751695357329165 Centerline is valid? [False, False] Translation: X:4.47, Y:0.61, Z:-0.10 [[ 9.99359276e-01 1.26694966e-03 -3.57691482e-02 4.46637504e+00] [-1.48855339e-03 9.99979861e-01 -6.16943663e-03 6.06684818e-01] [ 3.57606115e-02 6.21872802e-03 9.99341036e-01 -1.01987895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.153133365 meters Centerline goodness [0,1] 0.2802302841196247 Centerline is valid? [False, False] Translation: X:4.47, Y:0.61, Z:-0.10 [[ 9.99354894e-01 1.27820498e-03 -3.58909693e-02 4.46708949e+00] [-1.50106982e-03 9.99979757e-01 -6.18323702e-03 6.06904406e-01] [ 3.58823393e-02 6.23312303e-03 9.99336583e-01 -1.02668372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.183133365 meters Centerline goodness [0,1] 0.27609427609427606 Centerline is valid? [False, False] Translation: X:4.49, Y:0.61, Z:-0.10 [[ 0.9993275 -0.00710369 -0.03597339 4.48692058] [ 0.00691899 0.99996225 -0.00525624 0.61221571] [ 0.03600937 0.0050038 0.99933893 -0.10202519] [ 0. 0. 0. 1. ]] SLAMing on 330.213133365 meters Centerline goodness [0,1] 0.27871382916277143 Centerline is valid? [False, False] Translation: X:4.49, Y:0.61, Z:-0.10 [[ 0.99932887 -0.00712067 -0.03593191 4.48690526] [ 0.00693633 0.99996215 -0.00525211 0.61200469] [ 0.03596795 0.00499935 0.99934044 -0.10218206] [ 0. 0. 0. 1. ]] SLAMing on 330.243133365 meters Centerline goodness [0,1] 0.2762506513809275 Centerline is valid? [False, False] Translation: X:4.49, Y:0.61, Z:-0.10 [[ 0.99932263 -0.00707052 -0.0361149 4.48723122] [ 0.00689064 0.99996324 -0.00510288 0.6111595 ] [ 0.03614966 0.00485057 0.99933462 -0.10200821] [ 0. 0. 0. 1. ]] SLAMing on 330.273133365 meters Centerline goodness [0,1] 0.275823199150246 Centerline is valid? [False, False] Translation: X:4.49, Y:0.61, Z:-0.10 [[ 0.99932061 -0.00699 -0.03618651 4.48738367] [ 0.00681321 0.99996426 -0.00500639 0.61103286] [ 0.03622021 0.00475644 0.99933251 -0.10196982] [ 0. 0. 0. 1. ]] SLAMing on 330.303133365 meters Centerline goodness [0,1] 0.27782013025200936 Centerline is valid? [False, False] Translation: X:4.49, Y:0.61, Z:-0.10 [[ 0.99932206 -0.00697922 -0.03614849 4.48728505] [ 0.00680268 0.99996434 -0.00500442 0.61112203] [ 0.03618212 0.00475512 0.9993339 -0.10196876] [ 0. 0. 0. 1. ]] SLAMing on 330.333133365 meters Centerline goodness [0,1] 0.2796183754819317 Centerline is valid? [False, False] Translation: X:4.49, Y:0.61, Z:-0.10 [[ 0.99932551 -0.0069813 -0.03605263 4.48702995] [ 0.00680615 0.99996444 -0.00497866 0.61087128] [ 0.03608611 0.00472992 0.99933749 -0.10195093] [ 0. 0. 0. 1. ]] SLAMing on 330.363133365 meters Centerline goodness [0,1] 0.2801839701811365 Centerline is valid? [False, False] Translation: X:4.49, Y:0.61, Z:-0.10 [[ 0.99933058 -0.00695754 -0.03591646 4.48689292] [ 0.00678905 0.99996538 -0.00481103 0.60977699] [ 0.03594869 0.00456397 0.99934322 -0.10222155] [ 0. 0. 0. 1. ]] SLAMing on 330.393133365 meters Centerline goodness [0,1] 0.2797398175230279 Centerline is valid? [False, False] Translation: X:4.49, Y:0.61, Z:-0.10 [[ 9.99326574e-01 -6.86799905e-03 -3.60448340e-02 4.48725521e+00] [ 6.70501713e-03 9.99966753e-01 -4.64057950e-03 6.09131290e-01] [ 3.60755071e-02 4.39577318e-03 9.99339399e-01 -1.02260799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.423133365 meters Centerline goodness [0,1] 0.279400503227218 Centerline is valid? [False, False] Translation: X:4.49, Y:0.61, Z:-0.10 [[ 9.99321575e-01 -6.75879144e-03 -3.62036982e-02 4.48776454e+00] [ 6.60317145e-03 9.99968447e-01 -4.41630247e-03 6.08177852e-01] [ 3.62324047e-02 4.17424712e-03 9.99334673e-01 -1.02425844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.453133365 meters Centerline goodness [0,1] 0.27804038599777814 Centerline is valid? [False, False] Translation: X:4.49, Y:0.61, Z:-0.10 [[ 9.99311193e-01 -6.69436397e-03 -3.65010362e-02 4.48863607e+00] [ 6.54558685e-03 9.99969783e-01 -4.19394895e-03 6.06827979e-01] [ 3.65280091e-02 3.95213942e-03 9.99324815e-01 -1.02641967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48313336499996 meters Centerline goodness [0,1] 0.27671482493817523 Centerline is valid? [False, False] Translation: X:4.49, Y:0.61, Z:-0.10 [[ 9.99301259e-01 -6.61683971e-03 -3.67860205e-02 4.48950502e+00] [ 6.47704950e-03 9.99971348e-01 -3.91796662e-03 6.05113642e-01] [ 3.68108911e-02 3.67696410e-03 9.99315485e-01 -1.02841234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.513133365 meters Centerline goodness [0,1] 0.28007197086057845 Centerline is valid? [False, False] Translation: X:4.47, Y:0.60, Z:-0.10 [[ 9.99323140e-01 1.53392428e-03 -3.67547117e-02 4.47136383e+00] [-1.71981473e-03 9.99985888e-01 -5.02651274e-03 5.96759534e-01] [ 3.67464827e-02 5.08632179e-03 9.99311676e-01 -1.04831582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54313336499996 meters Centerline goodness [0,1] 0.2802609325924136 Centerline is valid? [False, False] Translation: X:4.47, Y:0.59, Z:-0.10 [[ 9.99339978e-01 1.72432249e-03 -3.62854614e-02 4.46977828e+00] [-1.87732435e-03 9.99989489e-01 -4.18296764e-03 5.92144309e-01] [ 3.62778672e-02 4.24832637e-03 9.99332711e-01 -1.03945496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.573133365 meters Centerline goodness [0,1] 0.2760636570315037 Centerline is valid? [False, False] Translation: X:4.49, Y:0.59, Z:-0.10 [[ 9.99329385e-01 -6.76245158e-03 -3.59867960e-02 4.49009259e+00] [ 6.65795022e-03 9.99973266e-01 -3.02292812e-03 5.94414794e-01] [ 3.60062763e-02 2.78130261e-03 9.99347693e-01 -1.03164103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60313336499996 meters Centerline goodness [0,1] 0.278969677208999 Centerline is valid? [False, False] Translation: X:4.49, Y:0.59, Z:-0.10 [[ 9.99327133e-01 -6.58179281e-03 -3.60827061e-02 4.49081197e+00] [ 6.49229147e-03 9.99975552e-01 -2.59705805e-03 5.92250547e-01] [ 3.60989173e-02 2.36105113e-03 9.99345433e-01 -1.03852255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.633133365 meters Centerline goodness [0,1] 0.2804330199636228 Centerline is valid? [False, False] Translation: X:4.49, Y:0.59, Z:-0.10 [[ 9.99324254e-01 -6.42515675e-03 -3.61905077e-02 4.49144000e+00] [ 6.34905250e-03 9.99977386e-01 -2.21741273e-03 5.90326065e-01] [ 3.62039365e-02 1.98613888e-03 9.99342449e-01 -1.04394997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66313336499996 meters Centerline goodness [0,1] 0.2779089081213393 Centerline is valid? [False, False] Translation: X:4.49, Y:0.59, Z:-0.11 [[ 9.99315182e-01 -6.14594066e-03 -3.64882718e-02 4.49267569e+00] [ 6.09155788e-03 9.99980164e-01 -1.60140452e-03 5.87223182e-01] [ 3.64973902e-02 1.37803743e-03 9.99332798e-01 -1.05157325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.693133365 meters Centerline goodness [0,1] 0.2779089081213393 Centerline is valid? [False, False] Translation: X:4.49, Y:0.59, Z:-0.11 [[ 9.99315182e-01 -6.14594066e-03 -3.64882718e-02 4.49267569e+00] [ 6.09155788e-03 9.99980164e-01 -1.60140452e-03 5.87223182e-01] [ 3.64973902e-02 1.37803743e-03 9.99332798e-01 -1.05157325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72313336499997 meters Centerline goodness [0,1] 0.28087140402660915 Centerline is valid? [False, False] Translation: X:4.49, Y:0.59, Z:-0.11 [[ 9.99308546e-01 -6.04197106e-03 -3.66868449e-02 4.49352020e+00] [ 5.99530360e-03 9.99981073e-01 -1.38192792e-03 5.86050905e-01] [ 3.66945001e-02 1.16102361e-03 9.99325856e-01 -1.05745735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.753133365 meters Centerline goodness [0,1] 0.2767068447848222 Centerline is valid? [False, False] Translation: X:4.51, Y:0.58, Z:-0.10 [[ 9.99282479e-01 1.55287137e-03 -3.78433054e-02 4.51468640e+00] [-1.62614108e-03 9.99996862e-01 -1.90543053e-03 5.81336830e-01] [ 3.78402278e-02 1.96560190e-03 9.99281869e-01 -1.04337184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78313336499997 meters Centerline goodness [0,1] 0.2740530467192511 Centerline is valid? [False, False] Translation: X:4.52, Y:0.58, Z:-0.10 [[ 9.99281294e-01 1.65445842e-03 -3.78702892e-02 4.51508703e+00] [-1.72114006e-03 9.99997025e-01 -1.72825638e-03 5.80482451e-01] [ 3.78673172e-02 1.79219434e-03 9.99281169e-01 -1.04859964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.813133365 meters Centerline goodness [0,1] 0.27682818235128037 Centerline is valid? [False, False] Translation: X:4.51, Y:0.58, Z:-0.11 [[ 9.99284488e-01 1.77381340e-03 -3.77805034e-02 4.51496135e+00] [-1.83435925e-03 9.99997088e-01 -1.56796500e-03 5.80010736e-01] [ 3.77776121e-02 1.63614612e-03 9.99284832e-01 -1.05024196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84313336499997 meters Centerline goodness [0,1] 0.2758860319666435 Centerline is valid? [False, False] Translation: X:4.51, Y:0.58, Z:-0.11 [[ 9.99296085e-01 1.98554740e-03 -3.74618801e-02 4.51420510e+00] [-2.03816211e-03 9.99996989e-01 -1.36634900e-03 5.79732489e-01] [ 3.74590543e-02 1.44174059e-03 9.99297123e-01 -1.05102016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.873133365 meters Centerline goodness [0,1] 0.27552368780191927 Centerline is valid? [False, False] Translation: X:4.51, Y:0.58, Z:-0.10 [[ 9.99302384e-01 2.00301457e-03 -3.72925420e-02 4.51362570e+00] [-2.05519144e-03 9.99996962e-01 -1.36084101e-03 5.79792897e-01] [ 3.72897029e-02 1.43653498e-03 9.99303465e-01 -1.04853705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.903133365 meters Centerline goodness [0,1] 0.2760357856336315 Centerline is valid? [False, False] Translation: X:4.51, Y:0.58, Z:-0.10 [[ 9.99306856e-01 2.00025412e-03 -3.71726536e-02 4.51303062e+00] [-2.05397300e-03 9.99996901e-01 -1.40698548e-03 5.80084441e-01] [ 3.71697241e-02 1.48236186e-03 9.99307868e-01 -1.04459881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.933133365 meters Centerline goodness [0,1] 0.2755621276040534 Centerline is valid? [False, False] Translation: X:4.51, Y:0.58, Z:-0.10 [[ 9.99307803e-01 1.97216817e-03 -3.71486808e-02 4.51271371e+00] [-2.02763245e-03 9.99996885e-01 -1.45541928e-03 5.80201144e-01] [ 3.71456948e-02 1.52973572e-03 9.99308690e-01 -1.04100083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.963133365 meters Centerline goodness [0,1] 0.2795731907714555 Centerline is valid? [False, False] Translation: X:4.51, Y:0.58, Z:-0.10 [[ 9.99307957e-01 1.99341254e-03 -3.71434250e-02 4.51252495e+00] [-2.04574407e-03 9.99996968e-01 -1.37095142e-03 5.79702698e-01] [ 3.71405795e-02 1.44598860e-03 9.99309004e-01 -1.03844223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.993133365 meters Centerline goodness [0,1] 0.27763401109057306 Centerline is valid? [False, False] Translation: X:4.51, Y:0.58, Z:-0.10 [[ 9.99304424e-01 2.05286444e-03 -3.72351138e-02 4.51271269e+00] [-2.09686036e-03 9.99997149e-01 -1.14255719e-03 5.78350099e-01] [ 3.72326621e-02 1.21983929e-03 9.99305880e-01 -1.03754011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.023133365 meters Centerline goodness [0,1] 0.27922446131030276 Centerline is valid? [False, False] Translation: X:4.51, Y:0.57, Z:-0.10 [[ 9.99344619e-01 8.67287035e-05 -3.61984129e-02 4.50788120e+00] [-1.76025637e-04 9.99996950e-01 -2.46369459e-03 5.73650414e-01] [ 3.61980888e-02 2.46845178e-03 9.99341586e-01 -1.01145683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.053133365 meters Centerline goodness [0,1] 0.27858058627958016 Centerline is valid? [False, False] Translation: X:4.51, Y:0.57, Z:-0.10 [[ 9.99348540e-01 2.27867121e-04 -3.60893911e-02 4.50734329e+00] [-2.98764435e-04 9.99998036e-01 -1.95911116e-03 5.70927576e-01] [ 3.60888738e-02 1.96861710e-03 9.99346645e-01 -1.00591177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.083133365 meters Centerline goodness [0,1] 0.27958299780181517 Centerline is valid? [False, False] Translation: X:4.51, Y:0.57, Z:-0.10 [[ 9.99348384e-01 3.69136632e-04 -3.60925319e-02 4.50728452e+00] [-4.23162225e-04 9.99998802e-01 -1.48923597e-03 5.68431732e-01] [ 3.60919389e-02 1.50353855e-03 9.99347343e-01 -1.00389407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.113133365 meters Centerline goodness [0,1] 0.2779825116116793 Centerline is valid? [False, False] Translation: X:4.51, Y:0.57, Z:-0.10 [[ 9.99342701e-01 5.13943381e-04 -3.62477840e-02 4.50771386e+00] [-5.54237294e-04 9.99999240e-01 -1.10158470e-03 5.66386852e-01] [ 3.62471902e-02 1.12095050e-03 9.99342226e-01 -1.00423794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.143133365 meters Centerline goodness [0,1] 0.280250043713936 Centerline is valid? [False, False] Translation: X:4.51, Y:0.56, Z:-0.10 [[ 9.99330069e-01 6.92702191e-04 -3.65914291e-02 4.50895866e+00] [-7.18498666e-04 9.99999503e-01 -6.91841647e-04 5.64131593e-01] [ 3.65909317e-02 7.17669054e-04 9.99330070e-01 -1.01078287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.173133365 meters Centerline goodness [0,1] 0.27465791859109945 Centerline is valid? [False, False] Translation: X:4.51, Y:0.56, Z:-0.10 [[ 9.99326817e-01 8.23432687e-04 -3.66774500e-02 4.50947604e+00] [-8.43405229e-04 9.99999504e-01 -5.29076702e-04 5.63530538e-01] [ 3.66769961e-02 5.59654490e-04 9.99327016e-01 -1.01578854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.203133365 meters Centerline goodness [0,1] 0.27862545359157087 Centerline is valid? [False, False] Translation: X:4.51, Y:0.56, Z:-0.10 [[ 9.99332438e-01 8.73392572e-04 -3.65227995e-02 4.50924279e+00] [-8.90213278e-04 9.99999505e-01 -4.44294138e-04 5.63107801e-01] [ 3.65223934e-02 4.76510625e-04 9.99332721e-01 -1.01809330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.23313336499996 meters Centerline goodness [0,1] 0.2798838909622645 Centerline is valid? [False, False] Translation: X:4.51, Y:0.56, Z:-0.10 [[ 9.99341648e-01 9.49002096e-04 -3.62680229e-02 4.50854459e+00] [-9.62733438e-04 9.99999471e-01 -3.61145308e-04 5.62924556e-01] [ 3.62676610e-02 3.95823986e-04 9.99342034e-01 -1.01714165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.263133365 meters Centerline goodness [0,1] 0.2804494872354353 Centerline is valid? [False, False] Translation: X:4.51, Y:0.56, Z:-0.10 [[ 9.99350438e-01 1.09242879e-03 -3.60209345e-02 4.50724710e+00] [-1.09793550e-03 9.99999388e-01 -1.33094729e-04 5.62145917e-01] [ 3.60207671e-02 1.72556938e-04 9.99351027e-01 -1.00699415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.29313336499996 meters Centerline goodness [0,1] 0.28289734007474165 Centerline is valid? [False, False] Translation: X:4.51, Y:0.56, Z:-0.10 [[ 9.99342269e-01 1.15842471e-03 -3.62448277e-02 4.50778042e+00] [-1.15824930e-03 9.99999329e-01 2.58366323e-05 5.61344792e-01] [ 3.62448333e-02 1.61609076e-05 9.99342940e-01 -1.00684608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.323133365 meters Centerline goodness [0,1] 0.2779710397008306 Centerline is valid? [False, False] Translation: X:4.51, Y:0.56, Z:-0.10 [[ 9.99327735e-01 1.14626140e-03 -3.66437397e-02 4.50902905e+00] [-1.14123744e-03 9.99999336e-01 1.58019092e-04 5.60226748e-01] [ 3.66438965e-02 -1.16093653e-04 9.99328380e-01 -1.01136072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.35313336499996 meters Centerline goodness [0,1] 0.27740647513236694 Centerline is valid? [False, False] Translation: X:4.51, Y:0.56, Z:-0.10 [[ 9.99322222e-01 1.17135602e-03 -3.67930021e-02 4.50963196e+00] [-1.15653291e-03 9.99999241e-01 4.24159305e-04 5.58431712e-01] [ 3.67934710e-02 -3.81319502e-04 9.99322818e-01 -1.01454750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.383133365 meters Centerline goodness [0,1] 0.2825653498104691 Centerline is valid? [False, False] Translation: X:4.50, Y:0.55, Z:-0.10 [[ 9.99379840e-01 -2.08531861e-04 -3.52120894e-02 4.50377072e+00] [ 1.94891916e-04 9.99999905e-01 -3.90797286e-04 5.54806132e-01] [ 3.52121676e-02 3.83692378e-04 9.99379786e-01 -9.88681864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.41313336499996 meters Centerline goodness [0,1] 0.28541268060961933 Centerline is valid? [False, False] Translation: X:4.50, Y:0.55, Z:-0.10 [[ 9.99394519e-01 -9.98781649e-05 -3.47934727e-02 4.50222444e+00] [ 9.82867727e-05 9.99999994e-01 -4.74486249e-05 5.53256395e-01] [ 3.47934772e-02 4.40001575e-05 9.99394523e-01 -9.78912356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.443133365 meters Centerline goodness [0,1] 0.2818478971453475 Centerline is valid? [False, False] Translation: X:4.50, Y:0.55, Z:-0.10 [[ 9.99403060e-01 -1.05318695e-05 -3.45474154e-02 4.50151851e+00] [ 1.80721485e-05 9.99999976e-01 2.17946588e-04 5.51956751e-01] [ 3.45474122e-02 -2.18440833e-04 9.99403036e-01 -9.76514544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.47313336499997 meters Centerline goodness [0,1] 0.2812900423498751 Centerline is valid? [False, False] Translation: X:4.50, Y:0.55, Z:-0.10 [[ 9.99403279e-01 -2.65863335e-05 -3.45410649e-02 4.50165845e+00] [ 3.63693244e-05 9.99999959e-01 2.82599558e-04 5.51252192e-01] [ 3.45410560e-02 -2.83687160e-04 9.99403239e-01 -9.78416713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.503133365 meters Centerline goodness [0,1] 0.2818666376590885 Centerline is valid? [False, False] Translation: X:4.50, Y:0.55, Z:-0.10 [[ 9.99401017e-01 -5.91643071e-05 -3.46064258e-02 4.50205248e+00] [ 6.79523595e-05 9.99999966e-01 2.52766700e-04 5.51100293e-01] [ 3.46064096e-02 -2.54966885e-04 9.99400986e-01 -9.82354856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53313336499997 meters Centerline goodness [0,1] 0.28322967812329514 Centerline is valid? [False, False] Translation: X:4.50, Y:0.55, Z:-0.10 [[ 9.99395758e-01 -7.45705682e-05 -3.47579376e-02 4.50254193e+00] [ 7.69884513e-05 9.99999995e-01 6.82251002e-05 5.52328133e-01] [ 3.47579324e-02 -7.08598355e-05 9.99395758e-01 -9.85132885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.563133365 meters Centerline goodness [0,1] 0.2810801370909647 Centerline is valid? [False, False] Translation: X:4.50, Y:0.55, Z:-0.10 [[ 9.99390210e-01 -9.04290311e-05 -3.49170346e-02 4.50294042e+00] [ 8.72114620e-05 9.99999992e-01 -9.36720144e-05 5.53417471e-01] [ 3.49170427e-02 9.05697285e-05 9.99390210e-01 -9.86237666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59313336499997 meters Centerline goodness [0,1] 0.27794672705704737 Centerline is valid? [False, False] Translation: X:4.50, Y:0.55, Z:-0.10 [[ 9.99383417e-01 -1.05261173e-04 -3.51109062e-02 4.50332884e+00] [ 9.60798081e-05 9.99999961e-01 -2.63183232e-04 5.54582769e-01] [ 3.51109325e-02 2.59647508e-04 9.99383387e-01 -9.85514241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.623133365 meters Centerline goodness [0,1] 0.2789908336215843 Centerline is valid? [False, False] Translation: X:4.50, Y:0.56, Z:-0.10 [[ 9.99381755e-01 -2.02719015e-04 -3.51577388e-02 4.50351501e+00] [ 1.85539715e-04 9.99999862e-01 -4.91896856e-04 5.55675878e-01] [ 3.51578336e-02 4.85069587e-04 9.99381655e-01 -9.87274093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.653133365 meters Centerline goodness [0,1] 0.27872648962188606 Centerline is valid? [False, False] Translation: X:4.50, Y:0.56, Z:-0.10 [[ 9.99378397e-01 -2.65915029e-04 -3.52526500e-02 4.50382671e+00] [ 2.44208632e-04 9.99999778e-01 -6.20042432e-04 5.56306672e-01] [ 3.52528071e-02 6.11048011e-04 9.99378240e-01 -9.88838911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.683133365 meters Centerline goodness [0,1] 0.2825414123801221 Centerline is valid? [False, False] Translation: X:4.50, Y:0.56, Z:-0.10 [[ 9.99376525e-01 -4.73650394e-04 -3.53034984e-02 4.50381482e+00] [ 4.47176376e-04 9.99999613e-01 -7.57789995e-04 5.56262620e-01] [ 3.53038436e-02 7.41530641e-04 9.99376350e-01 -9.86197571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.713133365 meters Centerline goodness [0,1] 0.2795759411510169 Centerline is valid? [False, False] Translation: X:4.50, Y:0.56, Z:-0.10 [[ 9.99365675e-01 -5.77329339e-04 -3.56077956e-02 4.50444963e+00] [ 5.48780243e-04 9.99999520e-01 -8.11533662e-04 5.55992529e-01] [ 3.56082470e-02 7.91478031e-04 9.99365512e-01 -9.84465150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.743133365 meters Centerline goodness [0,1] 0.28246944887742387 Centerline is valid? [False, False] Translation: X:4.51, Y:0.56, Z:-0.10 [[ 9.99352167e-01 -6.93067738e-04 -3.59828476e-02 4.50549241e+00] [ 6.61605643e-04 9.99999388e-01 -8.86263411e-04 5.55849777e-01] [ 3.59834398e-02 8.61882806e-04 9.99352015e-01 -9.86391738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.773133365 meters Centerline goodness [0,1] 0.28297293740953555 Centerline is valid? [False, False] Translation: X:4.51, Y:0.56, Z:-0.10 [[ 9.99339384e-01 -7.31585530e-04 -3.63353991e-02 4.50666681e+00] [ 7.02667017e-04 9.99999426e-01 -8.08640821e-04 5.55109610e-01] [ 3.63359698e-02 7.82574933e-04 9.99339324e-01 -9.91472217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.803133365 meters Centerline goodness [0,1] 0.2826503002705735 Centerline is valid? [False, False] Translation: X:4.51, Y:0.55, Z:-0.10 [[ 9.99342372e-01 -8.02456490e-04 -3.62516105e-02 4.50646255e+00] [ 7.88823308e-04 9.99999613e-01 -3.90372255e-04 5.52638245e-01] [ 3.62519097e-02 3.61519421e-04 9.99342618e-01 -9.89763663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.833133365 meters Centerline goodness [0,1] 0.28207133237760107 Centerline is valid? [False, False] Translation: X:4.53, Y:0.56, Z:-0.10 [[ 9.99348139e-01 -9.52931284e-03 -3.48208031e-02 4.52594546e+00] [ 9.55295472e-03 9.99954238e-01 5.12646492e-04 5.55425126e-01] [ 3.48143244e-02 -8.44953873e-04 9.99393440e-01 -9.74980965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.863133365 meters Centerline goodness [0,1] 0.2822804581742451 Centerline is valid? [False, False] Translation: X:4.53, Y:0.55, Z:-0.10 [[ 9.99353479e-01 -9.49574802e-03 -3.46764419e-02 4.52524226e+00] [ 9.53020023e-03 9.99954243e-01 8.28378616e-04 5.53391658e-01] [ 3.46669892e-02 -1.15831649e-03 9.99398248e-01 -9.68327054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.893133365 meters Centerline goodness [0,1] 0.2825719120135364 Centerline is valid? [False, False] Translation: X:4.53, Y:0.55, Z:-0.10 [[ 9.99349585e-01 -9.40926999e-03 -3.48119527e-02 4.52542862e+00] [ 9.45566027e-03 9.99954612e-01 1.16819794e-03 5.51380085e-01] [ 3.47993807e-02 -1.49660813e-03 9.99393198e-01 -9.65317381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.923133365 meters Centerline goodness [0,1] 0.2851423195571794 Centerline is valid? [False, False] Translation: X:4.51, Y:0.54, Z:-0.10 [[ 9.99370592e-01 -1.04604598e-03 -3.54587942e-02 4.50745663e+00] [ 1.05300406e-03 9.99999430e-01 1.77555837e-04 5.44247922e-01] [ 3.54585883e-02 -2.14782336e-04 9.99371123e-01 -9.85010421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.953133365 meters Centerline goodness [0,1] 0.2810538433135683 Centerline is valid? [False, False] Translation: X:4.51, Y:0.54, Z:-0.10 [[ 9.99351842e-01 -7.74524065e-04 -3.59902126e-02 4.50911661e+00] [ 7.92496243e-04 9.99999568e-01 4.85099935e-04 5.43209961e-01] [ 3.59898214e-02 -5.13307622e-04 9.99352025e-01 -9.91042842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98313336499996 meters Centerline goodness [0,1] 0.27960362621432744 Centerline is valid? [False, False] Translation: X:4.51, Y:0.54, Z:-0.10 [[ 9.99353535e-01 -7.06100868e-04 -3.59446008e-02 4.50877931e+00] [ 7.23681441e-04 9.99999625e-01 4.76093841e-04 5.43414746e-01] [ 3.59442511e-02 -5.01798503e-04 9.99353671e-01 -9.88344726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.013133365 meters Centerline goodness [0,1] 0.2827175001088045 Centerline is valid? [False, False] Translation: X:4.51, Y:0.54, Z:-0.10 [[ 9.99364389e-01 -6.31966185e-04 -3.56429412e-02 4.50763778e+00] [ 6.47248112e-04 9.99999704e-01 4.17213480e-04 5.44042442e-01] [ 3.56426669e-02 -4.40018120e-04 9.99364501e-01 -9.82355429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04313336499996 meters Centerline goodness [0,1] 0.2819921705089169 Centerline is valid? [False, False] Translation: X:4.51, Y:0.55, Z:-0.10 [[ 9.99369976e-01 -5.69139792e-04 -3.54870100e-02 4.50709990e+00] [ 5.79437854e-04 9.99999793e-01 2.79908610e-04 5.45208767e-01] [ 3.54868434e-02 -3.00294778e-04 9.99370098e-01 -9.80825175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.073133365 meters Centerline goodness [0,1] 0.28268173488087966 Centerline is valid? [False, False] Translation: X:4.51, Y:0.55, Z:-0.10 [[ 9.99368202e-01 -4.89164809e-04 -3.55381280e-02 4.50710878e+00] [ 4.94575510e-04 9.99999867e-01 1.43459832e-04 5.46548663e-01] [ 3.55380531e-02 -1.60945482e-04 9.99368311e-01 -9.80132341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10313336499996 meters Centerline goodness [0,1] 0.28327764310205505 Centerline is valid? [False, False] Translation: X:4.51, Y:0.55, Z:-0.10 [[ 9.99368950e-01 -4.35597008e-04 -3.55177696e-02 4.50709383e+00] [ 4.24055808e-04 9.99999855e-01 -3.32474067e-04 5.49592317e-01] [ 3.55179093e-02 3.17202743e-04 9.99368990e-01 -9.82431568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.133133365 meters Centerline goodness [0,1] 0.28068382017095506 Centerline is valid? [False, False] Translation: X:4.51, Y:0.55, Z:-0.10 [[ 9.99372191e-01 -5.06720125e-04 -3.54255108e-02 4.50657907e+00] [ 4.82693703e-04 9.99999648e-01 -6.86772953e-04 5.51525880e-01] [ 3.54258463e-02 6.69242120e-04 9.99372084e-01 -9.79195897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16313336499996 meters Centerline goodness [0,1] 0.2817470721901766 Centerline is valid? [False, False] Translation: X:4.51, Y:0.55, Z:-0.10 [[ 9.99370171e-01 -5.71350614e-04 -3.54814812e-02 4.50644983e+00] [ 5.35457112e-04 9.99999335e-01 -1.02110644e-03 5.53585317e-01] [ 3.54820411e-02 1.00146450e-03 9.99369812e-01 -9.76340918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.193133365 meters Centerline goodness [0,1] 0.2803063266904534 Centerline is valid? [False, False] Translation: X:4.51, Y:0.56, Z:-0.10 [[ 9.99356223e-01 -5.73552106e-04 -3.58721381e-02 4.50738340e+00] [ 5.25515516e-04 9.99998953e-01 -1.34852022e-03 5.55769960e-01] [ 3.58728740e-02 1.32880070e-03 9.99355478e-01 -9.77455011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22313336499997 meters Centerline goodness [0,1] 0.28008971930053783 Centerline is valid? [False, False] Translation: X:4.51, Y:0.56, Z:-0.10 [[ 9.99342697e-01 -6.70273519e-04 -3.62453503e-02 4.50843561e+00] [ 6.06490777e-04 9.99998248e-01 -1.77071584e-03 5.58086419e-01] [ 3.62464737e-02 1.74756947e-03 9.99341353e-01 -9.81039470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.253133365 meters Centerline goodness [0,1] 0.2801107622536194 Centerline is valid? [False, False] Translation: X:4.51, Y:0.56, Z:-0.10 [[ 9.99323120e-01 -8.55983739e-04 -3.67772966e-02 4.50984521e+00] [ 7.66262930e-04 9.99996696e-01 -2.45359658e-03 5.61809325e-01] [ 3.67792753e-02 2.42375471e-03 9.99320474e-01 -9.85013873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28313336499997 meters Centerline goodness [0,1] 0.2841246453939701 Centerline is valid? [False, False] Translation: X:4.51, Y:0.56, Z:-0.10 [[ 9.99323887e-01 -9.34399695e-04 -3.67545213e-02 4.50943647e+00] [ 8.37242105e-04 9.99996115e-01 -2.65872134e-03 5.62961559e-01] [ 3.67568628e-02 2.62615131e-03 9.99320788e-01 -9.79877750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.313133365 meters Centerline goodness [0,1] 0.2843029637760702 Centerline is valid? [False, False] Translation: X:4.51, Y:0.56, Z:-0.10 [[ 9.99327678e-01 -9.96339799e-04 -3.66496908e-02 4.50874835e+00] [ 8.95450287e-04 9.99995765e-01 -2.76911815e-03 5.63549995e-01] [ 3.66522946e-02 2.73443844e-03 9.99324338e-01 -9.73066486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34313336499997 meters Centerline goodness [0,1] 0.2804034269601996 Centerline is valid? [False, False] Translation: X:4.53, Y:0.57, Z:-0.10 [[ 9.99320197e-01 -9.39334171e-03 -3.56498174e-02 4.52744933e+00] [ 9.33480358e-03 9.99954795e-01 -1.80812518e-03 5.69231317e-01] [ 3.56651902e-02 1.47411196e-03 9.99362708e-01 -9.54339013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.373133365 meters Centerline goodness [0,1] 0.2830106496504563 Centerline is valid? [False, False] Translation: X:4.53, Y:0.57, Z:-0.09 [[ 9.99331082e-01 -9.52444204e-03 -3.53082551e-02 4.52618939e+00] [ 9.46619609e-03 9.99953545e-01 -1.81644759e-03 5.69031104e-01] [ 3.53239155e-02 1.48099767e-03 9.99374818e-01 -9.46460326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.403133365 meters Centerline goodness [0,1] 0.28146199339015476 Centerline is valid? [False, False] Translation: X:4.53, Y:0.57, Z:-0.09 [[ 9.99332574e-01 -9.49271903e-03 -3.52745691e-02 4.52620643e+00] [ 9.43634832e-03 9.99953920e-01 -1.76419898e-03 5.68995803e-01] [ 3.52896907e-02 1.43015839e-03 9.99376102e-01 -9.47655921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.433133365 meters Centerline goodness [0,1] 0.2804838395005528 Centerline is valid? [False, False] Translation: X:4.53, Y:0.57, Z:-0.09 [[ 9.99329381e-01 -9.45990865e-03 -3.53737091e-02 4.52649363e+00] [ 9.40595685e-03 9.99954333e-01 -1.69130140e-03 5.68708453e-01] [ 3.53880932e-02 1.35744359e-03 9.99372723e-01 -9.48152743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.463133365 meters Centerline goodness [0,1] 0.28190065922589913 Centerline is valid? [False, False] Translation: X:4.53, Y:0.57, Z:-0.09 [[ 9.99327432e-01 -9.44999261e-03 -3.54313564e-02 4.52675336e+00] [ 9.39908722e-03 9.99954543e-01 -1.60302471e-03 5.68136784e-01] [ 3.54448944e-02 1.26892416e-03 9.99370827e-01 -9.49475957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.493133365 meters Centerline goodness [0,1] 0.2845583572069018 Centerline is valid? [False, False] Translation: X:4.53, Y:0.57, Z:-0.09 [[ 9.99325141e-01 -9.44097965e-03 -3.54983253e-02 4.52689509e+00] [ 9.39359570e-03 9.99954752e-01 -1.50137005e-03 5.67441430e-01] [ 3.55108935e-02 1.16689993e-03 9.99368608e-01 -9.48920763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.523133365 meters Centerline goodness [0,1] 0.2831615419817386 Centerline is valid? [False, False] Translation: X:4.53, Y:0.57, Z:-0.09 [[ 9.99317410e-01 -9.43567649e-03 -3.57166797e-02 4.52730393e+00] [ 9.39767446e-03 9.99955082e-01 -1.23172031e-03 5.65616283e-01] [ 3.57266975e-02 8.95225824e-04 9.99361197e-01 -9.46257823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.553133365 meters Centerline goodness [0,1] 0.2804300330961085 Centerline is valid? [False, False] Translation: X:4.55, Y:0.56, Z:-0.09 [[ 9.99362738e-01 -2.03281441e-03 -3.56368557e-02 4.54573015e+00] [ 1.95669261e-03 9.99995730e-01 -2.17078775e-03 5.61552195e-01] [ 3.56411163e-02 2.09967401e-03 9.99362448e-01 -9.22499467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.583133365 meters Centerline goodness [0,1] 0.28373604326587576 Centerline is valid? [False, False] Translation: X:4.55, Y:0.56, Z:-0.09 [[ 9.99366584e-01 -2.00127898e-03 -3.55306164e-02 4.54523222e+00] [ 1.93051965e-03 9.99996085e-01 -2.02569837e-03 5.60704765e-01] [ 3.55345312e-02 1.95582270e-03 9.99366535e-01 -9.18465327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.613133365 meters Centerline goodness [0,1] 0.28373604326587576 Centerline is valid? [False, False] Translation: X:4.55, Y:0.56, Z:-0.09 [[ 9.99366584e-01 -2.00127898e-03 -3.55306164e-02 4.54523222e+00] [ 1.93051965e-03 9.99996085e-01 -2.02569837e-03 5.60704765e-01] [ 3.55345312e-02 1.95582270e-03 9.99366535e-01 -9.18465327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.643133365 meters Centerline goodness [0,1] 0.2845886138288791 Centerline is valid? [False, False] Translation: X:4.55, Y:0.56, Z:-0.09 [[ 9.99368187e-01 -1.97076615e-03 -3.54872232e-02 4.54503134e+00] [ 1.90553515e-03 9.99996432e-01 -1.87188250e-03 5.59746463e-01] [ 3.54907856e-02 1.80307767e-03 9.99368377e-01 -9.16445821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.673133365 meters Centerline goodness [0,1] 0.2816053366831994 Centerline is valid? [False, False] Translation: X:4.56, Y:0.56, Z:-0.09 [[ 9.99364720e-01 5.48592436e-03 -3.52145081e-02 4.56380582e+00] [-5.59291614e-03 9.99980036e-01 -2.94049923e-03 5.55603361e-01] [ 3.51976738e-02 3.13558298e-03 9.99375451e-01 -8.94346503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.703133365 meters Centerline goodness [0,1] 0.2839245250130731 Centerline is valid? [False, False] Translation: X:4.56, Y:0.56, Z:-0.09 [[ 9.99366646e-01 5.53594615e-03 -3.51519695e-02 4.56347587e+00] [-5.63991867e-03 9.99980008e-01 -2.85933154e-03 5.55314959e-01] [ 3.51354376e-02 3.05577482e-03 9.99377888e-01 -8.91670265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.73313336499996 meters Centerline goodness [0,1] 0.2794225699096685 Centerline is valid? [False, False] Translation: X:4.58, Y:0.56, Z:-0.09 [[ 9.99394409e-01 -2.39512315e-03 -3.47142333e-02 4.58145859e+00] [ 2.34261860e-03 9.99996050e-01 -1.55307352e-03 5.60470043e-01] [ 3.47178159e-02 1.47081079e-03 9.99396073e-01 -8.72807372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.763133365 meters Centerline goodness [0,1] 0.28155991511844447 Centerline is valid? [False, False] Translation: X:4.58, Y:0.56, Z:-0.09 [[ 9.99399506e-01 -2.39676001e-03 -3.45670793e-02 4.58083179e+00] [ 2.34404755e-03 9.99996028e-01 -1.56537723e-03 5.60471653e-01] [ 3.45706938e-02 1.48341036e-03 9.99401154e-01 -8.69048868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.79313336499996 meters Centerline goodness [0,1] 0.2854016534771652 Centerline is valid? [False, False] Translation: X:4.53, Y:0.56, Z:-0.09 [[ 9.99326556e-01 -2.06754511e-03 -3.66355057e-02 4.53495338e+00] [ 1.98920023e-03 9.99995657e-01 -2.17481668e-03 5.57880790e-01] [ 3.66398431e-02 2.10047671e-03 9.99326328e-01 -8.65401130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.823133365 meters Centerline goodness [0,1] 0.2860820244328097 Centerline is valid? [False, False] Translation: X:4.56, Y:0.56, Z:-0.08 [[ 9.99318517e-01 5.85705704e-03 -3.64444401e-02 4.55531867e+00] [-5.96985044e-03 9.99977719e-01 -2.98689029e-03 5.55040705e-01] [ 3.64261337e-02 3.20242263e-03 9.99331217e-01 -8.48448662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.85313336499996 meters Centerline goodness [0,1] 0.28169166270475865 Centerline is valid? [False, False] Translation: X:4.57, Y:0.56, Z:-0.08 [[ 9.99319545e-01 -2.17868860e-03 -3.68198356e-02 4.57440673e+00] [ 2.11014851e-03 9.99995968e-01 -1.90025746e-03 5.60081282e-01] [ 3.68238272e-02 1.82126910e-03 9.99320113e-01 -8.31100549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.883133365 meters Centerline goodness [0,1] 0.2866558994281724 Centerline is valid? [False, False] Translation: X:4.58, Y:0.56, Z:-0.08 [[ 9.99312006e-01 -2.15985326e-03 -3.70249952e-02 4.57502823e+00] [ 2.09354256e-03 9.99996135e-01 -1.82964776e-03 5.59555659e-01] [ 3.70288039e-02 1.75087557e-03 9.99312665e-01 -8.33248378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.91313336499996 meters Centerline goodness [0,1] 0.2858238555431376 Centerline is valid? [False, False] Translation: X:4.58, Y:0.56, Z:-0.08 [[ 9.99303991e-01 -2.17517142e-03 -3.72397904e-02 4.57566762e+00] [ 2.10855039e-03 9.99996106e-01 -1.82815556e-03 5.59333937e-01] [ 3.72436220e-02 1.74836118e-03 9.99304686e-01 -8.35385783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.943133365 meters Centerline goodness [0,1] 0.2797983513273762 Centerline is valid? [False, False] Translation: X:4.60, Y:0.56, Z:-0.08 [[ 9.99278067e-01 5.74641949e-03 -3.75542607e-02 4.59678026e+00] [-5.85100790e-03 9.99979303e-01 -2.67568357e-03 5.57794080e-01] [ 3.75381078e-02 2.89348218e-03 9.99291008e-01 -8.19966932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.97313336499997 meters Centerline goodness [0,1] 0.28432614202113726 Centerline is valid? [False, False] Translation: X:4.60, Y:0.56, Z:-0.08 [[ 9.99285518e-01 5.70783462e-03 -3.73613872e-02 4.59617279e+00] [-5.81901437e-03 9.99978957e-01 -2.86772751e-03 5.58991985e-01] [ 3.73442325e-02 3.08308502e-03 9.99297705e-01 -8.18128849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.003133365 meters Centerline goodness [0,1] 0.28348447854900594 Centerline is valid? [False, False] Translation: X:4.60, Y:0.56, Z:-0.08 [[ 9.99297365e-01 5.63953038e-03 -3.70536361e-02 4.59521576e+00] [-5.75785933e-03 9.99978657e-01 -3.08751475e-03 5.60169334e-01] [ 3.70354331e-02 3.29869498e-03 9.99308509e-01 -8.15130393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03313336499997 meters Centerline goodness [0,1] 0.282365661152557 Centerline is valid? [False, False] Translation: X:4.61, Y:0.57, Z:-0.08 [[ 9.99337279e-01 -2.42025640e-03 -3.63200396e-02 4.61303210e+00] [ 2.35330217e-03 9.99995452e-01 -1.88608834e-03 5.65340067e-01] [ 3.63244392e-02 1.79936636e-03 9.99338430e-01 -7.92492706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.063133365 meters Centerline goodness [0,1] 0.28319318554111605 Centerline is valid? [False, False] Translation: X:4.61, Y:0.56, Z:-0.08 [[ 9.99330698e-01 -2.41777355e-03 -3.65008388e-02 4.61288314e+00] [ 2.35401270e-03 9.99995628e-01 -1.78970741e-03 5.64538606e-01] [ 3.65050063e-02 1.70258611e-03 9.99332020e-01 -7.83682454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09313336499997 meters Centerline goodness [0,1] 0.28410897449857353 Centerline is valid? [False, False] Translation: X:4.61, Y:0.56, Z:-0.08 [[ 9.99319813e-01 -2.31031039e-03 -3.68045241e-02 4.61374386e+00] [ 2.25284878e-03 9.99996178e-01 -1.60265998e-03 5.63801956e-01] [ 3.68080861e-02 1.51865485e-03 9.99321199e-01 -7.85811278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.123133365 meters Centerline goodness [0,1] 0.287138299042799 Centerline is valid? [False, False] Translation: X:4.61, Y:0.56, Z:-0.08 [[ 9.99312748e-01 -2.22290259e-03 -3.70012295e-02 4.61441526e+00] [ 2.17181742e-03 9.99996632e-01 -1.42077077e-03 5.63023499e-01] [ 3.70042631e-02 1.33943443e-03 9.99314210e-01 -7.88944438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.153133365 meters Centerline goodness [0,1] 0.2842922294334327 Centerline is valid? [False, False] Translation: X:4.62, Y:0.56, Z:-0.08 [[ 9.99308114e-01 -2.16662460e-03 -3.71294965e-02 4.61503933e+00] [ 2.12186102e-03 9.99996974e-01 -1.24497020e-03 5.61977560e-01] [ 3.71320815e-02 1.16532519e-03 9.99309687e-01 -7.93522960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.183133365 meters Centerline goodness [0,1] 0.282435760521326 Centerline is valid? [False, False] Translation: X:4.62, Y:0.56, Z:-0.08 [[ 9.99307757e-01 -2.13752953e-03 -3.71407775e-02 4.61526580e+00] [ 2.09868005e-03 9.99997209e-01 -1.08496155e-03 5.60772991e-01] [ 3.71429930e-02 1.00626389e-03 9.99309454e-01 -7.96016211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.213133365 meters Centerline goodness [0,1] 0.28424917975794717 Centerline is valid? [False, False] Translation: X:4.61, Y:0.56, Z:-0.08 [[ 9.99319618e-01 -1.93761262e-03 -3.68313189e-02 4.61390977e+00] [ 1.91777021e-03 9.99997996e-01 -5.74058863e-04 5.58351250e-01] [ 3.68323574e-02 5.03034278e-04 9.99321332e-01 -7.85943865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.243133365 meters Centerline goodness [0,1] 0.28395437262357415 Centerline is valid? [False, False] Translation: X:4.61, Y:0.56, Z:-0.08 [[ 9.99321309e-01 -1.78814097e-03 -3.67929947e-02 4.61348405e+00] [ 1.77786074e-03 9.99998371e-01 -3.12122735e-04 5.57419109e-01] [ 3.67934929e-02 2.46498079e-04 9.99322860e-01 -7.80851177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.273133365 meters Centerline goodness [0,1] 0.283677663601947 Centerline is valid? [False, False] Translation: X:4.61, Y:0.56, Z:-0.08 [[ 9.99321849e-01 -1.65761094e-03 -3.67844278e-02 4.61317745e+00] [ 1.65561372e-03 9.99998626e-01 -8.47559061e-05 5.56422861e-01] [ 3.67845177e-02 2.37976255e-05 9.99323220e-01 -7.76322525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.303133365 meters Centerline goodness [0,1] 0.2851853465174021 Centerline is valid? [False, False] Translation: X:4.61, Y:0.56, Z:-0.08 [[ 9.99326221e-01 -1.57261541e-03 -3.66692092e-02 4.61258776e+00] [ 1.57859821e-03 9.99998745e-01 1.34203722e-04 5.55223478e-01] [ 3.66689521e-02 -1.91999246e-04 9.99327449e-01 -7.71713745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.333133365 meters Centerline goodness [0,1] 0.28271741248295124 Centerline is valid? [False, False] Translation: X:4.61, Y:0.55, Z:-0.08 [[ 9.99329231e-01 -1.41201642e-03 -3.65936437e-02 4.61218050e+00] [ 1.42916348e-03 9.99998881e-01 4.42426691e-04 5.53820602e-01] [ 3.65929780e-02 -4.94428224e-04 9.99330130e-01 -7.68237142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.363133365 meters Centerline goodness [0,1] 0.28733318748632686 Centerline is valid? [False, False] Translation: X:4.61, Y:0.55, Z:-0.08 [[ 9.99338751e-01 -1.25226373e-03 -3.63385797e-02 4.61123345e+00] [ 1.28270120e-03 9.99998846e-01 8.14306195e-04 5.52080223e-01] [ 3.63375180e-02 -8.60379275e-04 9.99339204e-01 -7.62819250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.393133365 meters Centerline goodness [0,1] 0.28375805823562494 Centerline is valid? [False, False] Translation: X:4.63, Y:0.54, Z:-0.07 [[ 9.99377172e-01 6.34115784e-03 -3.47139298e-02 4.62944053e+00] [-6.34445488e-03 9.99979874e-01 1.51764049e-05 5.44892202e-01] [ 3.47133274e-02 2.05074009e-04 9.99397290e-01 -7.40785399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.423133365 meters Centerline goodness [0,1] 0.28356659239871074 Centerline is valid? [False, False] Translation: X:4.63, Y:0.54, Z:-0.07 [[ 9.99382589e-01 6.39875701e-03 -3.45470141e-02 4.62891741e+00] [-6.39425688e-03 9.99979528e-01 2.40744546e-04 5.43386003e-01] [ 3.45478473e-02 -1.96934250e-05 9.99403045e-01 -7.39059681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.453133365 meters Centerline goodness [0,1] 0.28663750897578166 Centerline is valid? [False, False] Translation: X:4.63, Y:0.54, Z:-0.07 [[ 9.99382631e-01 6.43149351e-03 -3.45397389e-02 4.62863876e+00] [-6.42108381e-03 9.99979300e-01 4.12300301e-04 5.42146922e-01] [ 3.45416757e-02 -1.90263201e-04 9.99403240e-01 -7.35246775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48313336499996 meters Centerline goodness [0,1] 0.28800034787902506 Centerline is valid? [False, False] Translation: X:4.63, Y:0.54, Z:-0.07 [[ 9.99378324e-01 6.51317056e-03 -3.46488663e-02 4.62884802e+00] [-6.49597504e-03 9.99978716e-01 6.08830485e-04 5.41107126e-01] [ 3.46520943e-02 -3.83373819e-04 9.99399362e-01 -7.34638893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.513133365 meters Centerline goodness [0,1] 0.2880978379558856 Centerline is valid? [False, False] Translation: X:4.63, Y:0.54, Z:-0.07 [[ 9.99378645e-01 6.76604028e-03 -3.45910949e-02 4.62854960e+00] [-6.73662971e-03 9.99976841e-01 9.66714492e-04 5.40117522e-01] [ 3.45968346e-02 -7.33086422e-04 9.99401081e-01 -7.32313679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54313336499996 meters Centerline goodness [0,1] 0.2841559680777238 Centerline is valid? [False, False] Translation: X:4.65, Y:0.55, Z:-0.07 [[ 9.99413101e-01 -1.11062691e-03 -3.42376920e-02 4.64632620e+00] [ 1.18686447e-03 9.99996861e-01 2.20647092e-03 5.45012383e-01] [ 3.42351339e-02 -2.24581145e-03 9.99411283e-01 -7.12691344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.573133365 meters Centerline goodness [0,1] 0.28665064452698275 Centerline is valid? [False, False] Translation: X:4.65, Y:0.55, Z:-0.07 [[ 9.99416257e-01 -1.19130370e-03 -3.41427351e-02 4.64606781e+00] [ 1.26367047e-03 9.99997001e-01 2.09803603e-03 5.45095965e-01] [ 3.41401333e-02 -2.13995648e-03 9.99414765e-01 -7.12505648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60313336499996 meters Centerline goodness [0,1] 0.2853529894946176 Centerline is valid? [False, False] Translation: X:4.67, Y:0.54, Z:-0.07 [[ 9.99408087e-01 6.23283396e-03 -3.38323561e-02 4.66529646e+00] [-6.21580769e-03 9.99980497e-01 6.08409359e-04 5.42441823e-01] [ 3.38354884e-02 -3.97753814e-04 9.99427337e-01 -6.91652205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.633133365 meters Centerline goodness [0,1] 0.28593862461558595 Centerline is valid? [False, False] Translation: X:4.67, Y:0.54, Z:-0.07 [[ 9.99403579e-01 6.18724287e-03 -3.39735787e-02 4.66560542e+00] [-6.17481212e-03 9.99980825e-01 4.70804063e-04 5.43149696e-01] [ 3.39758402e-02 -2.60742800e-04 9.99422620e-01 -6.91782175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66313336499996 meters Centerline goodness [0,1] 0.28108668423098515 Centerline is valid? [False, False] Translation: X:4.68, Y:0.55, Z:-0.07 [[ 9.99411322e-01 -1.27644833e-03 -3.42838082e-02 4.68443751e+00] [ 1.34192681e-03 9.99997319e-01 1.88695327e-03 5.49434337e-01] [ 3.42813077e-02 -1.93184882e-03 9.99410356e-01 -6.74144525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.693133365 meters Centerline goodness [0,1] 0.2867171218602611 Centerline is valid? [False, False] Translation: X:4.64, Y:0.55, Z:-0.07 [[ 9.99300040e-01 -1.31119921e-03 -3.73859693e-02 4.64133981e+00] [ 1.37051984e-03 9.99997842e-01 1.56112436e-03 5.46470759e-01] [ 3.73838417e-02 -1.61126985e-03 9.99299681e-01 -6.82443700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72313336499997 meters Centerline goodness [0,1] 0.2862995489115039 Centerline is valid? [False, False] Translation: X:4.64, Y:0.55, Z:-0.07 [[ 9.99293307e-01 -1.35280436e-03 -3.75640375e-02 4.64172266e+00] [ 1.41251439e-03 9.99997781e-01 1.56305923e-03 5.46111760e-01] [ 3.75618397e-02 -1.61501437e-03 9.99293000e-01 -6.81804547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.753133365 meters Centerline goodness [0,1] 0.2851954942808681 Centerline is valid? [False, False] Translation: X:4.64, Y:0.55, Z:-0.07 [[ 9.99294024e-01 -1.40244123e-03 -3.75431258e-02 4.64155294e+00] [ 1.46241359e-03 9.99997698e-01 1.57001189e-03 5.45805927e-01] [ 3.75408375e-02 -1.62380708e-03 9.99293775e-01 -6.79659147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78313336499997 meters Centerline goodness [0,1] 0.2859100996475349 Centerline is valid? [False, False] Translation: X:4.64, Y:0.55, Z:-0.07 [[ 9.99297660e-01 -1.45615274e-03 -3.74441772e-02 4.64103186e+00] [ 1.51669583e-03 9.99997588e-01 1.58853465e-03 5.45476209e-01] [ 3.74417737e-02 -1.64421038e-03 9.99297458e-01 -6.74807408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.813133365 meters Centerline goodness [0,1] 0.2838343021371308 Centerline is valid? [False, False] Translation: X:4.64, Y:0.55, Z:-0.07 [[ 9.99300560e-01 -1.63186899e-03 -3.73594489e-02 4.64080901e+00] [ 1.68570884e-03 9.99997586e-01 1.40967648e-03 5.46026079e-01] [ 3.73570583e-02 -1.47166765e-03 9.99300898e-01 -6.73974915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84313336499997 meters Centerline goodness [0,1] 0.2882185168933743 Centerline is valid? [False, False] Translation: X:4.64, Y:0.55, Z:-0.07 [[ 9.99295058e-01 -1.70160304e-03 -3.75032316e-02 4.64129301e+00] [ 1.74853111e-03 9.99997729e-01 1.21854354e-03 5.47128613e-01] [ 3.75010729e-02 -1.28326010e-03 9.99295763e-01 -6.76555602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.873133365 meters Centerline goodness [0,1] 0.28752137501644237 Centerline is valid? [False, False] Translation: X:4.64, Y:0.55, Z:-0.07 [[ 9.99286920e-01 -1.75378518e-03 -3.77170594e-02 4.64213736e+00] [ 1.79388470e-03 9.99997861e-01 1.02935090e-03 5.48282413e-01] [ 3.77151735e-02 -1.09627694e-03 9.99287928e-01 -6.82216326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.903133365 meters Centerline goodness [0,1] 0.2869992358912783 Centerline is valid? [False, False] Translation: X:4.64, Y:0.55, Z:-0.07 [[ 9.99274149e-01 -1.85202467e-03 -3.80492340e-02 4.64306277e+00] [ 1.88689549e-03 9.99997832e-01 8.80575797e-04 5.48846392e-01] [ 3.80475207e-02 -9.51731559e-04 9.99275478e-01 -6.84285980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.933133365 meters Centerline goodness [0,1] 0.28474768639776493 Centerline is valid? [False, False] Translation: X:4.64, Y:0.55, Z:-0.07 [[ 9.99264819e-01 -1.92632321e-03 -3.82898165e-02 4.64367607e+00] [ 1.95845349e-03 9.99997761e-01 8.01643332e-04 5.48973766e-01] [ 3.82881865e-02 -8.76042805e-04 9.99266355e-01 -6.84714443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.963133365 meters Centerline goodness [0,1] 0.28461704889658157 Centerline is valid? [False, False] Translation: X:4.64, Y:0.55, Z:-0.07 [[ 9.99246370e-01 -2.01774612e-03 -3.87636403e-02 4.64455518e+00] [ 2.05119731e-03 9.99997557e-01 8.23201049e-04 5.48580846e-01] [ 3.87618846e-02 -9.02092535e-04 9.99248069e-01 -6.80370713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.993133365 meters Centerline goodness [0,1] 0.2850450059646459 Centerline is valid? [False, False] Translation: X:4.64, Y:0.55, Z:-0.07 [[ 9.99244639e-01 -1.98389481e-03 -3.88099843e-02 4.64456696e+00] [ 2.02061362e-03 9.99997547e-01 9.06915570e-04 5.48462853e-01] [ 3.88080899e-02 -9.84650504e-04 9.99246197e-01 -6.78653670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.023133365 meters Centerline goodness [0,1] 0.28825070976195677 Centerline is valid? [False, False] Translation: X:4.64, Y:0.55, Z:-0.07 [[ 9.99246422e-01 -1.99801708e-03 -3.87633289e-02 4.64444553e+00] [ 2.03317760e-03 9.99997557e-01 8.67656193e-04 5.48874914e-01] [ 3.87615006e-02 -9.45815078e-04 9.99248043e-01 -6.78180470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.053133365 meters Centerline goodness [0,1] 0.285443864229765 Centerline is valid? [False, False] Translation: X:4.64, Y:0.55, Z:-0.07 [[ 9.99249144e-01 -2.26863012e-03 -3.86781798e-02 4.64410409e+00] [ 2.28884622e-03 9.99997266e-01 4.78401662e-04 5.49977162e-01] [ 3.86769888e-02 -5.66570857e-04 9.99251605e-01 -6.75902412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.083133365 meters Centerline goodness [0,1] 0.28635224921032565 Centerline is valid? [False, False] Translation: X:4.64, Y:0.55, Z:-0.07 [[ 9.99252233e-01 -2.37814490e-03 -3.85917104e-02 4.64365690e+00] [ 2.39316269e-03 9.99997078e-01 3.42954587e-04 5.50273873e-01] [ 3.85907820e-02 -4.35054378e-04 9.99255004e-01 -6.72430550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.113133365 meters Centerline goodness [0,1] 0.2877349224019383 Centerline is valid? [False, False] Translation: X:4.64, Y:0.55, Z:-0.07 [[ 9.99251344e-01 -2.31872333e-03 -3.86183157e-02 4.64343113e+00] [ 2.33636427e-03 9.99997186e-01 4.11678404e-04 5.50397311e-01] [ 3.86172525e-02 -5.01596652e-04 9.99253950e-01 -6.68293897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.143133365 meters Centerline goodness [0,1] 0.2876745096333667 Centerline is valid? [False, False] Translation: X:4.64, Y:0.55, Z:-0.07 [[ 9.99245619e-01 -2.17641051e-03 -3.87744145e-02 4.64369938e+00] [ 2.20040031e-03 9.99997413e-01 5.76036805e-04 5.50413377e-01] [ 3.87730605e-02 -6.60921488e-04 9.99247824e-01 -6.66708206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.173133365 meters Centerline goodness [0,1] 0.28769459506734296 Centerline is valid? [False, False] Translation: X:4.64, Y:0.55, Z:-0.07 [[ 9.99235089e-01 -2.16778374e-03 -3.90453256e-02 4.64448783e+00] [ 2.19320650e-03 9.99997410e-01 6.08286974e-04 5.50349939e-01] [ 3.90439058e-02 -6.93456150e-04 9.99237255e-01 -6.68683405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.203133365 meters Centerline goodness [0,1] 0.28825211147727026 Centerline is valid? [False, False] Translation: X:4.65, Y:0.55, Z:-0.07 [[ 9.99224768e-01 -2.26988194e-03 -3.93028012e-02 4.64529176e+00] [ 2.29293750e-03 9.99997225e-01 5.41546697e-04 5.50038913e-01] [ 3.93014629e-02 -6.31245740e-04 9.99227200e-01 -6.70972198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.23313336499996 meters Centerline goodness [0,1] 0.28938209994090225 Centerline is valid? [False, False] Translation: X:4.64, Y:0.55, Z:-0.07 [[ 9.99234502e-01 -2.47395551e-03 -3.90421420e-02 4.64427956e+00] [ 2.49662369e-03 9.99996742e-01 5.31863239e-04 5.48837109e-01] [ 3.90406989e-02 -6.28929636e-04 9.99237423e-01 -6.64528949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.263133365 meters Centerline goodness [0,1] 0.2874146341463415 Centerline is valid? [False, False] Translation: X:4.66, Y:0.55, Z:-0.06 [[ 9.99267565e-01 5.23496733e-03 -3.79068483e-02 4.66281468e+00] [-5.25652163e-03 9.99986074e-01 -4.68969193e-04 5.46389478e-01] [ 3.79038654e-02 6.67883872e-04 9.99281167e-01 -6.42766969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.29313336499996 meters Centerline goodness [0,1] 0.2875902252369771 Centerline is valid? [False, False] Translation: X:4.66, Y:0.55, Z:-0.06 [[ 9.99269409e-01 5.25589459e-03 -3.78552954e-02 4.66256363e+00] [-5.27881007e-03 9.99985939e-01 -5.05417521e-04 5.46853572e-01] [ 3.78521067e-02 7.04879182e-04 9.99283104e-01 -6.41026958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.323133365 meters Centerline goodness [0,1] 0.2876932779505469 Centerline is valid? [False, False] Translation: X:4.66, Y:0.55, Z:-0.06 [[ 9.99268140e-01 5.22722761e-03 -3.78927610e-02 4.66266783e+00] [-5.25529861e-03 9.99985985e-01 -6.41233591e-04 5.47615035e-01] [ 3.78888781e-02 8.39902072e-04 9.99281606e-01 -6.41401185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.35313336499996 meters Centerline goodness [0,1] 0.2895065105591421 Centerline is valid? [False, False] Translation: X:4.66, Y:0.55, Z:-0.06 [[ 9.99262135e-01 5.17233215e-03 -3.80582869e-02 4.66315957e+00] [-5.20727726e-03 9.99986107e-01 -8.19130521e-04 5.48384035e-01] [ 3.80535213e-02 1.01670616e-03 9.99275185e-01 -6.43648967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.383133365 meters Centerline goodness [0,1] 0.28281192650646636 Centerline is valid? [False, False] Translation: X:4.68, Y:0.55, Z:-0.06 [[ 9.99306600e-01 -2.49902444e-03 -3.71493615e-02 4.68119235e+00] [ 2.50914266e-03 9.99996827e-01 2.25745693e-04 5.54402940e-01] [ 3.71486795e-02 -3.18802208e-04 9.99309699e-01 -6.28807514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.41313336499996 meters Centerline goodness [0,1] 0.28751389403482774 Centerline is valid? [False, False] Translation: X:4.68, Y:0.56, Z:-0.06 [[ 9.99324170e-01 -2.50702368e-03 -3.66731266e-02 4.67962731e+00] [ 2.51252022e-03 9.99996838e-01 1.03793377e-04 5.55162380e-01] [ 3.66727504e-02 -1.95865202e-04 9.99327309e-01 -6.22566532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.443133365 meters Centerline goodness [0,1] 0.2866250353576013 Centerline is valid? [False, False] Translation: X:4.68, Y:0.56, Z:-0.06 [[ 9.99336825e-01 -2.46256835e-03 -3.63296876e-02 4.67848309e+00] [ 2.46405100e-03 9.99996964e-01 -3.96315593e-06 5.56115106e-01] [ 3.63295871e-02 -8.55576753e-05 9.99339859e-01 -6.18281700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.47313336499997 meters Centerline goodness [0,1] 0.2827627939142462 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:-0.06 [[ 9.99354523e-01 5.57317762e-03 -3.54891171e-02 4.69736621e+00] [-5.61712054e-03 9.99983576e-01 -1.13862316e-03 5.55222534e-01] [ 3.54821885e-02 1.33723485e-03 9.99369414e-01 -5.96438994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.503133365 meters Centerline goodness [0,1] 0.2827627939142462 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:-0.06 [[ 9.99354523e-01 5.57317762e-03 -3.54891171e-02 4.69736621e+00] [-5.61712054e-03 9.99983576e-01 -1.13862316e-03 5.55222534e-01] [ 3.54821885e-02 1.33723485e-03 9.99369414e-01 -5.96438994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.53313336499997 meters Centerline goodness [0,1] 0.2853115920031224 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:-0.06 [[ 9.99359547e-01 5.59623702e-03 -3.53437236e-02 4.69670966e+00] [-5.64485200e-03 9.99983254e-01 -1.27585394e-03 5.56330618e-01] [ 3.53359917e-02 1.47454690e-03 9.99374401e-01 -5.92788125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.563133365 meters Centerline goodness [0,1] 0.28471876555500253 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:-0.06 [[ 9.99367760e-01 5.60587184e-03 -3.51091681e-02 4.69591763e+00] [-5.66187611e-03 9.99982853e-01 -1.49592663e-03 5.57691517e-01] [ 3.51001801e-02 1.69376461e-03 9.99382364e-01 -5.90198656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.59313336499997 meters Centerline goodness [0,1] 0.2850495606631174 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:-0.06 [[ 9.99372408e-01 5.56767782e-03 -3.49827396e-02 4.69545166e+00] [-5.62688742e-03 9.99982898e-01 -1.59431265e-03 5.58060913e-01] [ 3.49732647e-02 1.79015601e-03 9.99386645e-01 -5.88589379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.623133365 meters Centerline goodness [0,1] 0.28634924764754344 Centerline is valid? [False, False] Translation: X:4.69, Y:0.56, Z:-0.06 [[ 9.99376794e-01 5.58692852e-03 -3.48541100e-02 4.69486948e+00] [-5.64589171e-03 9.99982792e-01 -1.59352169e-03 5.58186446e-01] [ 3.48446074e-02 1.78931113e-03 9.99391140e-01 -5.84698287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.653133365 meters Centerline goodness [0,1] 0.2860521633467864 Centerline is valid? [False, False] Translation: X:4.69, Y:0.56, Z:-0.06 [[ 9.99386473e-01 5.57744437e-03 -3.45770141e-02 4.69356933e+00] [-5.63639137e-03 9.99982823e-01 -1.60756272e-03 5.58257024e-01] [ 3.45674541e-02 1.80146602e-03 9.99400743e-01 -5.75174535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.683133365 meters Centerline goodness [0,1] 0.28510509340433365 Centerline is valid? [False, False] Translation: X:4.69, Y:0.56, Z:-0.06 [[ 9.99388590e-01 5.52250323e-03 -3.45245892e-02 4.69328807e+00] [-5.58354830e-03 9.99983014e-01 -1.67199779e-03 5.58283409e-01] [ 3.45147692e-02 1.86374523e-03 9.99402450e-01 -5.72962497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.713133365 meters Centerline goodness [0,1] 0.28576375362507034 Centerline is valid? [False, False] Translation: X:4.69, Y:0.56, Z:-0.06 [[ 9.99392000e-01 5.48457316e-03 -3.44318143e-02 4.69283498e+00] [-5.54836801e-03 9.99983063e-01 -1.75751215e-03 5.58577828e-01] [ 3.44215919e-02 1.94748396e-03 9.99405504e-01 -5.70026079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.743133365 meters Centerline goodness [0,1] 0.285430177258971 Centerline is valid? [False, False] Translation: X:4.69, Y:0.56, Z:-0.06 [[ 9.99401684e-01 5.45801910e-03 -3.41538288e-02 4.69189862e+00] [-5.52372045e-03 9.99983070e-01 -1.82962885e-03 5.58984738e-01] [ 3.41432644e-02 2.01719036e-03 9.99414913e-01 -5.66126420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.773133365 meters Centerline goodness [0,1] 0.28749918656862106 Centerline is valid? [False, False] Translation: X:4.69, Y:0.56, Z:-0.06 [[ 9.99413512e-01 5.46245779e-03 -3.38052297e-02 4.69084206e+00] [-5.53036062e-03 9.99982873e-01 -1.91546968e-03 5.59711533e-01] [ 3.37941875e-02 2.10130139e-03 9.99426604e-01 -5.62863476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.803133365 meters Centerline goodness [0,1] 0.287222078034432 Centerline is valid? [False, False] Translation: X:4.69, Y:0.56, Z:-0.06 [[ 9.99419836e-01 5.37186093e-03 -3.36323332e-02 4.69038503e+00] [-5.44844170e-03 9.99982768e-01 -2.18576405e-03 5.61145403e-01] [ 3.36200120e-02 2.36773975e-03 9.99431883e-01 -5.62915206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.833133365 meters Centerline goodness [0,1] 0.28500434027777777 Centerline is valid? [False, False] Translation: X:4.69, Y:0.57, Z:-0.06 [[ 9.99396753e-01 5.29872667e-03 -3.43227775e-02 4.69238298e+00] [-5.40020866e-03 9.99981316e-01 -2.86466750e-03 5.65168536e-01] [ 3.43069571e-02 3.04828956e-03 9.99406694e-01 -5.70825206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.863133365 meters Centerline goodness [0,1] 0.28202526179423515 Centerline is valid? [False, False] Translation: X:4.69, Y:0.57, Z:-0.06 [[ 9.99386134e-01 5.18160372e-03 -3.46483315e-02 4.69331420e+00] [-5.29925139e-03 9.99980499e-01 -3.30450779e-03 5.67587240e-01] [ 3.46305331e-02 3.48608948e-03 9.99394103e-01 -5.74499337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.893133365 meters Centerline goodness [0,1] 0.28323624595469254 Centerline is valid? [False, False] Translation: X:4.69, Y:0.57, Z:-0.06 [[ 9.99382469e-01 5.01143715e-03 -3.47788183e-02 4.69368438e+00] [-5.14484478e-03 9.99979743e-01 -3.74745470e-03 5.69779957e-01] [ 3.47593337e-02 3.92407215e-03 9.99388008e-01 -5.75985867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.923133365 meters Centerline goodness [0,1] 0.28301316641484997 Centerline is valid? [False, False] Translation: X:4.69, Y:0.57, Z:-0.06 [[ 9.99386538e-01 4.87843954e-03 -3.46806732e-02 4.69329119e+00] [-5.02262861e-03 9.99979097e-01 -4.07171619e-03 5.71370455e-01] [ 3.46600846e-02 4.24340649e-03 9.99390150e-01 -5.74296129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.953133365 meters Centerline goodness [0,1] 0.28601851449432836 Centerline is valid? [False, False] Translation: X:4.69, Y:0.57, Z:-0.06 [[ 9.99390608e-01 4.67585386e-03 -3.45911821e-02 4.69255094e+00] [-4.82453120e-03 9.99979475e-01 -4.21590903e-03 5.71704273e-01] [ 3.45707591e-02 4.38022612e-03 9.99392654e-01 -5.65861902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98313336499996 meters Centerline goodness [0,1] 0.28565863792767643 Centerline is valid? [False, False] Translation: X:4.71, Y:0.58, Z:-0.05 [[ 9.99390473e-01 -4.05370903e-03 -3.46734848e-02 4.71220220e+00] [ 3.94247335e-03 9.99986863e-01 -3.27585968e-03 5.75577051e-01] [ 3.46863087e-02 3.13716366e-03 9.99393325e-01 -5.46248266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.013133365 meters Centerline goodness [0,1] 0.2838331328406942 Centerline is valid? [False, False] Translation: X:4.71, Y:0.57, Z:-0.05 [[ 9.99380358e-01 -4.26139046e-03 -3.49391007e-02 4.71269052e+00] [ 4.15761573e-03 9.99986729e-01 -3.04227650e-03 5.73413228e-01] [ 3.49516013e-02 2.89512802e-03 9.99384813e-01 -5.42593107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04313336499996 meters Centerline goodness [0,1] 0.28750135736779237 Centerline is valid? [False, False] Translation: X:4.71, Y:0.57, Z:-0.05 [[ 9.99388390e-01 -4.51594248e-03 -3.46763832e-02 4.71191616e+00] [ 4.42291196e-03 9.99986413e-01 -2.75906115e-03 5.70879904e-01] [ 3.46883718e-02 2.60400309e-03 9.99394785e-01 -5.37803026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.073133365 meters Centerline goodness [0,1] 0.28670590010562846 Centerline is valid? [False, False] Translation: X:4.71, Y:0.57, Z:-0.05 [[ 9.99401645e-01 -4.73236987e-03 -3.42630608e-02 4.71075888e+00] [ 4.65443192e-03 9.99986397e-01 -2.35409746e-03 5.67590039e-01] [ 3.42737352e-02 2.19321379e-03 9.99410076e-01 -5.32697908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10313336499996 meters Centerline goodness [0,1] 0.291031564402608 Centerline is valid? [False, False] Translation: X:4.71, Y:0.56, Z:-0.05 [[ 9.99406852e-01 -8.00067535e-03 -3.34952615e-02 4.70794133e+00] [ 7.85385998e-03 9.99958977e-01 -4.51244878e-03 5.60536416e-01] [ 3.35299901e-02 4.24670514e-03 9.99428689e-01 -5.17930172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.133133365 meters Centerline goodness [0,1] 0.29332984908865223 Centerline is valid? [False, False] Translation: X:4.71, Y:0.56, Z:-0.05 [[ 9.99410471e-01 -7.90789967e-03 -3.34092127e-02 4.70775357e+00] [ 7.77927272e-03 9.99961827e-01 -3.97827978e-03 5.57423908e-01] [ 3.34393972e-02 3.71603509e-03 9.99433839e-01 -5.16809060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16313336499996 meters Centerline goodness [0,1] 0.29308771777381937 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:-0.05 [[ 9.99406510e-01 -7.67724863e-03 -3.35810700e-02 4.70827000e+00] [ 7.56791707e-03 9.99965645e-01 -3.38164604e-03 5.54591332e-01] [ 3.36058781e-02 3.12550031e-03 9.99430276e-01 -5.17910860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.193133365 meters Centerline goodness [0,1] 0.2966198419666374 Centerline is valid? [False, False] Translation: X:4.69, Y:0.55, Z:-0.05 [[ 9.99422889e-01 5.97059198e-04 -3.39636887e-02 4.69050322e+00] [-7.41493402e-04 9.99990736e-01 -4.24016994e-03 5.46579100e-01] [ 3.39608425e-02 4.26290674e-03 9.99414073e-01 -5.39938802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22313336499997 meters Centerline goodness [0,1] 0.2917082483620428 Centerline is valid? [False, False] Translation: X:4.69, Y:0.54, Z:-0.05 [[ 9.99409566e-01 9.76012591e-04 -3.43448242e-02 4.69176421e+00] [-1.09800783e-03 9.99993155e-01 -3.53338898e-03 5.42981950e-01] [ 3.43411404e-02 3.56901363e-03 9.99403796e-01 -5.45716781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.253133365 meters Centerline goodness [0,1] 0.2936412651983148 Centerline is valid? [False, False] Translation: X:4.69, Y:0.54, Z:-0.05 [[ 9.99405596e-01 1.11538377e-03 -3.44559234e-02 4.69211733e+00] [-1.23153734e-03 9.99993630e-01 -3.35003769e-03 5.42164162e-01] [ 3.44519673e-02 3.39048017e-03 9.99400604e-01 -5.47905197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28313336499997 meters Centerline goodness [0,1] 0.29269195592526454 Centerline is valid? [False, False] Translation: X:4.69, Y:0.54, Z:-0.06 [[ 9.99406552e-01 1.35644257e-03 -3.44195308e-02 4.69214665e+00] [-1.46532666e-03 9.99994002e-01 -3.13841098e-03 5.41609360e-01] [ 3.44150673e-02 3.18698435e-03 9.99402545e-01 -5.50494475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.313133365 meters Centerline goodness [0,1] 0.28953692277716436 Centerline is valid? [False, False] Translation: X:4.69, Y:0.54, Z:-0.06 [[ 9.99405452e-01 1.67278196e-03 -3.44375558e-02 4.69220724e+00] [-1.77495963e-03 9.99994113e-01 -2.93668397e-03 5.41474450e-01] [ 3.44324407e-02 2.99606324e-03 9.99402537e-01 -5.51619796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34313336499997 meters Centerline goodness [0,1] 0.2907303065242457 Centerline is valid? [False, False] Translation: X:4.69, Y:0.54, Z:-0.06 [[ 9.99414777e-01 1.94357265e-03 -3.41515279e-02 4.69138215e+00] [-2.04142851e-03 9.99993910e-01 -2.83070785e-03 5.41742418e-01] [ 3.41458182e-02 2.89876916e-03 9.99412658e-01 -5.50108221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.373133365 meters Centerline goodness [0,1] 0.2896295814074604 Centerline is valid? [False, False] Translation: X:4.69, Y:0.54, Z:-0.05 [[ 9.99424514e-01 2.13100384e-03 -3.38540929e-02 4.69048218e+00] [-2.22744212e-03 9.99993568e-01 -2.81118515e-03 5.42255271e-01] [ 3.38478845e-02 2.88497539e-03 9.99422832e-01 -5.48335579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.403133365 meters Centerline goodness [0,1] 0.2910559898952503 Centerline is valid? [False, False] Translation: X:4.69, Y:0.54, Z:-0.05 [[ 9.99429297e-01 2.53372829e-03 -3.36847282e-02 4.69001689e+00] [-2.62272014e-03 9.99993186e-01 -2.59798228e-03 5.42259612e-01] [ 3.36779161e-02 2.68484522e-03 9.99429132e-01 -5.48969830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.433133365 meters Centerline goodness [0,1] 0.28584057439789556 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:-0.05 [[ 9.99407360e-01 -5.12887802e-03 -3.40385710e-02 4.70914978e+00] [ 5.08280509e-03 9.99986046e-01 -1.43994414e-03 5.47414800e-01] [ 3.40454813e-02 1.26607935e-03 9.99419483e-01 -5.37004621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.463133365 meters Centerline goodness [0,1] 0.2859739472887004 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:-0.05 [[ 9.99405356e-01 -5.06534935e-03 -3.41068432e-02 4.70959676e+00] [ 5.02398453e-03 9.99986537e-01 -1.29839358e-03 5.46581357e-01] [ 3.41129608e-02 1.12626925e-03 9.99417349e-01 -5.41146823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.493133365 meters Centerline goodness [0,1] 0.28822484181329633 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:-0.05 [[ 9.99413419e-01 -5.00898016e-03 -3.38781289e-02 4.70896909e+00] [ 4.97535204e-03 9.99987043e-01 -1.07685015e-03 5.45223331e-01] [ 3.38830839e-02 9.07662871e-04 9.99425391e-01 -5.39790959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.523133365 meters Centerline goodness [0,1] 0.28955597248280174 Centerline is valid? [False, False] Translation: X:4.72, Y:0.54, Z:-0.05 [[ 9.99454879e-01 1.00811636e-03 -3.29989165e-02 4.72385620e+00] [-1.11826607e-03 9.99993865e-01 -3.31969413e-03 5.37701906e-01] [ 3.29953674e-02 3.35478606e-03 9.99449874e-01 -4.96750084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.553133365 meters Centerline goodness [0,1] 0.29315804415714874 Centerline is valid? [False, False] Translation: X:4.72, Y:0.54, Z:-0.05 [[ 9.99457812e-01 1.09568439e-03 -3.29071596e-02 4.72364263e+00] [-1.19051831e-03 9.99995195e-01 -2.86240745e-03 5.35046122e-01] [ 3.29038652e-02 2.90003206e-03 9.99454314e-01 -4.95606948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.583133365 meters Centerline goodness [0,1] 0.28875902371949125 Centerline is valid? [False, False] Translation: X:4.77, Y:0.53, Z:-0.05 [[ 9.99514307e-01 5.05713201e-04 -3.11591642e-02 4.76756735e+00] [-5.85847481e-04 9.99996545e-01 -2.56269665e-03 5.34575934e-01] [ 3.11577605e-02 2.57970648e-03 9.99511150e-01 -4.84788608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.613133365 meters Centerline goodness [0,1] 0.29338411316648527 Centerline is valid? [False, False] Translation: X:4.77, Y:0.53, Z:-0.05 [[ 9.99520308e-01 6.66825151e-04 -3.09630320e-02 4.76711776e+00] [-7.29548245e-04 9.99997705e-01 -2.01448829e-03 5.31865455e-01] [ 3.09616177e-02 2.03611098e-03 9.99518500e-01 -4.83813734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.643133365 meters Centerline goodness [0,1] 0.2987169645794495 Centerline is valid? [False, False] Translation: X:4.77, Y:0.53, Z:-0.05 [[ 9.99528737e-01 8.18465772e-04 -3.06860625e-02 4.76646689e+00] [-8.63356268e-04 9.99998577e-01 -1.44967420e-03 5.28969648e-01] [ 3.06848323e-02 1.47548403e-03 9.99528021e-01 -4.82027301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.673133365 meters Centerline goodness [0,1] 0.2923884401054041 Centerline is valid? [False, False] Translation: X:4.79, Y:0.53, Z:-0.05 [[ 9.99523795e-01 -7.55011747e-03 -2.99195546e-02 4.78646541e+00] [ 7.54051101e-03 9.99971476e-01 -4.33894652e-04 5.30940645e-01] [ 2.99219771e-02 2.08079298e-04 9.99552216e-01 -4.70896199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.703133365 meters Centerline goodness [0,1] 0.29782689247804006 Centerline is valid? [False, False] Translation: X:4.77, Y:0.52, Z:-0.05 [[ 9.99567170e-01 -3.36797781e-04 -2.94169728e-02 4.76939599e+00] [ 2.87520676e-04 9.99998549e-01 -1.67933879e-03 5.20511280e-01] [ 2.94174957e-02 1.67015393e-03 9.99565817e-01 -4.99017416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.73313336499996 meters Centerline goodness [0,1] 0.29432739059967583 Centerline is valid? [False, False] Translation: X:4.77, Y:0.52, Z:-0.05 [[ 9.99566672e-01 -1.89757269e-04 -2.94352064e-02 4.76945179e+00] [ 1.50613983e-04 9.99999102e-01 -1.33202330e-03 5.18871840e-01] [ 2.94354328e-02 1.32701275e-03 9.99565803e-01 -4.98987318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.763133365 meters Centerline goodness [0,1] 0.30063622102143983 Centerline is valid? [False, False] Translation: X:4.77, Y:0.52, Z:-0.05 [[ 9.99575259e-01 4.57134627e-05 -2.91427513e-02 4.76860467e+00] [-6.72521205e-05 9.99999725e-01 -7.38094539e-04 5.16030695e-01] [ 2.91427096e-02 7.39740951e-04 9.99574987e-01 -4.96001377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.79313336499996 meters Centerline goodness [0,1] 0.29445724995153055 Centerline is valid? [False, False] Translation: X:4.77, Y:0.51, Z:-0.05 [[ 9.99571683e-01 1.22172259e-04 -2.92649285e-02 4.76906723e+00] [-1.36248325e-04 9.99999876e-01 -4.78993956e-04 5.14511680e-01] [ 2.92648664e-02 4.82776092e-04 9.99571575e-01 -4.98385095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.823133365 meters Centerline goodness [0,1] 0.29612423389823117 Centerline is valid? [False, False] Translation: X:4.77, Y:0.51, Z:-0.05 [[ 9.99569052e-01 1.86568212e-04 -2.93543117e-02 4.76953618e+00] [-1.94784826e-04 9.99999943e-01 -2.77052399e-04 5.13308586e-01] [ 2.93542583e-02 2.82650779e-04 9.99569031e-01 -5.02426548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.85313336499996 meters Centerline goodness [0,1] 0.29521374558533575 Centerline is valid? [False, False] Translation: X:4.77, Y:0.51, Z:-0.05 [[ 9.99564822e-01 2.50622356e-04 -2.94975389e-02 4.76987762e+00] [-2.53936249e-04 9.99999962e-01 -1.08598725e-04 5.12446521e-01] [ 2.94975106e-02 1.16041960e-04 9.99564847e-01 -5.02485218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.883133365 meters Centerline goodness [0,1] 0.3015067616757484 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99504485e-01 3.18971732e-04 -3.14751113e-02 4.72468526e+00] [-3.20094280e-04 9.99999948e-01 -3.06258696e-05 5.08446550e-01] [ 3.14750999e-02 4.06856971e-05 9.99504535e-01 -5.07491904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.91313336499996 meters Centerline goodness [0,1] 0.2936448397813739 Centerline is valid? [False, False] Translation: X:4.77, Y:0.51, Z:-0.05 [[ 9.99549115e-01 4.52277781e-05 -3.00260749e-02 4.77112748e+00] [-5.08266237e-05 9.99999981e-01 -1.85702910e-04 5.09930434e-01] [ 3.00260660e-02 1.87145303e-04 9.99549099e-01 -5.06229379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.943133365 meters Centerline goodness [0,1] 0.29376188007603243 Centerline is valid? [False, False] Translation: X:4.77, Y:0.51, Z:-0.05 [[ 9.99541994e-01 7.09357012e-05 -3.02621547e-02 4.77194552e+00] [-7.59844717e-05 9.99999983e-01 -1.65684511e-04 5.09884906e-01] [ 3.02621425e-02 1.67908080e-04 9.99541982e-01 -5.10395873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.97313336499997 meters Centerline goodness [0,1] 0.29225245490331786 Centerline is valid? [False, False] Translation: X:4.77, Y:0.51, Z:-0.05 [[ 9.99535818e-01 1.18951766e-04 -3.04652857e-02 4.77249501e+00] [-1.25246921e-04 9.99999971e-01 -2.04725518e-04 5.10418254e-01] [ 3.04652605e-02 2.08446172e-04 9.99535804e-01 -5.12009218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.003133365 meters Centerline goodness [0,1] 0.294484276592499 Centerline is valid? [False, False] Translation: X:4.77, Y:0.51, Z:-0.05 [[ 9.99533838e-01 1.77815438e-04 -3.05299208e-02 4.77258976e+00] [-1.84435704e-04 9.99999960e-01 -2.14029273e-04 5.10896959e-01] [ 3.05298816e-02 2.19560308e-04 9.99533830e-01 -5.11697987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03313336499997 meters Centerline goodness [0,1] 0.2914996424779528 Centerline is valid? [False, False] Translation: X:4.77, Y:0.51, Z:-0.05 [[ 9.99533851e-01 2.11663402e-04 -3.05292564e-02 4.77261333e+00] [-2.21015715e-04 9.99999930e-01 -3.02965179e-04 5.11695357e-01] [ 3.05291902e-02 3.09571397e-04 9.99533828e-01 -5.12493911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.063133365 meters Centerline goodness [0,1] 0.29091497626240825 Centerline is valid? [False, False] Translation: X:4.77, Y:0.51, Z:-0.05 [[ 9.99533413e-01 -4.33285190e-05 -3.05443041e-02 4.77297197e+00] [ 1.76638288e-05 9.99999647e-01 -8.40514043e-04 5.13538411e-01] [ 3.05443298e-02 8.39582340e-04 9.99533060e-01 -5.18463165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09313336499997 meters Centerline goodness [0,1] 0.29547097876815887 Centerline is valid? [False, False] Translation: X:4.75, Y:0.51, Z:-0.05 [[ 9.99491633e-01 7.92990980e-03 -3.08802992e-02 4.75319415e+00] [-8.00416881e-03 9.99965363e-01 -2.28186335e-03 5.09484108e-01] [ 3.08611346e-02 2.52787446e-03 9.99520485e-01 -5.34675848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.123133365 meters Centerline goodness [0,1] 0.291851435246274 Centerline is valid? [False, False] Translation: X:4.77, Y:0.52, Z:-0.05 [[ 9.99543868e-01 6.04621414e-04 -3.01942008e-02 4.77091979e+00] [-6.31996782e-04 9.99999398e-01 -8.97107995e-04 5.16912801e-01] [ 3.01936402e-02 9.15781433e-04 9.99543649e-01 -5.15503552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.153133365 meters Centerline goodness [0,1] 0.2946329345623325 Centerline is valid? [False, False] Translation: X:4.77, Y:0.52, Z:-0.05 [[ 9.99547694e-01 6.02856187e-04 -3.00673187e-02 4.77045346e+00] [-6.36605453e-04 9.99999178e-01 -1.11289672e-03 5.18630207e-01] [ 3.00666231e-02 1.13153437e-03 9.99547256e-01 -5.13787523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.183133365 meters Centerline goodness [0,1] 0.2927718688951595 Centerline is valid? [False, False] Translation: X:4.77, Y:0.52, Z:-0.05 [[ 9.99552023e-01 6.03827015e-04 -2.99230461e-02 4.76961840e+00] [-6.49952454e-04 9.99998616e-01 -1.53176623e-03 5.21834465e-01] [ 2.99220797e-02 1.55052859e-03 9.99551032e-01 -5.07953469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.213133365 meters Centerline goodness [0,1] 0.2914342543347602 Centerline is valid? [False, False] Translation: X:4.77, Y:0.52, Z:-0.05 [[ 9.99552537e-01 4.89948745e-04 -2.99079665e-02 4.76947184e+00] [-5.43475829e-04 9.99998265e-01 -1.78162389e-03 5.22982597e-01] [ 2.99070417e-02 1.79708094e-03 9.99551069e-01 -5.06555596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.243133365 meters Centerline goodness [0,1] 0.2924908028565245 Centerline is valid? [False, False] Translation: X:4.77, Y:0.52, Z:-0.05 [[ 9.99551984e-01 4.02758345e-04 -2.99277224e-02 4.76937550e+00] [-4.62648208e-04 9.99997904e-01 -1.99425246e-03 5.24034832e-01] [ 2.99268565e-02 2.00720501e-03 9.99550076e-01 -5.04872086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.273133365 meters Centerline goodness [0,1] 0.2893162944795835 Centerline is valid? [False, False] Translation: X:4.77, Y:0.52, Z:-0.05 [[ 9.99551127e-01 3.58193282e-04 -2.99569221e-02 4.76935810e+00] [-4.21551239e-04 9.99997688e-01 -2.10868000e-03 5.24765143e-01] [ 2.99560975e-02 2.12036185e-03 9.99548966e-01 -5.03878285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.303133365 meters Centerline goodness [0,1] 0.2918200320443425 Centerline is valid? [False, False] Translation: X:4.77, Y:0.53, Z:-0.05 [[ 9.99552166e-01 3.14533855e-04 -2.99226998e-02 4.76913634e+00] [-3.79747219e-04 9.99997565e-01 -2.17373655e-03 5.25086490e-01] [ 2.99219432e-02 2.18412614e-03 9.99549852e-01 -5.01677615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.333133365 meters Centerline goodness [0,1] 0.29012558059521765 Centerline is valid? [False, False] Translation: X:4.77, Y:0.52, Z:-0.05 [[ 9.99566484e-01 1.08732286e-04 -2.94420069e-02 4.76723189e+00] [-1.74280614e-04 9.99997512e-01 -2.22379695e-03 5.24450900e-01] [ 2.94416919e-02 2.22796407e-03 9.99564016e-01 -4.89519356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.363133365 meters Centerline goodness [0,1] 0.2919052744886975 Centerline is valid? [False, False] Translation: X:4.77, Y:0.52, Z:-0.05 [[ 9.99572057e-01 1.13899101e-04 -2.92521647e-02 4.76649555e+00] [-1.76395830e-04 9.99997708e-01 -2.13391055e-03 5.23874562e-01] [ 2.92518546e-02 2.13815732e-03 9.99569786e-01 -4.84905240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.393133365 meters Centerline goodness [0,1] 0.2945502668460104 Centerline is valid? [False, False] Translation: X:4.77, Y:0.52, Z:-0.05 [[ 9.99575451e-01 1.25212459e-04 -2.91359262e-02 4.76614583e+00] [-1.84884345e-04 9.99997891e-01 -2.04536686e-03 5.23289980e-01] [ 2.91356087e-02 2.04988528e-03 9.99573366e-01 -4.83574896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.423133365 meters Centerline goodness [0,1] 0.2931306964560195 Centerline is valid? [False, False] Translation: X:4.77, Y:0.52, Z:-0.05 [[ 9.99573834e-01 1.40421808e-04 -2.91912728e-02 4.76632565e+00] [-1.97907191e-04 9.99998047e-01 -1.96638621e-03 5.22776628e-01] [ 2.91909397e-02 1.97132536e-03 9.99571910e-01 -4.84286255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.453133365 meters Centerline goodness [0,1] 0.2931306964560195 Centerline is valid? [False, False] Translation: X:4.77, Y:0.52, Z:-0.05 [[ 9.99573834e-01 1.40421808e-04 -2.91912728e-02 4.76632565e+00] [-1.97907191e-04 9.99998047e-01 -1.96638621e-03 5.22776628e-01] [ 2.91909397e-02 1.97132536e-03 9.99571910e-01 -4.84286255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48313336499996 meters Centerline goodness [0,1] 0.29258473659148954 Centerline is valid? [False, False] Translation: X:4.77, Y:0.52, Z:-0.05 [[ 9.99569527e-01 1.58514423e-04 -2.93382961e-02 4.76685458e+00] [-2.15404533e-04 9.99998103e-01 -1.93595718e-03 5.22632478e-01] [ 2.93379336e-02 1.94144340e-03 9.99567665e-01 -4.87216719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.513133365 meters Centerline goodness [0,1] 0.2914743064244726 Centerline is valid? [False, False] Translation: X:4.77, Y:0.52, Z:-0.05 [[ 9.99564696e-01 1.91173722e-04 -2.95022464e-02 4.76739823e+00] [-2.48447918e-04 9.99998092e-01 -1.93769686e-03 5.22839236e-01] [ 2.95018196e-02 1.94418314e-03 9.99562836e-01 -4.89831222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54313336499996 meters Centerline goodness [0,1] 0.29382112414001993 Centerline is valid? [False, False] Translation: X:4.77, Y:0.52, Z:-0.05 [[ 9.99575928e-01 3.02758148e-04 -2.91182629e-02 4.76645361e+00] [-3.58294750e-04 9.99998127e-01 -1.90207866e-03 5.23197999e-01] [ 2.91176325e-02 1.91170496e-03 9.99574164e-01 -4.90336255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.573133365 meters Centerline goodness [0,1] 0.2949411251635412 Centerline is valid? [False, False] Translation: X:4.77, Y:0.52, Z:-0.05 [[ 9.99584265e-01 3.20384725e-04 -2.88304278e-02 4.76557237e+00] [-3.75297072e-04 9.99998126e-01 -1.89927546e-03 5.23316763e-01] [ 2.88297653e-02 1.90930584e-03 9.99582512e-01 -4.87627036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60313336499996 meters Centerline goodness [0,1] 0.2953805409629662 Centerline is valid? [False, False] Translation: X:4.77, Y:0.52, Z:-0.05 [[ 9.99589040e-01 3.57541931e-04 -2.86639695e-02 4.76508538e+00] [-4.11361290e-04 9.99998164e-01 -1.87172128e-03 5.23396978e-01] [ 2.86632477e-02 1.88274332e-03 9.99587352e-01 -4.86101380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.633133365 meters Centerline goodness [0,1] 0.2950089126559715 Centerline is valid? [False, False] Translation: X:4.76, Y:0.52, Z:-0.05 [[ 9.99592223e-01 3.41989745e-04 -2.85529500e-02 4.76495569e+00] [-3.96963197e-04 9.99998079e-01 -1.91966983e-03 5.23556571e-01] [ 2.85522387e-02 1.93022150e-03 9.99590438e-01 -4.88390429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66313336499996 meters Centerline goodness [0,1] 0.29630919220055707 Centerline is valid? [False, False] Translation: X:4.77, Y:0.52, Z:-0.05 [[ 9.99581441e-01 2.85978698e-04 -2.89285669e-02 4.76632480e+00] [-3.42917833e-04 9.99998014e-01 -1.96332473e-03 5.23241281e-01] [ 2.89279480e-02 1.97242308e-03 9.99579553e-01 -4.96402341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.693133365 meters Centerline goodness [0,1] 0.2933142249147721 Centerline is valid? [False, False] Translation: X:4.77, Y:0.52, Z:-0.05 [[ 9.99576789e-01 3.69801375e-04 -2.90879033e-02 4.76685773e+00] [-4.22634694e-04 9.99998272e-01 -1.81020590e-03 5.22671933e-01] [ 2.90871836e-02 1.82173336e-03 9.99575218e-01 -4.99325876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72313336499997 meters Centerline goodness [0,1] 0.29303327231614085 Centerline is valid? [False, False] Translation: X:4.77, Y:0.52, Z:-0.05 [[ 9.99576630e-01 4.82172663e-04 -2.90917348e-02 4.76710180e+00] [-5.28775966e-04 9.99998589e-01 -1.59427123e-03 5.21949468e-01] [ 2.90909250e-02 1.60897927e-03 9.99575475e-01 -5.02675891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.753133365 meters Centerline goodness [0,1] 0.2974623750411952 Centerline is valid? [False, False] Translation: X:4.72, Y:0.52, Z:-0.05 [[ 9.99511472e-01 2.26226257e-04 -3.12532465e-02 4.72227309e+00] [-2.80500762e-04 9.99998460e-01 -1.73223031e-03 5.17850297e-01] [ 3.12528065e-02 1.74015063e-03 9.99509997e-01 -5.10152969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78313336499997 meters Centerline goodness [0,1] 0.29404972002527396 Centerline is valid? [False, False] Translation: X:4.72, Y:0.52, Z:-0.05 [[ 9.99511123e-01 2.28538274e-04 -3.12644139e-02 4.72229807e+00] [-2.78250574e-04 9.99998704e-01 -1.58571868e-03 5.16750819e-01] [ 3.12640110e-02 1.59364279e-03 9.99509891e-01 -5.09976992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.813133365 meters Centerline goodness [0,1] 0.2965996199960689 Centerline is valid? [False, False] Translation: X:4.72, Y:0.52, Z:-0.05 [[ 9.99507973e-01 1.50796332e-04 -3.13654004e-02 4.72239524e+00] [-1.98104977e-04 9.99998848e-01 -1.50520462e-03 5.15411358e-01] [ 3.13651372e-02 1.51067766e-03 9.99506851e-01 -5.07844106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84313336499997 meters Centerline goodness [0,1] 0.2928348909657321 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99479516e-01 -1.13919079e-04 -3.22596232e-02 4.72465438e+00] [ 7.11092512e-05 9.99999115e-01 -1.32818471e-03 5.12500740e-01] [ 3.22597460e-02 1.32519945e-03 9.99478640e-01 -5.09931009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.873133365 meters Centerline goodness [0,1] 0.29393794956235375 Centerline is valid? [False, False] Translation: X:4.73, Y:0.51, Z:-0.05 [[ 9.99474362e-01 -9.11186455e-06 -3.24191110e-02 4.72531606e+00] [-2.38070903e-05 9.99999485e-01 -1.01503204e-03 5.10932287e-01] [ 3.24191036e-02 1.01527030e-03 9.99473847e-01 -5.13768859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.903133365 meters Centerline goodness [0,1] 0.29691779333130464 Centerline is valid? [False, False] Translation: X:4.73, Y:0.51, Z:-0.05 [[ 9.99472897e-01 9.27804477e-05 -3.24641225e-02 4.72555552e+00] [-1.16533249e-04 9.99999727e-01 -7.29771828e-04 5.09549630e-01] [ 3.24640459e-02 7.33170313e-04 9.99472635e-01 -5.15174706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.933133365 meters Centerline goodness [0,1] 0.29159070924571595 Centerline is valid? [False, False] Translation: X:4.75, Y:0.51, Z:-0.05 [[ 9.99457506e-01 -8.13521266e-03 -3.19141252e-02 4.74525203e+00] [ 8.14580375e-03 9.99966802e-01 2.01857850e-04 5.13160651e-01] [ 3.19114235e-02 -4.61714544e-04 9.99490594e-01 -5.03252719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.963133365 meters Centerline goodness [0,1] 0.29573608032337984 Centerline is valid? [False, False] Translation: X:4.73, Y:0.51, Z:-0.05 [[ 9.99491164e-01 -6.01882287e-04 -3.18912359e-02 4.72651150e+00] [ 5.66402106e-04 9.99999211e-01 -1.12155929e-03 5.05357766e-01] [ 3.18918857e-02 1.10292534e-03 9.99490716e-01 -5.22509918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.993133365 meters Centerline goodness [0,1] 0.2964900475373896 Centerline is valid? [False, False] Translation: X:4.73, Y:0.50, Z:-0.05 [[ 9.99474519e-01 -6.40955234e-04 -3.24079552e-02 4.72793978e+00] [ 6.15867516e-04 9.99999503e-01 -7.84098422e-04 5.02812483e-01] [ 3.24084417e-02 7.63727386e-04 9.99474417e-01 -5.25029308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.023133365 meters Centerline goodness [0,1] 0.2951547575212805 Centerline is valid? [False, False] Translation: X:4.73, Y:0.50, Z:-0.05 [[ 9.99466663e-01 -5.63627954e-04 -3.26507566e-02 4.72863058e+00] [ 5.45135108e-04 9.99999686e-01 -5.75282518e-04 5.01689349e-01] [ 3.26510706e-02 5.57176625e-04 9.99466656e-01 -5.26667238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.053133365 meters Centerline goodness [0,1] 0.295175248810039 Centerline is valid? [False, False] Translation: X:4.73, Y:0.50, Z:-0.05 [[ 9.99467146e-01 -4.85969176e-04 -3.26372038e-02 4.72855601e+00] [ 4.74302983e-04 9.99999821e-01 -3.65191805e-04 5.00614561e-01] [ 3.26373755e-02 3.49517288e-04 9.99467198e-01 -5.25840654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.083133365 meters Centerline goodness [0,1] 0.2926567035802602 Centerline is valid? [False, False] Translation: X:4.73, Y:0.50, Z:-0.05 [[ 9.99472446e-01 -4.08725836e-04 -3.24755661e-02 4.72795271e+00] [ 4.02633728e-04 9.99999900e-01 -1.94129913e-04 4.99823894e-01] [ 3.24756422e-02 1.80951741e-04 9.99472511e-01 -5.22262326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.113133365 meters Centerline goodness [0,1] 0.29920574475029915 Centerline is valid? [False, False] Translation: X:4.73, Y:0.50, Z:-0.05 [[ 9.99492729e-01 -3.45805702e-04 -3.18459583e-02 4.72582045e+00] [ 3.45691382e-04 9.99999940e-01 -9.09562345e-06 4.98555703e-01] [ 3.18459595e-02 -1.91786382e-06 9.99492789e-01 -5.12416640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.143133365 meters Centerline goodness [0,1] 0.2968743226253956 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99499388e-01 -2.94495486e-04 -3.16367807e-02 4.72497751e+00] [ 2.93979785e-04 9.99999957e-01 -2.09521423e-05 4.98835390e-01] [ 3.16367855e-02 1.16410795e-05 9.99499432e-01 -5.07482530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.173133365 meters Centerline goodness [0,1] 0.29786499147291845 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99510875e-01 -1.65959739e-04 -3.12727253e-02 4.72372216e+00] [ 1.65116579e-04 9.99999986e-01 -2.95439712e-05 4.99614761e-01] [ 3.12727298e-02 2.43658751e-05 9.99510888e-01 -5.02074495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.203133365 meters Centerline goodness [0,1] 0.2983524821157598 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99521380e-01 -5.45099354e-05 -3.09355511e-02 4.72274050e+00] [ 5.03187386e-05 9.99999989e-01 -1.36260049e-04 5.00973655e-01] [ 3.09355582e-02 1.34638194e-04 9.99521372e-01 -5.00208506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.23313336499996 meters Centerline goodness [0,1] 0.2947139597951014 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99517080e-01 4.13171627e-05 -3.10741965e-02 4.72318990e+00] [-5.04513031e-05 9.99999956e-01 -2.93162149e-04 5.02459739e-01] [ 3.10741830e-02 2.94588308e-04 9.99517038e-01 -5.03325479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.263133365 meters Centerline goodness [0,1] 0.2956664364640884 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99513219e-01 -1.73062039e-05 -3.11981400e-02 4.72384479e+00] [-5.81277274e-08 9.99999845e-01 -5.56581280e-04 5.03815015e-01] [ 3.11981448e-02 5.56312160e-04 9.99513065e-01 -5.09882784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.29313336499996 meters Centerline goodness [0,1] 0.29581875512936806 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99512777e-01 -1.86473588e-04 -3.12117693e-02 4.72412590e+00] [ 1.56963048e-04 9.99999538e-01 -9.47941476e-04 5.05404250e-01] [ 3.12119316e-02 9.42580523e-04 9.99512345e-01 -5.15145443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.323133365 meters Centerline goodness [0,1] 0.29541356160514476 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99514687e-01 -1.88879708e-04 -3.11505275e-02 4.72370881e+00] [ 1.58128138e-04 9.99999498e-01 -9.89653127e-04 5.05797303e-01] [ 3.11506988e-02 9.84247061e-04 9.99514215e-01 -5.11171955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.35313336499996 meters Centerline goodness [0,1] 0.29599739668076797 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99518237e-01 -1.62916914e-04 -3.10365384e-02 4.72321115e+00] [ 1.32715870e-04 9.99999516e-01 -9.75137835e-04 5.06049851e-01] [ 3.10366822e-02 9.70549008e-04 9.99517775e-01 -5.07845300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.383133365 meters Centerline goodness [0,1] 0.29803648092052215 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99519753e-01 -1.85664478e-04 -3.09875660e-02 4.72293382e+00] [ 1.53600536e-04 9.99999450e-01 -1.03711295e-03 5.06433402e-01] [ 3.09877415e-02 1.03185517e-03 9.99519232e-01 -5.05334881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.41313336499996 meters Centerline goodness [0,1] 0.29828172737318803 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99520848e-01 -2.36207204e-04 -3.09518709e-02 4.72307931e+00] [ 2.00608896e-04 9.99999315e-01 -1.15321843e-03 5.07057612e-01] [ 3.09521221e-02 1.14645664e-03 9.99520211e-01 -5.08979549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.443133365 meters Centerline goodness [0,1] 0.2947996810413569 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99520396e-01 -2.43193017e-04 -3.09664296e-02 4.72341771e+00] [ 2.06810737e-04 9.99999285e-01 -1.17809167e-03 5.07262882e-01] [ 3.09666939e-02 1.17112247e-03 9.99519731e-01 -5.13715021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.47313336499997 meters Centerline goodness [0,1] 0.2963876270819814 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99519758e-01 -2.57155684e-04 -3.09868945e-02 4.72366474e+00] [ 2.20007961e-04 9.99999253e-01 -1.20222397e-03 5.07387789e-01] [ 3.09871805e-02 1.19482925e-03 9.99519068e-01 -5.16600437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.503133365 meters Centerline goodness [0,1] 0.2967495551794471 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99514316e-01 -2.66943135e-04 -3.11618578e-02 4.72410180e+00] [ 2.29114656e-04 9.99999233e-01 -1.21749968e-03 5.07419531e-01] [ 3.11621589e-02 1.20976872e-03 9.99513610e-01 -5.17111635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53313336499997 meters Centerline goodness [0,1] 0.3002375918216099 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99511125e-01 -2.86825957e-04 -3.12638704e-02 4.72417188e+00] [ 2.48919606e-04 9.99999229e-01 -1.21635037e-03 5.07272633e-01] [ 3.12641952e-02 1.20797354e-03 9.99510426e-01 -5.14434773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.563133365 meters Centerline goodness [0,1] 0.2955615042528388 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99510443e-01 -3.21941166e-04 -3.12852997e-02 4.72398786e+00] [ 2.83300859e-04 9.99999192e-01 -1.23951951e-03 5.07284151e-01] [ 3.12856735e-02 1.23004954e-03 9.99509727e-01 -5.10730328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59313336499997 meters Centerline goodness [0,1] 0.29527022643223255 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99506810e-01 -3.57247839e-04 -3.14007839e-02 4.72426825e+00] [ 3.17119802e-04 9.99999127e-01 -1.28290189e-03 5.07455726e-01] [ 3.14012148e-02 1.27231137e-03 9.99506050e-01 -5.10668345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.623133365 meters Centerline goodness [0,1] 0.2983189617629126 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99507675e-01 -3.38640939e-04 -3.13734516e-02 4.72442521e+00] [ 3.00914817e-04 9.99999226e-01 -1.20719926e-03 5.07040349e-01] [ 3.13738362e-02 1.19716419e-03 9.99507003e-01 -5.14238481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.653133365 meters Centerline goodness [0,1] 0.29640278438324186 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99506847e-01 -3.42154055e-04 -3.13997618e-02 4.72465420e+00] [ 3.08212790e-04 9.99999363e-01 -1.08577394e-03 5.06058301e-01] [ 3.14001133e-02 1.07556068e-03 9.99506316e-01 -5.16430666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.683133365 meters Centerline goodness [0,1] 0.29516845017263194 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99504431e-01 -3.71174081e-04 -3.14762470e-02 4.72488719e+00] [ 3.43285048e-04 9.99999544e-01 -8.91433635e-04 5.04494322e-01] [ 3.14765635e-02 8.80186544e-04 9.99504103e-01 -5.16725293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.713133365 meters Centerline goodness [0,1] 0.3001547751400606 Centerline is valid? [False, False] Translation: X:4.68, Y:0.50, Z:-0.05 [[ 9.99415438e-01 -1.45158030e-03 -3.41566267e-02 4.68067231e+00] [ 1.39503037e-03 9.99997617e-01 -1.67938001e-03 4.99386380e-01] [ 3.41589830e-02 1.63074878e-03 9.99415081e-01 -5.23549830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.743133365 meters Centerline goodness [0,1] 0.30047275658482386 Centerline is valid? [False, False] Translation: X:4.68, Y:0.50, Z:-0.05 [[ 9.99374110e-01 -1.64935179e-03 -3.53364943e-02 4.68348995e+00] [ 1.60318108e-03 9.99997824e-01 -1.33489561e-03 4.96077379e-01] [ 3.53386191e-02 1.27740931e-03 9.99374580e-01 -5.23690613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.773133365 meters Centerline goodness [0,1] 0.3023474589249382 Centerline is valid? [False, False] Translation: X:4.68, Y:0.49, Z:-0.05 [[ 9.99365505e-01 -1.53414532e-03 -3.55841764e-02 4.68414379e+00] [ 1.50151613e-03 9.99998427e-01 -9.43663311e-04 4.94075403e-01] [ 3.55855681e-02 8.89634346e-04 9.99366237e-01 -5.24350653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.803133365 meters Centerline goodness [0,1] 0.2982505399568035 Centerline is valid? [False, False] Translation: X:4.68, Y:0.49, Z:-0.05 [[ 9.99361221e-01 -1.43118234e-03 -3.57085751e-02 4.68454397e+00] [ 1.41015943e-03 9.99998817e-01 -6.13914110e-04 4.92410445e-01] [ 3.57094115e-02 5.63167170e-04 9.99362057e-01 -5.25536667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.833133365 meters Centerline goodness [0,1] 0.3040236816138582 Centerline is valid? [False, False] Translation: X:4.67, Y:0.48, Z:-0.05 [[ 9.99341059e-01 6.53594707e-03 -3.57033614e-02 4.66550159e+00] [-6.59587618e-03 9.99977029e-01 -1.56100006e-03 4.84606418e-01] [ 3.56923387e-02 1.79546641e-03 9.99361213e-01 -5.48807045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.863133365 meters Centerline goodness [0,1] 0.29675087126869715 Centerline is valid? [False, False] Translation: X:4.68, Y:0.49, Z:-0.05 [[ 9.99360068e-01 -1.03365586e-03 -3.57545313e-02 4.68477942e+00] [ 1.02083056e-03 9.99999408e-01 -3.76957866e-04 4.89818572e-01] [ 3.57548997e-02 3.40217320e-04 9.99360531e-01 -5.33455389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.893133365 meters Centerline goodness [0,1] 0.2956388246232351 Centerline is valid? [False, False] Translation: X:4.68, Y:0.49, Z:-0.05 [[ 9.99362591e-01 -9.72879544e-04 -3.56856308e-02 4.68462650e+00] [ 9.61170981e-04 9.99999478e-01 -3.45256992e-04 4.90014213e-01] [ 3.56859480e-02 3.10736929e-04 9.99363005e-01 -5.33757055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92313336499996 meters Centerline goodness [0,1] 0.2973054798667878 Centerline is valid? [False, False] Translation: X:4.68, Y:0.49, Z:-0.05 [[ 9.99366542e-01 -9.26725999e-04 -3.55760599e-02 4.68422879e+00] [ 9.15312302e-04 9.99999524e-01 -3.37110619e-04 4.90266146e-01] [ 3.55763554e-02 3.04333868e-04 9.99366915e-01 -5.32254385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.953133365 meters Centerline goodness [0,1] 0.2978916247653165 Centerline is valid? [False, False] Translation: X:4.68, Y:0.49, Z:-0.05 [[ 9.99368883e-01 -8.94871083e-04 -3.55110560e-02 4.68395367e+00] [ 8.83530385e-04 9.99999554e-01 -3.35048014e-04 4.90315369e-01] [ 3.55113399e-02 3.03461463e-04 9.99369227e-01 -5.30676382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98313336499996 meters Centerline goodness [0,1] 0.29735568613895613 Centerline is valid? [False, False] Translation: X:4.68, Y:0.49, Z:-0.05 [[ 9.99373525e-01 -9.46149826e-04 -3.53788494e-02 4.68367165e+00] [ 9.31849586e-04 9.99999477e-01 -4.20689950e-04 4.90381713e-01] [ 3.53792289e-02 3.87458632e-04 9.99373884e-01 -5.31616368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.013133365 meters Centerline goodness [0,1] 0.30256276150627615 Centerline is valid? [False, False] Translation: X:4.68, Y:0.49, Z:-0.05 [[ 9.99381110e-01 -9.17281760e-04 -3.51647044e-02 4.68284612e+00] [ 9.10195069e-04 9.99999562e-01 -2.17536304e-04 4.88815935e-01] [ 3.51648886e-02 1.85394932e-04 9.99381507e-01 -5.27415096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04313336499996 meters Centerline goodness [0,1] 0.3014510436184583 Centerline is valid? [False, False] Translation: X:4.68, Y:0.49, Z:-0.05 [[ 9.99379278e-01 -7.91809026e-04 -3.52197746e-02 4.68299819e+00] [ 7.94947941e-04 9.99999681e-01 7.51204612e-05 4.87493401e-01] [ 3.52197039e-02 -1.03071720e-04 9.99379588e-01 -5.27366534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.073133365 meters Centerline goodness [0,1] 0.29963883301974525 Centerline is valid? [False, False] Translation: X:4.68, Y:0.49, Z:-0.05 [[ 9.99376952e-01 -7.06199421e-04 -3.52875316e-02 4.68338598e+00] [ 7.19680797e-04 9.99999673e-01 3.69343246e-04 4.85915725e-01] [ 3.52872592e-02 -3.94508886e-04 9.99377133e-01 -5.30398360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10313336499996 meters Centerline goodness [0,1] 0.29822926374650516 Centerline is valid? [False, False] Translation: X:4.68, Y:0.48, Z:-0.05 [[ 9.99374182e-01 -6.44858554e-04 -3.53670413e-02 4.68376525e+00] [ 6.68346045e-04 9.99999564e-01 6.52288355e-04 4.84127533e-01] [ 3.53666052e-02 -6.75517563e-04 9.99374178e-01 -5.33100527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.133133365 meters Centerline goodness [0,1] 0.30253694259186614 Centerline is valid? [False, False] Translation: X:4.68, Y:0.48, Z:-0.05 [[ 9.99372048e-01 -6.20154729e-04 -3.54277445e-02 4.68407961e+00] [ 6.51350432e-04 9.99999410e-01 8.69009643e-04 4.82615706e-01] [ 3.54271847e-02 -8.91539823e-04 9.99371863e-01 -5.35092605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16313336499996 meters Centerline goodness [0,1] 0.302104371620301 Centerline is valid? [False, False] Translation: X:4.68, Y:0.48, Z:-0.05 [[ 9.99368734e-01 -4.27312297e-04 -3.55239532e-02 4.68424648e+00] [ 4.76780624e-04 9.99998929e-01 1.38407483e-03 4.80081051e-01] [ 3.55233237e-02 -1.40013824e-03 9.99367867e-01 -5.33609767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.193133365 meters Centerline goodness [0,1] 0.3028576437587658 Centerline is valid? [False, False] Translation: X:4.68, Y:0.48, Z:-0.05 [[ 9.99371850e-01 -3.66214592e-04 -3.54368669e-02 4.68392490e+00] [ 4.19275830e-04 9.99998802e-01 1.48992598e-03 4.79754307e-01] [ 3.54362788e-02 -1.50384790e-03 9.99370806e-01 -5.31756948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22313336499997 meters Centerline goodness [0,1] 0.3024456402852518 Centerline is valid? [False, False] Translation: X:4.68, Y:0.48, Z:-0.05 [[ 9.99376909e-01 -3.38203635e-04 -3.52941701e-02 4.68361114e+00] [ 3.91846314e-04 9.99998779e-01 1.51296763e-03 4.79729770e-01] [ 3.52936153e-02 -1.52585481e-03 9.99375821e-01 -5.32249318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.253133365 meters Centerline goodness [0,1] 0.30184532358445404 Centerline is valid? [False, False] Translation: X:4.68, Y:0.48, Z:-0.05 [[ 9.99378948e-01 -3.83619752e-04 -3.52359255e-02 4.68364380e+00] [ 4.33177494e-04 9.99998928e-01 1.39883165e-03 4.80149229e-01] [ 3.52353511e-02 -1.41322631e-03 9.99378043e-01 -5.35130047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28313336499997 meters Centerline goodness [0,1] 0.30016716962289136 Centerline is valid? [False, False] Translation: X:4.68, Y:0.48, Z:-0.05 [[ 9.99383592e-01 -4.65196546e-04 -3.51029837e-02 4.68339897e+00] [ 5.08584495e-04 9.99999118e-01 1.22709978e-03 4.80786432e-01] [ 3.51023819e-02 -1.24419622e-03 9.99382947e-01 -5.36512211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.313133365 meters Centerline goodness [0,1] 0.30016716962289136 Centerline is valid? [False, False] Translation: X:4.68, Y:0.48, Z:-0.05 [[ 9.99383592e-01 -4.65196546e-04 -3.51029837e-02 4.68339897e+00] [ 5.08584495e-04 9.99999118e-01 1.22709978e-03 4.80786432e-01] [ 3.51023819e-02 -1.24419622e-03 9.99382947e-01 -5.36512211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34313336499997 meters Centerline goodness [0,1] 0.2980265286315108 Centerline is valid? [False, False] Translation: X:4.68, Y:0.48, Z:-0.05 [[ 9.99388412e-01 -4.71044089e-04 -3.49654213e-02 4.68330330e+00] [ 5.08821884e-04 9.99999296e-01 1.07154257e-03 4.81971093e-01] [ 3.49648919e-02 -1.08867840e-03 9.99387948e-01 -5.40550461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.373133365 meters Centerline goodness [0,1] 0.298147826841329 Centerline is valid? [False, False] Translation: X:4.68, Y:0.48, Z:-0.05 [[ 9.99386079e-01 -4.74823836e-04 -3.50319751e-02 4.68353914e+00] [ 5.10603806e-04 9.99999357e-01 1.01241237e-03 4.82437665e-01] [ 3.50314719e-02 -1.02967829e-03 9.99385679e-01 -5.41967406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.403133365 meters Centerline goodness [0,1] 0.29941380807642204 Centerline is valid? [False, False] Translation: X:4.68, Y:0.48, Z:-0.05 [[ 9.99381216e-01 -4.92239231e-04 -3.51702003e-02 4.68400397e+00] [ 5.26655363e-04 9.99999392e-01 9.69302014e-04 4.82556504e-01] [ 3.51697017e-02 -9.87224800e-04 9.99380867e-01 -5.44080888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.433133365 meters Centerline goodness [0,1] 0.3003391451802252 Centerline is valid? [False, False] Translation: X:4.68, Y:0.48, Z:-0.05 [[ 9.99373015e-01 -5.64267745e-04 -3.54013781e-02 4.68466934e+00] [ 5.95485481e-04 9.99999443e-01 8.71285008e-04 4.82735412e-01] [ 3.54008667e-02 -8.91819732e-04 9.99372795e-01 -5.46234712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.463133365 meters Centerline goodness [0,1] 0.294967280867918 Centerline is valid? [False, False] Translation: X:4.69, Y:0.48, Z:-0.05 [[ 9.99367042e-01 -6.27048795e-04 -3.55685573e-02 4.68527332e+00] [ 6.54715764e-04 9.99999492e-01 7.66207083e-04 4.83072651e-01] [ 3.55680588e-02 -7.89009401e-04 9.99366945e-01 -5.49324614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.493133365 meters Centerline goodness [0,1] 0.2963838694982538 Centerline is valid? [False, False] Translation: X:4.69, Y:0.48, Z:-0.05 [[ 9.99370399e-01 -6.59332148e-04 -3.54735296e-02 4.68502708e+00] [ 6.83522943e-04 9.99999542e-01 6.69816356e-04 4.83663839e-01] [ 3.54730718e-02 -6.93641610e-04 9.99370392e-01 -5.49381397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.523133365 meters Centerline goodness [0,1] 0.29850746268656714 Centerline is valid? [False, False] Translation: X:4.68, Y:0.49, Z:-0.05 [[ 9.99398144e-01 -4.57860705e-04 -3.46863177e-02 4.68283901e+00] [ 4.79518187e-04 9.99999695e-01 6.16064828e-04 4.85513268e-01] [ 3.46860251e-02 -6.32326766e-04 9.99398059e-01 -5.44697994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.553133365 meters Centerline goodness [0,1] 0.2971772708563506 Centerline is valid? [False, False] Translation: X:4.68, Y:0.49, Z:-0.05 [[ 9.99405373e-01 -4.93745582e-04 -3.44768895e-02 4.68223252e+00] [ 5.09104322e-04 9.99999775e-01 4.36701935e-04 4.86677662e-01] [ 3.44766662e-02 -4.53994594e-04 9.99405400e-01 -5.43483544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.583133365 meters Centerline goodness [0,1] 0.29770909642601706 Centerline is valid? [False, False] Translation: X:4.68, Y:0.49, Z:-0.05 [[ 9.99405916e-01 -5.68579098e-04 -3.44599901e-02 4.68208636e+00] [ 5.78006444e-04 9.99999798e-01 2.63612290e-04 4.87483660e-01] [ 3.44598333e-02 -2.83373779e-04 9.99406043e-01 -5.42299758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.613133365 meters Centerline goodness [0,1] 0.29771817886882235 Centerline is valid? [False, False] Translation: X:4.68, Y:0.49, Z:-0.05 [[ 9.99399901e-01 -6.66173101e-04 -3.46322619e-02 4.68267846e+00] [ 6.71696839e-04 9.99999763e-01 1.47862461e-04 4.87668992e-01] [ 3.46321552e-02 -1.71036109e-04 9.99400112e-01 -5.45109407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.643133365 meters Centerline goodness [0,1] 0.3014712321569314 Centerline is valid? [False, False] Translation: X:4.68, Y:0.49, Z:-0.05 [[ 9.99395217e-01 -6.57963166e-04 -3.47673410e-02 4.68330465e+00] [ 6.65097781e-04 9.99999760e-01 1.93645303e-04 4.87276084e-01] [ 3.47672052e-02 -2.16651871e-04 9.99395414e-01 -5.49940684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67313336499996 meters Centerline goodness [0,1] 0.2946725380995553 Centerline is valid? [False, False] Translation: X:4.70, Y:0.48, Z:-0.05 [[ 9.99344198e-01 7.07876252e-03 -3.55114883e-02 4.70379803e+00] [-7.10570137e-03 9.99974554e-01 -6.32444223e-04 4.83974287e-01] [ 3.55061078e-02 8.84363496e-04 9.99369068e-01 -5.35261742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.703133365 meters Centerline goodness [0,1] 0.2947986867115949 Centerline is valid? [False, False] Translation: X:4.70, Y:0.48, Z:-0.05 [[ 9.99341519e-01 7.08246254e-03 -3.55860442e-02 4.70425593e+00] [-7.10882749e-03 9.99974543e-01 -6.14404193e-04 4.83860065e-01] [ 3.55807868e-02 8.66974668e-04 9.99366427e-01 -5.39525236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.73313336499996 meters Centerline goodness [0,1] 0.2951220039335192 Centerline is valid? [False, False] Translation: X:4.70, Y:0.48, Z:-0.05 [[ 9.99337965e-01 7.01031432e-03 -3.56999665e-02 4.70452712e+00] [-7.04369482e-03 9.99974865e-01 -8.09343313e-04 4.84873266e-01] [ 3.56933955e-02 1.06026717e-03 9.99362225e-01 -5.39788765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.763133365 meters Centerline goodness [0,1] 0.2969317985113381 Centerline is valid? [False, False] Translation: X:4.70, Y:0.49, Z:-0.05 [[ 9.99338056e-01 6.99368189e-03 -3.57006733e-02 4.70452595e+00] [-7.03049184e-03 9.99974876e-01 -9.05637697e-04 4.85554225e-01] [ 3.56934426e-02 1.15603151e-03 9.99362117e-01 -5.40006344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.79313336499996 meters Centerline goodness [0,1] 0.29587402658865036 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.05 [[ 9.99354949e-01 -2.83385900e-04 -3.59110850e-02 4.72193489e+00] [ 2.97992191e-04 9.99999875e-01 4.01383210e-04 4.91952400e-01] [ 3.59109667e-02 -4.11825520e-04 9.99354908e-01 -5.16445207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.823133365 meters Centerline goodness [0,1] 0.29672846709019407 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.05 [[ 9.99362944e-01 -3.14063988e-04 -3.56876371e-02 4.72135060e+00] [ 3.24446689e-04 9.99999907e-01 2.85141881e-04 4.92606552e-01] [ 3.56875442e-02 -2.96538966e-04 9.99362953e-01 -5.16041755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.85313336499996 meters Centerline goodness [0,1] 0.29945431223775465 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.05 [[ 9.99373133e-01 -3.95689382e-04 -3.54003386e-02 4.72057689e+00] [ 3.99612566e-04 9.99999915e-01 1.03747985e-04 4.93414140e-01] [ 3.54002945e-02 -1.17829369e-04 9.99373206e-01 -5.15309589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.883133365 meters Centerline goodness [0,1] 0.3008938523067509 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.05 [[ 9.99381368e-01 -5.12360204e-04 -3.51655779e-02 4.71965294e+00] [ 5.11952731e-04 9.99999869e-01 -2.05916056e-05 4.93539475e-01] [ 3.51655838e-02 2.57575333e-06 9.99381500e-01 -5.09753207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.91313336499996 meters Centerline goodness [0,1] 0.29662709062412784 Centerline is valid? [False, False] Translation: X:4.76, Y:0.50, Z:-0.05 [[ 9.99430588e-01 -4.31973340e-04 -3.37389104e-02 4.76403546e+00] [ 4.39611772e-04 9.99999879e-01 2.18980531e-04 4.96031489e-01] [ 3.37388117e-02 -2.33687863e-04 9.99430657e-01 -4.98062288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.943133365 meters Centerline goodness [0,1] 0.29451467752303406 Centerline is valid? [False, False] Translation: X:4.76, Y:0.50, Z:-0.05 [[ 9.99423667e-01 -3.51824427e-04 -3.39442202e-02 4.76464064e+00] [ 3.65810640e-04 9.99999851e-01 4.05825687e-04 4.95248235e-01] [ 3.39440723e-02 -4.18008953e-04 9.99423647e-01 -4.99348999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.97313336499997 meters Centerline goodness [0,1] 0.298660138576206 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.05 [[ 9.99346640e-01 -6.09037450e-04 -3.61375473e-02 4.71909076e+00] [ 6.25028518e-04 9.99999712e-01 4.31210083e-04 4.91403988e-01] [ 3.61372743e-02 -4.53515346e-04 9.99346732e-01 -5.03935802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.003133365 meters Centerline goodness [0,1] 0.29894393032117583 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.05 [[ 9.99351930e-01 -6.12086616e-04 -3.59908997e-02 4.71856952e+00] [ 6.31140516e-04 9.99999667e-01 5.18049866e-04 4.90745856e-01] [ 3.59905706e-02 -5.40429449e-04 9.99351983e-01 -5.00913614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03313336499997 meters Centerline goodness [0,1] 0.3002676880889682 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.05 [[ 9.99357446e-01 -6.47515974e-04 -3.58367888e-02 4.71791061e+00] [ 6.67560191e-04 9.99999627e-01 5.47356920e-04 4.90239510e-01] [ 3.58364210e-02 -5.70928428e-04 9.99357506e-01 -4.96281035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.063133365 meters Centerline goodness [0,1] 0.3006971677559913 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.05 [[ 9.99360456e-01 -7.42173104e-04 -3.57509066e-02 4.71741777e+00] [ 7.57009558e-04 9.99999633e-01 4.01460748e-04 4.90625487e-01] [ 3.57505956e-02 -4.28267774e-04 9.99360651e-01 -4.92519327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09313336499997 meters Centerline goodness [0,1] 0.29769686999437206 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.05 [[ 9.99360581e-01 -7.94207784e-04 -3.57463111e-02 4.71732683e+00] [ 8.03761668e-04 9.99999645e-01 2.52899540e-04 4.91397691e-01] [ 3.57460976e-02 -2.81469346e-04 9.99360864e-01 -4.91528932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.123133365 meters Centerline goodness [0,1] 0.2995670995670996 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.05 [[ 9.99361769e-01 -8.64289704e-04 -3.57114606e-02 4.71706176e+00] [ 8.64961680e-04 9.99999626e-01 3.36737372e-06 4.92871203e-01] [ 3.57114444e-02 -3.42542695e-05 9.99362142e-01 -4.89689800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.153133365 meters Centerline goodness [0,1] 0.29967271387389727 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.05 [[ 9.99363837e-01 -8.92573465e-04 -3.56528367e-02 4.71685799e+00] [ 8.83883473e-04 9.99999576e-01 -2.59499885e-04 4.94815049e-01] [ 3.56530532e-02 2.27821847e-04 9.99364202e-01 -4.89643236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.183133365 meters Centerline goodness [0,1] 0.29870580329077157 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99360791e-01 -8.85493844e-04 -3.57382801e-02 4.71737914e+00] [ 8.60189912e-04 9.99999368e-01 -7.23403967e-04 4.98462979e-01] [ 3.57388981e-02 6.92199853e-04 9.99360922e-01 -4.95211621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.213133365 meters Centerline goodness [0,1] 0.2977609518658735 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99359630e-01 -1.05552445e-03 -3.57661208e-02 4.71756999e+00] [ 1.01705952e-03 9.99998885e-01 -1.09363420e-03 5.00034019e-01] [ 3.57672353e-02 1.05655759e-03 9.99359589e-01 -4.97603013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.243133365 meters Centerline goodness [0,1] 0.30120061122025754 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99353778e-01 -1.22002353e-03 -3.59240700e-02 4.71799622e+00] [ 1.16990908e-03 9.99998313e-01 -1.41599797e-03 5.01341647e-01] [ 3.59257370e-02 1.37305502e-03 9.99353519e-01 -4.98885899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.273133365 meters Centerline goodness [0,1] 0.2976146629980285 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99341469e-01 -1.28328840e-03 -3.62626809e-02 4.71882805e+00] [ 1.22517218e-03 9.99997929e-01 -1.62482129e-03 5.02549823e-01] [ 3.62646910e-02 1.57932326e-03 9.99340972e-01 -4.99849577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.303133365 meters Centerline goodness [0,1] 0.2978165181378607 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99328801e-01 -1.34922075e-03 -3.66077570e-02 4.71973320e+00] [ 1.28199661e-03 9.99997449e-01 -1.85974719e-03 5.04031332e-01] [ 3.66101728e-02 1.81156791e-03 9.99327981e-01 -5.01859791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.333133365 meters Centerline goodness [0,1] 0.2944529613715372 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99318114e-01 -1.39185017e-03 -3.68967405e-02 4.72042517e+00] [ 1.31775379e-03 9.99997066e-01 -2.03245221e-03 5.05241321e-01] [ 3.68994611e-02 1.98244549e-03 9.99317017e-01 -5.02301056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.363133365 meters Centerline goodness [0,1] 0.2962076622900631 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99320798e-01 -1.62216024e-03 -3.68145572e-02 4.72011368e+00] [ 1.53013327e-03 9.99995634e-01 -2.52778155e-03 5.07775249e-01] [ 3.68184969e-02 2.46973350e-03 9.99318917e-01 -5.00973924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.393133365 meters Centerline goodness [0,1] 0.3005592914191204 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99328812e-01 -1.73852393e-03 -3.65910296e-02 4.71921832e+00] [ 1.63852557e-03 9.99994841e-01 -2.76267573e-03 5.08975024e-01] [ 3.65956438e-02 2.70086612e-03 9.99326505e-01 -4.95918132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42313336499996 meters Centerline goodness [0,1] 0.29948689081816016 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99334117e-01 -1.78557844e-03 -3.64435760e-02 4.71840715e+00] [ 1.67983161e-03 9.99994291e-01 -2.93207252e-03 5.10349773e-01] [ 3.64486034e-02 2.86890103e-03 9.99331411e-01 -4.88915580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.453133365 meters Centerline goodness [0,1] 0.30067538315005626 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99339974e-01 -1.78619341e-03 -3.62825907e-02 4.71764134e+00] [ 1.67845110e-03 9.99994092e-01 -2.99977415e-03 5.11191110e-01] [ 3.62877345e-02 2.93689566e-03 9.99337068e-01 -4.83212254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48313336499996 meters Centerline goodness [0,1] 0.30190399687371094 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99332079e-01 -2.18524434e-03 -3.64776687e-02 4.71759013e+00] [ 2.06624156e-03 9.99992421e-01 -3.29972557e-03 5.11420702e-01] [ 3.64846030e-02 3.22214994e-03 9.99329021e-01 -4.74914267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.513133365 meters Centerline goodness [0,1] 0.29772238934250106 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99323106e-01 -2.39365541e-03 -3.67096717e-02 4.71808651e+00] [ 2.27174276e-03 9.99991767e-01 -3.36234752e-03 5.10578178e-01] [ 3.67174178e-02 3.27667664e-03 9.99320316e-01 -4.73506388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54313336499996 meters Centerline goodness [0,1] 0.3046369127808439 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99321646e-01 -2.42338232e-03 -3.67474626e-02 4.71815421e+00] [ 2.30633642e-03 9.99992133e-01 -3.22719823e-03 5.09554318e-01] [ 3.67549943e-02 3.14025703e-03 9.99319373e-01 -4.72671502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.573133365 meters Centerline goodness [0,1] 0.3019528969052099 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99317137e-01 -2.31050117e-03 -3.68771007e-02 4.71837993e+00] [ 2.20354587e-03 9.99993248e-01 -2.94069812e-03 5.08397005e-01] [ 3.68836462e-02 2.85742964e-03 9.99315482e-01 -4.70666102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60313336499996 meters Centerline goodness [0,1] 0.30331148746566305 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99314199e-01 -2.23927928e-03 -3.69610156e-02 4.71871172e+00] [ 2.13999013e-03 9.99993996e-01 -2.72566411e-03 5.07394399e-01] [ 3.69668972e-02 2.64469864e-03 9.99312991e-01 -4.71800118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.633133365 meters Centerline goodness [0,1] 0.30484602530436855 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99302710e-01 -2.29141461e-03 -3.72671826e-02 4.71944450e+00] [ 2.20345474e-03 9.99994690e-01 -2.40115161e-03 5.04582880e-01] [ 3.72724868e-02 2.31736076e-03 9.99302452e-01 -4.70884510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66313336499996 meters Centerline goodness [0,1] 0.303906877755337 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99295628e-01 -2.20295520e-03 -3.74619238e-02 4.71981378e+00] [ 2.12500715e-03 9.99995494e-01 -2.12041759e-03 5.02918116e-01] [ 3.74664262e-02 2.03931717e-03 9.99295806e-01 -4.69101953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.693133365 meters Centerline goodness [0,1] 0.30590712719536284 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99290703e-01 -2.07395743e-03 -3.76003946e-02 4.72015254e+00] [ 2.00614765e-03 9.99996293e-01 -1.84107231e-03 5.01552476e-01] [ 3.76040735e-02 1.76433450e-03 9.99291159e-01 -4.69204884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72313336499997 meters Centerline goodness [0,1] 0.30279031418156566 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99292642e-01 -1.85458187e-03 -3.75603112e-02 4.72026276e+00] [ 1.80098218e-03 9.99997311e-01 -1.46081450e-03 4.99478474e-01] [ 3.75629194e-02 1.39213573e-03 9.99293295e-01 -4.71981635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.753133365 meters Centerline goodness [0,1] 0.3064969596582612 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99295610e-01 -1.79297227e-03 -3.74842392e-02 4.72001471e+00] [ 1.74264351e-03 9.99997536e-01 -1.37529370e-03 4.98848217e-01] [ 3.74866127e-02 1.30900329e-03 9.99296273e-01 -4.71092590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78313336499997 meters Centerline goodness [0,1] 0.30598876428865796 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99294869e-01 -1.68176332e-03 -3.75091613e-02 4.72007742e+00] [ 1.63320355e-03 9.99997788e-01 -1.32521422e-03 4.98851598e-01] [ 3.75113070e-02 1.26301968e-03 9.99295405e-01 -4.71803171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.813133365 meters Centerline goodness [0,1] 0.3033867631851086 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99293623e-01 -1.43328043e-03 -3.75526522e-02 4.72014366e+00] [ 1.38923979e-03 9.99998316e-01 -1.19883830e-03 4.99203713e-01] [ 3.75543072e-02 1.14582183e-03 9.99293931e-01 -4.72190748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84313336499997 meters Centerline goodness [0,1] 0.3025882250932108 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99292390e-01 -1.21703339e-03 -3.75930713e-02 4.72037980e+00] [ 1.17630811e-03 9.99998697e-01 -1.10541802e-03 4.99673191e-01] [ 3.75943677e-02 1.06041478e-03 9.99292519e-01 -4.75157885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.873133365 meters Centerline goodness [0,1] 0.29991777739311065 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99293993e-01 -1.11778877e-03 -3.75535173e-02 4.72047360e+00] [ 1.07554318e-03 9.99998766e-01 -1.14512700e-03 5.00195880e-01] [ 3.75547510e-02 1.10392810e-03 9.99293962e-01 -4.78939309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.903133365 meters Centerline goodness [0,1] 0.3027391925223939 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99305589e-01 -9.99902410e-04 -3.72470227e-02 4.72000699e+00] [ 9.48583464e-04 9.99998576e-01 -1.39544657e-03 5.01523984e-01] [ 3.72483650e-02 1.35914565e-03 9.99305115e-01 -4.84550633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.933133365 meters Centerline goodness [0,1] 0.3041037849171162 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99304630e-01 -9.53543050e-04 -3.72739601e-02 4.72026222e+00] [ 8.95243051e-04 9.99998350e-01 -1.58075371e-03 5.02877593e-01] [ 3.72754059e-02 1.54628525e-03 9.99303834e-01 -4.88791370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.963133365 meters Centerline goodness [0,1] 0.2998292002680907 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99292007e-01 -9.01171384e-04 -3.76121297e-02 4.72133315e+00] [ 8.33123625e-04 9.99997988e-01 -1.82483129e-03 5.04701446e-01] [ 3.76136985e-02 1.79220377e-03 9.99290747e-01 -4.94326498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.993133365 meters Centerline goodness [0,1] 0.3056514188996109 Centerline is valid? [False, False] Translation: X:4.68, Y:0.50, Z:-0.05 [[ 9.99183944e-01 -3.76351863e-04 -4.03894190e-02 4.67784973e+00] [ 3.13500544e-04 9.99998730e-01 -1.56245562e-03 5.02834464e-01] [ 4.03899558e-02 1.54851846e-03 9.99182793e-01 -5.08279054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.023133365 meters Centerline goodness [0,1] 0.29936333318896446 Centerline is valid? [False, False] Translation: X:4.70, Y:0.50, Z:-0.05 [[ 9.99175075e-01 7.56323213e-03 -3.98994500e-02 4.69827984e+00] [-7.68773908e-03 9.99966044e-01 -2.96800983e-03 5.04448478e-01] [ 3.98756474e-02 3.27229800e-03 9.99199292e-01 -4.88767139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.053133365 meters Centerline goodness [0,1] 0.3023787740164684 Centerline is valid? [False, False] Translation: X:4.70, Y:0.51, Z:-0.05 [[ 9.99178515e-01 7.43507248e-03 -3.98373601e-02 4.69801948e+00] [-7.57212061e-03 9.99965918e-01 -3.29040750e-03 5.06125505e-01] [ 3.98115380e-02 3.58935778e-03 9.99200760e-01 -4.87401803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.083133365 meters Centerline goodness [0,1] 0.3032476024411508 Centerline is valid? [False, False] Translation: X:4.70, Y:0.51, Z:-0.05 [[ 9.99185519e-01 7.33799266e-03 -3.96793809e-02 4.69748009e+00] [-7.48566082e-03 9.99965594e-01 -3.57424177e-03 5.07782147e-01] [ 3.96517879e-02 3.86835700e-03 9.99206071e-01 -4.85496245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.113133365 meters Centerline goodness [0,1] 0.2961913957729857 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99247985e-01 1.36173980e-03 -3.87506026e-02 4.71825868e+00] [-1.40050580e-03 9.99998546e-01 -9.73269472e-04 5.13351640e-01] [ 3.87492209e-02 1.02680800e-03 9.99248439e-01 -4.79370175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.143133365 meters Centerline goodness [0,1] 0.29660980442836216 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99251984e-01 1.23980870e-03 -3.86514659e-02 4.71784604e+00] [-1.28925025e-03 9.99998382e-01 -1.25426486e-03 5.14851866e-01] [ 3.86498483e-02 1.30315807e-03 9.99251966e-01 -4.77299049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17313336499996 meters Centerline goodness [0,1] 0.2977349772202189 Centerline is valid? [False, False] Translation: X:4.72, Y:0.52, Z:-0.05 [[ 9.99249688e-01 1.11298914e-03 -3.87146383e-02 4.71802199e+00] [-1.17290390e-03 9.99998149e-01 -1.52492117e-03 5.16248813e-01] [ 3.87128694e-02 1.56918555e-03 9.99249144e-01 -4.77965780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.203133365 meters Centerline goodness [0,1] 0.2994282732984066 Centerline is valid? [False, False] Translation: X:4.72, Y:0.52, Z:-0.05 [[ 9.99225136e-01 9.28777325e-04 -3.93479895e-02 4.71977019e+00] [-1.00695285e-03 9.99997558e-01 -1.96700127e-03 5.18953477e-01] [ 3.93460665e-02 2.00509869e-03 9.99223632e-01 -4.81402447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.23313336499996 meters Centerline goodness [0,1] 0.2994282732984066 Centerline is valid? [False, False] Translation: X:4.72, Y:0.52, Z:-0.05 [[ 9.99225136e-01 9.28777325e-04 -3.93479895e-02 4.71977019e+00] [-1.00695285e-03 9.99997558e-01 -1.96700127e-03 5.18953477e-01] [ 3.93460665e-02 2.00509869e-03 9.99223632e-01 -4.81402447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.263133365 meters Centerline goodness [0,1] 0.295975712163297 Centerline is valid? [False, False] Translation: X:4.74, Y:0.53, Z:-0.05 [[ 9.99201907e-01 -6.82775246e-03 -3.93564640e-02 4.73850049e+00] [ 6.80090583e-03 9.99976541e-01 -8.15983163e-04 5.26636543e-01] [ 3.93611121e-02 5.47672326e-04 9.99224901e-01 -4.60308998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.29313336499996 meters Centerline goodness [0,1] 0.30122835192499675 Centerline is valid? [False, False] Translation: X:4.74, Y:0.53, Z:-0.05 [[ 9.99208299e-01 -6.88647248e-03 -3.91835679e-02 4.73767823e+00] [ 6.85552625e-03 9.99976074e-01 -9.24086197e-04 5.27345772e-01] [ 3.91889940e-02 6.54730618e-04 9.99231602e-01 -4.54030331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.323133365 meters Centerline goodness [0,1] 0.3014591271215795 Centerline is valid? [False, False] Translation: X:4.74, Y:0.53, Z:-0.04 [[ 9.99222879e-01 -7.13744381e-03 -3.87646185e-02 4.73580990e+00] [ 7.09117791e-03 9.99973972e-01 -1.33087432e-03 5.29322069e-01] [ 3.87731085e-02 1.05495326e-03 9.99247483e-01 -4.40724111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.35313336499996 meters Centerline goodness [0,1] 0.3006651693158259 Centerline is valid? [False, False] Translation: X:4.74, Y:0.53, Z:-0.04 [[ 9.99218145e-01 -7.22656950e-03 -3.88699892e-02 4.73616191e+00] [ 7.17155083e-03 9.99973076e-01 -1.55470099e-03 5.30574849e-01] [ 3.88801778e-02 1.27472733e-03 9.99243067e-01 -4.42492237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.383133365 meters Centerline goodness [0,1] 0.30434023610535277 Centerline is valid? [False, False] Translation: X:4.72, Y:0.53, Z:-0.05 [[ 9.99208054e-01 8.91840238e-04 -3.97802636e-02 4.71815406e+00] [-1.00968091e-03 9.99995162e-01 -2.94229763e-03 5.27040852e-01] [ 3.97774471e-02 2.98013286e-03 9.99204120e-01 -4.66109358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.41313336499996 meters Centerline goodness [0,1] 0.3012328499054163 Centerline is valid? [False, False] Translation: X:4.72, Y:0.53, Z:-0.05 [[ 9.99200812e-01 8.22131468e-04 -3.99632540e-02 4.71884659e+00] [-9.49296443e-04 9.99994547e-01 -3.16317565e-03 5.28364914e-01] [ 3.99604355e-02 3.19858465e-03 9.99196143e-01 -4.70346246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.443133365 meters Centerline goodness [0,1] 0.30089303174499704 Centerline is valid? [False, False] Translation: X:4.72, Y:0.53, Z:-0.05 [[ 9.99199442e-01 8.04137147e-04 -3.99978442e-02 4.71886277e+00] [-9.34725607e-04 9.99994294e-01 -3.24629363e-03 5.29039376e-01] [ 3.99950055e-02 3.28108180e-03 9.99194493e-01 -4.69272138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.47313336499997 meters Centerline goodness [0,1] 0.3018765592797483 Centerline is valid? [False, False] Translation: X:4.72, Y:0.53, Z:-0.05 [[ 9.99205785e-01 7.93787116e-04 -3.98393001e-02 4.71823486e+00] [-9.24155802e-04 9.99994279e-01 -3.25405437e-03 5.29092844e-01] [ 3.98364891e-02 3.28828767e-03 9.99200801e-01 -4.65407320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.503133365 meters Centerline goodness [0,1] 0.29992885017571846 Centerline is valid? [False, False] Translation: X:4.72, Y:0.53, Z:-0.05 [[ 9.99212500e-01 6.49001661e-04 -3.96731358e-02 4.71714287e+00] [-7.87047965e-04 9.99993690e-01 -3.46407201e-03 5.29647600e-01] [ 3.96706372e-02 3.49256872e-03 9.99206707e-01 -4.54894134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53313336499997 meters Centerline goodness [0,1] 0.3009981419867779 Centerline is valid? [False, False] Translation: X:4.72, Y:0.53, Z:-0.05 [[ 9.99212267e-01 5.62658886e-04 -3.96803378e-02 4.71701223e+00] [-7.07362487e-04 9.99993151e-01 -3.63278765e-03 5.30313855e-01] [ 3.96780220e-02 3.65799437e-03 9.99205821e-01 -4.53225971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.563133365 meters Centerline goodness [0,1] 0.29992243385331385 Centerline is valid? [False, False] Translation: X:4.72, Y:0.53, Z:-0.05 [[ 9.99205854e-01 5.33716505e-04 -3.98418855e-02 4.71754851e+00] [-6.83899612e-04 9.99992713e-01 -3.75594373e-03 5.31071314e-01] [ 3.98395906e-02 3.78020882e-03 9.99198938e-01 -4.55639343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59313336499997 meters Centerline goodness [0,1] 0.30065543273702655 Centerline is valid? [False, False] Translation: X:4.72, Y:0.53, Z:-0.05 [[ 9.99200320e-01 4.86836358e-04 -3.99810284e-02 4.71816985e+00] [-6.44780404e-04 9.99992039e-01 -3.93767521e-03 5.32187136e-01] [ 3.99787931e-02 3.96030531e-03 9.99192680e-01 -4.60321836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.623133365 meters Centerline goodness [0,1] 0.29846812004407663 Centerline is valid? [False, False] Translation: X:4.72, Y:0.53, Z:-0.05 [[ 9.99200205e-01 5.52223016e-04 -3.99830530e-02 4.71823503e+00] [-7.16821296e-04 9.99991328e-01 -4.10248211e-03 5.34091160e-01] [ 3.99804407e-02 4.12786167e-03 9.99191936e-01 -4.61933159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.653133365 meters Centerline goodness [0,1] 0.30274211099020676 Centerline is valid? [False, False] Translation: X:4.72, Y:0.53, Z:-0.05 [[ 9.99203770e-01 5.40027772e-04 -3.98940505e-02 4.71790535e+00] [-7.07580162e-04 9.99990989e-01 -4.18593391e-03 5.34695825e-01] [ 3.98914305e-02 4.21082918e-03 9.99195147e-01 -4.60659742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.683133365 meters Centerline goodness [0,1] 0.303667768882701 Centerline is valid? [False, False] Translation: X:4.72, Y:0.53, Z:-0.05 [[ 9.99202319e-01 4.89670979e-04 -3.99310222e-02 4.71783595e+00] [-6.60384929e-04 9.99990699e-01 -4.26214303e-03 5.34882372e-01] [ 3.99285637e-02 4.28511304e-03 9.99193348e-01 -4.58759952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.713133365 meters Centerline goodness [0,1] 0.30333741044906515 Centerline is valid? [False, False] Translation: X:4.72, Y:0.53, Z:-0.05 [[ 9.99193424e-01 4.32924327e-04 -4.01536422e-02 4.71838696e+00] [-6.05609165e-04 9.99990621e-01 -4.28853820e-03 5.34569104e-01] [ 4.01514090e-02 4.30939657e-03 9.99184314e-01 -4.59230082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.743133365 meters Centerline goodness [0,1] 0.30004990344767735 Centerline is valid? [False, False] Translation: X:4.72, Y:0.53, Z:-0.05 [[ 9.99177063e-01 4.55529324e-04 -4.05584748e-02 4.71926829e+00] [-6.19047566e-04 9.99991731e-01 -4.01919874e-03 5.32888389e-01] [ 4.05563086e-02 4.04099881e-03 9.99169083e-01 -4.57764096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.773133365 meters Centerline goodness [0,1] 0.30017063740631145 Centerline is valid? [False, False] Translation: X:4.72, Y:0.53, Z:-0.05 [[ 9.99183443e-01 5.00521924e-04 -4.04004458e-02 4.71861849e+00] [-6.52715323e-04 9.99992741e-01 -3.75401931e-03 5.31483637e-01] [ 4.03982735e-02 3.77732393e-03 9.99176517e-01 -4.52811662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.803133365 meters Centerline goodness [0,1] 0.30176975795957317 Centerline is valid? [False, False] Translation: X:4.72, Y:0.53, Z:-0.04 [[ 9.99203406e-01 4.54888346e-04 -3.99042114e-02 4.71712682e+00] [-5.97368377e-04 9.99993489e-01 -3.55870038e-03 5.30031633e-01] [ 3.99023328e-02 3.57970306e-03 9.99197173e-01 -4.47077706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.833133365 meters Centerline goodness [0,1] 0.30050868193427915 Centerline is valid? [False, False] Translation: X:4.74, Y:0.53, Z:-0.04 [[ 9.99248052e-01 -7.94815970e-03 -3.79494092e-02 4.73637856e+00] [ 7.85545410e-03 9.99965788e-01 -2.59135992e-03 5.32686471e-01] [ 3.79687074e-02 2.29130151e-03 9.99276302e-01 -4.32157470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.863133365 meters Centerline goodness [0,1] 0.30344438660419926 Centerline is valid? [False, False] Translation: X:4.72, Y:0.52, Z:-0.05 [[ 9.99366238e-01 -1.23060273e-03 -3.55753865e-02 4.71624638e+00] [ 1.09166155e-03 9.99991702e-01 -3.92470290e-03 5.24963176e-01] [ 3.55799211e-02 3.88337929e-03 9.99359289e-01 -4.56294069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.893133365 meters Centerline goodness [0,1] 0.3057926630611846 Centerline is valid? [False, False] Translation: X:4.72, Y:0.52, Z:-0.05 [[ 9.99368023e-01 -1.18017244e-03 -3.55269045e-02 4.71622393e+00] [ 1.05886692e-03 9.99993546e-01 -3.43309086e-03 5.21886665e-01] [ 3.55307269e-02 3.39330296e-03 9.99362823e-01 -4.56316803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92313336499996 meters Centerline goodness [0,1] 0.3041210337214839 Centerline is valid? [False, False] Translation: X:4.72, Y:0.52, Z:-0.05 [[ 9.99360606e-01 -1.07819345e-03 -3.57381577e-02 4.71685097e+00] [ 9.65879810e-04 9.99994541e-01 -3.15979722e-03 5.20434887e-01] [ 3.57413695e-02 3.12325810e-03 9.99356193e-01 -4.57778388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.953133365 meters Centerline goodness [0,1] 0.30206201116114717 Centerline is valid? [False, False] Translation: X:4.72, Y:0.52, Z:-0.05 [[ 9.99355956e-01 -1.01451030e-03 -3.58698250e-02 4.71724210e+00] [ 9.09760244e-04 9.99995275e-01 -2.93648445e-03 5.19049929e-01] [ 3.58726346e-02 2.90196029e-03 9.99352157e-01 -4.58663603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98313336499996 meters Centerline goodness [0,1] 0.30110275797820485 Centerline is valid? [False, False] Translation: X:4.72, Y:0.52, Z:-0.05 [[ 9.99351508e-01 -9.43651411e-04 -3.59954471e-02 4.71744036e+00] [ 8.48386341e-04 9.99996098e-01 -2.66176882e-03 5.17265457e-01] [ 3.59978184e-02 2.62950463e-03 9.99348409e-01 -4.56682023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.013133365 meters Centerline goodness [0,1] 0.2998555069119455 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99342212e-01 -7.26101706e-04 -3.62576428e-02 4.71809227e+00] [ 6.52490545e-04 9.99997702e-01 -2.04201616e-03 5.13935649e-01] [ 3.62590422e-02 2.01701518e-03 9.99340389e-01 -4.56532170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04313336499996 meters Centerline goodness [0,1] 0.30046847002439503 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99336726e-01 -6.45763679e-04 -3.64100336e-02 4.71863784e+00] [ 5.81038377e-04 9.99998232e-01 -1.78823093e-03 5.12476900e-01] [ 3.64111240e-02 1.76588922e-03 9.99335335e-01 -4.58701835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.073133365 meters Centerline goodness [0,1] 0.3025904033379694 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99327813e-01 -5.80604662e-04 -3.66549329e-02 4.71952228e+00] [ 5.24158414e-04 9.99998662e-01 -1.54952686e-03 5.10958684e-01] [ 3.66557835e-02 1.52927229e-03 9.99326781e-01 -4.62855045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10313336499996 meters Centerline goodness [0,1] 0.29733396502713416 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99316254e-01 -5.41103241e-04 -3.69693228e-02 4.72064817e+00] [ 4.90243587e-04 9.99998921e-01 -1.38477713e-03 5.09839324e-01] [ 3.69700322e-02 1.36570632e-03 9.99315441e-01 -4.68391295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.133133365 meters Centerline goodness [0,1] 0.2975578128376918 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99313052e-01 -4.63577523e-04 -3.70568451e-02 4.72115487e+00] [ 4.21016459e-04 9.99999243e-01 -1.15632968e-03 5.08656421e-01] [ 3.70573531e-02 1.13993380e-03 9.99312490e-01 -4.72850812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16313336499996 meters Centerline goodness [0,1] 0.3021651615711022 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.05 [[ 9.99329540e-01 -5.63100154e-04 -3.66081030e-02 4.72007934e+00] [ 5.36361007e-04 9.99999582e-01 -7.40232821e-04 5.05706145e-01] [ 3.66085045e-02 7.20101365e-04 9.99329425e-01 -4.70986031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.193133365 meters Centerline goodness [0,1] 0.30454725014265027 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99333735e-01 -5.39312213e-04 -3.64937690e-02 4.71966172e+00] [ 5.24574432e-04 9.99999777e-01 -4.13417593e-04 5.03573022e-01] [ 3.64939839e-02 3.93998449e-04 9.99333795e-01 -4.67659119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22313336499997 meters Centerline goodness [0,1] 0.30134786100319055 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99326538e-01 -5.97557507e-04 -3.66894089e-02 4.72003231e+00] [ 5.92377513e-04 9.99999813e-01 -1.52055479e-04 5.01436623e-01] [ 3.66894929e-02 1.30219095e-04 9.99326705e-01 -4.65841246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.253133365 meters Centerline goodness [0,1] 0.30026126573532275 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99297277e-01 -3.10199925e-03 -3.73541012e-02 4.72356573e+00] [ 3.02969791e-03 9.99993426e-01 -1.99201649e-03 4.97107228e-01] [ 3.73600349e-02 1.87744501e-03 9.99300107e-01 -4.85597341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28313336499997 meters Centerline goodness [0,1] 0.30221875541688337 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.05 [[ 9.99292629e-01 -3.05289345e-03 -3.74822921e-02 4.72409112e+00] [ 2.99103600e-03 9.99994071e-01 -1.70627589e-03 4.95323056e-01] [ 3.74872789e-02 1.59295804e-03 9.99295835e-01 -4.88586828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.313133365 meters Centerline goodness [0,1] 0.3011615766118507 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.05 [[ 9.99301493e-01 -3.04164620e-03 -3.72461272e-02 4.72345022e+00] [ 2.98729927e-03 9.99994391e-01 -1.51469491e-03 4.94045790e-01] [ 3.72505255e-02 1.40237156e-03 9.99304974e-01 -4.86890733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34313336499997 meters Centerline goodness [0,1] 0.3028580108938608 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.05 [[ 9.99309847e-01 -3.03831313e-03 -3.70215993e-02 4.72276898e+00] [ 2.98892062e-03 9.99994568e-01 -1.38942737e-03 4.93218298e-01] [ 3.70256197e-02 1.27781384e-03 9.99313500e-01 -4.84271312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.373133365 meters Centerline goodness [0,1] 0.3029507485354741 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.05 [[ 9.99322561e-01 -2.99251780e-03 -3.66805702e-02 4.72168173e+00] [ 2.94731938e-03 9.99994829e-01 -1.28622809e-03 4.93252571e-01] [ 3.66842296e-02 1.17724739e-03 9.99326214e-01 -4.79782382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.403133365 meters Centerline goodness [0,1] 0.3012877394221405 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.05 [[ 9.99322787e-01 -2.98694403e-03 -3.66748579e-02 4.72173450e+00] [ 2.94118049e-03 9.99994827e-01 -1.30170639e-03 4.93643991e-01] [ 3.66785564e-02 1.19295748e-03 9.99326403e-01 -4.80773634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.433133365 meters Centerline goodness [0,1] 0.30174687594586413 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.05 [[ 9.99324138e-01 -3.03281687e-03 -3.66342681e-02 4.72175378e+00] [ 2.98613919e-03 9.99994659e-01 -1.32880230e-03 4.93602363e-01] [ 3.66381024e-02 1.21850919e-03 9.99327856e-01 -4.82306408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.463133365 meters Centerline goodness [0,1] 0.30498379609354476 Centerline is valid? [False, False] Translation: X:4.70, Y:0.49, Z:-0.05 [[ 9.99342564e-01 3.91545593e-03 -3.60431600e-02 4.70385087e+00] [-4.03848318e-03 9.99986264e-01 -3.34116087e-03 4.87889061e-01] [ 3.60295828e-02 3.48452396e-03 9.99344649e-01 -5.11000802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.493133365 meters Centerline goodness [0,1] 0.30427269192551953 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.05 [[ 9.99363875e-01 -5.03200137e-03 -3.53061453e-02 4.72433589e+00] [ 4.93843786e-03 9.99984061e-01 -2.73676901e-03 4.89477182e-01] [ 3.53193539e-02 2.56067087e-03 9.99372796e-01 -4.96594017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.523133365 meters Centerline goodness [0,1] 0.30644138925925113 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.05 [[ 9.99369496e-01 -5.15319709e-03 -3.51291151e-02 4.72378273e+00] [ 5.07212816e-03 9.99984265e-01 -2.39646900e-03 4.86990002e-01] [ 3.51409118e-02 2.21677864e-03 9.99379909e-01 -4.94030627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.553133365 meters Centerline goodness [0,1] 0.30542903399892063 Centerline is valid? [False, False] Translation: X:4.74, Y:0.48, Z:-0.05 [[ 9.99293025e-01 -1.47326215e-02 -3.45890189e-02 4.74478541e+00] [ 1.46877494e-02 9.99890926e-01 -1.55104075e-03 4.83653681e-01] [ 3.46080971e-02 1.04190936e-03 9.99400417e-01 -4.78451172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.583133365 meters Centerline goodness [0,1] 0.305457613186528 Centerline is valid? [False, False] Translation: X:4.75, Y:0.48, Z:-0.05 [[ 9.99284177e-01 -1.49569412e-02 -3.47480100e-02 4.74526277e+00] [ 1.49214816e-02 9.99887850e-01 -1.27959159e-03 4.80729251e-01] [ 3.47632518e-02 7.60183836e-04 9.99395286e-01 -4.78970603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.613133365 meters Centerline goodness [0,1] 0.305854189336235 Centerline is valid? [False, False] Translation: X:4.73, Y:0.47, Z:-0.05 [[ 9.99388695e-01 -8.15080366e-03 -3.39970635e-02 4.72700612e+00] [ 8.05602428e-03 9.99963275e-01 -2.92392094e-03 4.72614556e-01] [ 3.40196472e-02 2.64825236e-03 9.99417656e-01 -5.08067079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.643133365 meters Centerline goodness [0,1] 0.3065064759495879 Centerline is valid? [False, False] Translation: X:4.73, Y:0.47, Z:-0.05 [[ 9.99385863e-01 -8.10431751e-03 -3.40912988e-02 4.72730687e+00] [ 8.02195152e-03 9.99964567e-01 -2.55212957e-03 4.70263122e-01] [ 3.41107741e-02 2.27708346e-03 9.99415464e-01 -5.09179335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67313336499996 meters Centerline goodness [0,1] 0.305851817924055 Centerline is valid? [False, False] Translation: X:4.73, Y:0.47, Z:-0.05 [[ 9.99388944e-01 -7.85112641e-03 -3.40602298e-02 4.72715392e+00] [ 7.78986102e-03 9.99967794e-01 -1.93106699e-03 4.67345550e-01] [ 3.40742939e-02 1.66456255e-03 9.99417916e-01 -5.07273924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.703133365 meters Centerline goodness [0,1] 0.3058527375707992 Centerline is valid? [False, False] Translation: X:4.75, Y:0.46, Z:-0.05 [[ 9.99382626e-01 -3.43581613e-04 -3.51318690e-02 4.74615323e+00] [ 2.43282482e-04 9.99995883e-01 -2.85916790e-03 4.61995202e-01] [ 3.51327067e-02 2.84885576e-03 9.99378595e-01 -4.81493549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.73313336499996 meters Centerline goodness [0,1] 0.3056361955142679 Centerline is valid? [False, False] Translation: X:4.75, Y:0.46, Z:-0.05 [[ 9.99369223e-01 -2.68987548e-04 -3.55117312e-02 4.74714442e+00] [ 1.72412090e-04 9.99996279e-01 -2.72257104e-03 4.61250633e-01] [ 3.55123314e-02 2.71473105e-03 9.99365551e-01 -4.83131145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.763133365 meters Centerline goodness [0,1] 0.3038169594448059 Centerline is valid? [False, False] Translation: X:4.75, Y:0.46, Z:-0.05 [[ 9.99358440e-01 -1.65595537e-04 -3.58145256e-02 4.74798397e+00] [ 7.40271618e-05 9.99996725e-01 -2.55804941e-03 4.60532360e-01] [ 3.58148319e-02 2.55375702e-03 9.99355180e-01 -4.85278603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.79313336499996 meters Centerline goodness [0,1] 0.3053405236148561 Centerline is valid? [False, False] Translation: X:4.75, Y:0.46, Z:-0.05 [[ 9.99359196e-01 9.64968498e-05 -3.57936948e-02 4.74782647e+00] [-1.73047661e-04 9.99997705e-01 -2.13557565e-03 4.58919353e-01] [ 3.57934065e-02 2.14040118e-03 9.99356919e-01 -4.83822851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.823133365 meters Centerline goodness [0,1] 0.30615824347148235 Centerline is valid? [False, False] Translation: X:4.75, Y:0.46, Z:-0.05 [[ 9.99367344e-01 1.79233225e-04 -3.55651374e-02 4.74705387e+00] [-2.46801952e-04 9.99998173e-01 -1.89547739e-03 4.57413953e-01] [ 3.55647327e-02 1.90305575e-03 9.99365563e-01 -4.80484385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.85313336499996 meters Centerline goodness [0,1] 0.3033189590440025 Centerline is valid? [False, False] Translation: X:4.75, Y:0.46, Z:-0.05 [[ 9.99376861e-01 2.05428707e-04 -3.52965737e-02 4.74615580e+00] [-2.65915312e-04 9.99998504e-01 -1.70898201e-03 4.55968694e-01] [ 3.52961698e-02 1.71730298e-03 9.99375421e-01 -4.76804169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.883133365 meters Centerline goodness [0,1] 0.3053632658342499 Centerline is valid? [False, False] Translation: X:4.75, Y:0.45, Z:-0.05 [[ 9.99383389e-01 3.00793926e-04 -3.51105690e-02 4.74546500e+00] [-3.52982188e-04 9.99998842e-01 -1.48020835e-03 4.54752022e-01] [ 3.51100831e-02 1.49168904e-03 9.99382338e-01 -4.73450290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.91313336499996 meters Centerline goodness [0,1] 0.3055111993440076 Centerline is valid? [False, False] Translation: X:4.75, Y:0.45, Z:-0.05 [[ 9.99386901e-01 4.57224991e-04 -3.50087697e-02 4.74525400e+00] [-4.99251287e-04 9.99999165e-01 -1.19171817e-03 4.53627171e-01] [ 3.50081956e-02 1.20846570e-03 9.99386295e-01 -4.74078770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.943133365 meters Centerline goodness [0,1] 0.3070039504987232 Centerline is valid? [False, False] Translation: X:4.75, Y:0.45, Z:-0.05 [[ 9.99389371e-01 5.72574417e-04 -3.49364666e-02 4.74519657e+00] [-6.06783513e-04 9.99999347e-01 -9.68585362e-04 4.52755169e-01] [ 3.49358892e-02 9.89192788e-04 9.99389066e-01 -4.75902056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.97313336499997 meters Centerline goodness [0,1] 0.3056856041634911 Centerline is valid? [False, False] Translation: X:4.75, Y:0.45, Z:-0.05 [[ 9.99377793e-01 5.83143902e-04 -3.52659545e-02 4.74618756e+00] [-6.07975573e-04 9.99999575e-01 -6.93406233e-04 4.50721423e-01] [ 3.52655351e-02 7.14415629e-04 9.99377722e-01 -4.79637910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.003133365 meters Centerline goodness [0,1] 0.3052510223614374 Centerline is valid? [False, False] Translation: X:4.75, Y:0.45, Z:-0.05 [[ 9.99374467e-01 6.14632587e-04 -3.53595262e-02 4.74639567e+00] [-6.31208551e-04 9.99999696e-01 -4.57622332e-04 4.49082990e-01] [ 3.53592342e-02 4.79655309e-04 9.99374552e-01 -4.79636693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03313336499997 meters Centerline goodness [0,1] 0.3052755084303842 Centerline is valid? [False, False] Translation: X:4.74, Y:0.45, Z:-0.05 [[ 9.99394991e-01 3.74174789e-04 -3.47780319e-02 4.74468511e+00] [-3.77508140e-04 9.99999925e-01 -8.92800159e-05 4.45793949e-01] [ 3.47779959e-02 1.02354991e-04 9.99395057e-01 -4.74167912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.063133365 meters Centerline goodness [0,1] 0.3062215544086584 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-0.05 [[ 9.99395327e-01 4.09993723e-04 -3.47679795e-02 4.74469331e+00] [-4.01019741e-04 9.99999884e-01 2.65083569e-04 4.43642679e-01] [ 3.47680842e-02 -2.50980634e-04 9.99395376e-01 -4.74545112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09313336499997 meters Centerline goodness [0,1] 0.30287560581583195 Centerline is valid? [False, False] Translation: X:4.75, Y:0.44, Z:-0.05 [[ 9.99385730e-01 3.23602282e-04 -3.50436522e-02 4.74544789e+00] [-3.06479355e-04 9.99999831e-01 4.93987702e-04 4.41509416e-01] [ 3.50438062e-02 -4.82944104e-04 9.99385661e-01 -4.76247941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.123133365 meters Centerline goodness [0,1] 0.30287560581583195 Centerline is valid? [False, False] Translation: X:4.75, Y:0.44, Z:-0.05 [[ 9.99385730e-01 3.23602282e-04 -3.50436522e-02 4.74544789e+00] [-3.06479355e-04 9.99999831e-01 4.93987702e-04 4.41509416e-01] [ 3.50438062e-02 -4.82944104e-04 9.99385661e-01 -4.76247941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.153133365 meters Centerline goodness [0,1] 0.30755516904011304 Centerline is valid? [False, False] Translation: X:4.75, Y:0.44, Z:-0.05 [[ 9.99387391e-01 2.92203946e-04 -3.49965419e-02 4.74548875e+00] [-2.67556389e-04 9.99999713e-01 7.08966637e-04 4.39637182e-01] [ 3.49967390e-02 -6.99168769e-04 9.99387182e-01 -4.78345994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.183133365 meters Centerline goodness [0,1] 0.3046465259416583 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-0.05 [[ 9.99399726e-01 3.00127884e-04 -3.46424188e-02 4.74467986e+00] [-2.63734109e-04 9.99999409e-01 1.05512003e-03 4.37322503e-01] [ 3.46427150e-02 -1.04535028e-03 9.99399214e-01 -4.78665719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.213133365 meters Centerline goodness [0,1] 0.3053380782918149 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-0.05 [[ 9.99403680e-01 3.46828010e-04 -3.45277331e-02 4.74435924e+00] [-3.04902606e-04 9.99999210e-01 1.21951098e-03 4.36409512e-01] [ 3.45281288e-02 -1.20825616e-03 9.99402996e-01 -4.78126671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.243133365 meters Centerline goodness [0,1] 0.3048200360579534 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-0.05 [[ 9.99405038e-01 3.71099136e-04 -3.44881609e-02 4.74424647e+00] [-3.24194604e-04 9.99999015e-01 1.36560052e-03 4.35427091e-01] [ 3.44886337e-02 -1.35360716e-03 9.99404173e-01 -4.77802682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.273133365 meters Centerline goodness [0,1] 0.3054659576322901 Centerline is valid? [False, False] Translation: X:4.74, Y:0.43, Z:-0.05 [[ 9.99399349e-01 3.70044500e-04 -3.46526135e-02 4.74478710e+00] [-3.19269907e-04 9.99998867e-01 1.47076769e-03 4.34551932e-01] [ 3.46531185e-02 -1.45882073e-03 9.99398336e-01 -4.80232243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.303133365 meters Centerline goodness [0,1] 0.30398545234126384 Centerline is valid? [False, False] Translation: X:4.75, Y:0.43, Z:-0.05 [[ 9.99390858e-01 3.16728648e-04 -3.48971636e-02 4.74547361e+00] [-2.66144228e-04 9.99998907e-01 1.45416385e-03 4.34165856e-01] [ 3.48975860e-02 -1.44399038e-03 9.99389851e-01 -4.81967866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.333133365 meters Centerline goodness [0,1] 0.3030276703879067 Centerline is valid? [False, False] Translation: X:4.75, Y:0.43, Z:-0.05 [[ 9.99385520e-01 3.02143990e-04 -3.50498401e-02 4.74588742e+00] [-2.52078807e-04 9.99998942e-01 1.43280998e-03 4.34263153e-01] [ 3.50502359e-02 -1.42309422e-03 9.99384538e-01 -4.82979726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.363133365 meters Centerline goodness [0,1] 0.309466845189754 Centerline is valid? [False, False] Translation: X:4.75, Y:0.44, Z:-0.05 [[ 9.99385268e-01 3.27901347e-04 -3.50567894e-02 4.74569594e+00] [-2.83551655e-04 9.99999153e-01 1.27004564e-03 4.35770615e-01] [ 3.50571761e-02 -1.25932449e-03 9.99384515e-01 -4.80091234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.393133365 meters Centerline goodness [0,1] 0.3048571490552531 Centerline is valid? [False, False] Translation: X:4.75, Y:0.44, Z:-0.05 [[ 9.99385315e-01 3.30169727e-04 -3.50554164e-02 4.74568683e+00] [-2.90294833e-04 9.99999305e-01 1.14256535e-03 4.36847573e-01] [ 3.50557693e-02 -1.13168663e-03 9.99384717e-01 -4.80156682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42313336499996 meters Centerline goodness [0,1] 0.30655035200489744 Centerline is valid? [False, False] Translation: X:4.75, Y:0.44, Z:-0.05 [[ 9.99387162e-01 2.84063770e-04 -3.50031367e-02 4.74555581e+00] [-2.49821509e-04 9.99999486e-01 9.82632370e-04 4.37793546e-01] [ 3.50033978e-02 -9.73285639e-04 9.99386719e-01 -4.80275601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.453133365 meters Centerline goodness [0,1] 0.30668108108108105 Centerline is valid? [False, False] Translation: X:4.75, Y:0.44, Z:-0.05 [[ 9.99388419e-01 2.76726613e-04 -3.49672902e-02 4.74557624e+00] [-2.45801102e-04 9.99999575e-01 8.88708290e-04 4.38568311e-01] [ 3.49675213e-02 -8.79569775e-04 9.99388062e-01 -4.81891593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48313336499996 meters Centerline goodness [0,1] 0.303981063051431 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-0.05 [[ 9.99398588e-01 2.58260630e-04 -3.46755653e-02 4.74485795e+00] [-2.34052748e-04 9.99999726e-01 7.02182445e-04 4.40093111e-01] [ 3.46757372e-02 -6.93644233e-04 9.99398375e-01 -4.81264278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.513133365 meters Centerline goodness [0,1] 0.3080874031513885 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-0.05 [[ 9.99405108e-01 1.59713324e-04 -3.44877331e-02 4.74428725e+00] [-1.44055933e-04 9.99999885e-01 4.56483190e-04 4.41385104e-01] [ 3.44878021e-02 -4.51243469e-04 9.99405017e-01 -4.79101459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54313336499996 meters Centerline goodness [0,1] 0.30708439175839686 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-0.05 [[ 9.99407935e-01 4.45679381e-05 -3.44060601e-02 4.74411188e+00] [-3.88749339e-05 9.99999985e-01 1.66134104e-04 4.42932685e-01] [ 3.44060670e-02 -1.64698209e-04 9.99407922e-01 -4.79371701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.573133365 meters Centerline goodness [0,1] 0.30483255342548465 Centerline is valid? [False, False] Translation: X:4.74, Y:0.45, Z:-0.05 [[ 9.99401982e-01 -1.55562963e-04 -3.45782190e-02 4.74478221e+00] [ 1.39014815e-04 9.99999875e-01 -4.80975066e-04 4.46757223e-01] [ 3.45782895e-02 4.75880550e-04 9.99401879e-01 -4.83405128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60313336499996 meters Centerline goodness [0,1] 0.30612861458782914 Centerline is valid? [False, False] Translation: X:4.75, Y:0.45, Z:-0.05 [[ 9.99398317e-01 -2.81806156e-04 -3.46832016e-02 4.74524398e+00] [ 2.53888479e-04 9.99999640e-01 -8.09335183e-04 4.48581970e-01] [ 3.46834172e-02 8.00042554e-04 9.99398029e-01 -4.86609082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.633133365 meters Centerline goodness [0,1] 0.3009199552918923 Centerline is valid? [False, False] Translation: X:4.75, Y:0.45, Z:-0.05 [[ 9.99397689e-01 -3.92453761e-04 -3.47002239e-02 4.74545835e+00] [ 3.53838921e-04 9.99999311e-01 -1.11894640e-03 4.50410005e-01] [ 3.47006392e-02 1.10599416e-03 9.99397139e-01 -4.89097482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66313336499996 meters Centerline goodness [0,1] 0.3035972777357675 Centerline is valid? [False, False] Translation: X:4.75, Y:0.45, Z:-0.05 [[ 9.99398690e-01 -4.93642917e-04 -3.46700741e-02 4.74537179e+00] [ 4.46131577e-04 9.99998951e-01 -1.37810741e-03 4.51926032e-01] [ 3.46707181e-02 1.36181132e-03 9.99397862e-01 -4.89225323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.693133365 meters Centerline goodness [0,1] 0.30383723701601195 Centerline is valid? [False, False] Translation: X:4.74, Y:0.45, Z:-0.05 [[ 9.99402103e-01 -5.92958598e-04 -3.45699865e-02 4.74499729e+00] [ 5.38012324e-04 9.99998577e-01 -1.59870199e-03 4.53108844e-01] [ 3.45708853e-02 1.57914705e-03 9.99401001e-01 -4.87195272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72313336499997 meters Centerline goodness [0,1] 0.3078196471357003 Centerline is valid? [False, False] Translation: X:4.74, Y:0.45, Z:-0.05 [[ 9.99409806e-01 -8.01825181e-04 -3.43423430e-02 4.74440436e+00] [ 7.35858245e-04 9.99997860e-01 -1.93345920e-03 4.54478383e-01] [ 3.43438198e-02 1.90704699e-03 9.99408258e-01 -4.86245834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.753133365 meters Centerline goodness [0,1] 0.3062990585114479 Centerline is valid? [False, False] Translation: X:4.74, Y:0.45, Z:-0.05 [[ 9.99409321e-01 -8.77296631e-04 -3.43546085e-02 4.74455199e+00] [ 8.07472459e-04 9.99997580e-01 -2.04627587e-03 4.54941033e-01] [ 3.43563206e-02 2.01732677e-03 9.99407611e-01 -4.88317880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78313336499997 meters Centerline goodness [0,1] 0.30624590521948025 Centerline is valid? [False, False] Translation: X:4.74, Y:0.46, Z:-0.05 [[ 9.99411079e-01 -9.28814497e-04 -3.43020625e-02 4.74463914e+00] [ 8.55046117e-04 9.99997290e-01 -2.16515895e-03 4.55669285e-01] [ 3.43039806e-02 2.13455400e-03 9.99409166e-01 -4.91627560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.813133365 meters Centerline goodness [0,1] 0.30494707280190103 Centerline is valid? [False, False] Translation: X:4.75, Y:0.46, Z:-0.05 [[ 9.99406992e-01 -9.88025641e-04 -3.44192866e-02 4.74502061e+00] [ 9.08691428e-04 9.99996895e-01 -2.32050150e-03 4.56731943e-01] [ 3.44214725e-02 2.28784891e-03 9.99404787e-01 -4.93405854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84313336499997 meters Centerline goodness [0,1] 0.305752136014499 Centerline is valid? [False, False] Translation: X:4.75, Y:0.46, Z:-0.05 [[ 9.99405489e-01 -1.06566106e-03 -3.44605959e-02 4.74512033e+00] [ 9.77315717e-04 9.99996193e-01 -2.58040564e-03 4.58433968e-01] [ 3.44632146e-02 2.54519268e-03 9.99402726e-01 -4.93351203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.873133365 meters Centerline goodness [0,1] 0.3056873578160546 Centerline is valid? [False, False] Translation: X:4.75, Y:0.46, Z:-0.05 [[ 9.99402998e-01 -1.30314971e-03 -3.45246292e-02 4.74515791e+00] [ 1.18749234e-03 9.99993615e-01 -3.37028927e-03 4.63164923e-01] [ 3.45288008e-02 3.32727947e-03 9.99398164e-01 -4.91603035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.903133365 meters Centerline goodness [0,1] 0.3020449501152843 Centerline is valid? [False, False] Translation: X:4.75, Y:0.47, Z:-0.05 [[ 9.99395998e-01 -1.47307189e-03 -3.47198689e-02 4.74568916e+00] [ 1.33899999e-03 9.99991559e-01 -3.88446819e-03 4.65970124e-01] [ 3.47252979e-02 3.83563206e-03 9.99389534e-01 -4.92508758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.933133365 meters Centerline goodness [0,1] 0.3030322706317772 Centerline is valid? [False, False] Translation: X:4.75, Y:0.47, Z:-0.05 [[ 9.99392506e-01 -1.65345254e-03 -3.48121442e-02 4.74589494e+00] [ 1.50130493e-03 9.99989210e-01 -4.39621869e-03 4.68724715e-01] [ 3.48190375e-02 4.34128437e-03 9.99384204e-01 -4.92390723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.963133365 meters Centerline goodness [0,1] 0.3073096980586354 Centerline is valid? [False, False] Translation: X:4.75, Y:0.47, Z:-0.05 [[ 9.99382384e-01 -1.97275162e-03 -3.50850171e-02 4.74655482e+00] [ 1.78690675e-03 9.99984212e-01 -5.32755454e-03 4.74294376e-01] [ 3.50949731e-02 5.26157050e-03 9.99370131e-01 -4.92840490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.993133365 meters Centerline goodness [0,1] 0.30494111511885624 Centerline is valid? [False, False] Translation: X:4.75, Y:0.48, Z:-0.05 [[ 9.99374961e-01 -2.11749188e-03 -3.52874536e-02 4.74721612e+00] [ 1.91357809e-03 9.99981283e-01 -5.81142015e-03 4.77227967e-01] [ 3.52990988e-02 5.74026248e-03 9.99360307e-01 -4.95812306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.023133365 meters Centerline goodness [0,1] 0.30367375181092826 Centerline is valid? [False, False] Translation: X:4.75, Y:0.48, Z:-0.05 [[ 9.99370124e-01 -2.23067038e-03 -3.54172229e-02 4.74774034e+00] [ 2.01289262e-03 9.99978857e-01 -6.18338908e-03 4.79591534e-01] [ 3.54302671e-02 6.10820324e-03 9.99353484e-01 -4.99101194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.053133365 meters Centerline goodness [0,1] 0.2999138488046522 Centerline is valid? [False, False] Translation: X:4.75, Y:0.48, Z:-0.05 [[ 9.99367253e-01 -2.33543647e-03 -3.54914122e-02 4.74798411e+00] [ 2.10873236e-03 9.99977145e-01 -6.42366733e-03 4.81000361e-01] [ 3.55056031e-02 6.34476088e-03 9.99349336e-01 -4.99892042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.083133365 meters Centerline goodness [0,1] 0.3005200353883003 Centerline is valid? [False, False] Translation: X:4.75, Y:0.48, Z:-0.05 [[ 9.99370373e-01 -2.70316109e-03 -3.53772727e-02 4.74768480e+00] [ 2.46383181e-03 9.99973797e-01 -6.80690552e-03 4.81781213e-01] [ 3.53947459e-02 6.71545605e-03 9.99350847e-01 -4.99374197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.113133365 meters Centerline goodness [0,1] 0.3040660626815207 Centerline is valid? [False, False] Translation: X:4.75, Y:0.48, Z:-0.05 [[ 9.99372584e-01 -2.79341274e-03 -3.53077352e-02 4.74761053e+00] [ 2.55409067e-03 9.99973472e-01 -6.82146409e-03 4.81351326e-01] [ 3.53258537e-02 6.72700503e-03 9.99353207e-01 -5.01201928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.143133365 meters Centerline goodness [0,1] 0.3072252448313384 Centerline is valid? [False, False] Translation: X:4.75, Y:0.48, Z:-0.05 [[ 9.99374177e-01 -2.78417343e-03 -3.52633218e-02 4.74755740e+00] [ 2.54856987e-03 9.99974143e-01 -6.72445241e-03 4.80896727e-01] [ 3.52811321e-02 6.63037306e-03 9.99355432e-01 -5.02207722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17313336499996 meters Centerline goodness [0,1] 0.3046688382193268 Centerline is valid? [False, False] Translation: X:4.75, Y:0.48, Z:-0.05 [[ 9.99377130e-01 -2.74114807e-03 -3.51829135e-02 4.74736717e+00] [ 2.51057553e-03 9.99975094e-01 -6.59604360e-03 4.80416348e-01] [ 3.52001180e-02 6.50360576e-03 9.99359122e-01 -5.02337057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.203133365 meters Centerline goodness [0,1] 0.30230488757704665 Centerline is valid? [False, False] Translation: X:4.75, Y:0.48, Z:-0.05 [[ 9.99381842e-01 -2.69419187e-03 -3.50524673e-02 4.74690591e+00] [ 2.46969586e-03 9.99976173e-01 -6.44629318e-03 4.79729247e-01] [ 3.50689997e-02 6.35573942e-03 9.99364683e-01 -4.99959216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.23313336499996 meters Centerline goodness [0,1] 0.3055731268404406 Centerline is valid? [False, False] Translation: X:4.75, Y:0.48, Z:-0.05 [[ 9.99388651e-01 -2.82676197e-03 -3.48472776e-02 4.74632200e+00] [ 2.60330219e-03 9.99975770e-01 -6.45625208e-03 4.78806375e-01] [ 3.48646835e-02 6.36158707e-03 9.99371795e-01 -4.98137937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.263133365 meters Centerline goodness [0,1] 0.3046318932133354 Centerline is valid? [False, False] Translation: X:4.75, Y:0.48, Z:-0.05 [[ 9.99388267e-01 -2.89151456e-03 -3.48529773e-02 4.74623458e+00] [ 2.66521419e-03 9.99975077e-01 -6.53771120e-03 4.78827577e-01] [ 3.48710125e-02 6.44082122e-03 9.99371066e-01 -4.96947187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.29313336499996 meters Centerline goodness [0,1] 0.30389367847293103 Centerline is valid? [False, False] Translation: X:4.75, Y:0.48, Z:-0.05 [[ 9.99386447e-01 -2.92704252e-03 -3.49021660e-02 4.74623536e+00] [ 2.69489319e-03 9.99973946e-01 -6.69661963e-03 4.79805890e-01] [ 3.49208579e-02 6.59845329e-03 9.99368298e-01 -4.95061650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.323133365 meters Centerline goodness [0,1] 0.3058308466380606 Centerline is valid? [False, False] Translation: X:4.75, Y:0.48, Z:-0.05 [[ 9.99388790e-01 -2.90525825e-03 -3.48368359e-02 4.74600645e+00] [ 2.66663345e-03 9.99972679e-01 -6.89429116e-03 4.81515943e-01] [ 3.48559138e-02 6.79718023e-03 9.99369233e-01 -4.94082748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.35313336499996 meters Centerline goodness [0,1] 0.3049831317016567 Centerline is valid? [False, False] Translation: X:4.77, Y:0.48, Z:-0.05 [[ 0.99941604 0.00626019 -0.03359162 4.76696933] [-0.00649874 0.9999544 -0.00699711 0.48277696] [ 0.03354629 0.00721132 0.99941115 -0.04872321] [ 0. 0. 0. 1. ]] SLAMing on 343.383133365 meters Centerline goodness [0,1] 0.30302046118869763 Centerline is valid? [False, False] Translation: X:4.77, Y:0.49, Z:-0.05 [[ 0.99941591 0.00616273 -0.0336135 4.76708184] [-0.00641491 0.99995205 -0.00739958 0.48517576] [ 0.03356629 0.00761088 0.99940751 -0.04877258] [ 0. 0. 0. 1. ]] SLAMing on 343.41313336499996 meters Centerline goodness [0,1] 0.306829035339064 Centerline is valid? [False, False] Translation: X:4.77, Y:0.49, Z:-0.05 [[ 0.99941583 0.00605749 -0.03363476 4.76709196] [-0.0063222 0.99994983 -0.00776953 0.48732778] [ 0.03358601 0.00797764 0.99940399 -0.04873463] [ 0. 0. 0. 1. ]] SLAMing on 343.443133365 meters Centerline goodness [0,1] 0.3072929165121403 Centerline is valid? [False, False] Translation: X:4.77, Y:0.49, Z:-0.05 [[ 0.99941977 0.00596496 -0.03353425 4.76684815] [-0.00623995 0.99994771 -0.00810179 0.48931656] [ 0.03348417 0.00830634 0.99940473 -0.04870934] [ 0. 0. 0. 1. ]] SLAMing on 343.47313336499997 meters Centerline goodness [0,1] 0.30250183008224607 Centerline is valid? [False, False] Translation: X:4.79, Y:0.50, Z:-0.05 [[ 9.99429392e-01 -2.21707246e-03 -3.37042144e-02 4.78645668e+00] [ 1.96952710e-03 9.99970857e-01 -7.37606820e-03 4.96901442e-01] [ 3.37195855e-02 7.30547800e-03 9.99404633e-01 -4.67970105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.503133365 meters Centerline goodness [0,1] 0.30131306150656534 Centerline is valid? [False, False] Translation: X:4.79, Y:0.50, Z:-0.05 [[ 9.99427877e-01 -2.34682363e-03 -3.37403622e-02 4.78653871e+00] [ 2.09238996e-03 9.99969126e-01 -7.57426137e-03 4.97708658e-01] [ 3.37570959e-02 7.49932996e-03 9.99401930e-01 -4.68220968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53313336499997 meters Centerline goodness [0,1] 0.3044062798161159 Centerline is valid? [False, False] Translation: X:4.79, Y:0.50, Z:-0.05 [[ 9.99429367e-01 -2.47145609e-03 -3.36872769e-02 4.78645697e+00] [ 2.21290456e-03 9.99967828e-01 -7.71017420e-03 4.98113802e-01] [ 3.37052484e-02 7.63122779e-03 9.99402682e-01 -4.68938586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.563133365 meters Centerline goodness [0,1] 0.3050059465888204 Centerline is valid? [False, False] Translation: X:4.79, Y:0.50, Z:-0.05 [[ 9.99437873e-01 -2.76594697e-03 -3.34108913e-02 4.78560341e+00] [ 2.50067618e-03 9.99965042e-01 -7.97882915e-03 4.99066194e-01] [ 3.34317924e-02 7.89079422e-03 9.99409851e-01 -4.66052601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59313336499997 meters Centerline goodness [0,1] 0.3049964171715198 Centerline is valid? [False, False] Translation: X:4.79, Y:0.50, Z:-0.05 [[ 9.99438203e-01 -2.79695332e-03 -3.33984478e-02 4.78554809e+00] [ 2.52984383e-03 9.99964501e-01 -8.03724359e-03 4.99584435e-01] [ 3.34197420e-02 7.94823543e-03 9.99409799e-01 -4.65577396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.623133365 meters Centerline goodness [0,1] 0.3032477826813488 Centerline is valid? [False, False] Translation: X:4.81, Y:0.50, Z:-0.04 [[ 0.99938797 -0.01113826 -0.03316061 4.80534818] [ 0.01091145 0.99991588 -0.00701306 0.50362484] [ 0.03323594 0.00664693 0.99942543 -0.04474987] [ 0. 0. 0. 1. ]] SLAMing on 343.653133365 meters Centerline goodness [0,1] 0.30703407638482705 Centerline is valid? [False, False] Translation: X:4.79, Y:0.50, Z:-0.05 [[ 9.99439406e-01 -2.60242334e-03 -3.33781590e-02 4.78571416e+00] [ 2.33326893e-03 9.99964471e-01 -8.10020596e-03 5.00836237e-01] [ 3.33980533e-02 8.01778481e-03 9.99409969e-01 -4.67159409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.683133365 meters Centerline goodness [0,1] 0.30199866324572566 Centerline is valid? [False, False] Translation: X:4.79, Y:0.50, Z:-0.05 [[ 9.99437853e-01 -2.67914458e-03 -3.34185681e-02 4.78613796e+00] [ 2.40772319e-03 9.99963812e-01 -8.15947379e-03 5.01019483e-01] [ 3.34392191e-02 8.07442430e-03 9.99408136e-01 -4.72071911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.713133365 meters Centerline goodness [0,1] 0.30032045078177083 Centerline is valid? [False, False] Translation: X:4.79, Y:0.50, Z:-0.05 [[ 9.99441919e-01 -2.65959746e-03 -3.32983137e-02 4.78600039e+00] [ 2.39066726e-03 9.99964226e-01 -8.11360123e-03 5.00911500e-01] [ 3.33187014e-02 8.02946799e-03 9.99412523e-01 -4.74507916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.743133365 meters Centerline goodness [0,1] 0.3048640201419487 Centerline is valid? [False, False] Translation: X:4.79, Y:0.50, Z:-0.05 [[ 9.99446156e-01 -2.65481846e-03 -3.31712822e-02 4.78581585e+00] [ 2.38801330e-03 9.99964503e-01 -8.08028799e-03 5.00764083e-01] [ 3.31915564e-02 7.99659930e-03 9.99417018e-01 -4.76494806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.773133365 meters Centerline goodness [0,1] 0.30825804198856444 Centerline is valid? [False, False] Translation: X:4.79, Y:0.50, Z:-0.05 [[ 9.99450136e-01 -2.67183393e-03 -3.30497629e-02 4.78565521e+00] [ 2.40681118e-03 9.99964653e-01 -8.05608586e-03 5.00421862e-01] [ 3.30701192e-02 7.97211157e-03 9.99421239e-01 -4.78474653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.803133365 meters Centerline goodness [0,1] 0.30603073984022233 Centerline is valid? [False, False] Translation: X:4.79, Y:0.50, Z:-0.05 [[ 9.99445732e-01 -2.81666370e-03 -3.31706969e-02 4.78597221e+00] [ 2.54577301e-03 9.99963090e-01 -8.20597080e-03 5.00453453e-01] [ 3.31925861e-02 8.11697743e-03 9.99416013e-01 -4.79309029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.833133365 meters Centerline goodness [0,1] 0.30402336145360154 Centerline is valid? [False, False] Translation: X:4.79, Y:0.50, Z:-0.05 [[ 9.99438958e-01 -2.76933381e-03 -3.33781315e-02 4.78651749e+00] [ 2.49913633e-03 9.99963795e-01 -8.13404839e-03 5.00355270e-01] [ 3.33994489e-02 8.04606835e-03 9.99409695e-01 -4.80627951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.863133365 meters Centerline goodness [0,1] 0.30639965171963435 Centerline is valid? [False, False] Translation: X:4.79, Y:0.50, Z:-0.05 [[ 9.99428372e-01 -2.67116071e-03 -3.37015332e-02 4.78748049e+00] [ 2.40268597e-03 9.99965079e-01 -8.00423229e-03 5.00259773e-01] [ 3.37217369e-02 7.91868265e-03 9.99399889e-01 -4.83595400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.893133365 meters Centerline goodness [0,1] 0.3041803581920658 Centerline is valid? [False, False] Translation: X:4.79, Y:0.50, Z:-0.05 [[ 9.99410807e-01 -2.65803932e-03 -3.42194805e-02 4.78935209e+00] [ 2.39099866e-03 9.99966390e-01 -7.84231891e-03 4.99301145e-01] [ 3.42391755e-02 7.75587954e-03 9.99383573e-01 -4.94135677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92313336499996 meters Centerline goodness [0,1] 0.2990046106778127 Centerline is valid? [False, False] Translation: X:4.79, Y:0.50, Z:-0.05 [[ 9.99410009e-01 -2.70614074e-03 -3.42390200e-02 4.78961186e+00] [ 2.44195895e-03 9.99966946e-01 -7.75527651e-03 4.98235073e-01] [ 3.42588751e-02 7.66709069e-03 9.99383583e-01 -4.97855645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.953133365 meters Centerline goodness [0,1] 0.3010771256502688 Centerline is valid? [False, False] Translation: X:4.79, Y:0.50, Z:-0.05 [[ 9.99415563e-01 -2.69351807e-03 -3.40775208e-02 4.78906430e+00] [ 2.43587447e-03 9.99968154e-01 -7.59977348e-03 4.97094197e-01] [ 3.40969057e-02 7.51232333e-03 9.99390297e-01 -4.95768817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98313336499996 meters Centerline goodness [0,1] 0.30330985611199934 Centerline is valid? [False, False] Translation: X:4.79, Y:0.50, Z:-0.05 [[ 9.99420049e-01 -2.59549012e-03 -3.39533489e-02 4.78853088e+00] [ 2.34689595e-03 9.99970165e-01 -7.35944541e-03 4.95953973e-01] [ 3.39714372e-02 7.27549231e-03 9.99396322e-01 -4.92644805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.013133365 meters Centerline goodness [0,1] 0.3025217335030308 Centerline is valid? [False, False] Translation: X:4.79, Y:0.49, Z:-0.05 [[ 9.99419874e-01 -2.48378115e-03 -3.39668335e-02 4.78845146e+00] [ 2.24319601e-03 9.99972142e-01 -7.11921773e-03 4.94986391e-01] [ 3.39835698e-02 7.03889342e-03 9.99397604e-01 -4.91438128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04313336499996 meters Centerline goodness [0,1] 0.3025217335030308 Centerline is valid? [False, False] Translation: X:4.79, Y:0.49, Z:-0.05 [[ 9.99419874e-01 -2.48378115e-03 -3.39668335e-02 4.78845146e+00] [ 2.24319601e-03 9.99972142e-01 -7.11921773e-03 4.94986391e-01] [ 3.39835698e-02 7.03889342e-03 9.99397604e-01 -4.91438128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.073133365 meters Centerline goodness [0,1] 0.30274912606275084 Centerline is valid? [False, False] Translation: X:4.79, Y:0.49, Z:-0.05 [[ 9.99419442e-01 -2.35752741e-03 -3.39885566e-02 4.78853788e+00] [ 2.12509484e-03 9.99974122e-01 -6.87305764e-03 4.93962150e-01] [ 3.40038805e-02 6.79683852e-03 9.99398589e-01 -4.92237196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10313336499996 meters Centerline goodness [0,1] 0.304077341599289 Centerline is valid? [False, False] Translation: X:4.79, Y:0.49, Z:-0.05 [[ 9.99419328e-01 -2.35395154e-03 -3.39921507e-02 4.78859496e+00] [ 2.12091705e-03 9.99974015e-01 -6.88996960e-03 4.94115324e-01] [ 3.40074861e-02 6.81387425e-03 9.99398350e-01 -4.93069994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.133133365 meters Centerline goodness [0,1] 0.3047330836889315 Centerline is valid? [False, False] Translation: X:4.79, Y:0.49, Z:-0.05 [[ 9.99415075e-01 -2.34258533e-03 -3.41177448e-02 4.78893930e+00] [ 2.10688587e-03 9.99973679e-01 -6.94272654e-03 4.94618333e-01] [ 3.41331107e-02 6.86678337e-03 9.99393705e-01 -4.93777554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16313336499996 meters Centerline goodness [0,1] 0.3028406876542675 Centerline is valid? [False, False] Translation: X:4.79, Y:0.50, Z:-0.05 [[ 9.99408900e-01 -2.29274813e-03 -3.43015134e-02 4.78933209e+00] [ 2.05348811e-03 9.99973330e-01 -7.00880717e-03 4.95466707e-01] [ 3.43166680e-02 6.93422651e-03 9.99386953e-01 -4.93358684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.193133365 meters Centerline goodness [0,1] 0.30093441809275123 Centerline is valid? [False, False] Translation: X:4.79, Y:0.50, Z:-0.05 [[ 9.99421877e-01 -2.19463549e-03 -3.39277866e-02 4.78796780e+00] [ 1.95514521e-03 9.99972952e-01 -7.09038952e-03 4.96584851e-01] [ 3.39424297e-02 7.01995665e-03 9.99399135e-01 -4.85877372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22313336499997 meters Centerline goodness [0,1] 0.3005359795079321 Centerline is valid? [False, False] Translation: X:4.79, Y:0.50, Z:-0.05 [[ 9.99432558e-01 -2.22084118e-03 -3.36099597e-02 4.78695435e+00] [ 1.98104810e-03 9.99972360e-01 -7.16620381e-03 4.96825472e-01] [ 3.36249458e-02 7.09555446e-03 9.99409334e-01 -4.82102324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.253133365 meters Centerline goodness [0,1] 0.3082576365252455 Centerline is valid? [False, False] Translation: X:4.79, Y:0.50, Z:-0.05 [[ 9.99442131e-01 -2.26140349e-03 -3.33213651e-02 4.78605517e+00] [ 2.02272151e-03 9.99972070e-01 -7.19500027e-03 4.96639260e-01] [ 3.33367052e-02 7.12358656e-03 9.99418790e-01 -4.79164665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28313336499997 meters Centerline goodness [0,1] 0.3068201488661936 Centerline is valid? [False, False] Translation: X:4.79, Y:0.50, Z:-0.05 [[ 9.99448424e-01 -2.25929591e-03 -3.31322062e-02 4.78539672e+00] [ 2.02331895e-03 9.99972362e-01 -7.15408248e-03 4.96251222e-01] [ 3.31474537e-02 7.08309944e-03 9.99425373e-01 -4.76648059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.313133365 meters Centerline goodness [0,1] 0.30789239806646007 Centerline is valid? [False, False] Translation: X:4.79, Y:0.49, Z:-0.05 [[ 9.99450059e-01 -2.08589548e-03 -3.30942424e-02 4.78549533e+00] [ 1.86634920e-03 9.99976057e-01 -6.66347691e-03 4.93682069e-01] [ 3.31073493e-02 6.59804697e-03 9.99430022e-01 -4.80655414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34313336499997 meters Centerline goodness [0,1] 0.3070695231273469 Centerline is valid? [False, False] Translation: X:4.79, Y:0.49, Z:-0.05 [[ 9.99447788e-01 -1.96275899e-03 -3.31702763e-02 4.78587064e+00] [ 1.75409104e-03 9.99978498e-01 -6.31874072e-03 4.91955524e-01] [ 3.31819652e-02 6.25706775e-03 9.99429741e-01 -4.84345749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.373133365 meters Centerline goodness [0,1] 0.3102497318829478 Centerline is valid? [False, False] Translation: X:4.79, Y:0.49, Z:-0.05 [[ 9.99446578e-01 -1.84892731e-03 -3.32132246e-02 4.78619184e+00] [ 1.65263784e-03 9.99981013e-01 -5.93645974e-03 4.89916216e-01] [ 3.32235701e-02 5.87828494e-03 9.99430658e-01 -4.88771934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.403133365 meters Centerline goodness [0,1] 0.3057304102452789 Centerline is valid? [False, False] Translation: X:4.79, Y:0.48, Z:-0.05 [[ 9.99436967e-01 -2.02747272e-03 -3.34908600e-02 4.78739920e+00] [ 1.84429220e-03 9.99983177e-01 -5.49955455e-03 4.84741979e-01] [ 3.35014468e-02 5.43469119e-03 9.99423893e-01 -4.97557373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.433133365 meters Centerline goodness [0,1] 0.30772242767021973 Centerline is valid? [False, False] Translation: X:4.79, Y:0.48, Z:-0.05 [[ 9.99437190e-01 -1.91967424e-03 -3.34905605e-02 4.78762918e+00] [ 1.75053977e-03 9.99985571e-01 -5.07880369e-03 4.82200351e-01] [ 3.34998269e-02 5.01731873e-03 9.99426129e-01 -5.02323735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.463133365 meters Centerline goodness [0,1] 0.3088673054776959 Centerline is valid? [False, False] Translation: X:4.79, Y:0.48, Z:-0.05 [[ 9.99434773e-01 -1.76214774e-03 -3.35712518e-02 4.78781444e+00] [ 1.60766070e-03 9.99987998e-01 -4.62820336e-03 4.79824608e-01] [ 3.35790045e-02 4.57161619e-03 9.99425610e-01 -5.03192660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.493133365 meters Centerline goodness [0,1] 0.3092222657440049 Centerline is valid? [False, False] Translation: X:4.79, Y:0.48, Z:-0.05 [[ 9.99437231e-01 -1.58550107e-03 -3.35068374e-02 4.78763158e+00] [ 1.44524565e-03 9.99990095e-01 -4.20967964e-03 4.77825284e-01] [ 3.35131800e-02 4.15888495e-03 9.99429623e-01 -5.03559344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.523133365 meters Centerline goodness [0,1] 0.3070818597429483 Centerline is valid? [False, False] Translation: X:4.79, Y:0.48, Z:-0.05 [[ 9.99439746e-01 -1.40987116e-03 -3.34396027e-02 4.78739630e+00] [ 1.28318266e-03 9.99991920e-01 -3.80973464e-03 4.75863642e-01] [ 3.34447038e-02 3.76469110e-03 9.99433479e-01 -5.03005549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.553133365 meters Centerline goodness [0,1] 0.3079734580659197 Centerline is valid? [False, False] Translation: X:4.79, Y:0.47, Z:-0.05 [[ 9.99440027e-01 -1.15797781e-03 -3.34408703e-02 4.78754731e+00] [ 1.05037603e-03 9.99994216e-01 -3.23506130e-03 4.72983973e-01] [ 3.34444230e-02 3.19812426e-03 9.99435462e-01 -5.06146960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.583133365 meters Centerline goodness [0,1] 0.3026441059373377 Centerline is valid? [False, False] Translation: X:4.79, Y:0.47, Z:-0.05 [[ 9.99436542e-01 -1.00375294e-03 -3.35498142e-02 4.78799706e+00] [ 9.05493643e-04 9.99995257e-01 -2.94382382e-03 4.71650807e-01] [ 3.35526099e-02 2.91178596e-03 9.99432711e-01 -5.09404320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.613133365 meters Centerline goodness [0,1] 0.3068632147367504 Centerline is valid? [False, False] Translation: X:4.79, Y:0.47, Z:-0.05 [[ 9.99435222e-01 -8.34516303e-04 -3.35937447e-02 4.78825955e+00] [ 7.46867663e-04 9.99996285e-01 -2.62154024e-03 4.70245162e-01] [ 3.35958076e-02 2.59496958e-03 9.99432133e-01 -5.12057200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.643133365 meters Centerline goodness [0,1] 0.3055380810863576 Centerline is valid? [False, False] Translation: X:4.79, Y:0.47, Z:-0.05 [[ 9.99432225e-01 -6.53601959e-04 -3.36868024e-02 4.78869943e+00] [ 5.76481292e-04 9.99997191e-01 -2.29900547e-03 4.68911091e-01] [ 3.36882104e-02 2.27828034e-03 9.99429794e-01 -5.15869518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67313336499996 meters Centerline goodness [0,1] 0.3059719299767891 Centerline is valid? [False, False] Translation: X:4.79, Y:0.47, Z:-0.05 [[ 9.99431835e-01 -5.28908855e-04 -3.37005571e-02 4.78888677e+00] [ 4.59619927e-04 9.99997765e-01 -2.06373105e-03 4.67877908e-01] [ 3.37015733e-02 2.04706907e-03 9.99429844e-01 -5.18477563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.703133365 meters Centerline goodness [0,1] 0.3034516850068776 Centerline is valid? [False, False] Translation: X:4.79, Y:0.47, Z:-0.05 [[ 9.99432808e-01 -3.63306508e-04 -3.36738829e-02 4.78877581e+00] [ 3.06620737e-04 9.99998527e-01 -1.68852368e-03 4.65676248e-01] [ 3.36744468e-02 1.67724085e-03 9.99431448e-01 -5.18307412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.73313336499996 meters Centerline goodness [0,1] 0.30473604171192703 Centerline is valid? [False, False] Translation: X:4.79, Y:0.46, Z:-0.05 [[ 9.99428900e-01 -3.00019680e-04 -3.37902936e-02 4.78899449e+00] [ 2.48508172e-04 9.99998801e-01 -1.52863636e-03 4.64818760e-01] [ 3.37907117e-02 1.51936619e-03 9.99427776e-01 -5.17895607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.763133365 meters Centerline goodness [0,1] 0.3020804017924794 Centerline is valid? [False, False] Translation: X:4.79, Y:0.46, Z:-0.05 [[ 9.99422659e-01 -1.99721050e-04 -3.39751066e-02 4.78955356e+00] [ 1.54523441e-04 9.99999100e-01 -1.33293596e-03 4.63999762e-01] [ 3.39753422e-02 1.32691645e-03 9.99421791e-01 -5.19867038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.79313336499996 meters Centerline goodness [0,1] 0.3026179813985532 Centerline is valid? [False, False] Translation: X:4.79, Y:0.46, Z:-0.05 [[ 9.99417199e-01 -9.27835536e-05 -3.41358239e-02 4.79017586e+00] [ 5.66111836e-05 9.99999436e-01 -1.06062507e-03 4.62714073e-01] [ 3.41359031e-02 1.05807447e-03 9.99416640e-01 -5.24136853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.823133365 meters Centerline goodness [0,1] 0.30136276267196505 Centerline is valid? [False, False] Translation: X:4.79, Y:0.46, Z:-0.05 [[ 9.99424492e-01 -1.09150804e-04 -3.39215814e-02 4.78961303e+00] [ 7.46228627e-05 9.99999478e-01 -1.01913971e-03 4.62276451e-01] [ 3.39216749e-02 1.01602186e-03 9.99423978e-01 -5.23773556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.85313336499996 meters Centerline goodness [0,1] 0.3050649097332091 Centerline is valid? [False, False] Translation: X:4.79, Y:0.46, Z:-0.05 [[ 9.99433028e-01 -1.48379990e-04 -3.36689939e-02 4.78879764e+00] [ 1.14877175e-04 9.99999496e-01 -9.96996606e-04 4.61868604e-01] [ 3.36691249e-02 9.92563538e-04 9.99432541e-01 -5.20647107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.883133365 meters Centerline goodness [0,1] 0.30210168908754886 Centerline is valid? [False, False] Translation: X:4.79, Y:0.46, Z:-0.05 [[ 9.99440318e-01 -1.80829899e-04 -3.34517411e-02 4.78811151e+00] [ 1.48552035e-04 9.99999521e-01 -9.67391188e-04 4.61489205e-01] [ 3.34519000e-02 9.61880432e-04 9.99439866e-01 -5.18112603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.91313336499996 meters Centerline goodness [0,1] 0.30357104511584965 Centerline is valid? [False, False] Translation: X:4.79, Y:0.46, Z:-0.05 [[ 9.99443863e-01 -2.11985252e-04 -3.33454686e-02 4.78800073e+00] [ 1.80262795e-04 9.99999528e-01 -9.54330816e-04 4.61382450e-01] [ 3.33456552e-02 9.47789129e-04 9.99443430e-01 -5.20507522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.943133365 meters Centerline goodness [0,1] 0.3041856430275428 Centerline is valid? [False, False] Translation: X:4.79, Y:0.46, Z:-0.05 [[ 9.99444771e-01 -2.17823148e-04 -3.33181996e-02 4.78814808e+00] [ 1.86885275e-04 9.99999549e-01 -9.31669160e-04 4.61166606e-01] [ 3.33183875e-02 9.24925189e-04 9.99444360e-01 -5.24341787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.97313336499997 meters Centerline goodness [0,1] 0.3053562525740793 Centerline is valid? [False, False] Translation: X:4.79, Y:0.46, Z:-0.05 [[ 9.99450717e-01 -1.76036515e-04 -3.31396110e-02 4.78766946e+00] [ 1.51141113e-04 9.99999705e-01 -7.53731503e-04 4.60130656e-01] [ 3.31397339e-02 7.48308733e-04 9.99450448e-01 -5.24014249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.003133365 meters Centerline goodness [0,1] 0.3063465879492967 Centerline is valid? [False, False] Translation: X:4.79, Y:0.46, Z:-0.05 [[ 9.99462175e-01 -1.75906051e-04 -3.27922110e-02 4.78672368e+00] [ 1.56990052e-04 9.99999820e-01 -5.79418099e-04 4.58877847e-01] [ 3.27923070e-02 5.73958423e-04 9.99462023e-01 -5.22525236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03313336499997 meters Centerline goodness [0,1] 0.3052339447552145 Centerline is valid? [False, False] Translation: X:4.79, Y:0.46, Z:-0.05 [[ 9.99460166e-01 -3.66469333e-04 -3.28518212e-02 4.78694189e+00] [ 3.61902234e-04 9.99999924e-01 -1.44967250e-04 4.55088842e-01] [ 3.28518719e-02 1.32999844e-04 9.99460223e-01 -5.25393231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.063133365 meters Centerline goodness [0,1] 0.3021882448944532 Centerline is valid? [False, False] Translation: X:4.79, Y:0.45, Z:-0.05 [[ 9.99444426e-01 -3.67974532e-04 -3.33272164e-02 4.78845308e+00] [ 3.75234941e-04 9.99999907e-01 2.11598010e-04 4.52452102e-01] [ 3.33271354e-02 -2.23985988e-04 9.99444472e-01 -5.32012285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09313336499997 meters Centerline goodness [0,1] 0.30136838002858013 Centerline is valid? [False, False] Translation: X:4.79, Y:0.45, Z:-0.05 [[ 9.99430214e-01 -2.80237849e-04 -3.37515731e-02 4.78971344e+00] [ 3.03635186e-04 9.99999717e-01 6.88098565e-04 4.49446434e-01] [ 3.37513707e-02 -6.97954662e-04 9.99430016e-01 -5.36993579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.123133365 meters Centerline goodness [0,1] 0.303750326683509 Centerline is valid? [False, False] Translation: X:4.79, Y:0.45, Z:-0.05 [[ 9.99423596e-01 -1.30785091e-04 -3.39478952e-02 4.79045239e+00] [ 1.71154193e-04 9.99999282e-01 1.18624563e-03 4.46570031e-01] [ 3.39477157e-02 -1.19137219e-03 9.99422900e-01 -5.41886531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.153133365 meters Centerline goodness [0,1] 0.29990964632992 Centerline is valid? [False, False] Translation: X:4.79, Y:0.44, Z:-0.05 [[ 9.99418125e-01 5.34719467e-07 -3.41088148e-02 4.79104661e+00] [ 5.43833688e-05 9.99998704e-01 1.60915715e-03 4.44033060e-01] [ 3.41087714e-02 -1.61007578e-03 9.99416830e-01 -5.45747187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.183133365 meters Centerline goodness [0,1] 0.3051284855112083 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-0.05 [[ 9.99377131e-01 8.57742029e-04 -3.52790867e-02 4.74340267e+00] [-7.89774580e-04 9.99997805e-01 1.94045535e-03 4.42445296e-01] [ 3.52806737e-02 -1.91138417e-03 9.99375615e-01 -5.43891051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.213133365 meters Centerline goodness [0,1] 0.3028938767559144 Centerline is valid? [False, False] Translation: X:4.76, Y:0.44, Z:-0.05 [[ 9.99402035e-01 8.52137290e-03 -3.35105816e-02 4.76125408e+00] [-8.49729587e-03 9.99963527e-01 8.60841952e-04 4.35916411e-01] [ 3.35166949e-02 -5.75577873e-04 9.99437992e-01 -5.22782182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.243133365 meters Centerline goodness [0,1] 0.29955871273275214 Centerline is valid? [False, False] Translation: X:4.78, Y:0.44, Z:-0.05 [[ 9.99477813e-01 7.22698212e-04 -3.23044839e-02 4.77902105e+00] [-6.47042975e-04 9.99997024e-01 2.35233486e-03 4.37044131e-01] [ 3.23060877e-02 -2.33020411e-03 9.99475306e-01 -4.99083979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.273133365 meters Centerline goodness [0,1] 0.3050182225960191 Centerline is valid? [False, False] Translation: X:4.78, Y:0.44, Z:-0.05 [[ 9.99476399e-01 8.34266403e-04 -3.23455202e-02 4.77908808e+00] [-7.53797568e-04 9.99996591e-01 2.49990355e-03 4.36480344e-01] [ 3.23474955e-02 -2.47421262e-03 9.99473620e-01 -4.98861411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.303133365 meters Centerline goodness [0,1] 0.3041583557367097 Centerline is valid? [False, False] Translation: X:4.78, Y:0.43, Z:-0.05 [[ 9.99474952e-01 1.03121361e-03 -3.23845017e-02 4.77944769e+00] [-9.37677748e-04 9.99995346e-01 2.90334508e-03 4.34406624e-01] [ 3.23873449e-02 -2.87145446e-03 9.99471268e-01 -5.03258448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.333133365 meters Centerline goodness [0,1] 0.3011072978048307 Centerline is valid? [False, False] Translation: X:4.78, Y:0.43, Z:-0.05 [[ 9.99471495e-01 1.11929998e-03 -3.24881189e-02 4.77981001e+00] [-1.01741740e-03 9.99994514e-01 3.15235719e-03 4.32943322e-01] [ 3.24914690e-02 -3.11763717e-03 9.99467150e-01 -5.05209049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.363133365 meters Centerline goodness [0,1] 0.3029441756525135 Centerline is valid? [False, False] Translation: X:4.78, Y:0.43, Z:-0.05 [[ 9.99466421e-01 1.24962679e-03 -3.26391131e-02 4.78031281e+00] [-1.13727175e-03 9.99993365e-01 3.46068151e-03 4.31424227e-01] [ 3.26432211e-02 -3.42171542e-03 9.99461211e-01 -5.07925308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.393133365 meters Centerline goodness [0,1] 0.3005429162357808 Centerline is valid? [False, False] Translation: X:4.78, Y:0.43, Z:-0.05 [[ 9.99460664e-01 1.40513419e-03 -3.28086321e-02 4.78077173e+00] [-1.28121951e-03 9.99991968e-01 3.79761036e-03 4.29774105e-01] [ 3.28137048e-02 -3.75352712e-03 9.99454437e-01 -5.09180364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42313336499996 meters Centerline goodness [0,1] 0.3022796124014352 Centerline is valid? [False, False] Translation: X:4.78, Y:0.43, Z:-0.05 [[ 9.99459799e-01 1.50231006e-03 -3.28306766e-02 4.78042222e+00] [-1.37064041e-03 9.99990929e-01 4.03270544e-03 4.28204128e-01] [ 3.28364372e-02 -3.98552792e-03 9.99452792e-01 -5.03349099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.453133365 meters Centerline goodness [0,1] 0.3063633996006597 Centerline is valid? [False, False] Translation: X:4.78, Y:0.43, Z:-0.05 [[ 9.99460284e-01 1.51962419e-03 -3.28151124e-02 4.78034153e+00] [-1.38719875e-03 9.99990805e-01 4.05789124e-03 4.28007473e-01] [ 3.28209771e-02 -4.01018005e-03 9.99453201e-01 -5.02898597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48313336499996 meters Centerline goodness [0,1] 0.30468359111575194 Centerline is valid? [False, False] Translation: X:4.78, Y:0.43, Z:-0.05 [[ 9.99459464e-01 1.56852968e-03 -3.28377769e-02 4.78055906e+00] [-1.43557305e-03 9.99990679e-01 4.07207780e-03 4.28272039e-01] [ 3.28438579e-02 -4.02273567e-03 9.99452399e-01 -5.05356141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.513133365 meters Centerline goodness [0,1] 0.30218997019567184 Centerline is valid? [False, False] Translation: X:4.78, Y:0.43, Z:-0.05 [[ 9.99456245e-01 1.61219734e-03 -3.29335002e-02 4.78109672e+00] [-1.48124415e-03 9.99990902e-01 4.00030228e-03 4.29193917e-01] [ 3.29396498e-02 -3.94934454e-03 9.99449540e-01 -5.09840780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54313336499996 meters Centerline goodness [0,1] 0.30238423730275066 Centerline is valid? [False, False] Translation: X:4.78, Y:0.43, Z:-0.05 [[ 9.99450969e-01 1.55795402e-03 -3.30958240e-02 4.78187028e+00] [-1.43671897e-03 9.99992172e-01 3.68661784e-03 4.31128064e-01] [ 3.31013085e-02 -3.63704437e-03 9.99445384e-01 -5.15216742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.573133365 meters Centerline goodness [0,1] 0.30139737802639255 Centerline is valid? [False, False] Translation: X:4.78, Y:0.43, Z:-0.05 [[ 9.99450415e-01 1.46029139e-03 -3.31169953e-02 4.78193849e+00] [-1.34424842e-03 9.99992880e-01 3.52602473e-03 4.31669675e-01] [ 3.31219085e-02 -3.47956941e-03 9.99445262e-01 -5.15847293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60313336499996 meters Centerline goodness [0,1] 0.3011186068064745 Centerline is valid? [False, False] Translation: X:4.78, Y:0.43, Z:-0.05 [[ 9.99449466e-01 1.44131893e-03 -3.31464548e-02 4.78194324e+00] [-1.32547609e-03 9.99992938e-01 3.51658677e-03 4.31709354e-01] [ 3.31512893e-02 -3.47071594e-03 9.99444319e-01 -5.15370338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.633133365 meters Centerline goodness [0,1] 0.30417053226606827 Centerline is valid? [False, False] Translation: X:4.78, Y:0.43, Z:-0.05 [[ 9.99445858e-01 1.48592993e-03 -3.32531130e-02 4.78221932e+00] [-1.36514403e-03 9.99992390e-01 3.65472782e-03 4.31287744e-01] [ 3.32582906e-02 -3.60730729e-03 9.99440280e-01 -5.16522497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66313336499996 meters Centerline goodness [0,1] 0.30508622191255874 Centerline is valid? [False, False] Translation: X:4.78, Y:0.43, Z:-0.05 [[ 9.99433753e-01 1.18636354e-03 -3.36268539e-02 4.78350438e+00] [-1.06113717e-03 9.99992437e-01 3.74160061e-03 4.29934101e-01] [ 3.36310385e-02 -3.70379924e-03 9.99427454e-01 -5.24367491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.693133365 meters Centerline goodness [0,1] 0.30379910965120804 Centerline is valid? [False, False] Translation: X:4.78, Y:0.43, Z:-0.05 [[ 9.99435023e-01 9.39001984e-04 -3.35969183e-02 4.78349636e+00] [-8.13268583e-04 9.99992616e-01 3.75587855e-03 4.28612661e-01] [ 3.36001970e-02 -3.72643325e-03 9.99428407e-01 -5.26243445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72313336499997 meters Centerline goodness [0,1] 0.30566563602316765 Centerline is valid? [False, False] Translation: X:4.78, Y:0.43, Z:-0.05 [[ 9.99448657e-01 6.03984504e-04 -3.31966432e-02 4.78230205e+00] [-4.82953247e-04 9.99993208e-01 3.65378594e-03 4.27509841e-01] [ 3.31986246e-02 -3.63573902e-03 9.99442161e-01 -5.22984254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.753133365 meters Centerline goodness [0,1] 0.30637457119284384 Centerline is valid? [False, False] Translation: X:4.78, Y:0.43, Z:-0.05 [[ 9.99454224e-01 4.85558371e-04 -3.30305749e-02 4.78160334e+00] [-3.62225098e-04 9.99992941e-01 3.73979382e-03 4.26382832e-01] [ 3.30321577e-02 -3.72578822e-03 9.99447345e-01 -5.19064918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78313336499997 meters Centerline goodness [0,1] 0.3042027300521035 Centerline is valid? [False, False] Translation: X:4.80, Y:0.43, Z:-0.05 [[ 0.99943074 -0.00802822 -0.03276811 4.80191847] [ 0.00820036 0.99995326 0.00512213 0.42645962] [ 0.03272546 -0.00538792 0.99944986 -0.04962738] [ 0. 0. 0. 1. ]] SLAMing on 345.813133365 meters Centerline goodness [0,1] 0.30843399717053 Centerline is valid? [False, False] Translation: X:4.78, Y:0.42, Z:-0.05 [[ 9.99471622e-01 6.46503234e-05 -3.25034348e-02 4.78257553e+00] [ 6.30869871e-05 9.99992280e-01 3.92892255e-03 4.22222328e-01] [ 3.25034378e-02 -3.92889713e-03 9.99463901e-01 -5.23430560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84313336499997 meters Centerline goodness [0,1] 0.30637676739068864 Centerline is valid? [False, False] Translation: X:4.78, Y:0.42, Z:-0.05 [[ 9.99468803e-01 3.60721108e-05 -3.25900461e-02 4.78301645e+00] [ 9.35867853e-05 9.99992088e-01 3.97694736e-03 4.21468454e-01] [ 3.25899317e-02 -3.97788481e-03 9.99460891e-01 -5.27370221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.873133365 meters Centerline goodness [0,1] 0.302400828318126 Centerline is valid? [False, False] Translation: X:4.78, Y:0.42, Z:-0.05 [[ 9.99462998e-01 8.69070803e-05 -3.27674983e-02 4.78360869e+00] [ 4.60429925e-05 9.99991771e-01 4.05659997e-03 4.21026788e-01] [ 3.27675812e-02 -4.05593028e-03 9.99454769e-01 -5.29965208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.903133365 meters Centerline goodness [0,1] 0.30500923611865693 Centerline is valid? [False, False] Translation: X:4.78, Y:0.42, Z:-0.05 [[ 9.99459798e-01 1.57836399e-04 -3.28646922e-02 4.78386191e+00] [-2.16598451e-05 9.99991414e-01 4.14386656e-03 4.20818853e-01] [ 3.28650641e-02 -4.14091619e-03 9.99451220e-01 -5.30402251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.933133365 meters Centerline goodness [0,1] 0.30500923611865693 Centerline is valid? [False, False] Translation: X:4.78, Y:0.42, Z:-0.05 [[ 9.99459798e-01 1.57836399e-04 -3.28646922e-02 4.78386191e+00] [-2.16598451e-05 9.99991414e-01 4.14386656e-03 4.20818853e-01] [ 3.28650641e-02 -4.14091619e-03 9.99451220e-01 -5.30402251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.963133365 meters Centerline goodness [0,1] 0.30678183677465676 Centerline is valid? [False, False] Translation: X:4.78, Y:0.42, Z:-0.05 [[ 9.99455848e-01 2.41719126e-04 -3.29840936e-02 4.78404672e+00] [-1.03296193e-04 9.99991182e-01 4.19829667e-03 4.21006089e-01] [ 3.29848175e-02 -4.19260502e-03 9.99447059e-01 -5.28823203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.993133365 meters Centerline goodness [0,1] 0.3058523396275784 Centerline is valid? [False, False] Translation: X:4.79, Y:0.42, Z:-0.05 [[ 9.99437232e-01 5.80751970e-04 -3.35392701e-02 4.78541525e+00] [-4.36168335e-04 9.99990582e-01 4.31803159e-03 4.21702563e-01] [ 3.35414619e-02 -4.30097277e-03 9.99428072e-01 -5.28907882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.023133365 meters Centerline goodness [0,1] 0.3005737952456965 Centerline is valid? [False, False] Translation: X:4.80, Y:0.42, Z:-0.05 [[ 9.99412781e-01 8.25100033e-03 -3.32567799e-02 4.80443836e+00] [-8.15519229e-03 9.99962199e-01 3.01547633e-03 4.17392281e-01] [ 3.32804035e-02 -2.74249015e-03 9.99442291e-01 -5.09173949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.053133365 meters Centerline goodness [0,1] 0.30777242546543415 Centerline is valid? [False, False] Translation: X:4.80, Y:0.42, Z:-0.05 [[ 9.99413635e-01 8.23966790e-03 -3.32339366e-02 4.80416270e+00] [-8.14802156e-03 9.99962622e-01 2.89210648e-03 4.18039561e-01] [ 3.32565244e-02 -2.61961982e-03 9.99443416e-01 -5.05750708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.083133365 meters Centerline goodness [0,1] 0.3072698460937331 Centerline is valid? [False, False] Translation: X:4.80, Y:0.42, Z:-0.05 [[ 9.99413019e-01 8.21567654e-03 -3.32583806e-02 4.80428686e+00] [-8.12672630e-03 9.99963033e-01 2.80881892e-03 4.18351254e-01] [ 3.32802275e-02 -2.53688844e-03 9.99442840e-01 -5.06777078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.113133365 meters Centerline goodness [0,1] 0.3066140475728365 Centerline is valid? [False, False] Translation: X:4.81, Y:0.42, Z:-0.05 [[ 9.99404209e-01 8.14338803e-03 -3.35397073e-02 4.80534458e+00] [-8.06471920e-03 9.99964404e-01 2.48015995e-03 4.19828819e-01] [ 3.35587103e-02 -2.20819397e-03 9.99434308e-01 -5.11948212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.143133365 meters Centerline goodness [0,1] 0.30629413303112196 Centerline is valid? [False, False] Translation: X:4.79, Y:0.43, Z:-0.05 [[ 9.99454760e-01 8.39067832e-04 -3.30072653e-02 4.78745055e+00] [-7.20201785e-04 9.99993214e-01 3.61293296e-03 4.26627096e-01] [ 3.30100728e-02 -3.58719115e-03 9.99448582e-01 -5.35145995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17313336499996 meters Centerline goodness [0,1] 0.3079345772062816 Centerline is valid? [False, False] Translation: X:4.79, Y:0.43, Z:-0.05 [[ 9.99458406e-01 8.81791207e-04 -3.28955482e-02 4.78704205e+00] [-7.69354418e-04 9.99993820e-01 3.43049508e-03 4.28253336e-01] [ 3.28983699e-02 -3.40332881e-03 9.99452908e-01 -5.32358252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.203133365 meters Centerline goodness [0,1] 0.3065969446185095 Centerline is valid? [False, False] Translation: X:4.79, Y:0.43, Z:-0.05 [[ 9.99462662e-01 9.14123005e-04 -3.27650959e-02 4.78644112e+00] [-8.09035678e-04 9.99994487e-01 3.22040912e-03 4.30124130e-01] [ 3.27678591e-02 -3.19217054e-03 9.99457892e-01 -5.27640059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.23313336499996 meters Centerline goodness [0,1] 0.30440484124083667 Centerline is valid? [False, False] Translation: X:4.79, Y:0.43, Z:-0.05 [[ 9.99471230e-01 8.68780715e-04 -3.25039343e-02 4.78556593e+00] [-7.71937092e-04 9.99995226e-01 2.99187327e-03 4.31607830e-01] [ 3.25063784e-02 -2.96520026e-03 9.99467129e-01 -5.23373285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.263133365 meters Centerline goodness [0,1] 0.30999284831935503 Centerline is valid? [False, False] Translation: X:4.78, Y:0.43, Z:-0.05 [[ 9.99482451e-01 7.35499381e-04 -3.21603513e-02 4.78452347e+00] [-6.48294422e-04 9.99996085e-01 2.72191069e-03 4.32729991e-01] [ 3.21622273e-02 -2.69965260e-03 9.99479016e-01 -5.19936823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.29313336499996 meters Centerline goodness [0,1] 0.31409460313310233 Centerline is valid? [False, False] Translation: X:4.78, Y:0.43, Z:-0.05 [[ 9.99495376e-01 4.60819355e-04 -3.17613050e-02 4.78336517e+00] [-3.86065052e-04 9.99997141e-01 2.35972053e-03 4.33566232e-01] [ 3.17623016e-02 -2.34626783e-03 9.99492697e-01 -5.17116789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.323133365 meters Centerline goodness [0,1] 0.3117300017352074 Centerline is valid? [False, False] Translation: X:4.78, Y:0.43, Z:-0.05 [[ 9.99488381e-01 4.48874378e-04 -3.19808363e-02 4.78404495e+00] [-3.72243910e-04 9.99997046e-01 2.40205065e-03 4.33428836e-01] [ 3.19818200e-02 -2.38891705e-03 9.99485596e-01 -5.20247882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.35313336499996 meters Centerline goodness [0,1] 0.3063177634556937 Centerline is valid? [False, False] Translation: X:4.79, Y:0.43, Z:-0.05 [[ 9.99470875e-01 4.74119157e-04 -3.25230034e-02 4.78570596e+00] [-3.92405609e-04 9.99996751e-01 2.51882146e-03 4.33213657e-01] [ 3.25240919e-02 -2.50472648e-03 9.99467813e-01 -5.26119319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.383133365 meters Centerline goodness [0,1] 0.31298196278313595 Centerline is valid? [False, False] Translation: X:4.75, Y:0.44, Z:-0.05 [[ 9.99331090e-01 -3.24129850e-04 -3.65686778e-02 4.74632913e+00] [ 3.88842341e-04 9.99998371e-01 1.76251705e-03 4.36194321e-01] [ 3.65680470e-02 -1.77555754e-03 9.99329588e-01 -5.49047227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.41313336499996 meters Centerline goodness [0,1] 0.30738112750400204 Centerline is valid? [False, False] Translation: X:4.77, Y:0.44, Z:-0.05 [[ 9.99304936e-01 -9.07185397e-03 -3.61572408e-02 4.76729468e+00] [ 9.16271641e-03 9.99955265e-01 2.34806616e-03 4.37745831e-01] [ 3.61343220e-02 -2.67773265e-03 9.99343355e-01 -5.35846402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.443133365 meters Centerline goodness [0,1] 0.306312753453473 Centerline is valid? [False, False] Translation: X:4.77, Y:0.44, Z:-0.05 [[ 9.99305929e-01 -9.13008894e-03 -3.61151279e-02 4.76694187e+00] [ 9.21706325e-03 9.99955007e-01 2.24248952e-03 4.38199178e-01] [ 3.60930289e-02 -2.57380849e-03 9.99345120e-01 -5.32226557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.47313336499997 meters Centerline goodness [0,1] 0.3077023187211244 Centerline is valid? [False, False] Translation: X:4.77, Y:0.44, Z:-0.05 [[ 9.99311710e-01 -9.12343183e-03 -3.59564921e-02 4.76625293e+00] [ 9.20524030e-03 9.99955404e-01 2.11031339e-03 4.39409991e-01] [ 3.59356353e-02 -2.43984904e-03 9.99351128e-01 -5.27757768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.503133365 meters Centerline goodness [0,1] 0.30940975007044846 Centerline is valid? [False, False] Translation: X:4.77, Y:0.44, Z:-0.05 [[ 9.99317882e-01 -9.18356219e-03 -3.57691751e-02 4.76578520e+00] [ 9.25392030e-03 9.99955558e-01 1.80194190e-03 4.41544297e-01] [ 3.57510372e-02 -2.13171786e-03 9.99358454e-01 -5.26624771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53313336499997 meters Centerline goodness [0,1] 0.3070333731927384 Centerline is valid? [False, False] Translation: X:4.77, Y:0.45, Z:-0.05 [[ 9.99322439e-01 -9.40689022e-03 -3.55833214e-02 4.76532649e+00] [ 9.44693934e-03 9.99954918e-01 9.57536592e-04 4.46347067e-01] [ 3.55727098e-02 -1.29304128e-03 9.99366254e-01 -5.25235939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.563133365 meters Centerline goodness [0,1] 0.3069597702390464 Centerline is valid? [False, False] Translation: X:4.78, Y:0.44, Z:-0.05 [[ 9.99376229e-01 -1.89859617e-03 -3.52639901e-02 4.78367889e+00] [ 1.87919057e-03 9.99998064e-01 -5.83431089e-04 4.43972171e-01] [ 3.52650295e-02 5.16799404e-04 9.99377862e-01 -5.04573243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59313336499997 meters Centerline goodness [0,1] 0.30670926517571884 Centerline is valid? [False, False] Translation: X:4.78, Y:0.45, Z:-0.05 [[ 9.99376678e-01 -1.99972376e-03 -3.52456564e-02 4.78354875e+00] [ 1.97074829e-03 9.99997691e-01 -8.56822273e-04 4.45432078e-01] [ 3.52472885e-02 7.86827880e-04 9.99378312e-01 -5.03287819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.623133365 meters Centerline goodness [0,1] 0.30898164335664335 Centerline is valid? [False, False] Translation: X:4.78, Y:0.45, Z:-0.05 [[ 9.99379370e-01 -2.04293501e-03 -3.51667656e-02 4.78330556e+00] [ 2.00818677e-03 9.99997460e-01 -1.02339201e-03 4.46571887e-01] [ 3.51687670e-02 9.52135432e-04 9.99380934e-01 -5.02428855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.653133365 meters Centerline goodness [0,1] 0.30760897824768174 Centerline is valid? [False, False] Translation: X:4.78, Y:0.45, Z:-0.05 [[ 9.99382311e-01 -2.13230148e-03 -3.50777549e-02 4.78306214e+00] [ 2.09030820e-03 9.99997054e-01 -1.23377783e-03 4.47762786e-01] [ 3.50802823e-02 1.15969242e-03 9.99383825e-01 -5.01552159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.683133365 meters Centerline goodness [0,1] 0.3062089744969332 Centerline is valid? [False, False] Translation: X:4.78, Y:0.45, Z:-0.05 [[ 9.99380299e-01 -2.19527317e-03 -3.51311576e-02 4.78322160e+00] [ 2.15183400e-03 9.99996873e-01 -1.27424762e-03 4.47668019e-01] [ 3.51338451e-02 1.19786155e-03 9.99381898e-01 -5.02398903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.713133365 meters Centerline goodness [0,1] 0.30794665970545365 Centerline is valid? [False, False] Translation: X:4.78, Y:0.45, Z:-0.05 [[ 9.99379192e-01 -2.22692031e-03 -3.51606411e-02 4.78331494e+00] [ 2.18276749e-03 9.99996780e-01 -1.29408116e-03 4.47618317e-01] [ 3.51634097e-02 1.21653028e-03 9.99380836e-01 -5.03309874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.743133365 meters Centerline goodness [0,1] 0.3040457438774409 Centerline is valid? [False, False] Translation: X:4.78, Y:0.45, Z:-0.05 [[ 9.99372337e-01 -2.24528524e-03 -3.53537991e-02 4.78392877e+00] [ 2.20206937e-03 9.99996780e-01 -1.26127324e-03 4.47347950e-01] [ 3.53565172e-02 1.18263006e-03 9.99374063e-01 -5.05730143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.773133365 meters Centerline goodness [0,1] 0.30595942886992866 Centerline is valid? [False, False] Translation: X:4.78, Y:0.45, Z:-0.05 [[ 9.99363264e-01 -2.19477124e-03 -3.56125010e-02 4.78471422e+00] [ 2.15567898e-03 9.99997031e-01 -1.13607151e-03 4.46812351e-01] [ 3.56148887e-02 1.05857901e-03 9.99365028e-01 -5.08653174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.803133365 meters Centerline goodness [0,1] 0.306415520650025 Centerline is valid? [False, False] Translation: X:4.79, Y:0.45, Z:-0.05 [[ 9.99353727e-01 -2.12551969e-03 -3.58832822e-02 4.78564568e+00] [ 2.09107922e-03 9.99997316e-01 -9.97293705e-04 4.46313617e-01] [ 3.58853056e-02 9.21614395e-04 9.99355490e-01 -5.13274276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.833133365 meters Centerline goodness [0,1] 0.3055652173913044 Centerline is valid? [False, False] Translation: X:4.79, Y:0.45, Z:-0.05 [[ 9.99352015e-01 -2.09021256e-03 -3.59330183e-02 4.78586862e+00] [ 2.05893174e-03 9.99997469e-01 -9.07513131e-04 4.45644711e-01] [ 3.59348242e-02 8.32941444e-04 9.99353789e-01 -5.14949883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.863133365 meters Centerline goodness [0,1] 0.30636541386052574 Centerline is valid? [False, False] Translation: X:4.79, Y:0.45, Z:-0.05 [[ 9.99356417e-01 -2.06125689e-03 -3.58120624e-02 4.78522096e+00] [ 2.03078501e-03 9.99997544e-01 -8.87237349e-04 4.45573888e-01] [ 3.58138033e-02 8.13939738e-04 9.99358149e-01 -5.09735950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.893133365 meters Centerline goodness [0,1] 0.30729710902124696 Centerline is valid? [False, False] Translation: X:4.78, Y:0.45, Z:-0.05 [[ 9.99360339e-01 -2.01653008e-03 -3.57049987e-02 4.78475345e+00] [ 1.98653081e-03 9.99997643e-01 -8.75653977e-04 4.45665299e-01] [ 3.57066804e-02 8.04164775e-04 9.99361990e-01 -5.06490567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92313336499996 meters Centerline goodness [0,1] 0.30741995410337664 Centerline is valid? [False, False] Translation: X:4.79, Y:0.45, Z:-0.05 [[ 9.99352623e-01 -1.75343440e-03 -3.59341112e-02 4.78533100e+00] [ 1.72893164e-03 9.99998251e-01 -7.12942715e-04 4.45673896e-01] [ 3.59352985e-02 6.50353551e-04 9.99353907e-01 -5.06660474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.953133365 meters Centerline goodness [0,1] 0.30416115532233234 Centerline is valid? [False, False] Translation: X:4.79, Y:0.45, Z:-0.05 [[ 9.99344056e-01 -1.72650529e-03 -3.61728685e-02 4.78604815e+00] [ 1.70053233e-03 9.99998274e-01 -7.48777621e-04 4.45734927e-01] [ 3.61740988e-02 6.86773333e-04 9.99345267e-01 -5.09168098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98313336499996 meters Centerline goodness [0,1] 0.3047137681945379 Centerline is valid? [False, False] Translation: X:4.79, Y:0.45, Z:-0.05 [[ 9.99338563e-01 -1.69288278e-03 -3.63258907e-02 4.78646651e+00] [ 1.66694635e-03 9.99998334e-01 -7.44267710e-04 4.45746641e-01] [ 3.63270901e-02 6.83222113e-04 9.99339720e-01 -5.10069230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.013133365 meters Centerline goodness [0,1] 0.308100784510828 Centerline is valid? [False, False] Translation: X:4.79, Y:0.45, Z:-0.05 [[ 9.99334706e-01 -1.65030576e-03 -3.64338098e-02 4.78643427e+00] [ 1.62276622e-03 9.99998375e-01 -7.85437169e-04 4.46193656e-01] [ 3.64350468e-02 7.25791067e-04 9.99335760e-01 -5.05770881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04313336499996 meters Centerline goodness [0,1] 0.3054121746705869 Centerline is valid? [False, False] Translation: X:4.79, Y:0.45, Z:-0.05 [[ 9.99346117e-01 -1.51420558e-03 -3.61254069e-02 4.78535634e+00] [ 1.48720429e-03 9.99998594e-01 -7.74292261e-04 4.46793157e-01] [ 3.61265285e-02 7.20060105e-04 9.99346964e-01 -4.99843188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.073133365 meters Centerline goodness [0,1] 0.30886750038193767 Centerline is valid? [False, False] Translation: X:4.78, Y:0.45, Z:-0.05 [[ 9.99368025e-01 -1.35717459e-03 -3.55205288e-02 4.78334289e+00] [ 1.32924739e-03 9.99998789e-01 -8.09830555e-04 4.47709644e-01] [ 3.55215848e-02 7.62103192e-04 9.99368619e-01 -4.89775407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10313336499996 meters Centerline goodness [0,1] 0.31072120559741656 Centerline is valid? [False, False] Translation: X:4.80, Y:0.45, Z:-0.05 [[ 9.99422953e-01 6.56232912e-03 -3.33271168e-02 4.80130630e+00] [-6.64340642e-03 9.99975235e-01 -2.32262088e-03 4.45739896e-01] [ 3.33110496e-02 2.54268620e-03 9.99441799e-01 -4.65982366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.133133365 meters Centerline goodness [0,1] 0.31096498867793065 Centerline is valid? [False, False] Translation: X:4.78, Y:0.45, Z:-0.05 [[ 9.99465998e-01 -4.52538757e-04 -3.26728328e-02 4.78393982e+00] [ 4.22543195e-04 9.99999483e-01 -9.24957041e-04 4.52091644e-01] [ 3.26732344e-02 9.10657429e-04 9.99465672e-01 -4.95583963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16313336499996 meters Centerline goodness [0,1] 0.31074268827951845 Centerline is valid? [False, False] Translation: X:4.78, Y:0.45, Z:-0.05 [[ 9.99468508e-01 -3.51528808e-04 -3.25972003e-02 4.78389453e+00] [ 3.22177268e-04 9.99999538e-01 -9.05679381e-04 4.52779080e-01] [ 3.25975036e-02 8.94695943e-04 9.99468160e-01 -4.97422880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.193133365 meters Centerline goodness [0,1] 0.31094776216780484 Centerline is valid? [False, False] Translation: X:4.78, Y:0.45, Z:-0.05 [[ 9.99472370e-01 -3.17778888e-04 -3.24789213e-02 4.78356926e+00] [ 2.86609108e-04 9.99999494e-01 -9.64343675e-04 4.53709405e-01] [ 3.24792113e-02 9.54526104e-04 9.99471955e-01 -4.96790829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22313336499997 meters Centerline goodness [0,1] 0.3107761245975811 Centerline is valid? [False, False] Translation: X:4.78, Y:0.46, Z:-0.05 [[ 9.99478299e-01 -3.55575709e-04 -3.22955593e-02 4.78262211e+00] [ 3.15649997e-04 9.99999180e-01 -1.24135007e-03 4.55511270e-01] [ 3.22959742e-02 1.23050837e-03 9.99477591e-01 -4.88451782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.253133365 meters Centerline goodness [0,1] 0.31108325950256066 Centerline is valid? [False, False] Translation: X:4.78, Y:0.46, Z:-0.05 [[ 9.99478199e-01 -4.45909646e-04 -3.22975378e-02 4.78249254e+00] [ 3.97286126e-04 9.99998778e-01 -1.51188860e-03 4.56965409e-01] [ 3.22981725e-02 1.49826833e-03 9.99477155e-01 -4.86054672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28313336499997 meters Centerline goodness [0,1] 0.3097187919753889 Centerline is valid? [False, False] Translation: X:4.78, Y:0.46, Z:-0.05 [[ 9.99474587e-01 -5.28291428e-04 -3.24078929e-02 4.78273278e+00] [ 4.66914805e-04 9.99998083e-01 -1.90141746e-03 4.59286468e-01] [ 3.24088353e-02 1.88528671e-03 9.99472918e-01 -4.85529649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.313133365 meters Centerline goodness [0,1] 0.3112183092498053 Centerline is valid? [False, False] Translation: X:4.78, Y:0.46, Z:-0.05 [[ 9.99467014e-01 -5.02751396e-04 -3.26410176e-02 4.78348899e+00] [ 4.28510323e-04 9.99997306e-01 -2.28142731e-03 4.62138410e-01] [ 3.26420767e-02 2.26622433e-03 9.99464536e-01 -4.88423773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34313336499997 meters Centerline goodness [0,1] 0.3104618530685057 Centerline is valid? [False, False] Translation: X:4.78, Y:0.47, Z:-0.05 [[ 9.99454773e-01 -4.76925198e-04 -3.30140788e-02 4.78469592e+00] [ 3.85630447e-04 9.99996085e-01 -2.77163996e-03 4.65632744e-01] [ 3.30152714e-02 2.75739755e-03 9.99451044e-01 -4.93052571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.373133365 meters Centerline goodness [0,1] 0.30822259316265255 Centerline is valid? [False, False] Translation: X:4.79, Y:0.47, Z:-0.05 [[ 9.99445760e-01 2.82532497e-03 -3.31691114e-02 4.78554482e+00] [-2.84453418e-03 9.99995813e-01 -5.31955291e-04 4.72646572e-01] [ 3.31674695e-02 6.26011131e-04 9.99449612e-01 -4.98270605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.403133365 meters Centerline goodness [0,1] 0.30913577040451923 Centerline is valid? [False, False] Translation: X:4.79, Y:0.48, Z:-0.05 [[ 9.99449381e-01 2.80191637e-03 -3.30618109e-02 4.78511958e+00] [-2.83898967e-03 9.99995393e-01 -1.07444234e-03 4.76311078e-01] [ 3.30586481e-02 1.16771287e-03 9.99452731e-01 -4.95494777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.433133365 meters Centerline goodness [0,1] 0.31283599189213007 Centerline is valid? [False, False] Translation: X:4.74, Y:0.48, Z:-0.05 [[ 9.99388782e-01 4.06505313e-03 -3.47208492e-02 4.73956475e+00] [-4.10332191e-03 9.99991050e-01 -1.03099855e-03 4.81722072e-01] [ 3.47163474e-02 1.17283921e-03 9.99396518e-01 -5.01659181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.463133365 meters Centerline goodness [0,1] 0.30977633556199224 Centerline is valid? [False, False] Translation: X:4.76, Y:0.49, Z:-0.05 [[ 9.99411070e-01 -2.37861504e-03 -3.42323631e-02 4.76146612e+00] [ 2.42000900e-03 9.99996390e-01 1.16782275e-03 4.86057183e-01] [ 3.42294617e-02 -1.24997761e-03 9.99413219e-01 -4.99050316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.493133365 meters Centerline goodness [0,1] 0.30843183953503617 Centerline is valid? [False, False] Translation: X:4.76, Y:0.49, Z:-0.05 [[ 9.99412786e-01 -2.53290433e-03 -3.41711559e-02 4.76150289e+00] [ 2.56272823e-03 9.99996373e-01 8.29009706e-04 4.87609024e-01] [ 3.41689321e-02 -9.16094286e-04 9.99415652e-01 -5.02163252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.523133365 meters Centerline goodness [0,1] 0.3066882067851373 Centerline is valid? [False, False] Translation: X:4.79, Y:0.49, Z:-0.05 [[ 9.99374273e-01 2.73384426e-03 -3.52645496e-02 4.78502276e+00] [-2.80679134e-03 9.99994022e-01 -2.01922701e-03 4.85821941e-01] [ 3.52588185e-02 2.11694376e-03 9.99375972e-01 -5.04229343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.553133365 meters Centerline goodness [0,1] 0.3055976777435986 Centerline is valid? [False, False] Translation: X:4.79, Y:0.49, Z:-0.05 [[ 9.99370902e-01 2.77519988e-03 -3.53567362e-02 4.78549061e+00] [-2.84377993e-03 9.99994171e-01 -1.88951856e-03 4.85086006e-01] [ 3.53512863e-02 1.98887664e-03 9.99372969e-01 -5.08014902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.583133365 meters Centerline goodness [0,1] 0.3074823792332818 Centerline is valid? [False, False] Translation: X:4.80, Y:0.49, Z:-0.05 [[ 9.99348534e-01 -5.40032106e-03 -3.56839512e-02 4.80490999e+00] [ 5.37255510e-03 9.99985186e-01 -8.73949968e-04 4.88124522e-01] [ 3.56881422e-02 6.81666625e-04 9.99362743e-01 -4.89156415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.613133365 meters Centerline goodness [0,1] 0.30368290312128743 Centerline is valid? [False, False] Translation: X:4.80, Y:0.49, Z:-0.05 [[ 9.99355332e-01 -5.35807267e-03 -3.54994544e-02 4.80423442e+00] [ 5.33311265e-03 9.99985461e-01 -7.97764378e-04 4.87404618e-01] [ 3.55032128e-02 6.07927495e-04 9.99369377e-01 -4.85829996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.643133365 meters Centerline goodness [0,1] 0.303867992998335 Centerline is valid? [False, False] Translation: X:4.82, Y:0.48, Z:-0.05 [[ 9.99389699e-01 2.58588260e-03 -3.48359474e-02 4.82361117e+00] [-2.64595369e-03 9.99995091e-01 -1.67840891e-03 4.83372370e-01] [ 3.48314362e-02 1.76955888e-03 9.99391635e-01 -4.68199539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67313336499996 meters Centerline goodness [0,1] 0.3088798051835102 Centerline is valid? [False, False] Translation: X:4.78, Y:0.48, Z:-0.05 [[ 9.99300219e-01 4.04626065e-03 -3.71846880e-02 4.77855113e+00] [-4.08657462e-03 9.99991142e-01 -1.00821347e-03 4.83659082e-01] [ 3.71802792e-02 1.15946595e-03 9.99307902e-01 -4.75677781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.703133365 meters Centerline goodness [0,1] 0.30731558670526526 Centerline is valid? [False, False] Translation: X:4.78, Y:0.48, Z:-0.05 [[ 9.99296312e-01 4.18120515e-03 -3.72746330e-02 4.77881958e+00] [-4.21754698e-03 9.99990704e-01 -8.96396708e-04 4.83464055e-01] [ 3.72705385e-02 1.05297344e-03 9.99304657e-01 -4.76747220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.73313336499996 meters Centerline goodness [0,1] 0.3075933075933076 Centerline is valid? [False, False] Translation: X:4.80, Y:0.49, Z:-0.05 [[ 9.99312255e-01 -3.42377724e-03 -3.69228133e-02 4.79784126e+00] [ 3.43954639e-03 9.99994019e-01 3.63572124e-04 4.86773939e-01] [ 3.69213476e-02 -4.90319808e-04 9.99318054e-01 -4.61421802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.763133365 meters Centerline goodness [0,1] 0.3065600345833783 Centerline is valid? [False, False] Translation: X:4.80, Y:0.49, Z:-0.05 [[ 9.99319949e-01 -3.34177843e-03 -3.67215586e-02 4.79724603e+00] [ 3.36105811e-03 9.99994244e-01 4.63303383e-04 4.86287772e-01] [ 3.67197990e-02 -5.86411605e-04 9.99325429e-01 -4.59903153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.79313336499996 meters Centerline goodness [0,1] 0.30563721808544886 Centerline is valid? [False, False] Translation: X:4.80, Y:0.49, Z:-0.05 [[ 9.99326173e-01 -2.75143661e-03 -3.66009395e-02 4.79704424e+00] [ 2.79132273e-03 9.99995565e-01 1.03870155e-03 4.85077872e-01] [ 3.65979192e-02 -1.14016668e-03 9.99329421e-01 -4.61479043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.823133365 meters Centerline goodness [0,1] 0.3059890251221813 Centerline is valid? [False, False] Translation: X:4.80, Y:0.48, Z:-0.05 [[ 9.99321449e-01 -2.65442802e-03 -3.67368526e-02 4.79755123e+00] [ 2.69821269e-03 9.99995707e-01 1.14231848e-03 4.84831788e-01] [ 3.67336627e-02 -1.24066720e-03 9.99324321e-01 -4.64457599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.85313336499996 meters Centerline goodness [0,1] 0.3059890251221813 Centerline is valid? [False, False] Translation: X:4.80, Y:0.48, Z:-0.05 [[ 9.99321449e-01 -2.65442802e-03 -3.67368526e-02 4.79755123e+00] [ 2.69821269e-03 9.99995707e-01 1.14231848e-03 4.84831788e-01] [ 3.67336627e-02 -1.24066720e-03 9.99324321e-01 -4.64457599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.883133365 meters Centerline goodness [0,1] 0.30603224128965156 Centerline is valid? [False, False] Translation: X:4.80, Y:0.48, Z:-0.05 [[ 9.99315534e-01 -2.60690350e-03 -3.69007865e-02 4.79811467e+00] [ 2.65451178e-03 9.99995706e-01 1.24123503e-03 4.84226138e-01] [ 3.68973923e-02 -1.33833902e-03 9.99318163e-01 -4.67130979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.91313336499996 meters Centerline goodness [0,1] 0.3049147659583685 Centerline is valid? [False, False] Translation: X:4.80, Y:0.48, Z:-0.05 [[ 9.99301701e-01 -2.50371313e-03 -3.72805915e-02 4.79899194e+00] [ 2.56158633e-03 9.99995587e-01 1.50468359e-03 4.82581865e-01] [ 3.72766597e-02 -1.59913033e-03 9.99303704e-01 -4.67182742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.943133365 meters Centerline goodness [0,1] 0.3065728311394934 Centerline is valid? [False, False] Translation: X:4.80, Y:0.48, Z:-0.05 [[ 9.99297998e-01 -2.37230052e-03 -3.73882799e-02 4.79916566e+00] [ 2.43650197e-03 9.99995634e-01 1.67168366e-03 4.82312445e-01] [ 3.73841509e-02 -1.76160675e-03 9.99299416e-01 -4.66443708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.97313336499997 meters Centerline goodness [0,1] 0.3077856771284897 Centerline is valid? [False, False] Translation: X:4.80, Y:0.48, Z:-0.05 [[ 9.99295161e-01 -2.24710340e-03 -3.74717542e-02 4.79934612e+00] [ 2.31588396e-03 9.99995712e-01 1.79222647e-03 4.82333166e-01] [ 3.74675662e-02 -1.87774348e-03 9.99296080e-01 -4.66016629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.003133365 meters Centerline goodness [0,1] 0.3114132084471619 Centerline is valid? [False, False] Translation: X:4.80, Y:0.48, Z:-0.05 [[ 9.99297375e-01 -2.24058511e-03 -3.74130572e-02 4.79906968e+00] [ 2.30889649e-03 9.99995745e-01 1.78276314e-03 4.82369387e-01] [ 3.74089036e-02 -1.86789340e-03 9.99298296e-01 -4.64286067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03313336499997 meters Centerline goodness [0,1] 0.30522611755506324 Centerline is valid? [False, False] Translation: X:4.80, Y:0.48, Z:-0.05 [[ 9.99303314e-01 -2.31981196e-03 -3.72492358e-02 4.79850373e+00] [ 2.38484376e-03 9.99995709e-01 1.70151856e-03 4.82225240e-01] [ 3.72451287e-02 -1.78916674e-03 9.99304558e-01 -4.61970928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.063133365 meters Centerline goodness [0,1] 0.3052757014407973 Centerline is valid? [False, False] Translation: X:4.80, Y:0.48, Z:-0.05 [[ 9.99308651e-01 -2.42829436e-03 -3.70988384e-02 4.79787041e+00] [ 2.49193754e-03 9.99995502e-01 1.66935966e-03 4.81176240e-01] [ 3.70946178e-02 -1.76065353e-03 9.99310207e-01 -4.58720037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09313336499997 meters Centerline goodness [0,1] 0.30480950746524793 Centerline is valid? [False, False] Translation: X:4.82, Y:0.48, Z:-0.04 [[ 9.99281496e-01 5.10136047e-03 -3.75562014e-02 4.81681795e+00] [-5.07890208e-03 9.99986862e-01 6.93376204e-04 4.76385157e-01] [ 3.75592452e-02 -5.02133740e-04 9.99294276e-01 -4.35851192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.123133365 meters Centerline goodness [0,1] 0.3040653544320082 Centerline is valid? [False, False] Translation: X:4.82, Y:0.48, Z:-0.04 [[ 9.99274417e-01 5.22619395e-03 -3.77269875e-02 4.81737351e+00] [-5.19370736e-03 9.99986053e-01 9.59052535e-04 4.75214640e-01] [ 3.77314735e-02 -7.62413731e-04 9.99287624e-01 -4.37874032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.153133365 meters Centerline goodness [0,1] 0.3080075868233447 Centerline is valid? [False, False] Translation: X:4.80, Y:0.48, Z:-0.05 [[ 9.99239373e-01 -2.96497057e-03 -3.88829502e-02 4.79748991e+00] [ 3.04544657e-03 9.99993341e-01 2.01063167e-03 4.76940005e-01] [ 3.88767299e-02 -2.12751828e-03 9.99241749e-01 -4.53091308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.183133365 meters Centerline goodness [0,1] 0.30502348332359375 Centerline is valid? [False, False] Translation: X:4.82, Y:0.47, Z:-0.04 [[ 9.99216525e-01 3.65637029e-03 -3.94077056e-02 4.81512648e+00] [-3.64675598e-03 9.99993301e-01 3.15850871e-04 4.68660921e-01] [ 3.94085965e-02 -1.71893124e-04 9.99223165e-01 -4.21389933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.213133365 meters Centerline goodness [0,1] 0.30647041049769064 Centerline is valid? [False, False] Translation: X:4.81, Y:0.47, Z:-0.04 [[ 9.99221236e-01 3.73710255e-03 -3.92804656e-02 4.81470659e+00] [-3.71812898e-03 9.99992933e-01 5.56070458e-04 4.67224663e-01] [ 3.92822661e-02 -4.09587573e-04 9.99228070e-01 -4.19654223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.243133365 meters Centerline goodness [0,1] 0.30592989017129835 Centerline is valid? [False, False] Translation: X:4.81, Y:0.47, Z:-0.04 [[ 9.99224955e-01 3.85045296e-03 -3.91747677e-02 4.81438535e+00] [-3.82427606e-03 9.99992411e-01 7.43122834e-04 4.66390714e-01] [ 3.91773318e-02 -5.92731755e-04 9.99232098e-01 -4.18836366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.273133365 meters Centerline goodness [0,1] 0.3046962516156829 Centerline is valid? [False, False] Translation: X:4.81, Y:0.47, Z:-0.04 [[ 9.99229662e-01 3.96831660e-03 -3.90427366e-02 4.81404915e+00] [-3.93481039e-03 9.99991821e-01 9.34998102e-04 4.65610803e-01] [ 3.90461277e-02 -7.80652071e-04 9.99237104e-01 -4.18495261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.303133365 meters Centerline goodness [0,1] 0.306498062057467 Centerline is valid? [False, False] Translation: X:4.81, Y:0.46, Z:-0.04 [[ 9.99245708e-01 4.25066750e-03 -3.85998224e-02 4.81306354e+00] [-4.20589946e-03 9.99990385e-01 1.24092907e-03 4.64498399e-01] [ 3.86047260e-02 -1.07764608e-03 9.99253979e-01 -4.19928046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.333133365 meters Centerline goodness [0,1] 0.30489510489510485 Centerline is valid? [False, False] Translation: X:4.81, Y:0.46, Z:-0.04 [[ 9.99254981e-01 4.31943703e-03 -3.83513312e-02 4.81246611e+00] [-4.27421075e-03 9.99990070e-01 1.26117530e-03 4.64546371e-01] [ 3.83563980e-02 -1.09631403e-03 9.99263521e-01 -4.20003539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.363133365 meters Centerline goodness [0,1] 0.30560341114652423 Centerline is valid? [False, False] Translation: X:4.81, Y:0.47, Z:-0.04 [[ 9.99263710e-01 4.39188179e-03 -3.81149535e-02 4.81175019e+00] [-4.34867094e-03 9.99989805e-01 1.21652928e-03 4.65089540e-01] [ 3.81199077e-02 -1.04988417e-03 9.99272621e-01 -4.18444358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.393133365 meters Centerline goodness [0,1] 0.31005177724859634 Centerline is valid? [False, False] Translation: X:4.79, Y:0.47, Z:-0.04 [[ 9.99281468e-01 -2.83624344e-03 -3.77955395e-02 4.79276772e+00] [ 2.94259758e-03 9.99991866e-01 2.75860228e-03 4.69806159e-01] [ 3.77874080e-02 -2.86783720e-03 9.99281686e-01 -4.44942808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42313336499996 meters Centerline goodness [0,1] 0.30293593350658277 Centerline is valid? [False, False] Translation: X:4.81, Y:0.47, Z:-0.04 [[ 9.99280487e-01 5.63586257e-03 -3.75065974e-02 4.81366639e+00] [-5.56415066e-03 9.99982488e-01 2.01609048e-03 4.68519572e-01] [ 3.75173030e-02 -1.80594752e-03 9.99294346e-01 -4.32585386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.453133365 meters Centerline goodness [0,1] 0.30564222568902755 Centerline is valid? [False, False] Translation: X:4.81, Y:0.47, Z:-0.04 [[ 9.99279590e-01 5.61943102e-03 -3.75329633e-02 4.81387702e+00] [-5.55568924e-03 9.99982943e-01 1.80237041e-03 4.69800293e-01] [ 3.75424514e-02 -1.59255048e-03 9.99293765e-01 -4.35372624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48313336499996 meters Centerline goodness [0,1] 0.30360502584286675 Centerline is valid? [False, False] Translation: X:4.81, Y:0.47, Z:-0.04 [[ 9.99277984e-01 5.54716593e-03 -3.75864292e-02 4.81406898e+00] [-5.50014331e-03 9.99983957e-01 1.35434021e-03 4.72318799e-01] [ 3.75933390e-02 -1.14663160e-03 9.99292463e-01 -4.37740278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.513133365 meters Centerline goodness [0,1] 0.3035698924731183 Centerline is valid? [False, False] Translation: X:4.81, Y:0.47, Z:-0.04 [[ 9.99281826e-01 5.55335671e-03 -3.74832230e-02 4.81362477e+00] [-5.50864191e-03 9.99983987e-01 1.29610086e-03 4.72922523e-01] [ 3.74898205e-02 -1.08868838e-03 9.99296417e-01 -4.35271110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54313336499996 meters Centerline goodness [0,1] 0.30622777344088814 Centerline is valid? [False, False] Translation: X:4.81, Y:0.47, Z:-0.04 [[ 9.99283861e-01 5.56284719e-03 -3.74275332e-02 4.81336427e+00] [-5.51693711e-03 9.99983897e-01 1.32980699e-03 4.72855620e-01] [ 3.74343280e-02 -1.12236931e-03 9.99298460e-01 -4.33319977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.573133365 meters Centerline goodness [0,1] 0.3084326807393635 Centerline is valid? [False, False] Translation: X:4.81, Y:0.47, Z:-0.04 [[ 9.99280621e-01 5.23804444e-03 -3.75606686e-02 4.81368662e+00] [-5.19192532e-03 9.99985644e-01 1.32529281e-03 4.71451646e-01] [ 3.75670713e-02 -1.12932724e-03 9.99293470e-01 -4.33026757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60313336499996 meters Centerline goodness [0,1] 0.31137449064540157 Centerline is valid? [False, False] Translation: X:4.81, Y:0.47, Z:-0.04 [[ 9.99282372e-01 5.11681863e-03 -3.75307790e-02 4.81361166e+00] [-5.06685772e-03 9.99986146e-01 1.42619321e-03 4.70057767e-01] [ 3.75375567e-02 -1.23500661e-03 9.99294454e-01 -4.32410268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.633133365 meters Centerline goodness [0,1] 0.307569342434978 Centerline is valid? [False, False] Translation: X:4.83, Y:0.47, Z:-0.04 [[ 9.99302111e-01 -3.30458472e-03 -3.72071284e-02 4.83400393e+00] [ 3.39418137e-03 9.99991490e-01 2.34514207e-03 4.72466337e-01] [ 3.71990621e-02 -2.46979317e-03 9.99304823e-01 -4.15655671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66313336499996 meters Centerline goodness [0,1] 0.3064610326404361 Centerline is valid? [False, False] Translation: X:4.83, Y:0.47, Z:-0.04 [[ 9.99299445e-01 -3.21142193e-03 -3.72868149e-02 4.83424204e+00] [ 3.31438619e-03 9.99990863e-01 2.69992741e-03 4.70704819e-01] [ 3.72778036e-02 -2.82161887e-03 9.99300958e-01 -4.15803789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.693133365 meters Centerline goodness [0,1] 0.3091565688428656 Centerline is valid? [False, False] Translation: X:4.84, Y:0.47, Z:-0.04 [[ 9.99290707e-01 -3.09697585e-03 -3.75298645e-02 4.83503304e+00] [ 3.21183467e-03 9.99990340e-01 3.00056000e-03 4.69320404e-01] [ 3.75202093e-02 -3.11897144e-03 9.99291002e-01 -4.18611127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72313336499997 meters Centerline goodness [0,1] 0.3125682582674414 Centerline is valid? [False, False] Translation: X:4.84, Y:0.47, Z:-0.04 [[ 9.99282911e-01 -3.11040793e-03 -3.77357699e-02 4.83568337e+00] [ 3.23609500e-03 9.99989417e-01 3.27009159e-03 4.66927723e-01] [ 3.77251992e-02 -3.38986318e-03 9.99282402e-01 -4.20197822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.753133365 meters Centerline goodness [0,1] 0.3126466524856911 Centerline is valid? [False, False] Translation: X:4.84, Y:0.47, Z:-0.04 [[ 9.99285174e-01 -3.12240273e-03 -3.76748040e-02 4.83562955e+00] [ 3.25025095e-03 9.99989164e-01 3.33269664e-03 4.66109088e-01] [ 3.76639898e-02 -3.45276691e-03 9.99284495e-01 -4.21684569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78313336499997 meters Centerline goodness [0,1] 0.30524731182795695 Centerline is valid? [False, False] Translation: X:4.88, Y:0.47, Z:-0.04 [[ 9.99344461e-01 -2.91140849e-03 -3.60856251e-02 4.87895490e+00] [ 3.03719597e-03 9.99989500e-01 3.43147838e-03 4.66817992e-01] [ 3.60752558e-02 -3.53882803e-03 9.99342810e-01 -4.06193811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.813133365 meters Centerline goodness [0,1] 0.3082297802812056 Centerline is valid? [False, False] Translation: X:4.88, Y:0.47, Z:-0.04 [[ 9.99346082e-01 -2.84978739e-03 -3.60456290e-02 4.87890482e+00] [ 2.97488547e-03 9.99989736e-01 3.41739083e-03 4.67308791e-01] [ 3.60355201e-02 -3.52238776e-03 9.99344302e-01 -4.07352531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84313336499997 meters Centerline goodness [0,1] 0.3120296675413675 Centerline is valid? [False, False] Translation: X:4.88, Y:0.47, Z:-0.04 [[ 9.99344452e-01 -2.82273099e-03 -3.60929157e-02 4.87912003e+00] [ 2.94349609e-03 9.99990245e-01 3.29325095e-03 4.68461951e-01] [ 3.60832676e-02 -3.39733142e-03 9.99343012e-01 -4.09259527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.873133365 meters Centerline goodness [0,1] 0.306172946692134 Centerline is valid? [False, False] Translation: X:4.88, Y:0.47, Z:-0.04 [[ 9.99334691e-01 -2.51646645e-03 -3.63846622e-02 4.88006262e+00] [ 2.62902480e-03 9.99991905e-01 3.04605279e-03 4.71240880e-01] [ 3.63767024e-02 -3.13968240e-03 9.99333217e-01 -4.14555519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.903133365 meters Centerline goodness [0,1] 0.30729922265768794 Centerline is valid? [False, False] Translation: X:4.88, Y:0.47, Z:-0.04 [[ 9.99331514e-01 -2.53369732e-03 -3.64706149e-02 4.88044315e+00] [ 2.63653507e-03 9.99992683e-01 2.77192470e-03 4.72919563e-01] [ 3.64633248e-02 -2.86622776e-03 9.99330881e-01 -4.18300805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.933133365 meters Centerline goodness [0,1] 0.30648096001386305 Centerline is valid? [False, False] Translation: X:4.88, Y:0.47, Z:-0.04 [[ 9.99332942e-01 -2.58551419e-03 -3.64278172e-02 4.88047200e+00] [ 2.67712166e-03 9.99993375e-01 2.46621439e-03 4.74729069e-01] [ 3.64211995e-02 -2.56209098e-03 9.99333244e-01 -4.21022915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.963133365 meters Centerline goodness [0,1] 0.30879829724388075 Centerline is valid? [False, False] Translation: X:4.88, Y:0.48, Z:-0.04 [[ 9.99334779e-01 -2.51654091e-03 -3.63822175e-02 4.88043087e+00] [ 2.59350415e-03 9.99994498e-01 2.06836838e-03 4.77721234e-01] [ 3.63768122e-02 -2.16134989e-03 9.99335807e-01 -4.23670718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.993133365 meters Centerline goodness [0,1] 0.308290436784605 Centerline is valid? [False, False] Translation: X:4.88, Y:0.48, Z:-0.04 [[ 9.99332317e-01 -2.56228162e-03 -3.64466067e-02 4.88051270e+00] [ 2.63354133e-03 9.99994713e-01 1.90730750e-03 4.78614534e-01] [ 3.64415270e-02 -2.00201767e-03 9.99333782e-01 -4.23107841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.023133365 meters Centerline goodness [0,1] 0.3060566731559593 Centerline is valid? [False, False] Translation: X:4.88, Y:0.48, Z:-0.04 [[ 9.99329238e-01 -2.58221743e-03 -3.65295323e-02 4.88066213e+00] [ 2.65155805e-03 9.99994774e-01 1.84988803e-03 4.78912835e-01] [ 3.65245646e-02 -1.94550737e-03 9.99330862e-01 -4.22777559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.053133365 meters Centerline goodness [0,1] 0.30881740236387956 Centerline is valid? [False, False] Translation: X:4.86, Y:0.47, Z:-0.04 [[ 9.99322097e-01 5.30497825e-03 -3.64308145e-02 4.86221963e+00] [-5.28313632e-03 9.99985802e-01 6.95786371e-04 4.73500286e-01] [ 3.64339884e-02 -5.02845735e-04 9.99335935e-01 -4.46971252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.083133365 meters Centerline goodness [0,1] 0.3092177422892993 Centerline is valid? [False, False] Translation: X:4.86, Y:0.47, Z:-0.04 [[ 9.99330569e-01 5.27574224e-03 -3.62019356e-02 4.86184219e+00] [-5.24498464e-03 9.99985799e-01 9.44530454e-04 4.71664975e-01] [ 3.62064046e-02 -7.54019560e-04 9.99344049e-01 -4.48728572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.113133365 meters Centerline goodness [0,1] 0.3085990170066548 Centerline is valid? [False, False] Translation: X:4.88, Y:0.47, Z:-0.04 [[ 9.99385105e-01 -2.86998839e-03 -3.49453287e-02 4.88071413e+00] [ 2.94384311e-03 9.99993541e-01 2.06216683e-03 4.74753224e-01] [ 3.49391846e-02 -2.16377238e-03 9.99387098e-01 -4.31314885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.143133365 meters Centerline goodness [0,1] 0.3087325783972126 Centerline is valid? [False, False] Translation: X:4.88, Y:0.47, Z:-0.04 [[ 9.99395795e-01 -2.82163377e-03 -3.46422215e-02 4.87967240e+00] [ 2.90055060e-03 9.99993311e-01 2.22800882e-03 4.73895095e-01] [ 3.46357032e-02 -2.32714417e-03 9.99397295e-01 -4.25800573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17313336499996 meters Centerline goodness [0,1] 0.30854711985067496 Centerline is valid? [False, False] Translation: X:4.88, Y:0.47, Z:-0.04 [[ 9.99402532e-01 -2.76211610e-03 -3.44521467e-02 4.87906591e+00] [ 2.84432706e-03 9.99993223e-01 2.33745320e-03 4.73508040e-01] [ 3.44454569e-02 -2.43404982e-03 9.99403615e-01 -4.23104201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.203133365 meters Centerline goodness [0,1] 0.308290774747365 Centerline is valid? [False, False] Translation: X:4.88, Y:0.47, Z:-0.04 [[ 9.99408638e-01 -2.66201631e-03 -3.42824766e-02 4.87891269e+00] [ 2.74774830e-03 9.99993214e-01 2.45388136e-03 4.73212374e-01] [ 3.42757117e-02 -2.54662984e-03 9.99409171e-01 -4.26546045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.23313336499996 meters Centerline goodness [0,1] 0.3066655147090587 Centerline is valid? [False, False] Translation: X:4.88, Y:0.47, Z:-0.04 [[ 9.99406989e-01 -2.66114579e-03 -3.43305722e-02 4.87917681e+00] [ 2.74560216e-03 9.99993319e-01 2.41318378e-03 4.73356243e-01] [ 3.43239210e-02 -2.50601083e-03 9.99407619e-01 -4.29204008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.263133365 meters Centerline goodness [0,1] 0.3043171013747912 Centerline is valid? [False, False] Translation: X:4.90, Y:0.47, Z:-0.04 [[ 9.99386604e-01 4.97210544e-03 -3.46654674e-02 4.89870185e+00] [-4.94358584e-03 9.99987368e-01 9.08372672e-04 4.70681875e-01] [ 3.46695460e-02 -7.36443766e-04 9.99398559e-01 -4.07674486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.29313336499996 meters Centerline goodness [0,1] 0.30658175949753563 Centerline is valid? [False, False] Translation: X:4.86, Y:0.47, Z:-0.04 [[ 9.99284362e-01 4.91094364e-03 -3.75052855e-02 4.85513742e+00] [-4.89180391e-03 9.99987854e-01 6.02070887e-04 4.69561175e-01] [ 3.75077867e-02 -4.18171520e-04 9.99296248e-01 -4.21875781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.323133365 meters Centerline goodness [0,1] 0.3073045110320596 Centerline is valid? [False, False] Translation: X:4.86, Y:0.47, Z:-0.04 [[ 9.99277915e-01 4.93143687e-03 -3.76739921e-02 4.85576522e+00] [-4.91451091e-03 9.99987777e-01 5.41869247e-04 4.70085620e-01] [ 3.76762038e-02 -3.56328726e-04 9.99289936e-01 -4.25988830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.35313336499996 meters Centerline goodness [0,1] 0.306288743346549 Centerline is valid? [False, False] Translation: X:4.85, Y:0.47, Z:-0.04 [[ 9.99291773e-01 5.07061939e-03 -3.72859432e-02 4.85496596e+00] [-5.05096842e-03 9.99987051e-01 6.21213925e-04 4.70366098e-01] [ 3.72886103e-02 -4.32443843e-04 9.99304444e-01 -4.27789501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.383133365 meters Centerline goodness [0,1] 0.30430376471602916 Centerline is valid? [False, False] Translation: X:4.87, Y:0.47, Z:-0.04 [[ 9.99337078e-01 -2.91796013e-03 -3.62889787e-02 4.87397859e+00] [ 2.97754121e-03 9.99994306e-01 1.58791501e-03 4.74435953e-01] [ 3.62841386e-02 -1.69491427e-03 9.99340077e-01 -4.12434941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.41313336499996 meters Centerline goodness [0,1] 0.30866779683406353 Centerline is valid? [False, False] Translation: X:4.83, Y:0.47, Z:-0.04 [[ 9.99261343e-01 -3.59478020e-03 -3.82602336e-02 4.82898677e+00] [ 3.63669110e-03 9.99992861e-01 1.02587730e-03 4.70872972e-01] [ 3.82562726e-02 -1.16426018e-03 9.99267283e-01 -4.24824877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.443133365 meters Centerline goodness [0,1] 0.30296399012003294 Centerline is valid? [False, False] Translation: X:4.85, Y:0.47, Z:-0.04 [[ 9.99269536e-01 3.89888785e-03 -3.80156934e-02 4.84819411e+00] [-3.91100192e-03 9.99992322e-01 -2.44298127e-04 4.66879714e-01] [ 3.80144490e-02 3.92799126e-04 9.99277112e-01 -4.03229324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.47313336499997 meters Centerline goodness [0,1] 0.30293636441918537 Centerline is valid? [False, False] Translation: X:4.85, Y:0.47, Z:-0.04 [[ 9.99257793e-01 4.00575183e-03 -3.83121063e-02 4.84924743e+00] [-4.00625231e-03 9.99991973e-01 6.37092134e-05 4.65204517e-01] [ 3.83120540e-02 8.98260365e-05 9.99265820e-01 -4.08371800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.503133365 meters Centerline goodness [0,1] 0.3048964506746561 Centerline is valid? [False, False] Translation: X:4.83, Y:0.47, Z:-0.04 [[ 9.99223557e-01 -4.36722043e-03 -3.91562433e-02 4.82910299e+00] [ 4.40841123e-03 9.99989817e-01 9.65679607e-04 4.66969766e-01] [ 3.91516272e-02 -1.13754663e-03 9.99232634e-01 -4.27701820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53313336499997 meters Centerline goodness [0,1] 0.30316850174821375 Centerline is valid? [False, False] Translation: X:4.85, Y:0.46, Z:-0.04 [[ 9.99193773e-01 3.23475927e-03 -4.00167569e-02 4.84850771e+00] [-3.24622432e-03 9.99994706e-01 -2.21531806e-04 4.62596832e-01] [ 4.00158285e-02 3.51256571e-04 9.99198984e-01 -4.04996223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.563133365 meters Centerline goodness [0,1] 0.3007779487290615 Centerline is valid? [False, False] Translation: X:4.85, Y:0.46, Z:-0.04 [[ 9.99158944e-01 3.42788310e-03 -4.08613960e-02 4.85142265e+00] [-3.43112759e-03 9.99994114e-01 -9.27284440e-06 4.61755573e-01] [ 4.08611236e-02 1.49465709e-04 9.99164824e-01 -4.19378525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59313336499997 meters Centerline goodness [0,1] 0.2988570075553738 Centerline is valid? [False, False] Translation: X:4.85, Y:0.46, Z:-0.04 [[ 9.99146365e-01 3.52290717e-03 -4.11598080e-02 4.85240085e+00] [-3.52359680e-03 9.99993791e-01 5.57912185e-05 4.61724484e-01] [ 4.11597489e-02 8.92869744e-05 9.99152574e-01 -4.23752354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.623133365 meters Centerline goodness [0,1] 0.3004577251921582 Centerline is valid? [False, False] Translation: X:4.85, Y:0.46, Z:-0.04 [[ 9.99149393e-01 3.58420925e-03 -4.10809424e-02 4.85210500e+00] [-3.58216908e-03 9.99993576e-01 1.23272910e-04 4.61434206e-01] [ 4.10811203e-02 2.39908284e-05 9.99155814e-01 -4.22526057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.653133365 meters Centerline goodness [0,1] 0.30404022813357134 Centerline is valid? [False, False] Translation: X:4.85, Y:0.46, Z:-0.04 [[ 9.99154352e-01 3.60599234e-03 -4.09582406e-02 4.85152832e+00] [-3.60229377e-03 9.99993498e-01 1.64103540e-04 4.61045616e-01] [ 4.09585661e-02 -1.64211508e-05 9.99160846e-01 -4.18751495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.683133365 meters Centerline goodness [0,1] 0.3040705267740531 Centerline is valid? [False, False] Translation: X:4.85, Y:0.46, Z:-0.04 [[ 9.99165694e-01 3.65908289e-03 -4.06758792e-02 4.85051909e+00] [-3.64876365e-03 9.99993289e-01 3.27930755e-04 4.59828525e-01] [ 4.06768062e-02 -1.79240491e-04 9.99172340e-01 -4.14046093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.713133365 meters Centerline goodness [0,1] 0.3044894924446194 Centerline is valid? [False, False] Translation: X:4.85, Y:0.46, Z:-0.04 [[ 9.99166853e-01 3.71459712e-03 -4.06423739e-02 4.85043722e+00] [-3.70017007e-03 9.99993062e-01 4.30193093e-04 4.59373593e-01] [ 4.06436899e-02 -2.79450983e-04 9.99173665e-01 -4.14243159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.743133365 meters Centerline goodness [0,1] 0.3044894924446194 Centerline is valid? [False, False] Translation: X:4.85, Y:0.46, Z:-0.04 [[ 9.99166853e-01 3.71459712e-03 -4.06423739e-02 4.85043722e+00] [-3.70017007e-03 9.99993062e-01 4.30193093e-04 4.59373593e-01] [ 4.06436899e-02 -2.79450983e-04 9.99173665e-01 -4.14243159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.773133365 meters Centerline goodness [0,1] 0.30562587290502796 Centerline is valid? [False, False] Translation: X:4.85, Y:0.46, Z:-0.04 [[ 9.99167969e-01 3.74161853e-03 -4.06124310e-02 4.85045062e+00] [-3.72529665e-03 9.99992947e-01 4.77564628e-04 4.59205592e-01] [ 4.06139314e-02 -3.25873927e-04 9.99174861e-01 -4.15442366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.803133365 meters Centerline goodness [0,1] 0.30509248190571414 Centerline is valid? [False, False] Translation: X:4.85, Y:0.46, Z:-0.04 [[ 9.99170863e-01 3.76947722e-03 -4.05386055e-02 4.85022144e+00] [-3.75154050e-03 9.99992829e-01 5.18523635e-04 4.59096041e-01] [ 4.05402693e-02 -3.66011487e-04 9.99177838e-01 -4.14873234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.833133365 meters Centerline goodness [0,1] 0.30681423611111114 Centerline is valid? [False, False] Translation: X:4.85, Y:0.46, Z:-0.04 [[ 9.99188551e-01 3.80236655e-03 -4.00971607e-02 4.84834474e+00] [-3.78105642e-03 9.99992667e-01 6.07284477e-04 4.58593401e-01] [ 4.00991758e-02 -4.55182070e-04 9.99195601e-01 -4.02582569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.863133365 meters Centerline goodness [0,1] 0.30476830669818067 Centerline is valid? [False, False] Translation: X:4.85, Y:0.46, Z:-0.04 [[ 9.99192888e-01 3.82676607e-03 -3.99866113e-02 4.84765940e+00] [-3.80246223e-03 9.99992537e-01 6.83836258e-04 4.58211147e-01] [ 3.99889297e-02 -5.31236746e-04 9.99199982e-01 -3.96432849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.893133365 meters Centerline goodness [0,1] 0.30295148219007284 Centerline is valid? [False, False] Translation: X:4.87, Y:0.46, Z:-0.04 [[ 9.99179417e-01 -3.50531993e-03 -4.03510310e-02 4.86583973e+00] [ 3.59222372e-03 9.99991382e-01 2.08139129e-03 4.63611731e-01] [ 4.03433873e-02 -2.22463327e-03 9.99183398e-01 -3.70250765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92313336499996 meters Centerline goodness [0,1] 0.30345901745733017 Centerline is valid? [False, False] Translation: X:4.87, Y:0.46, Z:-0.04 [[ 9.99177380e-01 -3.56761036e-03 -4.03959715e-02 4.86621368e+00] [ 3.65607892e-03 9.99991077e-01 2.11637030e-03 4.62937137e-01] [ 4.03880607e-02 -2.26232019e-03 9.99181508e-01 -3.73769306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.953133365 meters Centerline goodness [0,1] 0.3059406154711187 Centerline is valid? [False, False] Translation: X:4.87, Y:0.46, Z:-0.04 [[ 9.99184610e-01 -3.57190229e-03 -4.02163724e-02 4.86557489e+00] [ 3.66331009e-03 9.99990871e-01 2.19943693e-03 4.62334954e-01] [ 4.02081491e-02 -2.34496858e-03 9.99188574e-01 -3.70539489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98313336499996 meters Centerline goodness [0,1] 0.30721050365906155 Centerline is valid? [False, False] Translation: X:4.86, Y:0.46, Z:-0.04 [[ 9.99194679e-01 -3.47596622e-03 -3.99738717e-02 4.86451629e+00] [ 3.57498620e-03 9.99990716e-01 2.40590257e-03 4.61500921e-01] [ 3.99651377e-02 -2.54687109e-03 9.99197829e-01 -3.63187603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.013133365 meters Centerline goodness [0,1] 0.3097789612695113 Centerline is valid? [False, False] Translation: X:4.86, Y:0.46, Z:-0.04 [[ 9.99202689e-01 -3.42675005e-03 -3.97774353e-02 4.86368161e+00] [ 3.53086933e-03 9.99990521e-01 2.54758906e-03 4.60920724e-01] [ 3.97683283e-02 -2.68600677e-03 9.99205317e-01 -3.57469254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04313336499996 meters Centerline goodness [0,1] 0.3103891016713092 Centerline is valid? [False, False] Translation: X:4.86, Y:0.46, Z:-0.04 [[ 9.99201109e-01 -3.48800699e-03 -3.98117848e-02 4.86375963e+00] [ 3.59191366e-03 9.99990326e-01 2.53871726e-03 4.60477478e-01] [ 3.98025446e-02 -2.67968959e-03 9.99203972e-01 -3.57086575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.073133365 meters Centerline goodness [0,1] 0.308859988691227 Centerline is valid? [False, False] Translation: X:4.86, Y:0.46, Z:-0.04 [[ 9.99195373e-01 -3.53122257e-03 -3.99516913e-02 4.86452471e+00] [ 3.63175669e-03 9.99990418e-01 2.44409532e-03 4.60824730e-01] [ 3.99426779e-02 -2.58722356e-03 9.99198623e-01 -3.63835331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10313336499996 meters Centerline goodness [0,1] 0.30678664353859497 Centerline is valid? [False, False] Translation: X:4.87, Y:0.46, Z:-0.04 [[ 9.99193124e-01 -3.52249966e-03 -4.00086599e-02 4.86500800e+00] [ 3.61864506e-03 9.99990736e-01 2.33095128e-03 4.61771993e-01] [ 4.00000785e-02 -2.47384763e-03 9.99196614e-01 -3.69643880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.133133365 meters Centerline goodness [0,1] 0.3085023400936038 Centerline is valid? [False, False] Translation: X:4.86, Y:0.46, Z:-0.04 [[ 9.99201136e-01 -3.46670293e-03 -3.98129609e-02 4.86471789e+00] [ 3.55885407e-03 9.99991150e-01 2.24396208e-03 4.62822074e-01] [ 3.98048294e-02 -2.38385798e-03 9.99204630e-01 -3.72631317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16313336499996 meters Centerline goodness [0,1] 0.30891455972101134 Centerline is valid? [False, False] Translation: X:4.87, Y:0.46, Z:-0.04 [[ 9.99189609e-01 -3.35352747e-03 -4.01108240e-02 4.86552169e+00] [ 3.43632747e-03 9.99992105e-01 1.99551394e-03 4.64707056e-01] [ 4.01038153e-02 -2.13173072e-03 9.99193244e-01 -3.75814682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.193133365 meters Centerline goodness [0,1] 0.3078599289621059 Centerline is valid? [False, False] Translation: X:4.87, Y:0.47, Z:-0.04 [[ 9.99181436e-01 -3.43437318e-03 -4.03070970e-02 4.86623455e+00] [ 3.50713612e-03 9.99992345e-01 1.73464282e-03 4.65882064e-01] [ 4.03008311e-02 -1.87458538e-03 9.99185833e-01 -3.80539698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22313336499997 meters Centerline goodness [0,1] 0.3051120646468166 Centerline is valid? [False, False] Translation: X:4.87, Y:0.47, Z:-0.04 [[ 9.99169336e-01 -3.47098018e-03 -4.06028391e-02 4.86728404e+00] [ 3.53567175e-03 9.99992592e-01 1.52157658e-03 4.67023209e-01] [ 4.05972570e-02 -1.66387097e-03 9.99174206e-01 -3.86704435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.253133365 meters Centerline goodness [0,1] 0.30681148989072826 Centerline is valid? [False, False] Translation: X:4.87, Y:0.47, Z:-0.04 [[ 9.99156550e-01 -3.46667252e-03 -4.09166350e-02 4.86845752e+00] [ 3.52218201e-03 9.99992972e-01 1.28463814e-03 4.68745213e-01] [ 4.09118940e-02 -1.42767045e-03 9.99161738e-01 -3.94515218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28313336499997 meters Centerline goodness [0,1] 0.299613999525586 Centerline is valid? [False, False] Translation: X:4.89, Y:0.47, Z:-0.04 [[ 9.99134934e-01 4.77712855e-03 -4.13105584e-02 4.88917895e+00] [-4.76981786e-03 9.99988586e-01 2.75531743e-04 4.68662986e-01] [ 4.13114032e-02 -7.82495505e-05 9.99146317e-01 -3.80195618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.313133365 meters Centerline goodness [0,1] 0.3024481210833315 Centerline is valid? [False, False] Translation: X:4.89, Y:0.47, Z:-0.04 [[ 9.99137096e-01 4.62593096e-03 -4.12754603e-02 4.88890578e+00] [-4.63904744e-03 9.99989215e-01 -2.22004182e-04 4.71377912e-01] [ 4.12739881e-02 4.13291432e-04 9.99147780e-01 -3.78502663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34313336499997 meters Centerline goodness [0,1] 0.30616894497020675 Centerline is valid? [False, False] Translation: X:4.89, Y:0.47, Z:-0.04 [[ 9.99139988e-01 4.54114989e-03 -4.12148341e-02 4.88850229e+00] [-4.56027462e-03 9.99989533e-01 -3.70021409e-04 4.72006921e-01] [ 4.12127224e-02 5.57654148e-04 9.99150239e-01 -3.74815763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.373133365 meters Centerline goodness [0,1] 0.3053651104581565 Centerline is valid? [False, False] Translation: X:4.91, Y:0.48, Z:-0.03 [[ 9.99137895e-01 -2.93437314e-03 -4.14108298e-02 4.90647718e+00] [ 2.98327483e-03 9.99994924e-01 1.11914412e-03 4.77531736e-01] [ 4.14073356e-02 -1.24171918e-03 9.99141577e-01 -3.46703020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.403133365 meters Centerline goodness [0,1] 0.3029112302715846 Centerline is valid? [False, False] Translation: X:4.91, Y:0.48, Z:-0.03 [[ 9.99125662e-01 -2.92586091e-03 -4.17055279e-02 4.90738284e+00] [ 2.97547126e-03 9.99994938e-01 1.12751471e-03 4.77730102e-01] [ 4.17020178e-02 -1.25062248e-03 9.99129310e-01 -3.49364410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.433133365 meters Centerline goodness [0,1] 0.3041888008360185 Centerline is valid? [False, False] Translation: X:4.91, Y:0.48, Z:-0.04 [[ 9.99117086e-01 -3.06694209e-03 -4.19003849e-02 4.90802005e+00] [ 3.10763027e-03 9.99994761e-01 9.05969702e-04 4.78369445e-01] [ 4.18973868e-02 -1.03538071e-03 9.99121382e-01 -3.51953704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.463133365 meters Centerline goodness [0,1] 0.299008834302952 Centerline is valid? [False, False] Translation: X:4.93, Y:0.48, Z:-0.03 [[ 9.99101055e-01 4.49209741e-03 -4.21533205e-02 4.92837528e+00] [-4.52107561e-03 9.99989605e-01 -5.92140837e-04 4.76823551e-01] [ 4.21502223e-02 7.82186884e-04 9.99110978e-01 -3.34013956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.493133365 meters Centerline goodness [0,1] 0.3023442239362163 Centerline is valid? [False, False] Translation: X:4.93, Y:0.48, Z:-0.03 [[ 9.99098737e-01 4.32936665e-03 -4.22252250e-02 4.92854576e+00] [-4.37451801e-03 9.99989955e-01 -9.76957781e-04 4.78669802e-01] [ 4.22205712e-02 1.16079229e-03 9.99107640e-01 -3.34766951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.523133365 meters Centerline goodness [0,1] 0.30313225813453737 Centerline is valid? [False, False] Translation: X:4.93, Y:0.48, Z:-0.03 [[ 9.99065781e-01 8.20450421e-03 -4.24293695e-02 4.92859560e+00] [-8.11677823e-03 9.99964551e-01 2.23943903e-03 4.82937167e-01] [ 4.24462389e-02 -1.89295712e-03 9.99096959e-01 -3.28179327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.553133365 meters Centerline goodness [0,1] 0.3015924672394342 Centerline is valid? [False, False] Translation: X:4.93, Y:0.49, Z:-0.03 [[ 9.99071260e-01 8.14456886e-03 -4.23117409e-02 4.92793473e+00] [-8.07661241e-03 9.99965805e-01 1.77678862e-03 4.86361102e-01] [ 4.23247652e-02 -1.43340292e-03 9.99102877e-01 -3.23788777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.583133365 meters Centerline goodness [0,1] 0.3019894649775804 Centerline is valid? [False, False] Translation: X:4.93, Y:0.49, Z:-0.03 [[ 9.99076175e-01 7.98277147e-03 -4.22264322e-02 4.92747343e+00] [-7.93684347e-03 9.99967715e-01 1.25519788e-03 4.89431404e-01] [ 4.22350888e-02 -9.18893714e-04 9.99107278e-01 -3.20838463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.613133365 meters Centerline goodness [0,1] 0.30193419827156753 Centerline is valid? [False, False] Translation: X:4.93, Y:0.49, Z:-0.03 [[ 9.99073587e-01 7.55125047e-03 -4.23667999e-02 4.92759063e+00] [-7.54241280e-03 9.99971488e-01 3.68442966e-04 4.93487541e-01] [ 4.23683742e-02 -4.85537413e-05 9.99102056e-01 -3.18480547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.643133365 meters Centerline goodness [0,1] 0.3034698397533331 Centerline is valid? [False, False] Translation: X:4.93, Y:0.49, Z:-0.03 [[ 9.99070091e-01 7.35292253e-03 -4.24839595e-02 4.92787732e+00] [-7.35590978e-03 9.99972941e-01 8.60115782e-05 4.94342708e-01] [ 4.24834424e-02 2.26576578e-04 9.99097145e-01 -3.18699866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67313336499996 meters Centerline goodness [0,1] 0.30006673411835616 Centerline is valid? [False, False] Translation: X:4.95, Y:0.50, Z:-0.03 [[ 9.99103979e-01 -9.91752631e-04 -4.23114037e-02 4.94726742e+00] [ 1.02776528e-03 9.99999128e-01 8.29389091e-04 4.99934184e-01] [ 4.23105442e-02 -8.72132133e-04 9.99104127e-01 -2.97813424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.703133365 meters Centerline goodness [0,1] 0.3058510057439885 Centerline is valid? [False, False] Translation: X:4.93, Y:0.49, Z:-0.03 [[ 9.99137201e-01 6.08165456e-03 -4.10836651e-02 4.92787955e+00] [-6.10862631e-03 9.99981201e-01 -5.31003288e-04 4.93868849e-01] [ 4.10796634e-02 7.81509897e-04 9.99155569e-01 -3.16152616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.73313336499996 meters Centerline goodness [0,1] 0.30345854279488227 Centerline is valid? [False, False] Translation: X:4.95, Y:0.50, Z:-0.03 [[ 9.99219445e-01 -3.00823373e-03 -3.93884769e-02 4.94675565e+00] [ 3.01098842e-03 9.99995467e-01 1.06142593e-05 4.97147899e-01] [ 3.93882665e-02 -1.29204222e-04 9.99223973e-01 -2.95189844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.763133365 meters Centerline goodness [0,1] 0.30450214029125167 Centerline is valid? [False, False] Translation: X:4.95, Y:0.50, Z:-0.03 [[ 9.99220674e-01 -3.07993583e-03 -3.93517249e-02 4.94673725e+00] [ 3.08736006e-03 9.99995226e-01 1.27894594e-04 4.96057703e-01] [ 3.93511431e-02 -2.49287866e-04 9.99225413e-01 -2.95002411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.79313336499996 meters Centerline goodness [0,1] 0.30597626752966556 Centerline is valid? [False, False] Translation: X:4.95, Y:0.50, Z:-0.03 [[ 9.99216974e-01 -3.14469868e-03 -3.94404586e-02 4.94705080e+00] [ 3.15426774e-03 9.99995009e-01 1.80395534e-04 4.95321129e-01] [ 3.94396945e-02 -3.04660045e-04 9.99221906e-01 -2.96031270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.823133365 meters Centerline goodness [0,1] 0.30887997208653173 Centerline is valid? [False, False] Translation: X:4.95, Y:0.49, Z:-0.03 [[ 9.99207528e-01 -3.24010890e-03 -3.96713791e-02 4.94770474e+00] [ 3.24858543e-03 9.99994712e-01 1.49206962e-04 4.94931911e-01] [ 3.96706859e-02 -2.77964584e-04 9.99212770e-01 -2.96974310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.85313336499996 meters Centerline goodness [0,1] 0.304484420726459 Centerline is valid? [False, False] Translation: X:4.97, Y:0.49, Z:-0.03 [[ 9.99183351e-01 3.93945109e-03 -4.02133332e-02 4.96743362e+00] [-3.99491414e-03 9.99991177e-01 -1.29895630e-03 4.92049514e-01] [ 4.02078612e-02 1.45854433e-03 9.99190272e-01 -2.75032898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.883133365 meters Centerline goodness [0,1] 0.3051246597243227 Centerline is valid? [False, False] Translation: X:4.97, Y:0.49, Z:-0.03 [[ 9.99187273e-01 3.94068097e-03 -4.01156431e-02 4.96706206e+00] [-3.99832975e-03 9.99991086e-01 -1.35693597e-03 4.92619170e-01] [ 4.01099383e-02 1.51622872e-03 9.99194122e-01 -2.73170065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.91313336499996 meters Centerline goodness [0,1] 0.3044984933275936 Centerline is valid? [False, False] Translation: X:4.97, Y:0.49, Z:-0.03 [[ 9.99187367e-01 3.94608966e-03 -4.01127784e-02 4.96674687e+00] [-4.00577307e-03 9.99990986e-01 -1.40762530e-03 4.93140865e-01] [ 4.01068623e-02 1.56716411e-03 9.99194167e-01 -2.68639693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.943133365 meters Centerline goodness [0,1] 0.30364311629205043 Centerline is valid? [False, False] Translation: X:4.97, Y:0.49, Z:-0.03 [[ 9.99183104e-01 3.75611292e-03 -4.02369919e-02 4.96700322e+00] [-3.83104635e-03 9.99991068e-01 -1.78535764e-03 4.94453160e-01] [ 4.02299265e-02 1.93804897e-03 9.99188569e-01 -2.68317195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.97313336499997 meters Centerline goodness [0,1] 0.30979231070666613 Centerline is valid? [False, False] Translation: X:4.95, Y:0.50, Z:-0.03 [[ 9.99165071e-01 -4.06543699e-03 -4.06525936e-02 4.94823561e+00] [ 4.04112303e-03 9.99991603e-01 -6.80248657e-04 4.98985845e-01] [ 4.06550178e-02 5.15398565e-04 9.99173110e-01 -2.91617543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.003133365 meters Centerline goodness [0,1] 0.3087798269382047 Centerline is valid? [False, False] Translation: X:4.95, Y:0.50, Z:-0.03 [[ 9.99163265e-01 -4.01395963e-03 -4.07020557e-02 4.94844238e+00] [ 3.98503649e-03 9.99991746e-01 -7.91714918e-04 5.00252030e-01] [ 4.07048977e-02 6.28853285e-04 9.99171014e-01 -2.93605002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03313336499997 meters Centerline goodness [0,1] 0.3071391327018337 Centerline is valid? [False, False] Translation: X:4.95, Y:0.50, Z:-0.03 [[ 9.99164463e-01 -3.96552409e-03 -4.06773896e-02 4.94838837e+00] [ 3.93049639e-03 9.99991833e-01 -9.41048196e-04 5.01710330e-01] [ 4.06807891e-02 7.80379582e-04 9.99171889e-01 -2.94420498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.063133365 meters Centerline goodness [0,1] 0.3032219211081 Centerline is valid? [False, False] Translation: X:4.97, Y:0.50, Z:-0.03 [[ 9.99207817e-01 4.30496309e-03 -3.95626865e-02 4.96840190e+00] [-4.39990861e-03 9.99987645e-01 -2.31311842e-03 5.04000580e-01] [ 3.95522398e-02 2.48535822e-03 9.99214413e-01 -2.77211250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09313336499997 meters Centerline goodness [0,1] 0.3041782489710604 Centerline is valid? [False, False] Translation: X:4.97, Y:0.51, Z:-0.03 [[ 9.99201347e-01 4.16840916e-03 -3.97403152e-02 4.96889332e+00] [-4.28085319e-03 9.99987070e-01 -2.74479484e-03 5.06330931e-01] [ 3.97283599e-02 2.91272515e-03 9.99206272e-01 -2.79090621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.123133365 meters Centerline goodness [0,1] 0.30289801828279994 Centerline is valid? [False, False] Translation: X:4.97, Y:0.51, Z:-0.03 [[ 9.99188780e-01 4.06450996e-03 -4.00657255e-02 4.96985417e+00] [-4.19464623e-03 9.99986195e-01 -3.16454020e-03 5.08809520e-01] [ 4.00523101e-02 3.33003461e-03 9.99192035e-01 -2.82635343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.153133365 meters Centerline goodness [0,1] 0.30038105135533044 Centerline is valid? [False, False] Translation: X:4.97, Y:0.51, Z:-0.03 [[ 9.99160187e-01 3.98851971e-03 -4.07800532e-02 4.97153645e+00] [-4.14886646e-03 9.99983989e-01 -3.84811514e-03 5.13389413e-01] [ 4.07640520e-02 4.01407444e-03 9.99160737e-01 -2.84560529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.183133365 meters Centerline goodness [0,1] 0.30214429160638323 Centerline is valid? [False, False] Translation: X:4.97, Y:0.52, Z:-0.03 [[ 9.99162039e-01 3.83508971e-03 -4.07493707e-02 4.97118182e+00] [-4.00851479e-03 9.99983250e-01 -4.17504188e-03 5.15025418e-01] [ 4.07326765e-02 4.33488782e-03 9.99160677e-01 -2.80944829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.213133365 meters Centerline goodness [0,1] 0.30506221534572553 Centerline is valid? [False, False] Translation: X:4.97, Y:0.52, Z:-0.03 [[ 9.99164954e-01 3.74049513e-03 -4.06866376e-02 4.97063990e+00] [-3.92070153e-03 9.99982852e-01 -4.35023859e-03 5.15819861e-01] [ 4.06696678e-02 4.50612610e-03 9.99162486e-01 -2.75219110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.243133365 meters Centerline goodness [0,1] 0.3050054406964091 Centerline is valid? [False, False] Translation: X:4.97, Y:0.52, Z:-0.03 [[ 9.99169886e-01 3.68113187e-03 -4.05707731e-02 4.96989603e+00] [-3.86085024e-03 9.99983076e-01 -4.35228889e-03 5.15641427e-01] [ 4.05540651e-02 4.50531368e-03 9.99167188e-01 -2.68015733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.273133365 meters Centerline goodness [0,1] 0.305142039914191 Centerline is valid? [False, False] Translation: X:4.99, Y:0.52, Z:-0.02 [[ 9.99175510e-01 -4.66102112e-03 -4.03308140e-02 4.98902525e+00] [ 4.53705105e-03 9.99984699e-01 -3.16481365e-03 5.20564078e-01] [ 4.03449481e-02 2.97922133e-03 9.99181370e-01 -2.43138079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.303133365 meters Centerline goodness [0,1] 0.3065671253092582 Centerline is valid? [False, False] Translation: X:4.99, Y:0.52, Z:-0.02 [[ 9.99172579e-01 -4.62168321e-03 -4.04078817e-02 4.98937353e+00] [ 4.50093595e-03 9.99985132e-01 -3.07867442e-03 5.20397994e-01] [ 4.04215096e-02 2.89425377e-03 9.99178525e-01 -2.45273710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.333133365 meters Centerline goodness [0,1] 0.30604858808486657 Centerline is valid? [False, False] Translation: X:4.99, Y:0.52, Z:-0.02 [[ 9.99167478e-01 -4.60867360e-03 -4.05352950e-02 4.98984022e+00] [ 4.49009597e-03 9.99985372e-01 -3.01584868e-03 5.20132752e-01] [ 4.05486011e-02 2.83133055e-03 9.99173556e-01 -2.47038262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.363133365 meters Centerline goodness [0,1] 0.3031159029649596 Centerline is valid? [False, False] Translation: X:4.99, Y:0.52, Z:-0.02 [[ 9.99175750e-01 -4.65269458e-03 -4.03258429e-02 4.98898389e+00] [ 4.53712163e-03 9.99985335e-01 -2.95702291e-03 5.19352422e-01] [ 4.03390096e-02 2.77162233e-03 9.99182207e-01 -2.41066817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.393133365 meters Centerline goodness [0,1] 0.30516958660567883 Centerline is valid? [False, False] Translation: X:4.99, Y:0.52, Z:-0.02 [[ 9.99183255e-01 -4.66097818e-03 -4.01384920e-02 4.98813609e+00] [ 4.54689039e-03 9.99985361e-01 -2.93317459e-03 5.19084132e-01] [ 4.01515759e-02 2.74827361e-03 9.99189821e-01 -2.35306533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42313336499996 meters Centerline goodness [0,1] 0.30796881766998696 Centerline is valid? [False, False] Translation: X:4.99, Y:0.52, Z:-0.02 [[ 9.99183490e-01 -4.65638005e-03 -4.01331720e-02 4.98778921e+00] [ 4.54319251e-03 9.99985443e-01 -2.91104117e-03 5.18869932e-01] [ 4.01461426e-02 2.72633155e-03 9.99190099e-01 -2.30441172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.453133365 meters Centerline goodness [0,1] 0.307969207416242 Centerline is valid? [False, False] Translation: X:4.99, Y:0.52, Z:-0.02 [[ 9.99182558e-01 -4.61769558e-03 -4.01608253e-02 4.98786260e+00] [ 4.50503682e-03 9.99985661e-01 -2.89523807e-03 5.18967118e-01] [ 4.01736187e-02 2.71194539e-03 9.99189034e-01 -2.30962633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48313336499996 meters Centerline goodness [0,1] 0.30877139230533546 Centerline is valid? [False, False] Translation: X:4.99, Y:0.52, Z:-0.02 [[ 9.99177446e-01 -4.60562991e-03 -4.02891911e-02 4.98857650e+00] [ 4.48990543e-03 9.99985532e-01 -2.96235883e-03 5.19308309e-01] [ 4.03022517e-02 2.77902748e-03 9.99183670e-01 -2.37852409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.513133365 meters Centerline goodness [0,1] 0.3015116378940136 Centerline is valid? [False, False] Translation: X:5.03, Y:0.52, Z:-0.02 [[ 9.99246424e-01 -3.90428886e-03 -3.86178683e-02 5.03223497e+00] [ 3.81672852e-03 9.99989977e-01 -2.34081779e-03 5.22165902e-01] [ 3.86266205e-02 2.19165989e-03 9.99251310e-01 -2.27856999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54313336499996 meters Centerline goodness [0,1] 0.3054721424096437 Centerline is valid? [False, False] Translation: X:5.03, Y:0.52, Z:-0.02 [[ 9.99251899e-01 -3.90371772e-03 -3.84759995e-02 5.03202628e+00] [ 3.80961869e-03 9.99989572e-01 -2.51866860e-03 5.23513970e-01] [ 3.84854305e-02 2.37020550e-03 9.99256350e-01 -2.30615951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.573133365 meters Centerline goodness [0,1] 0.30379719384989046 Centerline is valid? [False, False] Translation: X:5.03, Y:0.53, Z:-0.02 [[ 9.99253191e-01 -3.89123919e-03 -3.84436990e-02 5.03205640e+00] [ 3.78935788e-03 9.99989114e-01 -2.72265371e-03 5.25105603e-01] [ 3.84538750e-02 2.57494348e-03 9.99257059e-01 -2.33329152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60313336499996 meters Centerline goodness [0,1] 0.30143271436609964 Centerline is valid? [False, False] Translation: X:5.03, Y:0.53, Z:-0.02 [[ 9.99244832e-01 -9.69102098e-04 -3.88436269e-02 5.03434821e+00] [ 9.51434117e-04 9.99999435e-01 -4.73331885e-04 5.29133471e-01] [ 3.88440636e-02 4.36017288e-04 9.99245189e-01 -2.48568401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.633133365 meters Centerline goodness [0,1] 0.30189213316785335 Centerline is valid? [False, False] Translation: X:5.03, Y:0.53, Z:-0.03 [[ 9.99235957e-01 -9.92440138e-04 -3.90706641e-02 5.03492763e+00] [ 9.61178676e-04 9.99999203e-01 -8.18902188e-04 5.31251035e-01] [ 3.90714456e-02 7.80722623e-04 9.99236115e-01 -2.50977582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66313336499996 meters Centerline goodness [0,1] 0.30189213316785335 Centerline is valid? [False, False] Translation: X:5.03, Y:0.53, Z:-0.03 [[ 9.99235957e-01 -9.92440138e-04 -3.90706641e-02 5.03492763e+00] [ 9.61178676e-04 9.99999203e-01 -8.18902188e-04 5.31251035e-01] [ 3.90714456e-02 7.80722623e-04 9.99236115e-01 -2.50977582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.693133365 meters Centerline goodness [0,1] 0.30138843336613097 Centerline is valid? [False, False] Translation: X:5.04, Y:0.53, Z:-0.03 [[ 9.99229356e-01 -1.03167513e-03 -3.92381101e-02 5.03542659e+00] [ 9.85903607e-04 9.99998811e-01 -1.18583897e-03 5.33414838e-01] [ 3.92392868e-02 1.14624012e-03 9.99229185e-01 -2.54246922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72313336499997 meters Centerline goodness [0,1] 0.29807546269174856 Centerline is valid? [False, False] Translation: X:5.04, Y:0.54, Z:-0.03 [[ 9.99229995e-01 -1.05617345e-03 -3.92211945e-02 5.03534812e+00] [ 9.97700807e-04 9.99998362e-01 -1.51038608e-03 5.35432893e-01] [ 3.92227255e-02 1.47009206e-03 9.99229411e-01 -2.55570187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.753133365 meters Centerline goodness [0,1] 0.30099475414118104 Centerline is valid? [False, False] Translation: X:5.03, Y:0.54, Z:-0.03 [[ 9.99239547e-01 -1.13372400e-03 -3.89749006e-02 5.03446195e+00] [ 1.06235417e-03 9.99997721e-01 -1.85183589e-03 5.37445166e-01] [ 3.89769113e-02 1.80902251e-03 9.99238474e-01 -2.52161258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78313336499997 meters Centerline goodness [0,1] 0.295055581784626 Centerline is valid? [False, False] Translation: X:5.05, Y:0.54, Z:-0.02 [[ 9.99283220e-01 6.80994762e-03 -3.72380167e-02 5.05415117e+00] [-6.93566343e-03 9.99970674e-01 -3.24786857e-03 5.40795206e-01] [ 3.72148068e-02 3.50381091e-03 9.99301147e-01 -2.35478710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.813133365 meters Centerline goodness [0,1] 0.2992122566784575 Centerline is valid? [False, False] Translation: X:5.03, Y:0.55, Z:-0.03 [[ 9.99359277e-01 -6.27946067e-04 -3.57860597e-02 5.03461663e+00] [ 5.44553904e-04 9.99997114e-01 -2.33999664e-03 5.46432611e-01] [ 3.57874258e-02 2.31900991e-03 9.99356734e-01 -2.62958126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84313336499997 meters Centerline goodness [0,1] 0.2987630827783063 Centerline is valid? [False, False] Translation: X:5.03, Y:0.55, Z:-0.03 [[ 9.99360568e-01 -7.21232709e-04 -3.57482162e-02 5.03434254e+00] [ 6.25992728e-04 9.99996225e-01 -2.67530938e-03 5.48521668e-01] [ 3.57500108e-02 2.65122058e-03 9.99357247e-01 -2.60793169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.873133365 meters Centerline goodness [0,1] 0.300698995194408 Centerline is valid? [False, False] Translation: X:5.03, Y:0.55, Z:-0.03 [[ 9.99359005e-01 -7.78161962e-04 -3.57906850e-02 5.03424944e+00] [ 6.70762742e-04 9.99995237e-01 -3.01266850e-03 5.51210755e-01] [ 3.57928588e-02 2.98673034e-03 9.99354767e-01 -2.58487640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.903133365 meters Centerline goodness [0,1] 0.2977158846879677 Centerline is valid? [False, False] Translation: X:5.03, Y:0.55, Z:-0.03 [[ 9.99352259e-01 -8.78794231e-04 -3.59762452e-02 5.03465577e+00] [ 7.63756464e-04 9.99994552e-01 -3.21122160e-03 5.52052925e-01] [ 3.59788712e-02 3.18166447e-03 9.99347486e-01 -2.58147412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.933133365 meters Centerline goodness [0,1] 0.29832982212279824 Centerline is valid? [False, False] Translation: X:5.04, Y:0.55, Z:-0.03 [[ 9.99344885e-01 -9.84418076e-04 -3.61777690e-02 5.03516090e+00] [ 8.63646332e-04 9.99994003e-01 -3.35376201e-03 5.52360779e-01] [ 3.61808536e-02 3.32032011e-03 9.99339743e-01 -2.58581318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.963133365 meters Centerline goodness [0,1] 0.29805662553589696 Centerline is valid? [False, False] Translation: X:5.04, Y:0.55, Z:-0.03 [[ 9.99338284e-01 -1.06966601e-03 -3.63572627e-02 5.03547102e+00] [ 9.45307414e-04 9.99993645e-01 -3.43747880e-03 5.52388469e-01] [ 3.63607086e-02 3.40083538e-03 9.99332944e-01 -2.57031946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.993133365 meters Centerline goodness [0,1] 0.2964823037461741 Centerline is valid? [False, False] Translation: X:5.05, Y:0.56, Z:-0.02 [[ 9.99331681e-01 -8.85603737e-03 -3.54649269e-02 5.05334749e+00] [ 8.79117284e-03 9.99959388e-01 -1.98450061e-03 5.58392553e-01] [ 3.54810614e-02 1.67139603e-03 9.99368951e-01 -2.32700060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.023133365 meters Centerline goodness [0,1] 0.29661625503209665 Centerline is valid? [False, False] Translation: X:5.03, Y:0.55, Z:-0.03 [[ 9.99386199e-01 -8.68473383e-04 -3.50210066e-02 5.03478395e+00] [ 7.57271986e-04 9.99994630e-01 -3.18841626e-03 5.53070664e-01] [ 3.50235876e-02 3.15993878e-03 9.99381490e-01 -2.54439508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.053133365 meters Centerline goodness [0,1] 0.2980112276426302 Centerline is valid? [False, False] Translation: X:5.03, Y:0.55, Z:-0.03 [[ 9.99385802e-01 -9.41619922e-04 -3.50304439e-02 5.03488103e+00] [ 8.23576170e-04 9.99993935e-01 -3.38402448e-03 5.54036338e-01] [ 3.50334179e-02 3.35309578e-03 9.99380516e-01 -2.55809776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.083133365 meters Centerline goodness [0,1] 0.2979860792913094 Centerline is valid? [False, False] Translation: X:5.03, Y:0.56, Z:-0.03 [[ 9.99387617e-01 -1.01353010e-03 -3.49766263e-02 5.03466464e+00] [ 8.85980626e-04 9.99992902e-01 -3.66201249e-03 5.55628036e-01] [ 3.49800896e-02 3.62878132e-03 9.99381421e-01 -2.55568120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.113133365 meters Centerline goodness [0,1] 0.2934196801112656 Centerline is valid? [False, False] Translation: X:5.03, Y:0.56, Z:-0.03 [[ 9.99380515e-01 2.81623549e-03 -3.50807071e-02 5.03492061e+00] [-2.83126815e-03 9.99995920e-01 -3.78846792e-04 5.58619331e-01] [ 3.50794971e-02 4.77934990e-04 9.99384411e-01 -2.56646529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.143133365 meters Centerline goodness [0,1] 0.29438906542462895 Centerline is valid? [False, False] Translation: X:5.04, Y:0.56, Z:-0.03 [[ 9.99375492e-01 2.68755709e-03 -3.52335499e-02 5.03521005e+00] [-2.72016906e-03 9.99995915e-01 -8.77691165e-04 5.61373911e-01] [ 3.52310471e-02 9.72984252e-04 9.99378720e-01 -2.57104631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17313336499996 meters Centerline goodness [0,1] 0.29286548695539305 Centerline is valid? [False, False] Translation: X:5.04, Y:0.56, Z:-0.03 [[ 9.99371929e-01 2.54466781e-03 -3.53450346e-02 5.03541545e+00] [-2.59338592e-03 9.99995749e-01 -1.33258030e-03 5.63828148e-01] [ 3.53414934e-02 1.42340666e-03 9.99374281e-01 -2.57262956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.203133365 meters Centerline goodness [0,1] 0.29288484161910155 Centerline is valid? [False, False] Translation: X:5.04, Y:0.57, Z:-0.03 [[ 9.99371552e-01 2.38962519e-03 -3.53665164e-02 5.03540103e+00] [-2.45233766e-03 9.99995497e-01 -1.72994317e-03 5.65820520e-01] [ 3.53622232e-02 1.81558663e-03 9.99372912e-01 -2.57375024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.23313336499996 meters Centerline goodness [0,1] 0.29146330834931145 Centerline is valid? [False, False] Translation: X:5.04, Y:0.57, Z:-0.03 [[ 9.99369790e-01 2.17582267e-03 -3.54300465e-02 5.03543523e+00] [-2.25699932e-03 9.99994919e-01 -2.25134664e-03 5.68651813e-01] [ 3.54249680e-02 2.32989341e-03 9.99369623e-01 -2.56482192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.263133365 meters Centerline goodness [0,1] 0.2895100665341743 Centerline is valid? [False, False] Translation: X:5.05, Y:0.58, Z:-0.02 [[ 9.99361137e-01 -5.92553736e-03 -3.52449498e-02 5.05417153e+00] [ 5.88957545e-03 9.99982025e-01 -1.12407651e-03 5.75345623e-01] [ 3.52509770e-02 9.15780590e-04 9.99378072e-01 -2.35748863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.29313336499996 meters Centerline goodness [0,1] 0.2912869912349214 Centerline is valid? [False, False] Translation: X:5.05, Y:0.58, Z:-0.02 [[ 9.99360312e-01 -6.02698247e-03 -3.52511361e-02 5.05415745e+00] [ 5.98787168e-03 9.99981334e-01 -1.21495833e-03 5.75587677e-01] [ 3.52578006e-02 1.00310186e-03 9.99377747e-01 -2.34797842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.323133365 meters Centerline goodness [0,1] 0.292673864580146 Centerline is valid? [False, False] Translation: X:5.05, Y:0.58, Z:-0.02 [[ 9.99356006e-01 -6.10660266e-03 -3.53593446e-02 5.05437339e+00] [ 6.06430173e-03 9.99980762e-01 -1.30344102e-03 5.75813052e-01] [ 3.53666240e-02 1.08817188e-03 9.99373813e-01 -2.33922970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.35313336499996 meters Centerline goodness [0,1] 0.2949452382520138 Centerline is valid? [False, False] Translation: X:5.05, Y:0.58, Z:-0.02 [[ 9.99352026e-01 -6.13206361e-03 -3.54672557e-02 5.05456275e+00] [ 6.09005155e-03 9.99980620e-01 -1.29244331e-03 5.75696214e-01] [ 3.54744937e-02 1.07560843e-03 9.99370003e-01 -2.32356180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.383133365 meters Centerline goodness [0,1] 0.2932149154313328 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:-0.02 [[ 9.99399331e-01 1.41703378e-03 -3.46261457e-02 5.07310534e+00] [-1.50767275e-03 9.99995505e-01 -2.59167510e-03 5.75933274e-01] [ 3.46223176e-02 2.64232325e-03 9.99396975e-01 -2.07583317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.41313336499996 meters Centerline goodness [0,1] 0.2940676488536309 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:-0.02 [[ 9.99407714e-01 1.34660172e-03 -3.43861574e-02 5.07214184e+00] [-1.44411378e-03 9.99995006e-01 -2.81111562e-03 5.77163692e-01] [ 3.43822002e-02 2.85910815e-03 9.99404668e-01 -2.02240750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.443133365 meters Centerline goodness [0,1] 0.2934268223852733 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:-0.02 [[ 9.99412572e-01 1.23638522e-03 -3.42488148e-02 5.07152547e+00] [-1.34155576e-03 9.99994455e-01 -3.04796928e-03 5.78158876e-01] [ 3.42448565e-02 3.09212551e-03 9.99408689e-01 -1.98058843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.47313336499997 meters Centerline goodness [0,1] 0.29043169055311024 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:-0.02 [[ 9.99416505e-01 1.03372623e-03 -3.41406065e-02 5.07105533e+00] [-1.15102478e-03 9.99993502e-01 -3.41627354e-03 5.79466767e-01] [ 3.41368532e-02 3.45357685e-03 9.99411201e-01 -1.95813825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.503133365 meters Centerline goodness [0,1] 0.29108936612400416 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:-0.02 [[ 9.99417139e-01 1.09679966e-03 -3.41200711e-02 5.07103281e+00] [-1.21211254e-03 9.99993624e-01 -3.35911903e-03 5.79666260e-01] [ 3.41161693e-02 3.39851849e-03 9.99412096e-01 -1.96422942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53313336499997 meters Centerline goodness [0,1] 0.289255128675281 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:-0.02 [[ 9.99416383e-01 1.18194735e-03 -3.41393712e-02 5.07110447e+00] [-1.29458294e-03 9.99993791e-01 -3.27737110e-03 5.79929443e-01] [ 3.41352855e-02 3.31965462e-03 9.99411708e-01 -1.96651464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.563133365 meters Centerline goodness [0,1] 0.29295302743511087 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:-0.02 [[ 9.99417677e-01 1.18024433e-03 -3.41015347e-02 5.07100597e+00] [-1.29306171e-03 9.99993764e-01 -3.28641404e-03 5.80209105e-01] [ 3.40974432e-02 3.32859567e-03 9.99412970e-01 -1.96352157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.59313336499997 meters Centerline goodness [0,1] 0.2896978584830382 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:-0.02 [[ 9.99405642e-01 8.95755729e-04 -3.44609969e-02 5.07171516e+00] [-1.01875790e-03 9.99993173e-01 -3.55192220e-03 5.80453409e-01] [ 3.44575799e-02 3.58491850e-03 9.99399732e-01 -1.93891706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.623133365 meters Centerline goodness [0,1] 0.2917126832542931 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:-0.02 [[ 9.99396774e-01 8.32956774e-04 -3.47187890e-02 5.07243145e+00] [-9.58013102e-04 9.99993113e-01 -3.58549849e-03 5.80269125e-01] [ 3.47155633e-02 3.61659668e-03 9.99390689e-01 -1.95581517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.653133365 meters Centerline goodness [0,1] 0.29049482262910997 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:-0.02 [[ 9.99387441e-01 8.14791708e-04 -3.49868330e-02 5.07320782e+00] [-9.40819110e-04 9.99993128e-01 -3.58582596e-03 5.80167742e-01] [ 3.49836709e-02 3.61654571e-03 9.99381340e-01 -1.97359074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.683133365 meters Centerline goodness [0,1] 0.2918403040183102 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:-0.02 [[ 9.99381399e-01 8.65741649e-04 -3.51577797e-02 5.07379136e+00] [-9.89633247e-04 9.99993362e-01 -3.50662521e-03 5.79990790e-01] [ 3.51545105e-02 3.53924931e-03 9.99375622e-01 -1.99767506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.713133365 meters Centerline goodness [0,1] 0.2902178851937599 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:-0.02 [[ 9.99373246e-01 8.67157648e-04 -3.53887343e-02 5.07447317e+00] [-9.90372568e-04 9.99993509e-01 -3.46437451e-03 5.79651842e-01] [ 3.53855005e-02 3.49725124e-03 9.99367618e-01 -2.01743925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.743133365 meters Centerline goodness [0,1] 0.29137254901960785 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:-0.02 [[ 9.99377256e-01 8.58018162e-04 -3.52755524e-02 5.07399743e+00] [-9.79330838e-04 9.99993666e-01 -3.42186670e-03 5.79192161e-01] [ 3.52723929e-02 3.45428219e-03 9.99371766e-01 -1.98730318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.773133365 meters Centerline goodness [0,1] 0.2914814734514234 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:-0.02 [[ 9.99384639e-01 8.68905846e-04 -3.50654731e-02 5.07309052e+00] [-9.87897546e-04 9.99993813e-01 -3.37623171e-03 5.78940445e-01] [ 3.50623225e-02 3.40879520e-03 9.99379314e-01 -1.92537041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.803133365 meters Centerline goodness [0,1] 0.29562123461101897 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:-0.02 [[ 9.99396698e-01 8.42462359e-04 -3.47207551e-02 5.07162729e+00] [-9.57170788e-04 9.99994139e-01 -3.28725290e-03 5.77869452e-01] [ 3.47177822e-02 3.31850338e-03 9.99391647e-01 -1.82894726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.833133365 meters Centerline goodness [0,1] 0.29062405788362977 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:-0.02 [[ 9.99379894e-01 -7.35439467e-03 -3.44345789e-02 5.09086015e+00] [ 7.27778055e-03 9.99970756e-01 -2.34973213e-03 5.82738517e-01] [ 3.44508528e-02 2.09766774e-03 9.99404192e-01 -1.69849162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.863133365 meters Centerline goodness [0,1] 0.29322998982441706 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:-0.02 [[ 9.99380259e-01 -7.30301409e-03 -3.44349170e-02 5.09102585e+00] [ 7.23086335e-03 9.99971394e-01 -2.21934895e-03 5.82018442e-01] [ 3.44501399e-02 1.96897935e-03 9.99404478e-01 -1.72207363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.893133365 meters Centerline goodness [0,1] 0.29352107771659885 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:-0.02 [[ 9.99377944e-01 -7.23727918e-03 -3.45158832e-02 5.09138653e+00] [ 7.16820859e-03 9.99972051e-01 -2.12445212e-03 5.81777580e-01] [ 3.45302938e-02 1.87571354e-03 9.99401891e-01 -1.74996037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92313336499996 meters Centerline goodness [0,1] 0.29368815657556335 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:-0.02 [[ 9.99377222e-01 -7.12546779e-03 -3.45600366e-02 5.09155356e+00] [ 7.06161499e-03 9.99973127e-01 -1.96930155e-03 5.81482290e-01] [ 3.45731400e-02 1.72402544e-03 9.99400683e-01 -1.75967289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.953133365 meters Centerline goodness [0,1] 0.2885550725261482 Centerline is valid? [False, False] Translation: X:5.11, Y:0.58, Z:-0.02 [[ 9.99411796e-01 6.72368224e-04 -3.42871784e-02 5.11163809e+00] [-7.66437213e-04 9.99995978e-01 -2.73049216e-03 5.79032839e-01] [ 3.42852046e-02 2.75516504e-03 9.99408292e-01 -1.59654954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98313336499996 meters Centerline goodness [0,1] 0.29097796143250687 Centerline is valid? [False, False] Translation: X:5.11, Y:0.58, Z:-0.02 [[ 9.99421393e-01 6.80795794e-04 -3.40061182e-02 5.11084975e+00] [-7.79141649e-04 9.99995553e-01 -2.87883685e-03 5.79940271e-01] [ 3.40040070e-02 2.90366672e-03 9.99417478e-01 -1.58860438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.013133365 meters Centerline goodness [0,1] 0.2932889676332051 Centerline is valid? [False, False] Translation: X:5.11, Y:0.58, Z:-0.02 [[ 9.99425039e-01 6.91937089e-04 -3.38985745e-02 5.11039356e+00] [-7.93934125e-04 9.99995198e-01 -2.99552058e-03 5.80913087e-01] [ 3.38963390e-02 3.02071151e-03 9.99420789e-01 -1.56615354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04313336499996 meters Centerline goodness [0,1] 0.2948464364118504 Centerline is valid? [False, False] Translation: X:5.11, Y:0.58, Z:-0.02 [[ 9.99421077e-01 7.41471150e-04 -3.40141248e-02 5.11065657e+00] [-8.50549283e-04 9.99994542e-01 -3.19249070e-03 5.82534219e-01] [ 3.40115720e-02 3.21957318e-03 9.99416253e-01 -1.57636395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.073133365 meters Centerline goodness [0,1] 0.2928268765133172 Centerline is valid? [False, False] Translation: X:5.11, Y:0.58, Z:-0.02 [[ 9.99407598e-01 7.99105209e-04 -3.44065958e-02 5.11174511e+00] [-9.20013281e-04 9.99993457e-01 -3.49840719e-03 5.84804491e-01] [ 3.44035751e-02 3.52798926e-03 9.99401795e-01 -1.61621316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10313336499996 meters Centerline goodness [0,1] 0.2919861838246476 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:-0.02 [[ 9.99394715e-01 7.34783804e-04 -3.47802245e-02 5.11278687e+00] [-8.74580508e-04 9.99991600e-01 -4.00438776e-03 5.87626417e-01] [ 3.47769900e-02 4.03238207e-03 9.99386963e-01 -1.66168186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.133133365 meters Centerline goodness [0,1] 0.29000065227317195 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:-0.02 [[ 9.99387107e-01 1.36291105e-03 -3.49793277e-02 5.11348038e+00] [-1.51353675e-03 9.99989695e-01 -4.28001665e-03 5.94871793e-01] [ 3.49731340e-02 4.33033595e-03 9.99378871e-01 -1.72615266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16313336499996 meters Centerline goodness [0,1] 0.29133189627016787 Centerline is valid? [False, False] Translation: X:5.11, Y:0.60, Z:-0.02 [[ 9.99399012e-01 1.31826988e-03 -3.46392378e-02 5.11238149e+00] [-1.48523788e-03 9.99987401e-01 -4.79490920e-03 5.98386852e-01] [ 3.46324804e-02 4.84347502e-03 9.99388379e-01 -1.69707872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.193133365 meters Centerline goodness [0,1] 0.29003647035974023 Centerline is valid? [False, False] Translation: X:5.13, Y:0.61, Z:-0.02 [[ 9.99461649e-01 -3.78557444e-03 -3.25896017e-02 5.13121896e+00] [ 3.73976710e-03 9.99991932e-01 -1.46642209e-03 6.09006414e-01] [ 3.25948900e-02 1.34375512e-03 9.99467742e-01 -1.58595457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22313336499997 meters Centerline goodness [0,1] 0.29209122837445256 Centerline is valid? [False, False] Translation: X:5.13, Y:0.61, Z:-0.02 [[ 9.99467899e-01 -4.01291370e-03 -3.23699904e-02 5.13045158e+00] [ 3.95095029e-03 9.99990239e-01 -1.97795979e-03 6.11467900e-01] [ 3.23776118e-02 1.84901509e-03 9.99473997e-01 -1.55835176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.253133365 meters Centerline goodness [0,1] 0.2884453736232946 Centerline is valid? [False, False] Translation: X:5.13, Y:0.61, Z:-0.02 [[ 9.99466333e-01 -4.22422772e-03 -3.23914490e-02 5.13035325e+00] [ 4.14787181e-03 9.99988459e-01 -2.42411946e-03 6.13539650e-01] [ 3.24013152e-02 2.28847021e-03 9.99472320e-01 -1.53960238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28313336499997 meters Centerline goodness [0,1] 0.29186084317763084 Centerline is valid? [False, False] Translation: X:5.13, Y:0.62, Z:-0.02 [[ 9.99461019e-01 -4.40147157e-03 -3.25314924e-02 5.13057945e+00] [ 4.31370955e-03 9.99986866e-01 -2.76744833e-03 6.15101857e-01] [ 3.25432460e-02 2.62562532e-03 9.99466880e-01 -1.52543420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.313133365 meters Centerline goodness [0,1] 0.2936826353798443 Centerline is valid? [False, False] Translation: X:5.13, Y:0.62, Z:-0.02 [[ 9.99451510e-01 -4.48118939e-03 -3.28115470e-02 5.13124516e+00] [ 4.38660546e-03 9.99986016e-01 -2.95405952e-03 6.16294974e-01] [ 3.28243258e-02 2.80850794e-03 9.99457191e-01 -1.52657895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34313336499997 meters Centerline goodness [0,1] 0.2935066631826496 Centerline is valid? [False, False] Translation: X:5.13, Y:0.62, Z:-0.02 [[ 9.99443888e-01 -4.53067439e-03 -3.30361519e-02 5.13180409e+00] [ 4.43021537e-03 9.99985340e-01 -3.11344669e-03 6.17492048e-01] [ 3.30497736e-02 2.96535800e-03 9.99449308e-01 -1.53370579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.373133365 meters Centerline goodness [0,1] 0.2925651684420195 Centerline is valid? [False, False] Translation: X:5.13, Y:0.62, Z:-0.01 [[ 9.99447059e-01 -4.69236169e-03 -3.29174412e-02 5.13121417e+00] [ 4.58248990e-03 9.99983678e-01 -3.41244771e-03 6.19424492e-01] [ 3.29329163e-02 3.25971699e-03 9.99452249e-01 -1.47663049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.403133365 meters Centerline goodness [0,1] 0.2927609536778851 Centerline is valid? [False, False] Translation: X:5.13, Y:0.62, Z:-0.01 [[ 9.99457864e-01 -4.84564818e-03 -3.25652722e-02 5.13020250e+00] [ 4.73379496e-03 9.99982632e-01 -3.51096161e-03 6.19353437e-01] [ 3.25817194e-02 3.35490087e-03 9.99463444e-01 -1.44292291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.433133365 meters Centerline goodness [0,1] 0.29396654074473827 Centerline is valid? [False, False] Translation: X:5.13, Y:0.62, Z:-0.01 [[ 9.99464206e-01 -5.00083567e-03 -3.23464359e-02 5.12958781e+00] [ 4.88903105e-03 9.99981802e-01 -3.53464352e-03 6.18750951e-01] [ 3.23635235e-02 3.37460695e-03 9.99470467e-01 -1.41939473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.463133365 meters Centerline goodness [0,1] 0.29711645343388327 Centerline is valid? [False, False] Translation: X:5.13, Y:0.62, Z:-0.01 [[ 9.99461162e-01 -5.04526472e-03 -3.24334955e-02 5.12973072e+00] [ 4.93762320e-03 9.99982036e-01 -3.39807568e-03 6.17652391e-01] [ 3.24500571e-02 3.23610029e-03 9.99468119e-01 -1.40438351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.493133365 meters Centerline goodness [0,1] 0.2928571428571428 Centerline is valid? [False, False] Translation: X:5.13, Y:0.61, Z:-0.01 [[ 9.99426141e-01 -5.03984572e-03 -3.34961136e-02 5.13272896e+00] [ 4.94511181e-03 9.99983537e-01 -2.91044918e-03 6.14900163e-01] [ 3.35102304e-02 2.74313696e-03 9.99434610e-01 -1.46520200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.523133365 meters Centerline goodness [0,1] 0.294635899212053 Centerline is valid? [False, False] Translation: X:5.13, Y:0.61, Z:-0.02 [[ 9.99412170e-01 -5.04736263e-03 -3.39092783e-02 5.13403331e+00] [ 4.95950076e-03 9.99984125e-01 -2.67469808e-03 6.13162925e-01] [ 3.39222402e-02 2.50495272e-03 9.99421336e-01 -1.50745375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.553133365 meters Centerline goodness [0,1] 0.294635899212053 Centerline is valid? [False, False] Translation: X:5.13, Y:0.61, Z:-0.02 [[ 9.99412170e-01 -5.04736263e-03 -3.39092783e-02 5.13403331e+00] [ 4.95950076e-03 9.99984125e-01 -2.67469808e-03 6.13162925e-01] [ 3.39222402e-02 2.50495272e-03 9.99421336e-01 -1.50745375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.583133365 meters Centerline goodness [0,1] 0.2955856615025605 Centerline is valid? [False, False] Translation: X:5.13, Y:0.61, Z:-0.02 [[ 9.99408914e-01 -5.03092778e-03 -3.40075397e-02 5.13439949e+00] [ 4.95313551e-03 9.99984921e-01 -2.37136046e-03 6.11055318e-01] [ 3.40189570e-02 2.20151483e-03 9.99418763e-01 -1.51746280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.613133365 meters Centerline goodness [0,1] 0.2952689565780946 Centerline is valid? [False, False] Translation: X:5.13, Y:0.61, Z:-0.02 [[ 9.99418271e-01 -5.02428335e-03 -3.37324332e-02 5.13373472e+00] [ 4.95757833e-03 9.99985588e-01 -2.06082303e-03 6.08947659e-01] [ 3.37423012e-02 1.89239301e-03 9.99428775e-01 -1.50094337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.643133365 meters Centerline goodness [0,1] 0.30384167636786963 Centerline is valid? [False, False] Translation: X:5.11, Y:0.60, Z:-0.02 [[ 9.99467019e-01 1.45191351e-03 -3.26124205e-02 5.11078859e+00] [-1.58277329e-03 9.99990799e-01 -3.98711760e-03 6.00665455e-01] [ 3.26063315e-02 4.03661061e-03 9.99460121e-01 -1.53560179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67313336499996 meters Centerline goodness [0,1] 0.30714711532092465 Centerline is valid? [False, False] Translation: X:5.11, Y:0.60, Z:-0.02 [[ 9.99459786e-01 1.56211139e-03 -3.28282760e-02 5.11161209e+00] [-1.68349060e-03 9.99991848e-01 -3.67008305e-03 5.98999424e-01] [ 3.28222753e-02 3.72336652e-03 9.99454268e-01 -1.58291286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.703133365 meters Centerline goodness [0,1] 0.2951014499016833 Centerline is valid? [False, False] Translation: X:5.16, Y:0.60, Z:-0.02 [[ 9.99461736e-01 8.47615579e-04 -3.27951227e-02 5.15693793e+00] [-9.54996251e-04 9.99994234e-01 -3.25876259e-03 5.99033238e-01] [ 3.27921715e-02 3.28832773e-03 9.99456783e-01 -1.52068905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.73313336499996 meters Centerline goodness [0,1] 0.2940552935577381 Centerline is valid? [False, False] Translation: X:5.16, Y:0.60, Z:-0.02 [[ 9.99448533e-01 9.05300031e-04 -3.31935424e-02 5.15827595e+00] [-1.00784397e-03 9.99994771e-01 -3.07267219e-03 5.97757807e-01] [ 3.31905871e-02 3.10443162e-03 9.99444219e-01 -1.58213535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.763133365 meters Centerline goodness [0,1] 0.29268029675638374 Centerline is valid? [False, False] Translation: X:5.16, Y:0.60, Z:-0.02 [[ 9.99440671e-01 9.97639350e-04 -3.34267707e-02 5.15908798e+00] [-1.09404218e-03 9.99995295e-01 -2.86583464e-03 5.96543665e-01] [ 3.34237543e-02 2.90080199e-03 9.99437061e-01 -1.62369298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.79313336499996 meters Centerline goodness [0,1] 0.2989699739759879 Centerline is valid? [False, False] Translation: X:5.14, Y:0.59, Z:-0.02 [[ 9.99417011e-01 9.45186709e-03 -3.28070064e-02 5.13943171e+00] [-9.57850946e-03 9.99947260e-01 -3.70520535e-03 5.89122316e-01] [ 3.27702550e-02 4.01728748e-03 9.99454837e-01 -1.81742335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.823133365 meters Centerline goodness [0,1] 0.2967171992583706 Centerline is valid? [False, False] Translation: X:5.16, Y:0.59, Z:-0.02 [[ 9.99493020e-01 1.43341242e-03 -3.18064158e-02 5.15661811e+00] [-1.50953951e-03 9.99996053e-01 -2.36956706e-03 5.93045229e-01] [ 3.18028937e-02 2.41637878e-03 9.99491239e-01 -1.62844030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.85313336499996 meters Centerline goodness [0,1] 0.3009644748116088 Centerline is valid? [False, False] Translation: X:5.16, Y:0.59, Z:-0.02 [[ 9.99502851e-01 1.47324856e-03 -3.14941306e-02 5.15566694e+00] [-1.54484723e-03 9.99996277e-01 -2.24918544e-03 5.92247727e-01] [ 3.14906998e-02 2.29672088e-03 9.99501406e-01 -1.59827542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.883133365 meters Centerline goodness [0,1] 0.29582000518717044 Centerline is valid? [False, False] Translation: X:5.20, Y:0.59, Z:-0.01 [[ 9.99561533e-01 1.20688934e-03 -2.95852075e-02 5.19795501e+00] [-1.25882852e-03 9.99997699e-01 -1.73701687e-03 5.93197199e-01] [ 2.95830431e-02 1.77349795e-03 9.99560753e-01 -1.46475337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.91313336499996 meters Centerline goodness [0,1] 0.2975133597655577 Centerline is valid? [False, False] Translation: X:5.20, Y:0.59, Z:-0.01 [[ 9.99566966e-01 1.39001570e-03 -2.93929846e-02 5.19757589e+00] [-1.42462301e-03 9.99998316e-01 -1.15649162e-03 5.89672213e-01] [ 2.93913275e-02 1.19786474e-03 9.99567264e-01 -1.46830234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.943133365 meters Centerline goodness [0,1] 0.3011041871651907 Centerline is valid? [False, False] Translation: X:5.17, Y:0.58, Z:-0.01 [[ 9.99550571e-01 7.29997717e-03 -2.90751822e-02 5.17485901e+00] [-7.42545707e-03 9.99963568e-01 -4.21007287e-03 5.83503568e-01] [ 2.90433895e-02 4.42407726e-03 9.99568361e-01 -1.48120659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.97313336499997 meters Centerline goodness [0,1] 0.2984227673851598 Centerline is valid? [False, False] Translation: X:5.19, Y:0.59, Z:-0.01 [[ 9.99602669e-01 -1.14081869e-03 -2.81638605e-02 5.19427909e+00] [ 1.04978382e-03 9.99994178e-01 -3.24690360e-03 5.85619852e-01] [ 2.81674007e-02 3.21604754e-03 9.99598047e-01 -1.34728905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.003133365 meters Centerline goodness [0,1] 0.30142473583925167 Centerline is valid? [False, False] Translation: X:5.19, Y:0.58, Z:-0.01 [[ 9.99610840e-01 -7.19832169e-04 -2.78863772e-02 5.19325369e+00] [ 6.47147013e-04 9.99996370e-01 -2.61541278e-03 5.83750274e-01] [ 2.78881586e-02 2.59634838e-03 9.99607678e-01 -1.29209337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03313336499997 meters Centerline goodness [0,1] 0.2994294326622887 Centerline is valid? [False, False] Translation: X:5.19, Y:0.58, Z:-0.01 [[ 9.99609546e-01 -5.70995563e-04 -2.79361589e-02 5.19358568e+00] [ 5.00908970e-04 9.99996710e-01 -2.51574658e-03 5.83841236e-01] [ 2.79375035e-02 2.50077083e-03 9.99606544e-01 -1.32776792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.063133365 meters Centerline goodness [0,1] 0.2981486298994104 Centerline is valid? [False, False] Translation: X:5.19, Y:0.58, Z:-0.01 [[ 9.99606329e-01 -5.30991708e-04 -2.80518332e-02 5.19411052e+00] [ 4.58180573e-04 9.99996510e-01 -2.60195664e-03 5.84473452e-01] [ 2.80531169e-02 2.58807952e-03 9.99603083e-01 -1.37879820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09313336499997 meters Centerline goodness [0,1] 0.2938293272832345 Centerline is valid? [False, False] Translation: X:5.21, Y:0.58, Z:-0.01 [[ 9.99537791e-01 6.75559045e-03 -2.96406060e-02 5.21372801e+00] [-6.86936336e-03 9.99969418e-01 -3.73826469e-03 5.82594020e-01] [ 2.96144454e-02 3.94014892e-03 9.99553630e-01 -1.13828595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.123133365 meters Centerline goodness [0,1] 0.2979572364141042 Centerline is valid? [False, False] Translation: X:5.19, Y:0.59, Z:-0.01 [[ 9.99565926e-01 -7.88928663e-04 -2.94505916e-02 5.19445538e+00] [ 7.09839280e-04 9.99996114e-01 -2.69585213e-03 5.86621745e-01] [ 2.94526040e-02 2.67377674e-03 9.99562602e-01 -1.39296997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.153133365 meters Centerline goodness [0,1] 0.29947046312773995 Centerline is valid? [False, False] Translation: X:5.19, Y:0.59, Z:-0.01 [[ 9.99581404e-01 -5.24791775e-04 -2.89264693e-02 5.19292943e+00] [ 4.49656857e-04 9.99996509e-01 -2.60388883e-03 5.87760904e-01] [ 2.89277348e-02 2.58979186e-03 9.99578151e-01 -1.36005753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.183133365 meters Centerline goodness [0,1] 0.29951240654458766 Centerline is valid? [False, False] Translation: X:5.19, Y:0.59, Z:-0.01 [[ 9.99585551e-01 -5.42228559e-04 -2.87825097e-02 5.19255746e+00] [ 4.66257145e-04 9.99996390e-01 -2.64614508e-03 5.88043689e-01] [ 2.87838406e-02 2.63162834e-03 9.99582195e-01 -1.35488265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.213133365 meters Centerline goodness [0,1] 0.2994964797175055 Centerline is valid? [False, False] Translation: X:5.19, Y:0.59, Z:-0.01 [[ 9.99585822e-01 -6.16196325e-04 -2.87715975e-02 5.19267521e+00] [ 5.38554352e-04 9.99996193e-01 -2.70623431e-03 5.87898644e-01] [ 2.87731555e-02 2.68961837e-03 9.99582349e-01 -1.37515156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.243133365 meters Centerline goodness [0,1] 0.29606428478852553 Centerline is valid? [False, False] Translation: X:5.19, Y:0.59, Z:-0.01 [[ 9.99577784e-01 -7.14181868e-04 -2.90472715e-02 5.19352963e+00] [ 6.34631634e-04 9.99996023e-01 -2.74777427e-03 5.87476305e-01] [ 2.90491184e-02 2.72817980e-03 9.99574262e-01 -1.40509441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.273133365 meters Centerline goodness [0,1] 0.29846087611667205 Centerline is valid? [False, False] Translation: X:5.19, Y:0.59, Z:-0.01 [[ 9.99576537e-01 -7.75608595e-04 -2.90885593e-02 5.19346825e+00] [ 7.01941905e-04 9.99996521e-01 -2.54262293e-03 5.85866915e-01] [ 2.90904302e-02 2.52112775e-03 9.99573604e-01 -1.37210380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.303133365 meters Centerline goodness [0,1] 0.30217510110394574 Centerline is valid? [False, False] Translation: X:5.15, Y:0.58, Z:-0.01 [[ 9.99525030e-01 -1.71831041e-04 -3.08169519e-02 5.14744841e+00] [ 1.03447025e-04 9.99997529e-01 -2.22061957e-03 5.82041374e-01] [ 3.08172573e-02 2.21637692e-03 9.99522578e-01 -1.37482986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.333133365 meters Centerline goodness [0,1] 0.30147441457068513 Centerline is valid? [False, False] Translation: X:5.15, Y:0.58, Z:-0.01 [[ 9.99529558e-01 -8.85599821e-05 -3.06700887e-02 5.14699439e+00] [ 2.45930739e-05 9.99997824e-01 -2.08601565e-03 5.81855858e-01] [ 3.06702067e-02 2.08428003e-03 9.99527385e-01 -1.35609089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.363133365 meters Centerline goodness [0,1] 0.30145008968512954 Centerline is valid? [False, False] Translation: X:5.15, Y:0.58, Z:-0.01 [[ 9.99531946e-01 -6.96945576e-05 -3.05922105e-02 5.14689028e+00] [ 5.53561441e-06 9.99997801e-01 -2.09731104e-03 5.82159663e-01] [ 3.05922894e-02 2.09616004e-03 9.99529748e-01 -1.36635596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.393133365 meters Centerline goodness [0,1] 0.2998824502590448 Centerline is valid? [False, False] Translation: X:5.15, Y:0.58, Z:-0.01 [[ 9.99520680e-01 -2.44041167e-04 -3.09572542e-02 5.14793745e+00] [ 1.65619958e-04 9.99996771e-01 -2.53574832e-03 5.83853710e-01] [ 3.09577730e-02 2.52940575e-03 9.99517493e-01 -1.40779338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42313336499996 meters Centerline goodness [0,1] 0.30057740965809565 Centerline is valid? [False, False] Translation: X:5.15, Y:0.58, Z:-0.01 [[ 9.99510046e-01 -2.45152040e-04 -3.12986776e-02 5.14885271e+00] [ 1.60554652e-04 9.99996328e-01 -2.70539072e-03 5.84953994e-01] [ 3.12992259e-02 2.69904005e-03 9.99506415e-01 -1.43403847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.453133365 meters Centerline goodness [0,1] 0.29454850073030325 Centerline is valid? [False, False] Translation: X:5.15, Y:0.59, Z:-0.01 [[ 9.99504526e-01 -1.80616165e-04 -3.14749104e-02 5.14935769e+00] [ 9.24655439e-05 9.99996070e-01 -2.80209617e-03 5.86075356e-01] [ 3.14752928e-02 2.79779746e-03 9.99500614e-01 -1.45802638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48313336499996 meters Centerline goodness [0,1] 0.2985713975080998 Centerline is valid? [False, False] Translation: X:5.15, Y:0.59, Z:-0.01 [[ 9.99508268e-01 -1.98371231e-04 -3.13557556e-02 5.14905930e+00] [ 1.06755019e-04 9.99995721e-01 -2.92347788e-03 5.86950629e-01] [ 3.13562014e-02 2.91869292e-03 9.99504012e-01 -1.45870114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.513133365 meters Centerline goodness [0,1] 0.30082131062054585 Centerline is valid? [False, False] Translation: X:5.15, Y:0.59, Z:-0.01 [[ 9.99511752e-01 -2.09326343e-04 -3.12444175e-02 5.14882100e+00] [ 1.17515765e-04 9.99995670e-01 -2.94027079e-03 5.86981896e-01] [ 3.12448977e-02 2.93516350e-03 9.99507449e-01 -1.46596077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54313336499996 meters Centerline goodness [0,1] 0.3015582034830431 Centerline is valid? [False, False] Translation: X:5.15, Y:0.59, Z:-0.01 [[ 9.99510771e-01 -1.95346218e-04 -3.12758824e-02 5.14901399e+00] [ 1.09936456e-04 9.99996261e-01 -2.73254692e-03 5.85662565e-01] [ 3.12762993e-02 2.72777172e-03 9.99507055e-01 -1.48122724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.573133365 meters Centerline goodness [0,1] 0.29700665905221646 Centerline is valid? [False, False] Translation: X:5.17, Y:0.59, Z:-0.01 [[ 9.99480836e-01 -8.29199390e-03 -3.11336048e-02 5.16838467e+00] [ 8.25226528e-03 9.99964963e-01 -1.40434657e-03 5.89613182e-01] [ 3.11441589e-02 1.14669471e-03 9.99514245e-01 -1.32967049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60313336499996 meters Centerline goodness [0,1] 0.29972207747090496 Centerline is valid? [False, False] Translation: X:5.17, Y:0.59, Z:-0.01 [[ 9.99477511e-01 -8.20419797e-03 -3.12633363e-02 5.16875817e+00] [ 8.17222989e-03 9.99965945e-01 -1.15018392e-03 5.88230005e-01] [ 3.12717080e-02 8.94091788e-04 9.99510521e-01 -1.33423923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.633133365 meters Centerline goodness [0,1] 0.29935436346303834 Centerline is valid? [False, False] Translation: X:5.17, Y:0.59, Z:-0.01 [[ 9.99475096e-01 -8.18718040e-03 -3.13449029e-02 5.16904243e+00] [ 8.15965360e-03 9.99966203e-01 -1.00600538e-03 5.87123938e-01] [ 3.13520799e-02 7.49713772e-04 9.99508122e-01 -1.33967282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66313336499996 meters Centerline goodness [0,1] 0.29823992388860054 Centerline is valid? [False, False] Translation: X:5.17, Y:0.59, Z:-0.01 [[ 9.99479767e-01 -8.20229027e-03 -3.11916233e-02 5.16844363e+00] [ 8.17931042e-03 9.99966175e-01 -8.64256166e-04 5.85702941e-01] [ 3.11976572e-02 6.08680582e-04 9.99513049e-01 -1.30220423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.693133365 meters Centerline goodness [0,1] 0.300961413537742 Centerline is valid? [False, False] Translation: X:5.17, Y:0.59, Z:-0.01 [[ 9.99483138e-01 -8.13205204e-03 -3.11018822e-02 5.16813683e+00] [ 8.11202628e-03 9.99966801e-01 -7.70003925e-04 5.85496700e-01] [ 3.11071113e-02 5.17306654e-04 9.99515923e-01 -1.28986728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72313336499997 meters Centerline goodness [0,1] 0.296214239621424 Centerline is valid? [False, False] Translation: X:5.19, Y:0.58, Z:-0.01 [[ 9.99501786e-01 -4.11113871e-04 -3.15596379e-02 5.18725998e+00] [ 3.62709197e-04 9.99998749e-01 -1.53946213e-03 5.83219033e-01] [ 3.15602313e-02 1.52724818e-03 9.99500685e-01 -1.09276367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.753133365 meters Centerline goodness [0,1] 0.29782176506180313 Centerline is valid? [False, False] Translation: X:5.19, Y:0.58, Z:-0.01 [[ 9.99503789e-01 -3.86301010e-04 -3.14964589e-02 5.18730915e+00] [ 3.36319030e-04 9.99998676e-01 -1.59219024e-03 5.83783547e-01] [ 3.14970322e-02 1.58080732e-03 9.99502595e-01 -1.12920876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78313336499997 meters Centerline goodness [0,1] 0.30025527864312906 Centerline is valid? [False, False] Translation: X:5.19, Y:0.58, Z:-0.01 [[ 9.99505942e-01 -4.07710536e-04 -3.14277878e-02 5.18715649e+00] [ 3.54480439e-04 9.99998493e-01 -1.69928015e-03 5.84464802e-01] [ 3.14284333e-02 1.68730007e-03 9.99504581e-01 -1.13693966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.813133365 meters Centerline goodness [0,1] 0.29921908893709326 Centerline is valid? [False, False] Translation: X:5.19, Y:0.59, Z:-0.01 [[ 9.99510149e-01 -5.33638186e-04 -3.12918069e-02 5.18636566e+00] [ 4.67055080e-04 9.99997612e-01 -2.13508344e-03 5.86752384e-01] [ 3.12928715e-02 2.11942257e-03 9.99508011e-01 -1.07670382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84313336499997 meters Centerline goodness [0,1] 0.29951047749914117 Centerline is valid? [False, False] Translation: X:5.21, Y:0.59, Z:-0.01 [[ 9.99511817e-01 6.97518638e-03 -3.04544815e-02 5.20513177e+00] [-7.09156763e-03 9.99967953e-01 -3.71514438e-03 5.86722594e-01] [ 3.04275917e-02 3.92930072e-03 9.99529250e-01 -8.71968384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.873133365 meters Centerline goodness [0,1] 0.2978695736980126 Centerline is valid? [False, False] Translation: X:5.20, Y:0.59, Z:-0.01 [[ 9.99515564e-01 6.81954667e-03 -3.03666036e-02 5.20499717e+00] [-6.94760995e-03 9.99967403e-01 -4.11372646e-03 5.88774427e-01] [ 3.03375601e-02 4.32270894e-03 9.99530363e-01 -8.90943193e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.903133365 meters Centerline goodness [0,1] 0.30340204604701093 Centerline is valid? [False, False] Translation: X:5.19, Y:0.59, Z:-0.01 [[ 9.99569172e-01 -3.58240384e-04 -2.93486463e-02 5.18625545e+00] [ 2.72480261e-04 9.99995682e-01 -2.92606234e-03 5.94562134e-01] [ 2.93495678e-02 2.91680478e-03 9.99564953e-01 -1.20838351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.933133365 meters Centerline goodness [0,1] 0.30101941008976896 Centerline is valid? [False, False] Translation: X:5.19, Y:0.60, Z:-0.01 [[ 9.99564540e-01 -4.00842318e-04 -2.95054056e-02 5.18672807e+00] [ 3.04911445e-04 9.99994654e-01 -3.25572566e-03 5.96884015e-01] [ 2.95065529e-02 3.24531139e-03 9.99559319e-01 -1.23293644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.963133365 meters Centerline goodness [0,1] 0.3007009752699408 Centerline is valid? [False, False] Translation: X:5.19, Y:0.60, Z:-0.01 [[ 9.99561197e-01 -5.52974384e-04 -2.96160173e-02 5.18695235e+00] [ 4.43602170e-04 9.99993059e-01 -3.69945182e-03 5.99363085e-01] [ 2.96178574e-02 3.68469076e-03 9.99554504e-01 -1.23639557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.993133365 meters Centerline goodness [0,1] 0.3000305064063453 Centerline is valid? [False, False] Translation: X:5.19, Y:0.60, Z:-0.01 [[ 9.99550028e-01 -9.17894040e-04 -2.99816353e-02 5.18734072e+00] [ 7.81140314e-04 9.99989240e-01 -4.57264385e-03 6.03763513e-01] [ 2.99855099e-02 4.54716642e-03 9.99539990e-01 -1.17792771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.023133365 meters Centerline goodness [0,1] 0.2984815618221258 Centerline is valid? [False, False] Translation: X:5.19, Y:0.61, Z:-0.01 [[ 9.99545082e-01 -1.01699058e-03 -3.01429154e-02 5.18746856e+00] [ 8.70710746e-04 9.99987784e-01 -4.86560467e-03 6.05491270e-01] [ 3.01474954e-02 4.83714546e-03 9.99533757e-01 -1.14489023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.053133365 meters Centerline goodness [0,1] 0.295761928311867 Centerline is valid? [False, False] Translation: X:5.21, Y:0.61, Z:-0.01 [[ 9.99578432e-01 -7.24162412e-03 -2.81161456e-02 5.20657795e+00] [ 7.18863870e-03 9.99972191e-01 -1.98514177e-03 6.12211011e-01] [ 2.81297394e-02 1.78218809e-03 9.99602692e-01 -1.05130184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.083133365 meters Centerline goodness [0,1] 0.30101151028950124 Centerline is valid? [False, False] Translation: X:5.19, Y:0.61, Z:-0.01 [[ 9.99619945e-01 1.16827844e-03 -2.75427211e-02 5.18614667e+00] [-1.25375014e-03 9.99994452e-01 -3.08617593e-03 6.08150117e-01] [ 2.75389627e-02 3.11953470e-03 9.99615863e-01 -1.16208010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.113133365 meters Centerline goodness [0,1] 0.30136688615077034 Centerline is valid? [False, False] Translation: X:5.19, Y:0.61, Z:-0.01 [[ 9.99622040e-01 1.00471271e-03 -2.74730497e-02 5.18576680e+00] [-1.10218162e-03 9.99993152e-01 -3.53288814e-03 6.10294585e-01] [ 2.74693120e-02 3.56183314e-03 9.99616302e-01 -1.13763102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.143133365 meters Centerline goodness [0,1] 0.29822449593740596 Centerline is valid? [False, False] Translation: X:5.19, Y:0.61, Z:-0.01 [[ 9.99613082e-01 8.80754380e-04 -2.78012660e-02 5.18650324e+00] [-9.94687372e-04 9.99991163e-01 -4.08455907e-03 6.13376452e-01] [ 2.77974228e-02 4.11063225e-03 9.99605125e-01 -1.14920469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17313336499996 meters Centerline goodness [0,1] 0.2999303651477565 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:-0.01 [[ 9.99604532e-01 7.79078537e-04 -2.81100015e-02 5.18720583e+00] [-9.10847983e-04 9.99988657e-01 -4.67513575e-03 6.16853260e-01] [ 2.81060403e-02 4.69889082e-03 9.99593903e-01 -1.16736628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.203133365 meters Centerline goodness [0,1] 0.299046750483139 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:-0.01 [[ 9.99601411e-01 7.56119721e-04 -2.82214018e-02 5.18732187e+00] [-9.02678734e-04 9.99986172e-01 -5.18080825e-03 6.20311060e-01] [ 2.82170942e-02 5.20421809e-03 9.99588271e-01 -1.16350930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.23313336499996 meters Centerline goodness [0,1] 0.29811246901230815 Centerline is valid? [False, False] Translation: X:5.19, Y:0.63, Z:-0.01 [[ 9.99620651e-01 1.00574775e-03 -2.75235090e-02 5.18520952e+00] [-1.16036600e-03 9.99983634e-01 -5.60228454e-03 6.26182623e-01] [ 2.75174241e-02 5.63209667e-03 9.99605458e-01 -1.11440577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.263133365 meters Centerline goodness [0,1] 0.29942506206716324 Centerline is valid? [False, False] Translation: X:5.18, Y:0.63, Z:-0.01 [[ 9.99623505e-01 8.48044840e-04 -2.74249894e-02 5.18493167e+00] [-1.01242353e-03 9.99981605e-01 -5.98042597e-03 6.27869316e-01] [ 2.74194132e-02 6.00594007e-03 9.99605975e-01 -1.11640821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.29313336499996 meters Centerline goodness [0,1] 0.29601243550163003 Centerline is valid? [False, False] Translation: X:5.19, Y:0.63, Z:-0.01 [[ 9.99615694e-01 6.90752093e-04 -2.77125739e-02 5.18563956e+00] [-8.66096297e-04 9.99979680e-01 -6.31573939e-03 6.29273357e-01] [ 2.77076482e-02 6.33731398e-03 9.99595981e-01 -1.13003826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.323133365 meters Centerline goodness [0,1] 0.29628349178910973 Centerline is valid? [False, False] Translation: X:5.19, Y:0.63, Z:-0.01 [[ 9.99604462e-01 6.23694962e-04 -2.81163855e-02 5.18668480e+00] [-8.06690279e-04 9.99978565e-01 -6.49762071e-03 6.30232374e-01] [ 2.81117303e-02 6.51773187e-03 9.99583538e-01 -1.14985200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.35313336499996 meters Centerline goodness [0,1] 0.2967768577079394 Centerline is valid? [False, False] Translation: X:5.19, Y:0.63, Z:-0.01 [[ 9.99596041e-01 5.42305912e-04 -2.84158571e-02 5.18723599e+00] [-7.36952168e-04 9.99976336e-01 -6.83989189e-03 6.32365536e-01] [ 2.84114754e-02 6.85806998e-03 9.99572786e-01 -1.13669169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.383133365 meters Centerline goodness [0,1] 0.2952705031013094 Centerline is valid? [False, False] Translation: X:5.20, Y:0.64, Z:-0.01 [[ 0.99961347 -0.00762884 -0.02673393 5.20479525] [ 0.00747895 0.99995577 -0.00570214 0.63866112] [ 0.02677625 0.00549999 0.99962632 -0.00973092] [ 0. 0. 0. 1. ]] SLAMing on 355.41313336499996 meters Centerline goodness [0,1] 0.2984036289091464 Centerline is valid? [False, False] Translation: X:5.18, Y:0.63, Z:-0.01 [[ 9.99681789e-01 4.53033214e-04 -2.52213351e-02 5.18365499e+00] [-6.24383768e-04 9.99976777e-01 -6.78641268e-03 6.33220468e-01] [ 2.52176749e-02 6.80000096e-03 9.99658856e-01 -1.06625921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.443133365 meters Centerline goodness [0,1] 0.29591639249080703 Centerline is valid? [False, False] Translation: X:5.20, Y:0.64, Z:-0.01 [[ 0.99969076 -0.00747451 -0.02371762 5.20130407] [ 0.00734835 0.99995841 -0.00540201 0.63911592] [ 0.02375701 0.00522605 0.9997041 -0.00910096] [ 0. 0. 0. 1. ]] SLAMing on 355.47313336499997 meters Centerline goodness [0,1] 0.29591639249080703 Centerline is valid? [False, False] Translation: X:5.20, Y:0.64, Z:-0.01 [[ 0.99969076 -0.00747451 -0.02371762 5.20130407] [ 0.00734835 0.99995841 -0.00540201 0.63911592] [ 0.02375701 0.00522605 0.9997041 -0.00910096] [ 0. 0. 0. 1. ]] SLAMing on 355.503133365 meters Centerline goodness [0,1] 0.2972025702602713 Centerline is valid? [False, False] Translation: X:5.20, Y:0.64, Z:-0.01 [[ 0.99968796 -0.00749108 -0.02383003 5.20175693] [ 0.00736044 0.99995743 -0.00556518 0.64038418] [ 0.0238707 0.00538804 0.99970053 -0.00944286] [ 0. 0. 0. 1. ]] SLAMing on 355.53313336499997 meters Centerline goodness [0,1] 0.29485822877750667 Centerline is valid? [False, False] Translation: X:5.21, Y:0.64, Z:-0.01 [[ 9.99649872e-01 -5.72293984e-03 -2.58337159e-02 5.20971321e+00] [ 5.61010634e-03 9.99974415e-01 -4.43805032e-03 6.44711720e-01] [ 2.58584537e-02 4.29156654e-03 9.99656402e-01 -1.35800533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.563133365 meters Centerline goodness [0,1] 0.2914705247246815 Centerline is valid? [False, False] Translation: X:5.21, Y:0.65, Z:-0.01 [[ 9.99625074e-01 -5.60000745e-03 -2.68020725e-02 5.21230105e+00] [ 5.47194535e-03 9.99973272e-01 -4.84902801e-03 6.47932007e-01] [ 2.68285107e-02 4.70055050e-03 9.99628999e-01 -1.42980000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59313336499997 meters Centerline goodness [0,1] 0.2886819176788703 Centerline is valid? [False, False] Translation: X:5.22, Y:0.65, Z:-0.02 [[ 9.99615367e-01 -2.90393743e-03 -2.75805093e-02 5.21525088e+00] [ 2.83129463e-03 9.99992421e-01 -2.67253200e-03 6.51768992e-01] [ 2.75880611e-02 2.59341551e-03 9.99616013e-01 -1.55638447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.623133365 meters Centerline goodness [0,1] 0.2940907606921319 Centerline is valid? [False, False] Translation: X:5.19, Y:0.65, Z:-0.02 [[ 9.99596306e-01 6.34645217e-03 -2.76938008e-02 5.19396660e+00] [-6.43987888e-03 9.99973866e-01 -3.28567492e-03 6.50251422e-01] [ 2.76722246e-02 3.46269324e-03 9.99611053e-01 -1.60136388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.653133365 meters Centerline goodness [0,1] 0.29437918183205114 Centerline is valid? [False, False] Translation: X:5.19, Y:0.66, Z:-0.02 [[ 9.99616517e-01 6.14063851e-03 -2.70020701e-02 5.19169009e+00] [-6.25421684e-03 9.99971939e-01 -4.12384150e-03 6.55378627e-01] [ 2.69759894e-02 4.29113688e-03 9.99626871e-01 -1.51426473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.683133365 meters Centerline goodness [0,1] 0.2950068712780577 Centerline is valid? [False, False] Translation: X:5.19, Y:0.66, Z:-0.01 [[ 9.99624410e-01 5.93162089e-03 -2.67554704e-02 5.19085794e+00] [-6.05660597e-03 9.99971112e-01 -4.59276684e-03 6.57516896e-01] [ 2.67274549e-02 4.75308919e-03 9.99631458e-01 -1.48111721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.713133365 meters Centerline goodness [0,1] 0.2929879700877859 Centerline is valid? [False, False] Translation: X:5.21, Y:0.67, Z:-0.01 [[ 9.99658265e-01 -2.15217898e-03 -2.60522640e-02 5.20797409e+00] [ 2.06500475e-03 9.99992181e-01 -3.37256985e-03 6.65779242e-01] [ 2.60593186e-02 3.31761928e-03 9.99654893e-01 -1.27198188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.743133365 meters Centerline goodness [0,1] 0.2902658662092624 Centerline is valid? [False, False] Translation: X:5.23, Y:0.67, Z:-0.01 [[ 9.99679826e-01 5.02557706e-03 -2.47989779e-02 5.22612128e+00] [-5.14434653e-03 9.99975591e-01 -4.72781788e-03 6.66940404e-01] [ 2.47746126e-02 4.85387869e-03 9.99681278e-01 -1.09171075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.773133365 meters Centerline goodness [0,1] 0.2943081303109991 Centerline is valid? [False, False] Translation: X:5.21, Y:0.68, Z:-0.01 [[ 9.99731881e-01 -2.18801493e-03 -2.30516563e-02 5.20555560e+00] [ 2.08831570e-03 9.99988366e-01 -4.34822084e-03 6.75938677e-01] [ 2.30609020e-02 4.29891586e-03 9.99724819e-01 -1.31575688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.803133365 meters Centerline goodness [0,1] 0.2959430325994643 Centerline is valid? [False, False] Translation: X:5.21, Y:0.68, Z:-0.01 [[ 9.99732041e-01 -2.38194214e-03 -2.30254828e-02 5.20554057e+00] [ 2.27239841e-03 9.99985982e-01 -4.78249474e-03 6.78053051e-01] [ 2.30365516e-02 4.72889016e-03 9.99723439e-01 -1.32604655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.833133365 meters Centerline goodness [0,1] 0.2989848939948696 Centerline is valid? [False, False] Translation: X:5.21, Y:0.68, Z:-0.01 [[ 9.99727328e-01 -2.59089603e-03 -2.32068255e-02 5.20586676e+00] [ 2.47005396e-03 9.99983250e-01 -5.23433030e-03 6.80114826e-01] [ 2.32199984e-02 5.17558093e-03 9.99716982e-01 -1.31471035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.863133365 meters Centerline goodness [0,1] 0.29268767016725006 Centerline is valid? [False, False] Translation: X:5.23, Y:0.68, Z:-0.01 [[ 9.99708286e-01 4.31221912e-03 -2.37644244e-02 5.22595487e+00] [-4.46782430e-03 9.99968903e-01 -6.49861921e-03 6.80230678e-01] [ 2.37356619e-02 6.60289875e-03 9.99696464e-01 -1.13543903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.893133365 meters Centerline goodness [0,1] 0.2916523383768913 Centerline is valid? [False, False] Translation: X:5.24, Y:0.69, Z:-0.01 [[ 9.99693691e-01 -4.11420952e-03 -2.44048496e-02 5.24474625e+00] [ 3.97983310e-03 9.99976667e-01 -5.55215386e-03 6.87899915e-01] [ 2.44271229e-02 5.45332596e-03 9.99686739e-01 -9.45537579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92313336499996 meters Centerline goodness [0,1] 0.2933246640658864 Centerline is valid? [False, False] Translation: X:5.24, Y:0.69, Z:-0.01 [[ 9.99692721e-01 -4.26167856e-03 -2.44192825e-02 5.24472770e+00] [ 4.12185303e-03 9.99974838e-01 -5.77350515e-03 6.88765399e-01] [ 2.44432729e-02 5.67107838e-03 9.99685133e-01 -9.35118390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.953133365 meters Centerline goodness [0,1] 0.2986695213335372 Centerline is valid? [False, False] Translation: X:5.24, Y:0.69, Z:-0.01 [[ 9.99701887e-01 -4.82338746e-03 -2.39347370e-02 5.24321823e+00] [ 4.67425644e-03 9.99969339e-01 -6.28277564e-03 6.89721066e-01] [ 2.39643074e-02 6.16902557e-03 9.99693781e-01 -8.61605530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98313336499996 meters Centerline goodness [0,1] 0.296184956096717 Centerline is valid? [False, False] Translation: X:5.24, Y:0.69, Z:-0.01 [[ 9.99701674e-01 -4.88039746e-03 -2.39320907e-02 5.24308362e+00] [ 4.73179317e-03 9.99969198e-01 -6.26211840e-03 6.89443966e-01] [ 2.39619152e-02 6.14700854e-03 9.99693974e-01 -8.35307721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.013133365 meters Centerline goodness [0,1] 0.29995420546481455 Centerline is valid? [False, False] Translation: X:5.24, Y:0.69, Z:-0.01 [[ 9.99696625e-01 -4.96421223e-03 -2.41249980e-02 5.24349730e+00] [ 4.81290784e-03 9.99968410e-01 -6.32570762e-03 6.89674404e-01] [ 2.41556380e-02 6.20767716e-03 9.99688937e-01 -8.24822854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04313336499996 meters Centerline goodness [0,1] 0.2955564175502112 Centerline is valid? [False, False] Translation: X:5.26, Y:0.69, Z:-0.01 [[ 9.99680290e-01 2.17485955e-03 -2.51910212e-02 5.26403993e+00] [-2.35467925e-03 9.99971946e-01 -7.11078385e-03 6.87273059e-01] [ 2.51748495e-02 7.16782723e-03 9.99657366e-01 -6.81106652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.073133365 meters Centerline goodness [0,1] 0.2932209584829395 Centerline is valid? [False, False] Translation: X:5.26, Y:0.69, Z:-0.01 [[ 9.99675605e-01 2.13054833e-03 -2.53800203e-02 5.26483835e+00] [-2.31429848e-03 9.99971309e-01 -7.21278097e-03 6.87682670e-01] [ 2.53639250e-02 7.26917812e-03 9.99651855e-01 -7.35255932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10313336499996 meters Centerline goodness [0,1] 0.2987182556089918 Centerline is valid? [False, False] Translation: X:5.27, Y:0.69, Z:-0.01 [[ 9.99673587e-01 2.11481103e-03 -2.54606846e-02 5.26504732e+00] [-2.29978499e-03 9.99971161e-01 -7.23799335e-03 6.87706301e-01] [ 2.54446434e-02 7.29418487e-03 9.99649621e-01 -7.42151346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.133133365 meters Centerline goodness [0,1] 0.29636492921631585 Centerline is valid? [False, False] Translation: X:5.28, Y:0.69, Z:-0.01 [[ 0.99967255 -0.00618192 -0.02483109 5.28341275] [ 0.00603873 0.99996473 -0.00583749 0.69244662] [ 0.0248663 0.00568563 0.99967462 -0.00580791] [ 0. 0. 0. 1. ]] SLAMing on 356.16313336499996 meters Centerline goodness [0,1] 0.30141967512955625 Centerline is valid? [False, False] Translation: X:5.28, Y:0.69, Z:-0.00 [[ 9.99684523e-01 -6.02285262e-03 -2.43840255e-02 5.28186333e+00] [ 5.89155425e-03 9.99967777e-01 -5.45287108e-03 6.91021288e-01] [ 2.44160816e-02 5.30749101e-03 9.99687794e-01 -4.95224481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.193133365 meters Centerline goodness [0,1] 0.30306732405427816 Centerline is valid? [False, False] Translation: X:5.28, Y:0.69, Z:-0.00 [[ 9.99689294e-01 -5.96621274e-03 -2.42016331e-02 5.28139364e+00] [ 5.84033258e-03 9.99969065e-01 -5.26866214e-03 6.90116534e-01] [ 2.42323184e-02 5.12567955e-03 9.99693214e-01 -4.82673473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22313336499997 meters Centerline goodness [0,1] 0.3040374846733228 Centerline is valid? [False, False] Translation: X:5.28, Y:0.69, Z:-0.01 [[ 9.99689924e-01 -5.89760537e-03 -2.41924396e-02 5.28158492e+00] [ 5.77730540e-03 9.99970613e-01 -5.03951053e-03 6.88894725e-01] [ 2.42214497e-02 4.89818078e-03 9.99694618e-01 -5.11186974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.253133365 meters Centerline goodness [0,1] 0.300381868783845 Centerline is valid? [False, False] Translation: X:5.30, Y:0.68, Z:-0.00 [[ 9.99672263e-01 1.25068705e-03 -2.55695508e-02 5.30224623e+00] [-1.38931716e-03 9.99984430e-01 -5.40464119e-03 6.84277389e-01] [ 2.55623931e-02 5.43839410e-03 9.99658436e-01 -3.80054129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28313336499997 meters Centerline goodness [0,1] 0.3027018742336661 Centerline is valid? [False, False] Translation: X:5.28, Y:0.68, Z:-0.01 [[ 9.99601843e-01 -6.29659329e-03 -2.75047140e-02 5.28287780e+00] [ 6.18352377e-03 9.99972087e-01 -4.19403647e-03 6.84710209e-01] [ 2.75303544e-02 4.02229053e-03 9.99612875e-01 -5.52872777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.313133365 meters Centerline goodness [0,1] 0.30128149435273677 Centerline is valid? [False, False] Translation: X:5.28, Y:0.68, Z:-0.01 [[ 9.99592925e-01 -6.23358541e-03 -2.78411012e-02 5.28421010e+00] [ 6.13391855e-03 9.99974475e-01 -3.66381744e-03 6.81113955e-01] [ 2.78632293e-02 3.49155095e-03 9.99605647e-01 -6.18338023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34313336499997 meters Centerline goodness [0,1] 0.29965972387784734 Centerline is valid? [False, False] Translation: X:5.28, Y:0.68, Z:-0.01 [[ 9.99597441e-01 -6.14233503e-03 -2.76988596e-02 5.28374586e+00] [ 6.05292231e-03 9.99976200e-01 -3.31072067e-03 6.78978722e-01] [ 2.77185359e-02 3.14172887e-03 9.99610830e-01 -5.91547669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.373133365 meters Centerline goodness [0,1] 0.3045302378157472 Centerline is valid? [False, False] Translation: X:5.28, Y:0.68, Z:-0.01 [[ 9.99605946e-01 -6.05391920e-03 -2.74098916e-02 5.28282642e+00] [ 5.97432729e-03 9.99977699e-01 -2.98472924e-03 6.77191666e-01] [ 2.74273497e-02 2.81979744e-03 9.99619822e-01 -5.48800991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.403133365 meters Centerline goodness [0,1] 0.3014728178470869 Centerline is valid? [False, False] Translation: X:5.28, Y:0.68, Z:-0.01 [[ 9.99610302e-01 -5.89357545e-03 -2.72857134e-02 5.28245343e+00] [ 5.82469173e-03 9.99979648e-01 -2.60332731e-03 6.75492311e-01] [ 2.73005010e-02 2.44338193e-03 9.99624286e-01 -5.31079528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.433133365 meters Centerline goodness [0,1] 0.3017284378998504 Centerline is valid? [False, False] Translation: X:5.28, Y:0.67, Z:-0.01 [[ 9.99612879e-01 -5.55600317e-03 -2.72621107e-02 5.28286121e+00] [ 5.51028562e-03 9.99983284e-01 -1.75180223e-03 6.71524054e-01] [ 2.72713881e-02 1.60090205e-03 9.99626785e-01 -5.87299025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.463133365 meters Centerline goodness [0,1] 0.3037205438726883 Centerline is valid? [False, False] Translation: X:5.28, Y:0.67, Z:-0.01 [[ 9.99611804e-01 -5.46457415e-03 -2.73199360e-02 5.28319840e+00] [ 5.42761051e-03 9.99984252e-01 -1.42696377e-03 6.69474869e-01] [ 2.73273035e-02 1.27812786e-03 9.99625722e-01 -6.11046732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.493133365 meters Centerline goodness [0,1] 0.3026201442600156 Centerline is valid? [False, False] Translation: X:5.28, Y:0.67, Z:-0.01 [[ 9.99611160e-01 -5.41147090e-03 -2.73540636e-02 5.28324071e+00] [ 5.38253137e-03 9.99984874e-01 -1.13148170e-03 6.67342819e-01] [ 2.73597728e-02 9.83807630e-04 9.99625167e-01 -6.01566313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.523133365 meters Centerline goodness [0,1] 0.3031331592689295 Centerline is valid? [False, False] Translation: X:5.28, Y:0.67, Z:-0.01 [[ 9.99610503e-01 -5.35825918e-03 -2.73885364e-02 5.28312145e+00] [ 5.33522400e-03 9.99985350e-01 -9.14058963e-04 6.65846413e-01] [ 2.73930329e-02 7.67578963e-04 9.99624446e-01 -5.69790224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.553133365 meters Centerline goodness [0,1] 0.3020941953423705 Centerline is valid? [False, False] Translation: X:5.28, Y:0.66, Z:-0.01 [[ 9.99609414e-01 -5.21301005e-03 -2.74562024e-02 5.28328919e+00] [ 5.19796660e-03 9.99986299e-01 -6.19251098e-04 6.64551821e-01] [ 2.74590544e-02 4.76292805e-04 9.99622816e-01 -5.70974201e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.583133365 meters Centerline goodness [0,1] 0.2977753895754971 Centerline is valid? [False, False] Translation: X:5.30, Y:0.66, Z:-0.00 [[ 9.99584000e-01 2.59517583e-03 -2.87244224e-02 5.30456671e+00] [-2.61992295e-03 9.99996229e-01 -8.23933762e-04 6.59595608e-01] [ 2.87221758e-02 8.98846779e-04 9.99587029e-01 -4.51708124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.613133365 meters Centerline goodness [0,1] 0.30052807414592086 Centerline is valid? [False, False] Translation: X:5.30, Y:0.66, Z:-0.00 [[ 9.99587696e-01 2.62147848e-03 -2.85931093e-02 5.30431128e+00] [-2.64541148e-03 9.99996182e-01 -7.99223839e-04 6.59281446e-01] [ 2.85909049e-02 8.74534855e-04 9.99590814e-01 -4.68368271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.643133365 meters Centerline goodness [0,1] 0.29943624856902173 Centerline is valid? [False, False] Translation: X:5.30, Y:0.66, Z:-0.00 [[ 9.99594214e-01 2.69343790e-03 -2.83575831e-02 5.30360377e+00] [-2.71569194e-03 9.99996034e-01 -7.46281143e-04 6.59109887e-01] [ 2.83554605e-02 8.22988773e-04 9.99597564e-01 -4.53814446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67313336499996 meters Centerline goodness [0,1] 0.29932134520619 Centerline is valid? [False, False] Translation: X:5.30, Y:0.66, Z:-0.00 [[ 9.99596299e-01 2.80129872e-03 -2.82735115e-02 5.30328351e+00] [-2.82073725e-03 9.99995812e-01 -6.47656732e-04 6.59033390e-01] [ 2.82715788e-02 7.27147419e-04 9.99600015e-01 -4.47505549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.703133365 meters Centerline goodness [0,1] 0.2983419465977606 Centerline is valid? [False, False] Translation: X:5.30, Y:0.66, Z:-0.00 [[ 9.99591230e-01 2.97259614e-03 -2.84347826e-02 5.30376096e+00] [-2.98846044e-03 9.99995402e-01 -5.15438181e-04 6.58982481e-01] [ 2.84331197e-02 6.00203708e-04 9.99595517e-01 -4.73749655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.73313336499996 meters Centerline goodness [0,1] 0.2998507882274074 Centerline is valid? [False, False] Translation: X:5.30, Y:0.66, Z:-0.01 [[ 9.99578206e-01 3.39258188e-03 -2.88426841e-02 5.30492508e+00] [-3.40113328e-03 9.99994186e-01 -2.47430103e-04 6.58637865e-01] [ 2.88416770e-02 3.45423551e-04 9.99583933e-01 -5.22370950e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.763133365 meters Centerline goodness [0,1] 0.2976346770548609 Centerline is valid? [False, False] Translation: X:5.30, Y:0.66, Z:-0.00 [[ 9.99579969e-01 3.42385869e-03 -2.87778054e-02 5.30451385e+00] [-3.43262139e-03 9.99994076e-01 -2.55098493e-04 6.58591325e-01] [ 2.87767615e-02 3.53774654e-04 9.99585801e-01 -4.96067461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.79313336499996 meters Centerline goodness [0,1] 0.2955751067408462 Centerline is valid? [False, False] Translation: X:5.30, Y:0.66, Z:-0.00 [[ 9.99588484e-01 3.42305945e-03 -2.84806144e-02 5.30362574e+00] [-3.43319211e-03 9.99994059e-01 -3.06881900e-04 6.58705162e-01] [ 2.84793947e-02 4.04535034e-04 9.99594298e-01 -4.79919196e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.823133365 meters Centerline goodness [0,1] 0.29930309064150284 Centerline is valid? [False, False] Translation: X:5.30, Y:0.66, Z:-0.00 [[ 9.99605478e-01 3.72517892e-03 -2.78390336e-02 5.30174242e+00] [-3.72743818e-03 9.99993053e-01 -2.92605655e-05 6.58347804e-01] [ 2.78387312e-02 1.33017298e-04 9.99612419e-01 -4.31810412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.85313336499996 meters Centerline goodness [0,1] 0.29920766855933845 Centerline is valid? [False, False] Translation: X:5.30, Y:0.66, Z:-0.00 [[ 9.99613731e-01 3.75205737e-03 -2.75374364e-02 5.30108783e+00] [-3.75322286e-03 9.99992957e-01 9.36312380e-06 6.58099410e-01] [ 2.75372775e-02 9.39946285e-05 9.99620773e-01 -4.46803025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.883133365 meters Centerline goodness [0,1] 0.3012171267115844 Centerline is valid? [False, False] Translation: X:5.30, Y:0.66, Z:-0.00 [[ 9.99616007e-01 3.72580121e-03 -2.74582665e-02 5.30107052e+00] [-3.72673773e-03 9.99993056e-01 1.70676010e-05 6.57680368e-01] [ 2.74581394e-02 8.52687107e-05 9.99622951e-01 -4.74419791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.91313336499996 meters Centerline goodness [0,1] 0.29931354078693784 Centerline is valid? [False, False] Translation: X:5.30, Y:0.66, Z:-0.00 [[ 9.99610957e-01 3.76607443e-03 -2.76360493e-02 5.30147719e+00] [-3.76207462e-03 9.99992904e-01 1.96724705e-04 6.56464094e-01] [ 2.76365941e-02 -9.26792907e-05 9.99618032e-01 -4.75545477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.943133365 meters Centerline goodness [0,1] 0.29918618241634565 Centerline is valid? [False, False] Translation: X:5.30, Y:0.66, Z:-0.00 [[ 9.99608372e-01 3.90992912e-03 -2.77094611e-02 5.30114994e+00] [-3.89839356e-03 9.99992291e-01 4.70313609e-04 6.55587653e-01] [ 2.77110863e-02 -3.62107037e-04 9.99615909e-01 -3.97819267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.97313336499997 meters Centerline goodness [0,1] 0.298264851964136 Centerline is valid? [False, False] Translation: X:5.32, Y:0.66, Z:-0.00 [[ 9.99626481e-01 -4.03164203e-03 -2.70304325e-02 5.31878222e+00] [ 4.09620109e-03 9.99988888e-01 2.33343859e-03 6.59242691e-01] [ 2.70207246e-02 -2.44328910e-03 9.99631888e-01 -1.56966073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.003133365 meters Centerline goodness [0,1] 0.3041530767558165 Centerline is valid? [False, False] Translation: X:5.30, Y:0.65, Z:-0.00 [[ 9.99659126e-01 3.12334389e-03 -2.59205994e-02 5.30056019e+00] [-3.10556586e-03 9.99994914e-01 7.26092304e-04 6.50918985e-01] [ 2.59227354e-02 -6.45346669e-04 9.99663741e-01 -3.66031815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03313336499997 meters Centerline goodness [0,1] 0.3036582190591911 Centerline is valid? [False, False] Translation: X:5.30, Y:0.65, Z:-0.00 [[ 9.99666972e-01 -7.54161765e-04 -2.57949032e-02 5.30042088e+00] [ 6.91882213e-04 9.99996825e-01 -2.42325289e-03 6.46446175e-01] [ 2.57966488e-02 2.40459884e-03 9.99664319e-01 -3.64469141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.063133365 meters Centerline goodness [0,1] 0.3074813944379162 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:-0.00 [[ 9.99671223e-01 -8.03471349e-04 -2.56281233e-02 5.30021298e+00] [ 7.53404768e-04 9.99997789e-01 -1.96317565e-03 6.43144394e-01] [ 2.56296440e-02 1.94322185e-03 9.99669618e-01 -3.69399453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09313336499997 meters Centerline goodness [0,1] 0.30625325916912916 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:-0.00 [[ 9.99672720e-01 -7.00893419e-04 -2.55726580e-02 5.30017621e+00] [ 6.66193365e-04 9.99998846e-01 -1.36541443e-03 6.39693720e-01] [ 2.55735855e-02 1.34793122e-03 9.99672034e-01 -3.65006845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.123133365 meters Centerline goodness [0,1] 0.30759190776593426 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:-0.00 [[ 9.99666493e-01 -5.45066456e-04 -2.58186990e-02 5.30094825e+00] [ 5.24408459e-04 9.99999537e-01 -8.06881806e-04 6.36579370e-01] [ 2.58191269e-02 7.93073161e-04 9.99666316e-01 -3.80641198e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.153133365 meters Centerline goodness [0,1] 0.3049866044421399 Centerline is valid? [False, False] Translation: X:5.30, Y:0.63, Z:-0.00 [[ 9.99657871e-01 -4.06744542e-04 -2.61529128e-02 5.30206905e+00] [ 3.98781715e-04 9.99999873e-01 -3.09686686e-04 6.33634198e-01] [ 2.61530354e-02 2.99151430e-04 9.99657906e-01 -4.19806442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.183133365 meters Centerline goodness [0,1] 0.30667015204984094 Centerline is valid? [False, False] Translation: X:5.30, Y:0.63, Z:-0.00 [[ 9.99653038e-01 -2.71407473e-04 -2.63387705e-02 5.30280021e+00] [ 2.75561843e-04 9.99999950e-01 1.54098821e-04 6.30834275e-01] [ 2.63387273e-02 -1.61303315e-04 9.99653063e-01 -4.56437440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.213133365 meters Centerline goodness [0,1] 0.3031626278129661 Centerline is valid? [False, False] Translation: X:5.30, Y:0.63, Z:-0.01 [[ 9.99649807e-01 1.17230942e-04 -2.64622139e-02 5.30347842e+00] [-9.04352935e-05 9.99999482e-01 1.01379492e-03 6.26675003e-01] [ 2.64623190e-02 -1.01104678e-03 9.99649300e-01 -5.07929185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.243133365 meters Centerline goodness [0,1] 0.3063392546151167 Centerline is valid? [False, False] Translation: X:5.30, Y:0.63, Z:-0.01 [[ 9.99650402e-01 3.16260941e-04 -2.64381211e-02 5.30346543e+00] [-2.80886278e-04 9.99999060e-01 1.34172029e-03 6.25452056e-01] [ 2.64385206e-02 -1.33382513e-03 9.99649551e-01 -5.16845289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.273133365 meters Centerline goodness [0,1] 0.3035318649811025 Centerline is valid? [False, False] Translation: X:5.30, Y:0.63, Z:-0.01 [[ 9.99650179e-01 4.48995127e-04 -2.64446126e-02 5.30357180e+00] [-4.10459761e-04 9.99998846e-01 1.46262058e-03 6.25120172e-01] [ 2.64452388e-02 -1.45125448e-03 9.99649210e-01 -5.40517941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.303133365 meters Centerline goodness [0,1] 0.30223000886812446 Centerline is valid? [False, False] Translation: X:5.30, Y:0.62, Z:-0.01 [[ 9.99642970e-01 6.06018469e-04 -2.67126605e-02 5.30443029e+00] [-5.64849127e-04 9.99998641e-01 1.54871084e-03 6.24297458e-01] [ 2.67135628e-02 -1.53306928e-03 9.99641954e-01 -5.92668130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.333133365 meters Centerline goodness [0,1] 0.30226983132842367 Centerline is valid? [False, False] Translation: X:5.30, Y:0.62, Z:-0.01 [[ 9.99646259e-01 7.06620032e-04 -2.65867914e-02 5.30390239e+00] [-6.61056484e-04 9.99998298e-01 1.72251656e-03 6.23568341e-01] [ 2.65879633e-02 -1.70433186e-03 9.99645025e-01 -5.63014551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.363133365 meters Centerline goodness [0,1] 0.30226983132842367 Centerline is valid? [False, False] Translation: X:5.30, Y:0.62, Z:-0.01 [[ 9.99646259e-01 7.06620032e-04 -2.65867914e-02 5.30390239e+00] [-6.61056484e-04 9.99998298e-01 1.72251656e-03 6.23568341e-01] [ 2.65879633e-02 -1.70433186e-03 9.99645025e-01 -5.63014551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.393133365 meters Centerline goodness [0,1] 0.3025532191350673 Centerline is valid? [False, False] Translation: X:5.30, Y:0.62, Z:-0.01 [[ 9.99652806e-01 8.66516967e-04 -2.63346908e-02 5.30296506e+00] [-8.12634176e-04 9.99997555e-01 2.05670971e-03 6.22177294e-01] [ 2.63364086e-02 -2.03459516e-03 9.99651066e-01 -5.09810685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42313336499996 meters Centerline goodness [0,1] 0.30508474576271183 Centerline is valid? [False, False] Translation: X:5.30, Y:0.62, Z:-0.00 [[ 9.99656877e-01 1.00922345e-03 -2.61745847e-02 5.30238727e+00] [-9.45063591e-04 9.99996519e-01 2.46348187e-03 6.20163686e-01] [ 2.61769798e-02 -2.43789995e-03 9.99654351e-01 -4.68510169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.453133365 meters Centerline goodness [0,1] 0.3025572756747472 Centerline is valid? [False, False] Translation: X:5.32, Y:0.61, Z:-0.00 [[ 9.99609299e-01 4.92631588e-03 -2.75132850e-02 5.32349902e+00] [-4.95218868e-03 9.99987357e-01 -8.72315151e-04 6.12872643e-01] [ 2.75086398e-02 1.00822532e-03 9.99621057e-01 -3.38773275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48313336499996 meters Centerline goodness [0,1] 0.3056358538546806 Centerline is valid? [False, False] Translation: X:5.30, Y:0.61, Z:-0.01 [[ 9.99578149e-01 -3.26798185e-03 -2.88590486e-02 5.30404263e+00] [ 3.27787691e-03 9.99994584e-01 2.95573772e-04 6.10682990e-01] [ 2.88579264e-02 -3.90045493e-04 9.99583447e-01 -5.05607022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.513133365 meters Centerline goodness [0,1] 0.30218316214706264 Centerline is valid? [False, False] Translation: X:5.32, Y:0.60, Z:-0.00 [[ 9.99516027e-01 3.23032875e-03 -3.09398843e-02 5.32331192e+00] [-3.24406775e-03 9.99994660e-01 -3.93867157e-04 6.03668101e-01] [ 3.09384468e-02 4.94047617e-04 9.99521170e-01 -2.46214369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54313336499996 meters Centerline goodness [0,1] 0.30803018113027025 Centerline is valid? [False, False] Translation: X:5.32, Y:0.60, Z:-0.00 [[ 9.99511097e-01 3.47131909e-03 -3.10727624e-02 5.32384255e+00] [-3.46605885e-03 9.99993968e-01 2.23149519e-04 6.00690056e-01] [ 3.10733496e-02 -1.15340398e-04 9.99517100e-01 -2.66717845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.573133365 meters Centerline goodness [0,1] 0.30585875145605934 Centerline is valid? [False, False] Translation: X:5.34, Y:0.60, Z:-0.00 [[ 9.99523000e-01 -4.53950891e-03 -3.05477395e-02 5.34289698e+00] [ 4.59659429e-03 9.99987818e-01 1.79876187e-03 6.02438525e-01] [ 3.05392019e-02 -1.93831943e-03 9.99531690e-01 -1.28923642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60313336499996 meters Centerline goodness [0,1] 0.30871434153966393 Centerline is valid? [False, False] Translation: X:5.34, Y:0.60, Z:-0.00 [[ 9.99533303e-01 -4.27290358e-03 -3.02476196e-02 5.34216974e+00] [ 4.35441711e-03 9.99987062e-01 2.62951655e-03 5.97408468e-01] [ 3.02359926e-02 -2.76000012e-03 9.99538977e-01 -1.08038407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.633133365 meters Centerline goodness [0,1] 0.3058833738285318 Centerline is valid? [False, False] Translation: X:5.34, Y:0.60, Z:-0.00 [[ 9.99531416e-01 -4.07438425e-03 -3.03372344e-02 5.34246270e+00] [ 4.16882231e-03 9.99986658e-01 3.05034314e-03 5.95457186e-01] [ 3.03244014e-02 -3.17538434e-03 9.99535066e-01 -1.16133497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66313336499996 meters Centerline goodness [0,1] 0.30616630130445166 Centerline is valid? [False, False] Translation: X:5.34, Y:0.59, Z:-0.00 [[ 9.99529540e-01 -3.86660096e-03 -3.04261113e-02 5.34296886e+00] [ 3.97314499e-03 9.99986183e-01 3.44205157e-03 5.93793745e-01] [ 3.04123819e-02 -3.56131957e-03 9.99531092e-01 -1.57881956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.693133365 meters Centerline goodness [0,1] 0.3053841474013558 Centerline is valid? [False, False] Translation: X:5.34, Y:0.59, Z:-0.00 [[ 9.99526856e-01 -3.74681507e-03 -3.05291038e-02 5.34357048e+00] [ 3.86171637e-03 9.99985678e-01 3.70557269e-03 5.92435421e-01] [ 3.05147824e-02 -3.82171416e-03 9.99527009e-01 -2.11243068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72313336499997 meters Centerline goodness [0,1] 0.306198445517331 Centerline is valid? [False, False] Translation: X:5.34, Y:0.59, Z:-0.00 [[ 9.99526174e-01 -3.62329174e-03 -3.05663155e-02 5.34382102e+00] [ 3.75112588e-03 9.99984453e-01 4.12588481e-03 5.89239698e-01] [ 3.05508910e-02 -4.23858796e-03 9.99524226e-01 -2.30233973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.753133365 meters Centerline goodness [0,1] 0.30319571898304354 Centerline is valid? [False, False] Translation: X:5.36, Y:0.58, Z:0.00 [[ 9.99535023e-01 3.61409520e-03 -3.02766494e-02 5.36160241e+00] [-3.53151674e-03 9.99989899e-01 2.78049337e-03 5.84613458e-01] [ 3.02863926e-02 -2.67227801e-03 9.99537690e-01 5.80161700e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78313336499997 meters Centerline goodness [0,1] 0.3052812459216079 Centerline is valid? [False, False] Translation: X:5.36, Y:0.58, Z:0.00 [[ 9.99542042e-01 3.72528231e-03 -3.00304551e-02 5.36086092e+00] [-3.63419596e-03 9.99988631e-01 3.08714275e-03 5.82987138e-01] [ 3.00416142e-02 -2.97659241e-03 9.99544217e-01 8.67604609e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.813133365 meters Centerline goodness [0,1] 0.30586096441866506 Centerline is valid? [False, False] Translation: X:5.36, Y:0.58, Z:0.00 [[ 9.99549272e-01 3.80718753e-03 -2.97784752e-02 5.36020869e+00] [-3.71022770e-03 9.99987637e-01 3.31061494e-03 5.81759410e-01] [ 2.97907112e-02 -3.19863783e-03 9.99551040e-01 9.83787206e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84313336499997 meters Centerline goodness [0,1] 0.3069400971397733 Centerline is valid? [False, False] Translation: X:5.36, Y:0.58, Z:0.00 [[ 9.99589489e-01 2.10877201e-03 -2.85728122e-02 5.35528951e+00] [-2.05554092e-03 9.99996097e-01 1.89224243e-03 5.79429217e-01] [ 2.85766910e-02 -1.83273306e-03 9.99589923e-01 3.24997595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.873133365 meters Centerline goodness [0,1] 0.3071163487206199 Centerline is valid? [False, False] Translation: X:5.36, Y:0.58, Z:0.00 [[ 9.99589694e-01 2.17609883e-03 -2.85606126e-02 5.35510507e+00] [-2.11729556e-03 9.99995577e-01 2.08897394e-03 5.78393327e-01] [ 2.85650321e-02 -2.02764557e-03 9.99589880e-01 3.50330903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.903133365 meters Centerline goodness [0,1] 0.30788974204123887 Centerline is valid? [False, False] Translation: X:5.36, Y:0.58, Z:0.00 [[ 9.99583108e-01 2.26671266e-03 -2.87831896e-02 5.35557834e+00] [-2.20275012e-03 9.99995034e-01 2.25373167e-03 5.77841281e-01] [ 2.87881552e-02 -2.18938993e-03 9.99583137e-01 3.58086936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.933133365 meters Centerline goodness [0,1] 0.3069811853041383 Centerline is valid? [False, False] Translation: X:5.36, Y:0.58, Z:0.00 [[ 9.99574114e-01 2.33890953e-03 -2.90881313e-02 5.35631814e+00] [-2.26993572e-03 9.99994534e-01 2.40399595e-03 5.77223290e-01] [ 2.90935951e-02 -2.33694394e-03 9.99573960e-01 3.54475313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.963133365 meters Centerline goodness [0,1] 0.3076073061339458 Centerline is valid? [False, False] Translation: X:5.36, Y:0.58, Z:0.00 [[ 9.99567095e-01 2.35631341e-03 -2.93269464e-02 5.35687787e+00] [-2.28427664e-03 9.99994292e-01 2.48959423e-03 5.76625973e-01] [ 2.93326452e-02 -2.42152561e-03 9.99566772e-01 3.57790137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.993133365 meters Centerline goodness [0,1] 0.30933525317974564 Centerline is valid? [False, False] Translation: X:5.36, Y:0.57, Z:0.00 [[ 9.99558760e-01 2.46827027e-03 -2.96005672e-02 5.35727621e+00] [-2.38272727e-03 9.99992884e-01 2.92483547e-03 5.74002098e-01] [ 2.96075758e-02 -2.85301484e-03 9.99557528e-01 3.99084067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.023133365 meters Centerline goodness [0,1] 0.30533121402182317 Centerline is valid? [False, False] Translation: X:5.38, Y:0.58, Z:0.01 [[ 9.99564776e-01 -5.63173850e-03 -2.89575925e-02 5.37615036e+00] [ 5.75413096e-03 9.99974854e-01 4.14501807e-03 5.77553539e-01] [ 2.89335207e-02 -4.30983984e-03 9.99572047e-01 5.79853228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.053133365 meters Centerline goodness [0,1] 0.3112556672580328 Centerline is valid? [False, False] Translation: X:5.33, Y:0.57, Z:0.01 [[ 9.99513744e-01 -5.93794504e-03 -3.06107266e-02 5.33017085e+00] [ 6.06106838e-03 9.99973905e-01 3.93100944e-03 5.71672882e-01] [ 3.05865857e-02 -4.11463167e-03 9.99523652e-01 5.78660954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.083133365 meters Centerline goodness [0,1] 0.31241037674357974 Centerline is valid? [False, False] Translation: X:5.35, Y:0.57, Z:0.01 [[ 9.99548344e-01 1.08772112e-03 -3.00320758e-02 5.34771077e+00] [-1.01216533e-03 9.99996285e-01 2.53092400e-03 5.67003996e-01] [ 3.00347172e-02 -2.49938346e-03 9.99545731e-01 8.17727487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.113133365 meters Centerline goodness [0,1] 0.3124084399256587 Centerline is valid? [False, False] Translation: X:5.35, Y:0.56, Z:0.01 [[ 9.99551250e-01 -2.65468530e-03 -2.98370809e-02 5.34678721e+00] [ 2.63648814e-03 9.99996314e-01 -6.49208855e-04 5.64126725e-01] [ 2.98386943e-02 5.70252412e-04 9.99554564e-01 8.93307450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.143133365 meters Centerline goodness [0,1] 0.3105754041245591 Centerline is valid? [False, False] Translation: X:5.37, Y:0.56, Z:0.01 [[ 9.99544982e-01 2.49124934e-03 -3.00603117e-02 5.36747400e+00] [-2.59897379e-03 9.99990339e-01 -3.54507099e-03 5.60676766e-01] [ 3.00511896e-02 3.62158388e-03 9.99541800e-01 1.06420259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17313336499996 meters Centerline goodness [0,1] 0.31018889153341844 Centerline is valid? [False, False] Translation: X:5.37, Y:0.56, Z:0.01 [[ 9.99538474e-01 2.55593905e-03 -3.02705509e-02 5.36803433e+00] [-2.65212406e-03 9.99991560e-01 -3.13778742e-03 5.58121377e-01] [ 3.02622754e-02 3.21662051e-03 9.99536817e-01 1.06200945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.203133365 meters Centerline goodness [0,1] 0.30953507376026834 Centerline is valid? [False, False] Translation: X:5.39, Y:0.56, Z:0.01 [[ 9.99516428e-01 -5.78635373e-03 -3.05520647e-02 5.38799439e+00] [ 5.72925290e-03 9.99981674e-01 -1.95617840e-03 5.59800736e-01] [ 3.05628239e-02 1.78019195e-03 9.99531262e-01 1.24008445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.23313336499996 meters Centerline goodness [0,1] 0.31487791027825096 Centerline is valid? [False, False] Translation: X:5.37, Y:0.55, Z:0.01 [[ 9.99591329e-01 -2.31439387e-04 -2.85853494e-02 5.36601714e+00] [ 1.15939854e-04 9.99991824e-01 -4.04210635e-03 5.49073369e-01] [ 2.85860511e-02 4.03714028e-03 9.99583183e-01 1.15306124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.263133365 meters Centerline goodness [0,1] 0.31443726534532435 Centerline is valid? [False, False] Translation: X:5.37, Y:0.55, Z:0.01 [[ 9.99595574e-01 -4.70715079e-05 -2.84374023e-02 5.36556362e+00] [-5.15290633e-05 9.99993990e-01 -3.46654197e-03 5.46121344e-01] [ 2.84373946e-02 3.46660536e-03 9.99589564e-01 1.17966189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.29313336499996 meters Centerline goodness [0,1] 0.3150045586766813 Centerline is valid? [False, False] Translation: X:5.37, Y:0.54, Z:0.01 [[ 9.99598640e-01 2.16029653e-04 -2.83286485e-02 5.36527230e+00] [-2.92952994e-04 9.99996282e-01 -2.71126821e-03 5.42241039e-01] [ 2.83279574e-02 2.71847897e-03 9.99594986e-01 1.19937608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.323133365 meters Centerline goodness [0,1] 0.31300372649276365 Centerline is valid? [False, False] Translation: X:5.37, Y:0.54, Z:0.01 [[ 9.99596414e-01 -3.28205607e-03 -2.82176681e-02 5.36503253e+00] [ 3.13483130e-03 9.99981252e-01 -5.26012327e-03 5.35078579e-01] [ 2.82344031e-02 5.16954273e-03 9.99587962e-01 1.21171164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.35313336499996 meters Centerline goodness [0,1] 0.31249592878080557 Centerline is valid? [False, False] Translation: X:5.37, Y:0.53, Z:0.01 [[ 9.99594060e-01 -3.16131591e-03 -2.83146708e-02 5.36537596e+00] [ 3.03234618e-03 9.99984838e-01 -4.59665420e-03 5.30248112e-01] [ 2.83287730e-02 4.50892836e-03 9.99588490e-01 1.20095715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.383133365 meters Centerline goodness [0,1] 0.31357419970090383 Centerline is valid? [False, False] Translation: X:5.37, Y:0.53, Z:0.01 [[ 9.99589329e-01 -2.84197745e-03 -2.85148580e-02 5.36607747e+00] [ 2.73636168e-03 9.99989254e-01 -3.74222367e-03 5.25504245e-01] [ 2.85251869e-02 3.66265989e-03 9.99586364e-01 1.17297908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.41313336499996 meters Centerline goodness [0,1] 0.31539413412066086 Centerline is valid? [False, False] Translation: X:5.37, Y:0.52, Z:0.01 [[ 9.99588114e-01 -2.44863063e-03 -2.85938212e-02 5.36653433e+00] [ 2.36855608e-03 9.99993179e-01 -2.83394885e-03 5.21091481e-01] [ 2.86005654e-02 2.76505552e-03 9.99587096e-01 1.13775793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.443133365 meters Centerline goodness [0,1] 0.31683124958945497 Centerline is valid? [False, False] Translation: X:5.37, Y:0.52, Z:0.01 [[ 9.99588606e-01 -2.06702677e-03 -2.86067343e-02 5.36684633e+00] [ 2.01166582e-03 9.99996048e-01 -1.96388605e-03 5.16970226e-01] [ 2.86106807e-02 1.90553093e-03 9.99588814e-01 1.10259388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.47313336499997 meters Centerline goodness [0,1] 0.3137097821850777 Centerline is valid? [False, False] Translation: X:5.39, Y:0.50, Z:0.01 [[ 9.99560096e-01 5.36576676e-03 -2.91688588e-02 5.38596717e+00] [-5.43653617e-03 9.99982467e-01 -2.34743291e-03 5.03773264e-01] [ 2.91557516e-02 2.50497782e-03 9.99571742e-01 1.29261362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.503133365 meters Centerline goodness [0,1] 0.31085650291818323 Centerline is valid? [False, False] Translation: X:5.39, Y:0.50, Z:0.01 [[ 9.99555531e-01 5.62352368e-03 -2.92765598e-02 5.38651296e+00] [-5.67620925e-03 9.99982416e-01 -1.71678496e-03 5.00226727e-01] [ 2.92663906e-02 1.88220179e-03 9.99569875e-01 1.24889872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53313336499997 meters Centerline goodness [0,1] 0.3147167354026481 Centerline is valid? [False, False] Translation: X:5.39, Y:0.50, Z:0.01 [[ 9.99546216e-01 5.90441630e-03 -2.95380973e-02 5.38754026e+00] [-5.93866539e-03 9.99981791e-01 -1.07189492e-03 4.96853216e-01] [ 2.95312306e-02 1.24682538e-03 9.99563080e-01 1.18782035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.563133365 meters Centerline goodness [0,1] 0.3080971920854191 Centerline is valid? [False, False] Translation: X:5.41, Y:0.50, Z:0.01 [[ 9.99549586e-01 -1.42454305e-03 -2.99765744e-02 5.40763363e+00] [ 1.43972349e-03 9.99998846e-01 4.84832348e-04 4.97558591e-01] [ 2.99758491e-02 -5.27771952e-04 9.99550484e-01 1.26807166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59313336499997 meters Centerline goodness [0,1] 0.3082894850340723 Centerline is valid? [False, False] Translation: X:5.41, Y:0.49, Z:0.01 [[ 9.99547693e-01 -1.11871270e-03 -3.00525771e-02 5.40821679e+00] [ 1.15422296e-03 9.99998656e-01 1.16428295e-03 4.94003236e-01] [ 3.00512342e-02 -1.19844371e-03 9.99547641e-01 1.21314847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.623133365 meters Centerline goodness [0,1] 0.3109618227671972 Centerline is valid? [False, False] Translation: X:5.41, Y:0.49, Z:0.01 [[ 9.99549227e-01 -1.62974280e-03 -2.99781200e-02 5.40873296e+00] [ 1.67006369e-03 9.99997734e-01 1.32002163e-03 4.85157772e-01] [ 2.99759008e-02 -1.36949196e-03 9.99549684e-01 1.13670777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.653133365 meters Centerline goodness [0,1] 0.310440513354145 Centerline is valid? [False, False] Translation: X:5.41, Y:0.48, Z:0.01 [[ 9.99548161e-01 -1.49779824e-03 -3.00205151e-02 5.40913589e+00] [ 1.54626217e-03 9.99997539e-01 1.59121045e-03 4.83555872e-01] [ 3.00180578e-02 -1.63691106e-03 9.99548016e-01 1.08944234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.683133365 meters Centerline goodness [0,1] 0.30810787449217736 Centerline is valid? [False, False] Translation: X:5.41, Y:0.48, Z:0.01 [[ 9.99543745e-01 -1.32925905e-03 -3.01750767e-02 5.40981565e+00] [ 1.38176945e-03 9.99997567e-01 1.71940566e-03 4.83277104e-01] [ 3.01727178e-02 -1.76031617e-03 9.99543150e-01 1.03417422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.713133365 meters Centerline goodness [0,1] 0.30752044424199043 Centerline is valid? [False, False] Translation: X:5.41, Y:0.48, Z:0.01 [[ 9.99538153e-01 -1.11303331e-03 -3.03684317e-02 5.41062449e+00] [ 1.16610948e-03 9.99997823e-01 1.73008674e-03 4.84059035e-01] [ 3.03664400e-02 -1.76470062e-03 9.99537276e-01 9.68273635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.743133365 meters Centerline goodness [0,1] 0.30946625726791666 Centerline is valid? [False, False] Translation: X:5.41, Y:0.49, Z:0.01 [[ 9.99527361e-01 -8.13662833e-04 -3.07309692e-02 5.41173060e+00] [ 8.64814818e-04 9.99998263e-01 1.65125456e-03 4.85726689e-01] [ 3.07295723e-02 -1.67705071e-03 9.99526328e-01 9.05689786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.773133365 meters Centerline goodness [0,1] 0.30457149032746134 Centerline is valid? [False, False] Translation: X:5.41, Y:0.49, Z:0.01 [[ 9.99519652e-01 3.24040100e-03 -3.08215020e-02 5.41230955e+00] [-3.09463429e-03 9.99983807e-01 4.77591061e-03 4.90718433e-01] [ 3.08364788e-02 -4.67823523e-03 9.99513495e-01 8.17735095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.803133365 meters Centerline goodness [0,1] 0.3033625256784517 Centerline is valid? [False, False] Translation: X:5.41, Y:0.49, Z:0.01 [[ 9.99532435e-01 3.48672592e-03 -3.03768548e-02 5.41131215e+00] [-3.35035726e-03 9.99984086e-01 4.53897168e-03 4.93654898e-01] [ 3.03921976e-02 -4.43507610e-03 9.99528211e-01 7.89115768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.833133365 meters Centerline goodness [0,1] 0.30208580487910097 Centerline is valid? [False, False] Translation: X:5.41, Y:0.50, Z:0.01 [[ 9.99540077e-01 3.48802692e-03 -3.01242034e-02 5.41076907e+00] [-3.36553897e-03 9.99985866e-01 4.11584450e-03 4.96562349e-01] [ 3.01381338e-02 -4.01256735e-03 9.99537689e-01 7.60388062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.863133365 meters Centerline goodness [0,1] 0.3028659116451975 Centerline is valid? [False, False] Translation: X:5.41, Y:0.50, Z:0.01 [[ 9.99543366e-01 3.25948663e-03 -3.00405554e-02 5.41067682e+00] [-3.15506697e-03 9.99988818e-01 3.52270197e-03 4.99402994e-01] [ 3.00517017e-02 -3.42631342e-03 9.99542473e-01 7.28536188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.893133365 meters Centerline goodness [0,1] 0.30620366928341824 Centerline is valid? [False, False] Translation: X:5.41, Y:0.50, Z:0.01 [[ 9.99531769e-01 2.78755013e-03 -3.04708329e-02 5.41145570e+00] [-2.71044430e-03 9.99993020e-01 2.57149146e-03 5.03331102e-01] [ 3.04777884e-02 -2.48769792e-03 9.99532349e-01 7.38091070e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92313336499996 meters Centerline goodness [0,1] 0.29874734105412437 Centerline is valid? [False, False] Translation: X:5.45, Y:0.51, Z:0.01 [[ 9.99578796e-01 3.11757516e-03 -2.88532703e-02 5.45446091e+00] [-3.03830340e-03 9.99991490e-01 2.79084380e-03 5.10340240e-01] [ 2.88617255e-02 -2.70200329e-03 9.99579762e-01 8.76404216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.953133365 meters Centerline goodness [0,1] 0.3042037554414918 Centerline is valid? [False, False] Translation: X:5.45, Y:0.51, Z:0.01 [[ 9.99585608e-01 3.11861830e-03 -2.86161847e-02 5.45360047e+00] [-3.04343881e-03 9.99991803e-01 2.67034590e-03 5.11918588e-01] [ 2.86242779e-02 -2.58214772e-03 9.99586906e-01 9.20370600e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98313336499996 meters Centerline goodness [0,1] 0.308207778556412 Centerline is valid? [False, False] Translation: X:5.45, Y:0.51, Z:0.01 [[ 9.99596440e-01 3.03260892e-03 -2.82446472e-02 5.45235973e+00] [-2.96286715e-03 9.99992459e-01 2.51072683e-03 5.13115872e-01] [ 2.82520483e-02 -2.42602846e-03 9.99597887e-01 9.82577287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.013133365 meters Centerline goodness [0,1] 0.3058285216254494 Centerline is valid? [False, False] Translation: X:5.45, Y:0.51, Z:0.01 [[ 9.99600071e-01 2.75223953e-03 -2.81446870e-02 5.45190207e+00] [-2.69070304e-03 9.99993907e-01 2.22407221e-03 5.13738934e-01] [ 2.81506367e-02 -2.14745374e-03 9.99601386e-01 1.02852863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04313336499996 meters Centerline goodness [0,1] 0.30553926997155456 Centerline is valid? [False, False] Translation: X:5.45, Y:0.51, Z:0.01 [[ 9.99589602e-01 2.28235693e-03 -2.85555200e-02 5.45265910e+00] [-2.23285486e-03 9.99995949e-01 1.76530424e-03 5.14289407e-01] [ 2.85594334e-02 -1.70081943e-03 9.99590649e-01 1.06342423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.073133365 meters Centerline goodness [0,1] 0.3066599856212283 Centerline is valid? [False, False] Translation: X:5.45, Y:0.52, Z:0.01 [[ 9.99572603e-01 1.62751983e-03 -2.91883823e-02 5.45387940e+00] [-1.59218314e-03 9.99997971e-01 1.23384313e-03 5.15280135e-01] [ 2.91903312e-02 -1.18684254e-03 9.99573167e-01 1.10409929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10313336499996 meters Centerline goodness [0,1] 0.30745429586211404 Centerline is valid? [False, False] Translation: X:5.45, Y:0.52, Z:0.01 [[ 9.99575815e-01 1.65873923e-03 -2.90764355e-02 5.45347144e+00] [-1.62211302e-03 9.99997861e-01 1.28319536e-03 5.15700490e-01] [ 2.90785017e-02 -1.23548578e-03 9.99576367e-01 1.13186721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.133133365 meters Centerline goodness [0,1] 0.30991137241137245 Centerline is valid? [False, False] Translation: X:5.45, Y:0.52, Z:0.01 [[ 9.99584077e-01 1.62252270e-03 -2.87930580e-02 5.45260255e+00] [-1.58877408e-03 9.99998024e-01 1.19494843e-03 5.16593653e-01] [ 2.87949400e-02 -1.14870575e-03 9.99584680e-01 1.16915504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16313336499996 meters Centerline goodness [0,1] 0.30671447196870927 Centerline is valid? [False, False] Translation: X:5.45, Y:0.52, Z:0.01 [[ 9.99577361e-01 9.07452323e-04 -2.90564297e-02 5.45334179e+00] [-9.01642849e-04 9.99999571e-01 2.13039050e-04 5.19548855e-01] [ 2.90566105e-02 -1.86750490e-04 9.99577750e-01 1.15410864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.193133365 meters Centerline goodness [0,1] 0.3061175807256088 Centerline is valid? [False, False] Translation: X:5.45, Y:0.52, Z:0.01 [[ 9.99568491e-01 6.74582083e-04 -2.93662449e-02 5.45421515e+00] [-6.79279231e-04 9.99999758e-01 -1.49974768e-04 5.20721024e-01] [ 2.93661366e-02 1.69857933e-04 9.99568708e-01 1.12467291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22313336499997 meters Centerline goodness [0,1] 0.30685050483118015 Centerline is valid? [False, False] Translation: X:5.45, Y:0.52, Z:0.01 [[ 9.99564430e-01 6.67770314e-04 -2.95043233e-02 5.45434831e+00] [-6.72500463e-04 9.99999763e-01 -1.50397848e-04 5.20938342e-01] [ 2.95042158e-02 1.70174010e-04 9.99564641e-01 1.15430635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.253133365 meters Centerline goodness [0,1] 0.30793423564115907 Centerline is valid? [False, False] Translation: X:5.45, Y:0.52, Z:0.01 [[ 9.99569286e-01 8.38448434e-04 -2.93349587e-02 5.45353323e+00] [-8.34589841e-04 9.99999641e-01 1.43779363e-04 5.20321061e-01] [ 2.93350687e-02 -1.19234777e-04 9.99569627e-01 1.22086603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28313336499997 meters Centerline goodness [0,1] 0.30793423564115907 Centerline is valid? [False, False] Translation: X:5.45, Y:0.52, Z:0.01 [[ 9.99569286e-01 8.38448434e-04 -2.93349587e-02 5.45353323e+00] [-8.34589841e-04 9.99999641e-01 1.43779363e-04 5.20321061e-01] [ 2.93350687e-02 -1.19234777e-04 9.99569627e-01 1.22086603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.313133365 meters Centerline goodness [0,1] 0.30835828668142173 Centerline is valid? [False, False] Translation: X:5.45, Y:0.52, Z:0.01 [[ 9.99580197e-01 9.31257935e-04 -2.89579493e-02 5.45226025e+00] [-9.18061301e-04 9.99999469e-01 4.69009187e-04 5.18839498e-01] [ 2.89583707e-02 -4.42227122e-04 9.99580521e-01 1.29144802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34313336499997 meters Centerline goodness [0,1] 0.3126297162082451 Centerline is valid? [False, False] Translation: X:5.45, Y:0.52, Z:0.01 [[ 9.99586863e-01 -3.13896299e-03 -2.85700925e-02 5.45136979e+00] [ 3.05182417e-03 9.99990560e-01 -3.09309503e-03 5.15992211e-01] [ 2.85795319e-02 3.00462626e-03 9.99587006e-01 1.30767539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.373133365 meters Centerline goodness [0,1] 0.31016655851178887 Centerline is valid? [False, False] Translation: X:5.45, Y:0.51, Z:0.01 [[ 9.99582327e-01 -3.17507987e-03 -2.87243909e-02 5.45215193e+00] [ 3.09444461e-03 9.99991147e-01 -2.85122184e-03 5.13803925e-01] [ 2.87331895e-02 2.76114493e-03 9.99583303e-01 1.24983772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.403133365 meters Centerline goodness [0,1] 0.3103200678865946 Centerline is valid? [False, False] Translation: X:5.45, Y:0.51, Z:0.01 [[ 9.99576897e-01 -2.79423654e-03 -2.89520048e-02 5.45387519e+00] [ 2.73168140e-03 9.99993849e-01 -2.19997679e-03 5.11573879e-01] [ 2.89579740e-02 2.11995832e-03 9.99578382e-01 1.07920120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.433133365 meters Centerline goodness [0,1] 0.3069935237101752 Centerline is valid? [False, False] Translation: X:5.45, Y:0.51, Z:0.01 [[ 9.99574009e-01 -2.69427089e-03 -2.90610036e-02 5.45457381e+00] [ 2.63231131e-03 9.99994181e-01 -2.17009828e-03 5.11842210e-01] [ 2.90666813e-02 2.09267623e-03 9.99575284e-01 1.00830518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.463133365 meters Centerline goodness [0,1] 0.3066368025051103 Centerline is valid? [False, False] Translation: X:5.46, Y:0.51, Z:0.01 [[ 9.99566194e-01 -2.64349840e-03 -2.93331933e-02 5.45546526e+00] [ 2.57777594e-03 9.99994083e-01 -2.27813827e-03 5.12478722e-01] [ 2.93390420e-02 2.20153560e-03 9.99567093e-01 9.60995228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.493133365 meters Centerline goodness [0,1] 0.3051962052608883 Centerline is valid? [False, False] Translation: X:5.48, Y:0.51, Z:0.01 [[ 9.99537819e-01 5.44578527e-03 -2.99080657e-02 5.47590883e+00] [-5.55941209e-03 9.99977637e-01 -3.71736357e-03 5.11251293e-01] [ 2.98871529e-02 3.88191674e-03 9.99545741e-01 1.17852853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.523133365 meters Centerline goodness [0,1] 0.30443924220748253 Centerline is valid? [False, False] Translation: X:5.48, Y:0.51, Z:0.01 [[ 9.99521474e-01 5.65815935e-03 -3.04106478e-02 5.47708727e+00] [-5.77545292e-03 9.99976213e-01 -3.77053653e-03 5.12310954e-01] [ 3.03885901e-02 3.94436750e-03 9.99530378e-01 1.16330924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.553133365 meters Centerline goodness [0,1] 0.30476438766864367 Centerline is valid? [False, False] Translation: X:5.48, Y:0.51, Z:0.01 [[ 9.99488363e-01 6.43577913e-03 -3.13303714e-02 5.47986105e+00] [-6.55223677e-03 9.99971997e-01 -3.61583651e-03 5.14393552e-01] [ 3.13062233e-02 3.81927053e-03 9.99502543e-01 1.03745152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.583133365 meters Centerline goodness [0,1] 0.30499661357628194 Centerline is valid? [False, False] Translation: X:5.48, Y:0.52, Z:0.01 [[ 9.99494480e-01 6.37065902e-03 -3.11480286e-02 5.47935119e+00] [-6.49251337e-03 9.99971656e-01 -3.81253109e-03 5.15173782e-01] [ 3.11228574e-02 4.01283277e-03 9.99507511e-01 1.03688330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.613133365 meters Centerline goodness [0,1] 0.3033226850946389 Centerline is valid? [False, False] Translation: X:5.50, Y:0.52, Z:0.01 [[ 9.99552351e-01 -1.25467688e-03 -2.98918453e-02 5.49617013e+00] [ 1.18079477e-03 9.99996205e-01 -2.48917122e-03 5.20252429e-01] [ 2.98948549e-02 2.45276081e-03 9.99550040e-01 1.25425182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.643133365 meters Centerline goodness [0,1] 0.30327088651408296 Centerline is valid? [False, False] Translation: X:5.49, Y:0.52, Z:0.01 [[ 9.99567339e-01 -1.15483229e-03 -2.93904848e-02 5.49444233e+00] [ 1.08584201e-03 9.99996618e-01 -2.36321977e-03 5.20122525e-01] [ 2.93931145e-02 2.33028387e-03 9.99565213e-01 1.33328197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67313336499996 meters Centerline goodness [0,1] 0.3053131749460043 Centerline is valid? [False, False] Translation: X:5.49, Y:0.52, Z:0.01 [[ 9.99579274e-01 -1.03237897e-03 -2.89863528e-02 5.49284968e+00] [ 9.70856569e-04 9.99997246e-01 -2.13645454e-03 5.19482509e-01] [ 2.89884787e-02 2.10741409e-03 9.99577524e-01 1.43051792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.703133365 meters Centerline goodness [0,1] 0.3041055213667857 Centerline is valid? [False, False] Translation: X:5.49, Y:0.52, Z:0.02 [[ 9.99589121e-01 -1.15077504e-03 -2.86402519e-02 5.49139249e+00] [ 1.09694593e-03 9.99997603e-01 -1.89513242e-03 5.17293990e-01] [ 2.86423641e-02 1.86293694e-03 9.99587987e-01 1.54082798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.73313336499996 meters Centerline goodness [0,1] 0.3093224967774355 Centerline is valid? [False, False] Translation: X:5.45, Y:0.51, Z:0.01 [[ 9.99516426e-01 -2.47265086e-03 -3.09967881e-02 5.44685778e+00] [ 2.39191046e-03 9.99993650e-01 -2.64160807e-03 5.11639430e-01] [ 3.10031230e-02 2.56618911e-03 9.99515993e-01 1.49877993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.763133365 meters Centerline goodness [0,1] 0.305441411825771 Centerline is valid? [False, False] Translation: X:5.45, Y:0.51, Z:0.02 [[ 9.99508141e-01 -2.42963171e-03 -3.12661482e-02 5.44749084e+00] [ 2.35946474e-03 9.99994615e-01 -2.28088241e-03 5.09375726e-01] [ 3.12715216e-02 2.20598916e-03 9.99508492e-01 1.50767363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.79313336499996 meters Centerline goodness [0,1] 0.30575990998788294 Centerline is valid? [False, False] Translation: X:5.45, Y:0.51, Z:0.02 [[ 9.99506000e-01 -2.29756748e-03 -3.13444980e-02 5.44769695e+00] [ 2.24119466e-03 9.99995808e-01 -1.83350648e-03 5.07093246e-01] [ 3.13485792e-02 1.76235160e-03 9.99506959e-01 1.51401280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.823133365 meters Centerline goodness [0,1] 0.3057601713062098 Centerline is valid? [False, False] Translation: X:5.47, Y:0.51, Z:0.02 [[ 9.99512751e-01 -1.07669765e-02 -2.92973112e-02 5.46701328e+00] [ 1.07501096e-02 9.99941947e-01 -7.33168292e-04 5.06479113e-01] [ 2.93035044e-02 4.17861751e-04 9.99570473e-01 1.62832659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.85313336499996 meters Centerline goodness [0,1] 0.3074633304572908 Centerline is valid? [False, False] Translation: X:5.45, Y:0.50, Z:0.01 [[ 9.99610977e-01 -3.72078836e-03 -2.76414565e-02 5.44810578e+00] [ 3.67547899e-03 9.99991818e-01 -1.68980867e-03 4.97800607e-01] [ 2.76475177e-02 1.58755570e-03 9.99616474e-01 1.40959020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.883133365 meters Centerline goodness [0,1] 0.3115352660807206 Centerline is valid? [False, False] Translation: X:5.43, Y:0.49, Z:0.01 [[ 9.99621851e-01 3.66922255e-03 -2.72523751e-02 5.42945278e+00] [-3.74927472e-03 9.99988804e-01 -2.88692144e-03 4.89418580e-01] [ 2.72414773e-02 2.98800639e-03 9.99624416e-01 1.20607972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.91313336499996 meters Centerline goodness [0,1] 0.31002200267483493 Centerline is valid? [False, False] Translation: X:5.45, Y:0.49, Z:0.01 [[ 9.99617267e-01 -3.91334897e-03 -2.73862103e-02 5.44893278e+00] [ 3.87413637e-03 9.99991393e-01 -1.48475012e-03 4.92255112e-01] [ 2.73917849e-02 1.37808394e-03 9.99623825e-01 1.36381910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.943133365 meters Centerline goodness [0,1] 0.3061461651028665 Centerline is valid? [False, False] Translation: X:5.45, Y:0.49, Z:0.01 [[ 9.99601773e-01 -3.56505146e-03 -2.79926047e-02 5.45093854e+00] [ 3.54503015e-03 9.99993424e-01 -7.64830092e-04 4.89081358e-01] [ 2.79951473e-02 6.65290888e-04 9.99607838e-01 1.27924860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.97313336499997 meters Centerline goodness [0,1] 0.30760376170101866 Centerline is valid? [False, False] Translation: X:5.45, Y:0.49, Z:0.01 [[ 9.99598808e-01 -3.42965399e-03 -2.81151262e-02 5.45134530e+00] [ 3.41941322e-03 9.99994069e-01 -4.12314368e-04 4.87151864e-01] [ 2.81163735e-02 3.16011717e-04 9.99604607e-01 1.26483166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.003133365 meters Centerline goodness [0,1] 0.30914450441077657 Centerline is valid? [False, False] Translation: X:5.45, Y:0.48, Z:0.01 [[ 9.99602650e-01 -3.26938092e-03 -2.79973724e-02 5.45095116e+00] [ 3.27070014e-03 9.99994651e-01 1.32519875e-06 4.84974568e-01] [ 2.79972183e-02 -9.28956821e-05 9.99607997e-01 1.28530171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03313336499997 meters Centerline goodness [0,1] 0.3063750241722353 Centerline is valid? [False, False] Translation: X:5.47, Y:0.48, Z:0.01 [[ 9.99635982e-01 4.60914788e-03 -2.65830627e-02 5.46914860e+00] [-4.64085359e-03 9.99988591e-01 -1.13113132e-03 4.80380424e-01] [ 2.65775458e-02 1.25408767e-03 9.99645968e-01 1.48969695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.063133365 meters Centerline goodness [0,1] 0.30879146970579985 Centerline is valid? [False, False] Translation: X:5.47, Y:0.48, Z:0.02 [[ 9.99645568e-01 4.79884197e-03 -2.61860440e-02 5.46803994e+00] [-4.81956621e-03 9.99988121e-01 -7.28366503e-04 4.78513741e-01] [ 2.61822377e-02 8.54313719e-04 9.99656821e-01 1.51578954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09313336499997 meters Centerline goodness [0,1] 0.30836737781812684 Centerline is valid? [False, False] Translation: X:5.47, Y:0.48, Z:0.02 [[ 9.99654092e-01 4.98110392e-03 -2.58241174e-02 5.46719918e+00] [-4.98897582e-03 9.99987526e-01 -2.40407116e-04 4.75608927e-01] [ 2.58225978e-02 3.69159854e-04 9.99666473e-01 1.51731310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.123133365 meters Centerline goodness [0,1] 0.3102537805223995 Centerline is valid? [False, False] Translation: X:5.47, Y:0.47, Z:0.02 [[ 9.99648418e-01 4.99699459e-03 -2.60397674e-02 5.46773761e+00] [-5.00120321e-03 9.99987489e-01 -9.64986101e-05 4.74338506e-01] [ 2.60389594e-02 2.26694851e-04 9.99660903e-01 1.50991330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.153133365 meters Centerline goodness [0,1] 0.3099853893625837 Centerline is valid? [False, False] Translation: X:5.47, Y:0.47, Z:0.01 [[ 9.99641806e-01 5.01274418e-03 -2.62893786e-02 5.46863484e+00] [-5.01284513e-03 9.99987434e-01 6.20638790e-05 4.72931781e-01] [ 2.62893593e-02 6.97429354e-05 9.99654373e-01 1.45859907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.183133365 meters Centerline goodness [0,1] 0.3112762086293537 Centerline is valid? [False, False] Translation: X:5.47, Y:0.47, Z:0.01 [[ 9.99626276e-01 5.11524794e-03 -2.68540966e-02 5.47074514e+00] [-5.10370840e-03 9.99986852e-01 4.98235384e-04 4.69877834e-01] [ 2.68562921e-02 -3.60993703e-04 9.99639240e-01 1.34161818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.213133365 meters Centerline goodness [0,1] 0.310208365218532 Centerline is valid? [False, False] Translation: X:5.47, Y:0.47, Z:0.01 [[ 9.99622638e-01 5.16320438e-03 -2.69800555e-02 5.47127660e+00] [-5.14712810e-03 9.99986532e-01 6.65271892e-04 4.68679207e-01] [ 2.69831270e-02 -5.26151041e-04 9.99635751e-01 1.30457676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.243133365 meters Centerline goodness [0,1] 0.3066061195804952 Centerline is valid? [False, False] Translation: X:5.49, Y:0.47, Z:0.01 [[ 9.99618443e-01 -2.24189550e-03 -2.75307349e-02 5.49058167e+00] [ 2.28665323e-03 9.99996115e-01 1.59436208e-03 4.73622765e-01] [ 2.75270535e-02 -1.65670698e-03 9.99619686e-01 1.41975576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.273133365 meters Centerline goodness [0,1] 0.30664995353461133 Centerline is valid? [False, False] Translation: X:5.49, Y:0.47, Z:0.01 [[ 9.99610987e-01 -2.20393424e-03 -2.78031915e-02 5.49153702e+00] [ 2.24580710e-03 9.99996390e-01 1.47490869e-03 4.74537966e-01] [ 2.77998406e-02 -1.53677553e-03 9.99612328e-01 1.36417002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.303133365 meters Centerline goodness [0,1] 0.3022301478171193 Centerline is valid? [False, False] Translation: X:5.49, Y:0.48, Z:0.01 [[ 9.99599460e-01 -2.05935350e-03 -2.82254803e-02 5.49276499e+00] [ 2.09714472e-03 9.99996944e-01 1.30936732e-03 4.76196932e-01] [ 2.82226976e-02 -1.36803579e-03 9.99600724e-01 1.31057146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.333133365 meters Centerline goodness [0,1] 0.3074568544448063 Centerline is valid? [False, False] Translation: X:5.49, Y:0.48, Z:0.01 [[ 9.99597243e-01 1.76771444e-03 -2.83235972e-02 5.49256944e+00] [-1.64099946e-03 9.99988544e-01 4.49645061e-03 4.79807485e-01] [ 2.83312212e-02 -4.44816063e-03 9.99588693e-01 1.34426192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.363133365 meters Centerline goodness [0,1] 0.302493551160791 Centerline is valid? [False, False] Translation: X:5.49, Y:0.48, Z:0.01 [[ 9.99609840e-01 1.78683837e-03 -2.78742663e-02 5.49115474e+00] [-1.67010026e-03 9.99989740e-01 4.21074322e-03 4.82168490e-01] [ 2.78815043e-02 -4.16254754e-03 9.99602568e-01 1.38218835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.393133365 meters Centerline goodness [0,1] 0.305790345067968 Centerline is valid? [False, False] Translation: X:5.49, Y:0.48, Z:0.01 [[ 9.99617002e-01 1.71365952e-03 -2.76208561e-02 5.49030928e+00] [-1.60568961e-03 9.99990986e-01 3.93070494e-03 4.83885567e-01] [ 2.76273430e-02 -3.88484897e-03 9.99610743e-01 1.41264114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42313336499996 meters Centerline goodness [0,1] 0.30339936625638597 Centerline is valid? [False, False] Translation: X:5.49, Y:0.48, Z:0.01 [[ 9.99617411e-01 1.59989751e-03 -2.76128767e-02 5.49027659e+00] [-1.49768777e-03 9.99991953e-01 3.72180909e-03 4.84841973e-01] [ 2.76186090e-02 -3.67902970e-03 9.99611763e-01 1.40537709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.453133365 meters Centerline goodness [0,1] 0.3028999225539971 Centerline is valid? [False, False] Translation: X:5.49, Y:0.49, Z:0.01 [[ 9.99604712e-01 1.39650556e-03 -2.80796941e-02 5.49171336e+00] [-1.29817966e-03 9.99992964e-01 3.51959763e-03 4.85047210e-01] [ 2.80844116e-02 -3.48175389e-03 9.99599491e-01 1.35573724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48313336499996 meters Centerline goodness [0,1] 0.30501704187742873 Centerline is valid? [False, False] Translation: X:5.49, Y:0.48, Z:0.01 [[ 9.99568472e-01 6.20369983e-04 -2.93680851e-02 5.49497392e+00] [-5.30519590e-04 9.99995156e-01 3.06714997e-03 4.84529912e-01] [ 2.93698456e-02 -3.05024606e-03 9.99563959e-01 1.32205153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.513133365 meters Centerline goodness [0,1] 0.3072361392722437 Centerline is valid? [False, False] Translation: X:5.49, Y:0.48, Z:0.01 [[ 9.99566152e-01 6.18705685e-04 -2.94469924e-02 5.49485049e+00] [-5.19337773e-04 9.99994146e-01 3.38199578e-03 4.82731839e-01] [ 2.94489125e-02 -3.36523557e-03 9.99560622e-01 1.38393899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54313336499996 meters Centerline goodness [0,1] 0.30739884897104985 Centerline is valid? [False, False] Translation: X:5.49, Y:0.48, Z:0.01 [[ 9.99573189e-01 5.61795842e-04 -2.92082754e-02 5.49400136e+00] [-4.55020540e-04 9.99993191e-01 3.66217048e-03 4.80957361e-01] [ 2.92101339e-02 -3.64731707e-03 9.99566639e-01 1.44691687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.573133365 meters Centerline goodness [0,1] 0.30971917507678803 Centerline is valid? [False, False] Translation: X:5.49, Y:0.48, Z:0.01 [[ 9.99585417e-01 1.11648703e-04 -2.87920389e-02 5.49306281e+00] [-2.75263764e-06 9.99992848e-01 3.78217076e-03 4.78282968e-01] [ 2.87922553e-02 -3.78052348e-03 9.99578268e-01 1.47470634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60313336499996 meters Centerline goodness [0,1] 0.31035007941515635 Centerline is valid? [False, False] Translation: X:5.49, Y:0.48, Z:0.01 [[ 9.99583048e-01 7.90079684e-05 -2.88742836e-02 5.49358689e+00] [ 3.11264984e-05 9.99992727e-01 3.81380593e-03 4.77808586e-01] [ 2.88743749e-02 -3.81311451e-03 9.99575775e-01 1.42512604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.633133365 meters Centerline goodness [0,1] 0.30830338975713234 Centerline is valid? [False, False] Translation: X:5.49, Y:0.48, Z:0.01 [[ 9.99580469e-01 7.16359456e-05 -2.89634386e-02 5.49409100e+00] [ 3.72512794e-05 9.99992935e-01 3.75891456e-03 4.78168386e-01] [ 2.89635032e-02 -3.75841650e-03 9.99573404e-01 1.37831365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66313336499996 meters Centerline goodness [0,1] 0.3068137740809378 Centerline is valid? [False, False] Translation: X:5.49, Y:0.48, Z:0.01 [[ 9.99587608e-01 1.09383794e-04 -2.87158694e-02 5.49302367e+00] [-6.77690772e-06 9.99993616e-01 3.57325007e-03 4.79692217e-01] [ 2.87160769e-02 -3.57158189e-03 9.99581228e-01 1.44318334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.693133365 meters Centerline goodness [0,1] 0.30711102499515597 Centerline is valid? [False, False] Translation: X:5.49, Y:0.48, Z:0.02 [[ 9.99595600e-01 1.23392546e-04 -2.84362561e-02 5.49187425e+00] [-2.50156763e-05 9.99994014e-01 3.45988752e-03 4.80676096e-01] [ 2.84365128e-02 -3.45777699e-03 9.99589620e-01 1.50815184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72313336499997 meters Centerline goodness [0,1] 0.3084045429962141 Centerline is valid? [False, False] Translation: X:5.49, Y:0.48, Z:0.02 [[ 9.99603205e-01 1.39508540e-04 -2.81675902e-02 5.49105293e+00] [-4.50636629e-05 9.99994376e-01 3.35356959e-03 4.81624833e-01] [ 2.81678996e-02 -3.35096957e-03 9.99597589e-01 1.53186510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.753133365 meters Centerline goodness [0,1] 0.3079272254710851 Centerline is valid? [False, False] Translation: X:5.49, Y:0.48, Z:0.02 [[ 9.99607198e-01 1.06061999e-04 -2.80256722e-02 5.49066318e+00] [-1.65017672e-05 9.99994893e-01 3.19586171e-03 4.82572728e-01] [ 2.80258680e-02 -3.19414389e-03 9.99602095e-01 1.53398234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78313336499997 meters Centerline goodness [0,1] 0.30651977060066404 Centerline is valid? [False, False] Translation: X:5.49, Y:0.48, Z:0.01 [[ 9.99606815e-01 3.03602556e-05 -2.80395202e-02 5.49088105e+00] [ 5.24822871e-05 9.99995636e-01 2.95375150e-03 4.83817763e-01] [ 2.80394876e-02 -2.95406171e-03 9.99602451e-01 1.49773805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.813133365 meters Centerline goodness [0,1] 0.30832172701949856 Centerline is valid? [False, False] Translation: X:5.49, Y:0.49, Z:0.01 [[ 9.99601583e-01 -1.09889628e-04 -2.82252366e-02 5.49142419e+00] [ 1.81441513e-04 9.99996777e-01 2.53248364e-03 4.85848041e-01] [ 2.82248674e-02 -2.53659588e-03 9.99598381e-01 1.46734749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84313336499997 meters Centerline goodness [0,1] 0.3067700527790448 Centerline is valid? [False, False] Translation: X:5.49, Y:0.49, Z:0.01 [[ 9.99598596e-01 -1.91186474e-04 -2.83303909e-02 5.49177728e+00] [ 2.56818368e-04 9.99997292e-01 2.31303987e-03 4.86992289e-01] [ 2.83298719e-02 -2.31938717e-03 9.99595938e-01 1.44574780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.873133365 meters Centerline goodness [0,1] 0.30753396459448334 Centerline is valid? [False, False] Translation: X:5.49, Y:0.49, Z:0.01 [[ 9.99594017e-01 -3.04759611e-04 -2.84904807e-02 5.49232132e+00] [ 3.62969133e-04 9.99997857e-01 2.03797250e-03 4.88353303e-01] [ 2.84897986e-02 -2.04748628e-03 9.99591986e-01 1.41488050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.903133365 meters Centerline goodness [0,1] 0.30961454226894436 Centerline is valid? [False, False] Translation: X:5.49, Y:0.49, Z:0.01 [[ 9.99589995e-01 -4.43785399e-04 -2.86294273e-02 5.49275754e+00] [ 4.93528465e-04 9.99998381e-01 1.73043752e-03 4.89645934e-01] [ 2.86286130e-02 -1.74385747e-03 9.99588596e-01 1.39350998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.933133365 meters Centerline goodness [0,1] 0.3077625173852573 Centerline is valid? [False, False] Translation: X:5.49, Y:0.49, Z:0.01 [[ 9.99584728e-01 -5.71981185e-04 -2.88105022e-02 5.49323205e+00] [ 6.14509174e-04 9.99998735e-01 1.46729563e-03 4.90759845e-01] [ 2.88096265e-02 -1.48439062e-03 9.99583814e-01 1.37943941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.963133365 meters Centerline goodness [0,1] 0.3070290044421218 Centerline is valid? [False, False] Translation: X:5.49, Y:0.49, Z:0.01 [[ 9.99582806e-01 -6.56511606e-04 -2.88753095e-02 5.49324425e+00] [ 6.93806842e-04 9.99998938e-01 1.28159600e-03 4.91665138e-01] [ 2.88744374e-02 -1.30109521e-03 9.99582200e-01 1.39861430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.993133365 meters Centerline goodness [0,1] 0.30577907827359185 Centerline is valid? [False, False] Translation: X:5.51, Y:0.49, Z:0.02 [[ 9.99639279e-01 6.93892983e-03 -2.59453789e-02 5.51163028e+00] [-6.94197785e-03 9.99975904e-01 -2.74077896e-05 4.92041763e-01] [ 2.59445635e-02 2.07510149e-04 9.99663362e-01 1.55918043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.023133365 meters Centerline goodness [0,1] 0.3099777496618821 Centerline is valid? [False, False] Translation: X:5.49, Y:0.50, Z:0.01 [[ 9.99700313e-01 -1.40597662e-03 -2.44398551e-02 5.48974929e+00] [ 1.42016179e-03 9.99998833e-01 5.63064081e-04 4.96001886e-01] [ 2.44390350e-02 -5.97603886e-04 9.99701144e-01 1.41872460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.053133365 meters Centerline goodness [0,1] 0.309901787853052 Centerline is valid? [False, False] Translation: X:5.49, Y:0.50, Z:0.02 [[ 9.99714976e-01 -1.45952267e-03 -2.38293010e-02 5.48779476e+00] [ 1.47142308e-03 9.99998801e-01 4.81875744e-04 4.96510301e-01] [ 2.38285691e-02 -5.16801382e-04 9.99715926e-01 1.50583112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.083133365 meters Centerline goodness [0,1] 0.31064310708308884 Centerline is valid? [False, False] Translation: X:5.49, Y:0.50, Z:0.02 [[ 9.99717070e-01 -1.48152555e-03 -2.37399415e-02 5.48749192e+00] [ 1.49291435e-03 9.99998779e-01 4.62015277e-04 4.96610317e-01] [ 2.37392280e-02 -4.97326258e-04 9.99718061e-01 1.52267448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.113133365 meters Centerline goodness [0,1] 0.3088461621832528 Centerline is valid? [False, False] Translation: X:5.49, Y:0.50, Z:0.02 [[ 9.99712979e-01 -1.51144382e-03 -2.39097379e-02 5.48799847e+00] [ 1.52147983e-03 9.99998762e-01 4.01559699e-04 4.96888071e-01] [ 2.39091014e-02 -4.37822626e-04 9.99714041e-01 1.50162738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.143133365 meters Centerline goodness [0,1] 0.31192821186255193 Centerline is valid? [False, False] Translation: X:5.49, Y:0.50, Z:0.01 [[ 9.99710606e-01 -1.56403968e-03 -2.40053923e-02 5.48838860e+00] [ 1.57183002e-03 9.99998718e-01 3.05659147e-04 4.97218894e-01] [ 2.40048834e-02 -3.43303087e-04 9.99711782e-01 1.47378656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.17313336499996 meters Centerline goodness [0,1] 0.31192821186255193 Centerline is valid? [False, False] Translation: X:5.49, Y:0.50, Z:0.01 [[ 9.99710606e-01 -1.56403968e-03 -2.40053923e-02 5.48838860e+00] [ 1.57183002e-03 9.99998718e-01 3.05659147e-04 4.97218894e-01] [ 2.40048834e-02 -3.43303087e-04 9.99711782e-01 1.47378656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.203133365 meters Centerline goodness [0,1] 0.30743520075904607 Centerline is valid? [False, False] Translation: X:5.51, Y:0.50, Z:0.02 [[ 9.99695541e-01 6.25626585e-03 -2.38680647e-02 5.50822536e+00] [-6.28056292e-03 9.99979832e-01 -9.43146085e-04 4.95220244e-01] [ 2.38616828e-02 1.09276382e-03 9.99714672e-01 1.62236158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.23313336499996 meters Centerline goodness [0,1] 0.31038760364752227 Centerline is valid? [False, False] Translation: X:5.51, Y:0.50, Z:0.02 [[ 9.99700396e-01 6.21437573e-03 -2.36748686e-02 5.50769857e+00] [-6.24036880e-03 9.99980004e-01 -1.02419535e-03 4.95620457e-01] [ 2.36680305e-02 1.17162841e-03 9.99719186e-01 1.63131639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.263133365 meters Centerline goodness [0,1] 0.31066950145355143 Centerline is valid? [False, False] Translation: X:5.52, Y:0.50, Z:0.02 [[ 9.99753511e-01 -1.22495592e-03 -2.21679098e-02 5.52431082e+00] [ 1.23904323e-03 9.99999039e-01 6.21758209e-04 5.01243918e-01] [ 2.21671269e-02 -6.49071951e-04 9.99754068e-01 1.88056568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.29313336499996 meters Centerline goodness [0,1] 0.30974101776989926 Centerline is valid? [False, False] Translation: X:5.52, Y:0.50, Z:0.02 [[ 9.99751716e-01 -1.26819210e-03 -2.22462827e-02 5.52455984e+00] [ 1.28079039e-03 9.99999027e-01 5.52070882e-04 5.01487966e-01] [ 2.22455609e-02 -5.80426637e-04 9.99752368e-01 1.87091923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.323133365 meters Centerline goodness [0,1] 0.31166235853769797 Centerline is valid? [False, False] Translation: X:5.53, Y:0.50, Z:0.02 [[ 9.99745455e-01 -1.31307972e-03 -2.25233310e-02 5.52558252e+00] [ 1.32471362e-03 9.99998997e-01 5.01613936e-04 5.01483442e-01] [ 2.25226497e-02 -5.31323216e-04 9.99746192e-01 1.80958358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.35313336499996 meters Centerline goodness [0,1] 0.30624932308025565 Centerline is valid? [False, False] Translation: X:5.53, Y:0.50, Z:0.02 [[ 9.99737297e-01 -1.33048883e-03 -2.28815844e-02 5.52687497e+00] [ 1.34184556e-03 9.99998984e-01 4.80979869e-04 5.01491810e-01] [ 2.28809212e-02 -5.11557067e-04 9.99738067e-01 1.73778394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.383133365 meters Centerline goodness [0,1] 0.3072840768210192 Centerline is valid? [False, False] Translation: X:5.53, Y:0.50, Z:0.02 [[ 9.99723927e-01 -1.39835473e-03 -2.34545020e-02 5.52880041e+00] [ 1.40918338e-03 9.99998908e-01 4.45165952e-04 5.01195742e-01] [ 2.34538539e-02 -4.78094748e-04 9.99724806e-01 1.64231000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.41313336499996 meters Centerline goodness [0,1] 0.3062699577112281 Centerline is valid? [False, False] Translation: X:5.53, Y:0.50, Z:0.02 [[ 9.99719234e-01 -1.43697380e-03 -2.36514088e-02 5.52938530e+00] [ 1.44770084e-03 9.99998857e-01 4.36431517e-04 5.00849735e-01] [ 2.36507546e-02 -4.70549146e-04 9.99720171e-01 1.62485942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.443133365 meters Centerline goodness [0,1] 0.3051336737111958 Centerline is valid? [False, False] Translation: X:5.53, Y:0.50, Z:0.02 [[ 9.99717814e-01 -1.45619631e-03 -2.37101821e-02 5.52958004e+00] [ 1.46737999e-03 9.99998820e-01 4.54291104e-04 5.00593216e-01] [ 2.37094926e-02 -4.88954756e-04 9.99718771e-01 1.61643648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.47313336499997 meters Centerline goodness [0,1] 0.3085117971286029 Centerline is valid? [False, False] Translation: X:5.51, Y:0.50, Z:0.01 [[ 9.99706219e-01 6.30212617e-03 -2.34042657e-02 5.51107521e+00] [-6.31855107e-03 9.99979841e-01 -6.27905816e-04 4.95324998e-01] [ 2.33998368e-02 7.75602398e-04 9.99725885e-01 1.43091650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.503133365 meters Centerline goodness [0,1] 0.30817049579411826 Centerline is valid? [False, False] Translation: X:5.51, Y:0.50, Z:0.01 [[ 9.99704721e-01 6.31468186e-03 -2.34647838e-02 5.51125042e+00] [-6.33145098e-03 9.99979751e-01 -6.40425048e-04 4.95653490e-01] [ 2.34602646e-02 7.88802072e-04 9.99724459e-01 1.42543557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.53313336499997 meters Centerline goodness [0,1] 0.30720976010729195 Centerline is valid? [False, False] Translation: X:5.51, Y:0.50, Z:0.01 [[ 9.99702473e-01 6.26291470e-03 -2.35741873e-02 5.51160776e+00] [-6.28227977e-03 9.99979987e-01 -7.47481055e-04 4.96109391e-01] [ 2.35690341e-02 8.95358299e-04 9.99721811e-01 1.40968777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.563133365 meters Centerline goodness [0,1] 0.3099705143605984 Centerline is valid? [False, False] Translation: X:5.51, Y:0.50, Z:0.01 [[ 9.99701574e-01 6.16210794e-03 -2.36387696e-02 5.51157298e+00] [-6.18407553e-03 9.99980512e-01 -8.56313157e-04 4.96043852e-01] [ 2.36330322e-02 1.00224155e-03 9.99720199e-01 1.43626295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.59313336499997 meters Centerline goodness [0,1] 0.31150715933324624 Centerline is valid? [False, False] Translation: X:5.51, Y:0.50, Z:0.01 [[ 9.99701949e-01 6.19552012e-03 -2.36141571e-02 5.51128637e+00] [-6.21452535e-03 9.99980422e-01 -7.31522122e-04 4.95373774e-01] [ 2.36091626e-02 8.78054869e-04 9.99720879e-01 1.47337285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.623133365 meters Centerline goodness [0,1] 0.31105145999738115 Centerline is valid? [False, False] Translation: X:5.51, Y:0.49, Z:0.01 [[ 9.99704446e-01 6.24988197e-03 -2.34938027e-02 5.51087823e+00] [-6.26464009e-03 9.99980223e-01 -5.54622049e-04 4.94495247e-01] [ 2.34898718e-02 7.01638347e-04 9.99723829e-01 1.49695657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.653133365 meters Centerline goodness [0,1] 0.30947918936587493 Centerline is valid? [False, False] Translation: X:5.51, Y:0.49, Z:0.02 [[ 9.99705041e-01 6.33224384e-03 -2.34463879e-02 5.51067037e+00] [-6.34031983e-03 9.99979863e-01 -2.70121181e-04 4.92981306e-01] [ 2.34442053e-02 4.18699105e-04 9.99725059e-01 1.51675496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.683133365 meters Centerline goodness [0,1] 0.30712137277389484 Centerline is valid? [False, False] Translation: X:5.53, Y:0.50, Z:0.02 [[ 9.99719212e-01 -1.93870384e-03 -2.36164946e-02 5.53025063e+00] [ 1.95249663e-03 9.99997937e-01 5.60987166e-04 4.95734233e-01] [ 2.36153583e-02 -6.06940774e-04 9.99720934e-01 1.66453687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.713133365 meters Centerline goodness [0,1] 0.3093062532478781 Centerline is valid? [False, False] Translation: X:5.53, Y:0.49, Z:0.02 [[ 9.99705125e-01 -2.22433126e-03 -2.41808827e-02 5.53203595e+00] [ 2.24433580e-03 9.99997161e-01 8.00179841e-04 4.92498150e-01] [ 2.41790342e-02 -8.54213909e-04 9.99707279e-01 1.60446680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.743133365 meters Centerline goodness [0,1] 0.3107593145047144 Centerline is valid? [False, False] Translation: X:5.53, Y:0.49, Z:0.02 [[ 9.99704344e-01 -2.08311679e-03 -2.42257261e-02 5.53223329e+00] [ 2.11169003e-03 9.99997105e-01 1.15393592e-03 4.90863447e-01] [ 2.42232522e-02 -1.20475198e-03 9.99705848e-01 1.59520784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.773133365 meters Centerline goodness [0,1] 0.3109374315863216 Centerline is valid? [False, False] Translation: X:5.53, Y:0.49, Z:0.02 [[ 9.99709583e-01 -1.92024541e-03 -2.40221357e-02 5.53151193e+00] [ 1.95749960e-03 9.99996918e-01 1.52740869e-03 4.89281644e-01] [ 2.40191286e-02 -1.57398842e-03 9.99710260e-01 1.63944443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.803133365 meters Centerline goodness [0,1] 0.3108157911852061 Centerline is valid? [False, False] Translation: X:5.55, Y:0.49, Z:0.02 [[ 9.99743621e-01 5.90114898e-03 -2.18602034e-02 5.54943998e+00] [-5.89360403e-03 9.99982549e-01 4.09555162e-04 4.85702885e-01] [ 2.18622388e-02 -2.80614778e-04 9.99760953e-01 1.82976614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.833133365 meters Centerline goodness [0,1] 0.30836641287607647 Centerline is valid? [False, False] Translation: X:5.55, Y:0.48, Z:0.02 [[ 9.99751699e-01 5.96431645e-03 -2.14701408e-02 5.54813608e+00] [-5.95290677e-03 9.99982104e-01 5.95294748e-04 4.84458039e-01] [ 2.14733071e-02 -4.67337189e-04 9.99769313e-01 1.89240728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.863133365 meters Centerline goodness [0,1] 0.3107079781087151 Centerline is valid? [False, False] Translation: X:5.55, Y:0.48, Z:0.02 [[ 9.99747638e-01 6.01790117e-03 -2.16436035e-02 5.54881750e+00] [-6.00409144e-03 9.99981728e-01 7.02977999e-04 4.83879713e-01] [ 2.16474385e-02 -5.72850420e-04 9.99765503e-01 1.84433358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.893133365 meters Centerline goodness [0,1] 0.3095460773865193 Centerline is valid? [False, False] Translation: X:5.55, Y:0.48, Z:0.02 [[ 9.99742645e-01 6.04946771e-03 -2.18643102e-02 5.54993123e+00] [-6.03469051e-03 9.99981516e-01 7.41776777e-04 4.83721430e-01] [ 2.18683934e-02 -6.09641531e-04 9.99760672e-01 1.74529784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92313336499996 meters Centerline goodness [0,1] 0.3078845863770552 Centerline is valid? [False, False] Translation: X:5.57, Y:0.49, Z:0.02 [[ 9.99741875e-01 -1.37045100e-03 -2.26782955e-02 5.56953742e+00] [ 1.40742350e-03 9.99997706e-01 1.61442219e-03 4.88700339e-01] [ 2.26760310e-02 -1.64592343e-03 9.99741511e-01 1.81842986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.953133365 meters Centerline goodness [0,1] 0.30438238453276045 Centerline is valid? [False, False] Translation: X:5.57, Y:0.49, Z:0.02 [[ 9.99739900e-01 -1.36515129e-03 -2.27655244e-02 5.56999611e+00] [ 1.40361112e-03 9.99997615e-01 1.67349571e-03 4.88076376e-01] [ 2.27631855e-02 -1.70501438e-03 9.99739431e-01 1.77987941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98313336499996 meters Centerline goodness [0,1] 0.30886737025350885 Centerline is valid? [False, False] Translation: X:5.55, Y:0.48, Z:0.02 [[ 9.99723175e-01 6.07607242e-03 -2.27300251e-02 5.55119759e+00] [-6.07186263e-03 9.99981534e-01 2.54220044e-04 4.81467123e-01] [ 2.27311500e-02 -1.16136080e-04 9.99741607e-01 1.60160395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.013133365 meters Centerline goodness [0,1] 0.30917265796390014 Centerline is valid? [False, False] Translation: X:5.55, Y:0.48, Z:0.02 [[ 9.99728260e-01 6.23123224e-03 -2.24628215e-02 5.55005598e+00] [-6.21780322e-03 9.99980446e-01 6.67627859e-04 4.79465641e-01] [ 2.24665424e-02 -5.27777034e-04 9.99747456e-01 1.68309605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04313336499996 meters Centerline goodness [0,1] 0.31043483935524574 Centerline is valid? [False, False] Translation: X:5.55, Y:0.48, Z:0.02 [[ 9.99730474e-01 6.33685982e-03 -2.23343741e-02 5.54956622e+00] [-6.31788561e-03 9.99979619e-01 9.20011675e-04 4.78346222e-01] [ 2.23397489e-02 -7.78657686e-04 9.99750133e-01 1.71397713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.073133365 meters Centerline goodness [0,1] 0.3123204141168213 Centerline is valid? [False, False] Translation: X:5.55, Y:0.48, Z:0.02 [[ 9.99733386e-01 6.38788727e-03 -2.21890125e-02 5.54938926e+00] [-6.36394782e-03 9.99979089e-01 1.14933432e-03 4.76926927e-01] [ 2.21958903e-02 -1.00781818e-03 9.99753133e-01 1.69283364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10313336499996 meters Centerline goodness [0,1] 0.3099515564920817 Centerline is valid? [False, False] Translation: X:5.57, Y:0.48, Z:0.02 [[ 9.99759802e-01 -1.80487537e-03 -2.18421551e-02 5.56919083e+00] [ 1.84790448e-03 9.99996391e-01 1.94998011e-03 4.79805664e-01] [ 2.18385568e-02 -1.98987395e-03 9.99759530e-01 1.77927118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.133133365 meters Centerline goodness [0,1] 0.31091558498127014 Centerline is valid? [False, False] Translation: X:5.57, Y:0.48, Z:0.02 [[ 9.99758872e-01 -1.72622287e-03 -2.18910275e-02 5.56943553e+00] [ 1.77791027e-03 9.99995677e-01 2.34187985e-03 4.77503152e-01] [ 2.18868903e-02 -2.38023544e-03 9.99757620e-01 1.76591514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16313336499996 meters Centerline goodness [0,1] 0.31030442424110916 Centerline is valid? [False, False] Translation: X:5.57, Y:0.47, Z:0.02 [[ 9.99758367e-01 -1.60077222e-03 -2.19236179e-02 5.56957456e+00] [ 1.66299269e-03 9.99994641e-01 2.82011918e-03 4.74917027e-01] [ 2.19189861e-02 -2.85589656e-03 9.99755671e-01 1.76737553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.193133365 meters Centerline goodness [0,1] 0.3126262626262626 Centerline is valid? [False, False] Translation: X:5.57, Y:0.47, Z:0.02 [[ 9.99762233e-01 -2.75051961e-03 -2.16312590e-02 5.56905924e+00] [ 2.80692838e-03 9.99992738e-01 2.57781342e-03 4.67263597e-01] [ 2.16240115e-02 -2.63791790e-03 9.99762694e-01 1.77174295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22313336499997 meters Centerline goodness [0,1] 0.3102667885276581 Centerline is valid? [False, False] Translation: X:5.57, Y:0.46, Z:0.02 [[ 9.99759014e-01 -2.68579124e-03 -2.17876374e-02 5.56967601e+00] [ 2.75029730e-03 9.99991922e-01 2.93124824e-03 4.64993068e-01] [ 2.17795887e-02 -2.99046433e-03 9.99758324e-01 1.73623523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.253133365 meters Centerline goodness [0,1] 0.3107780904391074 Centerline is valid? [False, False] Translation: X:5.57, Y:0.46, Z:0.02 [[ 9.99757119e-01 -2.60402490e-03 -2.18842670e-02 5.57011243e+00] [ 2.67569502e-03 9.99991151e-01 3.24631802e-03 4.63127035e-01] [ 2.18756198e-02 -3.30408517e-03 9.99755240e-01 1.70676267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28313336499997 meters Centerline goodness [0,1] 0.31107339469504103 Centerline is valid? [False, False] Translation: X:5.57, Y:0.46, Z:0.02 [[ 9.99753332e-01 -2.52211904e-03 -2.20661520e-02 5.57076852e+00] [ 2.59992257e-03 9.99990502e-01 3.49794432e-03 4.61706365e-01] [ 2.20571202e-02 -3.55445177e-03 9.99750394e-01 1.67303344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.313133365 meters Centerline goodness [0,1] 0.3096757333565626 Centerline is valid? [False, False] Translation: X:5.57, Y:0.46, Z:0.02 [[ 9.99749213e-01 -2.37058778e-03 -2.22686208e-02 5.57159335e+00] [ 2.45500093e-03 9.99989902e-01 3.76410401e-03 4.60536832e-01] [ 2.22594728e-02 -3.81782950e-03 9.99744937e-01 1.61555888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34313336499997 meters Centerline goodness [0,1] 0.30910513617492985 Centerline is valid? [False, False] Translation: X:5.57, Y:0.46, Z:0.02 [[ 9.99751671e-01 -2.33725081e-03 -2.21615220e-02 5.57148376e+00] [ 2.42135233e-03 9.99989966e-01 3.76886016e-03 4.60654572e-01] [ 2.21524909e-02 -3.82158510e-03 9.99747299e-01 1.59211600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.373133365 meters Centerline goodness [0,1] 0.30837137849708984 Centerline is valid? [False, False] Translation: X:5.57, Y:0.46, Z:0.02 [[ 9.99754146e-01 -2.31310314e-03 -2.20521625e-02 5.57138048e+00] [ 2.39588199e-03 9.99990180e-01 3.72809339e-03 4.60965642e-01] [ 2.20433225e-02 -3.78001120e-03 9.99749870e-01 1.56734293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.403133365 meters Centerline goodness [0,1] 0.3090337273614575 Centerline is valid? [False, False] Translation: X:5.57, Y:0.46, Z:0.02 [[ 9.99756946e-01 -2.38321189e-03 -2.19173210e-02 5.57113560e+00] [ 2.46214597e-03 9.99990578e-01 3.57516768e-03 4.61503551e-01] [ 2.19085941e-02 -3.62826237e-03 9.99753394e-01 1.55312511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.433133365 meters Centerline goodness [0,1] 0.30975246563221615 Centerline is valid? [False, False] Translation: X:5.57, Y:0.46, Z:0.02 [[ 9.99757866e-01 -2.48324047e-03 -2.18641792e-02 5.57102252e+00] [ 2.55711705e-03 9.99991114e-01 3.35157708e-03 4.62239331e-01] [ 2.18556621e-02 -3.40667481e-03 9.99755332e-01 1.54495294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.463133365 meters Centerline goodness [0,1] 0.3097837908382999 Centerline is valid? [False, False] Translation: X:5.57, Y:0.46, Z:0.02 [[ 9.99759155e-01 -2.42313807e-03 -2.18119118e-02 5.57077983e+00] [ 2.49723887e-03 9.99991201e-01 3.37066617e-03 4.62504354e-01] [ 2.18035523e-02 -3.42432392e-03 9.99756410e-01 1.55490281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.493133365 meters Centerline goodness [0,1] 0.31087947882736156 Centerline is valid? [False, False] Translation: X:5.57, Y:0.46, Z:0.02 [[ 9.99764459e-01 -2.28182366e-03 -2.15828426e-02 5.57015269e+00] [ 2.35967863e-03 9.99990799e-01 3.58248282e-03 4.62096521e-01] [ 2.15744694e-02 -3.63256757e-03 9.99760645e-01 1.56691211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.523133365 meters Centerline goodness [0,1] 0.3106614039296073 Centerline is valid? [False, False] Translation: X:5.57, Y:0.46, Z:0.02 [[ 9.99768590e-01 -2.21770901e-03 -2.13973724e-02 5.56952055e+00] [ 2.29779591e-03 9.99990445e-01 3.71897780e-03 4.61636443e-01] [ 2.13889203e-02 -3.76728399e-03 9.99764133e-01 1.59957335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.553133365 meters Centerline goodness [0,1] 0.3103493165545671 Centerline is valid? [False, False] Translation: X:5.57, Y:0.46, Z:0.02 [[ 9.99768378e-01 -2.23622073e-03 -2.14053738e-02 5.56947069e+00] [ 2.31723366e-03 9.99990244e-01 3.76064542e-03 4.61055336e-01] [ 2.13967554e-02 -3.80937563e-03 9.99763806e-01 1.61402565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.583133365 meters Centerline goodness [0,1] 0.3088897992625973 Centerline is valid? [False, False] Translation: X:5.59, Y:0.46, Z:0.02 [[ 9.99746426e-01 5.25207118e-03 -2.18974805e-02 5.58865746e+00] [-5.21013706e-03 9.99984483e-01 1.97163256e-03 4.57845073e-01] [ 2.19074959e-02 -1.85704373e-03 9.99758277e-01 1.83295522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.613133365 meters Centerline goodness [0,1] 0.3098035814941682 Centerline is valid? [False, False] Translation: X:5.59, Y:0.46, Z:0.02 [[ 9.99741454e-01 5.27329119e-03 -2.21182796e-02 5.58954894e+00] [-5.23546488e-03 9.99984732e-01 1.76774208e-03 4.59361364e-01] [ 2.21272637e-02 -1.65148556e-03 9.99753798e-01 1.76566106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.643133365 meters Centerline goodness [0,1] 0.3062709966405375 Centerline is valid? [False, False] Translation: X:5.60, Y:0.47, Z:0.02 [[ 9.99765327e-01 -1.08168009e-03 -2.16361189e-02 5.60491017e+00] [ 1.16516133e-03 9.99991925e-01 3.84618600e-03 4.66082141e-01] [ 2.16317838e-02 -3.87049297e-03 9.99758513e-01 2.06054131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.67313336499996 meters Centerline goodness [0,1] 0.3125682105906491 Centerline is valid? [False, False] Translation: X:5.58, Y:0.46, Z:0.02 [[ 9.99768772e-01 7.23481992e-03 -2.02499539e-02 5.58282857e+00] [-7.16856244e-03 9.99968719e-01 3.34266179e-03 4.62342096e-01] [ 2.02735040e-02 -3.19672582e-03 9.99789361e-01 1.98610062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.703133365 meters Centerline goodness [0,1] 0.3131459416759924 Centerline is valid? [False, False] Translation: X:5.58, Y:0.46, Z:0.02 [[ 9.99778822e-01 7.15377266e-03 -1.97770159e-02 5.58135888e+00] [-7.09501464e-03 9.99970210e-01 3.03959779e-03 4.63861961e-01] [ 1.97981714e-02 -2.89860728e-03 9.99799795e-01 2.04238066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.73313336499996 meters Centerline goodness [0,1] 0.3097934134324488 Centerline is valid? [False, False] Translation: X:5.60, Y:0.47, Z:0.02 [[ 9.99771550e-01 7.13045471e-04 -2.13620987e-02 5.59878967e+00] [-6.37522726e-04 9.99993524e-01 3.54196330e-03 4.72371120e-01] [ 2.13644860e-02 -3.52753532e-03 9.99765530e-01 2.23997762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.763133365 meters Centerline goodness [0,1] 0.3059613191919627 Centerline is valid? [False, False] Translation: X:5.60, Y:0.47, Z:0.02 [[ 9.99770540e-01 6.64470390e-04 -2.14108704e-02 5.59925991e+00] [-5.94860167e-04 9.99994518e-01 3.25736765e-03 4.74093896e-01] [ 2.14129175e-02 -3.24388374e-03 9.99765455e-01 2.17344020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.79313336499996 meters Centerline goodness [0,1] 0.30968937329700275 Centerline is valid? [False, False] Translation: X:5.58, Y:0.47, Z:0.02 [[ 9.99744023e-01 8.44768002e-03 -2.09886970e-02 5.57976999e+00] [-8.40634134e-03 9.99962550e-01 2.05701897e-03 4.69979555e-01] [ 2.10052881e-02 -1.88005427e-03 9.99777597e-01 1.94353364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.823133365 meters Centerline goodness [0,1] 0.30934687384226467 Centerline is valid? [False, False] Translation: X:5.58, Y:0.47, Z:0.02 [[ 9.99750449e-01 8.37579179e-03 -2.07095681e-02 5.57904045e+00] [-8.33758131e-03 9.99963378e-01 1.93072089e-03 4.70332586e-01] [ 2.07249809e-02 -1.75757137e-03 9.99783670e-01 1.95272397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.85313336499996 meters Centerline goodness [0,1] 0.31263397348965394 Centerline is valid? [False, False] Translation: X:5.58, Y:0.47, Z:0.02 [[ 9.99754420e-01 8.30824506e-03 -2.05444008e-02 5.57844880e+00] [-8.27144059e-03 9.99964032e-01 1.87578783e-03 4.70206725e-01] [ 2.05592463e-02 -1.70539538e-03 9.99787182e-01 1.98429013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.883133365 meters Centerline goodness [0,1] 0.31129548572548504 Centerline is valid? [False, False] Translation: X:5.58, Y:0.47, Z:0.02 [[ 9.99752489e-01 8.30692303e-03 -2.06386983e-02 5.57860111e+00] [-8.26801410e-03 9.99963879e-01 1.96985788e-03 4.69468489e-01] [ 2.06543162e-02 -1.79872927e-03 9.99785059e-01 1.99339762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.91313336499996 meters Centerline goodness [0,1] 0.3083956234427473 Centerline is valid? [False, False] Translation: X:5.60, Y:0.47, Z:0.02 [[ 9.99761582e-01 9.69144648e-04 -2.18137631e-02 5.59775590e+00] [-9.00774576e-04 9.99994652e-01 3.14387072e-03 4.74474847e-01] [ 2.18166933e-02 -3.12347188e-03 9.99757108e-01 2.19860102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.943133365 meters Centerline goodness [0,1] 0.3082905482983471 Centerline is valid? [False, False] Translation: X:5.60, Y:0.47, Z:0.02 [[ 9.99750959e-01 1.00397740e-03 -2.22937658e-02 5.59925632e+00] [-9.30743276e-04 9.99994138e-01 3.29509298e-03 4.73649339e-01] [ 2.22969433e-02 -3.27352260e-03 9.99746033e-01 2.14419711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.97313336499997 meters Centerline goodness [0,1] 0.30762875839728676 Centerline is valid? [False, False] Translation: X:5.60, Y:0.47, Z:0.02 [[ 9.99751323e-01 9.92423252e-04 -2.22779437e-02 5.59921777e+00] [-9.18707469e-04 9.99994070e-01 3.31890414e-03 4.73349523e-01] [ 2.22811053e-02 -3.29761189e-03 9.99746307e-01 2.14496748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.003133365 meters Centerline goodness [0,1] 0.30880152655203075 Centerline is valid? [False, False] Translation: X:5.60, Y:0.47, Z:0.02 [[ 9.99754254e-01 9.96458484e-04 -2.21458447e-02 5.59883509e+00] [-9.22244293e-04 9.99993926e-01 3.36111708e-03 4.72994890e-01] [ 2.21490594e-02 -3.33986722e-03 9.99749101e-01 2.15639983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.03313336499997 meters Centerline goodness [0,1] 0.30904899636822303 Centerline is valid? [False, False] Translation: X:5.60, Y:0.47, Z:0.02 [[ 9.99753845e-01 1.03446838e-03 -2.21625481e-02 5.59895663e+00] [-9.58134971e-04 9.99993574e-01 3.45459429e-03 4.72539056e-01] [ 2.21659793e-02 -3.43250921e-03 9.99748412e-01 2.14375885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.063133365 meters Centerline goodness [0,1] 0.30606848814462906 Centerline is valid? [False, False] Translation: X:5.60, Y:0.47, Z:0.02 [[ 9.99749371e-01 1.05269216e-03 -2.23626210e-02 5.59978239e+00] [-9.74425684e-04 9.99993363e-01 3.51048797e-03 4.72193466e-01] [ 2.23661681e-02 -3.48781743e-03 9.99743762e-01 2.08719985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.09313336499997 meters Centerline goodness [0,1] 0.30606848814462906 Centerline is valid? [False, False] Translation: X:5.60, Y:0.47, Z:0.02 [[ 9.99749371e-01 1.05269216e-03 -2.23626210e-02 5.59978239e+00] [-9.74425684e-04 9.99993363e-01 3.51048797e-03 4.72193466e-01] [ 2.23661681e-02 -3.48781743e-03 9.99743762e-01 2.08719985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.123133365 meters Centerline goodness [0,1] 0.30614542069831374 Centerline is valid? [False, False] Translation: X:5.60, Y:0.47, Z:0.02 [[ 9.99735590e-01 1.01221007e-03 -2.29722985e-02 5.60189414e+00] [-9.31040891e-04 9.99993287e-01 3.54377084e-03 4.71546195e-01] [ 2.29757313e-02 -3.52144568e-03 9.99729821e-01 1.98246074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.153133365 meters Centerline goodness [0,1] 0.30724530437242914 Centerline is valid? [False, False] Translation: X:5.60, Y:0.47, Z:0.02 [[ 9.99731746e-01 9.93967297e-04 -2.31397412e-02 5.60242214e+00] [-9.13149151e-04 9.99993448e-01 3.50291680e-03 4.71623108e-01] [ 2.31430714e-02 -3.48084710e-03 9.99726103e-01 1.95806663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.183133365 meters Centerline goodness [0,1] 0.30624973024299706 Centerline is valid? [False, False] Translation: X:5.60, Y:0.47, Z:0.02 [[ 9.99730206e-01 9.70590641e-04 -2.32071735e-02 5.60255376e+00] [-8.90839391e-04 9.99993664e-01 3.44658272e-03 4.71855907e-01] [ 2.32103717e-02 -3.42497899e-03 9.99724736e-01 1.95897217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.213133365 meters Centerline goodness [0,1] 0.3065540952215162 Centerline is valid? [False, False] Translation: X:5.60, Y:0.47, Z:0.02 [[ 9.99732128e-01 9.26867190e-04 -2.31260150e-02 5.60228319e+00] [-8.49754771e-04 9.99994048e-01 3.34404903e-03 4.72336543e-01] [ 2.31289768e-02 -3.32350181e-03 9.99726965e-01 1.97022364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.243133365 meters Centerline goodness [0,1] 0.307896585023264 Centerline is valid? [False, False] Translation: X:5.60, Y:0.47, Z:0.02 [[ 9.99734938e-01 8.54450773e-04 -2.30070444e-02 5.60200894e+00] [-7.83676101e-04 9.99994934e-01 3.08505798e-03 4.73848230e-01] [ 2.30095638e-02 -3.06621018e-03 9.99730543e-01 1.96348870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.273133365 meters Centerline goodness [0,1] 0.30779484714057825 Centerline is valid? [False, False] Translation: X:5.60, Y:0.47, Z:0.02 [[ 9.99735713e-01 7.48807265e-04 -2.29770053e-02 5.60197114e+00] [-6.82417149e-04 9.99995570e-01 2.89712051e-03 4.74502998e-01] [ 2.29790729e-02 -2.88067493e-03 9.99731796e-01 1.95705453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.303133365 meters Centerline goodness [0,1] 0.30377728457842224 Centerline is valid? [False, False] Translation: X:5.62, Y:0.47, Z:0.02 [[ 9.99713523e-01 8.66597899e-03 -2.23108024e-02 5.62145721e+00] [-8.63392381e-03 9.99961552e-01 1.53268422e-03 4.72365202e-01] [ 2.23232268e-02 -1.33961538e-03 9.99749908e-01 2.11513936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.333133365 meters Centerline goodness [0,1] 0.3050326712536241 Centerline is valid? [False, False] Translation: X:5.62, Y:0.47, Z:0.02 [[ 9.99719527e-01 8.64406625e-03 -2.20487317e-02 5.62069633e+00] [-8.61366087e-03 9.99961816e-01 1.47360901e-03 4.72675530e-01] [ 2.20606278e-02 -1.28327541e-03 9.99755811e-01 2.13238755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.363133365 meters Centerline goodness [0,1] 0.30843640632132685 Centerline is valid? [False, False] Translation: X:5.62, Y:0.47, Z:0.02 [[ 9.99727665e-01 8.61521436e-03 -2.16880899e-02 5.61957907e+00] [-8.58811070e-03 9.99962220e-01 1.34253477e-03 4.73512719e-01] [ 2.16988367e-02 -1.15590943e-03 9.99763884e-01 2.17399483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.393133365 meters Centerline goodness [0,1] 0.30771900145314157 Centerline is valid? [False, False] Translation: X:5.62, Y:0.47, Z:0.02 [[ 9.99734610e-01 8.57996745e-03 -2.13797308e-02 5.61877692e+00] [-8.55677723e-03 9.99962699e-01 1.17592912e-03 4.74601316e-01] [ 2.13890228e-02 -9.92675448e-04 9.99770736e-01 2.18333048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42313336499996 meters Centerline goodness [0,1] 0.301794910469952 Centerline is valid? [False, False] Translation: X:5.64, Y:0.48, Z:0.02 [[ 9.99737721e-01 2.15848974e-03 -2.27997911e-02 5.63628919e+00] [-2.11713851e-03 9.99996070e-01 1.83764951e-03 4.84229644e-01] [ 2.28036681e-02 -1.78889722e-03 9.99738362e-01 2.35635511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.453133365 meters Centerline goodness [0,1] 0.30259910286952973 Centerline is valid? [False, False] Translation: X:5.64, Y:0.49, Z:0.02 [[ 9.99734496e-01 2.03947038e-03 -2.29516322e-02 5.63674582e+00] [-2.00874883e-03 9.99997056e-01 1.36150975e-03 4.86817119e-01] [ 2.29543413e-02 -1.31504420e-03 9.99735649e-01 2.32886518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48313336499996 meters Centerline goodness [0,1] 0.30575993730680484 Centerline is valid? [False, False] Translation: X:5.59, Y:0.49, Z:0.02 [[ 9.99685478e-01 2.34929276e-03 -2.49685043e-02 5.59042795e+00] [-2.31021036e-03 9.99996061e-01 1.59399865e-03 4.86558456e-01] [ 2.49721507e-02 -1.53581480e-03 9.99686967e-01 2.32979795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.513133365 meters Centerline goodness [0,1] 0.3026077975729409 Centerline is valid? [False, False] Translation: X:5.61, Y:0.49, Z:0.02 [[ 9.99688618e-01 1.18444388e-02 -2.19630521e-02 5.60902032e+00] [-1.18238671e-02 9.99929527e-01 1.06627730e-03 4.92435844e-01] [ 2.19741338e-02 -8.06257072e-04 9.99758214e-01 2.45242139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54313336499996 meters Centerline goodness [0,1] 0.3080202736507799 Centerline is valid? [False, False] Translation: X:5.59, Y:0.50, Z:0.02 [[ 9.99791616e-01 3.86866053e-03 -2.00438934e-02 5.58746099e+00] [-3.83875381e-03 9.99991461e-01 1.53032258e-03 4.99261253e-01] [ 2.00496425e-02 -1.45306012e-03 9.99797930e-01 2.26895238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.573133365 meters Centerline goodness [0,1] 0.3022028699513095 Centerline is valid? [False, False] Translation: X:5.61, Y:0.51, Z:0.02 [[ 9.99792802e-01 -1.54104432e-03 -2.02972664e-02 5.60870249e+00] [ 1.62520175e-03 9.99990149e-01 4.13040209e-03 5.06496556e-01] [ 2.02907014e-02 -4.16253343e-03 9.99785457e-01 2.30139547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60313336499996 meters Centerline goodness [0,1] 0.3032571182053494 Centerline is valid? [False, False] Translation: X:5.61, Y:0.51, Z:0.02 [[ 9.99787800e-01 -1.74750727e-03 -2.05256395e-02 5.60949148e+00] [ 1.82064199e-03 9.99992059e-01 3.54494506e-03 5.09596543e-01] [ 2.05192817e-02 -3.58156267e-03 9.99783042e-01 2.24759242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.633133365 meters Centerline goodness [0,1] 0.30384565189019885 Centerline is valid? [False, False] Translation: X:5.61, Y:0.51, Z:0.02 [[ 9.99779948e-01 -1.98313053e-03 -2.08835712e-02 5.61060082e+00] [ 2.04569166e-03 9.99993483e-01 2.97477390e-03 5.12327419e-01] [ 2.08775357e-02 -3.01684064e-03 9.99777489e-01 2.19078207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66313336499996 meters Centerline goodness [0,1] 0.3059489470602269 Centerline is valid? [False, False] Translation: X:5.61, Y:0.52, Z:0.02 [[ 9.99774183e-01 -2.21283791e-03 -2.11349636e-02 5.61126670e+00] [ 2.26450609e-03 9.99994505e-01 2.42105789e-03 5.15082766e-01] [ 2.11294900e-02 -2.46837143e-03 9.99773700e-01 2.16742408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.693133365 meters Centerline goodness [0,1] 0.30194791171770397 Centerline is valid? [False, False] Translation: X:5.61, Y:0.52, Z:0.02 [[ 9.99771032e-01 -2.62998473e-03 -2.12359667e-02 5.61113291e+00] [ 2.66308721e-03 9.99995283e-01 1.53066410e-03 5.19705505e-01] [ 2.12318409e-02 -1.58686686e-03 9.99773320e-01 2.20968338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72313336499997 meters Centerline goodness [0,1] 0.30236660929432013 Centerline is valid? [False, False] Translation: X:5.61, Y:0.52, Z:0.02 [[ 9.99771370e-01 -2.79506761e-03 -2.11989312e-02 5.61090894e+00] [ 2.82057044e-03 9.99995334e-01 1.17321959e-03 5.21564011e-01] [ 2.11955531e-02 -1.23274444e-03 9.99774589e-01 2.22834598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.753133365 meters Centerline goodness [0,1] 0.30079882867170515 Centerline is valid? [False, False] Translation: X:5.61, Y:0.52, Z:0.02 [[ 9.99768516e-01 -2.98705710e-03 -2.13070853e-02 5.61114114e+00] [ 3.00531395e-03 9.99995144e-01 8.24874611e-04 5.23142494e-01] [ 2.13045179e-02 -8.88718147e-04 9.99772638e-01 2.22612135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78313336499997 meters Centerline goodness [0,1] 0.3054389665746037 Centerline is valid? [False, False] Translation: X:5.61, Y:0.52, Z:0.02 [[ 9.99759299e-01 -3.42449888e-03 -2.16706266e-02 5.61195009e+00] [ 3.43124852e-03 9.99994076e-01 2.74289375e-04 5.24930740e-01] [ 2.16695589e-02 -3.48580659e-04 9.99765127e-01 2.22954802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.813133365 meters Centerline goodness [0,1] 0.3034766598072133 Centerline is valid? [False, False] Translation: X:5.61, Y:0.53, Z:0.02 [[ 9.99758931e-01 -3.49950924e-03 -2.16756268e-02 5.61191761e+00] [ 3.50493348e-03 9.99993835e-01 2.12260932e-04 5.25168324e-01] [ 2.16747504e-02 -2.88181393e-04 9.99765033e-01 2.24314962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84313336499997 meters Centerline goodness [0,1] 0.3029975812024879 Centerline is valid? [False, False] Translation: X:5.61, Y:0.53, Z:0.02 [[ 9.99759379e-01 -3.51525266e-03 -2.16524170e-02 5.61165102e+00] [ 3.52094389e-03 9.99993776e-01 2.24727499e-04 5.25245870e-01] [ 2.16514923e-02 -3.00910370e-04 9.99765534e-01 2.28027968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.873133365 meters Centerline goodness [0,1] 0.30244552370309885 Centerline is valid? [False, False] Translation: X:5.61, Y:0.53, Z:0.02 [[ 9.99760992e-01 -3.50344090e-03 -2.15797162e-02 5.61138205e+00] [ 3.50930475e-03 9.99993815e-01 2.33866000e-04 5.25542379e-01] [ 2.15787634e-02 -3.09539905e-04 9.99767103e-01 2.29564782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.903133365 meters Centerline goodness [0,1] 0.30378544127491414 Centerline is valid? [False, False] Translation: X:5.61, Y:0.53, Z:0.02 [[ 9.99762231e-01 -3.51308271e-03 -2.15206747e-02 5.61124945e+00] [ 3.51834825e-03 9.99993789e-01 2.06815463e-04 5.25902039e-01] [ 2.15198145e-02 -2.82483517e-04 9.99768382e-01 2.29493148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.933133365 meters Centerline goodness [0,1] 0.3033834180088639 Centerline is valid? [False, False] Translation: X:5.61, Y:0.53, Z:0.02 [[ 9.99761080e-01 -3.55744984e-03 -2.15667983e-02 5.61140726e+00] [ 3.56140914e-03 9.99993648e-01 1.45177579e-04 5.26170537e-01] [ 2.15661448e-02 -2.21951086e-04 9.99767399e-01 2.28877932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.963133365 meters Centerline goodness [0,1] 0.3024876688826935 Centerline is valid? [False, False] Translation: X:5.63, Y:0.52, Z:0.03 [[ 9.99749943e-01 3.23341927e-03 -2.21268090e-02 5.62930827e+00] [-3.27062037e-03 9.99993298e-01 -1.64528617e-03 5.22356390e-01] [ 2.21213408e-02 1.71724314e-03 9.99753818e-01 2.54094824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.993133365 meters Centerline goodness [0,1] 0.3082173913043478 Centerline is valid? [False, False] Translation: X:5.61, Y:0.52, Z:0.02 [[ 9.99746808e-01 -5.07703913e-03 -2.19213112e-02 5.60864642e+00] [ 5.06312511e-03 9.99986944e-01 -6.90181256e-04 5.24410107e-01] [ 2.19245291e-02 5.79016166e-04 9.99759461e-01 2.37671932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.023133365 meters Centerline goodness [0,1] 0.3048764629388817 Centerline is valid? [False, False] Translation: X:5.61, Y:0.52, Z:0.02 [[ 9.99750117e-01 -5.05549790e-03 -2.17748978e-02 5.60816108e+00] [ 5.04347983e-03 9.99987097e-01 -6.06805679e-04 5.23985778e-01] [ 2.17776845e-02 4.96832791e-04 9.99762715e-01 2.40133185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.053133365 meters Centerline goodness [0,1] 0.3027204280197614 Centerline is valid? [False, False] Translation: X:5.61, Y:0.52, Z:0.02 [[ 9.99754798e-01 -5.06501807e-03 -2.15566649e-02 5.60755410e+00] [ 5.05320858e-03 9.99987051e-01 -6.02271104e-04 5.23951395e-01] [ 2.15594363e-02 4.93193102e-04 9.99767447e-01 2.41869782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.083133365 meters Centerline goodness [0,1] 0.3055597801290547 Centerline is valid? [False, False] Translation: X:5.61, Y:0.52, Z:0.02 [[ 9.99759274e-01 -5.09004642e-03 -2.13421223e-02 5.60719164e+00] [ 5.07609024e-03 9.99986866e-01 -7.08049316e-04 5.24603511e-01] [ 2.13454460e-02 5.99544331e-04 9.99771980e-01 2.39338455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.113133365 meters Centerline goodness [0,1] 0.3051942421089143 Centerline is valid? [False, False] Translation: X:5.61, Y:0.53, Z:0.02 [[ 9.99759468e-01 -5.06765261e-03 -2.13383549e-02 5.60760315e+00] [ 5.04685891e-03 9.99986736e-01 -1.02821475e-03 5.26776945e-01] [ 2.13432825e-02 9.20275761e-04 9.99771783e-01 2.31769371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.143133365 meters Centerline goodness [0,1] 0.3057790466303314 Centerline is valid? [False, False] Translation: X:5.61, Y:0.53, Z:0.02 [[ 9.99759293e-01 -5.09737040e-03 -2.13394869e-02 5.60775628e+00] [ 5.07091713e-03 9.99986306e-01 -1.29356777e-03 5.28440212e-01] [ 2.13457885e-02 1.18504563e-03 9.99771450e-01 2.28525327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.17313336499996 meters Centerline goodness [0,1] 0.30721303618499884 Centerline is valid? [False, False] Translation: X:5.61, Y:0.53, Z:0.02 [[ 9.99758306e-01 -5.13925887e-03 -2.13756115e-02 5.60794920e+00] [ 5.10616523e-03 9.99985679e-01 -1.60248871e-03 5.30212214e-01] [ 2.13835410e-02 1.49295400e-03 9.99770231e-01 2.25765380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.203133365 meters Centerline goodness [0,1] 0.30235717828721775 Centerline is valid? [False, False] Translation: X:5.63, Y:0.53, Z:0.02 [[ 9.99777897e-01 2.95747503e-03 -2.08665012e-02 5.62773454e+00] [-3.01968148e-03 9.99991089e-01 -2.95028515e-03 5.30363188e-01] [ 2.08575898e-02 3.01264007e-03 9.99777918e-01 2.40801646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.23313336499996 meters Centerline goodness [0,1] 0.30261004393143254 Centerline is valid? [False, False] Translation: X:5.63, Y:0.53, Z:0.02 [[ 9.99775867e-01 2.97883785e-03 -2.09604751e-02 5.62824016e+00] [-3.04855574e-03 9.99989925e-01 -3.29499298e-03 5.32610495e-01] [ 2.09504487e-02 3.35815365e-03 9.99774875e-01 2.34704104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.263133365 meters Centerline goodness [0,1] 0.30606905796631423 Centerline is valid? [False, False] Translation: X:5.63, Y:0.53, Z:0.02 [[ 9.99772431e-01 2.92722905e-03 -2.11309713e-02 5.62883382e+00] [-3.00104233e-03 9.99989503e-01 -3.46226701e-03 5.33367561e-01] [ 2.11206147e-02 3.52489404e-03 9.99770721e-01 2.31101017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.29313336499996 meters Centerline goodness [0,1] 0.30128549048221986 Centerline is valid? [False, False] Translation: X:5.65, Y:0.54, Z:0.03 [[ 9.99722679e-01 -3.24300891e-03 -2.33248197e-02 5.64576710e+00] [ 3.18618355e-03 9.99991866e-01 -2.47301281e-03 5.40226974e-01] [ 2.33326500e-02 2.39800984e-03 9.99724881e-01 2.52589161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.323133365 meters Centerline goodness [0,1] 0.3031457706380307 Centerline is valid? [False, False] Translation: X:5.65, Y:0.54, Z:0.02 [[ 9.99716408e-01 -3.31858696e-03 -2.35815577e-02 5.64660397e+00] [ 3.25616696e-03 9.99991094e-01 -2.68488881e-03 5.41202588e-01] [ 2.35902577e-02 2.60734191e-03 9.99718311e-01 2.48212244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.35313336499996 meters Centerline goodness [0,1] 0.3038183515314651 Centerline is valid? [False, False] Translation: X:5.65, Y:0.54, Z:0.02 [[ 9.99713557e-01 -3.37293797e-03 -2.36944553e-02 5.64703830e+00] [ 3.30632798e-03 9.99990473e-01 -2.84982007e-03 5.41996570e-01] [ 2.37038418e-02 2.77066212e-03 9.99715185e-01 2.44686385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.383133365 meters Centerline goodness [0,1] 0.30636712328767124 Centerline is valid? [False, False] Translation: X:5.65, Y:0.54, Z:0.02 [[ 9.99713995e-01 -3.41706875e-03 -2.36696359e-02 5.64696412e+00] [ 3.34793624e-03 9.99990016e-01 -2.95973796e-03 5.42548137e-01] [ 2.36795132e-02 2.87964702e-03 9.99715454e-01 2.44710601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.41313336499996 meters Centerline goodness [0,1] 0.2999485728979172 Centerline is valid? [False, False] Translation: X:5.69, Y:0.55, Z:0.03 [[ 9.99779424e-01 -2.67391551e-03 -2.08315324e-02 5.68837977e+00] [ 2.62587988e-03 9.99993831e-01 -2.33292183e-03 5.45899641e-01] [ 2.08376420e-02 2.27770614e-03 9.99780278e-01 2.62577337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.443133365 meters Centerline goodness [0,1] 0.30580880437613966 Centerline is valid? [False, False] Translation: X:5.67, Y:0.54, Z:0.02 [[ 9.99764432e-01 5.29427099e-03 -2.10487983e-02 5.66930456e+00] [-5.36639854e-03 9.99979917e-01 -3.37167575e-03 5.40042248e-01] [ 2.10305250e-02 3.48383773e-03 9.99772764e-01 2.48034624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.47313336499997 meters Centerline goodness [0,1] 0.3030710214342992 Centerline is valid? [False, False] Translation: X:5.67, Y:0.54, Z:0.02 [[ 9.99760074e-01 5.26426700e-03 -2.12622018e-02 5.67000685e+00] [-5.33861591e-03 9.99979827e-01 -3.44151729e-03 5.40344446e-01] [ 2.12436558e-02 3.55420231e-03 9.99768010e-01 2.44552157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.503133365 meters Centerline goodness [0,1] 0.29939229376777865 Centerline is valid? [False, False] Translation: X:5.67, Y:0.54, Z:0.02 [[ 9.99753144e-01 5.20806100e-03 -2.15992285e-02 5.67121085e+00] [-5.28615960e-03 9.99979690e-01 -3.56028709e-03 5.40817107e-01] [ 2.15802476e-02 3.67358518e-03 9.99760370e-01 2.37781520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.53313336499997 meters Centerline goodness [0,1] 0.2990053919357264 Centerline is valid? [False, False] Translation: X:5.67, Y:0.54, Z:0.02 [[ 9.99743030e-01 5.24729294e-03 -2.20531047e-02 5.67286428e+00] [-5.33513418e-03 9.99978060e-01 -3.92622248e-03 5.43144777e-01] [ 2.20320188e-02 4.04286983e-03 9.99749091e-01 2.27046813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.563133365 meters Centerline goodness [0,1] 0.3022922324823466 Centerline is valid? [False, False] Translation: X:5.65, Y:0.55, Z:0.02 [[ 9.99785980e-01 -2.18603215e-03 -2.05722083e-02 5.65337041e+00] [ 2.12810415e-03 9.99993710e-01 -2.83730877e-03 5.48073605e-01] [ 2.05782813e-02 2.79292172e-03 9.99784344e-01 2.01621937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.59313336499997 meters Centerline goodness [0,1] 0.30215608206600963 Centerline is valid? [False, False] Translation: X:5.65, Y:0.55, Z:0.02 [[ 9.99793475e-01 -2.22033135e-03 -2.02009092e-02 5.65220929e+00] [ 2.15945776e-03 9.99993064e-01 -3.03472356e-03 5.49319269e-01] [ 2.02075071e-02 2.99047381e-03 9.99791335e-01 2.05407705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.623133365 meters Centerline goodness [0,1] 0.29914072042342554 Centerline is valid? [False, False] Translation: X:5.67, Y:0.55, Z:0.02 [[ 9.99821352e-01 5.70272256e-03 -1.80206382e-02 5.67086012e+00] [-5.78106245e-03 9.99974052e-01 -4.29813213e-03 5.48982667e-01] [ 1.79956596e-02 4.40154271e-03 9.99828377e-01 2.23193360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.653133365 meters Centerline goodness [0,1] 0.30644738566373997 Centerline is valid? [False, False] Translation: X:5.65, Y:0.55, Z:0.02 [[ 9.99865657e-01 -7.28745534e-04 -1.63748613e-02 5.64554382e+00] [ 6.96186806e-04 9.99997770e-01 -1.99394853e-03 5.50562439e-01] [ 1.63762778e-02 1.98228069e-03 9.99863935e-01 2.26444938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.683133365 meters Centerline goodness [0,1] 0.30000000000000004 Centerline is valid? [False, False] Translation: X:5.69, Y:0.56, Z:0.02 [[ 9.99892939e-01 5.53611618e-05 -1.46324118e-02 5.68900298e+00] [-7.70004376e-05 9.99998904e-01 -1.47829989e-03 5.55242625e-01] [ 1.46323139e-02 1.47926832e-03 9.99891848e-01 2.33142448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.713133365 meters Centerline goodness [0,1] 0.3060209825437501 Centerline is valid? [False, False] Translation: X:5.64, Y:0.55, Z:0.02 [[ 9.99856588e-01 1.75969668e-04 -1.69343282e-02 5.64458347e+00] [-2.01542395e-04 9.99998842e-01 -1.50841695e-03 5.52717705e-01] [ 1.69340432e-02 1.51161361e-03 9.99855466e-01 2.31888619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.743133365 meters Centerline goodness [0,1] 0.3006717478361969 Centerline is valid? [False, False] Translation: X:5.69, Y:0.56, Z:0.02 [[ 9.99877265e-01 4.96335367e-04 -1.56591622e-02 5.68904555e+00] [-5.26402194e-04 9.99998026e-01 -1.91601559e-03 5.58827304e-01] [ 1.56581803e-02 1.92402345e-03 9.99875552e-01 2.34634633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.773133365 meters Centerline goodness [0,1] 0.3027955028866606 Centerline is valid? [False, False] Translation: X:5.69, Y:0.56, Z:0.02 [[ 9.99876761e-01 3.17675482e-04 -1.56959365e-02 5.68901684e+00] [-3.55380156e-04 9.99997058e-01 -2.39946254e-03 5.60986410e-01] [ 1.56951281e-02 2.40474486e-03 9.99873932e-01 2.35147089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.803133365 meters Centerline goodness [0,1] 0.30276430441687774 Centerline is valid? [False, False] Translation: X:5.69, Y:0.56, Z:0.02 [[ 9.99878196e-01 2.20725117e-04 -1.56059156e-02 5.68837333e+00] [-2.64344661e-04 9.99996064e-01 -2.79305715e-03 5.63171294e-01] [ 1.56052377e-02 2.79684229e-03 9.99874319e-01 2.40300777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.833133365 meters Centerline goodness [0,1] 0.3024458874458874 Centerline is valid? [False, False] Translation: X:5.68, Y:0.57, Z:0.03 [[ 9.99892712e-01 2.48452949e-03 -1.44357873e-02 5.68299733e+00] [-2.49775109e-03 9.99996477e-01 -8.97933257e-04 5.67015024e-01] [ 1.44335055e-02 9.33893923e-04 9.99895395e-01 2.70520988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.863133365 meters Centerline goodness [0,1] 0.30217169635302543 Centerline is valid? [False, False] Translation: X:5.68, Y:0.57, Z:0.03 [[ 9.99896507e-01 2.41008334e-03 -1.41833113e-02 5.68245032e+00] [-2.42670737e-03 9.99996389e-01 -1.15498998e-03 5.68514781e-01] [ 1.41804765e-02 1.18928919e-03 9.99898745e-01 2.69335758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.893133365 meters Centerline goodness [0,1] 0.30128357756661395 Centerline is valid? [False, False] Translation: X:5.68, Y:0.57, Z:0.03 [[ 9.99896965e-01 2.15345834e-03 -1.41922916e-02 5.68252903e+00] [-2.17794249e-03 9.99996166e-01 -1.70994284e-03 5.70831520e-01] [ 1.41885549e-02 1.74067665e-03 9.99897822e-01 2.67320109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92313336499996 meters Centerline goodness [0,1] 0.30246431515467054 Centerline is valid? [False, False] Translation: X:5.68, Y:0.57, Z:0.03 [[ 9.99893455e-01 2.07107785e-03 -1.44495540e-02 5.68289894e+00] [-2.09867100e-03 9.99996003e-01 -1.89471789e-03 5.71744775e-01] [ 1.44455722e-02 1.92484088e-03 9.99893805e-01 2.70446983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.953133365 meters Centerline goodness [0,1] 0.3013751778247187 Centerline is valid? [False, False] Translation: X:5.68, Y:0.57, Z:0.03 [[ 9.99888911e-01 2.07713253e-03 -1.47598094e-02 5.68358622e+00] [-2.10612120e-03 9.99995883e-01 -1.94875514e-03 5.72531858e-01] [ 1.47557008e-02 1.97962461e-03 9.99889169e-01 2.70768155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98313336499996 meters Centerline goodness [0,1] 0.3013751778247187 Centerline is valid? [False, False] Translation: X:5.68, Y:0.57, Z:0.03 [[ 9.99888911e-01 2.07713253e-03 -1.47598094e-02 5.68358622e+00] [-2.10612120e-03 9.99995883e-01 -1.94875514e-03 5.72531858e-01] [ 1.47557008e-02 1.97962461e-03 9.99889169e-01 2.70768155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.013133365 meters Centerline goodness [0,1] 0.3028052805280528 Centerline is valid? [False, False] Translation: X:5.68, Y:0.57, Z:0.03 [[ 9.99886328e-01 2.08027640e-03 -1.49333246e-02 5.68406199e+00] [-2.11026347e-03 9.99995788e-01 -1.99258758e-03 5.73182266e-01] [ 1.49291166e-02 2.02387433e-03 9.99886506e-01 2.69669506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04313336499996 meters Centerline goodness [0,1] 0.304124496680814 Centerline is valid? [False, False] Translation: X:5.68, Y:0.57, Z:0.03 [[ 9.99885343e-01 2.04767861e-03 -1.50036062e-02 5.68433592e+00] [-2.07876280e-03 9.99995725e-01 -2.05647898e-03 5.73565867e-01] [ 1.49993311e-02 2.08743213e-03 9.99885325e-01 2.68004891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.073133365 meters Centerline goodness [0,1] 0.30190241670117024 Centerline is valid? [False, False] Translation: X:5.68, Y:0.57, Z:0.03 [[ 9.99886349e-01 1.93424108e-03 -1.49515382e-02 5.68418332e+00] [-1.96771953e-03 9.99995589e-01 -2.22474392e-03 5.74040904e-01] [ 1.49471691e-02 2.25391151e-03 9.99885744e-01 2.68491858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10313336499996 meters Centerline goodness [0,1] 0.3029878114550749 Centerline is valid? [False, False] Translation: X:5.70, Y:0.58, Z:0.03 [[ 9.99864273e-01 -6.13474729e-03 -1.52905556e-02 5.70295427e+00] [ 6.11271160e-03 9.99980211e-01 -1.48745068e-03 5.80467114e-01] [ 1.52993782e-02 1.39378203e-03 9.99881986e-01 2.85410314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.133133365 meters Centerline goodness [0,1] 0.3053050224936431 Centerline is valid? [False, False] Translation: X:5.70, Y:0.58, Z:0.03 [[ 9.99861565e-01 -6.15173322e-03 -1.54598720e-02 5.70354914e+00] [ 6.12869160e-03 9.99980038e-01 -1.53735093e-03 5.80775867e-01] [ 1.54690208e-02 1.44238932e-03 9.99879307e-01 2.82321563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16313336499996 meters Centerline goodness [0,1] 0.29986530114814736 Centerline is valid? [False, False] Translation: X:5.72, Y:0.58, Z:0.03 [[ 9.99878409e-01 1.59149130e-03 -1.55123894e-02 5.72380661e+00] [-1.62991603e-03 9.99995634e-01 -2.46470712e-03 5.79242146e-01] [ 1.55083991e-02 2.48969132e-03 9.99876638e-01 2.92997143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.193133365 meters Centerline goodness [0,1] 0.30114029025570144 Centerline is valid? [False, False] Translation: X:5.72, Y:0.58, Z:0.03 [[ 9.99878755e-01 1.55706273e-03 -1.54935673e-02 5.72372322e+00] [-1.59598435e-03 9.99995601e-01 -2.50006753e-03 5.79273846e-01] [ 1.54896064e-02 2.52449190e-03 9.99876842e-01 2.94099418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22313336499997 meters Centerline goodness [0,1] 0.30442688602662626 Centerline is valid? [False, False] Translation: X:5.72, Y:0.58, Z:0.03 [[ 9.99881594e-01 1.45445748e-03 -1.53193814e-02 5.72321312e+00] [-1.49436246e-03 9.99995520e-01 -2.59374362e-03 5.79269786e-01] [ 1.53155402e-02 2.61632921e-03 9.99879287e-01 2.95693709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.253133365 meters Centerline goodness [0,1] 0.3059800447796883 Centerline is valid? [False, False] Translation: X:5.72, Y:0.58, Z:0.03 [[ 9.99881838e-01 1.33217227e-03 -1.53145376e-02 5.72329336e+00] [-1.37220399e-03 9.99995669e-01 -2.60375735e-03 5.78796737e-01] [ 1.53110026e-02 2.62446435e-03 9.99879335e-01 2.94916809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28313336499997 meters Centerline goodness [0,1] 0.3054852868046096 Centerline is valid? [False, False] Translation: X:5.72, Y:0.58, Z:0.03 [[ 9.99875631e-01 1.29354776e-03 -1.57177871e-02 5.72463322e+00] [-1.33473734e-03 9.99995702e-01 -2.61036381e-03 5.78735156e-01] [ 1.57143429e-02 2.63101828e-03 9.99873061e-01 2.88833727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.313133365 meters Centerline goodness [0,1] 0.304124496680814 Centerline is valid? [False, False] Translation: X:5.73, Y:0.58, Z:0.03 [[ 9.99869577e-01 1.26758090e-03 -1.61003812e-02 5.72590877e+00] [-1.30927587e-03 9.99995816e-01 -2.57941145e-03 5.78362056e-01] [ 1.60970442e-02 2.60015487e-03 9.99867053e-01 2.83282726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34313336499997 meters Centerline goodness [0,1] 0.3019999134236613 Centerline is valid? [False, False] Translation: X:5.73, Y:0.58, Z:0.03 [[ 9.99863542e-01 1.21237489e-03 -1.64750639e-02 5.72706770e+00] [-1.25471056e-03 9.99995937e-01 -2.55958780e-03 5.77890626e-01] [ 1.64718938e-02 2.57990996e-03 9.99861001e-01 2.78997702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.373133365 meters Centerline goodness [0,1] 0.3039448721024053 Centerline is valid? [False, False] Translation: X:5.73, Y:0.58, Z:0.03 [[ 9.99861524e-01 1.18498490e-03 -1.65990280e-02 5.72753803e+00] [-1.22716403e-03 9.99996044e-01 -2.53110518e-03 5.77490872e-01] [ 1.65959630e-02 2.55112442e-03 9.99859023e-01 2.76120878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.403133365 meters Centerline goodness [0,1] 0.30221539526632335 Centerline is valid? [False, False] Translation: X:5.73, Y:0.58, Z:0.03 [[ 9.99862828e-01 1.19054559e-03 -1.65199363e-02 5.72726749e+00] [-1.23148542e-03 9.99996196e-01 -2.46825630e-03 5.77217722e-01] [ 1.65169349e-02 2.48826178e-03 9.99860490e-01 2.77720472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.433133365 meters Centerline goodness [0,1] 0.3050177108459917 Centerline is valid? [False, False] Translation: X:5.73, Y:0.58, Z:0.03 [[ 9.99871139e-01 1.21290828e-03 -1.60073265e-02 5.72528010e+00] [-1.25216546e-03 9.99996233e-01 -2.44265609e-03 5.77603319e-01] [ 1.60043035e-02 2.46238515e-03 9.99868891e-01 2.90859781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.463133365 meters Centerline goodness [0,1] 0.30482518244199974 Centerline is valid? [False, False] Translation: X:5.72, Y:0.58, Z:0.03 [[ 9.99872844e-01 1.16636601e-03 -1.59039747e-02 5.72478837e+00] [-1.20680913e-03 9.99996062e-01 -2.53359673e-03 5.77983795e-01] [ 1.59009569e-02 2.55246763e-03 9.99870314e-01 2.94711319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.493133365 meters Centerline goodness [0,1] 0.303961038961039 Centerline is valid? [False, False] Translation: X:5.73, Y:0.58, Z:0.03 [[ 9.99867389e-01 1.05063010e-03 -1.62511728e-02 5.72555335e+00] [-1.09317886e-03 9.99995998e-01 -2.60953453e-03 5.77512598e-01] [ 1.62483661e-02 2.62695392e-03 9.99864536e-01 2.95250348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.523133365 meters Centerline goodness [0,1] 0.30178934174698535 Centerline is valid? [False, False] Translation: X:5.73, Y:0.58, Z:0.03 [[ 9.99866075e-01 1.08619879e-03 -1.63295025e-02 5.72575207e+00] [-1.12668852e-03 9.99996313e-01 -2.47054907e-03 5.76724054e-01] [ 1.63267588e-02 2.48861647e-03 9.99863613e-01 2.95166579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.553133365 meters Centerline goodness [0,1] 0.3064344039194339 Centerline is valid? [False, False] Translation: X:5.73, Y:0.58, Z:0.03 [[ 9.99866907e-01 1.16592355e-03 -1.62729503e-02 5.72557962e+00] [-1.20202683e-03 9.99996838e-01 -2.20900241e-03 5.75310808e-01] [ 1.62703233e-02 2.22826893e-03 9.99865147e-01 2.96140465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.583133365 meters Centerline goodness [0,1] 0.30357645124299526 Centerline is valid? [False, False] Translation: X:5.73, Y:0.57, Z:0.03 [[ 9.99869910e-01 1.23436610e-03 -1.60822601e-02 5.72502011e+00] [-1.26475610e-03 9.99997434e-01 -1.87962581e-03 5.73365564e-01] [ 1.60798986e-02 1.89972142e-03 9.99868905e-01 2.98718779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.613133365 meters Centerline goodness [0,1] 0.3059695064174347 Centerline is valid? [False, False] Translation: X:5.72, Y:0.57, Z:0.03 [[ 9.99873187e-01 1.28665053e-03 -1.58730707e-02 5.72435522e+00] [-1.31060152e-03 9.99998018e-01 -1.49859740e-03 5.70925139e-01] [ 1.58711111e-02 1.51921063e-03 9.99872892e-01 3.02429963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.643133365 meters Centerline goodness [0,1] 0.30506726264666695 Centerline is valid? [False, False] Translation: X:5.72, Y:0.57, Z:0.03 [[ 9.99876468e-01 1.30690694e-03 -1.56633823e-02 5.72393300e+00] [-1.32484240e-03 9.99998479e-01 -1.13473497e-03 5.68278695e-01] [ 1.56618755e-02 1.15534631e-03 9.99876678e-01 3.02665794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.67313336499996 meters Centerline goodness [0,1] 0.30599076352022103 Centerline is valid? [False, False] Translation: X:5.72, Y:0.56, Z:0.03 [[ 9.99872041e-01 1.39658191e-03 -1.59358431e-02 5.72484192e+00] [-1.40635645e-03 9.99998830e-01 -6.02177972e-04 5.64440731e-01] [ 1.59349835e-02 6.24512393e-04 9.99872835e-01 2.99135764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.703133365 meters Centerline goodness [0,1] 0.30764725024406114 Centerline is valid? [False, False] Translation: X:5.73, Y:0.56, Z:0.03 [[ 9.99869018e-01 1.51412704e-03 -1.61137929e-02 5.72551208e+00] [-1.52055880e-03 9.99998769e-01 -3.86902121e-04 5.63553975e-01] [ 1.61131873e-02 4.11353414e-04 9.99870090e-01 2.94801669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.73313336499996 meters Centerline goodness [0,1] 0.3058410303109146 Centerline is valid? [False, False] Translation: X:5.73, Y:0.56, Z:0.03 [[ 9.99869673e-01 1.66861438e-03 -1.60577973e-02 5.72564235e+00] [-1.67165603e-03 9.99998587e-01 -1.75998136e-04 5.63084335e-01] [ 1.60574809e-02 2.02818312e-04 9.99871050e-01 2.90436161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.763133365 meters Centerline goodness [0,1] 0.3035875986374025 Centerline is valid? [False, False] Translation: X:5.73, Y:0.56, Z:0.03 [[ 9.99871414e-01 1.80188180e-03 -1.59344857e-02 5.72550321e+00] [-1.80226670e-03 9.99998376e-01 -9.79508415e-06 5.62810525e-01] [ 1.59344421e-02 3.85120176e-05 9.99873038e-01 2.87990700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.79313336499996 meters Centerline goodness [0,1] 0.3026185876797596 Centerline is valid? [False, False] Translation: X:5.73, Y:0.56, Z:0.03 [[ 9.99875043e-01 1.88170390e-03 -1.56957886e-02 5.72501470e+00] [-1.88027003e-03 9.99998227e-01 1.06110242e-04 5.62474605e-01] [ 1.56959605e-02 -7.65846622e-05 9.99876808e-01 2.86532164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.823133365 meters Centerline goodness [0,1] 0.30524531745686845 Centerline is valid? [False, False] Translation: X:5.71, Y:0.56, Z:0.03 [[ 9.99866962e-01 -5.92968938e-03 -1.51952994e-02 5.70561925e+00] [ 5.95048497e-03 9.99981420e-01 1.32370710e-03 5.64755516e-01] [ 1.51871679e-02 -1.41395039e-03 9.99883669e-01 2.64495306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.85313336499996 meters Centerline goodness [0,1] 0.3026710716676384 Centerline is valid? [False, False] Translation: X:5.73, Y:0.56, Z:0.03 [[ 9.99842189e-01 1.43046122e-03 -1.77073631e-02 5.72672092e+00] [-1.42436310e-03 9.99998922e-01 3.56990590e-04 5.60519204e-01] [ 1.77078546e-02 -3.31712539e-04 9.99843149e-01 2.82434071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.883133365 meters Centerline goodness [0,1] 0.30317535955640273 Centerline is valid? [False, False] Translation: X:5.73, Y:0.56, Z:0.03 [[ 9.99836896e-01 1.46414181e-03 -1.80010643e-02 5.72763750e+00] [-1.45659985e-03 9.99998846e-01 4.32077022e-04 5.60106453e-01] [ 1.80016761e-02 -4.05786200e-04 9.99837874e-01 2.78550763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.91313336499996 meters Centerline goodness [0,1] 0.30141314462550584 Centerline is valid? [False, False] Translation: X:5.73, Y:0.56, Z:0.03 [[ 9.99835911e-01 1.51005128e-03 -1.80518831e-02 5.72773363e+00] [-1.50065755e-03 9.99998731e-01 5.33908558e-04 5.59638895e-01] [ 1.80526664e-02 -5.06731255e-04 9.99836909e-01 2.78931430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.943133365 meters Centerline goodness [0,1] 0.30371078889589354 Centerline is valid? [False, False] Translation: X:5.73, Y:0.56, Z:0.03 [[ 9.99838996e-01 1.60180335e-03 -1.78722465e-02 5.72697666e+00] [-1.58839807e-03 9.99998446e-01 7.64231411e-04 5.58601123e-01] [ 1.78734429e-02 -7.35720124e-04 9.99839987e-01 2.84425373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.97313336499997 meters Centerline goodness [0,1] 0.3067512657265161 Centerline is valid? [False, False] Translation: X:5.72, Y:0.55, Z:0.03 [[ 9.99871807e-01 -2.58950567e-05 -1.60115463e-02 5.72027408e+00] [ 2.09610723e-05 9.99999952e-01 -3.08319392e-04 5.54939781e-01] [ 1.60115535e-02 3.07944248e-04 9.99871759e-01 3.14195451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.003133365 meters Centerline goodness [0,1] 0.30541690974698044 Centerline is valid? [False, False] Translation: X:5.72, Y:0.55, Z:0.03 [[ 9.99873416e-01 9.15077354e-05 -1.59105020e-02 5.72005404e+00] [-8.89988928e-05 9.99999983e-01 1.58392670e-04 5.52259637e-01] [ 1.59105163e-02 -1.56956603e-04 9.99873407e-01 3.15107010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.03313336499997 meters Centerline goodness [0,1] 0.3067377816479808 Centerline is valid? [False, False] Translation: X:5.72, Y:0.55, Z:0.03 [[ 9.99869793e-01 1.96165616e-04 -1.61356187e-02 5.72092774e+00] [-1.86281980e-04 9.99999794e-01 6.14035985e-04 5.49454150e-01] [ 1.61357358e-02 -6.10950258e-04 9.99869624e-01 3.10702413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.063133365 meters Centerline goodness [0,1] 0.3042536602269774 Centerline is valid? [False, False] Translation: X:5.72, Y:0.55, Z:0.03 [[ 9.99863767e-01 3.39092996e-04 -1.65025280e-02 5.72213438e+00] [-3.20990993e-04 9.99999344e-01 1.09955946e-03 5.46673964e-01] [ 1.65028901e-02 -1.09411250e-03 9.99863219e-01 3.05805106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.09313336499997 meters Centerline goodness [0,1] 0.30548331166016474 Centerline is valid? [False, False] Translation: X:5.72, Y:0.54, Z:0.03 [[ 9.99861129e-01 4.49454879e-04 -1.66589494e-02 5.72261575e+00] [-4.25378280e-04 9.99998860e-01 1.44878036e-03 5.44652252e-01] [ 1.66595816e-02 -1.44149281e-03 9.99860180e-01 3.04415337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.123133365 meters Centerline goodness [0,1] 0.305545393901573 Centerline is valid? [False, False] Translation: X:5.72, Y:0.54, Z:0.03 [[ 9.99859662e-01 6.80245311e-04 -1.67389773e-02 5.72273467e+00] [-6.47741664e-04 9.99997895e-01 1.94713910e-03 5.42194408e-01] [ 1.67402666e-02 -1.93602331e-03 9.99857998e-01 3.05714871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.153133365 meters Centerline goodness [0,1] 0.30635013297009794 Centerline is valid? [False, False] Translation: X:5.72, Y:0.54, Z:0.03 [[ 9.99859614e-01 8.14790114e-04 -1.67358717e-02 5.72282717e+00] [-7.77824378e-04 9.99997244e-01 2.21516317e-03 5.40972586e-01] [ 1.67376305e-02 -2.20183462e-03 9.99857492e-01 3.04250548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.183133365 meters Centerline goodness [0,1] 0.30353072721799335 Centerline is valid? [False, False] Translation: X:5.72, Y:0.54, Z:0.03 [[ 9.99858948e-01 9.75778898e-04 -1.67669980e-02 5.72304793e+00] [-9.33673517e-04 9.99996392e-01 2.51885026e-03 5.39592557e-01] [ 1.67693954e-02 -2.50284007e-03 9.99856251e-01 3.01858476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.213133365 meters Centerline goodness [0,1] 0.305726393567315 Centerline is valid? [False, False] Translation: X:5.72, Y:0.54, Z:0.03 [[ 9.99859302e-01 1.09769676e-03 -1.67383162e-02 5.72324987e+00] [-1.05093010e-03 9.99995521e-01 2.80252898e-03 5.38114536e-01] [ 1.67413175e-02 -2.78454387e-03 9.99855977e-01 2.97487265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.243133365 meters Centerline goodness [0,1] 0.3061732133587126 Centerline is valid? [False, False] Translation: X:5.72, Y:0.53, Z:0.03 [[ 9.99856538e-01 1.30238226e-03 -1.68880628e-02 5.72397575e+00] [-1.24525804e-03 9.99993470e-01 3.39259481e-03 5.34690044e-01] [ 1.68923709e-02 -3.37107810e-03 9.99851631e-01 2.92371518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.273133365 meters Centerline goodness [0,1] 0.3074024870962824 Centerline is valid? [False, False] Translation: X:5.72, Y:0.53, Z:0.03 [[ 9.99855980e-01 1.39421094e-03 -1.69137603e-02 5.72417096e+00] [-1.33179057e-03 9.99992264e-01 3.70121023e-03 5.32880317e-01] [ 1.69187897e-02 -3.67815160e-03 9.99850102e-01 2.90635461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.303133365 meters Centerline goodness [0,1] 0.30798075255765567 Centerline is valid? [False, False] Translation: X:5.72, Y:0.53, Z:0.03 [[ 9.99857288e-01 1.48188026e-03 -1.68287591e-02 5.72407575e+00] [-1.41513508e-03 9.99991089e-01 3.97735371e-03 5.31214988e-01] [ 1.68345031e-02 -3.95297113e-03 9.99850476e-01 2.89146840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.333133365 meters Centerline goodness [0,1] 0.3081097508031605 Centerline is valid? [False, False] Translation: X:5.72, Y:0.53, Z:0.03 [[ 9.99861412e-01 1.54336936e-03 -1.65763250e-02 5.72352713e+00] [-1.47440540e-03 9.99990211e-01 4.17180471e-03 5.30080700e-01] [ 1.65826014e-02 -4.14678633e-03 9.99853900e-01 2.88475215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.363133365 meters Centerline goodness [0,1] 0.30799982712421126 Centerline is valid? [False, False] Translation: X:5.72, Y:0.53, Z:0.03 [[ 9.99864885e-01 1.60100840e-03 -1.63599466e-02 5.72295263e+00] [-1.53129185e-03 9.99989698e-01 4.27305520e-03 5.29629421e-01] [ 1.63666192e-02 -4.24742599e-03 9.99857036e-01 2.89328921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.393133365 meters Centerline goodness [0,1] 0.30520797376596476 Centerline is valid? [False, False] Translation: X:5.72, Y:0.53, Z:0.03 [[ 9.99866396e-01 1.63716814e-03 -1.62637363e-02 5.72275050e+00] [-1.56727791e-03 9.99989488e-01 4.30912131e-03 5.29574399e-01] [ 1.62706201e-02 -4.28305580e-03 9.99858451e-01 2.88639847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42313336499996 meters Centerline goodness [0,1] 0.3054912732227437 Centerline is valid? [False, False] Translation: X:5.72, Y:0.53, Z:0.03 [[ 9.99856710e-01 1.72303078e-03 -1.68401247e-02 5.72474804e+00] [-1.65239223e-03 9.99989782e-01 4.20767164e-03 5.30586807e-01] [ 1.68472026e-02 -4.17924223e-03 9.99849342e-01 2.76890535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.453133365 meters Centerline goodness [0,1] 0.2993883463890975 Centerline is valid? [False, False] Translation: X:5.73, Y:0.53, Z:0.03 [[ 9.99853082e-01 1.67839282e-03 -1.70586216e-02 5.72558617e+00] [-1.60881971e-03 9.99990336e-01 4.09137693e-03 5.31011786e-01] [ 1.70653237e-02 -4.06333159e-03 9.99846120e-01 2.71320285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48313336499996 meters Centerline goodness [0,1] 0.3088267471883068 Centerline is valid? [False, False] Translation: X:5.68, Y:0.53, Z:0.03 [[ 9.99814346e-01 1.08906934e-03 -1.92376473e-02 5.68046978e+00] [-1.01621143e-03 9.99992276e-01 3.79662624e-03 5.27348029e-01] [ 1.92416335e-02 -3.77637186e-03 9.99807731e-01 2.72468901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.513133365 meters Centerline goodness [0,1] 0.30529831486260817 Centerline is valid? [False, False] Translation: X:5.68, Y:0.53, Z:0.03 [[ 9.99816737e-01 1.12390937e-03 -1.91109866e-02 5.67992784e+00] [-1.04947632e-03 9.99991827e-01 3.90436163e-03 5.26827012e-01] [ 1.91152185e-02 -3.88358958e-03 9.99809745e-01 2.76668203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54313336499996 meters Centerline goodness [0,1] 0.3078592668157055 Centerline is valid? [False, False] Translation: X:5.68, Y:0.53, Z:0.03 [[ 9.99822697e-01 1.16708447e-03 -1.87939728e-02 5.67893315e+00] [-1.09005020e-03 9.99990966e-01 4.10860397e-03 5.25766000e-01] [ 1.87985981e-02 -4.08738913e-03 9.99814936e-01 2.81053310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.573133365 meters Centerline goodness [0,1] 0.3063032000861976 Centerline is valid? [False, False] Translation: X:5.68, Y:0.53, Z:0.03 [[ 9.99823576e-01 1.14141647e-03 -1.87487138e-02 5.67897798e+00] [-1.06383645e-03 9.99990834e-01 4.14733767e-03 5.25257553e-01] [ 1.87532758e-02 -4.12666041e-03 9.99815626e-01 2.78972893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60313336499996 meters Centerline goodness [0,1] 0.30556993700923285 Centerline is valid? [False, False] Translation: X:5.68, Y:0.53, Z:0.03 [[ 9.99820502e-01 1.08592794e-03 -1.89151685e-02 5.67963046e+00] [-1.00847641e-03 9.99991071e-01 4.10373590e-03 5.25106605e-01] [ 1.89194560e-02 -4.08392379e-03 9.99812670e-01 2.74762221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.633133365 meters Centerline goodness [0,1] 0.30526792648200884 Centerline is valid? [False, False] Translation: X:5.68, Y:0.53, Z:0.03 [[ 9.99815851e-01 1.04601377e-03 -1.91616827e-02 5.68054583e+00] [-9.69397392e-04 9.99991501e-01 4.00726847e-03 5.25539147e-01] [ 1.91657115e-02 -3.98795525e-03 9.99808367e-01 2.69203677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66313336499996 meters Centerline goodness [0,1] 0.3080025425772088 Centerline is valid? [False, False] Translation: X:5.64, Y:0.53, Z:0.03 [[ 9.99738030e-01 2.40862797e-03 -2.27611447e-02 5.63928724e+00] [-2.28606854e-03 9.99982758e-01 5.40907713e-03 5.25043653e-01] [ 2.27737807e-02 -5.35562658e-03 9.99726299e-01 2.55105021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.693133365 meters Centerline goodness [0,1] 0.3021362735808425 Centerline is valid? [False, False] Translation: X:5.68, Y:0.53, Z:0.03 [[ 9.99770963e-01 3.62979820e-03 -2.10913542e-02 5.68353004e+00] [-3.50879877e-03 9.99977191e-01 5.77109827e-03 5.31251706e-01] [ 2.11118211e-02 -5.69577116e-03 9.99760896e-01 2.58587464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72313336499997 meters Centerline goodness [0,1] 0.3044592627989313 Centerline is valid? [False, False] Translation: X:5.68, Y:0.53, Z:0.03 [[ 9.99775326e-01 3.48452282e-03 -2.09082788e-02 5.68297468e+00] [-3.37278654e-03 9.99979856e-01 5.37700244e-03 5.33270018e-01] [ 2.09265939e-02 -5.30527521e-03 9.99766939e-01 2.59426248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.753133365 meters Centerline goodness [0,1] 0.3061353161144448 Centerline is valid? [False, False] Translation: X:5.68, Y:0.53, Z:0.03 [[ 9.99780425e-01 3.36385564e-03 -2.06829756e-02 5.68221916e+00] [-3.25997513e-03 9.99981914e-01 5.05417998e-03 5.34940014e-01] [ 2.06996030e-02 -4.98564423e-03 9.99773309e-01 2.62089834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78313336499997 meters Centerline goodness [0,1] 0.30272797793483885 Centerline is valid? [False, False] Translation: X:5.68, Y:0.54, Z:0.03 [[ 9.99784514e-01 3.19968724e-03 -2.05106454e-02 5.68161838e+00] [-3.10623498e-03 9.99984657e-01 4.58652161e-03 5.37667579e-01] [ 2.05250062e-02 -4.52182240e-03 9.99779114e-01 2.64046181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.813133365 meters Centerline goodness [0,1] 0.30530415107475417 Centerline is valid? [False, False] Translation: X:5.68, Y:0.54, Z:0.03 [[ 9.99786452e-01 3.11131109e-03 -2.04296204e-02 5.68137726e+00] [-3.02160792e-03 9.99985666e-01 4.42023984e-03 5.38382975e-01] [ 2.04430803e-02 -4.35756561e-03 9.99781522e-01 2.64597257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84313336499997 meters Centerline goodness [0,1] 0.30800043539784483 Centerline is valid? [False, False] Translation: X:5.68, Y:0.54, Z:0.03 [[ 9.99788203e-01 3.01729239e-03 -2.03579405e-02 5.68101899e+00] [-2.93022901e-03 9.99986440e-01 4.30510539e-03 5.38679244e-01] [ 2.03706542e-02 -4.24454016e-03 9.99783487e-01 2.67871878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.873133365 meters Centerline goodness [0,1] 0.30930944055944054 Centerline is valid? [False, False] Translation: X:5.68, Y:0.54, Z:0.03 [[ 9.99790982e-01 2.97810298e-03 -2.02267776e-02 5.68030710e+00] [-2.89119694e-03 9.99986470e-01 4.32446812e-03 5.38393886e-01] [ 2.02393826e-02 -4.26508463e-03 9.99786065e-01 2.74628537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.903133365 meters Centerline goodness [0,1] 0.30930944055944054 Centerline is valid? [False, False] Translation: X:5.68, Y:0.54, Z:0.03 [[ 9.99790982e-01 2.97810298e-03 -2.02267776e-02 5.68030710e+00] [-2.89119694e-03 9.99986470e-01 4.32446812e-03 5.38393886e-01] [ 2.02393826e-02 -4.26508463e-03 9.99786065e-01 2.74628537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.933133365 meters Centerline goodness [0,1] 0.3106658835302052 Centerline is valid? [False, False] Translation: X:5.68, Y:0.54, Z:0.03 [[ 9.99793155e-01 2.94275584e-03 -2.01242884e-02 5.67972803e+00] [-2.85607886e-03 9.99986528e-01 4.33446890e-03 5.38295587e-01] [ 2.01367726e-02 -4.27609579e-03 9.99788090e-01 2.80248527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.963133365 meters Centerline goodness [0,1] 0.30690300514122226 Centerline is valid? [False, False] Translation: X:5.70, Y:0.54, Z:0.03 [[ 9.99801866e-01 -4.79383703e-03 -1.93196110e-02 5.69827924e+00] [ 4.90431021e-03 9.99971871e-01 5.67487201e-03 5.43854799e-01] [ 1.92918631e-02 -5.76849699e-03 9.99797254e-01 2.96421039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.993133365 meters Centerline goodness [0,1] 0.30820542710964316 Centerline is valid? [False, False] Translation: X:5.70, Y:0.54, Z:0.03 [[ 9.99798464e-01 -4.80524506e-03 -1.94920580e-02 5.69894521e+00] [ 4.91740669e-03 9.99971605e-01 5.71037942e-03 5.43420101e-01] [ 1.94640648e-02 -5.80507895e-03 9.99793704e-01 2.92908296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.023133365 meters Centerline goodness [0,1] 0.30285800111573613 Centerline is valid? [False, False] Translation: X:5.70, Y:0.54, Z:0.03 [[ 9.99792987e-01 -4.79756942e-03 -1.97728568e-02 5.70009592e+00] [ 4.91289927e-03 9.99971179e-01 5.78829298e-03 5.42796475e-01] [ 1.97445172e-02 -5.88423678e-03 9.99787742e-01 2.85815766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.053133365 meters Centerline goodness [0,1] 0.3085751834410251 Centerline is valid? [False, False] Translation: X:5.66, Y:0.54, Z:0.03 [[ 9.99720364e-01 -5.36541782e-03 -2.30305505e-02 5.65789781e+00] [ 5.49584258e-03 9.99969197e-01 5.60356535e-03 5.37338783e-01] [ 2.29997757e-02 -5.72857068e-03 9.99719057e-01 2.75609414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.083133365 meters Centerline goodness [0,1] 0.30375832540437675 Centerline is valid? [False, False] Translation: X:5.68, Y:0.53, Z:0.03 [[ 9.99703369e-01 2.13412261e-03 -2.42614858e-02 5.67843433e+00] [-2.01944309e-03 9.99986678e-01 4.75033211e-03 5.32693535e-01] [ 2.42713004e-02 -4.69992833e-03 9.99694361e-01 2.93539340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.113133365 meters Centerline goodness [0,1] 0.30648978439759433 Centerline is valid? [False, False] Translation: X:5.68, Y:0.53, Z:0.03 [[ 9.99704177e-01 2.23899677e-03 -2.42187148e-02 5.67817138e+00] [-2.11241792e-03 9.99983983e-01 5.25081079e-03 5.29469610e-01] [ 2.42300835e-02 -5.19809743e-03 9.99692894e-01 2.97428445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.143133365 meters Centerline goodness [0,1] 0.3062085072335272 Centerline is valid? [False, False] Translation: X:5.68, Y:0.53, Z:0.03 [[ 9.99710011e-01 2.29571986e-03 -2.39713213e-02 5.67741611e+00] [-2.16516029e-03 9.99982690e-01 5.47102504e-03 5.28106896e-01] [ 2.39834663e-02 -5.41753674e-03 9.99697676e-01 3.00625477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.17313336499996 meters Centerline goodness [0,1] 0.31161659325488134 Centerline is valid? [False, False] Translation: X:5.66, Y:0.53, Z:0.03 [[ 0.99969636 -0.00583486 -0.02394028 5.65699466] [ 0.00599574 0.99995989 0.00665389 0.52984606] [ 0.0239005 -0.00679541 0.99969125 0.02844151] [ 0. 0. 0. 1. ]] SLAMing on 367.203133365 meters Centerline goodness [0,1] 0.31170862020285384 Centerline is valid? [False, False] Translation: X:5.68, Y:0.53, Z:0.03 [[ 9.99713871e-01 2.22502286e-03 -2.38165033e-02 5.67645841e+00] [-2.09329632e-03 9.99982383e-01 5.55439594e-03 5.28006399e-01] [ 2.38284424e-02 -5.50295166e-03 9.99700917e-01 3.01973333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.23313336499996 meters Centerline goodness [0,1] 0.30586988035223606 Centerline is valid? [False, False] Translation: X:5.68, Y:0.53, Z:0.03 [[ 9.99702780e-01 2.39368533e-03 -2.42615187e-02 5.67821228e+00] [-2.25967192e-03 9.99982048e-01 5.54961380e-03 5.28829839e-01] [ 2.42743672e-02 -5.49314127e-03 9.99690242e-01 2.90713641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.263133365 meters Centerline goodness [0,1] 0.30541649657306147 Centerline is valid? [False, False] Translation: X:5.68, Y:0.53, Z:0.03 [[ 9.99701936e-01 2.38920936e-03 -2.42967307e-02 5.67843812e+00] [-2.25580959e-03 9.99982240e-01 5.51636841e-03 5.28909016e-01] [ 2.43094789e-02 -5.45991538e-03 9.99689571e-01 2.88304343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.29313336499996 meters Centerline goodness [0,1] 0.3091059530549144 Centerline is valid? [False, False] Translation: X:5.66, Y:0.53, Z:0.03 [[ 9.99707697e-01 -5.60805273e-03 -2.35174468e-02 5.65751632e+00] [ 5.76561885e-03 9.99961350e-01 6.63752193e-03 5.31058353e-01] [ 2.34793143e-02 -6.77117440e-03 9.99701392e-01 2.70464387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.323133365 meters Centerline goodness [0,1] 0.3102381419264876 Centerline is valid? [False, False] Translation: X:5.66, Y:0.53, Z:0.03 [[ 9.99717485e-01 -5.54944629e-03 -2.31117870e-02 5.65626452e+00] [ 5.70814845e-03 9.99960544e-01 6.80641759e-03 5.30323261e-01] [ 2.30731032e-02 -6.93642018e-03 9.99709717e-01 2.75827081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.35313336499996 meters Centerline goodness [0,1] 0.31025232809194603 Centerline is valid? [False, False] Translation: X:5.66, Y:0.53, Z:0.03 [[ 9.99724989e-01 -5.45004499e-03 -2.28088640e-02 5.65528321e+00] [ 5.61244513e-03 9.99959313e-01 7.06209681e-03 5.29191970e-01] [ 2.27694472e-02 -7.18816815e-03 9.99714901e-01 2.81558985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.383133365 meters Centerline goodness [0,1] 0.31028949226522884 Centerline is valid? [False, False] Translation: X:5.68, Y:0.53, Z:0.03 [[ 9.99748489e-01 9.25158519e-06 -2.24267276e-02 5.67786584e+00] [ 8.46908601e-05 9.99991227e-01 4.18790762e-03 5.26862409e-01] [ 2.24265696e-02 -4.18875366e-03 9.99739718e-01 2.80722546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.41313336499996 meters Centerline goodness [0,1] 0.31277887817513006 Centerline is valid? [False, False] Translation: X:5.63, Y:0.52, Z:0.03 [[ 9.99708714e-01 -8.48866794e-04 -2.41198379e-02 5.63283585e+00] [ 9.46804919e-04 9.99991353e-01 4.04935036e-03 5.21454526e-01] [ 2.41161919e-02 -4.07100762e-03 9.99700873e-01 2.70100967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.443133365 meters Centerline goodness [0,1] 0.31303397793073306 Centerline is valid? [False, False] Translation: X:5.63, Y:0.52, Z:0.03 [[ 9.99712168e-01 -7.43524062e-04 -2.39797601e-02 5.63271314e+00] [ 8.47405388e-04 9.99990300e-01 4.32217118e-03 5.20226584e-01] [ 2.39763139e-02 -4.34124769e-03 9.99703101e-01 2.68148066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.47313336499997 meters Centerline goodness [0,1] 0.3120019109248442 Centerline is valid? [False, False] Translation: X:5.63, Y:0.52, Z:0.03 [[ 9.99714452e-01 -6.55086410e-04 -2.38869261e-02 5.63280513e+00] [ 7.63139431e-04 9.99989518e-01 4.51468616e-03 5.19548946e-01] [ 2.38837182e-02 -4.53162606e-03 9.99704473e-01 2.65116233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.503133365 meters Centerline goodness [0,1] 0.30996086571101167 Centerline is valid? [False, False] Translation: X:5.63, Y:0.52, Z:0.03 [[ 9.99716112e-01 -5.31204543e-04 -2.38204342e-02 5.63348877e+00] [ 6.43386871e-04 9.99988738e-01 4.70208305e-03 5.19036598e-01] [ 2.38176682e-02 -4.71607394e-03 9.99705195e-01 2.54895580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.53313336499997 meters Centerline goodness [0,1] 0.30963049548671995 Centerline is valid? [False, False] Translation: X:5.63, Y:0.52, Z:0.02 [[ 9.99714246e-01 -5.22146546e-04 -2.38988259e-02 5.63424624e+00] [ 6.34612344e-04 9.99988760e-01 4.69857075e-03 5.18923960e-01] [ 2.38961040e-02 -4.71239461e-03 9.99703341e-01 2.46378729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.563133365 meters Centerline goodness [0,1] 0.31133609382790994 Centerline is valid? [False, False] Translation: X:5.63, Y:0.52, Z:0.02 [[ 9.99714758e-01 -4.60380874e-04 -2.38786559e-02 5.63471951e+00] [ 5.75352880e-04 9.99988275e-01 4.80819735e-03 5.18462551e-01] [ 2.38761623e-02 -4.82056451e-03 9.99703301e-01 2.39240953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.59313336499997 meters Centerline goodness [0,1] 0.3113205484244823 Centerline is valid? [False, False] Translation: X:5.63, Y:0.52, Z:0.02 [[ 9.99717862e-01 -3.86332383e-04 -2.37496753e-02 5.63475196e+00] [ 5.03718740e-04 9.99987687e-01 4.93686732e-03 5.18099693e-01] [ 2.37474756e-02 -4.94743760e-03 9.99705747e-01 2.35175247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.623133365 meters Centerline goodness [0,1] 0.30801715318139267 Centerline is valid? [False, False] Translation: X:5.63, Y:0.52, Z:0.02 [[ 9.99726869e-01 -3.07244575e-04 -2.33686460e-02 5.63461977e+00] [ 4.27164184e-04 9.99986767e-01 5.12682689e-03 5.17094230e-01] [ 2.33667616e-02 -5.13540884e-03 9.99713770e-01 2.27368638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.653133365 meters Centerline goodness [0,1] 0.3091352752783285 Centerline is valid? [False, False] Translation: X:5.63, Y:0.52, Z:0.02 [[ 9.99732578e-01 -3.08420123e-04 -2.31230836e-02 5.63440355e+00] [ 4.29117295e-04 9.99986310e-01 5.21498951e-03 5.16185115e-01] [ 2.31211587e-02 -5.22351742e-03 9.99719024e-01 2.22799388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.683133365 meters Centerline goodness [0,1] 0.30598621877691645 Centerline is valid? [False, False] Translation: X:5.65, Y:0.51, Z:0.02 [[ 9.99712148e-01 7.33813359e-03 -2.28423377e-02 5.65363674e+00] [-7.25534128e-03 9.99966815e-01 3.70527990e-03 5.13286739e-01] [ 2.28687695e-02 -3.53848437e-03 9.99732213e-01 2.43847228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.713133365 meters Centerline goodness [0,1] 0.30794594242825224 Centerline is valid? [False, False] Translation: X:5.65, Y:0.51, Z:0.02 [[ 9.99720557e-01 7.40847043e-03 -2.24482103e-02 5.65302442e+00] [-7.32463298e-03 9.99965899e-01 3.81463036e-03 5.13102326e-01] [ 2.24757054e-02 -3.64913949e-03 9.99740730e-01 2.40487147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.743133365 meters Centerline goodness [0,1] 0.307432359248749 Centerline is valid? [False, False] Translation: X:5.65, Y:0.51, Z:0.02 [[ 9.99728444e-01 7.49644275e-03 -2.20644891e-02 5.65243209e+00] [-7.41252796e-03 9.99964990e-01 3.88249438e-03 5.13406304e-01] [ 2.20928216e-02 -3.71788643e-03 9.99749011e-01 2.37452966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.773133365 meters Centerline goodness [0,1] 0.3080698998625564 Centerline is valid? [False, False] Translation: X:5.65, Y:0.51, Z:0.02 [[ 9.99736572e-01 7.53957899e-03 -2.16781118e-02 5.65188897e+00] [-7.45759681e-03 9.99964741e-01 3.86015534e-03 5.14151334e-01] [ 2.17064514e-02 -3.69747185e-03 9.99757550e-01 2.33707809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.803133365 meters Centerline goodness [0,1] 0.30546505857731554 Centerline is valid? [False, False] Translation: X:5.67, Y:0.52, Z:0.02 [[ 9.99765985e-01 2.62283503e-04 -2.16311330e-02 5.67027935e+00] [-1.61458978e-04 9.99989117e-01 4.66269862e-03 5.21510048e-01] [ 2.16321206e-02 -4.65811494e-03 9.99755147e-01 2.40377407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.833133365 meters Centerline goodness [0,1] 0.3026310123584377 Centerline is valid? [False, False] Translation: X:5.67, Y:0.52, Z:0.02 [[ 9.99764846e-01 2.10162148e-04 -2.16842827e-02 5.67095336e+00] [-1.12453365e-04 9.99989837e-01 4.50709360e-03 5.22447256e-01] [ 2.16850095e-02 -4.50359527e-03 9.99754709e-01 2.32536604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.863133365 meters Centerline goodness [0,1] 0.30108874103516803 Centerline is valid? [False, False] Translation: X:5.67, Y:0.52, Z:0.02 [[ 9.99764620e-01 1.68086645e-04 -2.16950555e-02 5.67152573e+00] [-7.24375563e-05 9.99990275e-01 4.40950725e-03 5.22980892e-01] [ 2.16955857e-02 -4.40689780e-03 9.99754910e-01 2.24596895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.893133365 meters Centerline goodness [0,1] 0.30285925186166174 Centerline is valid? [False, False] Translation: X:5.67, Y:0.52, Z:0.02 [[ 9.99771211e-01 3.65143288e-05 -2.13898187e-02 5.67119307e+00] [ 5.82168853e-05 9.99990194e-01 4.42815986e-03 5.22038767e-01] [ 2.13897707e-02 -4.42839200e-03 9.99761405e-01 2.22793040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92313336499996 meters Centerline goodness [0,1] 0.30170712132057875 Centerline is valid? [False, False] Translation: X:5.67, Y:0.52, Z:0.02 [[ 9.99779866e-01 2.07510316e-05 -2.09814048e-02 5.67017002e+00] [ 7.70297179e-05 9.99989141e-01 4.65953392e-03 5.20411245e-01] [ 2.09812737e-02 -4.66012439e-03 9.99769008e-01 2.26276131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.953133365 meters Centerline goodness [0,1] 0.3008733153638814 Centerline is valid? [False, False] Translation: X:5.67, Y:0.52, Z:0.02 [[ 9.99785922e-01 6.07451910e-05 -2.06907370e-02 5.66943777e+00] [ 4.21918232e-05 9.99987626e-01 4.97455601e-03 5.18733948e-01] [ 2.06907831e-02 -4.97436405e-03 9.99773548e-01 2.29873582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98313336499996 meters Centerline goodness [0,1] 0.30261100008688857 Centerline is valid? [False, False] Translation: X:5.67, Y:0.52, Z:0.02 [[ 9.99792389e-01 1.22822950e-04 -2.03755532e-02 5.66882133e+00] [-1.38152757e-05 9.99985689e-01 5.34997914e-03 5.16809202e-01] [ 2.03759187e-02 -5.34858693e-03 9.99778083e-01 2.31238179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.013133365 meters Centerline goodness [0,1] 0.3008140670791273 Centerline is valid? [False, False] Translation: X:5.67, Y:0.51, Z:0.02 [[ 9.99795621e-01 1.37757518e-04 -2.02162700e-02 5.66882814e+00] [-2.26903186e-05 9.99983801e-01 5.69193056e-03 5.14576211e-01] [ 2.02167266e-02 -5.69030853e-03 9.99779428e-01 2.28724120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04313336499996 meters Centerline goodness [0,1] 0.3005064715813168 Centerline is valid? [False, False] Translation: X:5.67, Y:0.51, Z:0.02 [[ 9.99799855e-01 6.65053805e-05 -2.00061581e-02 5.66888073e+00] [ 5.32077639e-05 9.99982099e-01 5.98322296e-03 5.12055300e-01] [ 2.00061979e-02 -5.98308993e-03 9.99781954e-01 2.23775761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.073133365 meters Centerline goodness [0,1] 0.2529087965461414 Centerline is valid? [False, False] Translation: X:5.67, Y:0.51, Z:0.02 [[ 9.99807661e-01 -6.08281002e-04 -1.96028283e-02 5.66949018e+00] [ 7.26146169e-04 9.99981700e-01 6.00610433e-03 5.06330523e-01] [ 1.95988162e-02 -6.01918364e-03 9.99789806e-01 2.08760137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10313336499996 meters Centerline goodness [0,1] 0.2550160249374369 Centerline is valid? [False, False] Translation: X:5.62, Y:0.50, Z:0.02 [[ 9.99817093e-01 -1.06034521e-03 -1.90959809e-02 5.62367813e+00] [ 1.19328012e-03 9.99975127e-01 6.95135972e-03 4.99494094e-01] [ 1.90881351e-02 -6.97287512e-03 9.99793490e-01 1.80555217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.133133365 meters Centerline goodness [0,1] 0.2586819385536202 Centerline is valid? [False, False] Translation: X:5.65, Y:0.50, Z:0.02 [[ 9.99822145e-01 4.62431709e-03 -1.82837118e-02 5.64589195e+00] [-4.54737699e-03 9.99980640e-01 4.24746061e-03 4.97571758e-01] [ 1.83029994e-02 -4.16356225e-03 9.99823817e-01 1.83833440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16313336499996 meters Centerline goodness [0,1] 0.25213758893022653 Centerline is valid? [False, False] Translation: X:5.64, Y:0.49, Z:0.02 [[ 9.99870693e-01 2.66012325e-03 -1.58594310e-02 5.64114708e+00] [-2.61413895e-03 9.99992321e-01 2.91951851e-03 4.92068075e-01] [ 1.58670755e-02 -2.87768223e-03 9.99869969e-01 1.78370767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.193133365 meters Centerline goodness [0,1] 0.24726243605094156 Centerline is valid? [False, False] Translation: X:5.64, Y:0.49, Z:0.02 [[ 9.99879924e-01 2.77848472e-03 -1.52452694e-02 5.64037645e+00] [-2.73030188e-03 9.99991215e-01 3.18041458e-03 4.90913387e-01] [ 1.52539722e-02 -3.13840850e-03 9.99878726e-01 1.71383638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22313336499997 meters Centerline goodness [0,1] 0.2565132459779197 Centerline is valid? [False, False] Translation: X:5.64, Y:0.49, Z:0.02 [[ 9.99891239e-01 2.96884203e-03 -1.44463051e-02 5.63928449e+00] [-2.91911933e-03 9.99989747e-01 3.46176749e-03 4.90538967e-01] [ 1.44564345e-02 -3.41922050e-03 9.99889654e-01 1.63559559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.253133365 meters Centerline goodness [0,1] 0.25540928050052136 Centerline is valid? [False, False] Translation: X:5.64, Y:0.49, Z:0.02 [[ 9.99905173e-01 3.19852948e-03 -1.33945667e-02 5.63760162e+00] [-3.14901484e-03 9.99988137e-01 3.71608227e-03 4.90662964e-01] [ 1.34062938e-02 -3.67355020e-03 9.99903383e-01 1.56764813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28313336499997 meters Centerline goodness [0,1] 0.263161322536526 Centerline is valid? [False, False] Translation: X:5.64, Y:0.49, Z:0.01 [[ 9.99918695e-01 3.30201119e-03 -1.23166215e-02 5.63591369e+00] [-3.25476720e-03 9.99987277e-01 3.85386591e-03 4.90693185e-01] [ 1.23291903e-02 -3.81346484e-03 9.99916721e-01 1.48612347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.313133365 meters Centerline goodness [0,1] 0.2577087260829054 Centerline is valid? [False, False] Translation: X:5.63, Y:0.49, Z:0.01 [[ 9.99938324e-01 3.38203968e-03 -1.05787962e-02 5.63383922e+00] [-3.33967701e-03 9.99986345e-01 4.01959408e-03 4.90257164e-01] [ 1.05922461e-02 -3.98401641e-03 9.99935964e-01 1.26838141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34313336499997 meters Centerline goodness [0,1] 0.2557715413662891 Centerline is valid? [False, False] Translation: X:5.63, Y:0.49, Z:0.01 [[ 9.99944587e-01 3.36565270e-03 -9.97476729e-03 5.63350886e+00] [-3.32530672e-03 9.99986235e-01 4.05863230e-03 4.89761445e-01] [ 9.98828993e-03 -4.02523824e-03 9.99942014e-01 1.12547324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.373133365 meters Centerline goodness [0,1] 0.2553094462540717 Centerline is valid? [False, False] Translation: X:5.61, Y:0.49, Z:0.01 [[ 9.99957486e-01 -4.56638004e-03 -8.01090067e-03 5.61331331e+00] [ 4.61258441e-03 9.99972780e-01 5.75872331e-03 4.90613762e-01] [ 7.98438609e-03 -5.79542943e-03 9.99951330e-01 6.10606375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.403133365 meters Centerline goodness [0,1] 0.2575849383250378 Centerline is valid? [False, False] Translation: X:5.61, Y:0.49, Z:0.00 [[ 9.99962184e-01 -4.57488536e-03 -7.39601856e-03 5.61287613e+00] [ 4.61811429e-03 9.99972293e-01 5.83841938e-03 4.89807352e-01] [ 7.36910354e-03 -5.87235425e-03 9.99955605e-01 4.78617828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.433133365 meters Centerline goodness [0,1] 0.25633638057276553 Centerline is valid? [False, False] Translation: X:5.61, Y:0.49, Z:0.00 [[ 9.99966201e-01 -4.54072055e-03 -6.85409671e-03 5.61262832e+00] [ 4.58158388e-03 9.99971755e-01 5.95800398e-03 4.89232885e-01] [ 6.82684949e-03 -5.98920522e-03 9.99958761e-01 3.44667430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.463133365 meters Centerline goodness [0,1] 0.2580408726394757 Centerline is valid? [False, False] Translation: X:5.61, Y:0.49, Z:0.00 [[ 9.99974186e-01 -4.33561963e-03 -5.72979924e-03 5.61276032e+00] [ 4.37218556e-03 9.99970060e-01 6.38466985e-03 4.88188587e-01] [ 5.70194619e-03 -6.40955678e-03 9.99963202e-01 1.68193512e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.493133365 meters Centerline goodness [0,1] 0.27659110248074537 Centerline is valid? [False, False] Translation: X:5.60, Y:0.48, Z:-0.01 [[ 9.99989956e-01 2.49433401e-03 -3.72362052e-03 5.59507323e+00] [-2.47747719e-03 9.99986694e-01 4.52476566e-03 4.83021603e-01] [ 3.73485725e-03 -4.51549503e-03 9.99982830e-01 -5.52212764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.523133365 meters Centerline goodness [0,1] 0.24864817911355297 Centerline is valid? [False, False] Translation: X:5.59, Y:0.48, Z:-0.01 [[ 9.99992710e-01 2.48983890e-03 -2.89479978e-03 5.59425317e+00] [-2.47651665e-03 9.99986369e-01 4.59664373e-03 4.82317749e-01] [ 2.90620523e-03 -4.58944121e-03 9.99985245e-01 -6.96641555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.553133365 meters Centerline goodness [0,1] 0.2729326411364772 Centerline is valid? [False, False] Translation: X:5.59, Y:0.48, Z:-0.01 [[ 9.99995132e-01 2.50734243e-03 -1.85711877e-03 5.59292862e+00] [-2.49863723e-03 9.99985950e-01 4.67505618e-03 4.81862239e-01] [ 1.86881465e-03 -4.67039316e-03 9.99987347e-01 -8.41082300e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.583133365 meters Centerline goodness [0,1] 0.26751592356687903 Centerline is valid? [False, False] Translation: X:5.59, Y:0.48, Z:-0.01 [[ 9.99996842e-01 2.49074954e-03 3.33695951e-04 5.59098654e+00] [-2.49225923e-03 9.99986301e-01 4.60283534e-03 4.82761770e-01] [-3.22226870e-04 -4.60365246e-03 9.99989351e-01 -1.24374247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.613133365 meters Centerline goodness [0,1] 0.26708263582407543 Centerline is valid? [False, False] Translation: X:5.59, Y:0.48, Z:-0.01 [[ 9.99996406e-01 2.47192039e-03 1.03802881e-03 5.59080841e+00] [-2.47657331e-03 9.99986784e-01 4.50536013e-03 4.83440150e-01] [-1.02687820e-03 -4.50791469e-03 9.99989312e-01 -1.45944780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.643133365 meters Centerline goodness [0,1] 0.262105102950449 Centerline is valid? [False, False] Translation: X:5.59, Y:0.48, Z:-0.02 [[ 9.99995464e-01 2.46265981e-03 1.73408435e-03 5.59062444e+00] [-2.47025388e-03 9.99987309e-01 4.39085560e-03 4.84420405e-01] [-1.72324916e-03 -4.39511931e-03 9.99988857e-01 -1.67712762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.67313336499996 meters Centerline goodness [0,1] 0.26475703764145064 Centerline is valid? [False, False] Translation: X:5.61, Y:0.49, Z:-0.02 [[ 9.99996135e-01 -2.53119730e-03 1.15029016e-03 5.61225024e+00] [ 2.52238653e-03 9.99967957e-01 7.59756911e-03 4.87741905e-01] [-1.16948425e-03 -7.59463827e-03 9.99970476e-01 -1.74653432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.703133365 meters Centerline goodness [0,1] 0.25747106581447576 Centerline is valid? [False, False] Translation: X:5.61, Y:0.49, Z:-0.02 [[ 9.99994372e-01 -2.45385492e-03 2.28800388e-03 5.61112056e+00] [ 2.43636475e-03 9.99968030e-01 7.61599525e-03 4.88767605e-01] [-2.30661928e-03 -7.61037797e-03 9.99968380e-01 -1.96338000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.73313336499996 meters Centerline goodness [0,1] 0.2545075216866147 Centerline is valid? [False, False] Translation: X:5.61, Y:0.49, Z:-0.02 [[ 9.99984195e-01 -2.39629138e-03 5.08598788e-03 5.60862348e+00] [ 2.35672622e-03 9.99967028e-01 7.77103582e-03 4.88477645e-01] [-5.10444185e-03 -7.75892671e-03 9.99956871e-01 -2.47004189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.763133365 meters Centerline goodness [0,1] 0.25248315771290375 Centerline is valid? [False, False] Translation: X:5.63, Y:0.49, Z:-0.03 [[ 9.99977161e-01 3.05436449e-03 6.02888798e-03 5.63086859e+00] [-3.07920826e-03 9.99986789e-01 4.11581543e-03 4.89495328e-01] [-6.01623713e-03 -4.13428563e-03 9.99973356e-01 -2.53072395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.79313336499996 meters Centerline goodness [0,1] 0.25248315771290375 Centerline is valid? [False, False] Translation: X:5.63, Y:0.49, Z:-0.03 [[ 9.99977161e-01 3.05436449e-03 6.02888798e-03 5.63086859e+00] [-3.07920826e-03 9.99986789e-01 4.11581543e-03 4.89495328e-01] [-6.01623713e-03 -4.13428563e-03 9.99973356e-01 -2.53072395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.823133365 meters Centerline goodness [0,1] 0.2508823340677204 Centerline is valid? [False, False] Translation: X:5.63, Y:0.49, Z:-0.03 [[ 9.99970719e-01 3.05617002e-03 7.01578445e-03 5.63024539e+00] [-3.08629273e-03 9.99986049e-01 4.28675950e-03 4.87992713e-01] [-7.00258551e-03 -4.30828675e-03 9.99966201e-01 -2.77395892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.85313336499996 meters Centerline goodness [0,1] 0.24658841906580176 Centerline is valid? [False, False] Translation: X:5.59, Y:0.48, Z:-0.05 [[ 9.99846197e-01 -2.69649466e-04 1.75359422e-02 5.58817453e+00] [ 1.80876913e-04 9.99987163e-01 5.06370914e-03 4.83575351e-01] [-1.75370825e-02 -5.05975848e-03 9.99833411e-01 -4.51801505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.883133365 meters Centerline goodness [0,1] 0.24612815062253268 Centerline is valid? [False, False] Translation: X:5.59, Y:0.48, Z:-0.05 [[ 9.99822594e-01 -2.45290842e-04 1.88340340e-02 5.58719237e+00] [ 1.45967630e-04 9.99986078e-01 5.27479627e-03 4.82080444e-01] [-1.88350656e-02 -5.27111133e-03 9.99808710e-01 -4.81560344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.91313336499996 meters Centerline goodness [0,1] 0.24475037030582902 Centerline is valid? [False, False] Translation: X:5.59, Y:0.48, Z:-0.05 [[ 9.99796745e-01 -2.30283080e-04 2.01597371e-02 5.58606554e+00] [ 1.20015569e-04 9.99985028e-01 5.47072891e-03 4.80494833e-01] [-2.01606951e-02 -5.46719748e-03 9.99781804e-01 -5.10720633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.943133365 meters Centerline goodness [0,1] 0.24189248251748252 Centerline is valid? [False, False] Translation: X:5.59, Y:0.48, Z:-0.05 [[ 9.99771922e-01 -2.04025188e-04 2.13556360e-02 5.58508237e+00] [ 8.31388974e-05 9.99983971e-01 5.66136182e-03 4.79187054e-01] [-2.13564487e-02 -5.65829510e-03 9.99755913e-01 -5.38056343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.97313336499997 meters Centerline goodness [0,1] 0.2427914478129155 Centerline is valid? [False, False] Translation: X:5.58, Y:0.48, Z:-0.06 [[ 9.99743369e-01 -1.63460329e-04 2.26532471e-02 5.58383340e+00] [ 3.12444735e-05 9.99982966e-01 5.83673893e-03 4.78237975e-01] [-2.26538153e-02 -5.83453325e-03 9.99726344e-01 -5.65369808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.003133365 meters Centerline goodness [0,1] 0.2420917702268185 Centerline is valid? [False, False] Translation: X:5.58, Y:0.48, Z:-0.06 [[ 9.99712562e-01 -1.47932017e-04 2.39743981e-02 5.58236899e+00] [ 4.40465721e-06 9.99982080e-01 5.98663517e-03 4.77187161e-01] [-2.39748540e-02 -5.98480878e-03 9.99694648e-01 -5.90579555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.03313336499997 meters Centerline goodness [0,1] 0.24111084531239801 Centerline is valid? [False, False] Translation: X:5.58, Y:0.48, Z:-0.07 [[ 9.99657998e-01 -1.39215181e-03 2.61141553e-02 5.58280926e+00] [ 1.27084588e-03 9.99988329e-01 4.66123881e-03 4.77765299e-01] [-2.61203396e-02 -4.62645759e-03 9.99648100e-01 -6.64824647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.063133365 meters Centerline goodness [0,1] 0.23826268151331642 Centerline is valid? [False, False] Translation: X:5.58, Y:0.48, Z:-0.07 [[ 9.99630987e-01 -1.47303443e-03 2.71241764e-02 5.58214154e+00] [ 1.34856250e-03 9.99988480e-01 4.60668738e-03 4.77355069e-01] [-2.71306497e-02 -4.56840881e-03 9.99621457e-01 -6.92451758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.09313336499997 meters Centerline goodness [0,1] 0.23782388990431136 Centerline is valid? [False, False] Translation: X:5.58, Y:0.48, Z:-0.07 [[ 9.99598797e-01 -1.51907349e-03 2.82831627e-02 5.58100197e+00] [ 1.38926568e-03 9.99988415e-01 4.60866388e-03 4.77202808e-01] [-2.82898359e-02 -4.56752205e-03 9.99589327e-01 -7.18555510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.123133365 meters Centerline goodness [0,1] 0.23638667010220737 Centerline is valid? [False, False] Translation: X:5.58, Y:0.48, Z:-0.07 [[ 9.99556964e-01 -1.53780227e-03 2.97239136e-02 5.57917101e+00] [ 1.40183098e-03 9.99988461e-01 4.59477201e-03 4.77304929e-01] [-2.97306364e-02 -4.55106846e-03 9.99547586e-01 -7.43712661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.153133365 meters Centerline goodness [0,1] 0.23475694518702284 Centerline is valid? [False, False] Translation: X:5.58, Y:0.48, Z:-0.08 [[ 9.99438209e-01 -2.90402804e-03 3.33891026e-02 5.57584711e+00] [ 2.79899960e-03 9.99990989e-01 3.19190116e-03 4.78698743e-01] [-3.33980710e-02 -3.09665190e-03 9.99437332e-01 -8.12910543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.183133365 meters Centerline goodness [0,1] 0.23314329804106482 Centerline is valid? [False, False] Translation: X:5.58, Y:0.48, Z:-0.08 [[ 9.99403688e-01 -3.12553268e-03 3.43874773e-02 5.57530903e+00] [ 3.02161870e-03 9.99990712e-01 3.07340875e-03 4.77740390e-01] [-3.43967640e-02 -2.96767019e-03 9.99403850e-01 -8.41921731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.213133365 meters Centerline goodness [0,1] 0.23147908022130015 Centerline is valid? [False, False] Translation: X:5.58, Y:0.48, Z:-0.09 [[ 9.99378959e-01 -3.29517872e-03 3.50833154e-02 5.57554853e+00] [ 3.19070346e-03 9.99990309e-01 3.03348993e-03 4.76434031e-01] [-3.50929713e-02 -2.91966555e-03 9.99379787e-01 -8.72790507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.243133365 meters Centerline goodness [0,1] 0.2305232433360519 Centerline is valid? [False, False] Translation: X:5.58, Y:0.47, Z:-0.10 [[ 9.99332999e-01 -4.27995828e-03 3.62662179e-02 5.58010429e+00] [ 4.19735881e-03 9.99988422e-01 2.35341768e-03 4.74412712e-01] [-3.62758706e-02 -2.19962562e-03 9.99339393e-01 -9.74400693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.273133365 meters Centerline goodness [0,1] 0.2288370891715632 Centerline is valid? [False, False] Translation: X:5.58, Y:0.47, Z:-0.10 [[ 9.99317959e-01 -4.43403985e-03 3.66600075e-02 5.58122656e+00] [ 4.34621812e-03 9.99987493e-01 2.47491958e-03 4.72119050e-01] [-3.66705228e-02 -2.31389920e-03 9.99324731e-01 -1.00801022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.303133365 meters Centerline goodness [0,1] 0.22857831430887543 Centerline is valid? [False, False] Translation: X:5.54, Y:0.47, Z:-0.11 [[ 9.99111886e-01 -6.34472095e-03 4.16555293e-02 5.54235585e+00] [ 6.24902363e-03 9.99977529e-01 2.42715890e-03 4.66999222e-01] [-4.16699929e-02 -2.16469692e-03 9.99129084e-01 -1.13644635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.333133365 meters Centerline goodness [0,1] 0.2275142603075455 Centerline is valid? [False, False] Translation: X:5.55, Y:0.46, Z:-0.12 [[ 9.99087974e-01 -8.00784032e-03 4.19415632e-02 5.54563683e+00] [ 7.97336055e-03 9.99967723e-01 9.89310130e-04 4.64518600e-01] [-4.19481317e-02 -6.53992648e-04 9.99119576e-01 -1.19134780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.363133365 meters Centerline goodness [0,1] 0.22548257546314288 Centerline is valid? [False, False] Translation: X:5.55, Y:0.46, Z:-0.12 [[ 9.99046126e-01 -8.12247542e-03 4.29052757e-02 5.54540049e+00] [ 8.07321213e-03 9.99966538e-01 1.32133677e-03 4.60620134e-01] [-4.29145725e-02 -9.73692988e-04 9.99078271e-01 -1.22340815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.393133365 meters Centerline goodness [0,1] 0.22571059431524543 Centerline is valid? [False, False] Translation: X:5.54, Y:0.46, Z:-0.13 [[ 9.98993835e-01 -8.01447079e-03 4.41257876e-02 5.54419304e+00] [ 7.94043222e-03 9.99966758e-01 1.85291944e-03 4.57345534e-01] [-4.41391709e-02 -1.50067728e-03 9.99024265e-01 -1.25185533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42313336499996 meters Centerline goodness [0,1] 0.22467171058352897 Centerline is valid? [False, False] Translation: X:5.54, Y:0.45, Z:-0.13 [[ 9.98852789e-01 -7.30710521e-03 4.73256058e-02 5.54265046e+00] [ 7.16074805e-03 9.99969043e-01 3.26136013e-03 4.52062098e-01] [-4.73479719e-02 -2.91873192e-03 9.98874192e-01 -1.33326953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.453133365 meters Centerline goodness [0,1] 0.22406710398967633 Centerline is valid? [False, False] Translation: X:5.56, Y:0.45, Z:-0.13 [[ 9.98889042e-01 6.56168415e-04 4.71195495e-02 5.56379889e+00] [-7.37373793e-04 9.99998273e-01 1.70602904e-03 4.49211195e-01] [-4.71183486e-02 -1.73887843e-03 9.98887800e-01 -1.33343456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48313336499996 meters Centerline goodness [0,1] 0.2241977355526953 Centerline is valid? [False, False] Translation: X:5.56, Y:0.45, Z:-0.14 [[ 9.98859140e-01 7.73246080e-04 4.77474601e-02 5.56423890e+00] [-8.67428598e-04 9.99997719e-01 1.95182460e-03 4.48237040e-01] [-4.77458419e-02 -1.99101535e-03 9.98857533e-01 -1.36876984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.513133365 meters Centerline goodness [0,1] 0.22384323204419887 Centerline is valid? [False, False] Translation: X:5.56, Y:0.45, Z:-0.14 [[ 9.98826802e-01 9.19593333e-04 4.84166660e-02 5.56457315e+00] [-1.02693981e-03 9.99997070e-01 2.19231050e-03 4.47413793e-01] [-4.84145081e-02 -2.23945949e-03 9.98824820e-01 -1.40383404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54313336499996 meters Centerline goodness [0,1] 0.2219141285039643 Centerline is valid? [False, False] Translation: X:5.57, Y:0.45, Z:-0.15 [[ 9.98702438e-01 8.22457632e-04 5.09191981e-02 5.56571522e+00] [-9.34491896e-04 9.99997195e-01 2.17646809e-03 4.46344559e-01] [-5.09172652e-02 -2.22122756e-03 9.98700405e-01 -1.50296224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.573133365 meters Centerline goodness [0,1] 0.22174639201747248 Centerline is valid? [False, False] Translation: X:5.57, Y:0.45, Z:-0.15 [[ 9.98661965e-01 8.11564376e-04 5.17070599e-02 5.56544065e+00] [-9.29555601e-04 9.99997019e-01 2.25790960e-03 4.45465613e-01] [-5.17050733e-02 -2.30295303e-03 9.98659743e-01 -1.53278855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60313336499996 meters Centerline goodness [0,1] 0.22018190066754517 Centerline is valid? [False, False] Translation: X:5.57, Y:0.44, Z:-0.16 [[ 9.98620663e-01 7.79078870e-04 5.24991911e-02 5.56511404e+00] [-9.02276926e-04 9.99996895e-01 2.32300591e-03 4.44561245e-01] [-5.24972183e-02 -2.36717051e-03 9.98618265e-01 -1.56207341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.633133365 meters Centerline goodness [0,1] 0.22122282899668055 Centerline is valid? [False, False] Translation: X:5.56, Y:0.44, Z:-0.16 [[ 9.98581038e-01 7.32458938e-04 5.32482311e-02 5.56498551e+00] [-8.61654973e-04 9.99996741e-01 2.40338062e-03 4.43450603e-01] [-5.32462972e-02 -2.44585192e-03 9.98578414e-01 -1.59287115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66313336499996 meters Centerline goodness [0,1] 0.2203514702377083 Centerline is valid? [False, False] Translation: X:5.56, Y:0.44, Z:-0.16 [[ 9.98535888e-01 7.09826350e-04 5.40885926e-02 5.56460424e+00] [-8.43958356e-04 9.99996625e-01 2.45705695e-03 4.42802469e-01] [-5.40866660e-02 -2.49910806e-03 9.98533118e-01 -1.62317609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.693133365 meters Centerline goodness [0,1] 0.21869649088583998 Centerline is valid? [False, False] Translation: X:5.56, Y:0.44, Z:-0.17 [[ 9.98477886e-01 6.85418632e-04 5.51492583e-02 5.56384065e+00] [-8.24022949e-04 9.99996559e-01 2.49055786e-03 4.42350373e-01] [-5.51473615e-02 -2.53221121e-03 9.98475015e-01 -1.65542474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72313336499997 meters Centerline goodness [0,1] 0.22297752198935827 Centerline is valid? [False, False] Translation: X:5.56, Y:0.44, Z:-0.18 [[ 9.98273980e-01 8.88861517e-04 5.87219732e-02 5.56244605e+00] [-1.05048874e-03 9.99995745e-01 2.72160195e-03 4.42776822e-01] [-5.87193042e-02 -2.77859118e-03 9.98270666e-01 -1.75526819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.753133365 meters Centerline goodness [0,1] 0.2218315897787686 Centerline is valid? [False, False] Translation: X:5.56, Y:0.44, Z:-0.18 [[ 9.98215856e-01 8.96563277e-04 5.97017631e-02 5.56219770e+00] [-1.05481377e-03 9.99996014e-01 2.61922130e-03 4.43722442e-01] [-5.96991768e-02 -2.67752248e-03 9.98212823e-01 -1.79385309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78313336499997 meters Centerline goodness [0,1] 0.21171456671402034 Centerline is valid? [False, False] Translation: X:5.53, Y:0.44, Z:-0.19 [[ 9.97982866e-01 1.10003099e-03 6.34743258e-02 5.52588417e+00] [-1.31614962e-03 9.99993479e-01 3.36310708e-03 4.42736050e-01] [-6.34702123e-02 -3.43986495e-03 9.97977805e-01 -1.94089107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.813133365 meters Centerline goodness [0,1] 0.21349826388888893 Centerline is valid? [False, False] Translation: X:5.53, Y:0.44, Z:-0.21 [[ 9.97843165e-01 1.97170838e-03 6.56134972e-02 5.52908356e+00] [-2.24932378e-03 9.99988828e-01 4.15746783e-03 4.43382164e-01] [-6.56045668e-02 -4.29608685e-03 9.97836452e-01 -2.06762023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84313336499997 meters Centerline goodness [0,1] 0.2141323485206338 Centerline is valid? [False, False] Translation: X:5.53, Y:0.44, Z:-0.21 [[ 9.97752044e-01 1.92708901e-03 6.69861586e-02 5.52828121e+00] [-2.20293380e-03 9.99989395e-01 4.04431504e-03 4.43843901e-01] [-6.69776545e-02 -4.18278967e-03 9.97745708e-01 -2.11184379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.873133365 meters Centerline goodness [0,1] 0.213044889129259 Centerline is valid? [False, False] Translation: X:5.53, Y:0.44, Z:-0.22 [[ 9.97668873e-01 1.85653803e-03 6.82156372e-02 5.52747967e+00] [-2.12933928e-03 9.99990024e-01 3.92660715e-03 4.44034538e-01] [-6.82076668e-02 -4.06270797e-03 9.97662873e-01 -2.15184862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.903133365 meters Centerline goodness [0,1] 0.2149772516549151 Centerline is valid? [False, False] Translation: X:5.53, Y:0.44, Z:-0.22 [[ 9.97581144e-01 1.75909728e-03 6.94893331e-02 5.52663199e+00] [-2.02466703e-03 9.99990913e-01 3.75148737e-03 4.44502094e-01] [-6.94821024e-02 -3.88310582e-03 9.97575641e-01 -2.19288201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.933133365 meters Centerline goodness [0,1] 0.21553300818672705 Centerline is valid? [False, False] Translation: X:5.53, Y:0.45, Z:-0.22 [[ 9.97517927e-01 1.67840254e-03 7.03929632e-02 5.52641691e+00] [-1.93205299e-03 9.99991884e-01 3.53541841e-03 4.45529251e-01] [-7.03864581e-02 -3.66264618e-03 9.97513073e-01 -2.23122957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.963133365 meters Centerline goodness [0,1] 0.21332382249313708 Centerline is valid? [False, False] Translation: X:5.53, Y:0.45, Z:-0.23 [[ 9.97449425e-01 2.45681664e-03 7.13344876e-02 5.52752957e+00] [-2.77550542e-03 9.99986605e-01 4.36875026e-03 4.45703167e-01] [-7.13227989e-02 -4.55559669e-03 9.97442883e-01 -2.28497184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.993133365 meters Centerline goodness [0,1] 0.21629692832764502 Centerline is valid? [False, False] Translation: X:5.57, Y:0.45, Z:-0.23 [[ 9.97296759e-01 4.47040793e-03 7.33429608e-02 5.57473256e+00] [-4.86465565e-03 9.99974659e-01 5.19764489e-03 4.51463078e-01] [-7.33178666e-02 -5.54038265e-03 9.97293234e-01 -2.33959405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.023133365 meters Centerline goodness [0,1] 0.21707834686153105 Centerline is valid? [False, False] Translation: X:5.54, Y:0.45, Z:-0.25 [[ 9.97121880e-01 4.54429168e-03 7.56789603e-02 5.53890870e+00] [-4.97200402e-03 9.99972710e-01 5.46421795e-03 4.51347798e-01] [-7.56520640e-02 -5.82476738e-03 9.97117264e-01 -2.47859439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.053133365 meters Centerline goodness [0,1] 0.2175088509816543 Centerline is valid? [False, False] Translation: X:5.58, Y:0.45, Z:-0.25 [[ 9.97331586e-01 4.91450268e-03 7.28392387e-02 5.58136820e+00] [-5.25082291e-03 9.99976417e-01 4.42652565e-03 4.54975987e-01] [-7.28157668e-02 -4.79717979e-03 9.97333871e-01 -2.45494748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.083133365 meters Centerline goodness [0,1] 0.21736222001639982 Centerline is valid? [False, False] Translation: X:5.58, Y:0.46, Z:-0.25 [[ 9.97307391e-01 4.78437050e-03 7.31784015e-02 5.58233672e+00] [-5.09895222e-03 9.99978543e-01 4.11261906e-03 4.56150560e-01] [-7.31571551e-02 -4.47467855e-03 9.97310387e-01 -2.49104344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.113133365 meters Centerline goodness [0,1] 0.21880029579364046 Centerline is valid? [False, False] Translation: X:5.59, Y:0.46, Z:-0.26 [[ 9.97249531e-01 3.77461355e-03 7.40211129e-02 5.58633134e+00] [-3.98176347e-03 9.99988558e-01 2.65115430e-03 4.59986394e-01] [-7.40102589e-02 -2.93859695e-03 9.97253151e-01 -2.58938811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.143133365 meters Centerline goodness [0,1] 0.21799757491772043 Centerline is valid? [False, False] Translation: X:5.59, Y:0.46, Z:-0.26 [[ 9.97203375e-01 3.67154418e-03 7.46454809e-02 5.58662984e+00] [-3.87292043e-03 9.99989241e-01 2.55319740e-03 4.59873620e-01] [-7.46353036e-02 -2.83515307e-03 9.97206866e-01 -2.62422194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.17313336499996 meters Centerline goodness [0,1] 0.21647427369866545 Centerline is valid? [False, False] Translation: X:5.59, Y:0.46, Z:-0.27 [[ 9.97147929e-01 3.57438494e-03 7.53872073e-02 5.58663356e+00] [-3.77505403e-03 9.99989700e-01 2.51951474e-03 4.59286564e-01] [-7.53774252e-02 -2.79691968e-03 9.97151153e-01 -2.65819146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.203133365 meters Centerline goodness [0,1] 0.21854627042587416 Centerline is valid? [False, False] Translation: X:5.63, Y:0.46, Z:-0.27 [[ 9.96954223e-01 3.28209435e-03 7.79198614e-02 5.63067250e+00] [-3.42012428e-03 9.99992810e-01 1.63804961e-03 4.61571705e-01] [-7.79139249e-02 -1.89955609e-03 9.96958280e-01 -2.69050237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.23313336499996 meters Centerline goodness [0,1] 0.22017754163156866 Centerline is valid? [False, False] Translation: X:5.61, Y:0.46, Z:-0.28 [[ 9.96926612e-01 -3.11908529e-03 7.82789930e-02 5.61456050e+00] [ 2.67547337e-03 9.99979767e-01 5.77130036e-03 4.61977545e-01] [-7.82954103e-02 -5.54412956e-03 9.96914786e-01 -2.78330535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.263133365 meters Centerline goodness [0,1] 0.2181279391870128 Centerline is valid? [False, False] Translation: X:5.61, Y:0.46, Z:-0.28 [[ 9.96884537e-01 -3.02817527e-03 7.88165607e-02 5.61488790e+00] [ 2.57959767e-03 9.99979895e-01 5.79260700e-03 4.62713476e-01] [-7.88325172e-02 -5.57124533e-03 9.96872306e-01 -2.81552368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.29313336499996 meters Centerline goodness [0,1] 0.22108124433705834 Centerline is valid? [False, False] Translation: X:5.62, Y:0.46, Z:-0.28 [[ 9.96854251e-01 -2.94663180e-03 7.92017617e-02 5.61562088e+00] [ 2.49263901e-03 9.99979897e-01 5.83035988e-03 4.63008613e-01] [-7.92173494e-02 -5.61459764e-03 9.96841556e-01 -2.84854841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.323133365 meters Centerline goodness [0,1] 0.21974282206474682 Centerline is valid? [False, False] Translation: X:5.62, Y:0.46, Z:-0.29 [[ 9.96844905e-01 -2.83986182e-03 7.93232008e-02 5.61704938e+00] [ 2.37961526e-03 9.99979787e-01 5.89609426e-03 4.63194712e-01] [-7.93383415e-02 -5.68873282e-03 9.96831513e-01 -2.88298544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.35313336499996 meters Centerline goodness [0,1] 0.22145156759793438 Centerline is valid? [False, False] Translation: X:5.62, Y:0.46, Z:-0.29 [[ 9.96897519e-01 -2.01195242e-03 7.86847376e-02 5.62106883e+00] [ 1.48457388e-03 9.99976047e-01 6.76034799e-03 4.61909198e-01] [-7.86964544e-02 -6.62256084e-03 9.96876627e-01 -2.92781890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.383133365 meters Centerline goodness [0,1] 0.22231817102394158 Centerline is valid? [False, False] Translation: X:5.63, Y:0.46, Z:-0.30 [[ 9.96921981e-01 -9.12810964e-05 7.83999696e-02 5.62745842e+00] [-6.06462420e-04 9.99960424e-01 8.87593713e-03 4.60625159e-01] [-7.83976770e-02 -8.89616347e-03 9.96882472e-01 -3.02096539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.41313336499996 meters Centerline goodness [0,1] 0.22277142240448955 Centerline is valid? [False, False] Translation: X:5.63, Y:0.46, Z:-0.31 [[ 9.96902806e-01 -4.87725712e-05 7.86434495e-02 5.62833275e+00] [-6.50689989e-04 9.99960463e-01 8.86844770e-03 4.60877408e-01] [-7.86407727e-02 -8.89215291e-03 9.96863360e-01 -3.05106023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.443133365 meters Centerline goodness [0,1] 0.2295391016056686 Centerline is valid? [False, False] Translation: X:5.63, Y:0.46, Z:-0.31 [[ 9.96866849e-01 -2.28380096e-05 7.90979395e-02 5.62860804e+00] [-6.81204632e-04 9.99960394e-01 8.87390272e-03 4.60866104e-01] [-7.90950095e-02 -8.89998133e-03 9.96827352e-01 -3.07908970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.47313336499997 meters Centerline goodness [0,1] 0.2303513063053313 Centerline is valid? [False, False] Translation: X:5.63, Y:0.46, Z:-0.31 [[ 9.96817284e-01 9.99007084e-06 7.97201492e-02 5.62846887e+00] [-7.23611105e-04 9.99959930e-01 8.92269260e-03 4.60544161e-01] [-7.97168657e-02 -8.95198059e-03 9.96777349e-01 -3.10673583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.503133365 meters Centerline goodness [0,1] 0.23188187109290792 Centerline is valid? [False, False] Translation: X:5.63, Y:0.46, Z:-0.32 [[ 9.96730125e-01 1.74622436e-03 8.07837110e-02 5.63106278e+00] [-2.62740148e-03 9.99938196e-01 1.08028433e-02 4.58601733e-01] [-8.07598541e-02 -1.09797706e-02 9.96673111e-01 -3.19061140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.53313336499997 meters Centerline goodness [0,1] 0.23145005370569283 Centerline is valid? [False, False] Translation: X:5.63, Y:0.46, Z:-0.32 [[ 9.96693036e-01 1.92963371e-03 8.12358807e-02 5.63172899e+00] [-2.81794315e-03 9.99937473e-01 1.08217113e-02 4.59779926e-01] [-8.12099193e-02 -1.10148424e-02 9.96636153e-01 -3.22589354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.563133365 meters Centerline goodness [0,1] 0.2323079222082275 Centerline is valid? [False, False] Translation: X:5.64, Y:0.46, Z:-0.33 [[ 9.96723881e-01 2.86468700e-03 8.08288217e-02 5.63533208e+00] [-3.82469425e-03 9.99923948e-01 1.17247157e-02 4.58938074e-01] [-8.07890869e-02 -1.19954497e-02 9.96659035e-01 -3.27089408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.59313336499997 meters Centerline goodness [0,1] 0.23302375809935205 Centerline is valid? [False, False] Translation: X:5.62, Y:0.46, Z:-0.34 [[ 0.99663524 0.01196889 0.08108604 5.62311153] [-0.01285866 0.99986261 0.01045985 0.45765961] [-0.08094971 -0.01146732 0.99665222 -0.34176263] [ 0. 0. 0. 1. ]] SLAMing on 370.623133365 meters Centerline goodness [0,1] 0.23543063983817736 Centerline is valid? [False, False] Translation: X:5.65, Y:0.46, Z:-0.34 [[ 0.99667671 0.00689677 0.08116635 5.6453401 ] [-0.00813428 0.99985551 0.01492593 0.45890107] [-0.08105168 -0.01553655 0.9965888 -0.34338288] [ 0. 0. 0. 1. ]] SLAMing on 370.653133365 meters Centerline goodness [0,1] 0.23992701194542865 Centerline is valid? [False, False] Translation: X:5.65, Y:0.46, Z:-0.35 [[ 0.99665355 0.00705622 0.0814366 5.64646133] [-0.00828403 0.99985691 0.0147489 0.46118621] [-0.08132087 -0.01537417 0.99656939 -0.34683869] [ 0. 0. 0. 1. ]] SLAMing on 370.683133365 meters Centerline goodness [0,1] 0.24503381234150468 Centerline is valid? [False, False] Translation: X:5.65, Y:0.46, Z:-0.35 [[ 0.9966076 0.00710418 0.08199278 5.64679475] [-0.00831535 0.99986117 0.01443965 0.46375586] [-0.08187882 -0.01507247 0.99652831 -0.35028067] [ 0. 0. 0. 1. ]] SLAMing on 370.713133365 meters Centerline goodness [0,1] 0.24503381234150468 Centerline is valid? [False, False] Translation: X:5.65, Y:0.46, Z:-0.35 [[ 0.9966076 0.00710418 0.08199278 5.64679475] [-0.00831535 0.99986117 0.01443965 0.46375586] [-0.08187882 -0.01507247 0.99652831 -0.35028067] [ 0. 0. 0. 1. ]] SLAMing on 370.743133365 meters Centerline goodness [0,1] 0.23346328506554703 Centerline is valid? [False, False] Translation: X:5.65, Y:0.47, Z:-0.35 [[ 0.99655655 0.00703198 0.0826171 5.64695304] [-0.00822177 0.99986721 0.01406994 0.46599117] [-0.08250719 -0.01470075 0.99648204 -0.35379353] [ 0. 0. 0. 1. ]] SLAMing on 370.773133365 meters Centerline goodness [0,1] 0.239478123465226 Centerline is valid? [False, False] Translation: X:5.65, Y:0.47, Z:-0.36 [[ 0.9965252 0.00689528 0.0830059 5.64797099] [-0.00805129 0.9998751 0.01360021 0.4683367 ] [-0.08290175 -0.01422125 0.99645625 -0.35764907] [ 0. 0. 0. 1. ]] SLAMing on 370.803133365 meters Centerline goodness [0,1] 0.24988830975428145 Centerline is valid? [False, False] Translation: X:5.66, Y:0.47, Z:-0.37 [[ 0.99652256 0.00828165 0.08291075 5.65510945] [-0.00951443 0.99984982 0.01448474 0.47323611] [-0.08277834 -0.01522322 0.9964517 -0.36881672] [ 0. 0. 0. 1. ]] SLAMing on 370.833133365 meters Centerline goodness [0,1] 0.2388467244307798 Centerline is valid? [False, False] Translation: X:5.64, Y:0.47, Z:-0.38 [[ 9.96658902e-01 1.80548008e-03 8.16564354e-02 5.64024886e+00] [-3.33110204e-03 9.99822365e-01 1.85510564e-02 4.74123116e-01] [-8.16084368e-02 -1.87610814e-02 9.96487875e-01 -3.78437582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.863133365 meters Centerline goodness [0,1] 0.2489634537294294 Centerline is valid? [False, False] Translation: X:5.64, Y:0.48, Z:-0.38 [[ 9.96633669e-01 1.68257750e-03 8.19664544e-02 5.64139278e+00] [-3.18694514e-03 9.99828812e-01 1.82260825e-02 4.75978351e-01] [-8.19217560e-02 -1.84259501e-02 9.96468419e-01 -3.82124069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.893133365 meters Centerline goodness [0,1] 0.23575462012320325 Centerline is valid? [False, False] Translation: X:5.64, Y:0.48, Z:-0.39 [[ 9.96608509e-01 7.36068797e-04 8.22857074e-02 5.64397182e+00] [-2.12997641e-03 9.99855703e-01 1.68533525e-02 4.79024068e-01] [-8.22614286e-02 -1.69714611e-02 9.96466270e-01 -3.87723399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92313336499996 meters Centerline goodness [0,1] 0.2530146287134014 Centerline is valid? [False, False] Translation: X:5.65, Y:0.48, Z:-0.40 [[ 9.96551938e-01 -1.19027797e-03 8.29627563e-02 5.64809716e+00] [-1.72226037e-05 9.99894107e-01 1.45524956e-02 4.80269921e-01] [-8.29712927e-02 -1.45037466e-02 9.96446389e-01 -3.97222775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.953133365 meters Centerline goodness [0,1] 0.2465351412719834 Centerline is valid? [False, False] Translation: X:5.65, Y:0.48, Z:-0.40 [[ 9.96513435e-01 -1.31121239e-03 8.34221516e-02 5.64868925e+00] [ 1.09555939e-04 9.99896201e-01 1.44074721e-02 4.80494657e-01] [-8.34323837e-02 -1.43481001e-02 9.96410141e-01 -4.00612095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98313336499996 meters Centerline goodness [0,1] 0.25519185658639465 Centerline is valid? [False, False] Translation: X:5.65, Y:0.48, Z:-0.40 [[ 9.96487254e-01 -1.42473040e-03 8.37324514e-02 5.64969419e+00] [ 2.38540145e-04 9.99899505e-01 1.41747314e-02 4.81769333e-01] [-8.37442319e-02 -1.41049656e-02 9.96387452e-01 -4.04087627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.013133365 meters Centerline goodness [0,1] 0.06836897542291731 Centerline is valid? [False, False] Translation: X:5.65, Y:0.48, Z:-0.41 [[ 9.96464486e-01 -1.44980467e-03 8.40025417e-02 5.65100790e+00] [ 2.76874291e-04 9.99902335e-01 1.39730019e-02 4.83470447e-01] [-8.40145956e-02 -1.39003421e-02 9.96367567e-01 -4.07826170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04313336499996 meters Centerline goodness [0,1] 0.06878442423466125 Centerline is valid? [False, False] Translation: X:5.65, Y:0.49, Z:-0.41 [[ 9.96440456e-01 -1.53129152e-03 8.42856624e-02 5.65234783e+00] [ 3.85549327e-04 9.99907330e-01 1.36081587e-02 4.85699061e-01] [-8.42986897e-02 -1.35272236e-02 9.96348707e-01 -4.11719254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.073133365 meters Centerline goodness [0,1] 0.2423115772280845 Centerline is valid? [False, False] Translation: X:5.65, Y:0.49, Z:-0.42 [[ 9.96413546e-01 -1.61158301e-03 8.46016982e-02 5.65333603e+00] [ 4.90302438e-04 9.99911793e-01 1.32727461e-02 4.87461843e-01] [-8.46156258e-02 -1.31836636e-02 9.96326446e-01 -4.15225773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10313336499996 meters Centerline goodness [0,1] 0.07029717906169863 Centerline is valid? [False, False] Translation: X:5.66, Y:0.49, Z:-0.43 [[ 9.96393168e-01 1.59423594e-04 8.48565276e-02 5.65885921e+00] [-1.40510334e-03 9.99892130e-01 1.46203127e-02 4.90687957e-01] [-8.48450433e-02 -1.46868119e-02 9.96285911e-01 -4.25147446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.133133365 meters Centerline goodness [0,1] 0.07069879725826611 Centerline is valid? [False, False] Translation: X:5.66, Y:0.49, Z:-0.43 [[ 9.96411458e-01 3.23245903e-04 8.46410135e-02 5.66128182e+00] [-1.54139735e-03 9.99896175e-01 1.43270218e-02 4.93986271e-01] [-8.46275945e-02 -1.44060741e-02 9.96308504e-01 -4.28752162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16313336499996 meters Centerline goodness [0,1] 0.07172170774156117 Centerline is valid? [False, False] Translation: X:5.67, Y:0.50, Z:-0.44 [[ 9.96436683e-01 1.86073867e-03 8.43236330e-02 5.66903458e+00] [-3.14336973e-03 9.99881340e-01 1.50806006e-02 5.01171459e-01] [-8.42855661e-02 -1.52919240e-02 9.96324295e-01 -4.39676745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.193133365 meters Centerline goodness [0,1] 0.07223866410317337 Centerline is valid? [False, False] Translation: X:5.67, Y:0.50, Z:-0.44 [[ 9.96420238e-01 1.63061737e-03 8.45224819e-02 5.67044871e+00] [-2.85552884e-03 9.99892622e-01 1.43732700e-02 5.04630107e-01] [-8.44899687e-02 -1.45631735e-02 9.96317901e-01 -4.43391490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22313336499997 meters Centerline goodness [0,1] 0.07365199270643397 Centerline is valid? [False, False] Translation: X:5.67, Y:0.51, Z:-0.45 [[ 9.96391804e-01 1.37519297e-03 8.48615455e-02 5.67109323e+00] [-2.53642485e-03 9.99904604e-01 1.35775414e-02 5.08838940e-01] [-8.48347783e-02 -1.37437959e-02 9.96300240e-01 -4.46594490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.253133365 meters Centerline goodness [0,1] 0.07059482275918505 Centerline is valid? [False, False] Translation: X:5.67, Y:0.51, Z:-0.45 [[ 9.96373610e-01 1.23090877e-03 8.50771062e-02 5.67209458e+00] [-2.32188427e-03 9.99916330e-01 1.27256143e-02 5.14293044e-01] [-8.50543238e-02 -1.28770054e-02 9.96293102e-01 -4.49744427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28313336499997 meters Centerline goodness [0,1] 0.07275585125853201 Centerline is valid? [False, False] Translation: X:5.67, Y:0.52, Z:-0.45 [[ 9.96393861e-01 1.39847110e-03 8.48370030e-02 5.67462318e+00] [-2.43789287e-03 9.99923219e-01 1.21496249e-02 5.20298075e-01] [-8.48134982e-02 -1.23126352e-02 9.96320766e-01 -4.53271672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.313133365 meters Centerline goodness [0,1] 0.07266532979709772 Centerline is valid? [False, False] Translation: X:5.68, Y:0.53, Z:-0.46 [[ 9.96435792e-01 1.53197448e-03 8.43407743e-02 5.67793889e+00] [-2.51229806e-03 9.99930504e-01 1.15184584e-02 5.26052176e-01] [-8.43172670e-02 -1.16892933e-02 9.96370392e-01 -4.56936874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34313336499997 meters Centerline goodness [0,1] 0.06539997840872291 Centerline is valid? [False, False] Translation: X:5.68, Y:0.54, Z:-0.47 [[ 9.96442544e-01 2.85201444e-03 8.42266127e-02 5.68477968e+00] [-3.86752363e-03 9.99921759e-01 1.18961663e-02 5.35815439e-01] [-8.41860946e-02 -1.21795946e-02 9.96375611e-01 -4.66886454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.373133365 meters Centerline goodness [0,1] 0.10254418333657023 Centerline is valid? [False, False] Translation: X:5.69, Y:0.54, Z:-0.47 [[ 9.96422622e-01 2.53501867e-03 8.44720815e-02 5.68578523e+00] [-3.49331341e-03 9.99931191e-01 1.11986381e-02 5.39529725e-01] [-8.44378803e-02 -1.14536638e-02 9.96362915e-01 -4.69967133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.403133365 meters Centerline goodness [0,1] 0.25913794225471265 Centerline is valid? [False, False] Translation: X:5.69, Y:0.54, Z:-0.47 [[ 9.96407586e-01 2.18665022e-03 8.46589656e-02 5.68694163e+00] [-3.09111128e-03 9.99939527e-01 1.05539766e-02 5.42577360e-01] [-8.46307682e-02 -1.07777527e-02 9.96354090e-01 -4.73002146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.433133365 meters Centerline goodness [0,1] 0.27748085774743136 Centerline is valid? [False, False] Translation: X:5.69, Y:0.55, Z:-0.48 [[ 9.96398252e-01 1.84302997e-03 8.47769231e-02 5.68846672e+00] [-2.69707164e-03 9.99946755e-01 9.96055999e-03 5.45568574e-01] [-8.47540515e-02 -1.01533340e-02 9.96350170e-01 -4.76152956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.463133365 meters Centerline goodness [0,1] 0.2779347990247901 Centerline is valid? [False, False] Translation: X:5.69, Y:0.55, Z:-0.48 [[ 9.96397642e-01 1.33425052e-03 8.47936202e-02 5.69059433e+00] [-2.12406843e-03 9.99955192e-01 9.22505778e-03 5.49328379e-01] [-8.47775123e-02 -9.37193328e-03 9.96355830e-01 -4.79603487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.493133365 meters Centerline goodness [0,1] 0.28264731036600077 Centerline is valid? [False, False] Translation: X:5.70, Y:0.56, Z:-0.49 [[ 9.96456228e-01 -5.23223538e-04 8.41113078e-02 5.69990477e+00] [-1.65004693e-05 9.99979417e-01 6.41595973e-03 5.60365514e-01] [-8.41129336e-02 -6.39461091e-03 9.96435710e-01 -4.90346370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.523133365 meters SLAMing on 371.553133365 meters Centerline goodness [0,1] 0.2096700722327064 Centerline is valid? [False, False] Translation: X:5.71, Y:0.57, Z:-0.50 [[ 9.96483556e-01 5.76371194e-05 8.37885349e-02 5.70944146e+00] [-5.77313022e-04 9.99980749e-01 6.17801617e-03 5.69774042e-01] [-8.37865659e-02 -6.20466374e-03 9.96464407e-01 -5.02135779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.583133365 meters Centerline goodness [0,1] 0.21578947368421053 Centerline is valid? [False, False] Translation: X:5.72, Y:0.58, Z:-0.51 [[ 9.96526176e-01 1.16149789e-03 8.32720358e-02 5.71830421e+00] [-1.69534983e-03 9.99978462e-01 6.34051516e-03 5.79088902e-01] [-8.32628777e-02 -6.45966456e-03 9.96506681e-01 -5.12691454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.613133365 meters Centerline goodness [0,1] 0.23241423042442 Centerline is valid? [False, False] Translation: X:5.72, Y:0.58, Z:-0.52 [[ 9.96539380e-01 8.99027006e-04 8.31171241e-02 5.72071775e+00] [-1.36863895e-03 9.99983421e-01 5.59319777e-03 5.83537341e-01] [-8.31107177e-02 -5.68759917e-03 9.96524089e-01 -5.16062170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.643133365 meters Centerline goodness [0,1] 0.21270349028285973 Centerline is valid? [False, False] Translation: X:5.72, Y:0.59, Z:-0.52 [[ 9.96541423e-01 5.77439982e-04 8.30954776e-02 5.72258355e+00] [-9.87593732e-04 9.99987532e-01 4.89491477e-03 5.87442811e-01] [-8.30916150e-02 -4.96004991e-03 9.96529569e-01 -5.19132377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.67313336499996 meters Centerline goodness [0,1] 0.21330270258555295 Centerline is valid? [False, False] Translation: X:5.72, Y:0.59, Z:-0.52 [[ 9.96540487e-01 2.84816397e-04 8.31082241e-02 5.72425748e+00] [-6.44018632e-04 9.99990568e-01 4.29532618e-03 5.90799646e-01] [-8.31062168e-02 -4.33398968e-03 9.96531271e-01 -5.21779795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.703133365 meters Centerline goodness [0,1] 0.2152974504249292 Centerline is valid? [False, False] Translation: X:5.73, Y:0.60, Z:-0.53 [[ 9.96567719e-01 5.20226336e-05 8.27815124e-02 5.73307868e+00] [-3.55878816e-04 9.99993254e-01 3.65582904e-03 5.96861795e-01] [-8.27807638e-02 -3.67274139e-03 9.96561015e-01 -5.32282944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.73313336499996 meters Centerline goodness [0,1] 0.2118520453704309 Centerline is valid? [False, False] Translation: X:5.74, Y:0.60, Z:-0.54 [[ 9.96587965e-01 -1.22820457e-04 8.25373395e-02 5.73574247e+00] [-1.47080044e-04 9.99994662e-01 3.26395308e-03 5.99132433e-01] [-8.25372998e-02 -3.26495595e-03 9.96582628e-01 -5.35414163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.763133365 meters Centerline goodness [0,1] 0.21429347944252386 Centerline is valid? [False, False] Translation: X:5.74, Y:0.60, Z:-0.54 [[ 9.96611084e-01 -2.72085696e-04 8.22573556e-02 5.73850860e+00] [ 3.56304257e-05 9.99995864e-01 2.87603329e-03 6.01337678e-01] [-8.22577979e-02 -2.86335579e-03 9.96606972e-01 -5.38506452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.79313336499996 meters Centerline goodness [0,1] 0.23605767104506659 Centerline is valid? [False, False] Translation: X:5.74, Y:0.60, Z:-0.54 [[ 9.96626254e-01 -4.21148662e-04 8.20727297e-02 5.74077095e+00] [ 2.18145634e-04 9.99996895e-01 2.48240420e-03 6.03769247e-01] [-8.20735203e-02 -2.45612539e-03 9.96623251e-01 -5.41332038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.823133365 meters Centerline goodness [0,1] 0.22486505463641548 Centerline is valid? [False, False] Translation: X:5.74, Y:0.61, Z:-0.54 [[ 9.96631883e-01 -5.09840599e-04 8.20038438e-02 5.74270725e+00] [ 3.33556267e-04 9.99997604e-01 2.16339331e-03 6.06159451e-01] [-8.20047504e-02 -2.12875385e-03 9.96629665e-01 -5.44086820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.85313336499996 meters Centerline goodness [0,1] 0.22803444535452588 Centerline is valid? [False, False] Translation: X:5.75, Y:0.61, Z:-0.55 [[ 9.96647039e-01 1.04372800e-03 8.18143706e-02 5.74948918e+00] [-1.34175286e-03 9.99992664e-01 3.58780091e-03 6.08606162e-01] [-8.18100257e-02 -3.68554581e-03 9.96641127e-01 -5.52051025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.883133365 meters Centerline goodness [0,1] 0.07260402362736762 Centerline is valid? [False, False] Translation: X:5.75, Y:0.61, Z:-0.55 [[ 9.96650403e-01 1.01321795e-03 8.17737540e-02 5.75171711e+00] [-1.30482723e-03 9.99992979e-01 3.51268876e-03 6.09357494e-01] [-8.17696208e-02 -3.60762329e-03 9.96644728e-01 -5.54830660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.91313336499996 meters Centerline goodness [0,1] 0.11645376132765584 Centerline is valid? [False, False] Translation: X:5.75, Y:0.61, Z:-0.56 [[ 9.96672794e-01 9.95718078e-04 8.15006145e-02 5.75455096e+00] [-1.28345826e-03 9.99993127e-01 3.47821539e-03 6.09122946e-01] [-8.14965911e-02 -3.57124528e-03 9.96667222e-01 -5.57834598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.943133365 meters Centerline goodness [0,1] 0.24117725101715903 Centerline is valid? [False, False] Translation: X:5.76, Y:0.61, Z:-0.56 [[ 9.96698388e-01 1.00579010e-03 8.11868940e-02 5.75750100e+00] [-1.29595815e-03 9.99992960e-01 3.52145978e-03 6.08676219e-01] [-8.11827806e-02 -3.61504810e-03 9.96692675e-01 -5.60873057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.97313336499997 meters Centerline goodness [0,1] 0.23563017116841045 Centerline is valid? [False, False] Translation: X:5.77, Y:0.61, Z:-0.57 [[ 9.96745978e-01 1.24552733e-03 8.05971746e-02 5.76818942e+00] [-1.54154626e-03 9.99992293e-01 3.61070099e-03 6.10501175e-01] [-8.05920562e-02 -3.72319596e-03 9.96740216e-01 -5.71951445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.003133365 meters Centerline goodness [0,1] 0.2551114426114426 Centerline is valid? [False, False] Translation: X:5.77, Y:0.61, Z:-0.57 [[ 9.96761358e-01 1.24358523e-03 8.04067681e-02 5.77058945e+00] [-1.53338228e-03 9.99992550e-01 3.54249084e-03 6.11247019e-01] [-8.04017636e-02 -3.65431229e-03 9.96755839e-01 -5.74446606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.03313336499997 meters Centerline goodness [0,1] 0.21329621528468212 Centerline is valid? [False, False] Translation: X:5.77, Y:0.61, Z:-0.58 [[ 9.96768552e-01 1.22048940e-03 8.03178963e-02 5.77248945e+00] [-1.50101123e-03 9.99992983e-01 3.43236019e-03 6.11861994e-01] [-8.03131436e-02 -3.54182676e-03 9.96763389e-01 -5.76665060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.063133365 meters Centerline goodness [0,1] 0.2587825858559327 Centerline is valid? [False, False] Translation: X:5.77, Y:0.61, Z:-0.58 [[ 9.96766692e-01 1.23240147e-03 8.03407916e-02 5.77452211e+00] [-1.50102391e-03 9.99993484e-01 3.28322878e-03 6.12870286e-01] [-8.03362218e-02 -3.39320654e-03 9.96762047e-01 -5.79221645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.09313336499997 meters Centerline goodness [0,1] 0.24674044045140786 Centerline is valid? [False, False] Translation: X:5.78, Y:0.61, Z:-0.58 [[ 9.96787022e-01 1.21910832e-03 8.00883633e-02 5.77722305e+00] [-1.47049311e-03 9.99994176e-01 3.07993853e-03 6.14523745e-01] [-8.00841420e-02 -3.18781214e-03 9.96783010e-01 -5.81834657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.123133365 meters Centerline goodness [0,1] 0.2761051744778965 Centerline is valid? [False, False] Translation: X:5.78, Y:0.62, Z:-0.58 [[ 9.96817941e-01 1.26178154e-03 7.97019517e-02 5.78070020e+00] [-1.49876570e-03 9.99994632e-01 2.91362718e-03 6.16248437e-01] [-7.96978475e-02 -3.02381039e-03 9.96814481e-01 -5.84975876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.153133365 meters Centerline goodness [0,1] 0.27371418401850867 Centerline is valid? [False, False] Translation: X:5.79, Y:0.62, Z:-0.60 [[ 9.96903605e-01 2.14190815e-03 7.86041575e-02 5.79316931e+00] [-2.40428298e-03 9.99991850e-01 3.24343770e-03 6.19231428e-01] [-7.85965697e-02 -3.42238138e-03 9.96900630e-01 -5.96064492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.183133365 meters Centerline goodness [0,1] 0.26360420923131 Centerline is valid? [False, False] Translation: X:5.80, Y:0.62, Z:-0.60 [[ 9.96912899e-01 2.22209709e-03 7.84839701e-02 5.79607478e+00] [-2.49194165e-03 9.99991316e-01 3.34043980e-03 6.19144818e-01] [-7.84758658e-02 -3.52570500e-03 9.96909779e-01 -5.98816304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.213133365 meters Centerline goodness [0,1] 0.27561095474243846 Centerline is valid? [False, False] Translation: X:5.80, Y:0.62, Z:-0.60 [[ 9.96927605e-01 2.30660292e-03 7.82945112e-02 5.79858413e+00] [-2.58552797e-03 9.99990667e-01 3.46132590e-03 6.18272498e-01] [-7.82857966e-02 -3.65312399e-03 9.96924264e-01 -6.01149388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.243133365 meters Centerline goodness [0,1] 0.2371955975387815 Centerline is valid? [False, False] Translation: X:5.81, Y:0.62, Z:-0.61 [[ 9.96889065e-01 2.14696676e-03 7.87882092e-02 5.80679859e+00] [-2.41821412e-03 9.99991473e-01 3.34749025e-03 6.16897129e-01] [-7.87803505e-02 -3.52760319e-03 9.96885757e-01 -6.11176548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.273133365 meters Centerline goodness [0,1] 0.2624649921714777 Centerline is valid? [False, False] Translation: X:5.81, Y:0.62, Z:-0.61 [[ 9.96900550e-01 2.29339663e-03 7.86386260e-02 5.80929117e+00] [-2.58242699e-03 9.99990279e-01 3.57392503e-03 6.15473172e-01] [-7.86296651e-02 -3.76592634e-03 9.96896782e-01 -6.13422508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.303133365 meters Centerline goodness [0,1] 0.2707246376811594 Centerline is valid? [False, False] Translation: X:5.81, Y:0.61, Z:-0.62 [[ 9.96913223e-01 2.43243961e-03 7.84736219e-02 5.81199466e+00] [-2.73165419e-03 9.99989402e-01 3.70581023e-03 6.14318390e-01] [-7.84637761e-02 -3.90873402e-03 9.96909303e-01 -6.15899094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.333133365 meters Centerline goodness [0,1] 0.26931533012058895 Centerline is valid? [False, False] Translation: X:5.82, Y:0.61, Z:-0.63 [[ 9.96947564e-01 3.90372913e-03 7.79763793e-02 5.82268237e+00] [-4.28210216e-03 9.99979853e-01 4.68578867e-03 6.14618942e-01] [-7.79565163e-02 -5.00538842e-03 9.96944195e-01 -6.26067413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.363133365 meters Centerline goodness [0,1] 0.27012929605481273 Centerline is valid? [False, False] Translation: X:5.83, Y:0.61, Z:-0.63 [[ 9.96993593e-01 5.17210386e-03 7.73112261e-02 5.82963900e+00] [-5.62266551e-03 9.99968449e-01 5.61135604e-03 6.14728522e-01] [-7.72797643e-02 -6.02918119e-03 9.96991217e-01 -6.31896692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.393133365 meters Centerline goodness [0,1] 0.2684268185801928 Centerline is valid? [False, False] Translation: X:5.84, Y:0.62, Z:-0.64 [[ 0.99703553 0.00653927 0.07666415 5.83677334] [-0.00706504 0.99995333 0.00658887 0.61551896] [-0.07661749 -0.00711097 0.9970352 -0.63802064] [ 0. 0. 0. 1. ]] SLAMing on 372.42313336499996 meters Centerline goodness [0,1] 0.2524284531951039 Centerline is valid? [False, False] Translation: X:5.84, Y:0.62, Z:-0.64 [[ 0.99708391 0.00776067 0.07591742 5.84379205] [-0.00834343 0.99993809 0.00736211 0.61636157] [-0.07585558 -0.00797406 0.99708693 -0.64365447] [ 0. 0. 0. 1. ]] SLAMing on 372.453133365 meters Centerline goodness [0,1] 0.287121095553162 Centerline is valid? [False, False] Translation: X:5.85, Y:0.62, Z:-0.65 [[ 0.99713599 0.00877077 0.07511918 5.85060877] [-0.00939402 0.99992429 0.00794749 0.61678487] [-0.07504379 -0.0086304 0.99714289 -0.64890482] [ 0. 0. 0. 1. ]] SLAMing on 372.48313336499996 meters Centerline goodness [0,1] 0.2614413582283214 Centerline is valid? [False, False] Translation: X:5.86, Y:0.62, Z:-0.65 [[ 0.99717493 0.0090848 0.07456285 5.85510256] [-0.00970324 0.99992143 0.00793612 0.6178036 ] [-0.0744849 -0.0086372 0.99718474 -0.65233781] [ 0. 0. 0. 1. ]] SLAMing on 372.513133365 meters Centerline goodness [0,1] 0.2972798504140326 Centerline is valid? [False, False] Translation: X:5.86, Y:0.62, Z:-0.66 [[ 0.99720887 0.00890303 0.0741297 5.8644426 ] [-0.00947842 0.9999276 0.00741369 0.62007239] [-0.07405833 -0.00809563 0.99722105 -0.66099637] [ 0. 0. 0. 1. ]] SLAMing on 372.54313336499996 meters Centerline goodness [0,1] 0.27514610888957247 Centerline is valid? [False, False] Translation: X:5.87, Y:0.62, Z:-0.66 [[ 0.99721331 0.0088268 0.07407905 5.86670585] [-0.00940098 0.99992839 0.00740578 0.62036635] [-0.07400838 -0.00808156 0.99722487 -0.66288754] [ 0. 0. 0. 1. ]] SLAMing on 372.573133365 meters Centerline goodness [0,1] 0.29772767540751244 Centerline is valid? [False, False] Translation: X:5.87, Y:0.62, Z:-0.66 [[ 0.99723823 0.00866983 0.07376137 5.86957899] [-0.00924222 0.99992974 0.0074223 0.62040296] [-0.07369183 -0.00808352 0.9972483 -0.66457411] [ 0. 0. 0. 1. ]] SLAMing on 372.60313336499996 meters Centerline goodness [0,1] 0.29772767540751244 Centerline is valid? [False, False] Translation: X:5.87, Y:0.62, Z:-0.66 [[ 0.99723823 0.00866983 0.07376137 5.86957899] [-0.00924222 0.99992974 0.0074223 0.62040296] [-0.07369183 -0.00808352 0.9972483 -0.66457411] [ 0. 0. 0. 1. ]] SLAMing on 372.633133365 meters Centerline goodness [0,1] 0.3345516193663445 Centerline is valid? [False, False] Translation: X:5.87, Y:0.62, Z:-0.67 [[ 0.99726787 0.00848746 0.07338091 5.87290373] [-0.00906656 0.9999303 0.00756218 0.61952516] [-0.07331161 -0.00820684 0.99727532 -0.66636918] [ 0. 0. 0. 1. ]] SLAMing on 372.66313336499996 meters Centerline goodness [0,1] 0.31686855190239416 Centerline is valid? [False, False] Translation: X:5.90, Y:0.62, Z:-0.67 [[ 9.97565872e-01 2.89447647e-03 6.96703141e-02 5.89595414e+00] [-3.44392056e-03 9.99963902e-01 7.76752103e-03 6.19403338e-01] [-6.96453162e-02 -7.98855292e-03 9.97539830e-01 -6.67056079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.693133365 meters Centerline goodness [0,1] 0.32747655492077177 Centerline is valid? [False, False] Translation: X:5.90, Y:0.62, Z:-0.67 [[ 9.97604186e-01 2.69277561e-03 6.91276821e-02 5.90046977e+00] [-3.24599700e-03 9.99963591e-01 7.89181139e-03 6.18301124e-01] [-6.91039144e-02 -8.09729233e-03 9.97576605e-01 -6.69651388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72313336499997 meters Centerline goodness [0,1] 0.32478333187428876 Centerline is valid? [False, False] Translation: X:5.90, Y:0.62, Z:-0.67 [[ 9.97642040e-01 2.64213927e-03 6.85811906e-02 5.90451423e+00] [-3.20806167e-03 9.99961699e-01 8.14303623e-03 6.16502744e-01] [-6.85570488e-02 -8.34384797e-03 9.97612305e-01 -6.71937517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.753133365 meters Centerline goodness [0,1] 0.3430631494107652 Centerline is valid? [False, False] Translation: X:5.91, Y:0.61, Z:-0.67 [[ 9.97678554e-01 2.71007715e-03 6.80452632e-02 5.90866879e+00] [-3.29269071e-03 9.99958865e-01 8.45145134e-03 6.14272478e-01] [-6.80195601e-02 -8.65588376e-03 9.97646438e-01 -6.74465009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78313336499997 meters Centerline goodness [0,1] 0.3407743669979506 Centerline is valid? [False, False] Translation: X:5.92, Y:0.61, Z:-0.68 [[ 9.97753891e-01 2.31132515e-03 6.69464784e-02 5.92140638e+00] [-2.87557903e-03 9.99961143e-01 8.33329603e-03 6.12829880e-01] [-6.69246161e-02 -8.50708843e-03 9.97721767e-01 -6.83878313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.813133365 meters Centerline goodness [0,1] 0.27626433642818127 Centerline is valid? [False, False] Translation: X:5.93, Y:0.61, Z:-0.69 [[ 9.97792954e-01 2.68907928e-03 6.63474873e-02 5.92635954e+00] [-3.27026819e-03 9.99957217e-01 8.65272133e-03 6.12208458e-01] [-6.63213809e-02 -8.85059845e-03 9.97759060e-01 -6.87467765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84313336499997 meters Centerline goodness [0,1] 0.2879438332886146 Centerline is valid? [False, False] Translation: X:5.93, Y:0.61, Z:-0.69 [[ 9.97833301e-01 3.10137569e-03 6.57197476e-02 5.93130409e+00] [-3.69486428e-03 9.99953470e-01 8.91097829e-03 6.12276597e-01] [-6.56890534e-02 -9.13449643e-03 9.97798331e-01 -6.90941536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.873133365 meters Centerline goodness [0,1] 0.3250409880861296 Centerline is valid? [False, False] Translation: X:5.94, Y:0.61, Z:-0.69 [[ 9.97859944e-01 3.65834423e-03 6.52851393e-02 5.93646515e+00] [-4.26784589e-03 9.99948581e-01 9.19897461e-03 6.12582136e-01] [-6.52481293e-02 -9.45791520e-03 9.97824248e-01 -6.94652159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 12048.00 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%| | 0/12398 [00:00